+ python -m lidar_slam --no-model /working/6ac71da4-d277-45dd-9f68-e9612dda13e4 Lidar SLAM 0.0.7 ===================================================== The recording path: /working/6ac71da4-d277-45dd-9f68-e9612dda13e4 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 0.02587156 Adjusted end_distance from 9.223372036854776e+18 to 310.00587156 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.02587156 meters 0.8267165984786506 Centerline is valid? [0, False] SLAMing on 0.08587156 meters 0.8733095895355256 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99998496e-01 -1.46314243e-03 -9.31016978e-04 8.01211195e-03] [ 1.46243063e-03 9.99998638e-01 -7.64760149e-04 -1.25110755e-03] [ 9.32134663e-04 7.63397452e-04 9.99999274e-01 -6.03753345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14587155999999998 meters 0.8273511078072888 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99998133e-01 -1.42584642e-03 -1.30403641e-03 1.04874769e-02] [ 1.42543840e-03 9.99998935e-01 -3.13766366e-04 -3.91772061e-03] [ 1.30448240e-03 3.11906957e-04 9.99999101e-01 -7.95762028e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20587155999999998 meters 0.8502214899514345 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.02 [[ 9.99994765e-01 -2.32159806e-03 -2.25378048e-03 1.95164573e-02] [ 2.32112056e-03 9.99997283e-01 -2.14456670e-04 -8.58724848e-03] [ 2.25427224e-03 2.09224251e-04 9.99997437e-01 -1.53927428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.26587156 meters 0.8931459361025791 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.02 [[ 9.99988583e-01 -3.54523150e-03 -3.20398800e-03 2.66490296e-02] [ 3.54268464e-03 9.99993404e-01 -8.00229624e-04 -8.98302704e-03] [ 3.20680386e-03 7.88869769e-04 9.99994547e-01 -2.00536645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32587156 meters 0.8731442870319972 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 9.99990387e-01 -2.60363300e-03 -3.52795420e-03 2.95626584e-02] [ 2.60690645e-03 9.99996176e-01 9.23581507e-04 -1.89232599e-02] [ 3.52553604e-03 -9.32769675e-04 9.99993350e-01 -2.25216213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.38587156 meters 0.9025992179342941 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.02, Z:-0.02 [[ 9.99989834e-01 -2.56310850e-03 -3.70966623e-03 3.10639927e-02] [ 2.56663795e-03 9.99996258e-01 9.46971935e-04 -1.88111221e-02] [ 3.70722516e-03 -9.56483679e-04 9.99992671e-01 -2.35648673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44587156 meters 0.9291616519321028 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.03 [[ 0.99998885 -0.00114209 -0.00458156 0.03779482] [ 0.00115163 0.99999717 0.00208189 -0.02329529] [ 0.00457917 -0.00208714 0.99998734 -0.02774345] [ 0. 0. 0. 1. ]] SLAMing on 0.50587156 meters 0.9161270295866896 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.03 [[ 0.99998733 -0.001072 -0.00491922 0.03988407] [ 0.00108213 0.9999973 0.0020565 -0.02304714] [ 0.004917 -0.00206179 0.99998579 -0.02890459] [ 0. 0. 0. 1. ]] SLAMing on 0.56587156 meters 0.8755479431643228 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.03 [[ 9.99982793e-01 4.22082027e-04 -5.85113526e-03 4.71768693e-02] [-4.05976168e-04 9.99996127e-01 2.75351871e-03 -2.32827260e-02] [ 5.85227480e-03 -2.75109591e-03 9.99979091e-01 -3.38422619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.62587156 meters 0.9147790357619723 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.02, Z:-0.04 [[ 0.99997588 0.00163314 -0.00675076 0.054311 ] [-0.00161124 0.99999343 0.00324809 -0.02280486] [ 0.00675602 -0.00323714 0.99997194 -0.03861389] [ 0. 0. 0. 1. ]] SLAMing on 0.6858715599999999 meters 0.9342111364244875 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:-0.04 [[ 0.99997187 0.00194193 -0.00724493 0.05737886] [-0.00191965 0.99999341 0.00308139 -0.02143594] [ 0.00725087 -0.0030674 0.99996901 -0.04038932] [ 0. 0. 0. 1. ]] SLAMing on 0.74587156 meters 0.9397539395280474 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:-0.04 [[ 0.99996967 0.00179945 -0.00757739 0.05945773] [-0.00178029 0.9999952 0.00253459 -0.01792261] [ 0.00758191 -0.00252102 0.99996808 -0.04170284] [ 0. 0. 0. 1. ]] SLAMing on 0.80587156 meters 0.8517424977449775 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:-0.04 [[ 0.9999539 0.00576086 -0.00768173 0.06028647] [-0.00571368 0.99996476 0.00615054 -0.01343437] [ 0.00771689 -0.00610636 0.99995158 -0.04224218] [ 0. 0. 0. 1. ]] SLAMing on 0.86587156 meters 0.8742251891877563 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.00, Z:-0.05 [[ 0.99996123 0.00200043 -0.00857572 0.06876633] [-0.00199159 0.99999748 0.00103905 -0.00410113] [ 0.00857778 -0.00102193 0.99996269 -0.04873619] [ 0. 0. 0. 1. ]] SLAMing on 0.9258715599999999 meters 0.9336710026401275 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.00, Z:-0.05 [[ 9.99960828e-01 1.86232736e-03 -8.65299796e-03 6.93869845e-02] [-1.85546928e-03 9.99997958e-01 8.00527918e-04 -2.59508071e-03] [ 8.65447114e-03 -7.84441188e-04 9.99962242e-01 -4.92063981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.98587156 meters 0.9157003997015739 Centerline is valid? [False, False] Translation: X:0.07, Y:0.00, Z:-0.05 [[ 9.99959766e-01 1.40682449e-03 -8.85929886e-03 7.09336472e-02] [-1.40711970e-03 9.99999010e-01 -2.70879075e-05 2.70289169e-03] [ 8.85925197e-03 3.95529116e-05 9.99960755e-01 -5.01945689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.04587156 meters 0.9038661080246937 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.05 [[ 9.99958525e-01 2.43821127e-04 -9.10430331e-03 7.32008006e-02] [-2.61829686e-04 9.99998012e-01 -1.97688766e-03 1.54822059e-02] [ 9.10380320e-03 1.97918944e-03 9.99956601e-01 -5.14910170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.10587156 meters 0.9687513496343522 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.05 [[ 9.99957677e-01 -2.64666812e-04 -9.19645658e-03 7.36692907e-02] [ 2.38622460e-04 9.99995959e-01 -2.83298046e-03 2.08741490e-02] [ 9.19716921e-03 2.83066607e-03 9.99953699e-01 -5.14857239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1658715599999998 meters 0.8533230539757877 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.05 [[ 9.99956311e-01 -3.78312392e-04 -9.33987001e-03 7.44853074e-02] [ 3.50007091e-04 9.99995342e-01 -3.03203684e-03 2.21317314e-02] [ 9.34097357e-03 3.02863535e-03 9.99951786e-01 -5.17203402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2258715599999999 meters Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.06 [[ 0.99995389 -0.00725327 -0.00629341 0.05294149] [ 0.0072378 0.99997074 -0.00247683 0.02693896] [ 0.00631119 0.00243117 0.99997713 -0.05790565] [ 0. 0. 0. 1. ]] SLAMing on 1.28587156 meters 0.7910386833690477 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.06 [[ 0.99996814 -0.00394735 -0.00693872 0.05661372] [ 0.00396195 0.99998997 0.00209084 0.02233382] [ 0.0069304 -0.00211827 0.99997374 -0.05973076] [ 0. 0. 0. 1. ]] SLAMing on 1.3458715599999997 meters 0.8245721070067079 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.07 [[ 0.9999277 -0.00906121 -0.00790441 0.06603665] [ 0.00904304 0.99995639 -0.00233178 0.0212107 ] [ 0.0079252 0.00226013 0.99996604 -0.06634501] [ 0. 0. 0. 1. ]] SLAMing on 1.4058715599999998 meters 0.8302560916561611 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.07 [[ 0.99991504 -0.01008103 -0.0082631 0.06864147] [ 0.01007097 0.99994849 -0.00125832 0.00938433] [ 0.00827536 0.00117499 0.99996507 -0.06880623] [ 0. 0. 0. 1. ]] SLAMing on 1.4658715599999999 meters 0.8114105962660655 Centerline is valid? [False, False] Translation: X:0.07, Y:0.00, Z:-0.07 [[ 9.99918701e-01 -9.64535029e-03 -8.34017722e-03 6.90090015e-02] [ 9.64243852e-03 9.99953435e-01 -3.89267018e-04 3.90555498e-03] [ 8.34354347e-03 3.08815725e-04 9.99965144e-01 -6.88115670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.52587156 meters 0.8165075286148583 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.01, Z:-0.07 [[ 0.99992493 -0.00880801 -0.00851766 0.0703749 ] [ 0.00881704 0.99996061 0.00102366 -0.00505643] [ 0.0085083 -0.00109868 0.9999632 -0.06969743] [ 0. 0. 0. 1. ]] SLAMing on 1.58587156 meters 0.8245815637547951 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.02, Z:-0.07 [[ 0.99993524 -0.0073111 -0.00872195 0.0732713 ] [ 0.00733972 0.99996777 0.00325439 -0.01953664] [ 0.00869788 -0.00331819 0.99995667 -0.07218885] [ 0. 0. 0. 1. ]] SLAMing on 1.6458715599999998 meters 0.814668042221532 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.03, Z:-0.07 [[ 0.99993828 -0.00669351 -0.0088673 0.07437625] [ 0.00673131 0.99996836 0.00423969 -0.02581964] [ 0.00883864 -0.00429912 0.9999517 -0.07282183] [ 0. 0. 0. 1. ]] SLAMing on 1.7058715599999998 meters 0.8146811547132397 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.04, Z:-0.07 [[ 0.99994184 -0.00567738 -0.00916945 0.07659245] [ 0.00573056 0.99996686 0.0057831 -0.03598478] [ 0.00913632 -0.00583531 0.99994124 -0.07395647] [ 0. 0. 0. 1. ]] SLAMing on 1.76587156 meters 0.8250586766459779 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.04, Z:-0.09 [[ 9.99997310e-01 8.61544174e-04 -2.15375658e-03 1.05637963e-01] [-8.55526509e-04 9.99995733e-01 2.79339358e-03 -3.91956929e-02] [ 2.15615402e-03 -2.79154347e-03 9.99993779e-01 -8.98428023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8258715599999997 meters 0.8138382735552679 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.05, Z:-0.09 [[ 0.99999542 0.00186536 -0.00238405 0.10728248] [-0.00185619 0.99999089 0.00384371 -0.04602851] [ 0.0023912 -0.00383927 0.99998977 -0.09065245] [ 0. 0. 0. 1. ]] SLAMing on 1.8858715599999998 meters 0.8231519655169677 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.05, Z:-0.09 [[ 0.99999389 0.00217378 -0.00273796 0.10949189] [-0.00216259 0.99998934 0.00407993 -0.04725449] [ 0.0027468 -0.00407399 0.99998793 -0.0914888 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9458715599999998 meters 0.8046657281198014 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.05, Z:-0.09 [[ 9.99997106e-01 -5.68260388e-05 -2.40502577e-03 1.05140637e-01] [ 5.90458666e-05 9.99999572e-01 9.22934502e-04 -4.82627495e-02] [ 2.40497230e-03 -9.23073838e-04 9.99996682e-01 -8.72994913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.00587156 meters 0.8169828322373897 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.06, Z:-0.09 [[ 9.99996700e-01 6.22976542e-04 -2.49255056e-03 1.05300984e-01] [-6.17662443e-04 9.99997536e-01 2.13219457e-03 -5.67301061e-02] [ 2.49387273e-03 -2.13064798e-03 9.99994620e-01 -8.68199581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.06587156 meters 0.47511353183634564 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.06, Z:-0.09 [[ 9.99996052e-01 9.80711006e-04 -2.63343868e-03 1.06555128e-01] [-9.73463670e-04 9.99995740e-01 2.75191569e-03 -6.07660447e-02] [ 2.63612629e-03 -2.74934127e-03 9.99992746e-01 -8.76745871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.12587156 meters 0.4729122940465825 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.07, Z:-0.09 [[ 0.99999491 0.00154085 -0.00279274 0.10763552] [-0.00153045 0.9999919 0.00372323 -0.06755733] [ 0.00279845 -0.00371894 0.99998917 -0.08821738] [ 0. 0. 0. 1. ]] SLAMing on 2.1858715600000003 meters 0.4853012520675493 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.07, Z:-0.09 [[ 0.9999944 0.00156353 -0.00295944 0.10896873] [-0.00155243 0.99999177 0.00374857 -0.06769648] [ 0.00296528 -0.00374396 0.99998859 -0.08890986] [ 0. 0. 0. 1. ]] SLAMing on 2.24587156 meters 0.5049611869002527 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.07, Z:-0.09 [[ 9.99991276e-01 -2.68540088e-03 -3.19941793e-03 1.10744801e-01] [ 2.68361106e-03 9.99996240e-01 -5.63582659e-04 -6.76123401e-02] [ 3.20091934e-03 5.54991749e-04 9.99994723e-01 -8.97882326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.30587156 meters 0.7684144941185846 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.07, Z:-0.09 [[ 9.99991339e-01 -2.55440708e-03 -3.28600424e-03 1.11053997e-01] [ 2.55423142e-03 9.99996736e-01 -5.76524119e-05 -7.10796676e-02] [ 3.28614079e-03 4.92586973e-05 9.99994599e-01 -8.95658427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.36587156 meters 0.7600226820982259 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.07, Z:-0.09 [[ 9.99991561e-01 -2.34766863e-03 -3.37148816e-03 1.11486005e-01] [ 2.34892049e-03 9.99997174e-01 3.67396371e-04 -7.38923986e-02] [ 3.37061611e-03 -3.75312628e-04 9.99994249e-01 -8.94887196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.42587156 meters 0.7418339497131301 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.08, Z:-0.09 [[ 9.99991674e-01 -2.08091162e-03 -3.51013588e-03 1.12228778e-01] [ 2.08417458e-03 9.99997399e-01 9.26180707e-04 -7.76333944e-02] [ 3.50819945e-03 -9.33488732e-04 9.99993411e-01 -8.95305409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.48587156 meters 0.7559996355311693 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.08, Z:-0.09 [[ 0.99999175 -0.00192412 -0.00357832 0.11227308] [ 0.00193027 0.99999666 0.00171584 -0.08402625] [ 0.00357501 -0.00172273 0.99999213 -0.08906687] [ 0. 0. 0. 1. ]] SLAMing on 2.54587156 meters 0.7344969407614413 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.08, Z:-0.10 [[ 0.99998887 -0.00178353 -0.00436728 0.12169122] [ 0.00179059 0.9999971 0.00161247 -0.08167161] [ 0.00436439 -0.00162027 0.99998916 -0.09601226] [ 0. 0. 0. 1. ]] SLAMing on 2.60587156 meters 0.9573440575275125 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.08, Z:-0.10 [[ 0.99998832 -0.00171906 -0.00451746 0.12261726] [ 0.00172684 0.99999703 0.00171918 -0.08238941] [ 0.00451449 -0.00172696 0.99998832 -0.09622922] [ 0. 0. 0. 1. ]] SLAMing on 2.66587156 meters 0.8725258731919542 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.08, Z:-0.10 [[ 0.99998754 -0.00158497 -0.00473415 0.12409746] [ 0.00159404 0.9999969 0.00191281 -0.08363471] [ 0.0047311 -0.00192033 0.99998696 -0.09685302] [ 0. 0. 0. 1. ]] SLAMing on 2.72587156 meters 0.8520602957601636 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.08, Z:-0.10 [[ 0.99998673 -0.00168516 -0.00486928 0.12473864] [ 0.00169359 0.99999708 0.00172623 -0.08238684] [ 0.00486636 -0.00173445 0.99998666 -0.09661832] [ 0. 0. 0. 1. ]] SLAMing on 2.78587156 meters 0.8117723844886542 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.08, Z:-0.10 [[ 0.99998599 -0.00172145 -0.00500584 0.12529222] [ 0.00172968 0.99999716 0.00163873 -0.08176094] [ 0.005003 -0.00164736 0.99998613 -0.09623297] [ 0. 0. 0. 1. ]] SLAMing on 2.84587156 meters 0.48206574945138536 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.08, Z:-0.10 [[ 0.99998576 -0.00162792 -0.00508165 0.12545518] [ 0.00163708 0.99999704 0.00179868 -0.08278556] [ 0.00507871 -0.00180697 0.99998547 -0.09582586] [ 0. 0. 0. 1. ]] SLAMing on 2.90587156 meters 0.5339727970045176 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.09, Z:-0.10 [[ 0.99998545 -0.00131239 -0.00523213 0.12624312] [ 0.00132516 0.99999615 0.00243895 -0.08725288] [ 0.00522891 -0.00244584 0.99998334 -0.0957841 ] [ 0. 0. 0. 1. ]] SLAMing on 2.96587156 meters 0.5411188213936372 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.09, Z:-0.10 [[ 0.99998509 -0.00120428 -0.00532633 0.12665278] [ 0.00121831 0.99999579 0.00263252 -0.08850291] [ 0.00532314 -0.00263897 0.99998235 -0.09557359] [ 0. 0. 0. 1. ]] SLAMing on 3.02587156 meters 0.5549067207065713 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.09, Z:-0.10 [[ 9.99984757e-01 -9.33513419e-04 -5.44190342e-03 1.27416921e-01] [ 9.50660422e-04 9.99994589e-01 3.14918553e-03 -9.19589011e-02] [ 5.43893417e-03 -3.15431093e-03 9.99980234e-01 -9.58887515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.08587156 meters 0.5578040965928147 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.09, Z:-0.10 [[ 9.99984205e-01 -8.60675143e-04 -5.55424211e-03 1.27943062e-01] [ 8.78881486e-04 9.99994247e-01 3.27630883e-03 -9.27790747e-02] [ 5.55139032e-03 -3.28113861e-03 9.99979208e-01 -9.57373049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1458715600000002 meters 0.5654867121616973 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.10, Z:-0.10 [[ 9.99983924e-01 -4.68550882e-04 -5.65080447e-03 1.28081138e-01] [ 4.91212032e-04 9.99991841e-01 4.00953101e-03 -9.76486482e-02] [ 5.64887970e-03 -4.01224230e-03 9.99975996e-01 -9.50266755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.20587156 meters 0.6094064295333588 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.10, Z:-0.10 [[ 9.99983253e-01 -3.02263409e-05 -5.78735370e-03 1.28868935e-01] [ 5.80959402e-05 9.99988404e-01 4.81549569e-03 -1.03010115e-01] [ 5.78714104e-03 -4.81575127e-03 9.99971658e-01 -9.50549388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.26587156 meters 0.5852637179292428 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.10, Z:-0.09 [[ 9.99998979e-01 7.15761836e-04 -1.23668206e-03 1.01484058e-01] [-7.17031434e-04 9.99999216e-01 -1.02647843e-03 -1.02552475e-01] [ 1.23594638e-03 1.02736412e-03 9.99998708e-01 -9.45126047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.32587156 meters 0.6048347166651846 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.10, Z:-0.09 [[ 9.99998710e-01 8.07247743e-04 -1.38841210e-03 1.02389836e-01] [-8.08471046e-04 9.99999285e-01 -8.80744968e-04 -1.03468338e-01] [ 1.38770013e-03 8.81866323e-04 9.99998648e-01 -9.47049740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.38587156 meters 0.6208087825926835 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.11, Z:-0.09 [[ 9.99998356e-01 1.04208478e-03 -1.48386264e-03 1.02987842e-01] [-1.04273581e-03 9.99999360e-01 -4.38033982e-04 -1.06299375e-01] [ 1.48340522e-03 4.39580538e-04 9.99998803e-01 -9.48645155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.44587156 meters 0.6299441242847214 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.11, Z:-0.09 [[ 9.99998292e-01 1.00812017e-03 -1.54928455e-03 1.03294980e-01] [-1.00892230e-03 9.99999357e-01 -5.17043685e-04 -1.05788500e-01] [ 1.54876231e-03 5.18605910e-04 9.99998666e-01 -9.47782281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.50587156 meters 0.6339838794270543 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.10, Z:-0.09 [[ 9.99998239e-01 9.12977606e-04 -1.63965392e-03 1.03817019e-01] [-9.14266915e-04 9.99999273e-01 -7.85752497e-04 -1.04021486e-01] [ 1.63893535e-03 7.87250194e-04 9.99998347e-01 -9.49393138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.56587156 meters 0.6583651992836159 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.10, Z:-0.09 [[ 9.99998021e-01 9.35562928e-04 -1.75577115e-03 1.04409702e-01] [-9.36880762e-04 9.99999280e-01 -7.49900173e-04 -1.04243305e-01] [ 1.75506830e-03 7.51543637e-04 9.99998177e-01 -9.49079909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6258715599999998 meters 0.6756509083788561 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.10, Z:-0.09 [[ 9.99997984e-01 8.38774529e-04 -1.82466887e-03 1.04472532e-01] [-8.40495930e-04 9.99999202e-01 -9.42842171e-04 -1.03019428e-01] [ 1.82387658e-03 9.44373897e-04 9.99997891e-01 -9.44057289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.68587156 meters 0.5985474780144034 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.10, Z:-0.09 [[ 9.99997883e-01 8.43013456e-04 -1.87701603e-03 1.04477041e-01] [-8.44647260e-04 9.99999265e-01 -8.69804092e-04 -1.03537756e-01] [ 1.87628139e-03 8.71387667e-04 9.99997860e-01 -9.38413926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.74587156 meters 0.609931807622698 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.10, Z:-0.09 [[ 9.99999182e-01 -4.72003631e-04 -1.18888665e-03 9.87692965e-02] [ 4.70082847e-04 9.99998585e-01 -1.61537716e-03 -1.03910324e-01] [ 1.18964743e-03 1.61481697e-03 9.99997989e-01 -8.93938093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.80587156 meters 0.6295913151560729 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.10, Z:-0.08 [[ 9.99998274e-01 -1.77767215e-03 -5.41027565e-04 9.31449833e-02] [ 1.77634323e-03 9.99995429e-01 -2.44693508e-03 -1.03468630e-01] [ 5.45374940e-04 2.44596981e-03 9.99996860e-01 -8.47789981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.86587156 meters 0.6522267229442306 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.10, Z:-0.08 [[ 9.99998311e-01 -1.72870728e-03 -6.24808475e-04 9.33998937e-02] [ 1.72723802e-03 9.99995760e-01 -2.34447487e-03 -1.04076052e-01] [ 6.28858736e-04 2.34339172e-03 9.99997057e-01 -8.45001547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.92587156 meters 0.6738023719689251 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.10, Z:-0.08 [[ 9.99998044e-01 -1.86087170e-03 -6.70116733e-04 9.36011814e-02] [ 1.85906543e-03 9.99994664e-01 -2.68606077e-03 -1.01974054e-01] [ 6.75111572e-04 2.68480973e-03 9.99996168e-01 -8.44871826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.98587156 meters 0.68446270631162 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.10, Z:-0.08 [[ 9.99999898e-01 -4.37423822e-04 1.15849461e-04 8.73734025e-02] [ 4.37667638e-04 9.99997672e-01 -2.11299538e-03 -9.92565164e-02] [-1.14924917e-04 2.11304587e-03 9.99997761e-01 -7.95121023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.045871559999999 meters 0.7041765119366572 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.09, Z:-0.08 [[ 9.99999302e-01 9.57457527e-04 6.91969342e-04 8.23375544e-02] [-9.55951412e-04 9.99997181e-01 -2.17362696e-03 -9.20721462e-02] [-6.94048547e-04 2.17296395e-03 9.99997398e-01 -7.50217421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.10587156 meters 0.7250803218792499 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.09, Z:-0.08 [[ 9.99999482e-01 8.83882388e-04 5.04185658e-04 8.30775986e-02] [-8.82276502e-04 9.99994566e-01 -3.17648662e-03 -8.56808011e-02] [-5.06990559e-04 3.17604014e-03 9.99994828e-01 -7.53470932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.165871559999999 meters 0.7578638162977817 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.08, Z:-0.07 [[ 0.99999653 0.00224152 0.00138513 0.07668774] [-0.00223761 0.99999353 -0.00281691 -0.08037761] [-0.00139143 0.0028138 0.99999507 -0.07047492] [ 0. 0. 0. 1. ]] SLAMing on 4.22587156 meters 0.7713939819489212 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.07, Z:-0.07 [[ 0.99999255 0.00320918 0.00214395 0.07033346] [-0.00320298 0.9999907 -0.00288976 -0.07331353] [-0.0021532 0.00288287 0.99999353 -0.06520836] [ 0. 0. 0. 1. ]] SLAMing on 4.2858715599999995 meters 0.776071231264787 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.07, Z:-0.06 [[ 0.99999332 0.00300522 0.00208239 0.07039008] [-0.00299816 0.99998977 -0.00338588 -0.07056604] [-0.00209254 0.00337961 0.9999921 -0.06479275] [ 0. 0. 0. 1. ]] SLAMing on 4.34587156 meters 0.789991321545452 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.07, Z:-0.06 [[ 9.99992990e-01 -3.68549173e-03 6.60509815e-04 8.79025472e-02] [ 3.68602470e-03 9.99992881e-01 -8.07524410e-04 -6.69023704e-02] [-6.57528988e-04 8.09953405e-04 9.99999456e-01 -5.72133068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.40587156 meters 0.780271356107108 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.06, Z:-0.06 [[ 9.99991702e-01 -4.03557538e-03 5.56459950e-04 8.81409220e-02] [ 4.03650066e-03 9.99990456e-01 -1.67183424e-03 -6.21983139e-02] [-5.49707826e-04 1.67406651e-03 9.99998448e-01 -5.69021139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.465871559999999 meters 0.7792106999104732 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.06, Z:-0.06 [[ 9.99990685e-01 -4.28718417e-03 4.99795701e-04 8.81958953e-02] [ 4.28831658e-03 9.99988190e-01 -2.28713957e-03 -5.89199951e-02] [-4.89984410e-04 2.28926155e-03 9.99997260e-01 -5.65471708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.52587156 meters 0.7798750106241007 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.06, Z:-0.06 [[ 9.99990040e-01 -4.44364383e-03 4.16622048e-04 8.83146623e-02] [ 4.44474789e-03 9.99986510e-01 -2.68764375e-03 -5.68145976e-02] [-4.04673497e-04 2.68946876e-03 9.99996301e-01 -5.61599688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.585871559999999 meters 0.7783851459491617 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.06, Z:-0.05 [[ 9.99996953e-01 -2.15342388e-03 1.20681423e-03 8.26822890e-02] [ 2.15321745e-03 9.99997667e-01 1.72327216e-04 -5.88854206e-02] [-1.20718251e-03 -1.69728157e-04 9.99999257e-01 -5.11048127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.64587156 meters 0.7587106200098528 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.05, Z:-0.05 [[ 9.99996293e-01 -2.48645594e-03 1.10983262e-03 8.27581634e-02] [ 2.48715747e-03 9.99996708e-01 -6.31176398e-04 -5.47273360e-02] [-1.10825958e-03 6.33934387e-04 9.99999185e-01 -5.05183342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.705871559999999 meters 0.7763250518248495 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.05, Z:-0.05 [[ 9.99991499e-01 1.92254768e-04 4.11895467e-03 1.02902684e-01] [-1.56229382e-04 9.99961751e-01 -8.74478205e-03 -5.01621472e-02] [-4.12047836e-03 8.74406421e-03 9.99953280e-01 -5.18545263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.76587156 meters 0.7783841538148769 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.05, Z:-0.05 [[ 0.99998382 -0.00303713 0.00481073 0.11815149] [ 0.00304223 0.99999482 -0.00105215 -0.0535643 ] [-0.00480751 0.00106677 0.99998787 -0.04518838] [ 0. 0. 0. 1. ]] SLAMing on 4.8258715599999995 meters 0.7572873938497587 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.05, Z:-0.04 [[ 0.99996894 -0.00515647 0.00596137 0.11173398] [ 0.00517716 0.99998061 -0.00346074 -0.05042979] [-0.00594341 0.0034915 0.99997624 -0.04045272] [ 0. 0. 0. 1. ]] SLAMing on 4.885871559999999 meters 0.7205513577666608 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.05, Z:-0.04 [[ 0.99997287 -0.00362425 0.00641355 0.10669104] [ 0.00363679 0.9999915 -0.00194486 -0.05043367] [-0.00640645 0.00196814 0.99997754 -0.03523768] [ 0. 0. 0. 1. ]] SLAMing on 4.94587156 meters 0.7200163439429852 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.05, Z:-0.03 [[ 0.99997342 -0.00364039 0.00631666 0.10674813] [ 0.00365301 0.99999135 -0.00198713 -0.05023394] [-0.00630937 0.00201015 0.99997808 -0.03461499] [ 0. 0. 0. 1. ]] SLAMing on 5.005871559999999 meters 0.729764883939536 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.05, Z:-0.03 [[ 0.99995023 0.00438644 0.00896048 0.12330939] [-0.00434412 0.99997935 -0.0047363 -0.04802799] [-0.00898107 0.00469714 0.99994864 -0.03212206] [ 0. 0. 0. 1. ]] SLAMing on 5.06587156 meters 0.700332052805528 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.04, Z:-0.03 [[ 9.99892673e-01 1.05285134e-02 1.01878601e-02 1.16599344e-01] [-1.05390678e-02 9.99943979e-01 9.82846658e-04 -4.28624398e-02] [-1.01769414e-02 -1.09011172e-03 9.99947619e-01 -2.68813943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.125871559999999 meters 0.6777674075165768 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.04, Z:-0.03 [[ 0.99993667 0.0073928 0.00848491 0.09853304] [-0.00745896 0.99994183 0.00779156 -0.03868475] [-0.00842682 -0.00785435 0.99993365 -0.02834904] [ 0. 0. 0. 1. ]] SLAMing on 5.18587156 meters 0.6637302350095878 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.03, Z:-0.03 [[ 0.99996097 0.00253427 0.00846432 0.09839125] [-0.0025474 0.99999557 0.00154098 -0.02987467] [-0.00846038 -0.00156248 0.99996299 -0.0279088 ] [ 0. 0. 0. 1. ]] SLAMing on 5.245871559999999 meters 0.7105932212391384 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.03, Z:-0.03 [[ 9.99962345e-01 2.17662024e-03 8.40067950e-03 9.85426272e-02] [-2.18153424e-03 9.99997455e-01 5.75833599e-04 -2.53324396e-02] [-8.39940474e-03 -5.94138286e-04 9.99964548e-01 -2.78452306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.305871559999999 meters 0.6821315759059594 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.02, Z:-0.03 [[ 0.99996372 0.00154203 0.00837733 0.09862926] [-0.00153327 0.99999827 -0.00105166 -0.01771299] [-0.00837893 0.00103878 0.99996436 -0.0278855 ] [ 0. 0. 0. 1. ]] SLAMing on 5.3658715599999995 meters 0.6403459500034944 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.01, Z:-0.03 [[ 0.99996482 0.00124232 0.00829545 0.09867751] [-0.00122698 0.99999753 -0.00185383 -0.01396921] [-0.00829774 0.00184358 0.99996387 -0.02743479] [ 0. 0. 0. 1. ]] SLAMing on 5.425871559999999 meters 0.3391451580163939 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:-0.03 [[ 0.99997421 -0.00433365 0.00572735 0.07812488] [ 0.00431851 0.99998715 0.00265405 -0.01171386] [-0.00573878 -0.00262925 0.99998008 -0.02598008] [ 0. 0. 0. 1. ]] SLAMing on 5.48587156 meters 0.6380322406585028 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:-0.03 [[ 0.99997294 -0.00469158 0.00566678 0.07803371] [ 0.00468233 0.99998769 0.00164413 -0.00720496] [-0.00567443 -0.00161755 0.99998259 -0.02529319] [ 0. 0. 0. 1. ]] SLAMing on 5.545871559999999 meters 0.2565004553412355 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.00, Z:-0.03 [[ 0.99998782 -0.00390446 0.00301842 0.06003677] [ 0.00393103 0.99995316 -0.00884476 -0.00233426] [-0.00298375 0.00885652 0.99995633 -0.02580732] [ 0. 0. 0. 1. ]] SLAMing on 5.60587156 meters 0.2376541998844147 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.00, Z:-0.03 [[ 0.99996635 -0.00798187 0.00189178 0.04291108] [ 0.00798617 0.99996552 -0.00227686 -0.00389491] [-0.00187354 0.00229189 0.99999562 -0.03039327] [ 0. 0. 0. 1. ]] SLAMing on 5.665871559999999 meters 0.23012290090565182 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.00, Z:-0.02 [[ 0.99999826 -0.00142801 -0.00119774 0.06187776] [ 0.001422 0.99998644 -0.00500902 -0.00400344] [ 0.00120488 0.00500731 0.99998674 -0.02414083] [ 0. 0. 0. 1. ]] SLAMing on 5.72587156 meters 0.05057395831628021 Centerline is valid? [False, True] Translation: X:0.04, Y:-0.00, Z:-0.03 [[ 0.99998272 -0.00514816 -0.00283824 0.04402708] [ 0.00515312 0.9999852 0.00174513 -0.00468163] [ 0.00282921 -0.00175973 0.99999445 -0.02663858] [ 0. 0. 0. 1. ]] SLAMing on 5.7858715599999995 meters 0.05219624367746413 Centerline is valid? [True, True] Translation: X:0.11, Y:0.01, Z:-0.00 [[ 9.99930285e-01 -1.17404396e-02 1.25990005e-03 1.05612948e-01] [ 1.17878656e-02 9.98744290e-01 -4.86917895e-02 1.49636437e-02] [-6.86654964e-04 4.87032465e-02 9.98813057e-01 -4.55551030e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.845871559999999 meters 0.05459843936664948 Centerline is valid? [True, True] Translation: X:0.17, Y:-0.02, Z:-0.01 [[ 9.99888100e-01 -1.47767521e-02 2.33147343e-03 1.65749187e-01] [ 1.47768703e-02 9.99890816e-01 -3.34966930e-05 -2.30676238e-02] [-2.33072390e-03 6.79448253e-05 9.99997282e-01 -9.47165780e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.90587156 meters 0.05713448289891535 Centerline is valid? [True, True] Translation: X:0.23, Y:-0.03, Z:-0.01 [[ 9.99866826e-01 -1.59415195e-02 3.49265337e-03 2.26882681e-01] [ 1.59417903e-02 9.99872920e-01 -4.97025726e-05 -3.32476038e-02] [-3.49141719e-03 1.05375101e-04 9.99993899e-01 -9.47382310e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.965871559999999 meters 0.05684796690944379 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.04, Z:-0.01 [[ 9.99864327e-01 -1.59936919e-02 3.94075736e-03 2.88110804e-01] [ 1.59940376e-02 9.99872086e-01 -5.62305667e-05 -3.93232048e-02] [-3.93935394e-03 1.19251559e-04 9.99992234e-01 -1.16982440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.02587156 meters 0.053392785778154005 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.04, Z:-0.01 [[ 9.99900590e-01 -1.33713025e-02 4.47416703e-03 3.48573535e-01] [ 1.33717247e-02 9.99910592e-01 -6.44660687e-05 -4.33099426e-02] [-4.47290501e-03 1.24286990e-04 9.99989989e-01 -1.40029130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.085871559999999 meters 0.04929972975735195 Centerline is valid? [True, True] Translation: X:0.41, Y:-0.05, Z:-0.02 [[ 9.99934077e-01 -1.04919465e-02 4.66480788e-03 4.09601631e-01] [ 1.04923720e-02 9.99944951e-01 -6.67556105e-05 -4.69952542e-02] [-4.66385069e-03 1.15696109e-04 9.99989117e-01 -1.72371110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.14587156 meters 0.04442171656516567 Centerline is valid? [True, True] Translation: X:0.47, Y:-0.05, Z:-0.02 [[ 9.99957651e-01 -7.18764339e-03 5.74752037e-03 4.70584391e-01] [ 7.18823750e-03 9.99974161e-01 -8.27166485e-05 -4.51723726e-02] [-5.74677732e-03 1.24027687e-04 9.99983479e-01 -1.67235304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.205871559999999 meters 0.038208547005688154 Centerline is valid? [True, True] Translation: X:0.53, Y:-0.05, Z:-0.04 [[ 0.99989055 0.00214148 0.01463911 0.52924716] [-0.0022872 0.99994793 0.00994472 -0.04678285] [-0.01461705 -0.00997712 0.99984339 -0.03878272] [ 0. 0. 0. 1. ]] SLAMing on 6.26587156 meters 0.029396344652220054 Centerline is valid? [True, True] Translation: X:0.59, Y:-0.02, Z:-0.02 [[ 0.99996931 0.00524826 0.00581646 0.5933622 ] [-0.0051892 0.9999353 -0.0101222 -0.02418034] [-0.00586921 0.0100917 0.99993185 -0.0211662 ] [ 0. 0. 0. 1. ]] SLAMing on 6.3258715599999995 meters 0.04192938922929629 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.02, Z:-0.03 [[ 0.99987596 0.01277032 -0.00921916 0.65228257] [-0.01265568 0.99984317 0.01238833 -0.02425402] [ 0.00937592 -0.01227011 0.99988076 -0.03445108] [ 0. 0. 0. 1. ]] SLAMing on 6.385871559999999 meters 0.019394013166593678 Centerline is valid? [True, True] Translation: X:0.71, Y:-0.00, Z:-0.00 [[ 0.99978166 0.01739432 0.01157907 0.71442845] [-0.01731562 0.99982652 -0.0068626 -0.0047944 ] [-0.01169643 0.00666061 0.99990941 -0.00490244] [ 0. 0. 0. 1. ]] SLAMing on 6.44587156 meters 0.017367133057681818 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.01, Z:-0.01 [[ 9.99780452e-01 1.71562561e-02 1.20295998e-02 7.76315718e-01] [-1.71553866e-02 9.99852820e-01 -1.75473577e-04 -1.12619515e-02] [-1.20308397e-02 -3.09373831e-05 9.99927626e-01 -5.72656660e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.505871559999999 meters 0.016952160865081053 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.07, Z:-0.01 [[ 0.99940119 0.00868761 0.03349305 0.84052488] [-0.01166472 0.99589664 0.08974311 -0.06798127] [-0.03257597 -0.09008006 0.99540162 -0.01154914] [ 0. 0. 0. 1. ]] SLAMing on 6.56587156 meters 0.022471694618220798 Centerline is valid? [True, True] Translation: X:0.91, Y:0.03, Z:0.00 [[ 0.99975124 0.01629397 0.01523014 0.90516228] [-0.01484393 0.99574907 -0.09090347 0.03402188] [-0.01664658 0.09065478 0.99574324 0.00158443] [ 0. 0. 0. 1. ]] SLAMing on 6.625871559999999 meters 0.016102794400626456 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.02, Z:-0.01 [[ 9.99823927e-01 1.22495756e-02 1.42148994e-02 9.65751032e-01] [-1.22477888e-02 9.99924970e-01 -2.12748041e-04 -2.41465047e-02] [-1.42164389e-02 3.86094962e-05 9.99898941e-01 -8.36715701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.68587156 meters 0.01740100111198184 Centerline is valid? [True, True] Translation: X:1.03, Y:-0.03, Z:-0.01 [[ 9.99861467e-01 1.08772868e-02 1.25988863e-02 1.02615249e+00] [-1.08757793e-02 9.99940839e-01 -1.88162728e-04 -2.81492796e-02] [-1.26001877e-02 5.11139546e-05 9.99920613e-01 -1.48317772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.745871559999999 meters 0.018321600887091064 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.04, Z:-0.02 [[ 9.99877836e-01 9.25540825e-03 1.25956295e-02 1.08844177e+00] [-9.25377481e-03 9.99957165e-01 -1.87959262e-04 -3.59109563e-02] [-1.25968296e-02 7.13791809e-05 9.99920654e-01 -1.81360047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.805871559999999 meters 0.019696876851424475 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.05, Z:-0.02 [[ 9.99910573e-01 6.31750314e-03 1.17870565e-02 1.15064214e+00] [-6.31585055e-03 9.99980039e-01 -1.77423114e-04 -4.67405493e-02] [-1.17879421e-02 1.02961960e-04 9.99930514e-01 -1.92918479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8658715599999995 meters 0.030921894244418997 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.05, Z:-0.01 [[ 9.99862978e-01 5.41666885e-03 1.56424361e-02 1.21329408e+00] [-5.41356382e-03 9.99985318e-01 -2.40836913e-04 -5.39416599e-02] [-1.56435110e-02 1.56122587e-04 9.99877621e-01 -1.32296071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.925871559999999 meters 0.028125741099427223 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.06, Z:-0.01 [[ 9.99844670e-01 5.88152538e-03 1.66145522e-02 1.27552823e+00] [-5.87808891e-03 9.99982691e-01 -2.55662169e-04 -5.75881815e-02] [-1.66157683e-02 1.57960642e-04 9.99861936e-01 -1.28523999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.98587156 meters 0.016997630643984435 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.06, Z:-0.01 [[ 9.99823617e-01 7.90342744e-03 1.70373238e-02 1.33660306e+00] [-7.90005296e-03 9.99968759e-01 -2.65358252e-04 -6.28329763e-02] [-1.70388887e-02 1.30715688e-04 9.99854819e-01 -1.29058534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.045871559999999 meters 0.01593981751305787 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.06, Z:-0.01 [[ 9.99797260e-01 9.99257868e-03 1.74810797e-02 1.39862815e+00] [-9.98929703e-03 9.99950068e-01 -2.75036661e-04 -6.43743019e-02] [-1.74829551e-02 1.00357203e-04 9.99847156e-01 -1.44707574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.10587156 meters 0.020272727954961534 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.05, Z:-0.02 [[ 0.99994277 0.01059394 0.00149471 1.46084647] [-0.0105526 0.99962216 -0.02538054 -0.05435208] [-0.00176303 0.02536331 0.99967674 -0.01606821] [ 0. 0. 0. 1. ]] SLAMing on 7.165871559999999 meters 0.016573038136680415 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.10, Z:-0.02 [[ 0.99983548 0.00901414 0.01574009 1.51991262] [-0.00940871 0.99963873 0.02517696 -0.09767453] [-0.01550745 -0.02532092 0.99955909 -0.02327343] [ 0. 0. 0. 1. ]] SLAMing on 7.225871559999999 meters 0.01734034465016817 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.09, Z:-0.03 [[ 9.99843881e-01 8.89702185e-03 1.52661712e-02 1.58117183e+00] [-8.89433962e-03 9.99960415e-01 -2.43584693e-04 -9.20813874e-02] [-1.52677341e-02 1.07764154e-04 9.99883436e-01 -2.66589317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2858715599999995 meters 0.01575281727448913 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.10, Z:-0.03 [[ 9.99831659e-01 1.06318085e-02 1.49538783e-02 1.64371102e+00] [-1.06294049e-02 9.99943477e-01 -2.40208686e-04 -9.79145873e-02] [-1.49555869e-02 8.12174216e-05 9.99888156e-01 -2.72329915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.345871559999999 meters 0.018340822748152977 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.09, Z:-0.03 [[ 0.99989815 0.01382323 0.00355025 1.70599632] [-0.01375082 0.99971198 -0.01966896 -0.08518911] [-0.00382111 0.01961814 0.99980024 -0.02975469] [ 0. 0. 0. 1. ]] SLAMing on 7.40587156 meters 0.018816981553247295 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.10, Z:-0.03 [[ 0.99959662 0.02387136 0.01538659 1.76535839] [-0.02416799 0.99951985 0.01938993 -0.09861753] [-0.01491634 -0.01975397 0.99969359 -0.03143592] [ 0. 0. 0. 1. ]] SLAMing on 7.465871559999999 meters 0.02097940799694382 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.08, Z:-0.03 [[ 9.99402492e-01 3.11967222e-02 1.48802997e-02 1.82781062e+00] [-3.11965429e-02 9.99513240e-01 -2.44222769e-04 -7.91371138e-02] [-1.48806755e-02 -2.20137065e-04 9.99889252e-01 -3.29213183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.52587156 meters 0.033368695969640934 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.07, Z:-0.03 [[ 9.99071745e-01 3.87687979e-02 1.87784229e-02 1.88951520e+00] [-3.87698205e-02 9.99248120e-01 -3.09724055e-04 -7.18049318e-02] [-1.87763114e-02 -4.18599536e-04 9.99823622e-01 -2.78666266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.585871559999999 meters 0.028011666493538465 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.07, Z:-0.03 [[ 9.99018557e-01 4.00847773e-02 1.88449603e-02 1.95048583e+00] [-4.00860566e-02 9.99196183e-01 -3.10005952e-04 -6.63529410e-02] [-1.88422390e-02 -4.45718448e-04 9.99822370e-01 -2.98950193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.64587156 meters 0.02318043762747391 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.07, Z:-0.03 [[ 9.99096270e-01 3.65027680e-02 2.17759386e-02 2.01228779e+00] [-3.65035151e-02 9.99333459e-01 -3.63321143e-04 -7.32929183e-02] [-2.17746863e-02 -4.31905506e-04 9.99762810e-01 -2.84176490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.705871559999999 meters 0.017218537127967757 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.09, Z:-0.03 [[ 9.99379712e-01 2.83069586e-02 2.09500922e-02 2.07172012e+00] [-2.83058278e-02 9.99599248e-01 -3.50567081e-04 -8.55216737e-02] [-2.09516199e-02 -2.42660074e-04 9.99780461e-01 -3.23883433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.765871559999999 meters 0.011727975310903218 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.10, Z:-0.04 [[ 9.99617978e-01 1.95326532e-02 1.95543616e-02 2.13318915e+00] [-1.95300198e-02 9.99809218e-01 -3.25643648e-04 -1.00521780e-01] [-1.95569917e-02 -5.63778252e-05 9.99808742e-01 -3.77043533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8258715599999995 meters 0.012660529656623521 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.11, Z:-0.04 [[ 9.99742570e-01 1.42667484e-02 1.76423790e-02 2.19407079e+00] [-1.42637351e-02 9.99898224e-01 -2.96628880e-04 -1.11152017e-01] [-1.76448153e-02 4.49062992e-05 9.99844317e-01 -4.40640142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.885871559999999 meters 0.015518407836020844 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.12, Z:-0.05 [[ 9.99810919e-01 8.65390156e-03 1.74136650e-02 2.25627847e+00] [-8.65006619e-03 9.99962544e-01 -2.95560223e-04 -1.24899837e-01] [-1.74155705e-02 1.44874983e-04 9.99848327e-01 -4.59360483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.94587156 meters 0.017135527108821318 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.13, Z:-0.05 [[ 9.99814415e-01 5.92146002e-03 1.83322647e-02 2.31797003e+00] [-5.91668819e-03 9.99982447e-01 -3.14523739e-04 -1.32811345e-01] [-1.83338053e-02 2.05999074e-04 9.99831900e-01 -4.57376096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.00587156 meters 0.01879046200674144 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.14, Z:-0.05 [[ 9.99828328e-01 4.16547773e-03 1.80544503e-02 2.38000922e+00] [-4.16050827e-03 9.99991296e-01 -3.12800968e-04 -1.44063831e-01] [-1.80555962e-02 2.37631579e-04 9.99836956e-01 -4.71384331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.06587156 meters 0.02751811356078141 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.15, Z:-0.05 [[ 9.99843612e-01 5.72826457e-03 1.67313842e-02 2.44233205e+00] [-5.72417531e-03 9.99983574e-01 -2.92286892e-04 -1.51697698e-01] [-1.67327836e-02 1.96467806e-04 9.99859978e-01 -4.91813558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.12587156 meters 0.015641600065051463 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.15, Z:-0.05 [[ 9.99803270e-01 9.34759798e-03 1.74940879e-02 2.50354395e+00] [-9.34361651e-03 9.99956300e-01 -3.09312746e-04 -1.51871310e-01] [-1.74962148e-02 1.45793846e-04 9.99846919e-01 -5.11594252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.18587156 meters 0.012020759658056499 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.14, Z:-0.05 [[ 9.99669944e-01 1.84543672e-02 1.78728894e-02 2.56471014e+00] [-1.84515925e-02 9.99829704e-01 -3.20149559e-04 -1.44687316e-01] [-1.78757539e-02 -9.73938007e-06 9.99840216e-01 -5.19445754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.24587156 meters 0.014996898284001685 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.14, Z:-0.05 [[ 9.99513707e-01 2.60538332e-02 1.71332284e-02 2.62657666e+00] [-2.60524128e-02 9.99660531e-01 -3.06133028e-04 -1.37270516e-01] [-1.71353882e-02 -1.40377781e-04 9.99853169e-01 -5.33029654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.30587156 meters 0.02467994017701805 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.12, Z:-0.06 [[ 9.99188953e-01 3.66569412e-02 1.66644786e-02 2.68711468e+00] [-3.66570021e-02 9.99327861e-01 -3.01902166e-04 -1.23188503e-01] [-1.66643445e-02 -3.09212518e-04 9.99861092e-01 -5.68159869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.36587156 meters 0.0340181725248958 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.11, Z:-0.06 [[ 9.98853813e-01 4.47658521e-02 1.69433753e-02 2.74733151e+00] [-4.47670732e-02 9.98997405e-01 -3.07397614e-04 -1.08310249e-01] [-1.69401488e-02 -4.51460041e-04 9.99856403e-01 -5.82377575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.425871560000001 meters 0.041021669221321555 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.10, Z:-0.06 [[ 9.98707765e-01 4.81780071e-02 1.61764952e-02 2.80827689e+00] [-4.81795736e-02 9.98838647e-01 -2.93091732e-04 -1.01860584e-01] [-1.61718291e-02 -4.86663651e-04 9.99869109e-01 -5.92698833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.48587156 meters 0.04023498364411987 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.10, Z:-0.06 [[ 9.98603745e-01 4.98195741e-02 1.75661961e-02 2.86921094e+00] [-4.98216847e-02 9.98758078e-01 -3.17720916e-04 -9.71020330e-02] [-1.75602090e-02 -5.57900189e-04 9.99845652e-01 -6.12725213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.54587156 meters 0.03974576638776055 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.10, Z:-0.06 [[ 9.98587100e-01 5.01628823e-02 1.75353571e-02 2.93182784e+00] [-5.01650310e-02 9.98740892e-01 -3.17583863e-04 -9.56112384e-02] [-1.75292091e-02 -5.62526582e-04 9.99846193e-01 -6.31649536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.60587156 meters 0.03734939464707239 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.10, Z:-0.06 [[ 9.98640398e-01 4.90888479e-02 1.75397116e-02 2.99444767e+00] [-4.90907526e-02 9.98794270e-01 -3.22202395e-04 -9.70657130e-02] [-1.75343800e-02 -5.39273317e-04 9.99846116e-01 -6.40416925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.665871560000001 meters 0.03274369041414766 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.10, Z:-0.07 [[ 9.98775034e-01 4.72243716e-02 1.47746275e-02 3.05658213e+00] [-4.72255326e-02 9.98884215e-01 -2.70494985e-04 -9.97289745e-02] [-1.47709162e-02 -4.27576017e-04 9.99890813e-01 -6.79708460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.72587156 meters 0.029685186917124087 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.10, Z:-0.07 [[ 9.98876884e-01 4.46034402e-02 1.59844613e-02 3.11834753e+00] [-4.46043914e-02 9.99004685e-01 -2.97175157e-04 -9.98360989e-02] [-1.59818067e-02 -4.16135771e-04 9.99872196e-01 -6.69168833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.78587156 meters 0.030773253380137876 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.09, Z:-0.07 [[ 9.98940548e-01 4.25942332e-02 1.74216025e-02 3.17882561e+00] [-4.25950310e-02 9.99092367e-01 -3.25439360e-04 -9.21502404e-02] [-1.74196519e-02 -4.16979124e-04 9.99848179e-01 -6.76375208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.84587156 meters 0.027028365466827603 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.09, Z:-0.07 [[ 9.98970411e-01 4.20776885e-02 1.69583566e-02 3.24106419e+00] [-4.20783975e-02 9.99114262e-01 -3.15163725e-04 -9.35079104e-02] [-1.69565973e-02 -3.98741232e-04 9.99856147e-01 -6.75676137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.90587156 meters 0.029678374197121053 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.09, Z:-0.07 [[ 9.98971248e-01 4.23958498e-02 1.60946458e-02 3.30222217e+00] [-4.23964860e-02 9.99100819e-01 -3.01818929e-04 -8.56538138e-02] [-1.60929697e-02 -3.80847994e-04 9.99870427e-01 -7.28595347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.96587156 meters 0.029666142607681377 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.08, Z:-0.08 [[ 9.98977811e-01 4.25580860e-02 1.52362293e-02 3.36480149e+00] [-4.25586430e-02 9.99093929e-01 -2.87826646e-04 -8.37373411e-02] [-1.52346736e-02 -3.60900811e-04 9.99883880e-01 -7.64402961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.02587156 meters 0.03221310048754654 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.08, Z:-0.08 [[ 9.98996820e-01 4.24273327e-02 1.43274163e-02 3.42641770e+00] [-4.24277670e-02 9.99099499e-01 -2.73781363e-04 -7.51872716e-02] [-1.43261303e-02 -3.34373571e-04 9.99897320e-01 -8.18138559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.085871560000001 meters 0.028067809102790612 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.08, Z:-0.08 [[ 9.98993264e-01 4.26779385e-02 1.38221604e-02 3.48853628e+00] [-4.26783667e-02 9.99088829e-01 -2.64118628e-04 -7.68767324e-02] [-1.38208381e-02 -3.26054502e-04 9.99904434e-01 -8.02052500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.14587156 meters 0.02922858794359291 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.07, Z:-0.08 [[ 9.98921582e-01 4.40366125e-02 1.47122229e-02 3.55105428e+00] [-4.40372033e-02 9.99029851e-01 -2.83961313e-04 -7.22138412e-02] [-1.47104546e-02 -3.64230067e-04 9.99891729e-01 -8.04567813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.20587156 meters 0.03348701086747615 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.06, Z:-0.08 [[ 9.98688717e-01 4.88470471e-02 1.53235887e-02 3.61230692e+00] [-4.88481825e-02 9.98806170e-01 -3.00406505e-04 -5.86692091e-02] [-1.53199690e-02 -4.48516872e-04 9.99882542e-01 -8.13784395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.26587156 meters 0.039636817725441004 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.04, Z:-0.09 [[ 9.98427082e-01 5.45548406e-02 1.29279555e-02 3.67284652e+00] [-5.45561177e-02 9.98510674e-01 -2.54114324e-04 -4.29676311e-02] [-1.29225647e-02 -4.51584438e-04 9.99916398e-01 -8.66238167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.32587156 meters 0.04459468897554531 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.03, Z:-0.09 [[ 9.98286470e-01 5.68566868e-02 1.38361862e-02 3.73436416e+00] [-5.68584017e-02 9.98382216e-01 -2.69716732e-04 -2.91065747e-02] [-1.38291374e-02 -5.17448867e-04 9.99904239e-01 -8.91951481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.38587156 meters 0.04052183345869594 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.03, Z:-0.09 [[ 9.98346629e-01 5.56618766e-02 1.43444760e-02 3.79705029e+00] [-5.56635430e-02 9.98449543e-01 -2.83370778e-04 -2.76971308e-02] [-1.43380084e-02 -5.15562094e-04 9.99897073e-01 -8.87760857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.44587156 meters 0.03869692249092875 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.02, Z:-0.09 [[ 9.98606180e-01 5.06202013e-02 1.49429983e-02 3.85694027e+00] [-5.06214173e-02 9.98717870e-01 -2.97096669e-04 -2.43406550e-02] [-1.49388785e-02 -4.59753183e-04 9.99888303e-01 -9.22082644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.505871560000001 meters 0.030536214373309372 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.03, Z:-0.09 [[ 9.98845197e-01 4.55332926e-02 1.53294282e-02 3.91777378e+00] [-4.55339797e-02 9.98962744e-01 -3.04380406e-04 -3.10880237e-02] [-1.53273871e-02 -3.93980967e-04 9.99882451e-01 -9.09688714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.56587156 meters 0.023257455543326127 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.04, Z:-0.09 [[ 9.99190118e-01 3.73896548e-02 1.48701764e-02 3.97836176e+00] [-3.73893961e-02 9.99300728e-01 -2.95503794e-04 -3.74791524e-02] [-1.48708269e-02 -2.60722446e-04 9.99889389e-01 -9.49613137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.62587156 meters 0.01857168662644919 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.04, Z:-0.10 [[ 9.99377028e-01 3.17987204e-02 1.53100300e-02 4.03867539e+00] [-3.17977895e-02 9.99494276e-01 -3.04286361e-04 -4.42973802e-02] [-1.53119633e-02 -1.82728314e-04 9.99882748e-01 -9.66364850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.68587156 meters 0.025554306089976327 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.05, Z:-0.10 [[ 9.99569561e-01 2.51738215e-02 1.50655533e-02 4.10131287e+00] [-2.51721744e-02 9.99683086e-01 -2.98974194e-04 -4.90742305e-02] [-1.50683051e-02 -8.03872311e-05 9.99886463e-01 -9.65707272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.74587156 meters 0.016876206619857614 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.05, Z:-0.10 [[ 9.99621652e-01 2.23464688e-02 1.60371189e-02 4.16206274e+00] [-2.23442398e-02 9.99750286e-01 -3.18181365e-04 -5.29264445e-02] [-1.60402244e-02 -4.02762488e-05 9.99871347e-01 -9.67987620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.80587156 meters 0.012000398578658892 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.05, Z:-0.10 [[ 9.99584729e-01 2.25487178e-02 1.79422503e-02 4.22468210e+00] [-2.25459033e-02 9.99745744e-01 -3.59153343e-04 -5.12728986e-02] [-1.79457868e-02 -4.55200428e-05 9.99838960e-01 -9.65224881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.86587156 meters 0.011644730063511048 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.05, Z:-0.10 [[ 9.99533795e-01 2.31636430e-02 1.98906351e-02 4.28555066e+00] [-2.31602288e-02 9.99731685e-01 -4.02020626e-04 -5.00960251e-02] [-1.98946104e-02 -5.88384566e-05 9.99802081e-01 -9.53574376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.925871560000001 meters 0.011912029553614043 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.05, Z:-0.10 [[ 9.99525994e-01 2.37409701e-02 1.95998426e-02 4.34781984e+00] [-2.37377034e-02 9.99718141e-01 -3.99335100e-04 -4.86370275e-02] [-1.96037988e-02 -6.61094371e-05 9.99807825e-01 -9.91123216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.98587156 meters 0.012251967810980082 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.05, Z:-0.10 [[ 9.99548236e-01 2.37001928e-02 1.84830679e-02 4.41011816e+00] [-2.36972533e-02 9.99719109e-01 -3.78067782e-04 -5.09772989e-02] [-1.84868365e-02 -6.01009579e-05 9.99829102e-01 -1.03495121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.04587156 meters 0.01200711333330887 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.05, Z:-0.11 [[ 9.99580199e-01 2.32862972e-02 1.72387107e-02 4.47266516e+00] [-2.32836379e-02 9.99728836e-01 -3.54980034e-04 -5.42632997e-02] [-1.72423023e-02 -4.65488834e-05 9.99851339e-01 -1.06054771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.10587156 meters 0.011618114767686179 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.06, Z:-0.11 [[ 9.99593397e-01 2.26484235e-02 1.73230665e-02 4.53525775e+00] [-2.26455976e-02 9.99743491e-01 -3.59298925e-04 -5.73344269e-02] [-1.73267606e-02 -3.31383605e-05 9.99849880e-01 -1.07549586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.16587156 meters 0.01160155515300752 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.06, Z:-0.11 [[ 9.99587774e-01 2.25605228e-02 1.77568523e-02 4.59772203e+00] [-2.25574752e-02 9.99745479e-01 -3.71924708e-04 -6.14535332e-02] [-1.77607236e-02 -2.87783662e-05 9.99842265e-01 -1.09099626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.22587156 meters 0.019005778341066152 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.06, Z:-0.11 [[ 9.99554991e-01 2.48631502e-02 1.64815938e-02 4.65833242e+00] [-2.48607695e-02 9.99690862e-01 -3.49344532e-04 -6.17047772e-02] [-1.64851845e-02 -6.05560339e-05 9.99864108e-01 -1.12093227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.28587156 meters 0.026586791481893756 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.06, Z:-0.11 [[ 9.99408314e-01 3.02279384e-02 1.64101860e-02 4.72032915e+00] [-3.02262948e-02 9.99543021e-01 -3.48234523e-04 -5.61809230e-02] [-1.64132133e-02 -1.47990643e-04 9.99865283e-01 -1.14026958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.34587156 meters 0.0193183360903669 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.05, Z:-0.12 [[ 9.99241618e-01 3.46302414e-02 1.78026947e-02 4.78256828e+00] [-3.46289452e-02 9.99400166e-01 -3.81168353e-04 -4.94971739e-02] [-1.78052160e-02 -2.35609258e-04 9.99841447e-01 -1.15283291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.40587156 meters 0.023157247304500275 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.04, Z:-0.11 [[ 9.99007967e-01 4.05505983e-02 1.84046571e-02 4.84354688e+00] [-4.05501343e-02 9.99177426e-01 -3.98552001e-04 -4.27707114e-02] [-1.84056794e-02 -3.48154692e-04 9.99830541e-01 -1.14515001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.46587156 meters 0.02578815507610519 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.04, Z:-0.12 [[ 9.98932349e-01 4.24279827e-02 1.82764639e-02 4.90473103e+00] [-4.24278501e-02 9.99099455e-01 -3.95177526e-04 -3.95346552e-02] [-1.82767717e-02 -3.80675456e-04 9.99832893e-01 -1.17578426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.52587156 meters 0.029832830800947036 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.03, Z:-0.12 [[ 9.98879737e-01 4.44347454e-02 1.62734436e-02 4.96595413e+00] [-4.44348574e-02 9.99012221e-01 -3.54878003e-04 -3.33176021e-02] [-1.62731379e-02 -3.68627697e-04 9.99867516e-01 -1.24420763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.58587156 meters 0.02626984988189119 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.04, Z:-0.13 [[ 9.98995288e-01 4.16543214e-02 1.65327595e-02 5.02735224e+00] [-4.16540202e-02 9.99132029e-01 -3.62715057e-04 -3.57869716e-02] [-1.65335182e-02 -3.26305265e-04 9.99863259e-01 -1.25633669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.64587156 meters 0.021955010423441 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.04, Z:-0.13 [[ 9.99109938e-01 3.89493808e-02 1.61950063e-02 5.08957127e+00] [-3.89487598e-02 9.99241147e-01 -3.53874310e-04 -4.16953253e-02] [-1.61964998e-02 -2.77216069e-04 9.99868790e-01 -1.26430867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.70587156 meters 0.020121606358315437 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.04, Z:-0.13 [[ 9.99189331e-01 3.62411315e-02 1.75288941e-02 5.15092080e+00] [-3.62399128e-02 9.99343044e-01 -3.87270979e-04 -4.30539422e-02] [-1.75314135e-02 -2.48288565e-04 9.99846282e-01 -1.25820158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.76587156 meters 0.019274301714037302 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.05, Z:-0.12 [[ 9.99263212e-01 3.39690498e-02 1.78643815e-02 5.21321095e+00] [-3.39674031e-02 9.99422863e-01 -3.95684754e-04 -4.72989790e-02] [-1.78675124e-02 -2.11413430e-04 9.99840341e-01 -1.24815756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.82587156 meters 0.015967801239526114 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.05, Z:-0.13 [[ 9.99352983e-01 3.13255042e-02 1.76728176e-02 5.27432482e+00] [-3.13234116e-02 9.99509223e-01 -3.95271268e-04 -5.00226653e-02] [-1.76765262e-02 -1.58557418e-04 9.99843745e-01 -1.28719386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.88587156 meters 0.02182225184526036 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.06, Z:-0.13 [[ 9.99520029e-01 2.53404308e-02 1.78205935e-02 5.33670865e+00] [-2.53373124e-02 9.99678878e-01 -4.00779016e-04 -6.05646598e-02] [-1.78250268e-02 -5.09392918e-05 9.99841120e-01 -1.28743785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.94587156 meters 0.012258171393148934 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.07, Z:-0.13 [[ 9.99646796e-01 1.91458829e-02 1.84314384e-02 5.39912077e+00] [-1.91414973e-02 9.99816699e-01 -4.14347460e-04 -7.31518513e-02] [-1.84359930e-02 6.13957824e-05 9.99830041e-01 -1.29882160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.005871560000001 meters 0.013523365490880098 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.08, Z:-0.13 [[ 9.99690872e-01 1.64514239e-02 1.86416522e-02 5.46072280e+00] [-1.64463969e-02 9.99864659e-01 -4.22950237e-04 -8.05707307e-02] [-1.86460873e-02 1.16231482e-04 9.99826140e-01 -1.31682926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.06587156 meters 0.026577351822989904 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.09, Z:-0.14 [[ 9.99738272e-01 1.48965193e-02 1.73632258e-02 5.52205733e+00] [-1.48918765e-02 9.99889031e-01 -3.96665883e-04 -8.97147008e-02] [-1.73672080e-02 1.37991050e-04 9.99849169e-01 -1.35084394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.12587156 meters 0.014704396208110768 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.09, Z:-0.14 [[ 9.99733146e-01 1.62426833e-02 1.64259304e-02 5.58481580e+00] [-1.62386789e-02 9.99868073e-01 -3.77143628e-04 -9.21774264e-02] [-1.64298892e-02 1.10307578e-04 9.99865014e-01 -1.38623154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.18587156 meters 0.012039522973065826 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.09, Z:-0.14 [[ 9.99606212e-01 2.30254752e-02 1.60389468e-02 5.64708593e+00] [-2.30224816e-02 9.99734879e-01 -3.71282840e-04 -8.52761239e-02] [-1.60432435e-02 1.88027621e-06 9.99871299e-01 -1.37919597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.24587156 meters 0.016345424420387538 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.07, Z:-0.14 [[ 9.99323752e-01 3.23676731e-02 1.74462898e-02 5.70824197e+00] [-3.23654913e-02 9.99476017e-01 -4.07467633e-04 -7.34158152e-02] [-1.74503370e-02 -1.57465658e-04 9.99847719e-01 -1.39860632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.30587156 meters 0.021422462971701327 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.07, Z:-0.14 [[ 9.99039128e-01 3.98996062e-02 1.81339791e-02 5.76970806e+00] [-3.98984084e-02 9.99203650e-01 -4.27982537e-04 -6.60727025e-02] [-1.81366144e-02 -2.95945601e-04 9.99835474e-01 -1.38747231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.36587156 meters 0.02455724757565555 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.06, Z:-0.14 [[ 9.98892473e-01 4.36398357e-02 1.75895708e-02 5.83168271e+00] [-4.36393067e-02 9.99047266e-01 -4.14084095e-04 -6.14741885e-02] [-1.75908832e-02 -3.53971189e-04 9.99845206e-01 -1.40999828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.425871560000001 meters 0.032190125294134946 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.05, Z:-0.14 [[ 9.98668974e-01 4.85977437e-02 1.72782756e-02 5.89212137e+00] [-4.85978973e-02 9.98818339e-01 -4.11231935e-04 -4.75698461e-02] [-1.72778435e-02 -4.29003287e-04 9.99850635e-01 -1.44368693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.48587156 meters 0.034426327199311255 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.04, Z:-0.15 [[ 9.98525087e-01 5.13686994e-02 1.75757641e-02 5.95419798e+00] [-5.13692962e-02 9.98679639e-01 -4.17803419e-04 -4.28006112e-02] [-1.75740198e-02 -4.85667439e-04 9.99845447e-01 -1.46324141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.54587156 meters 0.03484631782449274 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.04, Z:-0.15 [[ 9.98490564e-01 5.19371266e-02 1.78641479e-02 6.01672106e+00] [-5.19378406e-02 9.98650229e-01 -4.24290962e-04 -3.96278923e-02] [-1.78620719e-02 -5.04174747e-04 9.99840333e-01 -1.47658489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.60587156 meters 0.030572528726602037 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.04, Z:-0.15 [[ 9.98620947e-01 4.90421873e-02 1.87368288e-02 6.07804112e+00] [-4.90423753e-02 9.98796597e-01 -4.49733450e-04 -4.18306558e-02] [-1.87363367e-02 -4.69785344e-04 9.99824349e-01 -1.48059351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.66587156 meters 0.02561708544645243 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.04, Z:-0.15 [[ 9.98843896e-01 4.41745920e-02 1.89598687e-02 6.13920831e+00] [-4.41738968e-02 9.99023753e-01 -4.55672189e-04 -4.44229139e-02] [-1.89614883e-02 -3.82385899e-04 9.99820142e-01 -1.48832178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.72587156 meters 0.022560754362109314 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.05, Z:-0.16 [[ 9.99055413e-01 4.03228134e-02 1.61972954e-02 6.20041128e+00] [-4.03218254e-02 9.99186669e-01 -3.87700569e-04 -4.76735190e-02] [-1.61997548e-02 -2.65770163e-04 9.99868740e-01 -1.55710093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.78587156 meters 0.022063142166218234 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.05, Z:-0.16 [[ 9.99079295e-01 3.99436989e-02 1.56544634e-02 6.26311619e+00] [-3.99427010e-02 9.99201901e-01 -3.76529835e-04 -4.53612995e-02] [-1.56570096e-02 -2.49098388e-04 9.99877390e-01 -1.58096490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.84587156 meters 0.02193332412149563 Centerline is valid? [True, True] Translation: X:6.33, Y:-0.04, Z:-0.16 [[ 9.99081964e-01 3.97355127e-02 1.60099236e-02 6.32544745e+00] [-3.97343862e-02 9.99210202e-01 -3.88575736e-04 -3.96628982e-02] [-1.60127192e-02 -2.47925475e-04 9.99871757e-01 -1.59662939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.90587156 meters 0.018307910020495224 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.04, Z:-0.16 [[ 9.99166810e-01 3.73104788e-02 1.65412537e-02 6.38779726e+00] [-3.73088975e-02 9.99303699e-01 -4.04284477e-04 -4.21953846e-02] [-1.65448201e-02 -2.13188309e-04 9.99863102e-01 -1.58900325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.96587156 meters 0.012234866596154297 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.05, Z:-0.16 [[ 9.99429282e-01 2.79124595e-02 1.90264008e-02 6.44866119e+00] [-2.79085619e-02 9.99610370e-01 -4.70397325e-04 -5.04471647e-02] [-1.90321175e-02 -6.08706226e-05 9.99818871e-01 -1.57421755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.02587156 meters 0.021564172322541503 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.07, Z:-0.16 [[ 9.99686275e-01 1.70688725e-02 1.83304677e-02 6.51074570e+00] [-1.70634500e-02 9.99854306e-01 -4.52192494e-04 -6.51270962e-02] [-1.83355155e-02 1.39269611e-04 9.99831881e-01 -1.59084946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.08587156 meters 0.020723004462303234 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.08, Z:-0.17 [[ 9.99819964e-01 9.56156348e-03 1.63894908e-02 6.57172649e+00] [-9.55615534e-03 9.99954256e-01 -4.08261494e-04 -7.74240540e-02] [-1.63926447e-02 2.51567473e-04 9.99865600e-01 -1.65567384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.14587156 meters 0.031806220408022785 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.09, Z:-0.17 [[ 9.99863166e-01 5.69171047e-03 1.55323723e-02 6.63156051e+00] [-5.68637668e-03 9.99983757e-01 -3.87541080e-04 -8.66039587e-02] [-1.55343258e-02 2.99165131e-04 9.99879290e-01 -1.67268340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.20587156 meters 0.02827271988566262 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.09, Z:-0.17 [[ 9.99879346e-01 2.05958359e-03 1.53964501e-02 6.69256146e+00] [-2.05391697e-03 9.99997817e-01 -3.83850885e-04 -9.42356107e-02] [-1.53972070e-02 3.52181542e-04 9.99881394e-01 -1.69040889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.26587156 meters 0.035988855002674736 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.10, Z:-0.17 [[ 9.99866172e-01 1.15553404e-03 1.63187577e-02 6.75495185e+00] [-1.14906773e-03 9.99999258e-01 -4.05620770e-04 -1.01548834e-01] [-1.63192143e-02 3.86815129e-04 9.99866758e-01 -1.68934035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.32587156 meters 0.0342953431892356 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.11, Z:-0.17 [[ 9.99867805e-01 1.66887560e-03 1.61736857e-02 6.81674686e+00] [-1.66254917e-03 9.99998536e-01 -4.04593350e-04 -1.08150666e-01] [-1.61743373e-02 3.77650317e-04 9.99869116e-01 -1.70609173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.38587156 meters 0.029060584671209953 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.11, Z:-0.18 [[ 9.99877825e-01 3.61077603e-03 1.52084372e-02 6.87798687e+00] [-3.60537148e-03 9.99993427e-01 -3.82767898e-04 -1.12327120e-01] [-1.52097193e-02 3.27889068e-04 9.99884272e-01 -1.75573525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.44587156 meters 0.023734459918039734 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.11, Z:-0.18 [[ 9.99871631e-01 9.03189662e-03 1.32343026e-02 6.93975094e+00] [-9.02824065e-03 9.99959188e-01 -3.35968983e-04 -1.10674000e-01] [-1.32367969e-02 2.16443386e-04 9.99912366e-01 -1.80100757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.505871560000001 meters 0.032256956523016134 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.11, Z:-0.18 [[ 9.99789469e-01 1.49214128e-02 1.40843449e-02 7.00112187e+00] [-1.49178408e-02 9.99888659e-01 -3.58646062e-04 -1.08805101e-01] [-1.40881282e-02 1.48462540e-04 9.99900746e-01 -1.77507347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.56587156 meters 0.013376704125553472 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.11, Z:-0.18 [[ 9.99687062e-01 2.06975274e-02 1.40496034e-02 7.06327803e+00] [-2.06945685e-02 9.99785781e-01 -3.55969174e-04 -1.08031416e-01] [-1.40539614e-02 6.51072986e-05 9.99901236e-01 -1.79393998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.62587156 meters 0.012621808373077081 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.11, Z:-0.18 [[ 9.99607510e-01 2.43158514e-02 1.39127400e-02 7.12506480e+00] [-2.43132674e-02 9.99704326e-01 -3.54865880e-04 -1.08804871e-01] [-1.39172552e-02 1.64624309e-05 9.99903150e-01 -1.81576429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.68587156 meters 0.014639118431002318 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.11, Z:-0.19 [[ 9.99492437e-01 2.88702636e-02 1.34675712e-02 7.18645584e+00] [-2.88682239e-02 9.99583166e-01 -3.45870367e-04 -1.09625894e-01] [-1.34719428e-02 -4.30900445e-05 9.99909248e-01 -1.88360518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.74587156 meters 0.013850987957053055 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.11, Z:-0.18 [[ 9.99403381e-01 3.16060929e-02 1.39261389e-02 7.24979875e+00] [-3.16041523e-02 9.99500399e-01 -3.59454872e-04 -1.10619812e-01] [-1.39305423e-02 -8.08833998e-05 9.99902962e-01 -1.84065477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.80587156 meters 0.017388293075595397 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.11, Z:-0.19 [[ 9.99317281e-01 3.38546058e-02 1.47931653e-02 7.31150773e+00] [-3.38525993e-02 9.99426762e-01 -3.86094165e-04 -1.09944146e-01] [-1.47977563e-02 -1.14956524e-04 9.99890501e-01 -1.90420388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.86587156 meters 0.015999121902935697 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.12, Z:-0.19 [[ 9.99382107e-01 3.19322839e-02 1.46878505e-02 7.37218712e+00] [-3.19300755e-02 9.99490031e-01 -3.84892477e-04 -1.19464460e-01] [-1.46926506e-02 -8.43295190e-05 9.99892054e-01 -1.92205421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.925871560000001 meters 0.013013466371071723 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.13, Z:-0.19 [[ 9.99444821e-01 3.00169833e-02 1.44578766e-02 7.43394021e+00] [-3.00146220e-02 9.99549387e-01 -3.80325790e-04 -1.28662183e-01] [-1.44627780e-02 -5.38330607e-05 9.99895407e-01 -1.88332872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.98587156 meters 0.012927235724760242 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.13, Z:-0.19 [[ 9.99437798e-01 3.00228703e-02 1.49236308e-02 7.49578513e+00] [-3.00203142e-02 9.99549211e-01 -3.95318099e-04 -1.34047494e-01] [-1.49287720e-02 -5.29162367e-05 9.99888558e-01 -1.89431779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.04587156 meters 0.013762051621722999 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.14, Z:-0.19 [[ 9.99420098e-01 3.09710474e-02 1.41513635e-02 7.55720079e+00] [-3.09687977e-02 9.99520280e-01 -3.78136212e-04 -1.35815972e-01] [-1.41562861e-02 -6.03337836e-05 9.99899793e-01 -1.93343820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.10587156 meters 0.01806697717324543 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.14, Z:-0.19 [[ 9.99374971e-01 3.22679255e-02 1.44377101e-02 7.62062939e+00] [-3.22657186e-02 9.99479252e-01 -3.85822865e-04 -1.35878492e-01] [-1.44426414e-02 -8.02613762e-05 9.99895696e-01 -1.93114934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.16587156 meters 0.014440471268038624 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.13, Z:-0.19 [[ 9.99272937e-01 3.39072546e-02 1.74326245e-02 7.68243726e+00] [-3.39042045e-02 9.99424976e-01 -4.70564613e-04 -1.34605108e-01] [-1.74385559e-02 -1.20816785e-04 9.99847930e-01 -1.90760356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.22587156 meters 0.01216960633697483 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.15, Z:-0.19 [[ 9.99395311e-01 3.00728002e-02 1.74539316e-02 7.74422362e+00] [-3.00691085e-02 9.99547710e-01 -4.73964131e-04 -1.46267958e-01] [-1.74602908e-02 -5.11466319e-05 9.99847556e-01 -1.91553547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.28587156 meters 0.021913632029696057 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.16, Z:-0.19 [[ 9.99514085e-01 2.62879543e-02 1.67492365e-02 7.80730641e+00] [-2.62839829e-02 9.99654412e-01 -4.57237280e-04 -1.55133711e-01] [-1.67554680e-02 1.67784554e-05 9.99859617e-01 -1.93922752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.34587156 meters 0.022756667892482752 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.17, Z:-0.20 [[ 9.99635499e-01 2.19201898e-02 1.57598887e-02 7.86922338e+00] [-2.19160835e-02 9.99759720e-01 -4.33235061e-04 -1.68533219e-01] [-1.57655985e-02 8.76821087e-05 9.99875711e-01 -1.97964684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.40587156 meters 0.014059243036829028 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.18, Z:-0.20 [[ 9.99642326e-01 2.12629058e-02 1.62206492e-02 7.93180682e+00] [-2.12584272e-02 9.99773914e-01 -4.48497687e-04 -1.76089812e-01] [-1.62265182e-02 1.03511781e-04 9.99868336e-01 -1.99976161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.46587156 meters 0.01392890627310671 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.18, Z:-0.20 [[ 9.99612365e-01 2.26072933e-02 1.62490237e-02 7.99335597e+00] [-2.26029195e-02 9.99744419e-01 -4.52800493e-04 -1.79000124e-01] [-1.62551074e-02 8.53495967e-05 9.99867873e-01 -2.03372538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.52587156 meters 0.012461591592008488 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.18, Z:-0.20 [[ 9.99481707e-01 2.77367820e-02 1.63397712e-02 8.05546608e+00] [-2.77329982e-02 9.99615261e-01 -4.58157577e-04 -1.80153132e-01] [-1.63461925e-02 4.76927260e-06 9.99866392e-01 -2.04687080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.58587156 meters 0.013966564356207913 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.18, Z:-0.20 [[ 9.99249822e-01 3.47050466e-02 1.71858146e-02 8.11817706e+00] [-3.47018385e-02 9.99397592e-01 -4.84934472e-04 -1.75667986e-01] [-1.71922914e-02 -1.11808679e-04 9.99852195e-01 -2.04200119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.64587156 meters 0.01758625996769191 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.17, Z:-0.21 [[ 9.99055776e-01 3.99663056e-02 1.70367349e-02 8.18029764e+00] [-3.99638687e-02 9.99201008e-01 -4.83599248e-04 -1.69678500e-01] [-1.70424503e-02 -1.97711213e-04 9.99854747e-01 -2.05912840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.70587156 meters 0.020201085455550587 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.17, Z:-0.21 [[ 9.98965802e-01 4.16638581e-02 1.82057592e-02 8.24282689e+00] [-4.16612969e-02 9.99131656e-01 -5.20089282e-04 -1.68163139e-01] [-1.82116193e-02 -2.38924134e-04 9.99834126e-01 -2.08184374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.76587156 meters 0.019328216282506888 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.17, Z:-0.21 [[ 9.98927721e-01 4.24753969e-02 1.84187344e-02 8.30556716e+00] [-4.24728536e-02 9.99097481e-01 -5.29419552e-04 -1.72751960e-01] [-1.84245984e-02 -2.53444342e-04 9.99830221e-01 -2.08966946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.82587156 meters 0.019956822218259517 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.17, Z:-0.21 [[ 9.98898508e-01 4.29978324e-02 1.87871424e-02 8.36766517e+00] [-4.29952058e-02 9.99075131e-01 -5.43887181e-04 -1.70351356e-01] [-1.87931527e-02 -2.64468962e-04 9.99823358e-01 -2.10380189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.88587156 meters 0.019643557766333624 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.17, Z:-0.21 [[ 9.98891452e-01 4.28299855e-02 1.95310113e-02 8.43008421e+00] [-4.28270400e-02 9.99082339e-01 -5.69242283e-04 -1.71809936e-01] [-1.95374691e-02 -2.67844151e-04 9.99809090e-01 -2.11644842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.94587156 meters 0.01642295097032534 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.18, Z:-0.21 [[ 9.99019748e-01 3.98532541e-02 1.92681579e-02 8.49220427e+00] [-3.98497741e-02 9.99205523e-01 -5.64682856e-04 -1.76971126e-01] [-1.92753542e-02 -2.03702414e-04 9.99814192e-01 -2.14118360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.00587156 meters 0.02674044281933643 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.19, Z:-0.21 [[ 9.99233515e-01 3.42105917e-02 1.90267834e-02 8.55305691e+00] [-3.42061119e-02 9.99414642e-01 -5.60937805e-04 -1.86047160e-01] [-1.90348359e-02 -9.03244275e-05 9.99818817e-01 -2.14416259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.06587156 meters 0.021926896216455022 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.19, Z:-0.22 [[ 9.99361128e-01 3.04729016e-02 1.86745515e-02 8.61463705e+00] [-3.04678824e-02 9.99535593e-01 -5.53291256e-04 -1.92906267e-01] [-1.86827393e-02 -1.60362646e-05 9.99825462e-01 -2.16846953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.12587156 meters 0.012886000954215387 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.20, Z:-0.22 [[ 9.99476818e-01 2.61102640e-02 1.90878182e-02 8.67588067e+00] [-2.61041624e-02 9.99659066e-01 -5.68790139e-04 -2.04842986e-01] [-1.90961618e-02 7.02210526e-05 9.99817649e-01 -2.20188870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.18587156 meters 0.013444678605834735 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.21, Z:-0.22 [[ 9.99511980e-01 2.41538086e-02 1.98089745e-02 8.73880754e+00] [-2.41467816e-02 9.99708248e-01 -5.93880449e-04 -2.13282884e-01] [-1.98175397e-02 1.15267642e-04 9.99803607e-01 -2.20671215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.24587156 meters 0.021370255332665483 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.22, Z:-0.22 [[ 9.99512729e-01 2.44169742e-02 1.94451790e-02 8.80157237e+00] [-2.44101805e-02 9.99701855e-01 -5.86688761e-04 -2.15307662e-01] [-1.94537067e-02 1.11742557e-04 9.99810752e-01 -2.21975431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.30587156 meters 0.01885081256922535 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.21, Z:-0.22 [[ 9.99437891e-01 2.76275552e-02 1.89899927e-02 8.86410977e+00] [-2.76215846e-02 9.99618285e-01 -5.76675283e-04 -2.13979856e-01] [-1.89986760e-02 5.18174392e-05 9.99819508e-01 -2.24819962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.36587156 meters 0.011891059901413174 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.21, Z:-0.23 [[ 9.99349538e-01 3.03470641e-02 1.94822077e-02 8.92654020e+00] [-3.03412289e-02 9.99539422e-01 -5.95096958e-04 -2.14839779e-01] [-1.94912941e-02 3.59574420e-06 9.99810027e-01 -2.27759893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.42587156 meters 0.01249389899019439 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.22, Z:-0.23 [[ 9.99259553e-01 3.34068404e-02 1.90874090e-02 8.98838857e+00] [-3.34017388e-02 9.99441834e-01 -5.86108385e-04 -2.16330771e-01] [-1.90963351e-02 -5.18782478e-05 9.99817647e-01 -2.31388836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.48587156 meters 0.017210946153508242 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.21, Z:-0.23 [[ 9.99109977e-01 3.77070400e-02 1.89059007e-02 9.05118984e+00] [-3.77027381e-02 9.99288828e-01 -5.84053039e-04 -2.12828897e-01] [-1.89144783e-02 -1.29271004e-04 9.99821097e-01 -2.31356615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.54587156 meters 0.018113731930949974 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.21, Z:-0.24 [[ 9.98919334e-01 4.20218304e-02 1.98577265e-02 9.11287655e+00] [-4.20178634e-02 9.99116669e-01 -6.17141857e-04 -2.07490948e-01] [-1.98661190e-02 -2.17904306e-04 9.99802625e-01 -2.35067483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.60587156 meters 0.017476342736165048 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.21, Z:-0.24 [[ 9.98854309e-01 4.35288499e-02 1.98823632e-02 9.17502660e+00] [-4.35251133e-02 9.99052140e-01 -6.20835695e-04 -2.10930358e-01] [-1.98905417e-02 -2.45257700e-04 9.99802134e-01 -2.35228074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.66587156 meters 0.018404632698228483 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.21, Z:-0.24 [[ 9.98833351e-01 4.32596589e-02 2.14601712e-02 9.23668308e+00] [-4.32551545e-02 9.99063830e-01 -6.74254808e-04 -2.12203068e-01] [-2.14692489e-02 -2.54794833e-04 9.99769477e-01 -2.36775196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.72587156 meters 0.02670375156094922 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.22, Z:-0.24 [[ 9.98916586e-01 4.13957818e-02 2.12612936e-02 9.29880446e+00] [-4.13908617e-02 9.99142805e-01 -6.71605861e-04 -2.19668429e-01] [-2.12708702e-02 -2.09145029e-04 9.99773728e-01 -2.35122936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.78587156 meters 0.02386252739795563 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.22, Z:-0.24 [[ 9.98997203e-01 4.03224591e-02 1.94598991e-02 9.36031189e+00] [-4.03180776e-02 9.99186705e-01 -6.17591508e-04 -2.23683610e-01] [-1.94689752e-02 -1.67613531e-04 9.99810447e-01 -2.41348677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.84587156 meters 0.017044554102121325 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.23, Z:-0.24 [[ 9.99053781e-01 3.87643970e-02 1.97196651e-02 9.42228340e+00] [-3.87595185e-02 9.99248369e-01 -6.29671137e-04 -2.32492325e-01] [-1.97292520e-02 -1.35249394e-04 9.99805350e-01 -2.42617742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.90587156 meters 0.028832042414379287 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.24, Z:-0.24 [[ 9.99110348e-01 3.76217810e-02 1.90555523e-02 9.48563906e+00] [-3.76169632e-02 9.99292045e-01 -6.11333773e-04 -2.37767434e-01] [-1.90650613e-02 -1.06022109e-04 9.99818240e-01 -2.43871820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.96587156 meters 0.013623912612343811 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.24, Z:-0.25 [[ 9.99100089e-01 3.78775144e-02 1.90868293e-02 9.54835519e+00] [-3.78726544e-02 9.99282384e-01 -6.16161887e-04 -2.39558333e-01] [-1.90964710e-02 -1.07261495e-04 9.99817640e-01 -2.48892126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.02587156 meters 0.016948279767862232 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.24, Z:-0.25 [[ 9.99034784e-01 3.93388318e-02 1.95437314e-02 9.61114583e+00] [-3.93339383e-02 9.99225920e-01 -6.34873298e-04 -2.44494112e-01] [-1.95535781e-02 -1.34471417e-04 9.99808801e-01 -2.48267089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.08587156 meters 0.025439873850539786 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.24, Z:-0.25 [[ 9.98856479e-01 4.28606150e-02 2.11825926e-02 9.67220366e+00] [-4.28555529e-02 9.99081038e-01 -6.93073665e-04 -2.41860539e-01] [-2.11928321e-02 -2.15510596e-04 9.99775383e-01 -2.45508134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.14587156 meters 0.020613011991029852 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.23, Z:-0.25 [[ 9.98548648e-01 4.87933477e-02 2.27992663e-02 9.73473078e+00] [-4.87889244e-02 9.98808829e-01 -7.50549973e-04 -2.34860269e-01] [-2.28087303e-02 -3.62891019e-04 9.99739781e-01 -2.46462520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.20587156 meters 0.024741183732513498 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.23, Z:-0.25 [[ 9.98317133e-01 5.36517763e-02 2.20088238e-02 9.79647489e+00] [-5.36488078e-02 9.98559602e-01 -7.25722714e-04 -2.29083746e-01] [-2.20160586e-02 -4.56245739e-04 9.99757513e-01 -2.48593062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.26587156 meters 0.03010052200538841 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.22, Z:-0.25 [[ 9.98025129e-01 5.91407365e-02 2.11710880e-02 9.85779370e+00] [-5.91392110e-02 9.98249501e-01 -6.98685840e-04 -2.19140064e-01] [-2.11753488e-02 -5.54735413e-04 9.99775623e-01 -2.52217337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.32587156 meters 0.03157925168199617 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.22, Z:-0.26 [[ 9.97932756e-01 6.10958952e-02 1.99375574e-02 9.92032048e+00] [-6.10949337e-02 9.98131743e-01 -6.57891722e-04 -2.15590186e-01] [-1.99405034e-02 -5.61552050e-04 9.99801011e-01 -2.55411105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.38587156 meters 0.03828778635732379 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.21, Z:-0.26 [[ 9.97951798e-01 6.06791203e-02 2.02546982e-02 9.98213072e+00] [-6.06780413e-02 9.98157166e-01 -6.68408419e-04 -2.12221063e-01] [-2.02579306e-02 -5.61976031e-04 9.99794629e-01 -2.55400739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.44587156 meters 0.029770860356356448 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.21, Z:-0.26 [[ 9.98088052e-01 5.82850237e-02 2.05693196e-02 1.00434288e+01] [-5.82833055e-02 9.98299849e-01 -6.83521771e-04 -2.09916443e-01] [-2.05741878e-02 -5.16633027e-04 9.99788196e-01 -2.58803628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.50587156 meters 0.03502833026249853 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.21, Z:-0.26 [[ 9.98195118e-01 5.63905270e-02 2.06546399e-02 1.01059845e+01] [-5.63884024e-02 9.98408673e-01 -6.85714003e-04 -2.08969448e-01] [-2.06604394e-02 -4.80205778e-04 9.99786435e-01 -2.58733676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.56587156 meters 0.02410720227242258 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.21, Z:-0.26 [[ 9.98408042e-01 5.27657829e-02 1.99287040e-02 1.01668651e+01] [-5.27629915e-02 9.98606841e-01 -6.66211294e-04 -2.08863009e-01] [-1.99360933e-02 -3.86347325e-04 9.99801182e-01 -2.64520918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.62587156 meters 0.017986787049162452 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.22, Z:-0.27 [[ 9.98798050e-01 4.53645954e-02 1.85609619e-02 1.02277735e+01] [-4.53608882e-02 9.98970472e-01 -6.20906617e-04 -2.15427614e-01] [-1.85700200e-02 -2.21781397e-04 9.99827538e-01 -2.69163474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.68587156 meters 0.020875403551231977 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.22, Z:-0.27 [[ 9.99148638e-01 3.69419800e-02 1.83654547e-02 1.02889545e+01] [-3.69369192e-02 9.99317410e-01 -6.14810740e-04 -2.24937016e-01] [-1.83756309e-02 -6.40760016e-05 9.99831152e-01 -2.68943811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.74587156 meters 0.012451208118755244 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.23, Z:-0.27 [[ 9.99327996e-01 3.17944487e-02 1.82392533e-02 1.03503235e+01] [-3.17886205e-02 9.99494428e-01 -6.09451268e-04 -2.31956482e-01] [-1.82494093e-02 2.92410124e-05 9.99833465e-01 -2.72795879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.80587156 meters 0.024791909838674776 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.24, Z:-0.27 [[ 9.99468277e-01 2.69035509e-02 1.84217881e-02 1.04109715e+01] [-2.68967064e-02 9.99638026e-01 -6.19250785e-04 -2.40098051e-01] [-1.84317799e-02 1.23436090e-04 9.99830113e-01 -2.74026552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.86587156 meters 0.029254580641474372 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.25, Z:-0.27 [[ 9.99519686e-01 2.41245016e-02 1.94526644e-02 1.04731433e+01] [-2.41162820e-02 9.99708944e-01 -6.57054944e-04 -2.45629905e-01] [-1.94628537e-02 1.87613412e-04 9.99810563e-01 -2.73969108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.92587156 meters 0.016671369771920286 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.25, Z:-0.28 [[ 9.99499981e-01 2.38957751e-02 2.07069894e-02 1.05340161e+01] [-2.38863318e-02 9.99714433e-01 -7.03292085e-04 -2.49956464e-01] [-2.07178818e-02 2.08326408e-04 9.99785340e-01 -2.75678267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.98587156 meters 0.026548128407174024 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.25, Z:-0.27 [[ 9.99434957e-01 2.62198850e-02 2.10305445e-02 1.05967745e+01] [-2.62105756e-02 9.99656186e-01 -7.18231175e-04 -2.49743236e-01] [-2.10421458e-02 1.66602668e-04 9.99778576e-01 -2.73563634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.04587156 meters 0.012794024944267507 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.25, Z:-0.28 [[ 9.99352014e-01 2.97970033e-02 2.01913594e-02 1.06590808e+01] [-2.97891464e-02 9.99555967e-01 -6.89851395e-04 -2.48098523e-01] [-2.02029493e-02 8.79210191e-05 9.99795896e-01 -2.78161874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.105871559999997 meters 0.01225826689490084 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.24, Z:-0.28 [[ 9.99176618e-01 3.57905234e-02 1.91082371e-02 1.07224028e+01] [-3.57845295e-02 9.99359314e-01 -6.55615197e-04 -2.43268473e-01] [-1.91194595e-02 -2.87039007e-05 9.99817206e-01 -2.83003248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.16587156 meters 0.03034070754830303 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.24, Z:-0.28 [[ 9.99107754e-01 3.79488040e-02 1.85360189e-02 1.07837626e+01] [-3.79434654e-02 9.99279683e-01 -6.39743227e-04 -2.43334149e-01] [-1.85469446e-02 -6.41483749e-05 9.99827989e-01 -2.84210159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.225871559999998 meters 0.02924102228909856 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.24, Z:-0.29 [[ 9.98946211e-01 4.24538582e-02 1.74395333e-02 1.08456003e+01] [-4.24497769e-02 9.99098419e-01 -6.04310375e-04 -2.36249032e-01] [-1.74494654e-02 -1.36630737e-04 9.99847737e-01 -2.87267801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.285871559999997 meters 0.0299879846569109 Centerline is valid? [True, True] Translation: X:10.91, Y:-0.23, Z:-0.29 [[ 9.98814205e-01 4.48786611e-02 1.88703553e-02 1.09083844e+01] [-4.48742580e-02 9.98992427e-01 -6.56915157e-04 -2.32766752e-01] [-1.88808236e-02 -1.90657005e-04 9.99821723e-01 -2.86388345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.34587156 meters 0.015362783973435493 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.24, Z:-0.29 [[ 9.98803441e-01 4.44656048e-02 2.03591787e-02 1.09709786e+01] [-4.44603026e-02 9.99010897e-01 -7.13218331e-04 -2.35118496e-01] [-2.03707551e-02 -1.92810323e-04 9.99792476e-01 -2.86390824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.405871559999998 meters 0.014969478467267738 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.24, Z:-0.29 [[ 9.98896275e-01 4.22320862e-02 2.05592415e-02 1.10323092e+01] [-4.22261194e-02 9.99107817e-01 -7.24447448e-04 -2.36684225e-01] [-2.05714938e-02 -1.44489128e-04 9.99788374e-01 -2.90956357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.465871559999997 meters 0.02124581164877948 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.24, Z:-0.29 [[ 9.99023623e-01 4.01611092e-02 1.84088680e-02 1.10954741e+01] [-4.01559635e-02 9.99193213e-01 -6.49227144e-04 -2.40847844e-01] [-1.84200897e-02 -9.06325785e-05 9.99830332e-01 -2.91929132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.52587156 meters 0.013306631906657889 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.25, Z:-0.30 [[ 9.99268534e-01 3.43730249e-02 1.67598129e-02 1.11569979e+01] [-3.43678959e-02 9.99409073e-01 -5.94041961e-04 -2.52416620e-01] [-1.67703281e-02 1.76079345e-05 9.99859368e-01 -3.01624076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.585871559999998 meters 0.015229533967381624 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.26, Z:-0.30 [[ 9.99451115e-01 2.85484447e-02 1.68063982e-02 1.12188405e+01] [-2.85424079e-02 9.99592403e-01 -5.99003424e-04 -2.60656941e-01] [-1.68166486e-02 1.18979568e-04 9.99858583e-01 -3.01074321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.64587156 meters 0.018177663441050308 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.27, Z:-0.30 [[ 9.99564973e-01 2.38821749e-02 1.73062700e-02 1.12805249e+01] [-2.38750228e-02 9.99714759e-01 -6.19788981e-04 -2.71621679e-01] [-1.73161354e-02 2.06331766e-04 9.99850043e-01 -3.00290312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.70587156 meters 0.018864564187034503 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.28, Z:-0.30 [[ 9.99598131e-01 2.21081485e-02 1.77427751e-02 1.13424314e+01] [-2.21002981e-02 9.99755555e-01 -6.38436536e-04 -2.79162851e-01] [-1.77525526e-02 2.46059350e-04 9.99842381e-01 -2.99639759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.765871559999997 meters 0.02707295659880247 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.28, Z:-0.30 [[ 9.99545044e-01 2.32768433e-02 1.91805685e-02 1.14049533e+01] [-2.32678132e-02 9.99729027e-01 -6.93858868e-04 -2.80803732e-01] [-1.91915219e-02 2.47253308e-04 9.99815795e-01 -2.95960402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.82587156 meters 0.015117942023464115 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.28, Z:-0.30 [[ 9.99438353e-01 2.76022275e-02 1.90025411e-02 1.14671107e+01] [-2.75940846e-02 9.99618972e-01 -6.90633291e-04 -2.79386908e-01] [-1.90143636e-02 1.65887672e-04 9.99819197e-01 -2.99338681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.88587156 meters 0.024200195148535643 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.28, Z:-0.30 [[ 9.99281942e-01 3.36047398e-02 1.75020684e-02 1.15297015e+01] [-3.35987070e-02 9.99435200e-01 -6.38708507e-04 -2.76716279e-01] [-1.75136469e-02 5.02030088e-05 9.99846623e-01 -3.01314114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.945871559999997 meters 0.012456576466451978 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.27, Z:-0.30 [[ 9.99125396e-01 3.81171534e-02 1.71908804e-02 1.15927730e+01] [-3.81119571e-02 9.99273277e-01 -6.29905653e-04 -2.72932612e-01] [-1.72023976e-02 -2.58233630e-05 9.99852027e-01 -3.04789585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.00587156 meters 0.026085233755364937 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.27, Z:-0.31 [[ 9.98836951e-01 4.53687683e-02 1.63223592e-02 1.16547712e+01] [-4.53649967e-02 9.98970298e-01 -6.01445346e-04 -2.66879996e-01] [-1.63328389e-02 -1.39717936e-04 9.99866601e-01 -3.06522985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.065871559999998 meters 0.019694529270558887 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.26, Z:-0.32 [[ 9.98634239e-01 5.02000194e-02 1.44781124e-02 1.17161968e+01] [-5.01975324e-02 9.98739166e-01 -5.35356646e-04 -2.62823615e-01] [-1.44867328e-02 -1.92140042e-04 9.99895043e-01 -3.15289159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.125871559999997 meters 0.027446757549898195 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.26, Z:-0.31 [[ 9.98613420e-01 5.03120099e-02 1.54899408e-02 1.17770891e+01] [-5.03091198e-02 9.98733528e-01 -5.76437572e-04 -2.63088816e-01] [-1.54993250e-02 -2.03646992e-04 9.99879858e-01 -3.13466525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.18587156 meters 0.017076285498750243 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.27, Z:-0.31 [[ 9.98728439e-01 4.77172073e-02 1.62657240e-02 1.18393944e+01] [-4.77136630e-02 9.98860871e-01 -6.06123428e-04 -2.69814998e-01] [-1.62761178e-02 -1.70744570e-04 9.99867521e-01 -3.14809608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.245871559999998 meters 0.021485584877933273 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.28, Z:-0.31 [[ 9.98899738e-01 4.36078030e-02 1.72532266e-02 1.19013719e+01] [-4.36031466e-02 9.99048722e-01 -6.46145784e-04 -2.80609014e-01] [-1.72649909e-02 -1.06860114e-04 9.99850943e-01 -3.12641853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.30587156 meters 0.019510753721990057 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.28, Z:-0.32 [[ 9.98895956e-01 4.38405957e-02 1.68781379e-02 1.19633661e+01] [-4.38361273e-02 9.99038533e-01 -6.34793528e-04 -2.82380319e-01] [-1.68897399e-02 -1.05779514e-04 9.99857353e-01 -3.16149075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.36587156 meters 0.01598777671039041 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.28, Z:-0.32 [[ 9.98776679e-01 4.67146300e-02 1.62138413e-02 1.20252676e+01] [-4.67108353e-02 9.98908265e-01 -6.12878386e-04 -2.78164093e-01] [-1.62247705e-02 -1.45233431e-04 9.99868359e-01 -3.19436091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.425871559999997 meters 0.01990121302234339 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.27, Z:-0.32 [[ 9.98505189e-01 5.21507259e-02 1.63612053e-02 1.20881519e+01] [-5.21475270e-02 9.98639198e-01 -6.22373366e-04 -2.68243928e-01] [-1.63713982e-02 -2.31753360e-04 9.99865953e-01 -3.20789432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.48587156 meters 0.023413660472127368 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.26, Z:-0.32 [[ 9.98316083e-01 5.52406236e-02 1.77051458e-02 1.21497873e+01] [-5.52373663e-02 9.98473024e-01 -6.73327829e-04 -2.60958390e-01] [-1.77153055e-02 -3.05791624e-04 9.99843025e-01 -3.21265809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.54587156 meters 0.03296193707912259 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.25, Z:-0.32 [[ 9.98217579e-01 5.71838736e-02 1.70783081e-02 1.22121675e+01] [-5.71810853e-02 9.98363610e-01 -6.51932104e-04 -2.54750201e-01] [-1.70876414e-02 -3.25786106e-04 9.99853943e-01 -3.21569560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.605871559999997 meters 0.024948622112533597 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.25, Z:-0.33 [[ 9.98205878e-01 5.74652372e-02 1.68158401e-02 1.22740116e+01] [-5.74625269e-02 9.98347456e-01 -6.44706456e-04 -2.52573482e-01] [-1.68250994e-02 -3.22730891e-04 9.99858396e-01 -3.26166722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.66587156 meters 0.02169848069595877 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.26, Z:-0.33 [[ 9.98375798e-01 5.42674093e-02 1.73440157e-02 1.23356109e+01] [-5.42639644e-02 9.98526401e-01 -6.69522596e-04 -2.55478708e-01] [-1.73547908e-02 -2.72719892e-04 9.99849357e-01 -3.28140755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.725871559999998 meters 0.017610294377695523 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.26, Z:-0.33 [[ 9.98742104e-01 4.67967945e-02 1.80074823e-02 1.23957375e+01] [-4.67918494e-02 9.98904419e-01 -6.96082611e-04 -2.62762839e-01] [-1.80203281e-02 -1.47396388e-04 9.99837610e-01 -3.28969097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.785871559999997 meters 0.026233769991429366 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.27, Z:-0.33 [[ 9.99088200e-01 3.88486729e-02 1.77073371e-02 1.24576027e+01] [-3.88426670e-02 9.99245105e-01 -6.83106409e-04 -2.74476936e-01] [-1.77205077e-02 -5.31664667e-06 9.99842979e-01 -3.30995651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.84587156 meters 0.014337769310644281 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.28, Z:-0.34 [[ 9.99299373e-01 3.36769769e-02 1.63286243e-02 1.25188955e+01] [-3.36711397e-02 9.99432766e-01 -6.32347786e-04 -2.83594695e-01] [-1.63406577e-02 8.21013575e-05 9.99866479e-01 -3.36843286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.905871559999998 meters 0.020348183566436057 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.30, Z:-0.34 [[ 9.99529786e-01 2.58458885e-02 1.64984167e-02 1.25791536e+01] [-2.58387959e-02 9.99665916e-01 -6.42946373e-04 -2.99485825e-01] [-1.65095223e-02 2.16344828e-04 9.99863685e-01 -3.38318768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.965871559999997 meters 0.023858963735604286 Centerline is valid? [True, True] Translation: X:12.64, Y:-0.31, Z:-0.34 [[ 9.99597523e-01 2.15567655e-02 1.84417195e-02 1.26410320e+01] [-2.15471889e-02 9.99767575e-01 -7.17856864e-04 -3.08615608e-01] [-1.84529078e-02 3.20200729e-04 9.99829679e-01 -3.35532028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.02587156 meters 0.028827316086582306 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.32, Z:-0.33 [[ 9.99620945e-01 1.94009996e-02 1.95337659e-02 1.27028176e+01] [-1.93897793e-02 9.99811709e-01 -7.63659991e-04 -3.16375569e-01] [-1.95449036e-02 3.84615113e-04 9.99808906e-01 -3.33404010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.085871559999998 meters 0.023783545697945076 Centerline is valid? [True, True] Translation: X:12.76, Y:-0.32, Z:-0.33 [[ 9.99631333e-01 1.88089749e-02 1.95811384e-02 1.27648119e+01] [-1.87975247e-02 9.99823015e-01 -7.68665560e-04 -3.18112108e-01] [-1.95921307e-02 4.00305244e-04 9.99807976e-01 -3.34630018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.14587156 meters 0.03528031058815895 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.33, Z:-0.33 [[ 9.99617971e-01 1.82193062e-02 2.07838449e-02 1.28266538e+01] [-1.82061997e-02 9.99833917e-01 -8.19665398e-04 -3.27502944e-01] [-2.07953268e-02 4.40957431e-04 9.99783657e-01 -3.34221510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.20587156 meters 0.03365604638814887 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.34, Z:-0.34 [[ 9.99665858e-01 1.71028482e-02 1.93820696e-02 1.28884692e+01] [-1.70911761e-02 9.99853640e-01 -7.67707092e-04 -3.38197836e-01] [-1.93923628e-02 4.36188204e-04 9.99811855e-01 -3.37870711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.265871559999997 meters 0.039640603447256444 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.35, Z:-0.34 [[ 9.99683340e-01 1.74210428e-02 1.81583755e-02 1.29491366e+01] [-1.74107989e-02 9.99848160e-01 -7.22092283e-04 -3.49798381e-01] [-1.81681979e-02 4.05711802e-04 9.99834862e-01 -3.42800679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.32587156 meters 0.024732639307104707 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.35, Z:-0.35 [[ 9.99654155e-01 1.91514311e-02 1.80219964e-02 1.30115915e+01] [-1.91415607e-02 9.99816524e-01 -7.20042648e-04 -3.53639104e-01] [-1.80324797e-02 3.74824487e-04 9.99837331e-01 -3.45625994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.38587156 meters 0.020939180942129293 Centerline is valid? [True, True] Translation: X:13.07, Y:-0.36, Z:-0.35 [[ 9.99537694e-01 2.43984397e-02 1.81415080e-02 1.30719902e+01] [-2.43892584e-02 9.99702273e-01 -7.27202590e-04 -3.57610642e-01] [-1.81538494e-02 2.84408473e-04 9.99835165e-01 -3.47613001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.445871559999997 meters 0.031035183702106013 Centerline is valid? [True, True] Translation: X:13.13, Y:-0.35, Z:-0.35 [[ 9.99248603e-01 3.40555973e-02 1.85053055e-02 1.31323705e+01] [-3.40476863e-02 9.99419934e-01 -7.42481928e-04 -3.50246666e-01] [-1.85198569e-02 1.11861192e-04 9.99828486e-01 -3.47961494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.50587156 meters 0.02217146686786885 Centerline is valid? [True, True] Translation: X:13.19, Y:-0.34, Z:-0.35 [[ 9.98719269e-01 4.71139251e-02 1.84418001e-02 1.31946287e+01] [-4.71083241e-02 9.98889514e-01 -7.38255555e-04 -3.35857999e-01] [-1.84561029e-02 -1.31452248e-04 9.99829663e-01 -3.50687077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.565871559999998 meters 0.022827067850095053 Centerline is valid? [True, True] Translation: X:13.26, Y:-0.32, Z:-0.35 [[ 9.98133031e-01 5.84517824e-02 1.77155887e-02 1.32558234e+01] [-5.84483180e-02 9.98290181e-01 -7.13697042e-04 -3.24039815e-01] [-1.77270151e-02 -3.23081771e-04 9.99842812e-01 -3.53987047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.625871559999997 meters 0.02825236508300928 Centerline is valid? [True, True] Translation: X:13.32, Y:-0.32, Z:-0.36 [[ 9.97849806e-01 6.34255786e-02 1.65215148e-02 1.33164377e+01] [-6.34232437e-02 9.97986497e-01 -6.65775261e-04 -3.16609585e-01] [-1.65304758e-02 -3.83504343e-04 9.99863289e-01 -3.58626757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.68587156 meters 0.030960109364080148 Centerline is valid? [True, True] Translation: X:13.38, Y:-0.31, Z:-0.36 [[ 9.97548644e-01 6.78985459e-02 1.69260150e-02 1.33781464e+01] [-6.78967372e-02 9.97692121e-01 -6.82147872e-04 -3.10524103e-01] [-1.69332686e-02 -4.68745506e-04 9.99856512e-01 -3.58653562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.745871559999998 meters 0.038786026659670285 Centerline is valid? [True, True] Translation: X:13.44, Y:-0.30, Z:-0.36 [[ 9.97473559e-01 6.86955113e-02 1.80949003e-02 1.34376663e+01] [-6.86935593e-02 9.97637540e-01 -7.30145909e-04 -3.01210815e-01] [-1.81023096e-02 -5.14701869e-04 9.99836007e-01 -3.61114149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.805871559999996 meters 0.03863880548842333 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.31, Z:-0.36 [[ 9.97574306e-01 6.68377814e-02 1.94477342e-02 1.34989117e+01] [-6.68351853e-02 9.97763721e-01 -7.84144459e-04 -3.06539484e-01] [-1.94566541e-02 -5.17550555e-04 9.99810567e-01 -3.57299811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.86587156 meters 0.03254219078418062 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.31, Z:-0.36 [[ 9.97829236e-01 6.30328356e-02 1.90703062e-02 1.35606962e+01] [-6.30296386e-02 9.98011359e-01 -7.69244840e-04 -3.10966100e-01] [-1.90808699e-02 -4.34419517e-04 9.99817849e-01 -3.58471578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.925871559999997 meters 0.02366591112734023 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.31, Z:-0.36 [[ 9.98175331e-01 5.75002255e-02 1.84318189e-02 1.36209509e+01] [-5.74962792e-02 9.98345443e-01 -7.44395335e-04 -3.12555067e-01] [-1.84441253e-02 -3.16723947e-04 9.99829842e-01 -3.64616977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.98587156 meters 0.032447750114272804 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.32, Z:-0.36 [[ 9.98447446e-01 5.25655661e-02 1.84271463e-02 1.36823622e+01] [-5.25607792e-02 9.98617450e-01 -7.44326120e-04 -3.18832531e-01] [-1.84407958e-02 -2.25374654e-04 9.99829929e-01 -3.64498820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.04587156 meters 0.026605501638361517 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.33, Z:-0.37 [[ 9.98856298e-01 4.43225365e-02 1.79334776e-02 1.37437952e+01] [-4.43166687e-02 9.99017271e-01 -7.24668965e-04 -3.27641873e-01] [-1.79479730e-02 -7.09118259e-05 9.99838920e-01 -3.66069568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.105871559999997 meters 0.02508264935794761 Centerline is valid? [True, True] Translation: X:13.80, Y:-0.34, Z:-0.37 [[ 9.99212777e-01 3.52984878e-02 1.81064466e-02 1.38049272e+01] [-3.52910276e-02 9.99376810e-01 -7.31478279e-04 -3.41466090e-01] [-1.81209829e-02 9.19073379e-05 9.99835797e-01 -3.69272741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.16587156 meters 0.017395261381287653 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.35, Z:-0.37 [[ 9.99428255e-01 2.88833841e-02 1.75759072e-02 1.38664030e+01] [-2.88753140e-02 9.99582767e-01 -7.12811018e-04 -3.52155173e-01] [-1.75891623e-02 2.04893635e-04 9.99845278e-01 -3.71483356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.225871559999998 meters 0.03259993787074906 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.37, Z:-0.37 [[ 9.99637800e-01 1.82516477e-02 1.97774375e-02 1.39251282e+01] [-1.82393166e-02 9.99833327e-01 -8.03709242e-04 -3.74047826e-01] [-1.97888102e-02 4.42691194e-04 9.99804084e-01 -3.69774328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.285871559999997 meters 0.0400635940574423 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.39, Z:-0.37 [[ 9.99740148e-01 1.00989184e-02 2.04364357e-02 1.39850466e+01] [-1.00840551e-02 9.99948810e-01 -8.30215091e-04 -3.89320727e-01] [-2.04437738e-02 6.23917214e-04 9.99790810e-01 -3.69345649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.34587156 meters 0.03277809364622901 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.40, Z:-0.37 [[ 9.99759930e-01 1.08113603e-02 1.90577030e-02 1.40476202e+01] [-1.07985972e-02 9.99941395e-01 -7.72488456e-04 -3.97104407e-01] [-1.90649377e-02 5.66506547e-04 9.99818087e-01 -3.73118149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.405871559999998 meters 0.03308153443986395 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.40, Z:-0.38 [[ 9.99701825e-01 1.53306251e-02 1.90061198e-02 1.41073529e+01] [-1.53186436e-02 9.99882362e-01 -7.75840061e-04 -3.97710467e-01] [-1.90157780e-02 4.84460751e-04 9.99819066e-01 -3.75285650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.465871559999997 meters 0.02760652236626469 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.39, Z:-0.38 [[ 9.99551399e-01 2.38359046e-02 1.81342460e-02 1.41682946e+01] [-2.38263969e-02 9.99715837e-01 -7.40198232e-04 -3.93168878e-01] [-1.81467362e-02 3.07792436e-04 9.99835287e-01 -3.78190285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.52587156 meters 0.02113236582024909 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.39, Z:-0.38 [[ 9.99440492e-01 2.79596822e-02 1.83564627e-02 1.42285940e+01] [-2.79506349e-02 9.99609024e-01 -7.49295451e-04 -3.93926089e-01] [-1.83702358e-02 2.35801428e-04 9.99831225e-01 -3.80460817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.585871559999998 meters 0.015870028287639167 Centerline is valid? [True, True] Translation: X:14.29, Y:-0.40, Z:-0.38 [[ 9.99334392e-01 3.13055702e-02 1.87278950e-02 1.42905880e+01] [-3.12967639e-02 9.99509845e-01 -7.63193778e-04 -3.96064470e-01] [-1.87426076e-02 1.76563282e-04 9.99824326e-01 -3.81534904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.64587156 meters 0.02361264763650097 Centerline is valid? [True, True] Translation: X:14.35, Y:-0.40, Z:-0.38 [[ 9.99170818e-01 3.60482758e-02 1.89261080e-02 1.43524953e+01] [-3.60400722e-02 9.99350045e-01 -7.74464073e-04 -3.96988308e-01] [-1.89417250e-02 9.17236009e-05 9.99820585e-01 -3.82184711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.70587156 meters 0.0126587968420157 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.39, Z:-0.39 [[ 9.98863450e-01 4.43621719e-02 1.74300257e-02 1.44156467e+01] [-4.43564378e-02 9.99015513e-01 -7.15626320e-04 -3.90523994e-01] [-1.74446128e-02 -5.83208763e-05 9.99847829e-01 -3.85984611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.765871559999997 meters 0.015968660003577315 Centerline is valid? [True, True] Translation: X:14.48, Y:-0.39, Z:-0.39 [[ 9.98641542e-01 4.96596027e-02 1.57795724e-02 1.44769322e+01] [-4.96555009e-02 9.98766192e-01 -6.51870891e-04 -3.85458581e-01] [-1.57924750e-02 -1.32557218e-04 9.99875282e-01 -3.92847506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.82587156 meters 0.01990584314923401 Centerline is valid? [True, True] Translation: X:14.54, Y:-0.38, Z:-0.40 [[ 9.98408579e-01 5.41336399e-02 1.58068972e-02 1.45385381e+01] [-5.41300610e-02 9.98533679e-01 -6.54480400e-04 -3.79840950e-01] [-1.58191486e-02 -2.02189463e-04 9.99874849e-01 -3.95676342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.88587156 meters 0.019118987379469723 Centerline is valid? [True, True] Translation: X:14.60, Y:-0.38, Z:-0.40 [[ 9.98411729e-01 5.37984196e-02 1.67257070e-02 1.46005878e+01] [-5.37943541e-02 9.98551795e-01 -6.93202382e-04 -3.83303424e-01] [-1.67387780e-02 -2.07647219e-04 9.99859875e-01 -3.95828000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.945871559999997 meters 0.015598851942466133 Centerline is valid? [True, True] Translation: X:14.66, Y:-0.39, Z:-0.39 [[ 9.98535344e-01 5.08706001e-02 1.84214279e-02 1.46628605e+01] [-5.08651061e-02 9.98705238e-01 -7.66965024e-04 -3.92103555e-01] [-1.84365925e-02 -1.71166200e-04 9.99830017e-01 -3.93429168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.00587156 meters 0.011854725366538744 Centerline is valid? [True, True] Translation: X:14.72, Y:-0.41, Z:-0.39 [[ 9.98844629e-01 4.35815645e-02 2.02497884e-02 1.47233915e+01] [-4.35733447e-02 9.99049872e-01 -8.47171969e-04 -4.06046620e-01] [-2.02674695e-02 -3.61578381e-05 9.99794593e-01 -3.92767592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.065871559999998 meters 0.024179131933698302 Centerline is valid? [True, True] Translation: X:14.79, Y:-0.43, Z:-0.39 [[ 9.99161971e-01 3.54849987e-02 2.04002540e-02 1.47852205e+01] [-3.54749043e-02 9.99370200e-01 -8.56605126e-04 -4.25152577e-01] [-2.04178026e-02 1.32190206e-04 9.99791526e-01 -3.93402543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.125871559999997 meters 0.02947463099069756 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.44, Z:-0.40 [[ 9.99297750e-01 3.19954851e-02 1.95011631e-02 1.48468130e+01] [-3.19855349e-02 9.99487994e-01 -8.22009501e-04 -4.35417352e-01] [-1.95174789e-02 1.97677113e-04 9.99809496e-01 -3.97010480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.18587156 meters 0.022327255707869993 Centerline is valid? [True, True] Translation: X:14.91, Y:-0.45, Z:-0.40 [[ 9.99345611e-01 3.11698869e-02 1.83517875e-02 1.49082831e+01] [-3.11608838e-02 9.99514080e-01 -7.76405638e-04 -4.45583210e-01] [-1.83670705e-02 2.04039650e-04 9.99831290e-01 -4.00457541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.245871559999998 meters 0.016270863606850258 Centerline is valid? [True, True] Translation: X:14.97, Y:-0.45, Z:-0.40 [[ 9.99236333e-01 3.41010337e-02 1.90753838e-02 1.49689773e+01] [-3.40917731e-02 9.99418378e-01 -8.10541826e-04 -4.52403132e-01] [-1.90919294e-02 1.59609187e-04 9.99817720e-01 -4.03386274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.305871559999996 meters 0.01684520232823421 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.45, Z:-0.41 [[ 9.99121243e-01 3.79647742e-02 1.77600012e-02 1.50313563e+01] [-3.79573158e-02 9.99279075e-01 -7.56977412e-04 -4.50110383e-01] [-1.77759360e-02 8.21902397e-05 9.99841992e-01 -4.05244307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.36587156 meters 0.01281777196922296 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.44, Z:-0.41 [[ 9.98828543e-01 4.54584040e-02 1.65853750e-02 1.50941988e+01] [-4.54528977e-02 9.98966231e-01 -7.08988971e-04 -4.43999931e-01] [-1.66004590e-02 -4.56949307e-05 9.99862202e-01 -4.08958690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.425871559999997 meters 0.014588089691389399 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.44, Z:-0.41 [[ 9.98610866e-01 5.00868567e-02 1.63598844e-02 1.51568645e+01] [-5.00820649e-02 9.98744859e-01 -7.02721175e-04 -4.43970729e-01] [-1.63745475e-02 -1.17591792e-04 9.99865921e-01 -4.10880294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.48587156 meters 0.018563085334082637 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.44, Z:-0.41 [[ 9.98214271e-01 5.65681846e-02 1.91913779e-02 1.52189791e+01] [-5.65627054e-02 9.98398705e-01 -8.28630137e-04 -4.38998376e-01] [-1.92075209e-02 -2.58365825e-04 9.99815485e-01 -4.06644058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.54587156 meters 0.02251826257332621 Centerline is valid? [True, True] Translation: X:15.28, Y:-0.44, Z:-0.41 [[ 9.98006304e-01 5.97645279e-02 2.02883862e-02 1.52799230e+01] [-5.97589711e-02 9.98212447e-01 -8.80592732e-04 -4.36136978e-01] [-2.03047479e-02 -3.33575990e-04 9.99793782e-01 -4.07579802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.605871559999997 meters 0.02498287765534242 Centerline is valid? [True, True] Translation: X:15.34, Y:-0.44, Z:-0.41 [[ 9.97864201e-01 6.22772984e-02 1.97122842e-02 1.53421029e+01] [-6.22725572e-02 9.98058815e-01 -8.54853396e-04 -4.35112911e-01] [-1.97272570e-02 -3.74506745e-04 9.99805329e-01 -4.10491212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.66587156 meters 0.02647297933330477 Centerline is valid? [True, True] Translation: X:15.40, Y:-0.43, Z:-0.41 [[ 9.97611091e-01 6.57938049e-02 2.10543758e-02 1.54043907e+01] [-6.57890811e-02 9.97833130e-01 -9.17684494e-04 -4.33257270e-01] [-2.10691316e-02 -4.69655808e-04 9.99777911e-01 -4.08307490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.725871559999998 meters 0.03240389266068966 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.42, Z:-0.41 [[ 9.97352947e-01 6.97870006e-02 2.04174865e-02 1.54649846e+01] [-6.97833685e-02 9.97561771e-01 -8.91180078e-04 -4.23269059e-01] [-2.04298968e-02 -5.35979910e-04 9.99791144e-01 -4.12169605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.785871559999997 meters 0.0337071256841899 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.42, Z:-0.42 [[ 9.97230629e-01 7.25989839e-02 1.61387846e-02 1.55259129e+01] [-7.25970803e-02 9.97361102e-01 -7.04546639e-04 -4.15852363e-01] [-1.61473454e-02 -4.69033155e-04 9.99869513e-01 -4.21123708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.84587156 meters 0.033379514000288456 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.41, Z:-0.42 [[ 9.97338246e-01 7.10374953e-02 1.64346490e-02 1.55860953e+01] [-7.10353060e-02 9.97473544e-01 -7.17672839e-04 -4.14625413e-01] [-1.64441093e-02 -4.51677752e-04 9.99864684e-01 -4.22950372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.905871559999998 meters 0.031504895862703504 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.42, Z:-0.42 [[ 9.97414781e-01 6.99259707e-02 1.65563411e-02 1.56471180e+01] [-6.99235948e-02 9.97552088e-01 -7.23048418e-04 -4.17077661e-01] [-1.65663724e-02 -4.36499704e-04 9.99862673e-01 -4.23856817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.965871559999997 meters 0.02487785718729282 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.42, Z:-0.42 [[ 9.97915814e-01 6.20852972e-02 1.75910385e-02 1.57064694e+01] [-6.20813821e-02 9.98070794e-01 -7.69077559e-04 -4.22736849e-01] [-1.76048502e-02 -3.24601326e-04 9.99844970e-01 -4.24987914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.02587156 meters 0.02835016309616787 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.44, Z:-0.42 [[ 9.98415102e-01 5.34859520e-02 1.75081851e-02 1.57662654e+01] [-5.34807565e-02 9.98568587e-01 -7.65162911e-04 -4.36339470e-01] [-1.75240491e-02 -1.72400778e-04 9.99846427e-01 -4.24965368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.085871559999998 meters 0.023994142077125583 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.46, Z:-0.43 [[ 9.99073983e-01 3.92918190e-02 1.75308100e-02 1.58279292e+01] [-3.92844562e-02 9.99227776e-01 -7.64295554e-04 -4.56520115e-01] [-1.75473029e-02 7.48994638e-05 9.99846031e-01 -4.26093984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.145871559999996 meters 0.028136938188930472 Centerline is valid? [True, True] Translation: X:15.89, Y:-0.48, Z:-0.43 [[ 9.99504400e-01 2.62222258e-02 1.74169463e-02 1.58871871e+01] [-2.62128890e-02 9.99656091e-01 -7.64193107e-04 -4.76236584e-01] [-1.74309953e-02 3.07265892e-04 9.99848021e-01 -4.28379565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.20587156 meters 0.03165230220514113 Centerline is valid? [True, True] Translation: X:15.95, Y:-0.49, Z:-0.43 [[ 9.99666776e-01 1.80550136e-02 1.84486824e-02 1.59470233e+01] [-1.80431486e-02 9.99836882e-01 -8.09400579e-04 -4.92704644e-01] [-1.84602868e-02 4.76258550e-04 9.99829481e-01 -4.28039971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.265871559999997 meters 0.02932400300110524 Centerline is valid? [True, True] Translation: X:16.01, Y:-0.50, Z:-0.43 [[ 9.99693664e-01 1.75675109e-02 1.74344879e-02 1.60095626e+01] [-1.75568700e-02 9.99845575e-01 -7.63221360e-04 -4.95068121e-01] [-1.74452034e-02 4.56892522e-04 9.99847716e-01 -4.30375199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.32587156 meters 0.02927540234448621 Centerline is valid? [True, True] Translation: X:16.07, Y:-0.50, Z:-0.43 [[ 9.99625510e-01 2.08594555e-02 1.77122057e-02 1.60702217e+01] [-2.08489066e-02 9.99782334e-01 -7.80035908e-04 -4.99498672e-01] [-1.77246215e-02 4.10463670e-04 9.99842822e-01 -4.33000917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.38587156 meters 0.027099739768612588 Centerline is valid? [True, True] Translation: X:16.13, Y:-0.50, Z:-0.43 [[ 9.99566620e-01 2.27894427e-02 1.86336554e-02 1.61319246e+01] [-2.27781185e-02 9.99740209e-01 -8.19766355e-04 -5.03903352e-01] [-1.86474965e-02 3.94971474e-04 9.99826042e-01 -4.32955714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.445871559999997 meters 0.02598763735218544 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.51, Z:-0.44 [[ 9.99602327e-01 2.23411186e-02 1.72064651e-02 1.61935075e+01] [-2.23313554e-02 9.99750336e-01 -7.59365628e-04 -5.11734699e-01] [-1.72191343e-02 3.74819962e-04 9.99851669e-01 -4.36124198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.50587156 meters 0.027456589235718934 Centerline is valid? [True, True] Translation: X:16.26, Y:-0.52, Z:-0.44 [[ 9.99637608e-01 2.15967984e-02 1.60695901e-02 1.62553177e+01] [-2.15881477e-02 9.99766696e-01 -7.11623484e-04 -5.21440224e-01] [-1.60812098e-02 3.64452912e-04 9.99870623e-01 -4.39832685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.565871559999998 meters 0.028888060048901973 Centerline is valid? [True, True] Translation: X:16.32, Y:-0.53, Z:-0.44 [[ 9.99647417e-01 2.06398555e-02 1.67044262e-02 1.63173569e+01] [-2.06303236e-02 9.99786896e-01 -7.42757281e-04 -5.34258045e-01] [-1.67161968e-02 3.97877679e-04 9.99860195e-01 -4.40975256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.625871559999997 meters 0.0385373057083384 Centerline is valid? [True, True] Translation: X:16.38, Y:-0.54, Z:-0.44 [[ 9.99615298e-01 2.18326474e-02 1.71053122e-02 1.63795123e+01] [-2.18227756e-02 9.99761563e-01 -7.63584576e-04 -5.42059665e-01] [-1.71179048e-02 3.90005432e-04 9.99853402e-01 -4.40746890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.68587156 meters 0.02352438188703909 Centerline is valid? [True, True] Translation: X:16.44, Y:-0.55, Z:-0.44 [[ 9.99475529e-01 2.72984186e-02 1.74202088e-02 1.64391142e+01] [-2.72889263e-02 9.99627282e-01 -7.82420283e-04 -5.46229693e-01] [-1.74350748e-02 3.06631133e-04 9.99847951e-01 -4.43838399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.745871559999998 meters 0.015607321955142934 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.54, Z:-0.45 [[ 9.99200440e-01 3.63438751e-02 1.66614569e-02 1.64997355e+01] [-3.63364486e-02 9.99339333e-01 -7.48341309e-04 -5.41745578e-01] [-1.66776469e-02 1.42324792e-04 9.99860908e-01 -4.46259731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.805871559999996 meters 0.01269346837719588 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.54, Z:-0.45 [[ 9.98854436e-01 4.48812924e-02 1.65977204e-02 1.65627835e+01] [-4.48751127e-02 9.98992327e-01 -7.44764661e-04 -5.36204333e-01] [-1.66144213e-02 -9.13086451e-07 9.99861971e-01 -4.47219062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.86587156 meters 0.01294005138312728 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.54, Z:-0.45 [[ 9.98740652e-01 4.72254151e-02 1.69372319e-02 1.66244152e+01] [-4.72193221e-02 9.98884257e-01 -7.59696295e-04 -5.38137590e-01] [-1.69542112e-02 -4.10250332e-05 9.99856266e-01 -4.48980512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.925871559999997 meters 0.01429687085871739 Centerline is valid? [True, True] Translation: X:16.69, Y:-0.54, Z:-0.45 [[ 9.98539858e-01 5.10605925e-02 1.76342662e-02 1.66867002e+01] [-5.10545242e-02 9.98695551e-01 -7.94431576e-04 -5.39870216e-01] [-1.76518274e-02 -1.07037479e-04 9.99844189e-01 -4.50571584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.98587156 meters 0.014268066954397439 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.55, Z:-0.45 [[ 9.98527558e-01 5.08246903e-02 1.89622351e-02 1.67474077e+01] [-5.08175543e-02 9.98707585e-01 -8.58298578e-04 -5.48088247e-01] [-1.89813507e-02 -1.06579626e-04 9.99819832e-01 -4.52029008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.04587156 meters 0.013432747045465734 Centerline is valid? [True, True] Translation: X:16.81, Y:-0.56, Z:-0.45 [[ 9.98517274e-01 5.07029336e-02 1.98107636e-02 1.68095992e+01] [-5.06950586e-02 9.98713773e-01 -8.99832990e-04 -5.56353972e-01] [-1.98309067e-02 -1.05809040e-04 9.99803343e-01 -4.51062182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.105871559999997 meters 0.013412486736928651 Centerline is valid? [True, True] Translation: X:16.87, Y:-0.57, Z:-0.45 [[ 9.98535028e-01 5.06583153e-02 1.90140259e-02 1.68722779e+01] [-5.06509995e-02 9.98716038e-01 -8.66454176e-04 -5.66070646e-01] [-1.90335058e-02 -9.78945719e-05 9.99818842e-01 -4.54352465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.16587156 meters 0.01580345044774363 Centerline is valid? [True, True] Translation: X:16.93, Y:-0.57, Z:-0.46 [[ 9.98452144e-01 5.31496600e-02 1.63838247e-02 1.69331123e+01] [-5.31445160e-02 9.98586550e-01 -7.49495669e-04 -5.68705152e-01] [-1.64005024e-02 -1.22374875e-04 9.99865495e-01 -4.61607857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.225871559999998 meters 0.02210943758777352 Centerline is valid? [True, True] Translation: X:16.99, Y:-0.57, Z:-0.46 [[ 9.98313697e-01 5.60593163e-02 1.50703419e-02 1.69949052e+01] [-5.60552685e-02 9.98427428e-01 -6.91200244e-04 -5.74455981e-01] [-1.50853909e-02 -1.54737391e-04 9.99886197e-01 -4.62379091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.285871559999997 meters 0.01906343055137522 Centerline is valid? [True, True] Translation: X:17.06, Y:-0.57, Z:-0.47 [[ 9.98192441e-01 5.82388686e-02 1.48352442e-02 1.70567586e+01] [-5.82351494e-02 9.98302660e-01 -6.82929887e-04 -5.74292933e-01] [-1.48498368e-02 -1.82237210e-04 9.99889718e-01 -4.66566212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.34587156 meters 0.019528386145118322 Centerline is valid? [True, True] Translation: X:17.12, Y:-0.58, Z:-0.47 [[ 9.98055343e-01 6.05177085e-02 1.49378695e-02 1.71186873e+01] [-6.05141560e-02 9.98167101e-01 -6.90123881e-04 -5.78413580e-01] [-1.49522546e-02 -2.15170738e-04 9.99888186e-01 -4.66215804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.405871559999998 meters 0.02081226255214843 Centerline is valid? [True, True] Translation: X:17.18, Y:-0.58, Z:-0.47 [[ 9.97990352e-01 6.14004516e-02 1.56602237e-02 1.71808953e+01] [-6.13966104e-02 9.98113184e-01 -7.26390647e-04 -5.79403226e-01] [-1.56752765e-02 -2.36553796e-04 9.99877107e-01 -4.68394217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.465871559999997 meters 0.021743148747572823 Centerline is valid? [True, True] Translation: X:17.24, Y:-0.58, Z:-0.47 [[ 9.97955986e-01 6.17061218e-02 1.66194016e-02 1.72419426e+01] [-6.17017633e-02 9.98094330e-01 -7.75378802e-04 -5.78708682e-01] [-1.66355761e-02 -2.51652467e-04 9.99861588e-01 -4.69044348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.52587156 meters 0.02024625915545503 Centerline is valid? [True, True] Translation: X:17.30, Y:-0.58, Z:-0.47 [[ 9.98044038e-01 6.02494754e-02 1.66762951e-02 1.73041552e+01] [-6.02448705e-02 9.98183324e-01 -7.78818227e-04 -5.83390068e-01] [-1.66929231e-02 -2.27366352e-04 9.99860638e-01 -4.70996569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.585871559999998 meters 0.016757466685306602 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.59, Z:-0.47 [[ 9.98215937e-01 5.71555407e-02 1.72681092e-02 1.73664295e+01] [-5.71500890e-02 9.98365270e-01 -8.09420815e-04 -5.90967569e-01] [-1.72861434e-02 -1.78897223e-04 9.99850567e-01 -4.69981090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.645871559999996 meters 0.014943218493700885 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.60, Z:-0.47 [[ 9.98369001e-01 5.40981749e-02 1.82407819e-02 1.74269948e+01] [-5.40915165e-02 9.98535613e-01 -8.58573643e-04 -5.97452942e-01] [-1.82605176e-02 -1.29498244e-04 9.99833254e-01 -4.71204404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.70587156 meters 0.012597536785164168 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.61, Z:-0.47 [[ 9.98652412e-01 4.83916054e-02 1.87513295e-02 1.74884807e+01] [-4.83835059e-02 9.98828440e-01 -8.85635100e-04 -6.10370880e-01] [-1.87722185e-02 -2.28134314e-05 9.99823786e-01 -4.71958434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.765871559999997 meters 0.017662306142573896 Centerline is valid? [True, True] Translation: X:17.55, Y:-0.62, Z:-0.47 [[ 9.98893489e-01 4.36830757e-02 1.74237268e-02 1.75503786e+01] [-4.36753225e-02 9.99045437e-01 -8.25434384e-04 -6.21815231e-01] [-1.74431523e-02 6.35341441e-05 9.99847855e-01 -4.73583029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.82587156 meters 0.014001791887760455 Centerline is valid? [True, True] Translation: X:17.61, Y:-0.63, Z:-0.48 [[ 9.98913264e-01 4.29902980e-02 1.80034630e-02 1.76116479e+01] [-4.29818507e-02 9.99075486e-01 -8.56066051e-04 -6.28231839e-01] [-1.80236211e-02 8.13135753e-05 9.99837558e-01 -4.76362509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.88587156 meters 0.01379042209717459 Centerline is valid? [True, True] Translation: X:17.67, Y:-0.63, Z:-0.48 [[ 9.98892876e-01 4.35811002e-02 1.77118494e-02 1.76747935e+01] [-4.35729632e-02 9.99049890e-01 -8.45244849e-04 -6.32955910e-01] [-1.77318579e-02 7.25512946e-05 9.99842776e-01 -4.78110537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.945871559999997 meters 0.022871626265537688 Centerline is valid? [True, True] Translation: X:17.74, Y:-0.64, Z:-0.48 [[ 9.98896377e-01 4.40074207e-02 1.64126342e-02 1.77371124e+01] [-4.40004420e-02 9.99031202e-01 -7.86237760e-04 -6.36329365e-01] [-1.64313340e-02 6.32068909e-05 9.99864995e-01 -4.80085238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.00587156 meters 0.014155537051377162 Centerline is valid? [True, True] Translation: X:17.80, Y:-0.64, Z:-0.49 [[ 9.98904996e-01 4.40706591e-02 1.57030312e-02 1.77987787e+01] [-4.40642391e-02 9.99028415e-01 -7.54766325e-04 -6.43819073e-01] [-1.57210374e-02 6.19977317e-05 9.99876415e-01 -4.85193736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.065871559999998 meters 0.014343637498776854 Centerline is valid? [True, True] Translation: X:17.86, Y:-0.65, Z:-0.49 [[ 9.98886691e-01 4.45450376e-02 1.55280061e-02 1.78602343e+01] [-4.45387788e-02 9.99007376e-01 -7.48827961e-04 -6.46211650e-01] [-1.55459492e-02 5.63958541e-05 9.99879153e-01 -4.87893025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.125871559999997 meters 0.014256672899932616 Centerline is valid? [True, True] Translation: X:17.92, Y:-0.65, Z:-0.49 [[ 9.98861954e-01 4.49107987e-02 1.60566824e-02 1.79210888e+01] [-4.49040981e-02 9.98990999e-01 -7.77774887e-04 -6.50736269e-01] [-1.60754117e-02 5.58789008e-05 9.99870781e-01 -4.89182721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.18587156 meters 0.01349749716570591 Centerline is valid? [True, True] Translation: X:17.98, Y:-0.65, Z:-0.49 [[ 9.98821346e-01 4.54158538e-02 1.71265696e-02 1.79832035e+01] [-4.54082582e-02 9.98968166e-01 -8.32310813e-04 -6.54161988e-01] [-1.71466980e-02 5.36421121e-05 9.99852983e-01 -4.87002335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.245871559999998 meters 0.012862703953577814 Centerline is valid? [True, True] Translation: X:18.05, Y:-0.66, Z:-0.49 [[ 9.98737129e-01 4.68851389e-02 1.80535303e-02 1.80457175e+01] [-4.68768787e-02 9.98900287e-01 -8.80682132e-04 -6.57953470e-01] [-1.80749675e-02 3.32767958e-05 9.99836634e-01 -4.87452212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.305871559999996 meters 0.012566539714535476 Centerline is valid? [True, True] Translation: X:18.11, Y:-0.66, Z:-0.49 [[ 9.98646532e-01 4.88910749e-02 1.77416874e-02 1.81090068e+01] [-4.88833674e-02 9.98804116e-01 -8.68100501e-04 -6.58635019e-01] [-1.77629128e-02 -3.47869255e-07 9.99842227e-01 -4.88854113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.36587156 meters 0.013336436322290798 Centerline is valid? [True, True] Translation: X:18.17, Y:-0.66, Z:-0.49 [[ 9.98468339e-01 5.23724646e-02 1.78353809e-02 1.81705466e+01] [-5.23651638e-02 9.98627619e-01 -8.76428812e-04 -6.58491559e-01] [-1.78568047e-02 -5.88662239e-05 9.99840553e-01 -4.92925951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.425871559999997 meters 0.014205848275877293 Centerline is valid? [True, True] Translation: X:18.23, Y:-0.66, Z:-0.50 [[ 9.98388932e-01 5.42213420e-02 1.67208503e-02 1.82325900e+01] [-5.42151340e-02 9.98528938e-01 -8.24673713e-04 -6.57887685e-01] [-1.67409678e-02 -8.31780324e-05 9.99859857e-01 -4.95904520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.48587156 meters 0.024607211499632138 Centerline is valid? [True, True] Translation: X:18.29, Y:-0.66, Z:-0.50 [[ 9.98418867e-01 5.35340864e-02 1.71425757e-02 1.82938130e+01] [-5.35274066e-02 9.98566020e-01 -8.48585456e-04 -6.61262908e-01] [-1.71634218e-02 -7.03538900e-05 9.99852695e-01 -4.95825267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.54587156 meters 0.013337988687201796 Centerline is valid? [True, True] Translation: X:18.36, Y:-0.67, Z:-0.50 [[ 9.98460913e-01 5.25325296e-02 1.77802853e-02 1.83557592e+01] [-5.25251360e-02 9.98619212e-01 -8.82887347e-04 -6.67084078e-01] [-1.78021148e-02 -5.23833987e-05 9.99841528e-01 -4.97759048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.605871559999997 meters 0.013415228375862377 Centerline is valid? [True, True] Translation: X:18.42, Y:-0.67, Z:-0.50 [[ 9.98433374e-01 5.28796542e-02 1.82904151e-02 1.84176059e+01] [-5.28718317e-02 9.98600891e-01 -9.11317874e-04 -6.69867621e-01] [-1.83130150e-02 -5.71575725e-05 9.99832301e-01 -4.99567177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.66587156 meters 0.013217185072164205 Centerline is valid? [True, True] Translation: X:18.48, Y:-0.68, Z:-0.50 [[ 9.98412642e-01 5.34018149e-02 1.79008862e-02 1.84802913e+01] [-5.33943549e-02 9.98573103e-01 -8.94758278e-04 -6.75187324e-01] [-1.79231252e-02 -6.24682944e-05 9.99839366e-01 -5.00305187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.725871559999998 meters 0.017560051195158563 Centerline is valid? [True, True] Translation: X:18.54, Y:-0.68, Z:-0.50 [[ 9.98516300e-01 5.15410500e-02 1.75704183e-02 1.85415515e+01] [-5.15335012e-02 9.98670877e-01 -8.82429150e-04 -6.82281849e-01] [-1.75925464e-02 -2.43452841e-05 9.99845239e-01 -5.03846225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.785871559999997 meters 0.012961643811089262 Centerline is valid? [True, True] Translation: X:18.60, Y:-0.69, Z:-0.51 [[ 9.98562575e-01 5.07536442e-02 1.72293717e-02 1.86038711e+01] [-5.07462477e-02 9.98711203e-01 -8.66500909e-04 -6.89132327e-01] [-1.72511446e-02 -9.07058366e-06 9.99851188e-01 -5.05553336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.84587156 meters 0.013583195870847695 Centerline is valid? [True, True] Translation: X:18.66, Y:-0.70, Z:-0.51 [[ 9.98653590e-01 4.91599897e-02 1.65621050e-02 1.86642699e+01] [-4.91528772e-02 9.98790917e-01 -8.36482788e-04 -7.00507190e-01] [-1.65832015e-02 2.12814274e-05 9.99862489e-01 -5.10659940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.905871559999998 meters 0.022716637446821817 Centerline is valid? [True, True] Translation: X:18.73, Y:-0.70, Z:-0.51 [[ 9.98470534e-01 5.27153460e-02 1.66638619e-02 1.87274089e+01] [-5.27086026e-02 9.98609579e-01 -8.43913361e-04 -7.01649449e-01] [-1.66851793e-02 -3.57062527e-05 9.99860792e-01 -5.09152341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.965871559999997 meters 0.01562942143308616 Centerline is valid? [True, True] Translation: X:18.79, Y:-0.70, Z:-0.51 [[ 9.98120472e-01 5.89818819e-02 1.66331104e-02 1.87897229e+01] [-5.89759753e-02 9.98259044e-01 -8.45821409e-04 -6.97094064e-01] [-1.66540410e-02 -1.36722243e-04 9.99861302e-01 -5.11511090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.02587156 meters 0.024308585892832926 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.69, Z:-0.52 [[ 9.97531785e-01 6.85447994e-02 1.52298389e-02 1.88503123e+01] [-6.85408929e-02 9.97648004e-01 -7.78934295e-04 -6.86417443e-01] [-1.52474103e-02 -2.66855040e-04 9.99883716e-01 -5.16909867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.085871559999998 meters 0.030984919765880622 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.68, Z:-0.52 [[ 9.97019529e-01 7.54900107e-02 1.59159689e-02 1.89119026e+01] [-7.54866306e-02 9.97146482e-01 -8.13880947e-04 -6.76764918e-01] [-1.59319923e-02 -3.89987668e-04 9.99873002e-01 -5.17236271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.145871559999996 meters 0.03306001643728614 Centerline is valid? [True, True] Translation: X:18.97, Y:-0.68, Z:-0.52 [[ 9.96675939e-01 7.97742274e-02 1.65271232e-02 1.89728008e+01] [-7.97711678e-02 9.96812844e-01 -8.45336928e-04 -6.75950752e-01] [-1.65418848e-02 -4.75860941e-04 9.99863060e-01 -5.17052765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.20587156 meters 0.03706660789852566 Centerline is valid? [True, True] Translation: X:19.03, Y:-0.67, Z:-0.52 [[ 9.96598537e-01 8.06816700e-02 1.67876025e-02 1.90343178e+01] [-8.06786659e-02 9.96739795e-01 -8.57221472e-04 -6.73368536e-01] [-1.68020335e-02 -5.00095708e-04 9.99858711e-01 -5.20584464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.265871559999997 meters 0.04032383609602517 Centerline is valid? [True, True] Translation: X:19.10, Y:-0.68, Z:-0.52 [[ 9.96634706e-01 7.99718177e-02 1.79936694e-02 1.90961538e+01] [-7.99681962e-02 9.96796989e-01 -9.21850777e-04 -6.76028179e-01] [-1.80097576e-02 -5.20172806e-04 9.99837676e-01 -5.18944942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.32587156 meters 0.031246739088617623 Centerline is valid? [True, True] Translation: X:19.16, Y:-0.68, Z:-0.52 [[ 9.96730621e-01 7.88686031e-02 1.75445632e-02 1.91578536e+01] [-7.88649420e-02 9.96884902e-01 -9.01534463e-04 -6.81707889e-01] [-1.75610129e-02 -4.85063950e-04 9.99845676e-01 -5.22393147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.38587156 meters 0.03019706270056976 Centerline is valid? [True, True] Translation: X:19.22, Y:-0.68, Z:-0.53 [[ 9.96875024e-01 7.71783023e-02 1.68433019e-02 1.92198545e+01] [-7.71746411e-02 9.97017212e-01 -8.68212774e-04 -6.84497817e-01] [-1.68600691e-02 -4.34376149e-04 9.99857765e-01 -5.25651010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.445871559999997 meters 0.028256528699607056 Centerline is valid? [True, True] Translation: X:19.28, Y:-0.69, Z:-0.53 [[ 9.97128924e-01 7.38192096e-02 1.68710519e-02 1.92802948e+01] [-7.38149767e-02 9.97271570e-01 -8.74319504e-04 -6.87095952e-01] [-1.68895620e-02 -3.73527037e-04 9.99857291e-01 -5.27255494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.50587156 meters 0.028642918975012123 Centerline is valid? [True, True] Translation: X:19.34, Y:-0.69, Z:-0.53 [[ 9.97144830e-01 7.34050153e-02 1.77169722e-02 1.93416372e+01] [-7.34003039e-02 9.97302138e-01 -9.16919352e-04 -6.86211694e-01] [-1.77364807e-02 -3.86129751e-04 9.99842622e-01 -5.28726375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.565871559999998 meters 0.02971910920123437 Centerline is valid? [True, True] Translation: X:19.40, Y:-0.68, Z:-0.53 [[ 9.97124956e-01 7.35630097e-02 1.81743137e-02 1.94044039e+01] [-7.35580323e-02 9.97290492e-01 -9.43117606e-04 -6.84615386e-01] [-1.81944488e-02 -3.96460652e-04 9.99834389e-01 -5.28445467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.625871559999997 meters 0.027361883746768623 Centerline is valid? [True, True] Translation: X:19.47, Y:-0.69, Z:-0.53 [[ 9.97188573e-01 7.27323639e-02 1.80264471e-02 1.94664785e+01] [-7.27272674e-02 9.97351424e-01 -9.38993910e-04 -6.85588740e-01] [-1.80469980e-02 -3.74660242e-04 9.99837069e-01 -5.31778284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.68587156 meters 0.030946092070409645 Centerline is valid? [True, True] Translation: X:19.53, Y:-0.68, Z:-0.53 [[ 9.97353433e-01 7.05977683e-02 1.73805711e-02 1.95285996e+01] [-7.05926596e-02 9.97504813e-01 -9.08041797e-04 -6.84620468e-01] [-1.74013091e-02 -3.21302136e-04 9.99848534e-01 -5.33939957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.745871559999998 meters 0.024029849243907025 Centerline is valid? [True, True] Translation: X:19.59, Y:-0.69, Z:-0.54 [[ 9.97370025e-01 7.02283407e-02 1.79168324e-02 1.95907359e+01] [-7.02227971e-02 9.97530890e-01 -9.39130306e-04 -6.85471140e-01] [-1.79385473e-02 -3.21509669e-04 9.99839040e-01 -5.35838979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.805871559999996 meters 0.02256763122036229 Centerline is valid? [True, True] Translation: X:19.65, Y:-0.68, Z:-0.53 [[ 9.97385933e-01 6.97117078e-02 1.90152170e-02 1.96528329e+01] [-6.97053049e-02 9.97567126e-01 -1.00011731e-03 -6.84652740e-01] [-1.90386753e-02 -3.27958563e-04 9.99818694e-01 -5.34597358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.86587156 meters 0.02060053037193561 Centerline is valid? [True, True] Translation: X:19.71, Y:-0.68, Z:-0.54 [[ 9.97591652e-01 6.70363441e-02 1.78051974e-02 1.97139771e+01] [-6.70302529e-02 9.97750501e-01 -9.39342693e-04 -6.83154818e-01] [-1.78281148e-02 -2.56406458e-04 9.99841034e-01 -5.39614561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.925871559999997 meters 0.015443010727400449 Centerline is valid? [True, True] Translation: X:19.77, Y:-0.69, Z:-0.54 [[ 9.98021999e-01 6.02265162e-02 1.80237652e-02 1.97744566e+01] [-6.02190873e-02 9.98184727e-01 -9.55114801e-04 -6.90812714e-01] [-1.80485704e-02 -1.32149107e-04 9.99837103e-01 -5.42238306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.98587156 meters 0.012856528984099964 Centerline is valid? [True, True] Translation: X:19.84, Y:-0.70, Z:-0.54 [[ 9.98411422e-01 5.33413828e-02 1.81474322e-02 1.98358925e+01] [-5.33327317e-02 9.98576335e-01 -9.60693517e-04 -7.03769064e-01] [-1.81728411e-02 -8.68475434e-06 9.99834860e-01 -5.43877223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.04587156 meters 0.013018590488693851 Centerline is valid? [True, True] Translation: X:19.90, Y:-0.71, Z:-0.54 [[ 9.98532532e-01 5.08017376e-02 1.87607686e-02 1.98987624e+01] [-5.07919869e-02 9.98708757e-01 -9.96173672e-04 -7.09512436e-01] [-1.87871513e-02 4.18151052e-05 9.99823505e-01 -5.43620532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.105871559999997 meters 0.013392800328406382 Centerline is valid? [True, True] Translation: X:19.96, Y:-0.71, Z:-0.54 [[ 9.98582263e-01 4.93200316e-02 2.00249371e-02 1.99601769e+01] [-4.93085360e-02 9.98783024e-01 -1.06770862e-03 -7.13640149e-01] [-2.00532267e-02 7.87945541e-05 9.99798911e-01 -5.43409137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.16587156 meters 0.013170059024920529 Centerline is valid? [True, True] Translation: X:20.02, Y:-0.71, Z:-0.55 [[ 9.98540636e-01 5.08970937e-02 1.80577780e-02 2.00223422e+01] [-5.08879647e-02 9.98703902e-01 -9.64981462e-04 -7.12809380e-01] [-1.80834881e-02 4.46496354e-05 9.99836479e-01 -5.48548062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.225871559999998 meters 0.01374577887301563 Centerline is valid? [True, True] Translation: X:20.08, Y:-0.71, Z:-0.55 [[ 9.98353590e-01 5.49827686e-02 1.63402451e-02 2.00835362e+01] [-5.49758013e-02 9.98487303e-01 -8.75614050e-04 -7.07441933e-01] [-1.63636710e-02 -2.41456386e-05 9.99866106e-01 -5.54066863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.285871559999997 meters 0.013992297901727456 Centerline is valid? [True, True] Translation: X:20.15, Y:-0.70, Z:-0.55 [[ 9.98179136e-01 5.78483617e-02 1.70874368e-02 2.01472598e+01] [-5.78411212e-02 9.98325379e-01 -9.18053986e-04 -7.04930974e-01] [-1.71119298e-02 -7.19741710e-05 9.99853578e-01 -5.53540885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.34587156 meters 0.029862661466157226 Centerline is valid? [True, True] Translation: X:20.21, Y:-0.70, Z:-0.55 [[ 9.98035101e-01 6.02358284e-02 1.72505529e-02 2.02099395e+01] [-6.02287469e-02 9.98184168e-01 -9.30217088e-04 -7.01891614e-01] [-1.72752612e-02 -1.10589878e-04 9.99850765e-01 -5.51551654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.405871559999998 meters 0.014610708476954134 Centerline is valid? [True, True] Translation: X:20.27, Y:-0.70, Z:-0.56 [[ 9.97986827e-01 6.09023982e-02 1.76972006e-02 2.02717994e+01] [-6.08949956e-02 9.98143719e-01 -9.57367979e-04 -6.99939979e-01] [-1.77226556e-02 -1.22230321e-04 9.99842934e-01 -5.55564831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.465871559999997 meters 0.014230097408661904 Centerline is valid? [True, True] Translation: X:20.34, Y:-0.70, Z:-0.56 [[ 9.98042201e-01 6.02004652e-02 1.69608243e-02 2.03350892e+01] [-6.01935177e-02 9.98186302e-01 -9.20290028e-04 -7.01060590e-01] [-1.69854644e-02 -1.02443395e-04 9.99855731e-01 -5.58454772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.52587156 meters 0.012900639605551162 Centerline is valid? [True, True] Translation: X:20.40, Y:-0.71, Z:-0.56 [[ 9.98278410e-01 5.60029698e-02 1.74322388e-02 2.03963805e+01] [-5.59949235e-02 9.98430602e-01 -9.49716603e-04 -7.09859277e-01] [-1.74580677e-02 -2.80352994e-05 9.99847596e-01 -5.60647839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.585871559999998 meters 0.013216932740502224 Centerline is valid? [True, True] Translation: X:20.46, Y:-0.72, Z:-0.56 [[ 9.98525324e-01 5.10440555e-02 1.84846199e-02 2.04584814e+01] [-5.10340995e-02 9.98696400e-01 -1.01023267e-03 -7.21832649e-01] [-1.85120897e-02 6.53969759e-05 9.99828634e-01 -5.60261229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.645871559999996 meters 0.017570745072048383 Centerline is valid? [True, True] Translation: X:20.52, Y:-0.74, Z:-0.56 [[ 9.98909205e-01 4.28720782e-02 1.85036498e-02 2.05193615e+01] [-4.28606286e-02 9.99080545e-01 -1.01509175e-03 -7.38537800e-01] [-1.85301556e-02 2.20906431e-04 9.99828278e-01 -5.60942865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.70587156 meters 0.020155141615335624 Centerline is valid? [True, True] Translation: X:20.58, Y:-0.75, Z:-0.56 [[ 9.98993606e-01 4.10281772e-02 1.81235557e-02 2.05802286e+01] [-4.10168381e-02 9.99157958e-01 -9.97081327e-04 -7.47636338e-01] [-1.81492033e-02 2.52706921e-04 9.99835258e-01 -5.64129037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.765871559999997 meters 0.021858401195163864 Centerline is valid? [True, True] Translation: X:20.64, Y:-0.76, Z:-0.57 [[ 9.99080924e-01 3.93982707e-02 1.68844108e-02 2.06416199e+01] [-3.93881584e-02 9.99223552e-01 -9.31171344e-04 -7.59073651e-01] [-1.69079875e-02 2.65269679e-04 9.99857015e-01 -5.66995823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.82587156 meters 0.01963696957816964 Centerline is valid? [True, True] Translation: X:20.70, Y:-0.76, Z:-0.57 [[ 9.98961627e-01 4.23884024e-02 1.67000183e-02 2.07037090e+01] [-4.23788814e-02 9.99101185e-01 -9.23755167e-04 -7.62770320e-01] [-1.67241646e-02 2.15067867e-04 9.99860118e-01 -5.68942504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.88587156 meters 0.01556698828631602 Centerline is valid? [True, True] Translation: X:20.76, Y:-0.76, Z:-0.57 [[ 9.98684323e-01 4.85319550e-02 1.65611797e-02 2.07642759e+01] [-4.85233611e-02 9.98821624e-01 -9.20590431e-04 -7.62113926e-01] [-1.65863425e-02 1.15775126e-04 9.99862430e-01 -5.71363722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.945871559999997 meters 0.013332006637595832 Centerline is valid? [True, True] Translation: X:20.83, Y:-0.75, Z:-0.57 [[ 9.98224168e-01 5.73897351e-02 1.59664891e-02 2.08272113e+01] [-5.73829075e-02 9.98351850e-01 -8.85799132e-04 -7.54130626e-01] [-1.59910097e-02 -3.19774636e-05 9.99872135e-01 -5.73542402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.00587156 meters 0.016505887443909538 Centerline is valid? [True, True] Translation: X:20.89, Y:-0.75, Z:-0.58 [[ 9.97812810e-01 6.40553318e-02 1.63251539e-02 2.08887115e+01] [-6.40490368e-02 9.97946339e-01 -9.08690511e-04 -7.46350850e-01] [-1.63498341e-02 -1.38907351e-04 9.99866323e-01 -5.76110394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.065871559999998 meters 0.022229830949328448 Centerline is valid? [True, True] Translation: X:20.95, Y:-0.74, Z:-0.58 [[ 9.97251092e-01 7.22545592e-02 1.64176422e-02 2.09508856e+01] [-7.22492354e-02 9.97386187e-01 -9.17942108e-04 -7.37976718e-01] [-1.64410551e-02 -2.70743328e-04 9.99864800e-01 -5.76605939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.125871559999997 meters 0.030340029912036957 Centerline is valid? [True, True] Translation: X:21.01, Y:-0.72, Z:-0.58 [[ 9.96724023e-01 7.91885333e-02 1.64438018e-02 2.10115041e+01] [-7.91841328e-02 9.96859583e-01 -9.19548593e-04 -7.24269975e-01] [-1.64649791e-02 -3.85552009e-04 9.99864369e-01 -5.78721629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.18587156 meters 0.035683519111174615 Centerline is valid? [True, True] Translation: X:21.07, Y:-0.71, Z:-0.58 [[ 9.96218486e-01 8.53920802e-02 1.60287497e-02 2.10728234e+01] [-8.53886808e-02 9.96347313e-01 -8.97592240e-04 -7.13030831e-01] [-1.60468490e-02 -4.74475811e-04 9.99871128e-01 -5.80552101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.245871559999998 meters 0.03862976347241048 Centerline is valid? [True, True] Translation: X:21.13, Y:-0.71, Z:-0.58 [[ 9.96076625e-01 8.68990300e-02 1.67306940e-02 2.11327074e+01] [-8.68955352e-02 9.96216988e-01 -9.37114527e-04 -7.08089484e-01] [-1.67488360e-02 -5.20384737e-04 9.99859593e-01 -5.81901241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.305871559999996 meters 0.03879320657250133 Centerline is valid? [True, True] Translation: X:21.19, Y:-0.70, Z:-0.58 [[ 9.96075300e-01 8.67168797e-02 1.77251125e-02 2.11929392e+01] [-8.67129302e-02 9.96232845e-01 -9.92703694e-04 -7.01067332e-01] [-1.77444234e-02 -5.48188814e-04 9.99842405e-01 -5.81405522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.36587156 meters 0.035855661985782605 Centerline is valid? [True, True] Translation: X:21.25, Y:-0.70, Z:-0.58 [[ 9.96299253e-01 8.42183860e-02 1.71773594e-02 2.12533801e+01] [-8.42143118e-02 9.96447201e-01 -9.61678355e-04 -6.99107862e-01] [-1.71973227e-02 -4.88460077e-04 9.99851996e-01 -5.84123612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.425871559999997 meters 0.03265873285265966 Centerline is valid? [True, True] Translation: X:21.31, Y:-0.70, Z:-0.59 [[ 9.96616650e-01 8.04678373e-02 1.67385785e-02 2.13134229e+01] [-8.04634497e-02 9.96757120e-01 -9.36523863e-04 -6.98506893e-01] [-1.67596573e-02 -4.13488491e-04 9.99859462e-01 -5.87106310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.485871559999996 meters 0.028216424307071723 Centerline is valid? [True, True] Translation: X:21.37, Y:-0.70, Z:-0.59 [[ 9.97014052e-01 7.53436754e-02 1.69207416e-02 2.13728535e+01] [-7.53384573e-02 9.97157571e-01 -9.46514886e-04 -6.99312889e-01] [-1.69439595e-02 -3.31093925e-04 9.99856386e-01 -5.88902411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.54587156 meters 0.020118861923841033 Centerline is valid? [True, True] Translation: X:21.43, Y:-0.71, Z:-0.59 [[ 9.97476525e-01 6.90072900e-02 1.66906037e-02 2.14334032e+01] [-6.90013335e-02 9.97616131e-01 -9.33182422e-04 -7.06334784e-01] [-1.67152118e-02 -2.20846350e-04 9.99860267e-01 -5.89295697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.605871559999997 meters 0.024833500144095574 Centerline is valid? [True, True] Translation: X:21.49, Y:-0.71, Z:-0.59 [[ 9.97812438e-01 6.41953758e-02 1.57889995e-02 2.14942166e+01] [-6.41894427e-02 9.97937341e-01 -8.82783462e-04 -7.14608938e-01] [-1.58131028e-02 -1.32634764e-04 9.99874956e-01 -5.89514669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.66587156 meters 0.01310251211803303 Centerline is valid? [True, True] Translation: X:21.56, Y:-0.72, Z:-0.59 [[ 9.98203238e-01 5.77857437e-02 1.58462552e-02 2.15550956e+01] [-5.77789797e-02 9.98329007e-01 -8.84722179e-04 -7.24345606e-01] [-1.58709006e-02 -3.24479150e-05 9.99874049e-01 -5.93402827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.725871559999998 meters 0.013874130453447023 Centerline is valid? [True, True] Translation: X:21.62, Y:-0.74, Z:-0.60 [[ 9.98554972e-01 5.15379297e-02 1.52252925e-02 2.16164116e+01] [-5.15309267e-02 9.98671036e-01 -8.52167717e-04 -7.37504129e-01] [-1.52489776e-02 6.63628768e-05 9.99883725e-01 -5.95539032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.785871559999997 meters 0.01580731126341676 Centerline is valid? [True, True] Translation: X:21.68, Y:-0.74, Z:-0.60 [[ 9.98724705e-01 4.81183564e-02 1.52835492e-02 2.16779719e+01] [-4.81108597e-02 9.98841634e-01 -8.58015090e-04 -7.44765127e-01] [-1.53071315e-02 1.21616176e-04 9.99882832e-01 -5.96591248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.84587156 meters 0.014856813697926963 Centerline is valid? [True, True] Translation: X:21.74, Y:-0.75, Z:-0.60 [[ 9.98633352e-01 4.98258749e-02 1.57737230e-02 2.17402047e+01] [-4.98180582e-02 9.98757915e-01 -8.88345164e-04 -7.46048345e-01] [-1.57983932e-02 1.01314860e-04 9.99875192e-01 -5.97260902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.905871559999998 meters 0.02088508153400897 Centerline is valid? [True, True] Translation: X:21.80, Y:-0.74, Z:-0.60 [[ 9.98318129e-01 5.60090761e-02 1.49631566e-02 2.18021509e+01] [-5.60026998e-02 9.98430260e-01 -8.45133556e-04 -7.39682456e-01] [-1.49870035e-02 5.73498044e-06 9.99887689e-01 -5.99285125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.965871559999997 meters 0.013759142933286563 Centerline is valid? [True, True] Translation: X:21.86, Y:-0.73, Z:-0.60 [[ 9.98039242e-01 6.08078412e-02 1.48350488e-02 2.18636650e+01] [-6.08020449e-02 9.98149489e-01 -8.41849273e-04 -7.33209199e-01] [-1.48587874e-02 -6.18026916e-05 9.99889600e-01 -6.00897400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.02587156 meters 0.016507290301034105 Centerline is valid? [True, True] Translation: X:21.92, Y:-0.73, Z:-0.60 [[ 9.97744868e-01 6.54875737e-02 1.47158205e-02 2.19235407e+01] [-6.54823664e-02 9.97853376e-01 -8.35935355e-04 -7.25796109e-01] [-1.47389745e-02 -1.29576538e-04 9.99891367e-01 -6.04606266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.085871559999998 meters 0.016710690419528256 Centerline is valid? [True, True] Translation: X:21.98, Y:-0.72, Z:-0.61 [[ 9.97768833e-01 6.49477391e-02 1.54643536e-02 2.19830251e+01] [-6.49419270e-02 9.97888659e-01 -8.78249520e-04 -7.24924536e-01] [-1.54887434e-02 -1.27994925e-04 9.99880034e-01 -6.06529375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.145871559999996 meters 0.01444786044455199 Centerline is valid? [True, True] Translation: X:22.04, Y:-0.73, Z:-0.61 [[ 9.98026940e-01 6.08404439e-02 1.55134904e-02 2.20434451e+01] [-6.08341082e-02 9.98147502e-01 -8.80409065e-04 -7.33883162e-01] [-1.55383162e-02 -6.50773905e-05 9.99879271e-01 -6.09327019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.20587156 meters 0.01451239954247243 Centerline is valid? [True, True] Translation: X:22.10, Y:-0.75, Z:-0.61 [[ 9.98578867e-01 5.12223466e-02 1.47145076e-02 2.21048692e+01] [-5.12156267e-02 9.98687271e-01 -8.33395732e-04 -7.52498113e-01] [-1.47378799e-02 7.85986398e-05 9.99891388e-01 -6.10423737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.265871559999997 meters 0.024444918482368932 Centerline is valid? [True, True] Translation: X:22.16, Y:-0.77, Z:-0.61 [[ 9.99025693e-01 4.19916643e-02 1.35781295e-02 2.21636454e+01] [-4.19850296e-02 9.99117941e-01 -7.73437354e-04 -7.72951494e-01] [-1.35986307e-02 2.02605620e-04 9.99907514e-01 -6.13259894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.32587156 meters 0.029358959510935517 Centerline is valid? [True, True] Translation: X:22.22, Y:-0.80, Z:-0.62 [[ 9.99247902e-01 3.60251025e-02 1.43464924e-02 2.22229193e+01] [-3.60170831e-02 9.99350840e-01 -8.17043724e-04 -7.95526928e-01] [-1.43666133e-02 2.99710420e-04 9.99896750e-01 -6.17893359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.38587156 meters 0.028682316345409412 Centerline is valid? [True, True] Translation: X:22.29, Y:-0.80, Z:-0.62 [[ 9.99281122e-01 3.49640077e-02 1.46545994e-02 2.22853579e+01] [-3.49555534e-02 9.99388521e-01 -8.32730612e-04 -8.01100692e-01] [-1.46747540e-02 3.19872348e-04 9.99892269e-01 -6.16772467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.445871559999997 meters 0.023902428893546403 Centerline is valid? [True, True] Translation: X:22.35, Y:-0.80, Z:-0.62 [[ 9.99168290e-01 3.78761450e-02 1.51038333e-02 2.23470394e+01] [-3.78674306e-02 9.99282399e-01 -8.62643728e-04 -8.02169022e-01] [-1.51256684e-02 2.89982899e-04 9.99885558e-01 -6.15939684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.50587156 meters 0.02122342460824249 Centerline is valid? [True, True] Translation: X:22.41, Y:-0.81, Z:-0.62 [[ 9.98955859e-01 4.31578722e-02 1.49863233e-02 2.24068887e+01] [-4.31498790e-02 9.99068243e-01 -8.56453115e-04 -8.08574972e-01] [-1.50093223e-02 2.08900822e-04 9.99887332e-01 -6.20903643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.565871559999998 meters 0.019297671117213127 Centerline is valid? [True, True] Translation: X:22.47, Y:-0.81, Z:-0.62 [[ 9.98872155e-01 4.52487548e-02 1.43863543e-02 2.24694906e+01] [-4.52416337e-02 9.98975736e-01 -8.20213878e-04 -8.09858496e-01] [-1.44087325e-02 1.68426632e-04 9.99896175e-01 -6.22537082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.625871559999997 meters 0.015074672811182119 Centerline is valid? [True, True] Translation: X:22.53, Y:-0.81, Z:-0.62 [[ 9.98539080e-01 5.20516174e-02 1.45029418e-02 2.25317215e+01] [-5.20450367e-02 9.98644393e-01 -8.31061349e-04 -8.06206564e-01] [-1.45265396e-02 7.50410943e-05 9.99894481e-01 -6.24784637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.68587156 meters 0.014328659417895098 Centerline is valid? [True, True] Translation: X:22.59, Y:-0.80, Z:-0.63 [[ 9.98081027e-01 6.00547135e-02 1.50895381e-02 2.25929768e+01] [-6.00485067e-02 9.98195086e-01 -8.64483774e-04 -8.00832881e-01] [-1.51142191e-02 -4.32793746e-05 9.99885773e-01 -6.26654015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.745871559999998 meters 0.018690188152874248 Centerline is valid? [True, True] Translation: X:22.65, Y:-0.79, Z:-0.63 [[ 9.97566214e-01 6.79525163e-02 1.56238070e-02 2.26549672e+01] [-6.79467920e-02 9.97688543e-01 -8.97536068e-04 -7.91162414e-01] [-1.56486831e-02 -1.66235907e-04 9.99877538e-01 -6.28198639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.805871559999996 meters 0.022109674598622182 Centerline is valid? [True, True] Translation: X:22.72, Y:-0.79, Z:-0.63 [[ 9.97225101e-01 7.25972423e-02 1.64844638e-02 2.27152879e+01] [-7.25914902e-02 9.97361307e-01 -9.47819590e-04 -7.87217675e-01] [-1.65097755e-02 -2.51442308e-04 9.99863673e-01 -6.28730012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.86587156 meters 0.024111021510575786 Centerline is valid? [True, True] Translation: X:22.78, Y:-0.78, Z:-0.63 [[ 9.97107203e-01 7.43766341e-02 1.56634115e-02 2.27758041e+01] [-7.43716653e-02 9.97230187e-01 -9.00288404e-04 -7.83923085e-01] [-1.56869872e-02 -2.67229944e-04 9.99876916e-01 -6.33334574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.925871559999997 meters 0.019618199033194887 Centerline is valid? [True, True] Translation: X:22.84, Y:-0.79, Z:-0.64 [[ 9.97443495e-01 6.99987272e-02 1.43754068e-02 2.28361543e+01] [-6.99940873e-02 9.97547064e-01 -8.26257552e-04 -7.92364850e-01] [-1.43979818e-02 -1.82048257e-04 9.99896327e-01 -6.37378257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.985871559999996 meters 0.01600251735846391 Centerline is valid? [True, True] Translation: X:22.90, Y:-0.80, Z:-0.64 [[ 9.97882321e-01 6.31337543e-02 1.56525578e-02 2.28963254e+01] [-6.31274134e-02 9.98005071e-01 -8.99351824e-04 -8.03459670e-01] [-1.56781115e-02 -9.06582000e-05 9.99877087e-01 -6.40884060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.04587156 meters 0.014048293848061203 Centerline is valid? [True, True] Translation: X:22.96, Y:-0.81, Z:-0.64 [[ 9.98078148e-01 5.94884401e-02 1.73532443e-02 2.29582076e+01] [-5.94801132e-02 9.98228994e-01 -9.96038415e-04 -8.11384264e-01] [-1.73817644e-02 -3.80487562e-05 9.99848925e-01 -6.39063944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.105871559999997 meters 0.014005243895732192 Centerline is valid? [True, True] Translation: X:23.02, Y:-0.82, Z:-0.64 [[ 9.98240183e-01 5.63680698e-02 1.84167984e-02 2.30194960e+01] [-5.63580975e-02 9.98410056e-01 -1.06045724e-03 -8.18988294e-01] [-1.84472926e-02 2.06553070e-05 9.99829834e-01 -6.41181855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.16587156 meters 0.0140422272798808 Centerline is valid? [True, True] Translation: X:23.08, Y:-0.82, Z:-0.64 [[ 9.98317739e-01 5.49533968e-02 1.84882896e-02 2.30827690e+01] [-5.49430533e-02 9.98488919e-01 -1.06733182e-03 -8.23283991e-01] [-1.85190058e-02 4.97332103e-05 9.99828507e-01 -6.42105786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.225871559999998 meters 0.019121301611592936 Centerline is valid? [True, True] Translation: X:23.14, Y:-0.83, Z:-0.64 [[ 9.98492487e-01 5.23363554e-02 1.65426777e-02 2.31444388e+01] [-5.23276665e-02 9.98629510e-01 -9.57951939e-04 -8.30732434e-01] [-1.65701418e-02 9.08680919e-05 9.99862702e-01 -6.44671960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.285871559999997 meters 0.023884406195961914 Centerline is valid? [True, True] Translation: X:23.20, Y:-0.84, Z:-0.65 [[ 9.98639508e-01 4.94627916e-02 1.65095789e-02 2.32048683e+01] [-4.94536963e-02 9.98775957e-01 -9.58963896e-04 -8.41518873e-01] [-1.65368035e-02 1.41199533e-04 9.99863248e-01 -6.46445472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.34587156 meters 0.017991907449257293 Centerline is valid? [True, True] Translation: X:23.27, Y:-0.85, Z:-0.65 [[ 9.98677281e-01 4.78808603e-02 1.87379580e-02 2.32668830e+01] [-4.78688016e-02 9.98853035e-01 -1.09179145e-03 -8.48789616e-01] [-1.87687422e-02 1.93383718e-04 9.99823833e-01 -6.49240457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.405871559999998 meters 0.019468976672682922 Centerline is valid? [True, True] Translation: X:23.33, Y:-0.86, Z:-0.65 [[ 9.98702067e-01 4.66442486e-02 2.04571545e-02 2.33286117e+01] [-4.66295383e-02 9.98911536e-01 -1.19575340e-03 -8.58460993e-01] [-2.04906627e-02 2.40293717e-04 9.99790015e-01 -6.49144955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.465871559999997 meters 0.019045738887517275 Centerline is valid? [True, True] Translation: X:23.39, Y:-0.86, Z:-0.65 [[ 9.98768247e-01 4.70854855e-02 1.56507577e-02 2.33888666e+01] [-4.67996118e-02 9.98739280e-01 -1.81561553e-02 -8.58153161e-01] [-1.64859178e-02 1.74013420e-02 9.99712663e-01 -6.47385225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.52587156 meters 0.021944039456896658 Centerline is valid? [True, True] Translation: X:23.45, Y:-0.89, Z:-0.65 [[ 9.98881813e-01 4.21639270e-02 2.13852164e-02 2.34501075e+01] [-4.25123628e-02 9.98966066e-01 1.61089658e-02 -8.92534508e-01] [-2.06838882e-02 -1.70000890e-02 9.99641523e-01 -6.53555417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.585871559999998 meters 0.02347582667244839 Centerline is valid? [True, True] Translation: X:23.51, Y:-0.90, Z:-0.66 [[ 9.98940760e-01 4.15931325e-02 1.96817010e-02 2.35108262e+01] [-4.15783594e-02 9.99134573e-01 -1.15939032e-03 -8.96067753e-01] [-1.97128906e-02 3.39829410e-04 9.99805624e-01 -6.56821849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.645871559999996 meters 0.034265051269266655 Centerline is valid? [True, True] Translation: X:23.57, Y:-0.91, Z:-0.66 [[ 9.98911851e-01 4.28879237e-02 1.83232250e-02 2.35715532e+01] [-4.28752902e-02 9.99079846e-01 -1.08194851e-03 -9.07741414e-01] [-1.83527673e-02 2.95157604e-04 9.99831530e-01 -6.57182036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.70587156 meters 0.027735900586234256 Centerline is valid? [True, True] Translation: X:23.63, Y:-0.91, Z:-0.66 [[ 9.98800661e-01 4.66886764e-02 1.47447244e-02 2.36332331e+01] [-4.64915729e-02 9.98828275e-01 -1.34391363e-02 -9.09591520e-01] [-1.53549031e-02 1.27375128e-02 9.99800972e-01 -6.57551895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.765871559999997 meters 0.017916406915434568 Centerline is valid? [True, True] Translation: X:23.70, Y:-0.93, Z:-0.66 [[ 9.98611876e-01 4.90584080e-02 1.91727146e-02 2.36952765e+01] [-4.92487871e-02 9.98740533e-01 9.58670902e-03 -9.26688016e-01] [-1.86782585e-02 -1.05176344e-02 9.99770225e-01 -6.62537947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.825871559999996 meters 0.017225859356078163 Centerline is valid? [True, True] Translation: X:23.76, Y:-0.92, Z:-0.66 [[ 9.98282258e-01 5.57409594e-02 1.80410274e-02 2.37569709e+01] [-5.57306489e-02 9.98445262e-01 -1.07415209e-03 -9.24224763e-01] [-1.80728526e-02 6.68688064e-05 9.99836670e-01 -6.64406905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.88587156 meters 0.014643622143088269 Centerline is valid? [True, True] Translation: X:23.82, Y:-0.91, Z:-0.66 [[ 9.97916013e-01 6.29956731e-02 1.39705536e-02 2.38175150e+01] [-6.25124020e-02 9.97508870e-01 -3.26841545e-02 -9.05887925e-01] [-1.59947114e-02 3.17427083e-02 9.99368085e-01 -6.60687620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.945871559999997 meters 0.021665188797328937 Centerline is valid? [True, True] Translation: X:23.88, Y:-0.92, Z:-0.67 [[ 9.97178104e-01 7.28394671e-02 1.81725434e-02 2.38783796e+01] [-7.30841160e-02 9.97238663e-01 1.31818289e-02 -9.24064232e-01] [-1.71622055e-02 -1.44727554e-02 9.99747967e-01 -6.65975823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.00587156 meters 0.031068933820702964 Centerline is valid? [True, True] Translation: X:23.94, Y:-0.91, Z:-0.67 [[ 9.96400458e-01 8.21065014e-02 2.10867362e-02 2.39409358e+01] [-8.25282500e-02 9.96388519e-01 1.99751543e-02 -9.14383286e-01] [-1.93704919e-02 -2.16435043e-02 9.99578082e-01 -6.72891731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.065871559999998 meters 0.03047243668718103 Centerline is valid? [True, True] Translation: X:24.00, Y:-0.89, Z:-0.67 [[ 9.95716110e-01 9.06191960e-02 1.83735950e-02 2.40012866e+01] [-9.03440237e-02 9.95793199e-01 -1.52925543e-02 -8.94419906e-01] [-1.96820999e-02 1.35670982e-02 9.99714234e-01 -6.70249721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.125871559999997 meters 0.03831240541717996 Centerline is valid? [True, True] Translation: X:24.06, Y:-0.90, Z:-0.68 [[ 9.95829140e-01 8.89878522e-02 2.01367015e-02 2.40623388e+01] [-8.92608895e-02 9.95922243e-01 1.30911924e-02 -9.01570204e-01] [-1.88896318e-02 -1.48340108e-02 9.99711525e-01 -6.78643743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.18587156 meters 0.03284158336570406 Centerline is valid? [True, True] Translation: X:24.12, Y:-0.90, Z:-0.68 [[ 9.96198547e-01 8.46895530e-02 2.03993833e-02 2.41234547e+01] [-8.46823098e-02 9.96407255e-01 -1.22018754e-03 -9.01305248e-01] [-2.04294307e-02 -5.11917848e-04 9.99791166e-01 -6.76858628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.245871559999998 meters 0.03313517406646559 Centerline is valid? [True, True] Translation: X:24.18, Y:-0.91, Z:-0.67 [[ 9.96529143e-01 8.03752352e-02 2.16676701e-02 2.41848931e+01] [-8.03660415e-02 9.96764576e-01 -1.29615453e-03 -9.10019383e-01] [-2.17017447e-02 -4.49689107e-04 9.99764388e-01 -6.74007972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.305871559999996 meters 0.020797863523613534 Centerline is valid? [True, True] Translation: X:24.24, Y:-0.92, Z:-0.68 [[ 9.97087532e-01 7.32043103e-02 2.13911909e-02 2.42447858e+01] [-7.31936791e-02 9.97316923e-01 -1.28055709e-03 -9.23278512e-01] [-2.14275390e-02 -2.88872459e-04 9.99770362e-01 -6.78598099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.36587156 meters 0.028995975650711197 Centerline is valid? [True, True] Translation: X:24.30, Y:-0.94, Z:-0.68 [[ 9.97593709e-01 6.56672286e-02 2.22397435e-02 2.43043760e+01] [-6.56538660e-02 9.97841569e-01 -1.33125272e-03 -9.37631160e-01] [-2.22791603e-02 -1.32075801e-04 9.99751780e-01 -6.78446405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.425871559999997 meters 0.014543428952059742 Centerline is valid? [True, True] Translation: X:24.36, Y:-0.95, Z:-0.68 [[ 9.97955933e-01 5.95935036e-02 2.30774651e-02 2.43619989e+01] [-5.94591501e-02 9.98209801e-01 -6.46551622e-03 -9.48474243e-01] [-2.34214546e-02 5.08013381e-03 9.99712773e-01 -6.83920465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.485871559999996 meters 0.015460302530066328 Centerline is valid? [True, True] Translation: X:24.43, Y:-0.96, Z:-0.69 [[ 9.98161976e-01 5.71096237e-02 2.02770742e-02 2.44263456e+01] [-5.72027892e-02 9.98354388e-01 4.04425887e-03 -9.64064814e-01] [-2.00127399e-02 -5.19673063e-03 9.99786219e-01 -6.87883167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.54587156 meters 0.014778624748601086 Centerline is valid? [True, True] Translation: X:24.49, Y:-0.97, Z:-0.69 [[ 9.98058450e-01 5.70704124e-02 2.49459280e-02 2.44860422e+01] [-5.71618978e-02 9.98360507e-01 2.96919559e-03 -9.67068744e-01] [-2.47355761e-02 -4.38938733e-03 9.99684392e-01 -6.87715194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.605871559999997 meters 0.015538862348043445 Centerline is valid? [True, True] Translation: X:24.55, Y:-0.96, Z:-0.69 [[ 9.97802201e-01 6.32291300e-02 1.98202949e-02 2.45497474e+01] [-6.31299015e-02 9.97989644e-01 -5.59337287e-03 -9.59547202e-01] [-2.01341132e-02 4.32982649e-03 9.99787913e-01 -6.90878059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.66587156 meters 0.018808260354188353 Centerline is valid? [True, True] Translation: X:24.61, Y:-0.96, Z:-0.69 [[ 9.97403445e-01 6.92374216e-02 1.98127892e-02 2.46106071e+01] [-6.92273200e-02 9.97600194e-01 -1.19608228e-03 -9.56169455e-01] [-1.98480560e-02 -1.78609709e-04 9.99802992e-01 -6.93770350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.725871559999998 meters 0.02130589776446372 Centerline is valid? [True, True] Translation: X:24.67, Y:-0.95, Z:-0.69 [[ 9.97015522e-01 7.34817197e-02 2.36745757e-02 2.46704930e+01] [-7.32497082e-02 9.97258107e-01 -1.05237183e-02 -9.45190420e-01] [-2.43829635e-02 8.75815472e-03 9.99664327e-01 -6.92845858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.785871559999997 meters 0.02477307184579745 Centerline is valid? [True, True] Translation: X:24.73, Y:-0.95, Z:-0.70 [[ 9.96921976e-01 7.54539202e-02 2.12903748e-02 2.47340738e+01] [-7.56377572e-02 9.97103552e-01 7.96465275e-03 -9.51431419e-01] [-2.06277441e-02 -9.55049356e-03 9.99741609e-01 -6.96575400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.84587156 meters 0.027396910616657714 Centerline is valid? [True, True] Translation: X:24.79, Y:-0.94, Z:-0.70 [[ 9.96474981e-01 7.89765588e-02 2.82898509e-02 2.47936183e+01] [-7.90656544e-02 9.96867317e-01 2.04300038e-03 -9.40647211e-01] [-2.80398786e-02 -4.27255434e-03 9.99597674e-01 -6.99704123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.905871559999998 meters 0.027827783860172376 Centerline is valid? [True, True] Translation: X:24.86, Y:-0.93, Z:-0.70 [[ 9.96617322e-01 8.02041998e-02 1.79220534e-02 2.48586044e+01] [-8.01276915e-02 9.96772325e-01 -4.94817696e-03 -9.34355916e-01] [-1.82610714e-02 3.49538611e-03 9.99827143e-01 -7.04931507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.965871559999997 meters 0.02485245108641981 Centerline is valid? [True, True] Translation: X:24.92, Y:-0.92, Z:-0.71 [[ 9.96977044e-01 7.61937235e-02 1.52082203e-02 2.49186067e+01] [-7.58298997e-02 9.96850455e-01 -2.32163041e-02 -9.24660366e-01] [-1.69292579e-02 2.19928844e-02 9.99614782e-01 -7.06154149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.02587156 meters 0.01717112400124479 Centerline is valid? [True, True] Translation: X:24.98, Y:-0.97, Z:-0.71 [[ 9.97450716e-01 6.70017953e-02 2.45525712e-02 2.49791822e+01] [-6.74798934e-02 9.97536071e-01 1.91898562e-02 -9.65313534e-01] [-2.32063206e-02 -2.07977407e-02 9.99514342e-01 -7.08282168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.085871559999998 meters 0.015907658853402177 Centerline is valid? [True, True] Translation: X:25.04, Y:-0.96, Z:-0.71 [[ 9.97653515e-01 6.29575263e-02 2.69037824e-02 2.50391394e+01] [-6.28733788e-02 9.98013643e-01 -3.96311909e-03 -9.61670307e-01] [-2.70998501e-02 2.26228799e-03 9.99630172e-01 -7.11767170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.145871559999996 meters 0.017611366442506653 Centerline is valid? [True, True] Translation: X:25.10, Y:-0.99, Z:-0.72 [[ 9.97972298e-01 5.46655602e-02 3.26032041e-02 2.50996872e+01] [-5.53489653e-02 9.98257831e-01 2.04400325e-02 -9.91543690e-01] [-3.14290380e-02 -2.22031398e-02 9.99259344e-01 -7.15939975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.20587156 meters 0.018798076114602623 Centerline is valid? [True, True] Translation: X:25.17, Y:-0.97, Z:-0.71 [[ 9.98519758e-01 5.22864669e-02 1.49805804e-02 2.51654493e+01] [-5.18766062e-02 9.98300422e-01 -2.65534300e-02 -9.70867788e-01] [-1.63435048e-02 2.57369828e-02 9.99535141e-01 -7.11619251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.265871559999997 meters 0.019885137700634454 Centerline is valid? [True, True] Translation: X:25.23, Y:-0.99, Z:-0.71 [[ 9.98516769e-01 5.20142982e-02 1.60864609e-02 2.52270198e+01] [-5.20052168e-02 9.98646330e-01 -9.82622192e-04 -9.89879940e-01] [-1.61157956e-02 1.44584848e-04 9.99870122e-01 -7.14545371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.325871559999996 meters 0.016026774161913206 Centerline is valid? [True, True] Translation: X:25.29, Y:-0.98, Z:-0.71 [[ 9.98397433e-01 5.26741970e-02 2.06880266e-02 2.52919306e+01] [-5.26810201e-02 9.98611368e-01 -2.15419758e-04 -9.84591082e-01] [-2.06706456e-02 -8.74791811e-04 9.99785957e-01 -7.12982649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.38587156 meters 0.01586846417761263 Centerline is valid? [True, True] Translation: X:25.35, Y:-0.99, Z:-0.72 [[ 9.98302448e-01 5.41093395e-02 2.15500018e-02 2.53527829e+01] [-5.40615058e-02 9.98533692e-01 -2.79651742e-03 -9.86366642e-01] [-2.16697206e-02 1.62674464e-03 9.99763861e-01 -7.15551065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.445871559999997 meters 0.01543801363453227 Centerline is valid? [True, True] Translation: X:25.41, Y:-0.99, Z:-0.72 [[ 9.98257764e-01 5.54365177e-02 2.02046841e-02 2.54132272e+01] [-5.53764601e-02 9.98459341e-01 -3.52035633e-03 -9.88818360e-01] [-2.03687119e-02 2.39535916e-03 9.99789667e-01 -7.17665662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.50587156 meters 0.015782174997316583 Centerline is valid? [True, True] Translation: X:25.47, Y:-0.99, Z:-0.72 [[ 9.98275104e-01 5.59246746e-02 1.78675033e-02 2.54742881e+01] [-5.58507434e-02 9.98428483e-01 -4.61068105e-03 -9.92562835e-01] [-1.80972751e-02 3.60481477e-03 9.99829732e-01 -7.22709085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.565871559999998 meters 0.015579658225533328 Centerline is valid? [True, True] Translation: X:25.54, Y:-1.00, Z:-0.72 [[ 9.98175544e-01 5.79930115e-02 1.68045619e-02 2.55354751e+01] [-5.81005184e-02 9.98292821e-01 5.98108949e-03 -1.00465646e+00] [-1.64290121e-02 -6.94653101e-03 9.99840904e-01 -7.24035268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.625871559999997 meters 0.015797570597604716 Centerline is valid? [True, True] Translation: X:25.60, Y:-1.01, Z:-0.73 [[ 9.98265629e-01 5.59313315e-02 1.83689842e-02 2.55986796e+01] [-5.58352395e-02 9.98423706e-01 -5.70346230e-03 -1.00503529e+00] [-1.86590316e-02 4.66793375e-03 9.99815008e-01 -7.25376696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.68587156 meters 0.016038445229154038 Centerline is valid? [True, True] Translation: X:25.66, Y:-1.03, Z:-0.73 [[ 9.98161063e-01 5.39536203e-02 2.76314917e-02 2.56628620e+01] [-5.45839788e-02 9.98253607e-01 2.25903901e-02 -1.02740168e+00] [-2.63644030e-02 -2.40570845e-02 9.99362885e-01 -7.29975686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.745871559999998 meters 0.01647282787016446 Centerline is valid? [True, True] Translation: X:25.73, Y:-1.01, Z:-0.73 [[ 9.98346778e-01 5.43396483e-02 1.87326745e-02 2.57254289e+01] [-5.39777909e-02 9.98355408e-01 -1.93100134e-02 -1.01323047e+00] [-1.97511662e-02 1.82669413e-02 9.99638040e-01 -7.32486335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.805871559999996 meters 0.016094008543320708 Centerline is valid? [True, True] Translation: X:25.79, Y:-1.04, Z:-0.73 [[ 9.98363409e-01 5.25203959e-02 2.26298946e-02 2.57885941e+01] [-5.26894159e-02 9.98586846e-01 6.93809529e-03 -1.03725021e+00] [-2.22335236e-02 -8.11909640e-03 9.99719836e-01 -7.33956802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.86587156 meters 0.03117995879679383 Centerline is valid? [True, True] Translation: X:25.84, Y:-1.03, Z:-0.74 [[ 9.98232313e-01 5.70519120e-02 1.66531891e-02 2.58446266e+01] [-5.68307098e-02 9.98292994e-01 -1.34672814e-02 -1.03306443e+00] [-1.73930961e-02 1.24970629e-02 9.99770626e-01 -7.35531826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.925871559999997 meters 0.014980480800930961 Centerline is valid? [True, True] Translation: X:25.91, Y:-1.05, Z:-0.74 [[ 9.98070076e-01 5.81616942e-02 2.17563940e-02 2.59107160e+01] [-5.83849206e-02 9.98246344e-01 9.76924200e-03 -1.04993256e+00] [-2.11500451e-02 -1.10206334e-02 9.99715570e-01 -7.39924914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.985871559999996 meters 0.016866993349673686 Centerline is valid? [True, True] Translation: X:25.97, Y:-1.03, Z:-0.74 [[ 9.97559841e-01 6.81648790e-02 1.50967671e-02 2.59677458e+01] [-6.79820151e-02 9.97610572e-01 -1.23122851e-02 -1.03405014e+00] [-1.58999599e-02 1.12559325e-02 9.99810230e-01 -7.40933060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.04587156 meters 0.023788331257273976 Centerline is valid? [True, True] Translation: X:26.03, Y:-1.03, Z:-0.74 [[ 9.96910989e-01 7.64175538e-02 1.81338664e-02 2.60291137e+01] [-7.64097654e-02 9.97075868e-01 -1.12297919e-03 -1.03086056e+00] [-1.81666559e-02 -2.66094186e-04 9.99834937e-01 -7.39934365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.105871559999997 meters 0.029196113763182468 Centerline is valid? [True, True] Translation: X:26.09, Y:-1.02, Z:-0.74 [[ 9.96455847e-01 8.22155816e-02 1.77860591e-02 2.60904361e+01] [-8.22089392e-02 9.96614503e-01 -1.10552194e-03 -1.02443050e+00] [-1.78167356e-02 -3.60569250e-04 9.99841204e-01 -7.41616060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.16587156 meters 0.03697531157253257 Centerline is valid? [True, True] Translation: X:26.15, Y:-1.03, Z:-0.75 [[ 9.95898867e-01 8.42717507e-02 3.29198727e-02 2.61545722e+01] [-8.51323753e-02 9.96038719e-01 2.56777866e-02 -1.02890806e+00] [-3.06255558e-02 -2.83750255e-02 9.99128087e-01 -7.49730221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.225871559999998 meters 0.04033006385396158 Centerline is valid? [True, True] Translation: X:26.21, Y:-0.99, Z:-0.75 [[ 9.95382541e-01 9.45584166e-02 1.65016047e-02 2.62133738e+01] [-9.41020406e-02 9.95208905e-01 -2.65337770e-02 -9.91041844e-01] [-1.89315359e-02 2.48584237e-02 9.99511709e-01 -7.45425477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.285871559999997 meters 0.04076508690773836 Centerline is valid? [True, True] Translation: X:26.27, Y:-1.00, Z:-0.75 [[ 9.95354819e-01 9.47477841e-02 1.70775000e-02 2.62724449e+01] [-9.47436200e-02 9.95501147e-01 -1.05454691e-03 -1.00373163e+00] [-1.71005868e-02 -5.68335818e-04 9.99853613e-01 -7.51192656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.34587156 meters 0.03939708038729122 Centerline is valid? [True, True] Translation: X:26.33, Y:-1.00, Z:-0.75 [[ 9.95591666e-01 9.19273473e-02 1.86171244e-02 2.63314593e+01] [-9.19219155e-02 9.95765555e-01 -1.14910531e-03 -1.00284664e+00] [-1.86439254e-02 -5.67282067e-04 9.99826026e-01 -7.51366044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.405871559999998 meters 0.04693116498255081 Centerline is valid? [True, True] Translation: X:26.39, Y:-1.00, Z:-0.76 [[ 9.95804348e-01 8.97014385e-02 1.80928585e-02 2.63898276e+01] [-8.96959463e-02 9.95968569e-01 -1.11645810e-03 -1.00277315e+00] [-1.81200663e-02 -5.11082240e-04 9.99835687e-01 -7.56277371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.465871559999997 meters 0.02963748751941194 Centerline is valid? [True, True] Translation: X:26.45, Y:-1.02, Z:-0.75 [[ 9.96235931e-01 8.46009713e-02 1.88850666e-02 2.64505637e+01] [-8.45940939e-02 9.96414815e-01 -1.16416112e-03 -1.01525191e+00] [-1.89158493e-02 -4.37785959e-04 9.99820983e-01 -7.52651103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.52587156 meters 0.024646555169460536 Centerline is valid? [True, True] Translation: X:26.51, Y:-1.02, Z:-0.76 [[ 9.96793034e-01 7.78463557e-02 1.85362535e-02 2.65097586e+01] [-7.78385532e-02 9.96965322e-01 -1.14313887e-03 -1.02053495e+00] [-1.85689912e-02 -3.03362298e-04 9.99827535e-01 -7.55481286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.585871559999998 meters 0.020504758808195928 Centerline is valid? [True, True] Translation: X:26.57, Y:-1.03, Z:-0.76 [[ 9.97091684e-01 7.36685150e-02 1.95223932e-02 2.65713414e+01] [-7.36590735e-02 9.97282755e-01 -1.20323066e-03 -1.02808386e+00] [-1.95579863e-02 -2.38270111e-04 9.99808696e-01 -7.55443879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.645871559999996 meters 0.031618042766332476 Centerline is valid? [True, True] Translation: X:26.63, Y:-1.04, Z:-0.76 [[ 9.97555510e-01 6.76439792e-02 1.75298750e-02 2.66320902e+01] [-6.76354511e-02 9.97709517e-01 -1.07957847e-03 -1.03836263e+00] [-1.75627501e-02 -1.08701553e-04 9.99845757e-01 -7.59963710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.70587156 meters 0.015496434398940044 Centerline is valid? [True, True] Translation: X:26.69, Y:-1.05, Z:-0.76 [[ 9.97864475e-01 6.26580709e-02 1.84514175e-02 2.66932898e+01] [-6.26477153e-02 9.98035052e-01 -1.13929013e-03 -1.04736448e+00] [-1.84865471e-02 -1.90820003e-05 9.99829109e-01 -7.62409515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.765871559999997 meters 0.015533976296762814 Centerline is valid? [True, True] Translation: X:26.76, Y:-1.05, Z:-0.76 [[ 9.98036605e-01 6.00055227e-02 1.79519534e-02 2.67563342e+01] [-5.99952458e-02 9.98198045e-01 -1.11096477e-03 -1.05459570e+00] [-1.79862688e-02 3.17516468e-05 9.99838233e-01 -7.62791954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825871559999996 meters 0.016768793606666287 Centerline is valid? [True, True] Translation: X:26.82, Y:-1.06, Z:-0.77 [[ 9.98252434e-01 5.67241250e-02 1.65666085e-02 2.68177275e+01] [-5.67148729e-02 9.98389887e-01 -1.02814359e-03 -1.06219375e+00] [-1.65982549e-02 8.67737446e-05 9.99862236e-01 -7.65592863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.88587156 meters 0.018192084240051462 Centerline is valid? [True, True] Translation: X:26.88, Y:-1.07, Z:-0.77 [[ 9.98396927e-01 5.34049782e-02 1.87479002e-02 2.68823258e+01] [-5.33318305e-02 9.98567237e-01 -4.38053495e-03 -1.06724686e+00] [-1.89549812e-02 3.37365280e-03 9.99814646e-01 -7.67801889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.945871559999997 meters 0.02219960328938412 Centerline is valid? [True, True] Translation: X:26.94, Y:-1.08, Z:-0.77 [[ 9.98565151e-01 5.07146235e-02 1.71949343e-02 2.69400150e+01] [-5.07565086e-02 9.98709039e-01 2.00802151e-03 -1.07944564e+00] [-1.70709003e-02 -2.87789513e-03 9.99850140e-01 -7.67250152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.00587156 meters 0.02106835324567543 Centerline is valid? [True, True] Translation: X:27.00, Y:-1.08, Z:-0.77 [[ 9.98576813e-01 5.03048157e-02 1.77136818e-02 2.70025662e+01] [-5.02931101e-02 9.98733888e-01 -1.10596274e-03 -1.08371316e+00] [-1.77468895e-02 2.13512603e-04 9.99842489e-01 -7.66756597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.06587156 meters 0.019662067289700484 Centerline is valid? [True, True] Translation: X:27.07, Y:-1.08, Z:-0.77 [[ 9.98474532e-01 5.28186955e-02 1.60870774e-02 2.70665524e+01] [-5.25246279e-02 9.98454047e-01 -1.81845978e-02 -1.07633561e+00] [-1.70226943e-02 1.73118900e-02 9.99705220e-01 -7.68921967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.12587156 meters 0.018836529714245594 Centerline is valid? [True, True] Translation: X:27.13, Y:-1.09, Z:-0.77 [[ 9.98357287e-01 5.49763498e-02 1.61347159e-02 2.71278272e+01] [-5.49901980e-02 9.98486808e-01 4.15555416e-04 -1.09208453e+00] [-1.60874552e-02 -1.30212400e-03 9.99869741e-01 -7.73947433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.185871559999995 meters 0.02093223525595948 Centerline is valid? [True, True] Translation: X:27.19, Y:-1.11, Z:-0.78 [[ 9.98437268e-01 5.40858686e-02 1.40620476e-02 2.71864189e+01] [-5.42706506e-02 9.98440214e-01 1.31086111e-02 -1.10774739e+00] [-1.33311232e-02 -1.38512824e-02 9.99815194e-01 -7.79504950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.24587156 meters 0.018885878396222334 Centerline is valid? [True, True] Translation: X:27.25, Y:-1.10, Z:-0.77 [[ 9.98308909e-01 5.61794084e-02 1.49397774e-02 2.72495165e+01] [-5.59104169e-02 9.98276188e-01 -1.78515629e-02 -1.09672754e+00] [-1.59169143e-02 1.69860851e-02 9.99729026e-01 -7.73351150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.30587156 meters 0.01878563498097129 Centerline is valid? [True, True] Translation: X:27.31, Y:-1.12, Z:-0.77 [[ 9.98342981e-01 5.49369263e-02 1.71238440e-02 2.73103626e+01] [-5.49892748e-02 9.98483557e-01 2.60098763e-03 -1.11988445e+00] [-1.69549864e-02 -3.53830551e-03 9.99849993e-01 -7.73720062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.365871559999995 meters 0.019624932360725968 Centerline is valid? [True, True] Translation: X:27.37, Y:-1.13, Z:-0.78 [[ 9.98386293e-01 5.46597438e-02 1.53988067e-02 2.73723183e+01] [-5.45324392e-02 9.98475226e-01 -8.56951100e-03 -1.12752961e+00] [-1.58437343e-02 7.71594782e-03 9.99844708e-01 -7.75089380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.42587156 meters 0.018354114105237 Centerline is valid? [True, True] Translation: X:27.43, Y:-1.14, Z:-0.78 [[ 9.98182694e-01 5.77058167e-02 1.73593783e-02 2.74331245e+01] [-5.77942345e-02 9.98317756e-01 4.63514236e-03 -1.14420375e+00] [-1.70627009e-02 -5.62999086e-03 9.99838571e-01 -7.78089831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.48587156 meters 0.0272118320105026 Centerline is valid? [True, True] Translation: X:27.49, Y:-1.15, Z:-0.78 [[ 9.98038859e-01 6.20142899e-02 8.52430357e-03 2.74939509e+01] [-6.20772889e-02 9.98044386e-01 7.33581133e-03 -1.14671445e+00] [-8.05270819e-03 -7.85059042e-03 9.99936759e-01 -7.84228061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.545871559999995 meters 0.02013050387713627 Centerline is valid? [True, True] Translation: X:27.55, Y:-1.14, Z:-0.79 [[ 9.97560671e-01 6.93511128e-02 7.94549807e-03 2.75540947e+01] [-6.93492578e-02 9.97592312e-01 -5.09072692e-04 -1.14083823e+00] [-7.96167255e-03 -4.31834984e-05 9.99968304e-01 -7.85274607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.60587156 meters 0.025494289315514684 Centerline is valid? [True, True] Translation: X:27.61, Y:-1.14, Z:-0.78 [[ 9.96464491e-01 8.19684980e-02 1.84304858e-02 2.76121854e+01] [-8.20490342e-02 9.96621589e-01 3.65559454e-03 -1.13943171e+00] [-1.80685764e-02 -5.15487371e-03 9.99823461e-01 -7.84572491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.66587156 meters 0.030775208448952162 Centerline is valid? [True, True] Translation: X:27.67, Y:-1.15, Z:-0.79 [[ 9.95628830e-01 8.95632239e-02 2.64888917e-02 2.76712813e+01] [-9.01101874e-02 9.95726342e-01 2.02288217e-02 -1.14742306e+00] [-2.45639287e-02 -2.25273171e-02 9.99444412e-01 -7.87162222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.725871559999995 meters 0.0369303718824586 Centerline is valid? [True, True] Translation: X:27.74, Y:-1.11, Z:-0.78 [[ 9.95621564e-01 9.33293616e-02 5.22793751e-03 2.77380521e+01] [-9.31426552e-02 9.95238510e-01 -2.87185309e-02 -1.11054075e+00] [-7.88332689e-03 2.81058447e-02 9.99573867e-01 -7.84652330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.78587156 meters 0.03996181122559902 Centerline is valid? [True, True] Translation: X:27.80, Y:-1.13, Z:-0.79 [[ 9.95477077e-01 9.48366280e-02 5.60385018e-03 2.77966045e+01] [-9.48360922e-02 9.95492835e-01 -3.61863603e-04 -1.12529033e+00] [-5.61291063e-03 -1.71220330e-04 9.99984233e-01 -7.90191544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.84587156 meters 0.042828944145203725 Centerline is valid? [True, True] Translation: X:27.85, Y:-1.12, Z:-0.80 [[ 9.95463087e-01 9.50536957e-02 4.24707923e-03 2.78546418e+01] [-9.50533848e-02 9.95472138e-01 -2.75450324e-04 -1.12201158e+00] [-4.25403162e-03 -1.29498627e-04 9.99990943e-01 -7.96474876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.905871559999994 meters 0.03496082879127432 Centerline is valid? [True, True] Translation: X:27.91, Y:-1.15, Z:-0.79 [[ 9.95565783e-01 9.18205496e-02 2.04391571e-02 2.79102312e+01] [-9.22589363e-02 9.95499648e-01 2.16503721e-02 -1.14933419e+00] [-1.83592247e-02 -2.34400645e-02 9.99556653e-01 -7.94534397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.96587156 meters 0.029644891256977987 Centerline is valid? [True, True] Translation: X:27.98, Y:-1.13, Z:-0.79 [[ 9.96513622e-01 8.33433554e-02 3.80619372e-03 2.79751663e+01] [-8.32339337e-02 9.96261585e-01 -2.31293251e-02 -1.13214583e+00] [-5.71964015e-03 2.27318831e-02 9.99725236e-01 -7.93456152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.02587156 meters 0.027452786644132577 Centerline is valid? [True, True] Translation: X:28.03, Y:-1.17, Z:-0.80 [[ 9.97586457e-01 6.91704692e-02 6.05856704e-03 2.80320901e+01] [-6.91693714e-02 9.97604854e-01 -3.90807170e-04 -1.16934496e+00] [-6.07108820e-03 -2.92033333e-05 9.99981570e-01 -7.96727107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.08587156 meters 0.019239630969606476 Centerline is valid? [True, True] Translation: X:28.09, Y:-1.22, Z:-0.80 [[ 9.97833333e-01 6.03362367e-02 2.62331427e-02 2.80871771e+01] [-6.12689984e-02 9.97459557e-01 3.63392580e-02 -1.21562650e+00] [-2.39739248e-02 -3.78678014e-02 9.98995135e-01 -7.98901684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.145871559999996 meters 0.022195352205670413 Centerline is valid? [True, True] Translation: X:28.15, Y:-1.22, Z:-0.80 [[ 9.98196373e-01 5.42082071e-02 2.57967474e-02 2.81454945e+01] [-5.44930328e-02 9.98459270e-01 1.04687904e-02 -1.21820290e+00] [-2.51895072e-02 -1.18556516e-02 9.99612391e-01 -7.98442304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.20587156 meters 0.031028747407389572 Centerline is valid? [True, True] Translation: X:28.21, Y:-1.20, Z:-0.81 [[ 9.98842409e-01 4.78732147e-02 4.69002668e-03 2.82134383e+01] [-4.75974059e-02 9.97738110e-01 -4.74673570e-02 -1.20193422e+00] [-6.95183333e-03 4.71891761e-02 9.98861779e-01 -8.05243657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.26587156 meters 0.03176273668837701 Centerline is valid? [True, True] Translation: X:28.27, Y:-1.24, Z:-0.80 [[ 9.99101528e-01 4.18515014e-02 6.67751154e-03 2.82721939e+01] [-4.18495343e-02 9.99123830e-01 -4.34102410e-04 -1.24301201e+00] [-6.68982874e-03 1.54261633e-04 9.99977611e-01 -8.02254489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.325871559999996 meters 0.032892106573672975 Centerline is valid? [True, True] Translation: X:28.33, Y:-1.25, Z:-0.80 [[ 9.99101172e-01 4.18020387e-02 7.03117330e-03 2.83339897e+01] [-4.17998846e-02 9.99125900e-01 -4.53093858e-04 -1.25122003e+00] [-7.04396760e-03 1.58784372e-04 9.99975178e-01 -8.04558293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.38587156 meters 0.028571707152762624 Centerline is valid? [True, True] Translation: X:28.40, Y:-1.26, Z:-0.80 [[ 9.98969867e-01 4.47899932e-02 7.28437984e-03 2.83954902e+01] [-4.47877221e-02 9.98996414e-01 -4.74686360e-04 -1.25652463e+00] [-7.29833054e-03 1.47946590e-04 9.99973356e-01 -8.02332421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.44587156 meters 0.025783114438838652 Centerline is valid? [True, True] Translation: X:28.45, Y:-1.26, Z:-0.81 [[ 9.98630894e-01 5.18278084e-02 7.08626344e-03 2.84544586e+01] [-5.18258287e-02 9.98656032e-01 -4.62829413e-04 -1.26038166e+00] [-7.10072716e-03 9.49442754e-05 9.99974785e-01 -8.08582790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.505871559999996 meters 0.023117914494625566 Centerline is valid? [True, True] Translation: X:28.51, Y:-1.28, Z:-0.82 [[ 0.99744665 0.06348679 0.03270492 28.50514187] [-0.06466173 0.99724985 0.03621594 -1.28406304] [-0.03031574 -0.03823823 0.99880869 -0.81690425] [ 0. 0. 0. 1. ]] SLAMing on 33.56587156 meters 0.0202166443366085 Centerline is valid? [True, True] Translation: X:28.58, Y:-1.23, Z:-0.81 [[ 9.97423055e-01 7.13465240e-02 7.54478015e-03 2.85764202e+01] [-7.10384584e-02 9.96848875e-01 -3.52967214e-02 -1.23016391e+00] [-1.00393040e-02 3.46697942e-02 9.99348397e-01 -8.09658977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.62587156 meters 0.02726991406575401 Centerline is valid? [True, True] Translation: X:28.64, Y:-1.24, Z:-0.81 [[ 9.96591139e-01 8.17860789e-02 1.08230843e-02 2.86362866e+01] [-8.17831339e-02 9.96649892e-01 -7.15156723e-04 -1.23859296e+00] [-1.08453157e-02 -1.72426901e-04 9.99941173e-01 -8.12628508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.685871559999995 meters 0.029158861315240505 Centerline is valid? [True, True] Translation: X:28.69, Y:-1.26, Z:-0.81 [[ 9.95474544e-01 9.04620536e-02 2.91041202e-02 2.86890461e+01] [-9.16783642e-02 9.94833997e-01 4.35935298e-02 -1.26469800e+00] [-2.50102080e-02 -4.60644673e-02 9.98625332e-01 -8.12207952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.74587156 meters 0.03921177381403638 Centerline is valid? [True, True] Translation: X:28.76, Y:-1.19, Z:-0.81 [[ 9.95297845e-01 9.64692537e-02 8.71103165e-03 2.87630860e+01] [-9.59746011e-02 9.94329717e-01 -4.57961788e-02 -1.19333698e+00] [-1.30795608e-02 4.47448003e-02 9.98912823e-01 -8.13391455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.80587156 meters 0.037214399084265715 Centerline is valid? [True, True] Translation: X:28.81, Y:-1.26, Z:-0.82 [[ 9.94859848e-01 9.55619217e-02 3.34933018e-02 2.88126721e+01] [-9.72018695e-02 9.93939801e-01 5.13368240e-02 -1.25915603e+00] [-2.83844802e-02 -5.43285565e-02 9.98119597e-01 -8.21818555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.865871559999995 meters 0.031067162464817763 Centerline is valid? [True, True] Translation: X:28.87, Y:-1.23, Z:-0.82 [[ 9.95112149e-01 9.47763600e-02 2.77354089e-02 2.88747683e+01] [-9.45687364e-02 9.95480256e-01 -8.70715588e-03 -1.23206166e+00] [-2.84352845e-02 6.04169402e-03 9.99577377e-01 -8.18404556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.92587156 meters 0.030475237194149567 Centerline is valid? [True, True] Translation: X:28.94, Y:-1.21, Z:-0.82 [[ 9.95865641e-01 9.00155778e-02 1.21992441e-02 2.89433096e+01] [-8.94453551e-02 9.95139573e-01 -4.11917251e-02 -1.21315124e+00] [-1.58478475e-02 3.99302580e-02 9.99076784e-01 -8.20137685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.98587156 meters 0.025850956043734594 Centerline is valid? [True, True] Translation: X:28.99, Y:-1.28, Z:-0.83 [[ 0.99587226 0.08338395 0.0358548 28.99356801] [-0.08523962 0.99490775 0.0537845 -1.28092828] [-0.03118745 -0.05661874 0.99790864 -0.82956714] [ 0. 0. 0. 1. ]] SLAMing on 34.045871559999995 meters 0.019876597815993154 Centerline is valid? [True, True] Translation: X:29.06, Y:-1.26, Z:-0.83 [[ 9.96478874e-01 7.81409690e-02 3.03947865e-02 2.90581778e+01] [-7.80383576e-02 9.96939977e-01 -4.54949930e-03 -1.25802991e+00] [-3.06572800e-02 2.16152072e-03 9.99527618e-01 -8.30806597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.10587156 meters 0.023558183589300435 Centerline is valid? [True, True] Translation: X:29.12, Y:-1.24, Z:-0.83 [[ 9.97373077e-01 7.11560048e-02 1.35561012e-02 2.91248120e+01] [-7.03992079e-02 9.96270395e-01 -4.98923965e-02 -1.24158784e+00] [-1.70556859e-02 4.88069942e-02 9.98662596e-01 -8.31933531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.16587156 meters 0.021313051889510333 Centerline is valid? [True, True] Translation: X:29.18, Y:-1.29, Z:-0.84 [[ 9.98061958e-01 5.96781188e-02 1.76309621e-02 2.91825489e+01] [-5.96663960e-02 9.98217663e-01 -1.19065139e-03 -1.29027776e+00] [-1.76705936e-02 1.36367887e-04 9.99843854e-01 -8.37054731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.225871559999995 meters 0.024381239752351118 Centerline is valid? [True, True] Translation: X:29.23, Y:-1.33, Z:-0.84 [[ 0.99784853 0.05575102 0.0344984 29.23435791] [-0.05700313 0.99770866 0.03644273 -1.33031404] [-0.03238764 -0.03833084 0.9987401 -0.84269125] [ 0. 0. 0. 1. ]] SLAMing on 34.28587156 meters 0.02324029056972111 Centerline is valid? [True, True] Translation: X:29.30, Y:-1.31, Z:-0.84 [[ 9.97842181e-01 5.67623268e-02 3.30003125e-02 2.92990016e+01] [-5.66966281e-02 9.98387171e-01 -2.92396763e-03 -1.31232082e+00] [-3.31130598e-02 1.04665179e-03 9.99451064e-01 -8.40866546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.34587156 meters 0.021959994843413273 Centerline is valid? [True, True] Translation: X:29.37, Y:-1.29, Z:-0.84 [[ 9.98082816e-01 5.84720773e-02 2.02906145e-02 2.93676891e+01] [-5.77106727e-02 9.97674090e-01 -3.62751848e-02 -1.29185208e+00] [-2.23645057e-02 3.50346536e-02 9.99135828e-01 -8.38693154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.405871559999994 meters 0.018030306974900302 Centerline is valid? [True, True] Translation: X:29.43, Y:-1.30, Z:-0.84 [[ 9.97614479e-01 6.53446812e-02 2.22581207e-02 2.94293219e+01] [-6.53269850e-02 9.97862750e-01 -1.52201479e-03 -1.30391631e+00] [-2.23100051e-02 6.43280664e-05 9.99751099e-01 -8.42363557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.46587156 meters 0.01947467339659147 Centerline is valid? [True, True] Translation: X:29.49, Y:-1.29, Z:-0.85 [[ 9.96966839e-01 7.48298981e-02 2.13917641e-02 2.94920110e+01] [-7.48156581e-02 9.97196303e-01 -1.46633778e-03 -1.29053286e+00] [-2.14415140e-02 -1.38548768e-04 9.99770095e-01 -8.47195263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.52587156 meters 0.024587496989806806 Centerline is valid? [True, True] Translation: X:29.55, Y:-1.28, Z:-0.85 [[ 9.96387585e-01 8.25305331e-02 2.00123065e-02 2.95540094e+01] [-8.25195130e-02 9.96588497e-01 -1.37723602e-03 -1.27981822e+00] [-2.00576985e-02 -2.79144916e-04 9.99798785e-01 -8.53560155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.58587156 meters 0.02696696954601432 Centerline is valid? [True, True] Translation: X:29.61, Y:-1.28, Z:-0.86 [[ 9.96222693e-01 8.45297276e-02 1.98764091e-02 2.96148245e+01] [-8.45192450e-02 9.96420907e-01 -1.36835608e-03 -1.27864865e+00] [-1.99209364e-02 -3.16751714e-04 9.99801508e-01 -8.57843744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.645871559999996 meters 0.024660571774918795 Centerline is valid? [True, True] Translation: X:29.68, Y:-1.28, Z:-0.86 [[ 9.96233153e-01 8.39945660e-02 2.15503482e-02 2.96766814e+01] [-8.39821678e-02 9.96466157e-01 -1.48130030e-03 -1.28194319e+00] [-2.15986138e-02 -3.34124491e-04 9.99766667e-01 -8.55809761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.70587156 meters 0.02341333616819326 Centerline is valid? [True, True] Translation: X:29.74, Y:-1.29, Z:-0.86 [[ 9.96374995e-01 8.20914844e-02 2.23127209e-02 2.97381430e+01] [-8.20776247e-02 9.96624753e-01 -1.53780108e-03 -1.28542055e+00] [-2.23636503e-02 -2.99148587e-04 9.99749858e-01 -8.58840053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.76587156 meters 0.022884045413529088 Centerline is valid? [True, True] Translation: X:29.80, Y:-1.29, Z:-0.86 [[ 9.96366818e-01 8.22761138e-02 2.19955852e-02 2.98004962e+01] [-8.22626212e-02 9.96609529e-01 -1.51907463e-03 -1.29001672e+00] [-2.20459934e-02 -2.95858935e-04 9.99756914e-01 -8.60852905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.825871559999996 meters 0.02633750219357386 Centerline is valid? [True, True] Translation: X:29.86, Y:-1.28, Z:-0.86 [[ 9.96088143e-01 8.55351429e-02 2.21844819e-02 2.98615110e+01] [-8.55220539e-02 9.96335088e-01 -1.53983186e-03 -1.28436294e+00] [-2.22348875e-02 -3.63454195e-04 9.99752708e-01 -8.64500814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.88587156 meters 0.028026793852371282 Centerline is valid? [True, True] Translation: X:29.92, Y:-1.28, Z:-0.87 [[ 9.95883487e-01 8.75371438e-02 2.35229557e-02 2.99242901e+01] [-8.75230289e-02 9.96161161e-01 -1.63090062e-03 -1.28230410e+00] [-2.35754192e-02 -4.34613337e-04 9.99721967e-01 -8.65645087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.94587156 meters 0.026805646564938817 Centerline is valid? [True, True] Translation: X:29.99, Y:-1.29, Z:-0.87 [[ 9.95946540e-01 8.63821073e-02 2.50723027e-02 2.99859494e+01] [-8.63655900e-02 9.96261987e-01 -1.74293282e-03 -1.28730065e+00] [-2.51291403e-02 -4.29516303e-04 9.99684121e-01 -8.66313088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.005871559999996 meters 0.023862043754859147 Centerline is valid? [True, True] Translation: X:30.05, Y:-1.29, Z:-0.87 [[ 9.96147238e-01 8.37646239e-02 2.59647498e-02 3.00478345e+01] [-8.37459042e-02 9.96485499e-01 -1.80944904e-03 -1.29477904e+00] [-2.60250645e-02 -3.71963785e-04 9.99661221e-01 -8.66570855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.06587156 meters 0.022544175365261862 Centerline is valid? [True, True] Translation: X:30.11, Y:-1.30, Z:-0.87 [[ 9.96217948e-01 8.31846317e-02 2.51021509e-02 3.01109834e+01] [-8.31668653e-02 9.96534094e-01 -1.75274775e-03 -1.29794726e+00] [-2.51609508e-02 -3.41548434e-04 9.99683355e-01 -8.70195428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.12587156 meters 0.02285566728173516 Centerline is valid? [True, True] Translation: X:30.17, Y:-1.30, Z:-0.88 [[ 9.96252640e-01 8.29844624e-02 2.43773854e-02 3.01728514e+01] [-8.29675313e-02 9.96550789e-01 -1.70688557e-03 -1.30039458e+00] [-2.44349476e-02 -3.22042231e-04 9.99701370e-01 -8.75767439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.185871559999995 meters 0.023276721869166107 Centerline is valid? [True, True] Translation: X:30.23, Y:-1.30, Z:-0.88 [[ 9.96231523e-01 8.31710501e-02 2.46034487e-02 3.02347148e+01] [-8.31537479e-02 9.96535233e-01 -1.72727625e-03 -1.30282141e+00] [-2.46618628e-02 -3.25101918e-04 9.99695797e-01 -8.78454476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.24587156 meters 0.022620261651085983 Centerline is valid? [True, True] Translation: X:30.30, Y:-1.30, Z:-0.88 [[ 9.96107490e-01 8.38870476e-02 2.70708503e-02 3.02971543e+01] [-8.38662122e-02 9.96475200e-01 -1.90612485e-03 -1.30192828e+00] [-2.71353302e-02 -3.71624434e-04 9.99631700e-01 -8.75916719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.30587156 meters 0.02293313638641528 Centerline is valid? [True, True] Translation: X:30.36, Y:-1.30, Z:-0.88 [[ 9.96001732e-01 8.47142808e-02 2.83555913e-02 3.03601721e+01] [-8.46916111e-02 9.96405201e-01 -2.00167318e-03 -1.29887766e+00] [-2.84232290e-02 -4.07810762e-04 9.99595895e-01 -8.76860760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.365871559999995 meters 0.023440268267892847 Centerline is valid? [True, True] Translation: X:30.42, Y:-1.30, Z:-0.88 [[ 9.95919615e-01 8.54293664e-02 2.90851142e-02 3.04236374e+01] [-8.54056815e-02 9.96344135e-01 -2.05791527e-03 -1.29781693e+00] [-2.91545893e-02 -4.34515811e-04 9.99574820e-01 -8.79042599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.42587156 meters 0.023732431336292926 Centerline is valid? [True, True] Translation: X:30.49, Y:-1.29, Z:-0.88 [[ 9.95859400e-01 8.59554875e-02 2.95923927e-02 3.04867573e+01] [-8.59310311e-02 9.96298876e-01 -2.09954438e-03 -1.29362829e+00] [-2.96633349e-02 -4.52053811e-04 9.99559844e-01 -8.82824718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.48587156 meters 0.021495730513266944 Centerline is valid? [True, True] Translation: X:30.55, Y:-1.30, Z:-0.89 [[ 9.95987929e-01 8.44534308e-02 2.95916197e-02 3.05490252e+01] [-8.44281414e-02 9.96427346e-01 -2.10526693e-03 -1.29668150e+00] [-2.96636961e-02 -4.01545004e-04 9.99559855e-01 -8.85369469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.545871559999995 meters 0.01925667891073134 Centerline is valid? [True, True] Translation: X:30.61, Y:-1.30, Z:-0.89 [[ 9.96235016e-01 8.15798216e-02 2.93347014e-02 3.06105924e+01] [-8.15535801e-02 9.96666764e-01 -2.09187435e-03 -1.30010823e+00] [-2.94075766e-02 -3.08351446e-04 9.99567456e-01 -8.89852617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.60587156 meters 0.017636098031459345 Centerline is valid? [True, True] Translation: X:30.67, Y:-1.31, Z:-0.89 [[ 9.96417117e-01 7.92233030e-02 2.96073803e-02 3.06728397e+01] [-7.91953832e-02 9.96856867e-01 -2.11630309e-03 -1.30592352e+00] [-2.96819809e-02 -2.36047206e-04 9.99559365e-01 -8.92713219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.66587156 meters 0.01611941058824698 Centerline is valid? [True, True] Translation: X:30.73, Y:-1.31, Z:-0.90 [[ 9.96675220e-01 7.59938302e-02 2.93844174e-02 3.07338912e+01] [-7.59647800e-02 9.97108279e-01 -2.10531418e-03 -1.31384809e+00] [-2.94594367e-02 -1.33866332e-04 9.99565968e-01 -8.97251477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.725871559999995 meters 0.025187655355576065 Centerline is valid? [True, True] Translation: X:30.80, Y:-1.32, Z:-0.90 [[ 9.96867945e-01 7.36956020e-02 2.86924937e-02 3.07956476e+01] [-7.36668184e-02 9.97280780e-01 -2.06038788e-03 -1.32054761e+00] [-2.87663140e-02 -5.97500876e-05 9.99586162e-01 -9.00773888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.78587156 meters 0.015487110869652284 Centerline is valid? [True, True] Translation: X:30.86, Y:-1.32, Z:-0.90 [[ 9.96693516e-01 7.51805413e-02 3.08207903e-02 3.08572393e+01] [-7.51479271e-02 9.97169933e-01 -2.21680376e-03 -1.32235668e+00] [-3.09002259e-02 -1.06644569e-04 9.99522468e-01 -9.01555447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.84587156 meters 0.01763816655619784 Centerline is valid? [True, True] Translation: X:30.92, Y:-1.32, Z:-0.90 [[ 9.96303848e-01 7.96326877e-02 3.22068077e-02 3.09184497e+01] [-7.95992352e-02 9.96824243e-01 -2.32153849e-03 -1.31842260e+00] [-3.22893971e-02 -2.50679537e-04 9.99478530e-01 -9.02032071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.905871559999994 meters 0.018976532447391274 Centerline is valid? [True, True] Translation: X:30.98, Y:-1.32, Z:-0.90 [[ 9.96024810e-01 8.32585636e-02 3.16636926e-02 3.09804140e+01] [-8.32279256e-02 9.96527914e-01 -2.28665342e-03 -1.31988620e+00] [-3.17441370e-02 -3.57739919e-04 9.99495964e-01 -9.02964811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.96587156 meters 0.023546508107519407 Centerline is valid? [True, True] Translation: X:31.04, Y:-1.31, Z:-0.90 [[ 9.95514741e-01 8.86146551e-02 3.31337088e-02 3.10416160e+01] [-8.85838500e-02 9.96065833e-01 -2.39942043e-03 -1.31490397e+00] [-3.32159790e-02 -5.46453082e-04 9.99448048e-01 -9.04012734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.02587156 meters 0.03179603167267984 Centerline is valid? [True, True] Translation: X:31.10, Y:-1.30, Z:-0.91 [[ 9.95014731e-01 9.36144402e-02 3.43805409e-02 3.11035509e+01] [-9.35841663e-02 9.95608253e-01 -2.49225639e-03 -1.30470217e+00] [-3.44628615e-02 -7.37642436e-04 9.99405707e-01 -9.06840632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.085871559999994 meters 0.03635343770323315 Centerline is valid? [True, True] Translation: X:31.17, Y:-1.30, Z:-0.91 [[ 9.94646948e-01 9.69906046e-02 3.56408765e-02 3.11655390e+01] [-9.69600057e-02 9.95284908e-01 -2.59003820e-03 -1.30044297e+00] [-3.57240358e-02 -8.79565996e-04 9.99361306e-01 -9.07776767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.145871559999996 meters 0.030627226869724824 Centerline is valid? [True, True] Translation: X:31.23, Y:-1.31, Z:-0.91 [[ 9.94626479e-01 9.73475175e-02 3.52367429e-02 3.12267733e+01] [-9.73178367e-02 9.95250060e-01 -2.56054962e-03 -1.30992469e+00] [-3.53186337e-02 -8.82373136e-04 9.99375713e-01 -9.09771665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.20587156 meters 0.03459548484760199 Centerline is valid? [True, True] Translation: X:31.29, Y:-1.31, Z:-0.92 [[ 9.94943772e-01 9.46189531e-02 3.36770461e-02 3.12876652e+01] [-9.45900577e-02 9.95513285e-01 -2.45377768e-03 -1.30650443e+00] [-3.37581206e-02 -7.44142906e-04 9.99429755e-01 -9.18929517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.26587156 meters 0.025251700941047183 Centerline is valid? [True, True] Translation: X:31.35, Y:-1.32, Z:-0.92 [[ 9.95394072e-01 9.05155128e-02 3.15845476e-02 3.13479828e+01] [-9.04880091e-02 9.95894884e-01 -2.30202305e-03 -1.32403178e+00] [-3.16632581e-02 -5.66602730e-04 9.99498433e-01 -9.23435379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.325871559999996 meters 0.02339284650805688 Centerline is valid? [True, True] Translation: X:31.41, Y:-1.33, Z:-0.93 [[ 9.95584606e-01 8.85022288e-02 3.12833448e-02 3.14094005e+01] [-8.84742745e-02 9.96075854e-01 -2.27940614e-03 -1.33153813e+00] [-3.13623169e-02 -4.98429576e-04 9.99507957e-01 -9.26507594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.38587156 meters 0.02416440037473725 Centerline is valid? [True, True] Translation: X:31.47, Y:-1.33, Z:-0.93 [[ 9.95580140e-01 8.85854291e-02 3.11898358e-02 3.14710514e+01] [-8.85575165e-02 9.96068460e-01 -2.27789883e-03 -1.33208999e+00] [-3.12690004e-02 -4.94263557e-04 9.99510883e-01 -9.30069409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.44587156 meters 0.024750241438785035 Centerline is valid? [True, True] Translation: X:31.53, Y:-1.33, Z:-0.93 [[ 9.95412168e-01 9.01111712e-02 3.21650936e-02 3.15323916e+01] [-9.00820774e-02 9.95931559e-01 -2.35545038e-03 -1.33297790e+00] [-3.22464843e-02 -5.52854488e-04 9.99479794e-01 -9.30751181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.505871559999996 meters 0.02655447574092902 Centerline is valid? [True, True] Translation: X:31.59, Y:-1.33, Z:-0.93 [[ 9.95479702e-01 8.95762369e-02 3.15635916e-02 3.15940622e+01] [-8.95479501e-02 9.95979830e-01 -2.31147638e-03 -1.33356854e+00] [-3.16437539e-02 -5.25427109e-04 9.99499073e-01 -9.34748959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.56587156 meters 0.021856166794185825 Centerline is valid? [True, True] Translation: X:31.66, Y:-1.34, Z:-0.94 [[ 9.95641182e-01 8.77780903e-02 3.15221032e-02 3.16557296e+01] [-8.77489089e-02 9.96139945e-01 -2.31058845e-03 -1.34214765e+00] [-3.16032452e-02 -4.65513144e-04 9.99500384e-01 -9.37689717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.62587156 meters 0.018513116707171425 Centerline is valid? [True, True] Translation: X:31.72, Y:-1.35, Z:-0.94 [[ 9.96106549e-01 8.21711875e-02 3.19318002e-02 3.17153835e+01] [-8.21381380e-02 9.96618189e-01 -2.34759505e-03 -1.35254148e+00] [-3.20167176e-02 -2.84363810e-04 9.99487293e-01 -9.41372754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.685871559999995 meters 0.015482243150519343 Centerline is valid? [True, True] Translation: X:31.78, Y:-1.37, Z:-0.94 [[ 9.96583268e-01 7.61589001e-02 3.19626487e-02 3.17770521e+01] [-7.61227048e-02 9.97095689e-01 -2.34952281e-03 -1.36750468e+00] [-3.20487563e-02 -9.15881510e-05 9.99486302e-01 -9.44529158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.74587156 meters 0.014983440299921234 Centerline is valid? [True, True] Translation: X:31.84, Y:-1.38, Z:-0.94 [[ 9.96827192e-01 7.32340195e-02 3.11821729e-02 3.18388701e+01] [-7.30736520e-02 9.97306942e-01 -6.25333845e-03 -1.37808272e+00] [-3.15561546e-02 3.95490255e-03 9.99494156e-01 -9.44521756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.80587156 meters 0.015166599745249674 Centerline is valid? [True, True] Translation: X:31.90, Y:-1.39, Z:-0.95 [[ 9.96913260e-01 7.13284674e-02 3.28055266e-02 3.18992692e+01] [-7.14138862e-02 9.97445732e-01 1.43801269e-03 -1.39099737e+00] [-3.26191613e-02 -3.77634406e-03 9.99460719e-01 -9.48066095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.865871559999995 meters 0.02475991316836914 Centerline is valid? [True, True] Translation: X:31.96, Y:-1.39, Z:-0.95 [[ 9.96817330e-01 7.30971762e-02 3.18121678e-02 3.19628315e+01] [-7.30594666e-02 9.97324823e-01 -2.34771649e-03 -1.39001910e+00] [-3.18986761e-02 1.60644672e-05 9.99491108e-01 -9.47800483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.92587156 meters 0.015314211908709146 Centerline is valid? [True, True] Translation: X:32.02, Y:-1.39, Z:-0.95 [[ 9.96452113e-01 7.75626704e-02 3.26683230e-02 3.20244581e+01] [-7.75250646e-02 9.96987471e-01 -2.41812772e-03 -1.39033473e+00] [-3.27574652e-02 -1.23065373e-04 9.99463323e-01 -9.52404655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.98587156 meters 0.017461377762938973 Centerline is valid? [True, True] Translation: X:32.09, Y:-1.39, Z:-0.96 [[ 9.96148511e-01 8.15816994e-02 3.21336184e-02 3.20861982e+01] [-8.15472921e-02 9.96666627e-01 -2.38203930e-03 -1.38807632e+00] [-3.22208359e-02 -2.47544659e-04 9.99480743e-01 -9.57835575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.045871559999995 meters 0.017733755995329864 Centerline is valid? [True, True] Translation: X:32.15, Y:-1.39, Z:-0.96 [[ 9.96045742e-01 8.25638375e-02 3.28038506e-02 3.21493745e+01] [-8.25283507e-02 9.96585739e-01 -2.43662341e-03 -1.38949342e+00] [-3.28930267e-02 -2.80259313e-04 9.99458839e-01 -9.58685314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.10587156 meters 0.018091955387661802 Centerline is valid? [True, True] Translation: X:32.21, Y:-1.39, Z:-0.96 [[ 9.96027225e-01 8.24654225e-02 3.36039006e-02 3.22106625e+01] [-8.24278986e-02 9.96593888e-01 -2.50283515e-03 -1.39204219e+00] [-3.36958393e-02 -2.77006964e-04 9.99432096e-01 -9.60962971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.16587156 meters 0.01708699028476035 Centerline is valid? [True, True] Translation: X:32.27, Y:-1.40, Z:-0.96 [[ 9.95750859e-01 8.47805070e-02 3.59512601e-02 3.22687759e+01] [-8.46840052e-02 9.96399001e-01 -4.20128644e-03 -1.39853928e+00] [-3.61779869e-02 1.13893789e-03 9.99344713e-01 -9.60247950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.225871559999995 meters 0.01663437895314845 Centerline is valid? [True, True] Translation: X:32.33, Y:-1.41, Z:-0.96 [[ 9.96081694e-01 8.13271164e-02 3.47441902e-02 3.23340938e+01] [-8.13450798e-02 9.96685593e-01 -8.98577307e-04 -1.40544353e+00] [-3.47021125e-02 -1.93121252e-03 9.99395834e-01 -9.63094107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.28587156 meters 0.01632674797148236 Centerline is valid? [True, True] Translation: X:32.39, Y:-1.41, Z:-0.97 [[ 9.96144169e-01 8.05823919e-02 3.46882227e-02 3.23948996e+01] [-8.05407677e-02 9.96747930e-01 -2.59788964e-03 -1.40912249e+00] [-3.47847584e-02 -2.05943473e-04 9.99394806e-01 -9.66402201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.34587156 meters 0.014974177941576449 Centerline is valid? [True, True] Translation: X:32.46, Y:-1.42, Z:-0.97 [[ 9.96334494e-01 7.80894909e-02 3.49228869e-02 3.24566194e+01] [-7.80455875e-02 9.96946347e-01 -2.62068182e-03 -1.41848688e+00] [-3.50208922e-02 -1.14501527e-04 9.99386574e-01 -9.67830454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.405871559999994 meters 0.02186202714053325 Centerline is valid? [True, True] Translation: X:32.52, Y:-1.43, Z:-0.97 [[ 9.96297201e-01 7.55235634e-02 4.10862287e-02 3.25166028e+01] [-7.59573363e-02 9.97069554e-01 9.09881270e-03 -1.43481902e+00] [-4.02786529e-02 -1.21859221e-02 9.99114174e-01 -9.72792138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.46587156 meters 0.014856530800877156 Centerline is valid? [True, True] Translation: X:32.58, Y:-1.44, Z:-0.97 [[ 9.96360802e-01 7.47198136e-02 4.10134295e-02 3.25777324e+01] [-7.47489943e-02 9.97202040e-01 -8.23697165e-04 -1.43793976e+00] [-4.09602221e-02 -2.24501304e-03 9.99158256e-01 -9.73752523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.52587156 meters 0.014822929543543724 Centerline is valid? [True, True] Translation: X:32.64, Y:-1.43, Z:-0.98 [[ 9.96573423e-01 7.52827364e-02 3.42625526e-02 3.26418507e+01] [-7.47571430e-02 9.97067349e-01 -1.63728743e-02 -1.42984997e+00] [-3.53946673e-02 1.37554009e-02 9.99278743e-01 -9.75252329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.585871559999994 meters 0.017095256094168534 Centerline is valid? [True, True] Translation: X:32.70, Y:-1.44, Z:-0.98 [[ 9.96302851e-01 7.87595569e-02 3.43156252e-02 3.27037067e+01] [-7.87166500e-02 9.96893635e-01 -2.60167794e-03 -1.43548877e+00] [-3.44139354e-02 -1.09151906e-04 9.99407659e-01 -9.80509768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.645871559999996 meters 0.015843489503426282 Centerline is valid? [True, True] Translation: X:32.77, Y:-1.44, Z:-0.99 [[ 9.96201360e-01 8.01165647e-02 3.41201771e-02 3.27657883e+01] [-8.00747438e-02 9.96785490e-01 -2.59261545e-03 -1.43671199e+00] [-3.42182089e-02 -1.49397404e-04 9.99414374e-01 -9.85665962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.70587156 meters 0.028685670475817198 Centerline is valid? [True, True] Translation: X:32.83, Y:-1.44, Z:-0.99 [[ 9.96352362e-01 7.81493766e-02 3.42730981e-02 3.28276215e+01] [-7.81057963e-02 9.96941658e-01 -2.61063097e-03 -1.43933827e+00] [-3.43722984e-02 -7.58192886e-05 9.99409095e-01 -9.85413804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.76587156 meters 0.015874303785670205 Centerline is valid? [True, True] Translation: X:32.89, Y:-1.46, Z:-0.99 [[ 9.96803299e-01 7.10132237e-02 3.66101767e-02 3.28894838e+01] [-7.09584390e-02 9.97475356e-01 -2.79524656e-03 -1.45568214e+00] [-3.67162485e-02 1.88509998e-04 9.99325713e-01 -9.85653035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.825871559999996 meters 0.022566041027990643 Centerline is valid? [True, True] Translation: X:32.95, Y:-1.48, Z:-0.99 [[ 9.97417223e-01 6.20770833e-02 3.61292113e-02 3.29492658e+01] [-6.20175792e-02 9.98071223e-01 -2.76642581e-03 -1.47607022e+00] [-3.62312578e-02 5.18634520e-04 9.99343298e-01 -9.88664110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.88587156 meters 0.03265650702983011 Centerline is valid? [True, True] Translation: X:33.01, Y:-1.50, Z:-0.99 [[ 9.97918434e-01 5.32728526e-02 3.63428552e-02 3.30072552e+01] [-5.32067714e-02 9.98579637e-01 -2.78370566e-03 -1.49917406e+00] [-3.64395311e-02 8.44225202e-04 9.99335503e-01 -9.92175009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.94587156 meters 0.04174998147430507 Centerline is valid? [True, True] Translation: X:33.07, Y:-1.52, Z:-1.00 [[ 9.98179280e-01 4.85355084e-02 3.58110336e-02 3.30662248e+01] [-4.84682784e-02 9.98820954e-01 -2.74361052e-03 -1.51802984e+00] [-3.59019733e-02 1.00291603e-03 9.99354813e-01 -9.95882337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.005871559999996 meters 0.03891915375428701 Centerline is valid? [True, True] Translation: X:33.13, Y:-1.54, Z:-1.00 [[ 9.98396751e-01 4.50741420e-02 3.42381350e-02 3.31255831e+01] [-4.50106447e-02 9.98983063e-01 -2.62347885e-03 -1.53734354e+00] [-3.43215680e-02 1.07819223e-03 9.99410260e-01 -1.00128726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.06587156 meters 0.03518035062373059 Centerline is valid? [True, True] Translation: X:33.19, Y:-1.55, Z:-1.01 [[ 9.98310176e-01 4.79339649e-02 3.28500634e-02 3.31865169e+01] [-4.78770559e-02 9.98850064e-01 -2.51725170e-03 -1.54801237e+00] [-3.29329498e-02 9.40233673e-04 9.99457121e-01 -1.00533817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.12587156 meters 0.026967521051214003 Centerline is valid? [True, True] Translation: X:33.25, Y:-1.55, Z:-1.01 [[ 9.97858113e-01 5.63789436e-02 3.31753061e-02 3.32466680e+01] [-5.63255122e-02 9.98409218e-01 -2.54368728e-03 -1.55302525e+00] [-3.32659418e-02 6.69622877e-04 9.99446311e-01 -1.00832475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.185871559999995 meters 0.03315669354821433 Centerline is valid? [True, True] Translation: X:33.31, Y:-1.55, Z:-1.01 [[ 9.97437497e-01 6.38713682e-02 3.22317766e-02 3.33079527e+01] [-6.38248460e-02 9.97958056e-01 -2.47122068e-03 -1.55436484e+00] [-3.23238014e-02 4.07699992e-04 9.99477366e-01 -1.01039364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.24587156 meters 0.016123136436660936 Centerline is valid? [True, True] Translation: X:33.37, Y:-1.55, Z:-1.02 [[ 9.96701136e-01 7.48624908e-02 3.13441156e-02 3.33681303e+01] [-7.48239143e-02 9.97193865e-01 -2.40352064e-03 -1.55196647e+00] [-3.14360934e-02 5.03023256e-05 9.99505763e-01 -1.01692326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.30587156 meters 0.018754193642342796 Centerline is valid? [True, True] Translation: X:33.43, Y:-1.55, Z:-1.02 [[ 9.95836923e-01 8.51465625e-02 3.25405375e-02 3.34306482e+01] [-8.51105041e-02 9.96368396e-01 -2.49416207e-03 -1.55159819e+00] [-3.26347325e-02 -2.85762873e-04 9.99467304e-01 -1.01756582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.365871559999995 meters 0.025839226364659545 Centerline is valid? [True, True] Translation: X:33.49, Y:-1.57, Z:-1.02 [[ 9.94437783e-01 9.48436607e-02 4.58058581e-02 3.34867974e+01] [-9.59339413e-02 9.95139745e-01 2.22163613e-02 -1.56619328e+00] [-4.34761490e-02 -2.64871256e-02 9.98703288e-01 -1.02398298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.42587156 meters 0.03453714259854821 Centerline is valid? [True, True] Translation: X:33.55, Y:-1.53, Z:-1.02 [[ 9.94143054e-01 1.03314537e-01 3.17126774e-02 3.35544137e+01] [-1.02446705e-01 9.94347922e-01 -2.78726012e-02 -1.52820587e+00] [-3.44130797e-02 2.44604936e-02 9.99108315e-01 -1.01987897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.48587156 meters 0.036744409850178975 Centerline is valid? [True, True] Translation: X:33.61, Y:-1.55, Z:-1.02 [[ 9.93732435e-01 1.06952979e-01 3.25101266e-02 3.36141889e+01] [-1.06928274e-01 9.94263588e-01 -2.50254446e-03 -1.54526200e+00] [-3.25912897e-02 -9.89392125e-04 9.99468273e-01 -1.02493622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.545871559999995 meters 0.045569885420467096 Centerline is valid? [True, True] Translation: X:33.67, Y:-1.54, Z:-1.03 [[ 9.93124003e-01 1.12503609e-01 3.23674660e-02 3.36749807e+01] [-1.12482024e-01 9.93650633e-01 -2.49275093e-03 -1.53616274e+00] [-3.24423965e-02 -1.16514730e-03 9.99472928e-01 -1.02937011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.60587156 meters 0.049737260176481606 Centerline is valid? [True, True] Translation: X:33.74, Y:-1.53, Z:-1.03 [[ 9.92838215e-01 1.15252477e-01 3.14506860e-02 3.37356330e+01] [-1.15233483e-01 9.93335482e-01 -2.42185181e-03 -1.53254503e+00] [-3.15202068e-02 -1.21966507e-03 9.99502371e-01 -1.03457556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.66587156 meters 0.05044104162696022 Centerline is valid? [True, True] Translation: X:33.80, Y:-1.54, Z:-1.03 [[ 9.92924948e-01 1.14377932e-01 3.19019834e-02 3.37957826e+01] [-1.14357950e-01 9.93436574e-01 -2.45623302e-03 -1.53541305e+00] [-3.19735359e-02 -1.20939038e-03 9.99487984e-01 -1.03461256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.725871559999995 meters 0.040340170665892267 Centerline is valid? [True, True] Translation: X:33.86, Y:-1.54, Z:-1.04 [[ 9.93566896e-01 1.08305591e-01 3.30865901e-02 3.38557269e+01] [-1.08280752e-01 9.94117092e-01 -2.54692851e-03 -1.54362757e+00] [-3.31677914e-02 -1.05209699e-03 9.99449244e-01 -1.03530626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.78587156 meters 0.033885251722555576 Centerline is valid? [True, True] Translation: X:33.92, Y:-1.55, Z:-1.04 [[ 9.94096576e-01 1.03042885e-01 3.39729673e-02 3.39163936e+01] [-1.03013630e-01 9.94676507e-01 -2.61500389e-03 -1.55425269e+00] [-3.40615700e-02 -9.00112283e-04 9.99419331e-01 -1.03684458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.84587156 meters 0.026590160696129534 Centerline is valid? [True, True] Translation: X:33.98, Y:-1.57, Z:-1.04 [[ 9.94847699e-01 9.49570513e-02 3.55135865e-02 3.39756308e+01] [-9.49199066e-02 9.95481158e-01 -2.73429604e-03 -1.56720482e+00] [-3.56127469e-02 -6.50738196e-04 9.99365453e-01 -1.03769044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.905871559999994 meters 0.020429766240657447 Centerline is valid? [True, True] Translation: X:34.04, Y:-1.58, Z:-1.04 [[ 9.95573344e-01 8.77668249e-02 3.36259143e-02 3.40363772e+01] [-8.77294288e-02 9.96140977e-01 -2.58877330e-03 -1.57784561e+00] [-3.37233595e-02 -3.72668563e-04 9.99431136e-01 -1.04349387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.96587156 meters 0.017237140163798455 Centerline is valid? [True, True] Translation: X:34.10, Y:-1.59, Z:-1.05 [[ 9.96008897e-01 8.32931502e-02 3.20706906e-02 3.40981654e+01] [-8.32568260e-02 9.96525066e-01 -2.46868938e-03 -1.58785750e+00] [-3.21648720e-02 -2.11267323e-04 9.99482554e-01 -1.04730794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.02587156 meters 0.02893852665020001 Centerline is valid? [True, True] Translation: X:34.16, Y:-1.59, Z:-1.05 [[ 9.95989935e-01 8.34050004e-02 3.23674939e-02 3.41603708e+01] [-8.33678589e-02 9.96515711e-01 -2.49771818e-03 -1.59137608e+00] [-3.24630384e-02 -2.10706493e-04 9.99472914e-01 -1.05106893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.085871559999994 meters 0.017354089234745424 Centerline is valid? [True, True] Translation: X:34.22, Y:-1.59, Z:-1.05 [[ 9.96005576e-01 8.33963869e-02 3.19051034e-02 3.42238991e+01] [-8.33601948e-02 9.96516433e-01 -2.46515978e-03 -1.59213686e+00] [-3.19995453e-02 -2.04302750e-04 9.99487863e-01 -1.05327890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.145871559999996 meters 0.0183454772378035 Centerline is valid? [True, True] Translation: X:34.29, Y:-1.59, Z:-1.05 [[ 9.95701643e-01 8.63813615e-02 3.34140509e-02 3.42879859e+01] [-8.63431187e-02 9.96262097e-01 -2.58846845e-03 -1.58642576e+00] [-3.35127479e-02 -3.07731084e-04 9.99438243e-01 -1.05178199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.20587156 meters 0.019915112212824833 Centerline is valid? [True, True] Translation: X:34.35, Y:-1.58, Z:-1.05 [[ 9.95495979e-01 8.81498762e-02 3.48906162e-02 3.43506118e+01] [-8.81090076e-02 9.96107152e-01 -2.71016540e-03 -1.58382075e+00] [-3.49936931e-02 -3.76218812e-04 9.99387462e-01 -1.05360037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.26587156 meters 0.01821228094785575 Centerline is valid? [True, True] Translation: X:34.41, Y:-1.59, Z:-1.06 [[ 9.95696783e-01 8.63696964e-02 3.35885593e-02 3.44123091e+01] [-8.63306085e-02 9.96263112e-01 -2.61497721e-03 -1.58898167e+00] [-3.36888974e-02 -2.95996372e-04 9.99432324e-01 -1.05844364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.325871559999996 meters 0.016336507052851154 Centerline is valid? [True, True] Translation: X:34.47, Y:-1.60, Z:-1.06 [[ 9.95976939e-01 8.30224319e-02 3.37225860e-02 3.44735935e+01] [-8.29809184e-02 9.96547663e-01 -2.63115528e-03 -1.59752223e+00] [-3.38246092e-02 -1.77761179e-04 9.99427768e-01 -1.06104192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.38587156 meters 0.015491734962529174 Centerline is valid? [True, True] Translation: X:34.53, Y:-1.61, Z:-1.06 [[ 9.96300426e-01 7.92136344e-02 3.33265952e-02 3.45347038e+01] [-7.91707728e-02 9.96857662e-01 -2.60584068e-03 -1.60635241e+00] [-3.34282899e-02 -4.22921188e-05 9.99441118e-01 -1.06427367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.44587156 meters 0.01564466961332444 Centerline is valid? [True, True] Translation: X:34.60, Y:-1.61, Z:-1.07 [[ 9.96171314e-01 8.08517976e-02 3.32520772e-02 3.45979675e+01] [-8.08098626e-02 9.96726130e-01 -2.60532074e-03 -1.60813156e+00] [-3.33538590e-02 -9.17500064e-05 9.99443601e-01 -1.06621646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.505871559999996 meters 0.017535798885519167 Centerline is valid? [True, True] Translation: X:34.66, Y:-1.60, Z:-1.07 [[ 9.95816357e-01 8.54606124e-02 3.23460409e-02 3.46607382e+01] [-8.54231611e-02 9.96341522e-01 -2.54051471e-03 -1.60143590e+00] [-3.24448175e-02 -2.33214952e-04 9.99473501e-01 -1.06991983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.56587156 meters 0.019391312158297744 Centerline is valid? [True, True] Translation: X:34.72, Y:-1.60, Z:-1.07 [[ 9.95556572e-01 8.84032567e-02 3.24341725e-02 3.47219960e+01] [-8.83669594e-02 9.96084715e-01 -2.55365121e-03 -1.59546628e+00] [-3.25329346e-02 -3.23804960e-04 9.99470612e-01 -1.07316618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.62587156 meters 0.019232146237668005 Centerline is valid? [True, True] Translation: X:34.78, Y:-1.60, Z:-1.08 [[ 9.95566734e-01 8.85736277e-02 3.16479261e-02 3.47847829e+01] [-8.85391123e-02 9.96069581e-01 -2.49309827e-03 -1.59551036e+00] [-3.17443593e-02 -3.20033590e-04 9.99495970e-01 -1.07687489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.685871559999995 meters 0.01881570187455725 Centerline is valid? [True, True] Translation: X:34.85, Y:-1.60, Z:-1.08 [[ 9.95681618e-01 8.76062242e-02 3.07126349e-02 3.48467780e+01] [-8.75730583e-02 9.96155146e-01 -2.42592901e-03 -1.59773760e+00] [-3.08070758e-02 -2.74146447e-04 9.99525312e-01 -1.08111470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.74587156 meters 0.017249772766852117 Centerline is valid? [True, True] Translation: X:34.91, Y:-1.60, Z:-1.08 [[ 9.95882553e-01 8.53934345e-02 3.04286396e-02 3.49084969e+01] [-8.53597556e-02 9.96347289e-01 -2.40647150e-03 -1.60166784e+00] [-3.05229895e-02 -2.00818258e-04 9.99534045e-01 -1.08412353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.80587156 meters 0.029100283220862864 Centerline is valid? [True, True] Translation: X:34.97, Y:-1.61, Z:-1.09 [[ 9.96126263e-01 8.24574666e-02 3.05488698e-02 3.49688934e+01] [-8.24219758e-02 9.96594579e-01 -2.42134791e-03 -1.60865929e+00] [-3.06444963e-02 -1.05929963e-04 9.99530342e-01 -1.08763897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.865871559999995 meters 0.025405314037359832 Centerline is valid? [True, True] Translation: X:35.03, Y:-1.63, Z:-1.09 [[ 9.96948497e-01 7.17894179e-02 3.06590015e-02 3.50292251e+01] [-7.17484795e-02 9.97419785e-01 -2.43475027e-03 -1.62938850e+00] [-3.07546840e-02 2.27583883e-04 9.99526937e-01 -1.08904463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.92587156 meters 0.021305972479969428 Centerline is valid? [True, True] Translation: X:35.09, Y:-1.64, Z:-1.09 [[ 9.97300202e-01 6.69661624e-02 3.01303827e-02 3.50901042e+01] [-6.69242332e-02 9.97755176e-01 -2.39903611e-03 -1.64397365e+00] [-3.02233996e-02 3.76106436e-04 9.99543098e-01 -1.09214136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.98587156 meters 0.028412579987541615 Centerline is valid? [True, True] Translation: X:35.15, Y:-1.65, Z:-1.09 [[ 9.97374603e-01 6.60072712e-02 2.97815769e-02 3.51521166e+01] [-6.59658834e-02 9.97819062e-01 -2.37115315e-03 -1.65292212e+00] [-2.98731385e-02 4.00359899e-04 9.99553618e-01 -1.09423370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.045871559999995 meters 0.01792023443570346 Centerline is valid? [True, True] Translation: X:35.21, Y:-1.65, Z:-1.09 [[ 9.96944710e-01 7.18782193e-02 3.05739637e-02 3.52138843e+01] [-7.18371464e-02 9.97413387e-01 -2.44113576e-03 -1.65194677e+00] [-3.06703452e-02 2.37331075e-04 9.99529526e-01 -1.09457460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.10587156 meters 0.015492260022519092 Centerline is valid? [True, True] Translation: X:35.28, Y:-1.65, Z:-1.10 [[ 9.96450980e-01 7.80460612e-02 3.15318292e-02 3.52770816e+01] [-7.80054467e-02 9.96949753e-01 -2.51801394e-03 -1.64862368e+00] [-3.16321704e-02 4.94230292e-05 9.99499576e-01 -1.09555627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.16587156 meters 0.0171673223537445 Centerline is valid? [True, True] Translation: X:35.34, Y:-1.64, Z:-1.09 [[ 9.95589551e-01 8.76505063e-02 3.34490010e-02 3.53404021e+01] [-8.76101781e-02 9.96151251e-01 -2.67223903e-03 -1.64163252e+00] [-3.35544873e-02 -2.70019680e-04 9.99436853e-01 -1.09344384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.225871559999995 meters 0.01998764996715528 Centerline is valid? [True, True] Translation: X:35.40, Y:-1.64, Z:-1.10 [[ 9.95323593e-01 9.10017758e-02 3.23978625e-02 3.54017888e+01] [-9.09655400e-02 9.95850663e-01 -2.59370912e-03 -1.64191203e+00] [-3.24994650e-02 -3.65509174e-04 9.99471686e-01 -1.09902759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.28587156 meters 0.02291259023145544 Centerline is valid? [True, True] Translation: X:35.46, Y:-1.64, Z:-1.11 [[ 9.95028736e-01 9.47710764e-02 3.05983303e-02 3.54628549e+01] [-9.47403493e-02 9.95498988e-01 -2.45571000e-03 -1.64420170e+00] [-3.06933371e-02 -4.55394486e-04 9.99528745e-01 -1.10524058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.34587156 meters 0.027026952593082017 Centerline is valid? [True, True] Translation: X:35.52, Y:-1.64, Z:-1.11 [[ 9.94621528e-01 9.90181414e-02 3.03878732e-02 3.55240833e+01] [-9.89897895e-02 9.95085458e-01 -2.43968784e-03 -1.64113369e+00] [-3.04801041e-02 -5.81523124e-04 9.99535205e-01 -1.10819812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.405871559999994 meters 0.029350428586323998 Centerline is valid? [True, True] Translation: X:35.58, Y:-1.64, Z:-1.11 [[ 9.94470070e-01 1.00898948e-01 2.91321644e-02 3.55836215e+01] [-1.00873674e-01 9.94896491e-01 -2.33967920e-03 -1.63915145e+00] [-2.92195593e-02 -6.11927519e-04 9.99572830e-01 -1.11314016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.46587156 meters 0.027995453429649375 Centerline is valid? [True, True] Translation: X:35.64, Y:-1.64, Z:-1.12 [[ 9.94596429e-01 9.94228281e-02 2.98838638e-02 3.56429886e+01] [-9.93955890e-02 9.95045105e-01 -2.39930578e-03 -1.64488785e+00] [-2.99743381e-02 -5.83983281e-04 9.99550498e-01 -1.11548138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.52587156 meters 0.021580787930984672 Centerline is valid? [True, True] Translation: X:35.70, Y:-1.66, Z:-1.12 [[ 9.95199490e-01 9.31565004e-02 2.99973716e-02 3.57024646e+01] [-9.31262377e-02 9.95651399e-01 -2.40740272e-03 -1.66068569e+00] [-3.00911902e-02 -3.97696395e-04 9.99547078e-01 -1.11758853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.585871559999994 meters 0.018263692868429493 Centerline is valid? [True, True] Translation: X:35.76, Y:-1.67, Z:-1.12 [[ 9.95620323e-01 8.85664786e-02 2.99357790e-02 3.57638724e+01] [-8.85343282e-02 9.96070234e-01 -2.40035782e-03 -1.67264223e+00] [-3.00307296e-02 -2.60499050e-04 9.99548942e-01 -1.11988120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.645871559999996 meters 0.01829692032558474 Centerline is valid? [True, True] Translation: X:35.82, Y:-1.68, Z:-1.12 [[ 9.95606261e-01 8.85925787e-02 3.03237210e-02 3.58249992e+01] [-8.85594158e-02 9.96067913e-01 -2.43757028e-03 -1.67648592e+00] [-3.04204361e-02 -2.58590779e-04 9.99537158e-01 -1.12174810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.70587156 meters 0.027921213948221106 Centerline is valid? [True, True] Translation: X:35.89, Y:-1.67, Z:-1.13 [[ 9.95193954e-01 9.30251010e-02 3.05830791e-02 3.58859706e+01] [-9.28862917e-02 9.95659054e-01 -5.93165109e-03 -1.67075286e+00] [-3.10021120e-02 3.06239450e-03 9.99514628e-01 -1.12684479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.76587156 meters 0.024388871720948075 Centerline is valid? [True, True] Translation: X:35.95, Y:-1.67, Z:-1.13 [[ 9.94898250e-01 9.63293777e-02 2.99687069e-02 3.59463881e+01] [-9.64052330e-02 9.95341567e-01 1.09326878e-03 -1.67380172e+00] [-2.97237858e-02 -3.97683137e-03 9.99550240e-01 -1.12917280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.825871559999996 meters 0.024926372642885504 Centerline is valid? [True, True] Translation: X:36.01, Y:-1.67, Z:-1.13 [[ 9.94700351e-01 9.80776290e-02 3.08543533e-02 3.60067859e+01] [-9.80475723e-02 9.95178616e-01 -2.48926066e-03 -1.67330860e+00] [-3.09497334e-02 -5.49125981e-04 9.99520791e-01 -1.12801151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.88587156 meters 0.02334106036958011 Centerline is valid? [True, True] Translation: X:36.07, Y:-1.68, Z:-1.13 [[ 9.94840303e-01 9.69288794e-02 2.99593633e-02 3.60672996e+01] [-9.67020383e-02 9.95273284e-01 -8.93340093e-03 -1.67597380e+00] [-3.06836585e-02 5.99017579e-03 9.99511196e-01 -1.12867411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.94587156 meters 0.02340045251034196 Centerline is valid? [True, True] Translation: X:36.13, Y:-1.68, Z:-1.13 [[ 9.94879798e-01 9.63498125e-02 3.05106826e-02 3.61270456e+01] [-9.62923918e-02 9.95347456e-01 -3.34916945e-03 -1.68265122e+00] [-3.06914222e-02 3.94074424e-04 9.99528830e-01 -1.13161146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.005871559999996 meters 0.025828616613495423 Centerline is valid? [True, True] Translation: X:36.19, Y:-1.69, Z:-1.14 [[ 9.94802282e-01 9.66861859e-02 3.19405822e-02 3.61852046e+01] [-9.68744473e-02 9.95286899e-01 4.39650704e-03 -1.68787353e+00] [-3.13649615e-02 -7.46788148e-03 9.99480100e-01 -1.13761358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.06587156 meters 0.02473172072736368 Centerline is valid? [True, True] Translation: X:36.25, Y:-1.69, Z:-1.14 [[ 9.94844716e-01 9.65532298e-02 3.10074911e-02 3.62455293e+01] [-9.65220790e-02 9.95327695e-01 -2.50337804e-03 -1.68763065e+00] [-3.11043239e-02 -5.02435094e-04 9.99516017e-01 -1.13877470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.12587156 meters 0.025404787072548823 Centerline is valid? [True, True] Translation: X:36.31, Y:-1.69, Z:-1.14 [[ 9.94808954e-01 9.69431200e-02 3.09382549e-02 3.63054286e+01] [-9.69123191e-02 9.95289791e-01 -2.49706179e-03 -1.68984416e+00] [-3.10346022e-02 -5.14198612e-04 9.99518178e-01 -1.14149683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.185871559999995 meters 0.02726889706479994 Centerline is valid? [True, True] Translation: X:36.37, Y:-1.69, Z:-1.14 [[ 9.94606840e-01 9.86875250e-02 3.19062028e-02 3.63652757e+01] [-9.86556882e-02 9.95118298e-01 -2.57441050e-03 -1.68716959e+00] [-3.20045084e-02 -5.87202098e-04 9.99487552e-01 -1.14172622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.24587156 meters 0.028963296405598905 Centerline is valid? [True, True] Translation: X:36.43, Y:-1.69, Z:-1.14 [[ 9.94389523e-01 1.00623192e-01 3.26258946e-02 3.64250128e+01] [-1.00590969e-01 9.94924385e-01 -2.63170625e-03 -1.68671161e+00] [-3.27251088e-02 -6.64929211e-04 9.99464169e-01 -1.14287019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.30587156 meters 0.030764643850273287 Centerline is valid? [True, True] Translation: X:36.48, Y:-1.68, Z:-1.14 [[ 9.94247533e-01 1.01915130e-01 3.29416051e-02 3.64840514e+01] [-1.01883013e-01 9.94792840e-01 -2.65645035e-03 -1.68239733e+00] [-3.30408054e-02 -7.15020776e-04 9.99453748e-01 -1.14478057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.365871559999995 meters 0.03932125558230772 Centerline is valid? [True, True] Translation: X:36.54, Y:-1.68, Z:-1.15 [[ 9.94523526e-01 9.99485676e-02 3.05489878e-02 3.65427336e+01] [-9.99200378e-02 9.94992422e-01 -2.46290012e-03 -1.68299723e+00] [-3.06421747e-02 -6.03043909e-04 9.99530236e-01 -1.15151209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.42587156 meters 0.032579729331318814 Centerline is valid? [True, True] Translation: X:36.60, Y:-1.69, Z:-1.16 [[ 9.94770461e-01 9.76808424e-02 2.98359354e-02 3.66009474e+01] [-9.76526490e-02 9.95217655e-01 -2.40408757e-03 -1.68695118e+00] [-2.99280830e-02 -5.22042835e-04 9.99551918e-01 -1.15506744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.48587156 meters 0.024499577054414398 Centerline is valid? [True, True] Translation: X:36.66, Y:-1.69, Z:-1.16 [[ 9.94923976e-01 9.59298209e-02 3.03932916e-02 3.66594742e+01] [-9.58997900e-02 9.95387984e-01 -2.44760156e-03 -1.68913158e+00] [-3.04879152e-02 -4.79532810e-04 9.99535020e-01 -1.15558851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.545871559999995 meters 0.025221107585819247 Centerline is valid? [True, True] Translation: X:36.72, Y:-1.69, Z:-1.16 [[ 9.94825927e-01 9.63816204e-02 3.21241151e-02 3.67177425e+01] [-9.63483554e-02 9.95344317e-01 -2.58547687e-03 -1.68564245e+00] [-3.22237479e-02 -5.23006242e-04 9.99480543e-01 -1.15570827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.60587156 meters 0.025793954764916614 Centerline is valid? [True, True] Translation: X:36.78, Y:-1.68, Z:-1.15 [[ 9.94647159e-01 9.78032923e-02 3.33398278e-02 3.67770956e+01] [-9.77683308e-02 9.95205589e-01 -2.68119576e-03 -1.68210003e+00] [-3.34422128e-02 -5.92735573e-04 9.99440477e-01 -1.15494901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.66587156 meters 0.025770498479862028 Centerline is valid? [True, True] Translation: X:36.84, Y:-1.68, Z:-1.16 [[ 9.94520165e-01 9.89103169e-02 3.38583874e-02 3.68364068e+01] [-9.88749547e-02 9.95096145e-01 -2.72129667e-03 -1.67736020e+00] [-3.39615151e-02 -6.41362115e-04 9.99422936e-01 -1.15573239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.725871559999995 meters 0.022934871874388137 Centerline is valid? [True, True] Translation: X:36.90, Y:-1.68, Z:-1.16 [[ 9.94690959e-01 9.67719542e-02 3.50012241e-02 3.68963617e+01] [-9.69266747e-02 9.95287734e-01 2.74698848e-03 -1.68401318e+00] [-3.45704576e-02 -6.12495686e-03 9.99383494e-01 -1.16005327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.78587156 meters 0.018965154728884527 Centerline is valid? [True, True] Translation: X:36.95, Y:-1.68, Z:-1.16 [[ 9.95345025e-01 9.09418266e-02 3.19039930e-02 3.69540203e+01] [-9.07238449e-02 9.95842182e-01 -8.21776000e-03 -1.68430335e+00] [-3.25186801e-02 5.28505362e-03 9.99457154e-01 -1.16336813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.84587156 meters 0.025238497375154788 Centerline is valid? [True, True] Translation: X:37.01, Y:-1.70, Z:-1.17 [[ 9.95914985e-01 8.49215118e-02 3.06868122e-02 3.70122051e+01] [-8.48858095e-02 9.96387633e-01 -2.46667729e-03 -1.69715788e+00] [-3.07854341e-02 -1.48274015e-04 9.99526005e-01 -1.17067082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.905871559999994 meters 0.015177264538554953 Centerline is valid? [True, True] Translation: X:37.07, Y:-1.71, Z:-1.17 [[ 9.96412248e-01 7.83677038e-02 3.19552172e-02 3.70711837e+01] [-7.83256473e-02 9.96924521e-01 -2.56769598e-03 -1.70781874e+00] [-3.20581640e-02 5.55706484e-05 9.99486003e-01 -1.17182928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.96587156 meters 0.016843250289813986 Centerline is valid? [True, True] Translation: X:37.13, Y:-1.72, Z:-1.17 [[ 9.96769658e-01 7.29821750e-02 3.35238951e-02 3.71312220e+01] [-7.29328821e-02 9.97333217e-01 -2.69250831e-03 -1.71862970e+00] [-3.36309993e-02 2.38816291e-04 9.99434289e-01 -1.17311605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.02587156 meters 0.017560776657514782 Centerline is valid? [True, True] Translation: X:37.19, Y:-1.73, Z:-1.18 [[ 9.96855419e-01 7.12006966e-02 3.47812335e-02 3.71882249e+01] [-7.13861956e-02 9.97440245e-01 4.11933920e-03 -1.73023648e+00] [-3.43989023e-02 -6.58928555e-03 9.99386460e-01 -1.17782348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.085871559999994 meters 0.022579267135822628 Centerline is valid? [True, True] Translation: X:37.25, Y:-1.74, Z:-1.18 [[ 9.97377137e-01 6.51899758e-02 3.14501665e-02 3.72522424e+01] [-6.49308069e-02 9.97847415e-01 -9.19379943e-03 -1.73642137e+00] [-3.19818110e-02 7.12760066e-03 9.99463036e-01 -1.18040464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.145871559999996 meters 0.031343032897553864 Centerline is valid? [True, True] Translation: X:37.31, Y:-1.75, Z:-1.19 [[ 9.97549481e-01 6.25011579e-02 3.14426107e-02 3.73137169e+01] [-6.24523445e-02 9.98044732e-01 -2.53310722e-03 -1.75039915e+00] [-3.15394542e-02 5.63235029e-04 9.99502349e-01 -1.18612050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.20587156 meters 0.027030461613943357 Centerline is valid? [True, True] Translation: X:37.37, Y:-1.76, Z:-1.19 [[ 9.97602238e-01 6.16317681e-02 3.14849099e-02 3.73738055e+01] [-6.15822231e-02 9.98098777e-01 -2.54181336e-03 -1.76473591e+00] [-3.15817065e-02 5.96807951e-04 9.99500995e-01 -1.18956493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.265871559999994 meters 0.02519715670936194 Centerline is valid? [True, True] Translation: X:37.44, Y:-1.77, Z:-1.19 [[ 9.97524662e-01 6.27342203e-02 3.17642303e-02 3.74361080e+01] [-6.26841970e-02 9.98030105e-01 -2.56917872e-03 -1.77038609e+00] [-3.18628336e-02 5.71703861e-04 9.99492088e-01 -1.19033341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.325871559999996 meters 0.030655704810815844 Centerline is valid? [True, True] Translation: X:37.50, Y:-1.77, Z:-1.19 [[ 9.97227360e-01 6.67981605e-02 3.27963144e-02 3.74980830e+01] [-6.67468069e-02 9.97766401e-01 -2.65938811e-03 -1.77208300e+00] [-3.29007028e-02 4.62965319e-04 9.99458518e-01 -1.19330373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.38587156 meters 0.019323638558877088 Centerline is valid? [True, True] Translation: X:37.56, Y:-1.78, Z:-1.19 [[ 9.96942364e-01 7.08060610e-02 3.30518422e-02 3.75590878e+01] [-7.07561015e-02 9.97490045e-01 -2.68021243e-03 -1.77542374e+00] [-3.31586588e-02 3.33397822e-04 9.99450045e-01 -1.19492439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.44587156 meters 0.016047253982779012 Centerline is valid? [True, True] Translation: X:37.62, Y:-1.77, Z:-1.20 [[ 9.96527352e-01 7.67541898e-02 3.22805080e-02 3.76212383e+01] [-7.67095086e-02 9.97050037e-01 -2.62214670e-03 -1.77435693e+00] [-3.23865424e-02 1.36818996e-04 9.99475409e-01 -1.19888086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.505871559999996 meters 0.01542473687414156 Centerline is valid? [True, True] Translation: X:37.68, Y:-1.77, Z:-1.20 [[ 9.95948537e-01 8.37647553e-02 3.27104958e-02 3.76823995e+01] [-8.37224294e-02 9.96485554e-01 -2.66389813e-03 -1.77046622e+00] [-3.28186773e-02 -8.54967253e-05 9.99461318e-01 -1.19910126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.56587156 meters 0.01738943227422002 Centerline is valid? [True, True] Translation: X:37.74, Y:-1.77, Z:-1.20 [[ 9.95504991e-01 8.86715585e-02 3.32741193e-02 3.77420560e+01] [-8.86304929e-02 9.96060887e-01 -2.71001067e-03 -1.76869144e+00] [-3.33833496e-02 -2.51272447e-04 9.99442589e-01 -1.20081453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.62587156 meters 0.020168888374251695 Centerline is valid? [True, True] Translation: X:37.80, Y:-1.78, Z:-1.20 [[ 9.94774294e-01 9.46384948e-02 3.83100424e-02 3.77969613e+01] [-9.51592310e-02 9.95389717e-01 1.20013503e-02 -1.77830187e+00] [-3.69976325e-02 -1.55841889e-02 9.99193829e-01 -1.20444171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.685871559999995 meters 0.022250992393775412 Centerline is valid? [True, True] Translation: X:37.86, Y:-1.76, Z:-1.20 [[ 9.94852324e-01 9.54599531e-02 3.40036879e-02 3.78626843e+01] [-9.49103246e-02 9.95333213e-01 -1.74306031e-02 -1.76291789e+00] [-3.55089245e-02 1.41135750e-02 9.99269695e-01 -1.20096492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.74587156 meters 0.02164703103642168 Centerline is valid? [True, True] Translation: X:37.92, Y:-1.78, Z:-1.21 [[ 9.95018039e-01 9.36970527e-02 3.40582460e-02 3.79210133e+01] [-9.36570193e-02 9.95600661e-01 -2.77242483e-03 -1.78011112e+00] [-3.41681803e-02 -4.31181084e-04 9.99416004e-01 -1.20935429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.80587156 meters 0.020945531377757072 Centerline is valid? [True, True] Translation: X:37.97, Y:-1.80, Z:-1.22 [[ 9.94830524e-01 9.43732639e-02 3.74955358e-02 3.79736636e+01] [-9.49339305e-02 9.95392561e-01 1.34609893e-02 -1.79866116e+00] [-3.60524199e-02 -1.69510016e-02 9.99206128e-01 -1.21677038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.865871559999995 meters 0.01991728685227335 Centerline is valid? [True, True] Translation: X:38.04, Y:-1.79, Z:-1.21 [[ 9.95071103e-01 9.35285174e-02 3.29532560e-02 3.80409829e+01] [-9.29515672e-02 9.95496346e-01 -1.86287784e-02 -1.78728931e+00] [-3.45471680e-02 1.54739023e-02 9.99283269e-01 -1.20958797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.92587156 meters 0.021898323235893545 Centerline is valid? [True, True] Translation: X:38.10, Y:-1.80, Z:-1.22 [[ 9.95007454e-01 9.36276034e-02 3.45548561e-02 3.80987649e+01] [-9.35862185e-02 9.95607195e-01 -2.81669840e-03 -1.79852363e+00] [-3.46667840e-02 -4.31222410e-04 9.99398833e-01 -1.21575387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.98587156 meters 0.03247576956465919 Centerline is valid? [True, True] Translation: X:38.16, Y:-1.80, Z:-1.22 [[ 9.94836592e-01 9.48878581e-02 3.60062517e-02 3.81573049e+01] [-9.48437969e-02 9.95487844e-01 -2.93364795e-03 -1.80295119e+00] [-3.61221534e-02 -4.96469290e-04 9.99347259e-01 -1.21829777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.045871559999995 meters 0.0239050919323396 Centerline is valid? [True, True] Translation: X:38.22, Y:-1.81, Z:-1.22 [[ 9.94604416e-01 9.74196194e-02 3.56577210e-02 3.82166287e+01] [-9.73780775e-02 9.95243225e-01 -2.90400751e-03 -1.80713492e+00] [-3.57710125e-02 -5.83941628e-04 9.99359842e-01 -1.21740542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.10587156 meters 0.02414642741118354 Centerline is valid? [True, True] Translation: X:38.27, Y:-1.81, Z:-1.22 [[ 9.94630076e-01 9.77145002e-02 3.41011414e-02 3.82704455e+01] [-9.77402788e-02 9.95211536e-01 -9.14250185e-04 -1.81203646e+00] [-3.40271848e-02 -2.42371434e-03 9.99417969e-01 -1.22242549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.16587156 meters 0.023031699517746657 Centerline is valid? [True, True] Translation: X:38.33, Y:-1.82, Z:-1.23 [[ 9.94801642e-01 9.59163604e-02 3.42015246e-02 3.83284102e+01] [-9.59565539e-02 9.95385413e-01 -4.68067063e-04 -1.82037728e+00] [-3.40885940e-02 -2.81622655e-03 9.99414847e-01 -1.22621228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.225871559999995 meters 0.020163915636123998 Centerline is valid? [True, True] Translation: X:38.39, Y:-1.83, Z:-1.22 [[ 9.95069193e-01 9.26830321e-02 3.53151067e-02 3.83936917e+01] [-9.25266641e-02 9.95691886e-01 -6.04019381e-03 -1.82987527e+00] [-3.57227887e-02 2.74282177e-03 9.99357974e-01 -1.22470834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.28587156 meters 0.018235008590300212 Centerline is valid? [True, True] Translation: X:38.45, Y:-1.84, Z:-1.23 [[ 9.95271337e-01 9.00588777e-02 3.63918030e-02 3.84537124e+01] [-9.00106182e-02 9.95936390e-01 -2.96564826e-03 -1.84125119e+00] [-3.65110039e-02 -3.24023975e-04 9.99333198e-01 -1.22549201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.34587156 meters 0.01670197187961402 Centerline is valid? [True, True] Translation: X:38.51, Y:-1.85, Z:-1.23 [[ 9.95446703e-01 8.77287914e-02 3.72762616e-02 3.85137770e+01] [-8.76765520e-02 9.96144367e-01 -3.03696524e-03 -1.85312649e+00] [-3.73989673e-02 -2.45117050e-04 9.99300384e-01 -1.22674499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.405871559999994 meters 0.015946120289761577 Centerline is valid? [True, True] Translation: X:38.57, Y:-1.87, Z:-1.23 [[ 9.95612205e-01 8.62783850e-02 3.62267592e-02 3.85747996e+01] [-8.62279002e-02 9.96271051e-01 -2.95658649e-03 -1.86567435e+00] [-3.63467609e-02 -1.80143781e-04 9.99339222e-01 -1.23156813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.46587156 meters 0.015766179560246587 Centerline is valid? [True, True] Translation: X:38.64, Y:-1.87, Z:-1.24 [[ 9.95726644e-01 8.55196415e-02 3.48545602e-02 3.86351652e+01] [-8.54722365e-02 9.96336475e-01 -2.85055609e-03 -1.87439006e+00] [-3.49706481e-02 -1.40722555e-04 9.99388330e-01 -1.23660336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.52587156 meters 0.01674025448776869 Centerline is valid? [True, True] Translation: X:38.70, Y:-1.88, Z:-1.24 [[ 9.95675848e-01 8.66836578e-02 3.33998481e-02 3.86963636e+01] [-8.66407059e-02 9.96235873e-01 -2.73387988e-03 -1.87911780e+00] [-3.35111095e-02 -1.71728247e-04 9.99438330e-01 -1.24324979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.585871559999994 meters 0.016994111439310497 Centerline is valid? [True, True] Translation: X:38.76, Y:-1.88, Z:-1.24 [[ 9.95509613e-01 8.85108454e-02 3.35624925e-02 3.87569950e+01] [-8.84683036e-02 9.96075187e-01 -2.75337931e-03 -1.88445430e+00] [-3.36744699e-02 -2.28201203e-04 9.99432828e-01 -1.24398098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.645871559999996 meters 0.01871037610192983 Centerline is valid? [True, True] Translation: X:38.82, Y:-1.90, Z:-1.25 [[ 9.95231427e-01 8.97203428e-02 3.82709756e-02 3.88160490e+01] [-9.03611613e-02 9.95790710e-01 1.53532425e-02 -1.89614567e+00] [-3.67323838e-02 -1.87382393e-02 9.99149443e-01 -1.25119459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.70587156 meters 0.03248471263951764 Centerline is valid? [True, True] Translation: X:38.88, Y:-1.87, Z:-1.25 [[ 9.94803580e-01 9.67098466e-02 3.18283392e-02 3.88805929e+01] [-9.60709138e-02 9.95152317e-01 -2.10296505e-02 -1.87208443e+00] [-3.37078198e-02 1.78625940e-02 9.99272090e-01 -1.24876006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.765871559999994 meters 0.022663816648389817 Centerline is valid? [True, True] Translation: X:38.94, Y:-1.89, Z:-1.25 [[ 9.94870592e-01 9.51533878e-02 3.43269273e-02 3.89399763e+01] [-9.54178339e-02 9.95418337e-01 6.14590136e-03 -1.89114216e+00] [-3.35848495e-02 -9.38977757e-03 9.99391760e-01 -1.25397598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.825871559999996 meters 0.028061469180550122 Centerline is valid? [True, True] Translation: X:39.00, Y:-1.88, Z:-1.25 [[ 9.94246984e-01 1.02398735e-01 3.14234670e-02 3.90000834e+01] [-1.02078847e-01 9.94708385e-01 -1.16249054e-02 -1.87605098e+00] [-3.24475618e-02 8.35035587e-03 9.99438556e-01 -1.25377900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.88587156 meters 0.03128617575066631 Centerline is valid? [True, True] Translation: X:39.06, Y:-1.88, Z:-1.26 [[ 9.94167370e-01 1.02965690e-01 3.20828203e-02 3.90582366e+01] [-1.02934040e-01 9.94684678e-01 -2.64096852e-03 -1.87704465e+00] [-3.21842189e-02 -6.76849590e-04 9.99481725e-01 -1.26008957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.94587156 meters 0.02733206531986274 Centerline is valid? [True, True] Translation: X:39.12, Y:-1.88, Z:-1.26 [[ 9.94309121e-01 1.00922888e-01 3.41166048e-02 3.91170361e+01] [-1.00885974e-01 9.94894038e-01 -2.80610619e-03 -1.88371193e+00] [-3.42256070e-02 -6.51749941e-04 9.99413920e-01 -1.25836523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.005871559999996 meters 0.02018073061136258 Centerline is valid? [True, True] Translation: X:39.18, Y:-1.90, Z:-1.26 [[ 9.94944341e-01 9.41031855e-02 3.50763326e-02 3.91760479e+01] [-9.40599960e-02 9.95562356e-01 -2.88309273e-03 -1.89800002e+00] [-3.51919845e-02 -4.30762906e-04 9.99380477e-01 -1.25756763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.06587156 meters 0.016124378798762135 Centerline is valid? [True, True] Translation: X:39.24, Y:-1.91, Z:-1.26 [[ 9.95542480e-01 8.72491526e-02 3.58155787e-02 3.92363721e+01] [-8.71997112e-02 9.96186503e-01 -2.94317381e-03 -1.91234304e+00] [-3.59357855e-02 -1.93053559e-04 9.99354082e-01 -1.25980256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.12587156 meters 0.016806245727627823 Centerline is valid? [True, True] Translation: X:39.30, Y:-1.94, Z:-1.26 [[ 9.96501438e-01 7.53093572e-02 3.62406464e-02 3.92972402e+01] [-7.52508389e-02 9.97160189e-01 -2.97797357e-03 -1.93686578e+00] [-3.63619991e-02 2.40415904e-04 9.99338655e-01 -1.26197285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.185871559999995 meters 0.021925997561351208 Centerline is valid? [True, True] Translation: X:39.36, Y:-1.96, Z:-1.27 [[ 9.97058523e-01 6.79207661e-02 3.55115638e-02 3.93567436e+01] [-6.78596161e-02 9.97690589e-01 -2.92582312e-03 -1.95685346e+00] [-3.56282772e-02 5.07415790e-04 9.99364983e-01 -1.26544630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.24587156 meters 0.02794640876426129 Centerline is valid? [True, True] Translation: X:39.42, Y:-1.98, Z:-1.27 [[ 9.97594114e-01 6.01859031e-02 3.44040857e-02 3.94156147e+01] [-6.01238968e-02 9.98186896e-01 -2.83496352e-03 -1.97795065e+00] [-3.45123324e-02 7.59635221e-04 9.99403983e-01 -1.26923067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.30587156 meters 0.03369994219147832 Centerline is valid? [True, True] Translation: X:39.48, Y:-1.99, Z:-1.27 [[ 9.97731595e-01 5.78804420e-02 3.43732300e-02 3.94759476e+01] [-5.78172049e-02 9.98323170e-01 -2.83168809e-03 -1.99164759e+00] [-3.44794913e-02 8.37900588e-04 9.99405054e-01 -1.27307855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.365871559999995 meters 0.028229060373274825 Centerline is valid? [True, True] Translation: X:39.54, Y:-2.00, Z:-1.27 [[ 9.97603815e-01 6.01499542e-02 3.41849596e-02 3.95378936e+01] [-6.00885355e-02 9.98189062e-01 -2.82212097e-03 -2.00323169e+00] [-3.42928032e-02 7.61234483e-04 9.99411539e-01 -1.27465846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.42587156 meters 0.021944200983295314 Centerline is valid? [True, True] Translation: X:39.60, Y:-2.00, Z:-1.28 [[ 9.97075786e-01 6.82530141e-02 3.43715486e-02 3.95984819e+01] [-6.81956450e-02 9.97667925e-01 -2.84003956e-03 -2.00460254e+00] [-3.44852329e-02 4.87744747e-04 9.99405088e-01 -1.27590253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.48587156 meters 0.017424990402846167 Centerline is valid? [True, True] Translation: X:39.66, Y:-2.00, Z:-1.28 [[ 9.96561714e-01 7.53854720e-02 3.43770412e-02 3.96602325e+01] [-7.53323307e-02 9.97154438e-01 -2.84030633e-03 -2.00320797e+00] [-3.44933370e-02 2.40837912e-04 9.99404899e-01 -1.27869699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.545871559999995 meters 0.016058115877980044 Centerline is valid? [True, True] Translation: X:39.72, Y:-2.00, Z:-1.28 [[ 9.95846551e-01 8.49412721e-02 3.27815209e-02 3.97215602e+01] [-8.48981388e-02 9.96385956e-01 -2.70798547e-03 -2.00142821e+00] [-3.28930668e-02 -8.63521224e-05 9.99458873e-01 -1.28444999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.60587156 meters 0.018935095880930494 Centerline is valid? [True, True] Translation: X:39.78, Y:-2.00, Z:-1.29 [[ 9.95239001e-01 9.15595638e-02 3.34092382e-02 3.97844483e+01] [-9.15183194e-02 9.95799554e-01 -2.76486525e-03 -2.00010065e+00] [-3.35220544e-02 -3.05855610e-04 9.99437931e-01 -1.28560792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.66587156 meters 0.023987297139201617 Centerline is valid? [True, True] Translation: X:39.86, Y:-2.00, Z:-1.29 [[ 9.94333385e-01 1.00618889e-01 3.43068212e-02 3.98571146e+01] [-1.00398715e-01 9.94914429e-01 -8.08556475e-03 -1.99678487e+00] [-3.49459119e-02 4.59538621e-03 9.99378640e-01 -1.28672858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.725871559999995 meters 0.03824941680447539 Centerline is valid? [True, True] Translation: X:39.90, Y:-2.00, Z:-1.30 [[ 9.94076160e-01 1.03614245e-01 3.28127385e-02 3.99043980e+01] [-1.03726653e-01 9.94604324e-01 1.73764008e-03 -1.99865467e+00] [-3.24556473e-02 -5.13090213e-03 9.99460007e-01 -1.29583917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.78587156 meters 0.033180392795706934 Centerline is valid? [True, True] Translation: X:39.98, Y:-2.00, Z:-1.29 [[ 9.93127167e-01 1.11626271e-01 3.51853037e-02 3.99750418e+01] [-1.11588350e-01 9.93749849e-01 -3.04582006e-03 -1.99810480e+00] [-3.53053838e-02 -9.01383352e-04 9.99376164e-01 -1.29438160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.84587156 meters 0.044456080494032255 Centerline is valid? [True, True] Translation: X:40.03, Y:-1.98, Z:-1.30 [[ 9.92961815e-01 1.14319767e-01 3.09487468e-02 4.00259310e+01] [-1.14273533e-01 9.93443961e-01 -3.26432942e-03 -1.98445768e+00] [-3.11190230e-02 -2.95268175e-04 9.99515642e-01 -1.30275751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.905871559999994 meters 0.05240947606562297 Centerline is valid? [True, True] Translation: X:40.08, Y:-1.99, Z:-1.31 [[ 9.93000957e-01 1.14290765e-01 2.97778600e-02 4.00836765e+01] [-1.14267925e-01 9.93446891e-01 -2.47318760e-03 -1.98704660e+00] [-2.98653850e-02 -9.46776616e-04 9.99553482e-01 -1.30953043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.96587156 meters 0.03661675684024291 Centerline is valid? [True, True] Translation: X:40.15, Y:-2.01, Z:-1.30 [[ 9.92689978e-01 1.14943291e-01 3.68055463e-02 4.01500912e+01] [-1.15084835e-01 9.93354137e-01 1.74344905e-03 -2.00617026e+00] [-3.63605439e-02 -5.96646464e-03 9.99320926e-01 -1.30455644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.02587156 meters 0.03695002987200467 Centerline is valid? [True, True] Translation: X:40.20, Y:-2.00, Z:-1.30 [[ 9.93192380e-01 1.11643538e-01 3.32357758e-02 4.02029526e+01] [-1.11431805e-01 9.93738565e-01 -8.16196133e-03 -1.99806265e+00] [-3.39389024e-02 4.40287530e-03 9.99414211e-01 -1.30225001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.085871559999994 meters 0.039359887823716314 Centerline is valid? [True, True] Translation: X:40.26, Y:-2.00, Z:-1.31 [[ 9.93586893e-01 1.08110571e-01 3.31238739e-02 4.02612664e+01] [-1.08078854e-01 9.94138516e-01 -2.75180377e-03 -1.99980448e+00] [-3.32272180e-02 -8.45834173e-04 9.99447466e-01 -1.31027356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.145871559999996 meters 0.027146267861712984 Centerline is valid? [True, True] Translation: X:40.32, Y:-2.02, Z:-1.31 [[ 9.94430848e-01 1.00538176e-01 3.16127250e-02 4.03199811e+01] [-1.00505503e-01 9.94933040e-01 -2.62491018e-03 -2.01721530e+00] [-3.17164483e-02 -5.66961183e-04 9.99496746e-01 -1.31469361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.20587156 meters 0.02165716958700006 Centerline is valid? [True, True] Translation: X:40.38, Y:-2.03, Z:-1.32 [[ 9.95095071e-01 9.41258609e-02 3.04322481e-02 4.03799201e+01] [-9.40925981e-02 9.95560244e-01 -2.52641692e-03 -2.03003166e+00] [-3.05349375e-02 -3.49424264e-04 9.99533639e-01 -1.32013272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.265871559999994 meters 0.01691661552282196 Centerline is valid? [True, True] Translation: X:40.44, Y:-2.05, Z:-1.32 [[ 9.95894606e-01 8.52232671e-02 3.05111059e-02 4.04399880e+01] [-8.51856459e-02 9.96361876e-01 -2.53314418e-03 -2.04815490e+00] [-3.06159856e-02 -7.63636368e-05 9.99531218e-01 -1.32214832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.325871559999996 meters 0.016421708183380936 Centerline is valid? [True, True] Translation: X:40.50, Y:-2.07, Z:-1.32 [[ 9.95914421e-01 8.19271292e-02 3.79790875e-02 4.05026407e+01] [-8.21521921e-02 9.96610078e-01 4.40111410e-03 -2.06738609e+00] [-3.74897707e-02 -7.50319830e-03 9.99268842e-01 -1.32351398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.38587156 meters 0.026771971754378676 Centerline is valid? [True, True] Translation: X:40.56, Y:-2.07, Z:-1.32 [[ 9.96625672e-01 7.59323101e-02 3.11697799e-02 4.05605273e+01] [-7.56415036e-02 9.97080768e-01 -1.04069322e-02 -2.06571624e+00] [-3.18690105e-02 8.01408677e-03 9.99459924e-01 -1.32277116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.44587156 meters 0.0191115519866744 Centerline is valid? [True, True] Translation: X:40.62, Y:-2.08, Z:-1.32 [[ 9.96773429e-01 7.35320253e-02 3.21834230e-02 4.06217023e+01] [-7.34839277e-02 9.97292810e-01 -2.67633414e-03 -2.07851269e+00] [-3.22930927e-02 3.02734432e-04 9.99478396e-01 -1.32449507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.505871559999996 meters 0.030851948784134928 Centerline is valid? [True, True] Translation: X:40.68, Y:-2.08, Z:-1.33 [[ 9.96701428e-01 7.50833533e-02 3.08018555e-02 4.06835008e+01] [-7.50398934e-02 9.97177231e-01 -2.56612419e-03 -2.08447665e+00] [-3.09075822e-02 2.46291687e-04 9.99522216e-01 -1.33168527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.56587156 meters 0.029375648797767728 Centerline is valid? [True, True] Translation: X:40.75, Y:-2.08, Z:-1.33 [[ 9.96269045e-01 8.08508114e-02 3.01850449e-02 4.07466742e+01] [-8.08115599e-02 9.96726212e-01 -2.52003333e-03 -2.07961873e+00] [-3.02899722e-02 7.13306258e-05 9.99541151e-01 -1.33232702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.62587156 meters 0.01801712908590012 Centerline is valid? [True, True] Translation: X:40.80, Y:-2.09, Z:-1.33 [[ 9.94843280e-01 9.29759338e-02 4.05255933e-02 4.08009689e+01] [-9.36350028e-02 9.95498417e-01 1.46761185e-02 -2.08512514e+00] [-3.89786382e-02 -1.83950519e-02 9.99070712e-01 -1.33369641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.685871559999995 meters 0.03424106955673385 Centerline is valid? [True, True] Translation: X:40.87, Y:-2.04, Z:-1.34 [[ 9.94448679e-01 1.01555789e-01 2.75362921e-02 4.08711097e+01] [-1.01028855e-01 9.94684465e-01 -1.98993725e-02 -2.04394518e+00] [-2.94108185e-02 1.70069446e-02 9.99422717e-01 -1.33562096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.74587156 meters 0.03391162139143674 Centerline is valid? [True, True] Translation: X:40.93, Y:-2.04, Z:-1.34 [[ 9.93447144e-01 1.10612888e-01 2.87673740e-02 4.09315098e+01] [-1.10589271e-01 9.93863259e-01 -2.41555929e-03 -2.04037116e+00] [-2.88580281e-02 -7.81632449e-04 9.99583215e-01 -1.34133434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.80587156 meters 0.03967785425347934 Centerline is valid? [True, True] Translation: X:40.99, Y:-2.03, Z:-1.35 [[ 9.93039332e-01 1.14188761e-01 2.88758009e-02 4.09905082e+01] [-1.14166456e-01 9.93458675e-01 -2.42532870e-03 -2.03210354e+00] [-2.89638602e-02 -8.88201073e-04 9.99580065e-01 -1.34557000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.865871559999995 meters 0.036506450377167085 Centerline is valid? [True, True] Translation: X:41.05, Y:-2.04, Z:-1.35 [[ 9.93201991e-01 1.12832966e-01 2.86099211e-02 4.10496043e+01] [-1.12810556e-01 9.93613613e-01 -2.40133509e-03 -2.03616501e+00] [-2.86981568e-02 -8.42490317e-04 9.99587768e-01 -1.34751558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.92587156 meters 0.03507157334290307 Centerline is valid? [True, True] Translation: X:41.11, Y:-2.04, Z:-1.35 [[ 9.93652411e-01 1.08743121e-01 2.88065778e-02 4.11085465e+01] [-1.08718721e-01 9.94069615e-01 -2.41658753e-03 -2.03656247e+00] [-2.88985310e-02 -7.30566260e-04 9.99582083e-01 -1.35158018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.98587156 meters 0.03491338236708545 Centerline is valid? [True, True] Translation: X:41.17, Y:-2.04, Z:-1.35 [[ 9.93932539e-01 1.06429414e-01 2.77648658e-02 4.11671832e+01] [-1.06405853e-01 9.94320054e-01 -2.32890907e-03 -2.04209609e+00] [-2.78550273e-02 -6.39565712e-04 9.99611769e-01 -1.35354354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.045871559999995 meters 0.029382552667919053 Centerline is valid? [True, True] Translation: X:41.23, Y:-2.05, Z:-1.35 [[ 9.94465292e-01 1.00828341e-01 2.95368956e-02 4.12255626e+01] [-1.00799256e-01 9.94903704e-01 -2.47582788e-03 -2.04808612e+00] [-2.96360004e-02 -5.15172194e-04 9.99560625e-01 -1.35436566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.10587156 meters 0.01884834565784441 Centerline is valid? [True, True] Translation: X:41.28, Y:-2.06, Z:-1.36 [[ 9.95276259e-01 9.22017920e-02 3.03973185e-02 4.12844061e+01] [-9.21670016e-02 9.95740307e-01 -2.54667463e-03 -2.05914114e+00] [-3.05026432e-02 -2.66984903e-04 9.99534650e-01 -1.35523557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.16587156 meters 0.016227969692966523 Centerline is valid? [True, True] Translation: X:41.34, Y:-2.07, Z:-1.36 [[ 9.95899786e-01 8.52760380e-02 3.01929400e-02 4.13418737e+01] [-8.52385476e-02 9.96357363e-01 -2.52896928e-03 -2.07032919e+00] [-3.02986186e-02 -5.50023870e-05 9.99540890e-01 -1.35784284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.225871559999995 meters 0.01753213928200819 Centerline is valid? [True, True] Translation: X:41.40, Y:-2.09, Z:-1.36 [[ 9.96630193e-01 7.67110037e-02 2.90461584e-02 4.14024556e+01] [-7.66727203e-02 9.97053350e-01 -2.43113716e-03 -2.08569700e+00] [-2.91470646e-02 1.95896712e-04 9.99575115e-01 -1.36155819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.28587156 meters 0.025230944379619508 Centerline is valid? [True, True] Translation: X:41.46, Y:-2.09, Z:-1.36 [[ 9.96901810e-01 7.36191792e-02 2.76947111e-02 4.14631268e+01] [-7.35831658e-02 9.97286389e-01 -2.31864141e-03 -2.09300530e+00] [-2.77902549e-02 2.73593293e-04 9.99613739e-01 -1.36349201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.34587156 meters 0.02046321342294563 Centerline is valid? [True, True] Translation: X:41.52, Y:-2.09, Z:-1.36 [[ 9.97040949e-01 7.14612620e-02 2.83307960e-02 4.15241643e+01] [-7.09650360e-02 9.97313636e-01 -1.81514223e-02 -2.08999589e+00] [-2.95518127e-02 1.60872154e-02 9.99433786e-01 -1.35950641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.405871559999994 meters 0.022182143192835645 Centerline is valid? [True, True] Translation: X:41.58, Y:-2.12, Z:-1.37 [[ 9.97098915e-01 6.96797184e-02 3.06347836e-02 4.15838454e+01] [-7.01121630e-02 9.97450782e-01 1.32748471e-02 -2.11519900e+00] [-2.96317013e-02 -1.53842066e-02 9.99442489e-01 -1.37089024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.46587156 meters 0.021293199521491203 Centerline is valid? [True, True] Translation: X:41.65, Y:-2.11, Z:-1.37 [[ 9.97065240e-01 7.07285321e-02 2.92981444e-02 4.16472841e+01] [-7.06868751e-02 9.97495530e-01 -2.45641787e-03 -2.10776748e+00] [-2.93985069e-02 3.78214601e-04 9.99567699e-01 -1.36997075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.52587156 meters 0.024109245063193636 Centerline is valid? [True, True] Translation: X:41.71, Y:-2.11, Z:-1.37 [[ 9.96918930e-01 7.32900069e-02 2.79503536e-02 4.17082695e+01] [-7.32529221e-02 9.97310628e-01 -2.34981202e-03 -2.10823492e+00] [-2.80474024e-02 2.95127013e-04 9.99606551e-01 -1.37329619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.585871559999994 meters 0.018699084560723167 Centerline is valid? [True, True] Translation: X:41.77, Y:-2.11, Z:-1.38 [[ 9.96697245e-01 7.63551975e-02 2.76493424e-02 4.17681721e+01] [-7.63200656e-02 9.97080659e-01 -2.32524580e-03 -2.10658338e+00] [-2.77461692e-02 2.07366454e-04 9.99614979e-01 -1.37773310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.645871559999996 meters 0.023341040396050936 Centerline is valid? [True, True] Translation: X:41.83, Y:-2.10, Z:-1.38 [[ 9.96483028e-01 7.94274515e-02 2.66993286e-02 4.18283419e+01] [-7.93957661e-02 9.96840642e-01 -2.24643706e-03 -2.10318556e+00] [-2.67934047e-02 1.18722751e-04 9.99640985e-01 -1.37807647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.70587156 meters 0.016351811720593083 Centerline is valid? [True, True] Translation: X:41.89, Y:-2.10, Z:-1.38 [[ 9.96257824e-01 8.15237879e-02 2.87092225e-02 4.18879182e+01] [-8.14880436e-02 9.96671394e-01 -2.41477175e-03 -2.10308870e+00] [-2.88105222e-02 6.62768716e-05 9.99584889e-01 -1.37950413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.765871559999994 meters 0.01630492134124208 Centerline is valid? [True, True] Translation: X:41.95, Y:-2.11, Z:-1.38 [[ 9.96277822e-01 8.11596116e-02 2.90451071e-02 4.19474600e+01] [-8.11228919e-02 9.96701114e-01 -2.44231438e-03 -2.10620063e+00] [-2.91475079e-02 7.70005660e-05 9.99575118e-01 -1.38147420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.825871559999996 meters 0.023104156450809817 Centerline is valid? [True, True] Translation: X:42.01, Y:-2.11, Z:-1.38 [[ 9.96436417e-01 7.94582502e-02 2.82993416e-02 4.20059683e+01] [-7.94227199e-02 9.96838187e-01 -2.37912144e-03 -2.11089499e+00] [-2.83989052e-02 1.23032558e-04 9.99596662e-01 -1.38400840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.88587156 meters 0.02623241368967145 Centerline is valid? [True, True] Translation: X:42.07, Y:-2.12, Z:-1.39 [[ 9.96596386e-01 7.74993948e-02 2.80978011e-02 4.20651695e+01] [-7.74636228e-02 9.96992383e-01 -2.36103092e-03 -2.11881062e+00] [-2.81962722e-02 1.76437418e-04 9.99602391e-01 -1.38606360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.94587156 meters 0.019067249882526133 Centerline is valid? [True, True] Translation: X:42.12, Y:-2.13, Z:-1.39 [[ 9.96804963e-01 7.42190708e-02 2.95194177e-02 4.21240552e+01] [-7.41781751e-02 9.97241922e-01 -2.47957935e-03 -2.12805660e+00] [-2.96220329e-02 2.81960462e-04 9.99561132e-01 -1.38888836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.005871559999996 meters 0.019552658146226667 Centerline is valid? [True, True] Translation: X:42.18, Y:-2.14, Z:-1.39 [[ 9.96916905e-01 7.25587054e-02 2.98650229e-02 4.21841650e+01] [-7.25161166e-02 9.97364087e-01 -2.50810352e-03 -2.13566633e+00] [-2.99682860e-02 3.34675320e-04 9.99550794e-01 -1.39007499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.06587156 meters 0.020153975310499235 Centerline is valid? [True, True] Translation: X:42.24, Y:-2.14, Z:-1.39 [[ 9.96973685e-01 7.19751523e-02 2.93777095e-02 4.22444686e+01] [-7.19337095e-02 9.97406365e-01 -2.46648489e-03 -2.14339232e+00] [-2.94790400e-02 3.45772914e-04 9.99565339e-01 -1.39385184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.12587156 meters 0.020189754770552324 Centerline is valid? [True, True] Translation: X:42.30, Y:-2.15, Z:-1.40 [[ 9.96920600e-01 7.23555080e-02 3.02323960e-02 4.23042472e+01] [-7.23117271e-02 9.97378845e-01 -2.54040561e-03 -2.15022413e+00] [-3.03369645e-02 3.46425916e-04 9.99539668e-01 -1.39612678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.185871559999995 meters 0.02527328109380643 Centerline is valid? [True, True] Translation: X:42.37, Y:-2.16, Z:-1.40 [[ 9.96859955e-01 7.34850309e-02 2.94988169e-02 4.23651629e+01] [-7.34438384e-02 9.97296274e-01 -2.47894689e-03 -2.15556513e+00] [-2.96012256e-02 3.04656551e-04 9.99561741e-01 -1.39820945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.24587156 meters 0.018538832131877656 Centerline is valid? [True, True] Translation: X:42.42, Y:-2.16, Z:-1.40 [[ 9.96696604e-01 7.56336852e-02 2.95875981e-02 4.24244689e+01] [-7.55931566e-02 9.97135641e-01 -2.48755541e-03 -2.16006864e+00] [-2.96909916e-02 2.42718096e-04 9.99559096e-01 -1.40256663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.30587156 meters 0.016727242350562343 Centerline is valid? [True, True] Translation: X:42.48, Y:-2.16, Z:-1.41 [[ 9.96314577e-01 8.04224852e-02 2.98242682e-02 4.24840085e+01] [-8.03834559e-02 9.96760861e-01 -2.50724499e-03 -2.15765059e+00] [-2.99293022e-02 1.00626978e-04 9.99552013e-01 -1.40613971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.365871559999995 meters 0.016226204466259792 Centerline is valid? [True, True] Translation: X:42.54, Y:-2.16, Z:-1.41 [[ 9.95980711e-01 8.45161404e-02 2.96554571e-02 4.25436774e+01] [-8.44793848e-02 9.96422110e-01 -2.49239729e-03 -2.15595002e+00] [-2.97600009e-02 -2.28951486e-05 9.99557073e-01 -1.40750223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.42587156 meters 0.017756539850272257 Centerline is valid? [True, True] Translation: X:42.60, Y:-2.15, Z:-1.41 [[ 9.95522873e-01 8.99595915e-02 2.90082890e-02 4.26033324e+01] [-8.99267420e-02 9.95945400e-01 -2.43767284e-03 -2.15145526e+00] [-2.91099640e-02 -1.81861844e-04 9.99576199e-01 -1.41140072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.48587156 meters 0.018383876713382586 Centerline is valid? [True, True] Translation: X:42.66, Y:-2.15, Z:-1.41 [[ 9.95329529e-01 9.16623895e-02 3.02842216e-02 4.26619573e+01] [-9.16274211e-02 9.95790112e-01 -2.54334425e-03 -2.15350335e+00] [-3.03898574e-02 -2.43399493e-04 9.99538092e-01 -1.41262033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.545871559999995 meters 0.018311062475758942 Centerline is valid? [True, True] Translation: X:42.72, Y:-2.16, Z:-1.42 [[ 9.95464227e-01 9.01890728e-02 3.02804218e-02 4.27197316e+01] [-9.01534714e-02 9.95924641e-01 -2.54171933e-03 -2.15901394e+00] [-3.03862536e-02 -1.99694470e-04 9.99538211e-01 -1.41729693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.60587156 meters 0.02309426069569493 Centerline is valid? [True, True] Translation: X:42.78, Y:-2.17, Z:-1.42 [[ 9.95896454e-01 8.60040719e-02 2.81700512e-02 4.27773593e+01] [-8.59716342e-02 9.96294783e-01 -2.36288045e-03 -2.17000331e+00] [-2.82688924e-02 -6.86410730e-05 9.99600353e-01 -1.42198149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.66587156 meters 0.016132902137020476 Centerline is valid? [True, True] Translation: X:42.84, Y:-2.18, Z:-1.42 [[ 9.96142336e-01 8.28634556e-02 2.88806859e-02 4.28354143e+01] [-8.28280792e-02 9.96560910e-01 -2.42114741e-03 -2.18105838e+00] [-2.89819873e-02 1.96757005e-05 9.99579934e-01 -1.42364316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.725871559999995 meters 0.016923925966818923 Centerline is valid? [True, True] Translation: X:42.89, Y:-2.19, Z:-1.43 [[ 9.96447680e-01 7.89821345e-02 2.92205969e-02 4.28936270e+01] [-7.89443000e-02 9.96876023e-01 -2.44798131e-03 -2.19308091e+00] [-2.93226592e-02 1.32485729e-04 9.99569990e-01 -1.42656275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.78587156 meters 0.017469957160556476 Centerline is valid? [True, True] Translation: X:42.95, Y:-2.20, Z:-1.43 [[ 9.96624047e-01 7.66104272e-02 2.95186631e-02 4.29537373e+01] [-7.65708104e-02 9.97061082e-01 -2.47180873e-03 -2.20263979e+00] [-2.96212765e-02 2.03196069e-04 9.99561173e-01 -1.42773279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.84587156 meters 0.018033567755152368 Centerline is valid? [True, True] Translation: X:43.01, Y:-2.21, Z:-1.43 [[ 9.96697977e-01 7.58858381e-02 2.88874180e-02 4.30143480e+01] [-7.58476029e-02 9.97116488e-01 -2.41863317e-03 -2.21112551e+00] [-2.89876608e-02 2.19605378e-04 9.99579745e-01 -1.43131759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.905871559999994 meters 0.018241021106031114 Centerline is valid? [True, True] Translation: X:43.07, Y:-2.22, Z:-1.43 [[ 9.96717238e-01 7.55616661e-02 2.90720187e-02 4.30743005e+01] [-7.55227736e-02 9.97141104e-01 -2.43508342e-03 -2.21855299e+00] [-2.91729038e-02 2.31490130e-04 9.99574353e-01 -1.43399727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.96587156 meters 0.024626419117840893 Centerline is valid? [True, True] Translation: X:43.13, Y:-2.23, Z:-1.44 [[ 9.96760417e-01 7.53357923e-02 2.81636306e-02 4.31348191e+01] [-7.52992120e-02 9.97158195e-01 -2.35866929e-03 -2.22715241e+00] [-2.82612872e-02 2.30328999e-04 9.99600544e-01 -1.43752139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.02587156 meters 0.02596436767862594 Centerline is valid? [True, True] Translation: X:43.20, Y:-2.24, Z:-1.44 [[ 9.96806948e-01 7.44190380e-02 2.89433098e-02 4.31952812e+01] [-7.43799978e-02 9.97227024e-01 -2.42464519e-03 -2.23701503e+00] [-2.90434905e-02 2.64099848e-04 9.99578114e-01 -1.43888236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.085871559999994 meters 0.02052013353024612 Centerline is valid? [True, True] Translation: X:43.26, Y:-2.25, Z:-1.44 [[ 9.96899236e-01 7.23563059e-02 3.09269715e-02 4.32556642e+01] [-7.23107580e-02 9.97378787e-01 -2.59014026e-03 -2.25260546e+00] [-3.10333184e-02 3.45756088e-04 9.99518291e-01 -1.44011464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.145871559999996 meters 0.021820490541776132 Centerline is valid? [True, True] Translation: X:43.32, Y:-2.26, Z:-1.44 [[ 9.97015462e-01 7.07071887e-02 3.09945632e-02 4.33168728e+01] [-7.06605032e-02 9.97497033e-01 -2.60035255e-03 -2.26498316e+00] [-3.11008485e-02 4.02500261e-04 9.99516171e-01 -1.44229217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.20587156 meters 0.024740792372509604 Centerline is valid? [True, True] Translation: X:43.38, Y:-2.28, Z:-1.45 [[ 9.97118022e-01 6.94519038e-02 3.05300493e-02 4.33768238e+01] [-6.94058682e-02 9.97585204e-01 -2.56631177e-03 -2.27904508e+00] [-3.06345607e-02 4.39951140e-04 9.99530555e-01 -1.44619232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.265871559999994 meters 0.022536233203840315 Centerline is valid? [True, True] Translation: X:43.44, Y:-2.29, Z:-1.45 [[ 9.97010604e-01 7.04578728e-02 3.17103197e-02 4.34378139e+01] [-7.04085638e-02 9.97514663e-01 -2.67031550e-03 -2.29352470e+00] [-3.18196536e-02 4.29654799e-04 9.99493534e-01 -1.44787462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.325871559999996 meters 0.018321852064270762 Centerline is valid? [True, True] Translation: X:43.50, Y:-2.30, Z:-1.45 [[ 9.96713259e-01 7.46804039e-02 3.13929380e-02 4.34998225e+01] [-7.46340208e-02 9.97207476e-01 -2.64833309e-03 -2.29675631e+00] [-3.15030510e-02 2.96647521e-04 9.99503612e-01 -1.44902637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.38587156 meters 0.021870798747172997 Centerline is valid? [True, True] Translation: X:43.56, Y:-2.30, Z:-1.45 [[ 9.96407684e-01 7.86490974e-02 3.14013902e-02 4.35605735e+01] [-7.86044889e-02 9.96902346e-01 -2.65443701e-03 -2.30038335e+00] [-3.15128886e-02 1.76611207e-04 9.99503330e-01 -1.45257487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.44587156 meters 0.0152392549769145 Centerline is valid? [True, True] Translation: X:43.62, Y:-2.30, Z:-1.46 [[ 9.95803219e-01 8.57789198e-02 3.19049436e-02 4.36226590e+01] [-8.57363682e-02 9.96314195e-01 -2.70190146e-03 -2.30190283e+00] [-3.20191144e-02 -4.48518165e-05 9.99487256e-01 -1.45509365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.505871559999996 meters 0.016449481364164964 Centerline is valid? [True, True] Translation: X:43.68, Y:-2.30, Z:-1.46 [[ 9.95477088e-01 8.95443144e-02 3.17361403e-02 4.36830773e+01] [-8.95039080e-02 9.95982827e-01 -2.69439163e-03 -2.30403882e+00] [-3.18499182e-02 -1.58303449e-04 9.99492650e-01 -1.45938612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.56587156 meters 0.027704652141269187 Centerline is valid? [True, True] Translation: X:43.74, Y:-2.31, Z:-1.46 [[ 9.95339068e-01 9.15349483e-02 3.03561040e-02 4.37443022e+01] [-9.14989000e-02 9.95801842e-01 -2.57741346e-03 -2.30851106e+00] [-3.04645877e-02 -2.12149811e-04 9.99535824e-01 -1.46401527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.62587156 meters 0.018537588216668004 Centerline is valid? [True, True] Translation: X:43.80, Y:-2.31, Z:-1.46 [[ 9.95102135e-01 9.33913843e-02 3.24004737e-02 4.38037963e+01] [-9.33512612e-02 9.95629433e-01 -2.75217464e-03 -2.31349225e+00] [-3.25158946e-02 -2.85930220e-04 9.99471178e-01 -1.46398876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.685871559999995 meters 0.018949567222302403 Centerline is valid? [True, True] Translation: X:43.86, Y:-2.32, Z:-1.46 [[ 9.94774157e-01 9.59643158e-02 3.48600954e-02 4.38641784e+01] [-9.59194656e-02 9.95384695e-01 -2.96056894e-03 -2.31933149e+00] [-3.49833144e-02 -3.98664246e-04 9.99387817e-01 -1.46120446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.74587156 meters 0.021996637384299772 Centerline is valid? [True, True] Translation: X:43.92, Y:-2.32, Z:-1.46 [[ 9.94457263e-01 9.91141027e-02 3.50876947e-02 4.39238537e+01] [-9.90706207e-02 9.95075943e-01 -2.97998846e-03 -2.31963030e+00] [-3.52102798e-02 -5.12688521e-04 9.99379794e-01 -1.46446422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.80587156 meters 0.023261595715725763 Centerline is valid? [True, True] Translation: X:43.98, Y:-2.32, Z:-1.47 [[ 9.94275686e-01 1.00817275e-01 3.53799038e-02 4.39846233e+01] [-1.00774162e-01 9.94904791e-01 -3.00428598e-03 -2.32207205e+00] [-3.55025197e-02 -5.78291642e-04 9.99369420e-01 -1.46725335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.865871559999995 meters 0.026095009142525653 Centerline is valid? [True, True] Translation: X:44.04, Y:-2.32, Z:-1.47 [[ 9.94080425e-01 1.03080966e-01 3.43281722e-02 4.40438880e+01] [-1.03041723e-01 9.94672763e-01 -2.91507516e-03 -2.32169770e+00] [-3.44457866e-02 -6.39414856e-04 9.99406363e-01 -1.47263509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.92587156 meters 0.03583820706737171 Centerline is valid? [True, True] Translation: X:44.10, Y:-2.32, Z:-1.48 [[ 9.94047691e-01 1.03650367e-01 3.35527769e-02 4.41029857e+01] [-1.03613208e-01 9.94613586e-01 -2.84905496e-03 -2.31996664e+00] [-3.36673534e-02 -6.44414340e-04 9.99432886e-01 -1.48049156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.98587156 meters 0.026806188112858474 Centerline is valid? [True, True] Translation: X:44.16, Y:-2.33, Z:-1.48 [[ 9.94124831e-01 1.02851357e-01 3.37256252e-02 4.41621861e+01] [-1.02813395e-01 9.94696543e-01 -2.86252773e-03 -2.32502386e+00] [-3.38411776e-02 -6.21736113e-04 9.99427030e-01 -1.48042068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.045871559999995 meters 0.024600560249247047 Centerline is valid? [True, True] Translation: X:44.22, Y:-2.33, Z:-1.48 [[ 9.94303182e-01 1.00553249e-01 3.53585446e-02 4.42214412e+01] [-1.00510117e-01 9.94931514e-01 -2.99974957e-03 -2.32879903e+00] [-3.54809649e-02 -5.71230911e-04 9.99370189e-01 -1.48066003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.10587156 meters 0.02485406033396137 Centerline is valid? [True, True] Translation: X:44.28, Y:-2.33, Z:-1.48 [[ 9.94593483e-01 9.72776338e-02 3.63437240e-02 4.42801716e+01] [-9.72299072e-02 9.95257174e-01 -3.08254026e-03 -2.33021774e+00] [-3.64712143e-02 -4.67822458e-04 9.99334594e-01 -1.48442138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.16587156 meters 0.015148152348221589 Centerline is valid? [True, True] Translation: X:44.34, Y:-2.36, Z:-1.49 [[ 9.95588466e-01 8.68285101e-02 3.55586181e-02 4.43413317e+01] [-8.70790364e-02 9.96185915e-01 5.55548925e-03 -2.35806321e+00] [-3.49406197e-02 -8.62739123e-03 9.99352151e-01 -1.48523024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.225871559999995 meters 0.014458175336313514 Centerline is valid? [True, True] Translation: X:44.40, Y:-2.36, Z:-1.49 [[ 9.95922938e-01 8.25759013e-02 3.63142059e-02 4.44003142e+01] [-8.22033225e-02 9.96547620e-01 -1.16385150e-02 -2.35974554e+00] [-3.71498964e-02 8.60591565e-03 9.99272647e-01 -1.48545056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.28587156 meters 0.015820184459391082 Centerline is valid? [True, True] Translation: X:44.46, Y:-2.37, Z:-1.49 [[ 9.96245781e-01 7.80758880e-02 3.73965147e-02 4.44617218e+01] [-7.80117378e-02 9.96947389e-01 -3.17377276e-03 -2.37448922e+00] [-3.75301528e-02 2.44490615e-04 9.99295466e-01 -1.48846254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.34587156 meters 0.018273967520517718 Centerline is valid? [True, True] Translation: X:44.52, Y:-2.39, Z:-1.49 [[ 9.96418186e-01 7.58791781e-02 3.73249114e-02 4.45224664e+01] [-7.58134996e-02 9.97116964e-01 -3.17391334e-03 -2.38545727e+00] [-3.74581363e-02 3.32812820e-04 9.99298142e-01 -1.49261854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.405871559999994 meters 0.01995149451482348 Centerline is valid? [True, True] Translation: X:44.58, Y:-2.39, Z:-1.49 [[ 9.96633961e-01 7.21465329e-02 3.89310310e-02 4.45843861e+01] [-7.20719911e-02 9.97393918e-01 -3.31661056e-03 -2.39453049e+00] [-3.90688555e-02 4.99609802e-04 9.99236396e-01 -1.49172995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.46587156 meters 0.022087572442343675 Centerline is valid? [True, True] Translation: X:44.65, Y:-2.40, Z:-1.49 [[ 9.96797032e-01 6.95182354e-02 3.95334256e-02 4.46458119e+01] [-6.94390409e-02 9.97580489e-01 -3.37449545e-03 -2.40408470e+00] [-3.96723630e-02 6.18523893e-04 9.99212550e-01 -1.49376723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.52587156 meters 0.02561977284893449 Centerline is valid? [True, True] Translation: X:44.71, Y:-2.42, Z:-1.50 [[ 9.97087975e-01 6.64292383e-02 3.74529907e-02 4.47054137e+01] [-6.63557651e-02 9.97790887e-01 -3.20276860e-03 -2.42081533e+00] [-3.75830103e-02 7.08220204e-04 9.99293258e-01 -1.50166397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.585871559999994 meters 0.024384207345502666 Centerline is valid? [True, True] Translation: X:44.77, Y:-2.43, Z:-1.50 [[ 9.97013616e-01 6.76999714e-02 3.71559399e-02 4.47673369e+01] [-6.76283359e-02 9.97705506e-01 -3.18286973e-03 -2.42771737e+00] [-3.72861660e-02 6.60570076e-04 9.99304411e-01 -1.50383053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.645871559999996 meters 0.020020659382742736 Centerline is valid? [True, True] Translation: X:44.83, Y:-2.43, Z:-1.51 [[ 9.96628925e-01 7.29623637e-02 3.75137303e-02 4.48279511e+01] [-7.28928075e-02 9.97334582e-01 -3.22037104e-03 -2.42941057e+00] [-3.76487064e-02 4.75033800e-04 9.99290923e-01 -1.50630987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.70587156 meters 0.016391545094893316 Centerline is valid? [True, True] Translation: X:44.89, Y:-2.43, Z:-1.51 [[ 9.96245193e-01 7.80361834e-02 3.74949336e-02 4.48908022e+01] [-7.79702613e-02 9.96950487e-01 -3.21944984e-03 -2.43053937e+00] [-3.76318259e-02 2.83871653e-04 9.99291632e-01 -1.50935665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.765871559999994 meters 0.014044638101334118 Centerline is valid? [True, True] Translation: X:44.95, Y:-2.43, Z:-1.51 [[ 9.95520946e-01 8.69961723e-02 3.70096290e-02 4.49534452e+01] [-8.69380743e-02 9.96208644e-01 -3.17930365e-03 -2.42565425e+00] [-3.71458996e-02 -5.24825007e-05 9.99309852e-01 -1.51289441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.825871559999996 meters 0.016963069356483573 Centerline is valid? [True, True] Translation: X:45.02, Y:-2.42, Z:-1.52 [[ 9.94904105e-01 9.37701219e-02 3.70538137e-02 4.50162290e+01] [-9.37163581e-02 9.95593830e-01 -3.18902026e-03 -2.42065722e+00] [-3.71895832e-02 -2.99779131e-04 9.99308183e-01 -1.51520736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.88587156 meters 0.02548973388640143 Centerline is valid? [True, True] Translation: X:45.08, Y:-2.41, Z:-1.52 [[ 9.93943314e-01 1.03659308e-01 3.64888548e-02 4.50774493e+01] [-1.03613576e-01 9.94612649e-01 -3.14720600e-03 -2.41020009e+00] [-3.66185137e-02 -6.52596351e-04 9.99329104e-01 -1.51951314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.94587156 meters 0.03150480278890917 Centerline is valid? [True, True] Translation: X:45.14, Y:-2.40, Z:-1.52 [[ 9.93314570e-01 1.09746045e-01 3.58046178e-02 4.51384894e+01] [-1.09705973e-01 9.93959287e-01 -3.08783387e-03 -2.40431593e+00] [-3.59272100e-02 -8.60790082e-04 9.99354039e-01 -1.52400567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.005871559999996 meters 0.03704243296226178 Centerline is valid? [True, True] Translation: X:45.20, Y:-2.40, Z:-1.53 [[ 9.93033908e-01 1.11863768e-01 3.70156142e-02 4.51981619e+01] [-1.11822402e-01 9.93723079e-01 -3.19246505e-03 -2.39771006e+00] [-3.71403913e-02 -9.68948858e-04 9.99309588e-01 -1.52598128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.06587156 meters 0.03475464518456549 Centerline is valid? [True, True] Translation: X:45.26, Y:-2.41, Z:-1.53 [[ 9.93013257e-01 1.12112473e-01 3.68166495e-02 4.52563399e+01] [-1.12071766e-01 9.93695046e-01 -3.17409177e-03 -2.40635851e+00] [-3.69403775e-02 -9.74191734e-04 9.99316996e-01 -1.52964226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.12587156 meters 0.033311331261567254 Centerline is valid? [True, True] Translation: X:45.31, Y:-2.40, Z:-1.53 [[ 9.93136864e-01 1.11529299e-01 3.52191051e-02 4.53142594e+01] [-1.11491736e-01 9.93760727e-01 -3.03483675e-03 -2.40349613e+00] [-3.53378367e-02 -9.12630923e-04 9.99375007e-01 -1.53378983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.185871559999995 meters 0.03257815668023794 Centerline is valid? [True, True] Translation: X:45.37, Y:-2.40, Z:-1.54 [[ 9.93305364e-01 1.10066294e-01 3.50694316e-02 4.53723899e+01] [-1.10028224e-01 9.93923877e-01 -3.01951090e-03 -2.40473244e+00] [-3.51886918e-02 -8.59330900e-04 9.99380317e-01 -1.53691768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.24587156 meters 0.02976040096830106 Centerline is valid? [True, True] Translation: X:45.43, Y:-2.41, Z:-1.54 [[ 9.93691979e-01 1.06402871e-01 3.54214596e-02 4.54312934e+01] [-1.06361791e-01 9.94322826e-01 -3.04744041e-03 -2.40670832e+00] [-3.55446223e-02 -7.39272805e-04 9.99367817e-01 -1.53899612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.30587156 meters 0.024011842359906548 Centerline is valid? [True, True] Translation: X:45.49, Y:-2.40, Z:-1.53 [[ 9.94022277e-01 1.05339087e-01 2.86947593e-02 4.54879317e+01] [-1.04583891e-01 9.94158627e-01 -2.66614785e-02 -2.40368346e+00] [-3.13356383e-02 2.35010939e-02 9.99232594e-01 -1.53413651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.365871559999995 meters 0.027513930755683876 Centerline is valid? [True, True] Translation: X:45.54, Y:-2.43, Z:-1.54 [[ 9.94764045e-01 9.62392659e-02 3.43874793e-02 4.55432819e+01] [-9.64193017e-02 9.95334250e-01 3.61227278e-03 -2.43122033e+00] [-3.38793935e-02 -6.90897582e-03 9.99402048e-01 -1.54305143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.42587156 meters 0.014921860432437808 Centerline is valid? [True, True] Translation: X:45.61, Y:-2.44, Z:-1.55 [[ 9.95308413e-01 8.87304985e-02 3.85754096e-02 4.56086968e+01] [-8.93439018e-02 9.95895632e-01 1.44760909e-02 -2.44385321e+00] [-3.71326111e-02 -1.78546526e-02 9.99150830e-01 -1.54551391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.48587156 meters 0.015878146504991655 Centerline is valid? [True, True] Translation: X:45.66, Y:-2.44, Z:-1.54 [[ 9.95838109e-01 8.57286303e-02 3.09364130e-02 4.56628313e+01] [-8.50606077e-02 9.96126159e-01 -2.23017587e-02 -2.43603184e+00] [-3.27284695e-02 1.95774711e-02 9.99272520e-01 -1.54309649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.545871559999995 meters 0.022388804834987258 Centerline is valid? [True, True] Translation: X:45.73, Y:-2.47, Z:-1.55 [[ 9.96540844e-01 7.36442117e-02 3.85081410e-02 4.57272070e+01] [-7.42917364e-02 9.97113557e-01 1.56618246e-02 -2.47130434e+00] [-3.72435867e-02 -1.84684846e-02 9.99135542e-01 -1.55278557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.60587156 meters 0.024353626162769197 Centerline is valid? [True, True] Translation: X:45.78, Y:-2.47, Z:-1.55 [[ 9.96923879e-01 7.08160928e-02 3.35836391e-02 4.57805521e+01] [-7.02570100e-02 9.97374587e-01 -1.75466516e-02 -2.46791400e+00] [-3.47380535e-02 1.51331900e-02 9.99281869e-01 -1.54778863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.66587156 meters 0.027495450688881484 Centerline is valid? [True, True] Translation: X:45.84, Y:-2.49, Z:-1.55 [[ 9.97325815e-01 6.45924007e-02 3.41912228e-02 4.58378429e+01] [-6.45978096e-02 9.97910930e-01 -9.47600664e-04 -2.49198334e+00] [-3.41810028e-02 -1.26361150e-03 9.99414860e-01 -1.55406482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.725871559999995 meters 0.04396566303165182 Centerline is valid? [True, True] Translation: X:45.91, Y:-2.51, Z:-1.56 [[ 9.97765692e-01 5.68466515e-02 3.51010332e-02 4.59066848e+01] [-5.71199540e-02 9.98343944e-01 6.83228303e-03 -2.51346029e+00] [-3.46545115e-02 -8.82198701e-03 9.99360414e-01 -1.56173177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.78587156 meters 0.040789161148224784 Centerline is valid? [True, True] Translation: X:45.97, Y:-2.52, Z:-1.56 [[ 9.97941835e-01 5.51436544e-02 3.27302693e-02 4.59672275e+01] [-5.50793743e-02 9.98477874e-01 -2.86300569e-03 -2.52082849e+00] [-3.28383263e-02 1.05435040e-03 9.99460121e-01 -1.56361072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.84587156 meters 0.032961698106764595 Centerline is valid? [True, True] Translation: X:46.02, Y:-2.53, Z:-1.56 [[ 9.97556424e-01 6.02730008e-02 3.53319399e-02 4.60162213e+01] [-6.01148619e-02 9.98176192e-01 -5.52213550e-03 -2.52847125e+00] [-3.56003369e-02 3.38466705e-03 9.99360375e-01 -1.56258106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.905871559999994 meters 0.03705327397719572 Centerline is valid? [True, True] Translation: X:46.09, Y:-2.55, Z:-1.57 [[ 9.97819091e-01 5.71523469e-02 3.30253045e-02 4.60869059e+01] [-5.71892261e-02 9.98363342e-01 1.72399449e-04 -2.54551437e+00] [-3.29614003e-02 -2.06071507e-03 9.99454501e-01 -1.56778737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.96587156 meters 0.03326066271880967 Centerline is valid? [True, True] Translation: X:46.13, Y:-2.54, Z:-1.57 [[ 9.97187646e-01 6.63828618e-02 3.47866965e-02 4.61348417e+01] [-6.61443077e-02 9.97778273e-01 -7.96542316e-03 -2.54470240e+00] [-3.52381776e-02 5.64207962e-03 9.99363016e-01 -1.56877259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.02587156 meters 0.02396110442389736 Centerline is valid? [True, True] Translation: X:46.19, Y:-2.55, Z:-1.57 [[ 9.96673063e-01 7.29616692e-02 3.63235573e-02 4.61927969e+01] [-7.29316896e-02 9.97334618e-01 -2.15143997e-03 -2.55353038e+00] [-3.63837138e-02 -5.04856147e-04 9.99337766e-01 -1.57104093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.085871559999994 meters 0.023845918497134654 Centerline is valid? [True, True] Translation: X:46.25, Y:-2.56, Z:-1.57 [[ 9.96159300e-01 7.89364348e-02 3.78904782e-02 4.62546111e+01] [-7.90407774e-02 9.96870586e-01 1.26141134e-03 -2.56148910e+00] [-3.76723319e-02 -4.25145949e-03 9.99281102e-01 -1.57404101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.145871559999996 meters 0.01689370944279687 Centerline is valid? [True, True] Translation: X:46.32, Y:-2.56, Z:-1.58 [[ 9.95677233e-01 8.44125533e-02 3.87474973e-02 4.63154371e+01] [-8.44261754e-02 9.96428905e-01 -1.28749979e-03 -2.56277295e+00] [-3.87178074e-02 -1.98936877e-03 9.99248204e-01 -1.57552009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.20587156 meters 0.01550373268102965 Centerline is valid? [True, True] Translation: X:46.39, Y:-2.56, Z:-1.58 [[ 9.95774101e-01 8.63366699e-02 3.13036585e-02 4.63883591e+01] [-8.62568786e-02 9.96265324e-01 -3.89298213e-03 -2.56217254e+00] [-3.15228566e-02 1.17637491e-03 9.99502339e-01 -1.58058093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.265871559999994 meters 0.02520787483789496 Centerline is valid? [True, True] Translation: X:46.45, Y:-2.57, Z:-1.58 [[ 9.95288159e-01 9.19437477e-02 3.07868119e-02 4.64501857e+01] [-9.19033439e-02 9.95764196e-01 -2.72785818e-03 -2.56595024e+00] [-3.09072145e-02 -1.14406019e-04 9.99522251e-01 -1.58319404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.325871559999996 meters 0.017504346161128122 Centerline is valid? [True, True] Translation: X:46.51, Y:-2.57, Z:-1.59 [[ 9.94971632e-01 9.52516305e-02 3.09609208e-02 4.65102416e+01] [-9.52121455e-02 9.95453204e-01 -2.75046712e-03 -2.56897784e+00] [-3.10821343e-02 -2.11218937e-04 9.99516811e-01 -1.58547844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.38587156 meters 0.019621704491558124 Centerline is valid? [True, True] Translation: X:46.57, Y:-2.57, Z:-1.59 [[ 9.94664149e-01 9.83971902e-02 3.10036038e-02 4.65698498e+01] [-9.83591090e-02 9.95147174e-01 -2.75472091e-03 -2.57109239e+00] [-3.11242055e-02 -3.09464716e-04 9.99515477e-01 -1.58792459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44587155999999 meters 0.019882251540523106 Centerline is valid? [True, True] Translation: X:46.63, Y:-2.58, Z:-1.59 [[ 9.94692773e-01 9.84270741e-02 2.99733014e-02 4.66295413e+01] [-9.83914898e-02 9.95144221e-01 -2.66337842e-03 -2.58029091e+00] [-3.00899062e-02 -2.99874511e-04 9.99547151e-01 -1.59209102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.505871559999996 meters 0.019271803577824917 Centerline is valid? [True, True] Translation: X:46.69, Y:-2.59, Z:-1.59 [[ 9.94809382e-01 9.72936049e-02 2.98034936e-02 4.66890441e+01] [-9.72579142e-02 9.95255688e-01 -2.64828958e-03 -2.58888541e+00] [-2.99197582e-02 -2.64082304e-04 9.99552269e-01 -1.59391186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.56587156 meters 0.017261631313280682 Centerline is valid? [True, True] Translation: X:46.75, Y:-2.60, Z:-1.59 [[ 9.95019763e-01 9.46307859e-02 3.13158948e-02 4.67492907e+01] [-9.45900692e-02 9.95512419e-01 -2.78243277e-03 -2.60239117e+00] [-3.14386660e-02 -1.93597063e-04 9.99505664e-01 -1.59403166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.62587156 meters 0.017101848541415655 Centerline is valid? [True, True] Translation: X:46.79, Y:-2.64, Z:-1.60 [[ 9.94495514e-01 9.41068796e-02 4.60713363e-02 4.67925740e+01] [-9.52827772e-02 9.95160284e-01 2.40250348e-02 -2.63622864e+00] [-4.35874430e-02 -2.82825942e-02 9.98649203e-01 -1.60014287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.685871559999995 meters 0.015396184654046699 Centerline is valid? [True, True] Translation: X:46.87, Y:-2.62, Z:-1.59 [[ 9.95512111e-01 9.03446562e-02 2.81687649e-02 4.68698244e+01] [-8.95147032e-02 9.95549928e-01 -2.94526518e-02 -2.61653643e+00] [-3.07043015e-02 2.67989530e-02 9.99169186e-01 -1.59457169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.74587156 meters 0.015922968672331384 Centerline is valid? [True, True] Translation: X:46.93, Y:-2.65, Z:-1.60 [[ 9.95732005e-01 8.71259358e-02 3.04441392e-02 4.69285375e+01] [-8.70838925e-02 9.96197304e-01 -2.70671012e-03 -2.64788273e+00] [-3.05641940e-02 4.39637510e-05 9.99532805e-01 -1.60264585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.80587156 meters 0.015710421624154054 Centerline is valid? [True, True] Translation: X:46.99, Y:-2.66, Z:-1.60 [[ 9.95775644e-01 8.67728104e-02 3.00224131e-02 4.69906003e+01] [-8.67316836e-02 9.96228125e-01 -2.67186985e-03 -2.66023693e+00] [-3.01410180e-02 5.66884845e-05 9.99545655e-01 -1.60264856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.865871559999995 meters 0.01555566285833771 Centerline is valid? [True, True] Translation: X:47.05, Y:-2.67, Z:-1.60 [[ 9.95465865e-01 9.04402139e-02 2.94665932e-02 4.70532625e+01] [-9.04020443e-02 9.95901885e-01 -2.62773654e-03 -2.66558567e+00] [-2.95834888e-02 -4.80182436e-05 9.99562312e-01 -1.60473747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.92587156 meters 0.017330413128776694 Centerline is valid? [True, True] Translation: X:47.12, Y:-2.67, Z:-1.61 [[ 9.95017630e-01 9.54179363e-02 2.89021333e-02 4.71156375e+01] [-9.53831476e-02 9.95437282e-01 -2.58311964e-03 -2.66632354e+00] [-2.90167370e-02 -1.86526869e-04 9.99578908e-01 -1.60822569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.98587156 meters 0.02309631726984515 Centerline is valid? [True, True] Translation: X:47.18, Y:-2.66, Z:-1.61 [[ 9.94283487e-01 1.03039307e-01 2.79865762e-02 4.71768727e+01] [-1.03009517e-01 9.94677209e-01 -2.50791752e-03 -2.66101675e+00] [-2.80960236e-02 -3.89302722e-04 9.99605153e-01 -1.61296021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.045871559999995 meters 0.02689180250476331 Centerline is valid? [True, True] Translation: X:47.24, Y:-2.66, Z:-1.62 [[ 9.93745167e-01 1.08265880e-01 2.73686268e-02 4.72379524e+01] [-1.08239358e-01 9.94121836e-01 -2.45302967e-03 -2.65796315e+00] [-2.74733290e-02 -5.24676213e-04 9.99622399e-01 -1.61548683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.10587156 meters 0.028701834474202714 Centerline is valid? [True, True] Translation: X:47.30, Y:-2.66, Z:-1.62 [[ 9.93705383e-01 1.08756968e-01 2.68613627e-02 4.72966695e+01] [-1.08731585e-01 9.94068229e-01 -2.40812057e-03 -2.66034299e+00] [-2.69639271e-02 -5.27716169e-04 9.99636268e-01 -1.62040967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.16587156 meters 0.026435588575483705 Centerline is valid? [True, True] Translation: X:47.36, Y:-2.67, Z:-1.62 [[ 9.93939081e-01 1.06847703e-01 2.58586857e-02 4.73559244e+01] [-1.06823562e-01 9.94275293e-01 -2.31714470e-03 -2.67019372e+00] [-2.59582338e-02 -4.59216240e-04 9.99662923e-01 -1.62440414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.225871559999995 meters 0.022655976383802442 Centerline is valid? [True, True] Translation: X:47.42, Y:-2.68, Z:-1.63 [[ 9.94347800e-01 1.02972902e-01 2.58656967e-02 4.74160086e+01] [-1.02947469e-01 9.94684097e-01 -2.31655506e-03 -2.68194647e+00] [-2.59667395e-02 -3.59346570e-04 9.99662743e-01 -1.62562284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.28587156 meters 0.027944793504185578 Centerline is valid? [True, True] Translation: X:47.48, Y:-2.69, Z:-1.63 [[ 9.94711862e-01 9.88942323e-02 2.77171972e-02 4.74758015e+01] [-9.88634376e-02 9.95097914e-01 -2.48257984e-03 -2.69320895e+00] [-2.78268380e-02 -2.70765782e-04 9.99612722e-01 -1.62904139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.34587156 meters 0.018852205386907246 Centerline is valid? [True, True] Translation: X:47.54, Y:-2.70, Z:-1.63 [[ 9.94826700e-01 9.77634263e-02 2.76070485e-02 4.75370110e+01] [-9.77324218e-02 9.95209654e-01 -2.47339029e-03 -2.70054180e+00] [-2.77166083e-02 -2.37509001e-04 9.99615793e-01 -1.62873311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.405871559999994 meters 0.016716489314109694 Centerline is valid? [True, True] Translation: X:47.60, Y:-2.71, Z:-1.63 [[ 9.95135845e-01 9.43958901e-02 2.81791897e-02 4.75978462e+01] [-9.43622732e-02 9.95534728e-01 -2.52336181e-03 -2.71363931e+00] [-2.82915569e-02 -1.47964615e-04 9.99599703e-01 -1.63052983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.46587156 meters 0.01549837508747131 Centerline is valid? [True, True] Translation: X:47.66, Y:-2.73, Z:-1.63 [[ 9.95357798e-01 9.18033896e-02 2.88962245e-02 4.76590136e+01] [-9.17668043e-02 9.95777150e-01 -2.59250040e-03 -2.72513825e+00] [-2.90122004e-02 -7.12486922e-05 9.99579055e-01 -1.63081100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.52587156 meters 0.015227789792968686 Centerline is valid? [True, True] Translation: X:47.72, Y:-2.73, Z:-1.63 [[ 9.95439605e-01 9.07423727e-02 2.94247237e-02 4.77207194e+01] [-9.07038236e-02 9.95874400e-01 -2.64497183e-03 -2.73459302e+00] [-2.95433400e-02 -3.60252290e-05 9.99563500e-01 -1.63314383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.585871559999994 meters 0.014796411103754289 Centerline is valid? [True, True] Translation: X:47.78, Y:-2.74, Z:-1.63 [[ 9.95536811e-01 8.95735559e-02 2.97159361e-02 4.77836440e+01] [-8.95335825e-02 9.95980210e-01 -2.67572993e-03 -2.74379707e+00] [-2.98361589e-02 3.21341806e-06 9.99554803e-01 -1.63336367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.645871559999996 meters 0.01469061363984583 Centerline is valid? [True, True] Translation: X:47.84, Y:-2.75, Z:-1.64 [[ 9.95444333e-01 9.02509610e-02 3.07464497e-02 4.78447684e+01] [-9.02082794e-02 9.95919055e-01 -2.77532003e-03 -2.75030978e+00] [-3.08714504e-02 -1.09077346e-05 9.99523363e-01 -1.63553399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.70587156 meters 0.014611240179056673 Centerline is valid? [True, True] Translation: X:47.91, Y:-2.76, Z:-1.64 [[ 9.95382258e-01 9.09820823e-02 3.06010130e-02 4.79070496e+01] [-9.09400150e-02 9.95852529e-01 -2.76655104e-03 -2.75608373e+00] [-3.07258028e-02 -2.90807670e-05 9.99527851e-01 -1.63714398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.765871559999994 meters 0.014884821584140081 Centerline is valid? [True, True] Translation: X:47.97, Y:-2.76, Z:-1.64 [[ 9.95459999e-01 9.02331344e-02 3.02881631e-02 4.79678881e+01] [-9.01913925e-02 9.95920670e-01 -2.74431613e-03 -2.76490627e+00] [-3.04122360e-02 1.25324604e-07 9.99537441e-01 -1.64273862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.825871559999996 meters 0.01513392626762509 Centerline is valid? [True, True] Translation: X:48.03, Y:-2.78, Z:-1.65 [[ 9.95671306e-01 8.80562820e-02 2.97446191e-02 4.80288373e+01] [-8.80148911e-02 9.96115498e-01 -2.70051472e-03 -2.77976437e+00] [-2.98668734e-02 7.08556086e-05 9.99553883e-01 -1.64696642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.88587156 meters 0.015692322980665238 Centerline is valid? [True, True] Translation: X:48.09, Y:-2.79, Z:-1.65 [[ 9.95827537e-01 8.63310766e-02 2.95712902e-02 4.80901408e+01] [-8.62892581e-02 9.96266495e-01 -2.68976189e-03 -2.79119848e+00] [-2.96930956e-02 1.26854274e-04 9.99559055e-01 -1.64940171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94587155999999 meters 0.01979825686641947 Centerline is valid? [True, True] Translation: X:48.15, Y:-2.80, Z:-1.65 [[ 9.95847393e-01 8.62902650e-02 2.90165462e-02 4.81512645e+01] [-8.62498444e-02 9.96270030e-01 -2.64408385e-03 -2.80170034e+00] [-2.91364741e-02 1.30431416e-04 9.99575434e-01 -1.65456681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.005871559999996 meters 0.017141763126580667 Centerline is valid? [True, True] Translation: X:48.21, Y:-2.81, Z:-1.65 [[ 9.95579020e-01 8.91184585e-02 2.96700961e-02 4.82132046e+01] [-8.90772981e-02 9.96021033e-01 -2.70878162e-03 -2.80800786e+00] [-2.97934422e-02 5.38741528e-05 9.99556075e-01 -1.65471373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.06587156 meters 0.01575062688876509 Centerline is valid? [True, True] Translation: X:48.28, Y:-2.80, Z:-1.66 [[ 9.94918280e-01 9.59997663e-02 3.03588644e-02 4.82768678e+01] [-9.59597204e-02 9.95381345e-01 -2.77666960e-03 -2.80446305e+00] [-3.04852069e-02 -1.50668803e-04 9.99535207e-01 -1.65608844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.12587156 meters 0.019978398787734206 Centerline is valid? [True, True] Translation: X:48.34, Y:-2.80, Z:-1.66 [[ 9.94349727e-01 1.01762242e-01 3.02170024e-02 4.83383891e+01] [-1.01725041e-01 9.94808697e-01 -2.76985804e-03 -2.80329541e+00] [-3.03420038e-02 -3.19618206e-04 9.99539524e-01 -1.66134767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.185871559999995 meters 0.022967186152118176 Centerline is valid? [True, True] Translation: X:48.40, Y:-2.80, Z:-1.67 [[ 9.94042971e-01 1.05025340e-01 2.91247124e-02 4.84004518e+01] [-1.04992015e-01 9.94469466e-01 -2.67537950e-03 -2.80432218e+00] [-2.92446199e-02 -3.98420048e-04 9.99572205e-01 -1.66585596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.24587156 meters 0.02511662161102414 Centerline is valid? [True, True] Translation: X:48.46, Y:-2.81, Z:-1.67 [[ 9.93688623e-01 1.08269348e-01 2.93371472e-02 4.84628609e+01] [-1.08236952e-01 9.94121472e-01 -2.69473716e-03 -2.80518392e+00] [-2.94564454e-02 -4.97633746e-04 9.99565941e-01 -1.66848463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.30587156 meters 0.02612684803156509 Centerline is valid? [True, True] Translation: X:48.52, Y:-2.81, Z:-1.67 [[ 9.93629409e-01 1.08808565e-01 2.93478167e-02 4.85237030e+01] [-1.08776231e-01 9.94062592e-01 -2.70076050e-03 -2.81069573e+00] [-2.94674327e-02 -5.08789847e-04 9.99565611e-01 -1.67170243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.365871559999995 meters 0.024264749436297983 Centerline is valid? [True, True] Translation: X:48.59, Y:-2.82, Z:-1.67 [[ 9.93714545e-01 1.07880259e-01 2.98873324e-02 4.85850976e+01] [-1.07846122e-01 9.94163777e-01 -2.75653110e-03 -2.81924765e+00] [-3.00102785e-02 -4.84027847e-04 9.99549473e-01 -1.67224007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.42587156 meters 0.02337463325627284 Centerline is valid? [True, True] Translation: X:48.65, Y:-2.83, Z:-1.68 [[ 9.93828263e-01 1.06781617e-01 3.00511175e-02 4.86458315e+01] [-1.06746613e-01 9.94282395e-01 -2.77130095e-03 -2.82743882e+00] [-3.01752211e-02 -4.53657811e-04 9.99544521e-01 -1.67553473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.48587156 meters 0.023099031731780278 Centerline is valid? [True, True] Translation: X:48.71, Y:-2.84, Z:-1.68 [[ 9.93863457e-01 1.06421379e-01 3.01648562e-02 4.87075594e+01] [-1.06385807e-01 9.94321023e-01 -2.78631451e-03 -2.83605840e+00] [-3.02900741e-02 -4.39896405e-04 9.99541054e-01 -1.67802108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.545871559999995 meters 0.023956372366296382 Centerline is valid? [True, True] Translation: X:48.77, Y:-2.84, Z:-1.68 [[ 9.93785793e-01 1.06994072e-01 3.06930958e-02 4.87691001e+01] [-1.06957361e-01 9.94259552e-01 -2.84013378e-03 -2.84021339e+00] [-3.08207812e-02 -4.60367926e-04 9.99524821e-01 -1.68054566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.60587156 meters 0.025449614627146577 Centerline is valid? [True, True] Translation: X:48.83, Y:-2.84, Z:-1.68 [[ 9.93636204e-01 1.08354224e-01 3.07645250e-02 4.88315116e+01] [-1.08317823e-01 9.94112224e-01 -2.85225612e-03 -2.84229057e+00] [-3.08924444e-02 -4.98241425e-04 9.99522590e-01 -1.68313248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66587156 meters 0.02838233917760486 Centerline is valid? [True, True] Translation: X:48.89, Y:-2.84, Z:-1.69 [[ 9.93360365e-01 1.10847437e-01 3.07900990e-02 4.88928275e+01] [-1.10812015e-01 9.93837270e-01 -2.85970620e-03 -2.84186034e+00] [-3.09173391e-02 -5.71194110e-04 9.99521782e-01 -1.68581893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.725871559999995 meters 0.03637183268462118 Centerline is valid? [True, True] Translation: X:48.95, Y:-2.84, Z:-1.69 [[ 9.92963239e-01 1.13890641e-01 3.24488420e-02 4.89537198e+01] [-1.13852709e-01 9.93493049e-01 -3.02030009e-03 -2.84034492e+00] [-3.25816829e-02 -6.95341623e-04 9.99468834e-01 -1.68905996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.78587156 meters 0.03237739450730298 Centerline is valid? [True, True] Translation: X:49.01, Y:-2.84, Z:-1.69 [[ 9.92984120e-01 1.14002733e-01 3.13992731e-02 4.90146502e+01] [-1.13967271e-01 9.93480206e-01 -2.92260744e-03 -2.84019408e+00] [-3.15277415e-02 -6.76386697e-04 9.99502648e-01 -1.68983760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.84587156 meters 0.02731084562196185 Centerline is valid? [True, True] Translation: X:49.08, Y:-2.85, Z:-1.69 [[ 9.93196806e-01 1.12158438e-01 3.13143595e-02 4.90758445e+01] [-1.12122264e-01 9.93690145e-01 -2.91431505e-03 -2.84987911e+00] [-3.14436355e-02 -6.16548496e-04 9.99505336e-01 -1.69091616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.905871559999994 meters 0.02416003116723355 Centerline is valid? [True, True] Translation: X:49.14, Y:-2.86, Z:-1.70 [[ 9.93896162e-01 1.05993998e-01 3.05890806e-02 4.91350008e+01] [-1.05956519e-01 9.94366685e-01 -2.84815904e-03 -2.86102108e+00] [-3.07186504e-02 -4.10338164e-04 9.99527987e-01 -1.69809116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.96587156 meters 0.015937588343893885 Centerline is valid? [True, True] Translation: X:49.19, Y:-2.88, Z:-1.70 [[ 9.94674270e-01 9.84470106e-02 3.05169384e-02 4.91949628e+01] [-9.84061578e-02 9.95142279e-01 -2.84135090e-03 -2.88316270e+00] [-3.06484181e-02 -1.76836027e-04 9.99530211e-01 -1.69801854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.02587156 meters 0.015005082259028336 Centerline is valid? [True, True] Translation: X:49.26, Y:-2.90, Z:-1.70 [[ 9.95070055e-01 9.45480420e-02 2.99374825e-02 4.92551828e+01] [-9.45069558e-02 9.95520298e-01 -2.78758346e-03 -2.89532829e+00] [-3.00669320e-02 -5.54595093e-05 9.99547886e-01 -1.70116860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.085871559999994 meters 0.014799544158555977 Centerline is valid? [True, True] Translation: X:49.32, Y:-2.91, Z:-1.70 [[ 9.95421036e-01 8.99716993e-02 3.22808548e-02 4.93151308e+01] [-8.99213362e-02 9.95944318e-01 -3.01147616e-03 -2.90895646e+00] [-3.24208815e-02 9.49491319e-05 9.99474301e-01 -1.69965670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.145871559999996 meters 0.016139862680123695 Centerline is valid? [True, True] Translation: X:49.38, Y:-2.92, Z:-1.70 [[ 9.95773920e-01 8.55815821e-02 3.33180699e-02 4.93758399e+01] [-8.55252957e-02 9.96331135e-01 -3.11350190e-03 -2.92484191e+00] [-3.34622888e-02 2.50806213e-04 9.99439949e-01 -1.69879531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.20587156 meters 0.026206826118711394 Centerline is valid? [True, True] Translation: X:49.44, Y:-2.94, Z:-1.70 [[ 9.95954013e-01 8.32652012e-02 3.38010350e-02 4.94357497e+01] [-8.32057310e-02 9.96527366e-01 -3.16469122e-03 -2.94228612e+00] [-3.39471650e-02 3.39447096e-04 9.99423571e-01 -1.70490854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.265871559999994 meters 0.025654090300994793 Centerline is valid? [True, True] Translation: X:49.50, Y:-2.95, Z:-1.71 [[ 9.96000337e-01 8.26279348e-02 3.39993198e-02 4.94977917e+01] [-8.25672161e-02 9.96580397e-01 -3.18844725e-03 -2.95067484e+00] [-3.41465105e-02 3.68465346e-04 9.99416770e-01 -1.70589356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.325871559999996 meters 0.021059716103811216 Centerline is valid? [True, True] Translation: X:49.56, Y:-2.97, Z:-1.71 [[ 9.96165082e-01 8.11618650e-02 3.26784607e-02 4.95571351e+01] [-8.11047675e-02 9.96700850e-01 -3.07121334e-03 -2.96753492e+00] [-3.28199149e-02 4.09056535e-04 9.99461198e-01 -1.70818308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.38587156 meters 0.0201610427787434 Centerline is valid? [True, True] Translation: X:49.62, Y:-2.98, Z:-1.71 [[ 9.96140225e-01 8.13183231e-02 3.30451460e-02 4.96192330e+01] [-8.12599600e-02 9.96688097e-01 -3.10756143e-03 -2.98017718e+00] [-3.31884054e-02 4.10319698e-04 9.99449029e-01 -1.70957673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44587155999999 meters 0.018595992346288743 Centerline is valid? [True, True] Translation: X:49.68, Y:-2.99, Z:-1.71 [[ 9.95750991e-01 8.55899591e-02 3.39753254e-02 4.96791655e+01] [-8.53183808e-02 9.96309708e-01 -9.36694353e-03 -2.98639779e+00] [-3.46516629e-02 6.42842355e-03 9.99378776e-01 -1.71313639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.505871559999996 meters 0.016546615274840835 Centerline is valid? [True, True] Translation: X:49.74, Y:-3.00, Z:-1.72 [[ 9.95351665e-01 8.94884156e-02 3.55933471e-02 4.97383304e+01] [-8.95630858e-02 9.95981023e-01 5.05793203e-04 -3.00147371e+00] [-3.54050356e-02 -3.69129210e-03 9.99366228e-01 -1.71601151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.56587156 meters 0.015964815228700573 Centerline is valid? [True, True] Translation: X:49.80, Y:-3.00, Z:-1.72 [[ 9.95411126e-01 9.06359544e-02 3.06889905e-02 4.98029553e+01] [-9.06323465e-02 9.95883273e-01 -1.51145091e-03 -3.00471453e+00] [-3.06996441e-02 -1.27690017e-03 9.99527839e-01 -1.72249934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.62587156 meters 0.01639741051088938 Centerline is valid? [True, True] Translation: X:49.86, Y:-3.00, Z:-1.72 [[ 9.94356421e-01 1.01162103e-01 3.19614945e-02 4.98641057e+01] [-1.00835673e-01 9.94834657e-01 -1.16692678e-02 -2.99786411e+00] [-3.29768901e-02 8.38055253e-03 9.99420978e-01 -1.72464825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.685871559999995 meters 0.023496875571145128 Centerline is valid? [True, True] Translation: X:49.93, Y:-3.00, Z:-1.73 [[ 9.93994386e-01 1.04681985e-01 3.18879726e-02 4.99268363e+01] [-1.04915755e-01 9.94464527e-01 5.74356971e-03 -3.00360868e+00] [-3.11102093e-02 -9.05462678e-03 9.99474946e-01 -1.72838067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.74587156 meters 0.02375518973308826 Centerline is valid? [True, True] Translation: X:49.99, Y:-3.00, Z:-1.73 [[ 9.93544639e-01 1.08982173e-01 3.14950231e-02 4.99896405e+01] [-1.08942150e-01 9.94043597e-01 -2.98911902e-03 -2.99928927e+00] [-3.16331867e-02 -4.61312346e-04 9.99499439e-01 -1.72685761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.80587156 meters 0.02677250454371465 Centerline is valid? [True, True] Translation: X:50.04, Y:-3.01, Z:-1.73 [[ 9.92211286e-01 1.17709049e-01 4.07595740e-02 5.00444616e+01] [-1.18235642e-01 9.92927364e-01 1.07509106e-02 -3.00944934e+00] [-3.92058169e-02 -1.54864092e-02 9.99111142e-01 -1.72858775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.865871559999995 meters 0.03451847607505178 Centerline is valid? [True, True] Translation: X:50.11, Y:-2.99, Z:-1.73 [[ 9.91795700e-01 1.22537948e-01 3.64107167e-02 5.01089927e+01] [-1.22079655e-01 9.92413467e-01 -1.45625524e-02 -2.98813276e+00] [-3.79189509e-02 9.99806917e-03 9.99230800e-01 -1.73491737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.92587156 meters 0.036949260053648854 Centerline is valid? [True, True] Translation: X:50.17, Y:-3.00, Z:-1.74 [[ 9.91901579e-01 1.21156594e-01 3.81095415e-02 5.01713484e+01] [-1.21276720e-01 9.92618375e-01 8.47770826e-04 -3.00092963e+00] [-3.77255181e-02 -5.46270540e-03 9.99273208e-01 -1.74206346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.98587156 meters 0.03133298544940997 Centerline is valid? [True, True] Translation: X:50.24, Y:-3.00, Z:-1.74 [[ 9.92946497e-01 1.14975816e-01 2.89450435e-02 5.02363807e+01] [-1.14783970e-01 9.93356550e-01 -8.21000366e-03 -3.00014635e+00] [-2.96967004e-02 4.82966738e-03 9.99547288e-01 -1.74224110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.045871559999995 meters 0.025579313395432526 Centerline is valid? [True, True] Translation: X:50.30, Y:-3.02, Z:-1.74 [[ 9.93156636e-01 1.13040504e-01 2.93554073e-02 5.02973787e+01] [-1.13007622e-01 9.93590226e-01 -2.78211345e-03 -3.01565852e+00] [-2.94817373e-02 -5.54310343e-04 9.99565165e-01 -1.74164970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.10587156 meters 0.023618882144447427 Centerline is valid? [True, True] Translation: X:50.35, Y:-3.04, Z:-1.75 [[ 9.92921936e-01 1.11344559e-01 4.13330042e-02 5.03487770e+01] [-1.12110889e-01 9.93555313e-01 1.67029289e-02 -3.04056814e+00] [-3.92068457e-02 -2.12185844e-02 9.99005803e-01 -1.74871797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16587156 meters 0.023460072550875063 Centerline is valid? [True, True] Translation: X:50.42, Y:-3.03, Z:-1.75 [[ 9.94562952e-01 1.00180058e-01 2.84339648e-02 5.04165331e+01] [-9.95434932e-02 9.94767657e-01 -2.29869730e-02 -3.03272053e+00] [-3.05880248e-02 2.00315755e-02 9.99331331e-01 -1.74788646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.225871559999995 meters 0.015268206931367902 Centerline is valid? [True, True] Translation: X:50.48, Y:-3.06, Z:-1.75 [[ 9.95118781e-01 9.36594895e-02 3.10887726e-02 5.04766793e+01] [-9.36128650e-02 9.95604288e-01 -2.95506535e-03 -3.05994054e+00] [-3.12288853e-02 3.03319564e-05 9.99512259e-01 -1.74598389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.28587156 meters 0.018868015794437542 Centerline is valid? [True, True] Translation: X:50.54, Y:-3.08, Z:-1.75 [[ 9.95866382e-01 8.51611060e-02 3.15869503e-02 5.05360565e+01] [-8.51085172e-02 9.96367147e-01 -3.00811289e-03 -3.08214232e+00] [-3.17283737e-02 3.07360002e-04 9.99496481e-01 -1.74917794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.34587156 meters 0.02434157666942425 Centerline is valid? [True, True] Translation: X:50.59, Y:-3.10, Z:-1.75 [[ 9.96387623e-01 7.90747335e-02 3.09659717e-02 5.05946420e+01] [-7.90210626e-02 9.96868567e-01 -2.95509795e-03 -3.10210579e+00] [-3.11026774e-02 4.97459036e-04 9.99516071e-01 -1.75310431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.405871559999994 meters 0.027457520642103907 Centerline is valid? [True, True] Translation: X:50.65, Y:-3.12, Z:-1.75 [[ 9.96699309e-01 7.50361566e-02 3.09848800e-02 5.06549977e+01] [-7.49804782e-02 9.97180619e-01 -2.95661015e-03 -3.11987820e+00] [-3.11193744e-02 6.23590180e-04 9.99515480e-01 -1.75413567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.46587156 meters 0.026620947174598505 Centerline is valid? [True, True] Translation: X:50.71, Y:-3.14, Z:-1.76 [[ 9.96262599e-01 7.56372957e-02 4.17113076e-02 5.07104476e+01] [-7.63428383e-02 9.96959780e-01 1.55874483e-02 -3.14297696e+00] [-4.04055036e-02 -1.87135514e-02 9.99008107e-01 -1.75648425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.52587156 meters 0.029984221299913988 Centerline is valid? [True, True] Translation: X:50.78, Y:-3.14, Z:-1.76 [[ 9.96949728e-01 7.27323318e-02 2.83063216e-02 5.07757303e+01] [-7.21204213e-02 9.97151712e-01 -2.20705036e-02 -3.13895752e+00] [-2.98309362e-02 1.99617188e-02 9.99355615e-01 -1.76134631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.585871559999994 meters 0.028477603545756743 Centerline is valid? [True, True] Translation: X:50.84, Y:-3.16, Z:-1.76 [[ 9.96882871e-01 7.32887344e-02 2.92113344e-02 5.08364463e+01] [-7.32382160e-02 9.97310554e-01 -2.79703929e-03 -3.16093481e+00] [-2.93377636e-02 6.48934542e-04 9.99569345e-01 -1.76386160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.645871559999996 meters 0.031065779417750915 Centerline is valid? [True, True] Translation: X:50.90, Y:-3.17, Z:-1.77 [[ 9.96541931e-01 7.79119305e-02 2.88775133e-02 5.08974569e+01] [-7.78643063e-02 9.96960113e-01 -2.77173846e-03 -3.16921750e+00] [-2.90056805e-02 5.13626050e-04 9.99579115e-01 -1.76836672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.70587156 meters 0.030419923848175053 Centerline is valid? [True, True] Translation: X:50.96, Y:-3.18, Z:-1.77 [[ 9.96136533e-01 8.28561537e-02 2.91009594e-02 5.09585411e+01] [-8.28098658e-02 9.96561447e-01 -2.79426727e-03 -3.17846165e+00] [-2.92324165e-02 3.73625159e-04 9.99572572e-01 -1.77115795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.765871559999994 meters 0.029108202010151123 Centerline is valid? [True, True] Translation: X:51.02, Y:-3.19, Z:-1.78 [[ 9.95855096e-01 8.62162180e-02 2.89722456e-02 5.10189183e+01] [-8.61717754e-02 9.96276412e-01 -2.78137406e-03 -3.18717362e+00] [-2.91041644e-02 2.73255696e-04 9.99576347e-01 -1.77549710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.825871559999996 meters 0.016937289490398653 Centerline is valid? [True, True] Translation: X:51.08, Y:-3.20, Z:-1.78 [[ 9.95437695e-01 9.09060906e-02 2.89806518e-02 5.10802981e+01] [-9.08634790e-02 9.95859459e-01 -2.78662145e-03 -3.19712425e+00] [-2.91139771e-02 1.40625193e-04 9.99576088e-01 -1.77720627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.88587156 meters 0.01589912943700954 Centerline is valid? [True, True] Translation: X:51.14, Y:-3.21, Z:-1.78 [[ 9.94917414e-01 9.65275786e-02 2.86664601e-02 5.11419713e+01] [-9.64880847e-02 9.95330310e-01 -2.76103469e-03 -3.20533383e+00] [-2.87991126e-02 -1.89703405e-05 9.99585219e-01 -1.77992393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94587155999999 meters 0.01715748317002848 Centerline is valid? [True, True] Translation: X:51.20, Y:-3.21, Z:-1.78 [[ 9.94344694e-01 1.02083198e-01 2.92856832e-02 5.12040269e+01] [-1.02044239e-01 9.94775849e-01 -2.82567167e-03 -3.21237561e+00] [-2.94211439e-02 -1.78743637e-04 9.99567088e-01 -1.78087334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.005871559999996 meters 0.019786161819864936 Centerline is valid? [True, True] Translation: X:51.27, Y:-3.22, Z:-1.78 [[ 9.93918688e-01 1.06005759e-01 2.98063994e-02 5.12652331e+01] [-1.05967009e-01 9.94365472e-01 -2.88111095e-03 -3.21687240e+00] [-2.99438688e-02 -2.94904998e-04 9.99551538e-01 -1.78375783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.06587156 meters 0.023391834273174737 Centerline is valid? [True, True] Translation: X:51.33, Y:-3.22, Z:-1.78 [[ 9.93359950e-01 1.10808614e-01 3.09428666e-02 5.13269965e+01] [-1.10769031e-01 9.93841661e-01 -2.99577691e-03 -3.22311083e+00] [-3.10842679e-02 -4.51626555e-04 9.99516665e-01 -1.78469035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.12587156 meters 0.025411330684841183 Centerline is valid? [True, True] Translation: X:51.39, Y:-3.23, Z:-1.79 [[ 9.93122529e-01 1.12764834e-01 3.14918204e-02 5.13885863e+01] [-1.12724652e-01 9.93621570e-01 -3.05411831e-03 -3.23258563e+00] [-3.16353492e-02 -5.16790789e-04 9.99499343e-01 -1.78685940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.185871559999995 meters 0.02779900932863646 Centerline is valid? [True, True] Translation: X:51.45, Y:-3.24, Z:-1.79 [[ 9.92857911e-01 1.15067790e-01 3.15051066e-02 5.14500036e+01] [-1.15028570e-01 9.93357469e-01 -3.06053853e-03 -3.23847911e+00] [-3.16480024e-02 -5.85307478e-04 9.99498905e-01 -1.78944245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.24587156 meters 0.03260782546792125 Centerline is valid? [True, True] Translation: X:51.51, Y:-3.24, Z:-1.79 [[ 9.92437143e-01 1.18943409e-01 3.03476805e-02 5.15110465e+01] [-1.18908651e-01 9.92900804e-01 -2.95390793e-03 -3.23961692e+00] [-3.04835842e-02 -6.77033810e-04 9.99535038e-01 -1.79395636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.30587156 meters 0.040585370897746685 Centerline is valid? [True, True] Translation: X:51.57, Y:-3.23, Z:-1.80 [[ 9.91529776e-01 1.26676170e-01 2.86679618e-02 5.15726007e+01] [-1.26648369e-01 9.91943749e-01 -2.79077846e-03 -3.23305972e+00] [-2.87905307e-02 -8.63610678e-04 9.99585094e-01 -1.79883915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.365871559999995 meters 0.044863888832970246 Centerline is valid? [True, True] Translation: X:51.63, Y:-3.23, Z:-1.80 [[ 9.90489211e-01 1.34544303e-01 2.87915420e-02 5.16343932e+01] [-1.34519578e-01 9.90906972e-01 -2.80278100e-03 -3.22951469e+00] [-2.89068379e-02 -1.09690174e-03 9.99581508e-01 -1.79908941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.42587156 meters 0.04857904147969047 Centerline is valid? [True, True] Translation: X:51.70, Y:-3.23, Z:-1.80 [[ 9.89931848e-01 1.38357212e-01 2.98700370e-02 5.16962138e+01] [-1.38332311e-01 9.90381599e-01 -2.90848997e-03 -3.22708783e+00] [-2.99851456e-02 -1.25278438e-03 9.99549559e-01 -1.79976825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48587156 meters 0.060132697618807046 Centerline is valid? [True, True] Translation: X:51.76, Y:-3.21, Z:-1.80 [[ 9.89741276e-01 1.39445184e-01 3.11005942e-02 5.17587726e+01] [-1.39418762e-01 9.90228885e-01 -3.02714538e-03 -3.21254095e+00] [-3.12188276e-02 -1.33991561e-03 9.99511675e-01 -1.80420649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.545871559999995 meters 0.043282996193242954 Centerline is valid? [True, True] Translation: X:51.82, Y:-3.23, Z:-1.80 [[ 9.90318512e-01 1.35319039e-01 3.09516265e-02 5.18178873e+01] [-1.35290660e-01 9.90801354e-01 -3.01894538e-03 -3.23215039e+00] [-3.10754343e-02 -1.19774850e-03 9.99516324e-01 -1.80352711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.60587156 meters 0.037719136500716476 Centerline is valid? [True, True] Translation: X:51.88, Y:-3.24, Z:-1.81 [[ 9.91406442e-01 1.27206826e-01 3.05236035e-02 5.18774068e+01] [-1.27175374e-01 9.91875778e-01 -2.97752485e-03 -3.23929938e+00] [-3.06543844e-02 -9.29913368e-04 9.99529611e-01 -1.80830891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66587156 meters 0.03084180867331813 Centerline is valid? [True, True] Translation: X:51.94, Y:-3.25, Z:-1.81 [[ 9.92218468e-01 1.20650605e-01 3.07561869e-02 5.19371156e+01] [-1.20615525e-01 9.92694764e-01 -3.00014462e-03 -3.25240762e+00] [-3.08934750e-02 -7.32874718e-04 9.99522414e-01 -1.81034589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.725871559999995 meters 0.021377887404693936 Centerline is valid? [True, True] Translation: X:52.00, Y:-3.27, Z:-1.81 [[ 9.93401809e-01 1.10299897e-01 3.14130207e-02 5.19961259e+01] [-1.10258121e-01 9.93898263e-01 -3.06429925e-03 -3.26805225e+00] [-3.15593386e-02 -4.19460220e-04 9.99501792e-01 -1.81184459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.78587156 meters 0.015353365028975644 Centerline is valid? [True, True] Translation: X:52.06, Y:-3.29, Z:-1.81 [[ 9.94479261e-01 1.00059750e-01 3.16076909e-02 5.20564926e+01] [-1.00012290e-01 9.94981426e-01 -3.08292751e-03 -3.28604779e+00] [-3.17575423e-02 -9.52500709e-05 9.99495598e-01 -1.81450577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.84587156 meters 0.021765073841714822 Centerline is valid? [True, True] Translation: X:52.12, Y:-3.30, Z:-1.82 [[ 9.95168873e-01 9.35174971e-02 2.98896658e-02 5.21176813e+01] [-9.34721244e-02 9.95617631e-01 -2.91472804e-03 -3.30060775e+00] [-3.00312563e-02 1.06796056e-04 9.99548954e-01 -1.81970095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.905871559999994 meters 0.01663924860511836 Centerline is valid? [True, True] Translation: X:52.18, Y:-3.31, Z:-1.82 [[ 9.95332027e-01 9.10966904e-02 3.18676677e-02 5.21785491e+01] [-9.10436805e-02 9.95842033e-01 -3.11357112e-03 -3.30931456e+00] [-3.20187990e-02 1.97687300e-04 9.99487247e-01 -1.81904914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.96587156 meters 0.01778523231768058 Centerline is valid? [True, True] Translation: X:52.24, Y:-3.32, Z:-1.82 [[ 9.95413056e-01 8.98852842e-02 3.27640720e-02 5.22404644e+01] [-8.98284273e-02 9.95952094e-01 -3.20618721e-03 -3.31694357e+00] [-3.29196351e-02 2.48335553e-04 9.99457971e-01 -1.82057231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.02587156 meters 0.016447245183354935 Centerline is valid? [True, True] Translation: X:52.30, Y:-3.32, Z:-1.82 [[ 9.95217752e-01 9.20798460e-02 3.26025908e-02 5.23028296e+01] [-9.20245346e-02 9.95751610e-01 -3.19620357e-03 -3.31659765e+00] [-3.27583882e-02 1.80680285e-04 9.99463284e-01 -1.82309506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.085871559999994 meters 0.015116691074509818 Centerline is valid? [True, True] Translation: X:52.37, Y:-3.32, Z:-1.83 [[ 9.94937853e-01 9.53105614e-02 3.18522517e-02 5.23662669e+01] [-9.52592748e-02 9.95447583e-01 -3.12724200e-03 -3.31613963e+00] [-3.20053061e-02 7.71890443e-05 9.99487696e-01 -1.82548913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.145871559999996 meters 0.015833802919300196 Centerline is valid? [True, True] Translation: X:52.43, Y:-3.31, Z:-1.83 [[ 9.94306819e-01 1.02006265e-01 3.08005171e-02 5.24290928e+01] [-1.01961332e-01 9.94783748e-01 -3.03003677e-03 -3.30776217e+00] [-3.09489365e-02 -1.27675528e-04 9.99520959e-01 -1.82958172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.20587156 meters 0.020345943472561318 Centerline is valid? [True, True] Translation: X:52.49, Y:-3.29, Z:-1.83 [[ 9.93386031e-01 1.10196607e-01 3.22630080e-02 5.24929528e+01] [-1.10151431e-01 9.93909730e-01 -3.17971666e-03 -3.29366319e+00] [-3.24169115e-02 -3.95130385e-04 9.99474356e-01 -1.83014435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.265871559999994 meters 0.02474044906127684 Centerline is valid? [True, True] Translation: X:52.55, Y:-3.29, Z:-1.83 [[ 9.92794763e-01 1.15142180e-01 3.31788756e-02 5.25547197e+01] [-1.15096963e-01 9.93348860e-01 -3.27590974e-03 -3.28838843e+00] [-3.33353936e-02 -5.66481773e-04 9.99444061e-01 -1.83123844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.325871559999996 meters 0.0285333377281603 Centerline is valid? [True, True] Translation: X:52.62, Y:-3.28, Z:-1.83 [[ 9.92330437e-01 1.18899308e-01 3.38120933e-02 5.26171862e+01] [-1.18854346e-01 9.92906070e-01 -3.34378310e-03 -3.28253267e+00] [-3.39698062e-02 -7.00576470e-04 9.99422614e-01 -1.83362845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.38587156 meters 0.02999173320464109 Centerline is valid? [True, True] Translation: X:52.68, Y:-3.28, Z:-1.84 [[ 9.92162042e-01 1.20302982e-01 3.37886777e-02 5.26798953e+01] [-1.20258722e-01 9.92736944e-01 -3.34655145e-03 -3.27993501e+00] [-3.39458688e-02 -7.43061894e-04 9.99423397e-01 -1.83751121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44587155999999 meters 0.029530707783504574 Centerline is valid? [True, True] Translation: X:52.74, Y:-3.28, Z:-1.84 [[ 9.92066332e-01 1.21015996e-01 3.40517385e-02 5.27420397e+01] [-1.20971273e-01 9.92650260e-01 -3.37817653e-03 -3.28169641e+00] [-3.42102804e-02 -7.67906939e-04 9.99414362e-01 -1.83936657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.505871559999996 meters 0.031058599085620357 Centerline is valid? [True, True] Translation: X:52.80, Y:-3.28, Z:-1.85 [[ 9.91895907e-01 1.22841456e-01 3.24420360e-02 5.28042328e+01] [-1.22801668e-01 9.92425996e-01 -3.22367647e-03 -3.27812667e+00] [-3.25923211e-02 -7.86384638e-04 9.99468420e-01 -1.84539563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.56587156 meters 0.03294512036068781 Centerline is valid? [True, True] Translation: X:52.87, Y:-3.26, Z:-1.85 [[ 9.91859667e-01 1.24305599e-01 2.76137337e-02 5.28667742e+01] [-1.23752365e-01 9.92092586e-01 -2.09201756e-02 -3.26172305e+00] [-2.99958755e-02 1.73326136e-02 9.99399734e-01 -1.84652867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62587155999999 meters 0.028342589697018795 Centerline is valid? [True, True] Translation: X:52.93, Y:-3.28, Z:-1.85 [[ 9.92051727e-01 1.21215400e-01 3.37668276e-02 5.29283195e+01] [-1.21680630e-01 9.92495867e-01 1.20738608e-02 -3.28440686e+00] [-3.20498990e-02 -1.60866633e-02 9.99356805e-01 -1.84979009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.685871559999995 meters 0.02735414195469718 Centerline is valid? [True, True] Translation: X:52.99, Y:-3.27, Z:-1.85 [[ 9.92327316e-01 1.20346939e-01 2.83392343e-02 5.29904622e+01] [-1.19738022e-01 9.92555271e-01 -2.22898868e-02 -3.26610141e+00] [-3.08107761e-02 1.87255797e-02 9.99349813e-01 -1.85039853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.74587156 meters 0.02352266809440447 Centerline is valid? [True, True] Translation: X:53.05, Y:-3.29, Z:-1.86 [[ 9.92711134e-01 1.15654650e-01 3.38911030e-02 5.30514841e+01] [-1.16228712e-01 9.93101808e-01 1.54817876e-02 -3.29080050e+00] [-3.18667749e-02 -1.93080622e-02 9.99305613e-01 -1.85656703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.80587156 meters 0.023946877069599425 Centerline is valid? [True, True] Translation: X:53.11, Y:-3.28, Z:-1.86 [[ 9.92983208e-01 1.14185803e-01 3.07563272e-02 5.31133707e+01] [-1.14145227e-01 9.93459308e-01 -3.07756576e-03 -3.28095690e+00] [-3.09065739e-02 -4.54716840e-04 9.99522174e-01 -1.86330985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.865871559999995 meters 0.01961755424023498 Centerline is valid? [True, True] Translation: X:53.17, Y:-3.29, Z:-1.87 [[ 9.93571724e-01 1.09008466e-01 3.05349578e-02 5.31728931e+01] [-1.08965830e-01 9.94040780e-01 -3.06184407e-03 -3.28733638e+00] [-3.06867602e-02 -2.85105327e-04 9.99529010e-01 -1.86783247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.92587156 meters 0.015253008404659449 Centerline is valid? [True, True] Translation: X:53.23, Y:-3.30, Z:-1.87 [[ 9.94297600e-01 1.01970626e-01 3.12133731e-02 5.32329022e+01] [-1.01922634e-01 9.94787408e-01 -3.12892173e-03 -3.30037183e+00] [-3.13697287e-02 -7.02698472e-05 9.99507846e-01 -1.86974688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98587156 meters 0.015020582873376048 Centerline is valid? [True, True] Translation: X:53.29, Y:-3.31, Z:-1.87 [[ 9.94715020e-01 9.76631822e-02 3.16848843e-02 5.32949550e+01] [-9.76114019e-02 9.95219522e-01 -3.18063225e-03 -3.31236932e+00] [-3.18440461e-02 7.10166984e-05 9.99492847e-01 -1.87180409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.045871559999995 meters 0.01655584476640041 Centerline is valid? [True, True] Translation: X:53.36, Y:-3.32, Z:-1.88 [[ 9.95025459e-01 9.44443356e-02 3.16954885e-02 5.33559195e+01] [-9.43907014e-02 9.95530128e-01 -3.18753739e-03 -3.32454677e+00] [-3.18548586e-02 1.79921455e-04 9.99492489e-01 -1.87504227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.10587156 meters 0.016649855512445518 Centerline is valid? [True, True] Translation: X:53.42, Y:-3.33, Z:-1.88 [[ 9.95169614e-01 9.30102440e-02 3.14091329e-02 5.34175877e+01] [-9.29567139e-02 9.95665126e-01 -3.16338206e-03 -3.33030482e+00] [-3.15672052e-02 2.28411929e-04 9.99501605e-01 -1.87542411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16587156 meters 0.016089070521152153 Centerline is valid? [True, True] Translation: X:53.48, Y:-3.34, Z:-1.88 [[ 9.95189703e-01 9.15806395e-02 3.47914013e-02 5.34818110e+01] [-9.15018892e-02 9.95797451e-01 -3.85237280e-03 -3.33508871e+00] [-3.49979914e-02 6.50362799e-04 9.99387171e-01 -1.87698602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.225871559999995 meters 0.015834036943592866 Centerline is valid? [True, True] Translation: X:53.54, Y:-3.34, Z:-1.88 [[ 9.95006793e-01 9.48565872e-02 3.10436708e-02 5.35413864e+01] [-9.48123460e-02 9.95490946e-01 -2.89738493e-03 -3.34277190e+00] [-3.11785292e-02 -6.04055637e-05 9.99513830e-01 -1.88310724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28587156 meters 0.024441944558467585 Centerline is valid? [True, True] Translation: X:53.60, Y:-3.35, Z:-1.89 [[ 9.94835889e-01 9.68886792e-02 3.02346955e-02 5.36021439e+01] [-9.68404934e-02 9.95295218e-01 -3.05743669e-03 -3.35015327e+00] [-3.03886789e-02 1.13704911e-04 9.99538151e-01 -1.89259741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.34587156 meters 0.029919607157988654 Centerline is valid? [True, True] Translation: X:53.66, Y:-3.35, Z:-1.89 [[ 9.94604830e-01 9.93755022e-02 2.97614281e-02 5.36648745e+01] [-9.93297751e-02 9.95050003e-01 -3.01462817e-03 -3.35416122e+00] [-2.99136893e-02 4.21677758e-05 9.99552485e-01 -1.89394148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.405871559999994 meters 0.01460284055710662 Centerline is valid? [True, True] Translation: X:53.73, Y:-3.36, Z:-1.89 [[ 9.94297746e-01 1.01972356e-01 3.12030642e-02 5.37273570e+01] [-1.01923164e-01 9.94787232e-01 -3.16716896e-03 -3.35759557e+00] [-3.13633736e-02 -3.12060780e-05 9.99508048e-01 -1.89204132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.46587156 meters 0.015031475292435068 Centerline is valid? [True, True] Translation: X:53.79, Y:-3.36, Z:-1.89 [[ 9.94062472e-01 1.04308320e-01 3.09770381e-02 5.37902702e+01] [-1.04260822e-01 9.94545004e-01 -3.14904710e-03 -3.36070497e+00] [-3.11365303e-02 -9.93419145e-05 9.99515136e-01 -1.89462421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.52587156 meters 0.015160478946039764 Centerline is valid? [True, True] Translation: X:53.85, Y:-3.37, Z:-1.90 [[ 9.94025152e-01 1.04761000e-01 3.06452316e-02 5.38529367e+01] [-1.04714550e-01 9.94497422e-01 -3.12114152e-03 -3.36809565e+00] [-3.08035777e-02 -1.06508462e-04 9.99525452e-01 -1.89816773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.585871559999994 meters 0.020333081979865678 Centerline is valid? [True, True] Translation: X:53.92, Y:-3.38, Z:-1.90 [[ 9.94195761e-01 1.03138198e-01 3.06153698e-02 5.39150411e+01] [-1.03090890e-01 9.94667035e-01 -3.12392612e-03 -3.38130427e+00] [-3.07742952e-02 -5.03716025e-05 9.99526358e-01 -1.90189461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.645871559999996 meters 0.01429547882140336 Centerline is valid? [True, True] Translation: X:53.98, Y:-3.39, Z:-1.90 [[ 9.94393447e-01 1.00940129e-01 3.15081341e-02 5.39764766e+01] [-1.00888708e-01 9.94892502e-01 -3.22161061e-03 -3.39261491e+00] [-3.16723961e-02 2.47335266e-05 9.99498304e-01 -1.90140055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.70587156 meters 0.014803419735065056 Centerline is valid? [True, True] Translation: X:54.04, Y:-3.40, Z:-1.90 [[ 9.94606447e-01 9.87810517e-02 3.16278174e-02 5.40374030e+01] [-9.87279776e-02 9.95109187e-01 -3.23920636e-03 -3.40492229e+00] [-3.17931038e-02 9.91850817e-05 9.99494467e-01 -1.90465097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.765871559999994 meters 0.014709117531492174 Centerline is valid? [True, True] Translation: X:54.10, Y:-3.42, Z:-1.91 [[ 9.94588712e-01 9.87248692e-02 3.23526627e-02 5.40998647e+01] [-9.86691093e-02 9.95114761e-01 -3.31942897e-03 -3.41592650e+00] [-3.25223224e-02 1.09258169e-04 9.99471003e-01 -1.90551391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.825871559999996 meters 0.01462779761622593 Centerline is valid? [True, True] Translation: X:54.16, Y:-3.42, Z:-1.91 [[ 9.94610164e-01 9.75009527e-02 3.52730238e-02 5.41630365e+01] [-9.75202631e-02 9.95232844e-01 -1.17669618e-03 -3.42484864e+00] [-3.52196008e-02 -2.26948058e-03 9.99377021e-01 -1.90956788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.88587156 meters 0.014715949616578503 Centerline is valid? [True, True] Translation: X:54.22, Y:-3.43, Z:-1.91 [[ 9.94288199e-01 1.02352297e-01 3.02487258e-02 5.42228377e+01] [-1.02226638e-01 9.94744941e-01 -5.67591482e-03 -3.43014830e+00] [-3.06707098e-02 2.55126957e-03 9.99526287e-01 -1.91414531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94587155999999 meters 0.015387983185324975 Centerline is valid? [True, True] Translation: X:54.29, Y:-3.44, Z:-1.92 [[ 9.93834317e-01 1.06540088e-01 3.07011316e-02 5.42853176e+01] [-1.06493195e-01 9.94308400e-01 -3.16315680e-03 -3.43698674e+00] [-3.08633960e-02 -1.25807809e-04 9.99523604e-01 -1.91616773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.005871559999996 meters 0.017081280402236488 Centerline is valid? [True, True] Translation: X:54.35, Y:-3.44, Z:-1.92 [[ 9.93442061e-01 1.09986471e-01 3.12385441e-02 5.43468482e+01] [-1.09939419e-01 9.93933058e-01 -3.22507522e-03 -3.43991050e+00] [-3.14037363e-02 -2.30422015e-04 9.99506754e-01 -1.91770594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.06587156 meters 0.020527771495192585 Centerline is valid? [True, True] Translation: X:54.41, Y:-3.44, Z:-1.92 [[ 9.92872230e-01 1.15037614e-01 3.11621925e-02 5.44092492e+01] [-1.14993130e-01 9.93361062e-01 -3.22188607e-03 -3.44214986e+00] [-3.13259467e-02 -3.84516835e-04 9.99509148e-01 -1.91947942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12587155999999 meters 0.025650983262207345 Centerline is valid? [True, True] Translation: X:54.47, Y:-3.44, Z:-1.92 [[ 9.92265441e-01 1.20322693e-01 3.05244997e-02 5.44710330e+01] [-1.20282310e-01 9.92734690e-01 -3.16243814e-03 -3.43952421e+00] [-3.06832428e-02 -5.33579262e-04 9.99529016e-01 -1.92349992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.185871559999995 meters 0.027240077810841527 Centerline is valid? [True, True] Translation: X:54.53, Y:-3.44, Z:-1.93 [[ 9.91987289e-01 1.22656955e-01 3.02735674e-02 5.45326056e+01] [-1.22618319e-01 9.92448946e-01 -3.13646158e-03 -3.44412034e+00] [-3.04296789e-02 -6.00763919e-04 9.99536730e-01 -1.92616089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.24587156 meters 0.027671469782656975 Centerline is valid? [True, True] Translation: X:54.59, Y:-3.45, Z:-1.93 [[ 9.91838760e-01 1.23729274e-01 3.07724169e-02 5.45938391e+01] [-1.23689805e-01 9.92315804e-01 -3.19022601e-03 -3.45154813e+00] [-3.09306799e-02 -6.42044439e-04 9.99521326e-01 -1.92744696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.30587156 meters 0.02771969513240628 Centerline is valid? [True, True] Translation: X:54.65, Y:-3.46, Z:-1.93 [[ 9.92054510e-01 1.22274791e-01 2.96095415e-02 5.46549800e+01] [-1.22237474e-01 9.92496121e-01 -3.07394387e-03 -3.46104538e+00] [-2.97632209e-02 -5.69875678e-04 9.99556815e-01 -1.93119378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.365871559999995 meters 0.02682876864164359 Centerline is valid? [True, True] Translation: X:54.72, Y:-3.46, Z:-1.93 [[ 9.91993647e-01 1.22649036e-01 3.00968017e-02 5.47165633e+01] [-1.22610495e-01 9.92449934e-01 -3.12973033e-03 -3.46442186e+00] [-3.02534273e-02 -5.85511167e-04 9.99542089e-01 -1.93314585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.42587156 meters 0.030709133601104135 Centerline is valid? [True, True] Translation: X:54.78, Y:-3.47, Z:-1.93 [[ 9.91717051e-01 1.24908553e-01 2.99189531e-02 5.47782731e+01] [-1.24871325e-01 9.92168049e-01 -3.11683467e-03 -3.47002982e+00] [-3.00739486e-02 -6.45001234e-04 9.99547468e-01 -1.93456015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48587156 meters 0.034245856892688345 Centerline is valid? [True, True] Translation: X:54.84, Y:-3.46, Z:-1.94 [[ 9.91286267e-01 1.28440035e-01 2.92351432e-02 5.48395158e+01] [-1.28405825e-01 9.91717010e-01 -3.05235550e-03 -3.46401114e+00] [-2.93850335e-02 -7.28204604e-04 9.99567901e-01 -1.93920127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.545871559999995 meters 0.034736506478050114 Centerline is valid? [True, True] Translation: X:54.90, Y:-3.47, Z:-1.94 [[ 9.91052574e-01 1.30210970e-01 2.93240157e-02 5.49003745e+01] [-1.30177312e-01 9.91486001e-01 -3.06213606e-03 -3.46686824e+00] [-2.94730748e-02 -7.82583713e-04 9.99565268e-01 -1.94065585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.60587156 meters 0.03710275241215658 Centerline is valid? [True, True] Translation: X:54.96, Y:-3.47, Z:-1.94 [[ 9.90760734e-01 1.32358608e-01 2.95696819e-02 5.49610566e+01] [-1.32325339e-01 9.91201529e-01 -3.08778955e-03 -3.46541085e+00] [-2.97182095e-02 -8.53557540e-04 9.99557952e-01 -1.94155969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66587156 meters 0.036179378538668205 Centerline is valid? [True, True] Translation: X:55.02, Y:-3.47, Z:-1.94 [[ 9.90645661e-01 1.33255423e-01 2.93967201e-02 5.50211259e+01] [-1.33222936e-01 9.91081342e-01 -3.06972816e-03 -3.46936657e+00] [-2.95435987e-02 -8.75304478e-04 9.99563109e-01 -1.94319419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.725871559999995 meters 0.04280103161796955 Centerline is valid? [True, True] Translation: X:55.08, Y:-3.47, Z:-1.95 [[ 9.90748424e-01 1.32655490e-01 2.86370772e-02 5.50809846e+01] [-1.32624415e-01 9.91161855e-01 -2.99024166e-03 -3.46902675e+00] [-2.87806505e-02 -8.35398405e-04 9.99585402e-01 -1.94863925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.78587156 meters 0.03701187773818748 Centerline is valid? [True, True] Translation: X:55.14, Y:-3.47, Z:-1.95 [[ 9.90801114e-01 1.32099453e-01 2.93749471e-02 5.51411467e+01] [-1.32066487e-01 9.91236112e-01 -3.06811403e-03 -3.47048574e+00] [-2.95228045e-02 -8.39555278e-04 9.99563754e-01 -1.94833871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.84587156 meters 0.03669171021942096 Centerline is valid? [True, True] Translation: X:55.20, Y:-3.47, Z:-1.95 [[ 9.90881544e-01 1.31481859e-01 2.94327367e-02 5.52007519e+01] [-1.31448512e-01 9.91318235e-01 -3.07344930e-03 -3.47079281e+00] [-2.95813114e-02 -8.23465246e-04 9.99562038e-01 -1.95130670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.905871559999994 meters 0.039832639176456276 Centerline is valid? [True, True] Translation: X:55.26, Y:-3.47, Z:-1.96 [[ 9.91140334e-01 1.29494863e-01 2.95282576e-02 5.52596703e+01] [-1.29460442e-01 9.91579796e-01 -3.08261798e-03 -3.47218626e+00] [-2.96788068e-02 -7.67434264e-04 9.99559193e-01 -1.95593864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.96587156 meters 0.03307549271789054 Centerline is valid? [True, True] Translation: X:55.32, Y:-3.48, Z:-1.95 [[ 9.91193030e-01 1.28973214e-01 3.00380869e-02 5.53184615e+01] [-1.28937365e-01 9.91647783e-01 -3.13550863e-03 -3.48160167e+00] [-3.01915989e-02 -7.65137464e-04 9.99543837e-01 -1.95468935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.02587156 meters 0.03552113053369635 Centerline is valid? [True, True] Translation: X:55.38, Y:-3.49, Z:-1.96 [[ 9.91910587e-01 1.23732876e-01 2.83471678e-02 5.53784518e+01] [-1.23698840e-01 9.92315397e-01 -2.95791824e-03 -3.49207230e+00] [-2.84953229e-02 -5.72521366e-04 9.99593762e-01 -1.96101818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.085871559999994 meters 0.02374050180767847 Centerline is valid? [True, True] Translation: X:55.44, Y:-3.50, Z:-1.96 [[ 9.92361084e-01 1.19861742e-01 2.92000167e-02 5.54384889e+01] [-1.19823941e-01 9.92790480e-01 -3.04728473e-03 -3.50268554e+00] [-2.93547515e-02 -4.74854289e-04 9.99568944e-01 -1.96075915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.145871559999996 meters 0.02201056096013032 Centerline is valid? [True, True] Translation: X:55.50, Y:-3.51, Z:-1.96 [[ 9.92855040e-01 1.15625315e-01 2.94899197e-02 5.54982030e+01] [-1.15584881e-01 9.93292838e-01 -3.07785209e-03 -3.50946800e+00] [-2.96480037e-02 -3.52727910e-04 9.99560339e-01 -1.96450210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.20587156 meters 0.019954792630336556 Centerline is valid? [True, True] Translation: X:55.56, Y:-3.52, Z:-1.97 [[ 9.92983313e-01 1.14695667e-01 2.87931413e-02 5.55587798e+01] [-1.14656725e-01 9.93400626e-01 -3.00532504e-03 -3.51818371e+00] [-2.89478224e-02 -3.17089683e-04 9.99580874e-01 -1.96735566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.265871559999994 meters 0.019365084828998194 Centerline is valid? [True, True] Translation: X:55.62, Y:-3.53, Z:-1.97 [[ 9.93154399e-01 1.13660969e-01 2.69355567e-02 5.56190280e+01] [-1.13626490e-01 9.93519558e-01 -2.81217691e-03 -3.52551821e+00] [-2.70806371e-02 -2.67666884e-04 9.99633216e-01 -1.97247907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.325871559999996 meters 0.018103528655287696 Centerline is valid? [True, True] Translation: X:55.68, Y:-3.53, Z:-1.97 [[ 9.93286015e-01 1.12641414e-01 2.63591553e-02 5.56797757e+01] [-1.12608032e-01 9.93635676e-01 -2.75211690e-03 -3.53254979e+00] [-2.65013994e-02 -2.34613382e-04 9.99648749e-01 -1.97404838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.38587156 meters 0.01873972937307247 Centerline is valid? [True, True] Translation: X:55.74, Y:-3.54, Z:-1.98 [[ 9.93261052e-01 1.12850249e-01 2.64065164e-02 5.57400999e+01] [-1.12816800e-01 9.93611978e-01 -2.75789439e-03 -3.53568975e+00] [-2.65490601e-02 -2.39789593e-04 9.99647483e-01 -1.97714930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44587155999999 meters 0.02492779488228594 Centerline is valid? [True, True] Translation: X:55.80, Y:-3.53, Z:-1.98 [[ 9.92972559e-01 1.14967791e-01 2.80696259e-02 5.57995820e+01] [-1.14930812e-01 9.93369170e-01 -2.93257567e-03 -3.53314021e+00] [-2.82206528e-02 -3.14097731e-04 9.99601669e-01 -1.98084876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.505871559999996 meters 0.020126655508103535 Centerline is valid? [True, True] Translation: X:55.86, Y:-3.54, Z:-1.98 [[ 9.92723662e-01 1.16897896e-01 2.88896703e-02 5.58596711e+01] [-1.16859581e-01 9.93143865e-01 -3.01690359e-03 -3.53824276e+00] [-2.90442685e-02 -3.81083177e-04 9.99578054e-01 -1.97585693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.56587156 meters 0.022846207575336838 Centerline is valid? [True, True] Translation: X:55.92, Y:-3.54, Z:-1.98 [[ 9.92577368e-01 1.18252207e-01 2.84004181e-02 5.59188499e+01] [-1.18215734e-01 9.92983507e-01 -2.96577341e-03 -3.53637071e+00] [-2.85518560e-02 -4.13616685e-04 9.99592227e-01 -1.98042408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62587155999999 meters 0.022597445041905282 Centerline is valid? [True, True] Translation: X:55.98, Y:-3.54, Z:-1.98 [[ 9.92555637e-01 1.18390310e-01 2.85839553e-02 5.59783934e+01] [-1.18353457e-01 9.92967047e-01 -2.98370565e-03 -3.53986982e+00] [-2.87361675e-02 -4.21516056e-04 9.99586942e-01 -1.98216945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.685871559999995 meters 0.029274969374962344 Centerline is valid? [True, True] Translation: X:56.04, Y:-3.54, Z:-1.99 [[ 9.92514879e-01 1.18950570e-01 2.76582202e-02 5.60384220e+01] [-1.18916301e-01 9.92900087e-01 -2.88643837e-03 -3.54121961e+00] [-2.78051927e-02 -4.24180198e-04 9.99613271e-01 -1.98604403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.74587156 meters 0.02640756108367095 Centerline is valid? [True, True] Translation: X:56.10, Y:-3.54, Z:-1.99 [[ 9.92141937e-01 1.21811186e-01 2.85729169e-02 5.60978219e+01] [-1.21775816e-01 9.92553154e-01 -2.98126190e-03 -3.53663952e+00] [-2.87232898e-02 -5.21655310e-04 9.99587265e-01 -1.98679607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80587156 meters 0.028575458648529298 Centerline is valid? [True, True] Translation: X:56.16, Y:-3.54, Z:-1.99 [[ 9.91879559e-01 1.24034219e-01 2.81149863e-02 5.61574936e+01] [-1.24000888e-01 9.92277773e-01 -2.93268497e-03 -3.53502927e+00] [-2.82616292e-02 -5.77412980e-04 9.99600394e-01 -1.99047053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.865871559999995 meters 0.030037189812879207 Centerline is valid? [True, True] Translation: X:56.22, Y:-3.53, Z:-1.99 [[ 9.91647366e-01 1.25678493e-01 2.89899539e-02 5.62174076e+01] [-1.25643785e-01 9.92070814e-01 -3.02301363e-03 -3.53011378e+00] [-2.91400150e-02 -6.44644023e-04 9.99575132e-01 -1.99097994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.92587156 meters 0.02851974189742167 Centerline is valid? [True, True] Translation: X:56.28, Y:-3.53, Z:-1.99 [[ 9.91764836e-01 1.24689015e-01 2.92431086e-02 5.62765367e+01] [-1.24653309e-01 9.92195677e-01 -3.04799734e-03 -3.52965417e+00] [-2.93949377e-02 -6.22353677e-04 9.99567682e-01 -1.99245151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98587156 meters 0.027077346304716025 Centerline is valid? [True, True] Translation: X:56.33, Y:-3.53, Z:-2.00 [[ 9.92063221e-01 1.22380724e-01 2.88708164e-02 5.63343973e+01] [-1.22344981e-01 9.92483077e-01 -3.00795263e-03 -3.53285521e+00] [-2.90219122e-02 -5.48120314e-04 9.99578625e-01 -1.99559686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.045871559999995 meters 0.021128568628395395 Centerline is valid? [True, True] Translation: X:56.39, Y:-3.54, Z:-2.00 [[ 9.92709653e-01 1.17192977e-01 2.81664956e-02 5.63939824e+01] [-1.17156931e-01 9.93109085e-01 -2.93233651e-03 -3.54099417e+00] [-2.83160519e-02 -3.88941431e-04 9.99598945e-01 -1.99797685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.10587156 meters 0.03049094608455154 Centerline is valid? [True, True] Translation: X:56.45, Y:-3.55, Z:-2.01 [[ 9.93229451e-01 1.12971114e-01 2.70700018e-02 5.64514146e+01] [-1.12936243e-01 9.93598239e-01 -2.81854530e-03 -3.54612141e+00] [-2.72151203e-02 -2.57722094e-04 9.99629567e-01 -2.00558626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16587156 meters 0.015530872395198564 Centerline is valid? [True, True] Translation: X:56.51, Y:-3.56, Z:-2.00 [[ 9.93797796e-01 1.07402059e-01 2.88225418e-02 5.65095602e+01] [-1.07360244e-01 9.94215663e-01 -2.99891200e-03 -3.55553727e+00] [-2.89779118e-02 -1.14082968e-04 9.99580046e-01 -2.00472930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.225871559999995 meters 0.01449951822803964 Centerline is valid? [True, True] Translation: X:56.57, Y:-3.57, Z:-2.00 [[ 9.94527051e-01 1.00269652e-01 2.93588575e-02 5.65692978e+01] [-1.00223213e-01 9.94960295e-01 -3.05279240e-03 -3.56724542e+00] [-2.95169999e-02 9.36456145e-05 9.99564274e-01 -2.00461516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.28587156 meters 0.01645852472977348 Centerline is valid? [True, True] Translation: X:56.63, Y:-3.58, Z:-2.01 [[ 9.95003382e-01 9.53441880e-02 2.96269569e-02 5.66296399e+01] [-9.52947205e-02 9.95444337e-01 -3.08039808e-03 -3.57852812e+00] [-2.97856845e-02 2.41713925e-04 9.99556279e-01 -2.00675451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.34587156 meters 0.020506502776089338 Centerline is valid? [True, True] Translation: X:56.69, Y:-3.59, Z:-2.01 [[ 9.95614088e-01 8.89113005e-02 2.91095792e-02 5.66903790e+01] [-8.88608228e-02 9.96039457e-01 -3.02568245e-03 -3.59134755e+00] [-2.92633068e-02 4.25710917e-04 9.99571647e-01 -2.00889911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.405871559999994 meters 0.023945440108361114 Centerline is valid? [True, True] Translation: X:56.75, Y:-3.60, Z:-2.01 [[ 9.95849632e-01 8.62060885e-02 2.91893781e-02 5.67501915e+01] [-8.61539879e-02 9.96277194e-01 -3.04024272e-03 -3.60263626e+00] [-2.93427991e-02 5.12843269e-04 9.99569276e-01 -2.01244454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.46587156 meters 0.02662350488220892 Centerline is valid? [True, True] Translation: X:56.81, Y:-3.61, Z:-2.02 [[ 9.96070914e-01 8.36760134e-02 2.90010329e-02 5.68117697e+01] [-8.36234985e-02 9.96492842e-01 -3.02105691e-03 -3.61253327e+00] [-2.91521117e-02 5.84019090e-04 9.99574816e-01 -2.01511287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.52587156 meters 0.030513197430020594 Centerline is valid? [True, True] Translation: X:56.87, Y:-3.62, Z:-2.02 [[ 9.96172429e-01 8.26533557e-02 2.84414282e-02 5.68739430e+01] [-8.26024375e-02 9.96578176e-01 -2.96256613e-03 -3.61849353e+00] [-2.85889726e-02 6.01895409e-04 9.99591071e-01 -2.01825181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.585871559999994 meters 0.027081133980790935 Centerline is valid? [True, True] Translation: X:56.94, Y:-3.63, Z:-2.02 [[ 9.96207855e-01 8.18447178e-02 2.95186807e-02 5.69360711e+01] [-8.17893615e-02 9.96644879e-01 -3.07989567e-03 -3.62688692e+00] [-2.96717152e-02 6.53902208e-04 9.99559484e-01 -2.01833122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.645871559999996 meters 0.030442896570431203 Centerline is valid? [True, True] Translation: X:57.00, Y:-3.64, Z:-2.02 [[ 9.96380058e-01 7.95721279e-02 2.99174807e-02 5.69956817e+01] [-7.95140823e-02 9.96828839e-01 -3.12679892e-03 -3.64156845e+00] [-3.00714136e-02 7.36619065e-04 9.99547481e-01 -2.02144430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.70587156 meters 0.03500502777976517 Centerline is valid? [True, True] Translation: X:57.06, Y:-3.65, Z:-2.02 [[ 9.96618919e-01 7.69369998e-02 2.88345144e-02 5.70553652e+01] [-7.68818144e-02 9.97035641e-01 -3.01930767e-03 -3.65347472e+00] [-2.89813351e-02 7.92249356e-04 9.99579639e-01 -2.02493419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.765871559999994 meters 0.03142780195866158 Centerline is valid? [True, True] Translation: X:57.12, Y:-3.67, Z:-2.03 [[ 9.96622582e-01 7.65294536e-02 2.97770463e-02 5.71172324e+01] [-7.64704392e-02 9.97066976e-01 -3.11731163e-03 -3.66659664e+00] [-2.99282756e-02 8.29719360e-04 9.99551704e-01 -2.02533739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.825871559999996 meters 0.031231137693047147 Centerline is valid? [True, True] Translation: X:57.18, Y:-3.68, Z:-2.03 [[ 9.96490321e-01 7.83589920e-02 2.94433084e-02 5.71776547e+01] [-7.83019101e-02 9.96924908e-01 -3.08849028e-03 -3.67832549e+00] [-2.95947785e-02 7.72183379e-04 9.99561680e-01 -2.02963559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.88587156 meters 0.02986526841344213 Centerline is valid? [True, True] Translation: X:57.24, Y:-3.69, Z:-2.03 [[ 9.96424590e-01 7.92586711e-02 2.92591648e-02 5.72397263e+01] [-7.92025586e-02 9.96853805e-01 -3.07359240e-03 -3.68562993e+00] [-2.94107186e-02 7.45202328e-04 9.99567133e-01 -2.03187140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94587155999999 meters 0.027638482773266637 Centerline is valid? [True, True] Translation: X:57.30, Y:-3.70, Z:-2.04 [[ 9.96137211e-01 8.29825168e-02 2.87151234e-02 5.72991791e+01] [-8.29298259e-02 9.96550804e-01 -3.02308859e-03 -3.69641756e+00] [-2.88669428e-02 6.30070860e-04 9.99583064e-01 -2.03556106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.005871559999996 meters 0.02723149265287661 Centerline is valid? [True, True] Translation: X:57.36, Y:-3.70, Z:-2.04 [[ 9.95843474e-01 8.67890683e-02 2.76302899e-02 5.73606322e+01] [-8.67417539e-02 9.96226585e-01 -2.90867660e-03 -3.70228932e+00] [-2.77784707e-02 4.99886806e-04 9.99613979e-01 -2.04022470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.06587156 meters 0.01759666245492904 Centerline is valid? [True, True] Translation: X:57.42, Y:-3.70, Z:-2.04 [[ 9.95054867e-01 9.55457863e-02 2.71443326e-02 5.74223475e+01] [-9.55033254e-02 9.95425004e-01 -2.85937932e-03 -3.69993480e+00] [-2.72933491e-02 2.52865273e-04 9.99627435e-01 -2.04197259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12587155999999 meters 0.015087133572005227 Centerline is valid? [True, True] Translation: X:57.48, Y:-3.70, Z:-2.05 [[ 9.94411222e-01 1.02133534e-01 2.67406419e-02 5.74841694e+01] [-1.02094701e-01 9.94770695e-01 -2.81706825e-03 -3.69810239e+00] [-2.68885241e-02 7.12464363e-05 9.99638436e-01 -2.04537429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.185871559999995 meters 0.016420845950337087 Centerline is valid? [True, True] Translation: X:57.54, Y:-3.69, Z:-2.05 [[ 9.93429431e-01 1.10758444e-01 2.88189634e-02 5.75439581e+01] [-1.10716920e-01 9.93847341e-01 -3.03752606e-03 -3.69268850e+00] [-2.89780818e-02 -1.73179080e-04 9.99580032e-01 -2.04588596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.24587156 meters 0.018592934684968226 Centerline is valid? [True, True] Translation: X:57.60, Y:-3.69, Z:-2.05 [[ 9.93050288e-01 1.13860270e-01 2.97819387e-02 5.76024537e+01] [-1.13817353e-01 9.93496736e-01 -3.13788361e-03 -3.69343595e+00] [-2.99455392e-02 -2.73625192e-04 9.99551494e-01 -2.04716134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30587156 meters 0.01923529696129734 Centerline is valid? [True, True] Translation: X:57.66, Y:-3.70, Z:-2.05 [[ 9.92948618e-01 1.14779895e-01 2.96414978e-02 5.76613077e+01] [-1.14737821e-01 9.93390903e-01 -3.12205836e-03 -3.69911529e+00] [-2.98039438e-02 -3.00957328e-04 9.99555718e-01 -2.04975433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.365871559999995 meters 0.01713910309707918 Centerline is valid? [True, True] Translation: X:57.72, Y:-3.71, Z:-2.06 [[ 9.93351805e-01 1.11752698e-01 2.76319840e-02 5.77197580e+01] [-1.11714993e-01 9.93736029e-01 -2.90938529e-03 -3.71226196e+00] [-2.77840297e-02 -1.96863776e-04 9.99613930e-01 -2.05583725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.42587156 meters 0.015882778700252835 Centerline is valid? [True, True] Translation: X:57.78, Y:-3.73, Z:-2.06 [[ 9.93898729e-01 1.07010721e-01 2.67211992e-02 5.77776262e+01] [-1.06973778e-01 9.94257865e-01 -2.81231967e-03 -3.72677609e+00] [-2.68687108e-02 -6.33066957e-05 9.99638969e-01 -2.06203605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48587156 meters 0.015102042662185929 Centerline is valid? [True, True] Translation: X:57.84, Y:-3.74, Z:-2.06 [[ 9.94203418e-01 1.04157510e-01 2.66603996e-02 5.78374966e+01] [-1.04119702e-01 9.94560814e-01 -2.80620922e-03 -3.73958971e+00] [-2.68076765e-02 1.40699520e-05 9.99640610e-01 -2.06253989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.545871559999995 meters 0.01481030665045652 Centerline is valid? [True, True] Translation: X:57.90, Y:-3.75, Z:-2.06 [[ 9.94308365e-01 1.02740115e-01 2.82018518e-02 5.78975519e+01] [-1.02697212e-01 9.94708231e-01 -2.96934148e-03 -3.74935823e+00] [-2.83576846e-02 5.61895256e-05 9.99597838e-01 -2.06272917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.60587156 meters 0.014529514342321567 Centerline is valid? [True, True] Translation: X:57.96, Y:-3.76, Z:-2.06 [[ 9.94233420e-01 1.03422456e-01 2.83496441e-02 5.79591084e+01] [-1.03379426e-01 9.94637519e-01 -2.98324946e-03 -3.75599912e+00] [-2.85061546e-02 3.52763711e-05 9.99593616e-01 -2.06392585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66587156 meters 0.014562409429236598 Centerline is valid? [True, True] Translation: X:58.02, Y:-3.76, Z:-2.07 [[ 9.94013930e-01 1.05584497e-01 2.80752588e-02 5.80201168e+01] [-1.05542973e-01 9.94410335e-01 -2.96095689e-03 -3.75979617e+00] [-2.82309586e-02 -1.99138888e-05 9.99601427e-01 -2.06771028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.725871559999995 meters 0.014648205904248082 Centerline is valid? [True, True] Translation: X:58.08, Y:-3.77, Z:-2.07 [[ 9.93933069e-01 1.06338376e-01 2.80927626e-02 5.80812173e+01] [-1.06297082e-01 9.94330000e-01 -2.96347934e-03 -3.76635249e+00] [-2.82486082e-02 -4.06785838e-05 9.99600928e-01 -2.07089694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.78587156 meters 0.014671371632095637 Centerline is valid? [True, True] Translation: X:58.14, Y:-3.77, Z:-2.07 [[ 9.93898009e-01 1.06558411e-01 2.84965266e-02 5.81414314e+01] [-1.06516004e-01 9.94306443e-01 -3.00633500e-03 -3.77355508e+00] [-2.86546303e-02 -4.73457883e-05 9.99589371e-01 -2.07317403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.84587156 meters 0.01442577714026973 Centerline is valid? [True, True] Translation: X:58.20, Y:-3.78, Z:-2.07 [[ 9.93994850e-01 1.05599236e-01 2.86886554e-02 5.82021130e+01] [-1.05555793e-01 9.94408770e-01 -3.02877921e-03 -3.78203813e+00] [-2.88480873e-02 -1.76628238e-05 9.99583807e-01 -2.07484319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.905871559999994 meters 0.02292513200283482 Centerline is valid? [True, True] Translation: X:58.26, Y:-3.79, Z:-2.08 [[ 9.94098921e-01 1.04520172e-01 2.90321874e-02 5.82629896e+01] [-1.04475201e-01 9.94522767e-01 -3.06575905e-03 -3.79185833e+00] [-2.91936050e-02 1.45241402e-05 9.99573776e-01 -2.07893372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.96587156 meters 0.014551858775574248 Centerline is valid? [True, True] Translation: X:58.32, Y:-3.80, Z:-2.08 [[ 9.94285025e-01 1.02743863e-01 2.89997780e-02 5.83247762e+01] [-1.02698267e-01 9.94707844e-01 -3.06131123e-03 -3.80356341e+00] [-2.91608376e-02 6.55889663e-05 9.99574730e-01 -2.07939286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.02587156 meters 0.014481618009269533 Centerline is valid? [True, True] Translation: X:58.39, Y:-3.81, Z:-2.08 [[ 9.94253539e-01 1.03087335e-01 2.88600380e-02 5.83865416e+01] [-1.03042183e-01 9.94672307e-01 -3.05133731e-03 -3.81097140e+00] [-2.90208348e-02 6.00016014e-05 9.99578805e-01 -2.08189124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.085871559999994 meters 0.014350816006867896 Centerline is valid? [True, True] Translation: X:58.45, Y:-3.82, Z:-2.08 [[ 9.94200557e-01 1.03807744e-01 2.80927852e-02 5.84479830e+01] [-1.03765123e-01 9.94597381e-01 -2.97469416e-03 -3.81807045e+00] [-2.82498068e-02 4.23912825e-05 9.99600894e-01 -2.08403603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.145871559999996 meters 0.01448305255925447 Centerline is valid? [True, True] Translation: X:58.51, Y:-3.83, Z:-2.09 [[ 9.94098918e-01 1.04756810e-01 2.81665155e-02 5.85084599e+01] [-1.04714177e-01 9.94497868e-01 -2.98844677e-03 -3.82593783e+00] [-2.83245997e-02 2.13782130e-05 9.99598778e-01 -2.08886081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.20587156 meters 0.02302344063736854 Centerline is valid? [True, True] Translation: X:58.57, Y:-3.83, Z:-2.09 [[ 9.93967661e-01 1.05908900e-01 2.84884989e-02 5.85699505e+01] [-1.05865706e-01 9.94375837e-01 -3.02446962e-03 -3.83352964e+00] [-2.86485932e-02 -9.73004927e-06 9.99589545e-01 -2.08974532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.265871559999994 meters 0.014393490329073722 Centerline is valid? [True, True] Translation: X:58.63, Y:-3.84, Z:-2.09 [[ 9.93919157e-01 1.06268269e-01 2.88403369e-02 5.86304234e+01] [-1.06223999e-01 9.94337495e-01 -3.06710607e-03 -3.83954165e+00] [-2.90029645e-02 -1.50804474e-05 9.99579325e-01 -2.09255944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.325871559999996 meters 0.025832600849036522 Centerline is valid? [True, True] Translation: X:58.69, Y:-3.85, Z:-2.10 [[ 9.93827578e-01 1.07493774e-01 2.74195767e-02 5.86923826e+01] [-1.07454118e-01 9.94205757e-01 -2.91991764e-03 -3.84703612e+00] [-2.75745740e-02 -4.44517623e-05 9.99619748e-01 -2.09702659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.38587156 meters 0.014947277943368953 Centerline is valid? [True, True] Translation: X:58.75, Y:-3.85, Z:-2.10 [[ 9.93675980e-01 1.08888186e-01 2.74118642e-02 5.87528170e+01] [-1.08848947e-01 9.94054001e-01 -2.92402584e-03 -3.85421372e+00] [-2.75672651e-02 -7.82183193e-05 9.99619948e-01 -2.09949449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44587155999999 meters 0.015128022463646409 Centerline is valid? [True, True] Translation: X:58.81, Y:-3.86, Z:-2.10 [[ 9.93649297e-01 1.09081806e-01 2.76086032e-02 5.88126578e+01] [-1.09041916e-01 9.94032773e-01 -2.95078441e-03 -3.86165859e+00] [-2.77657333e-02 -7.84501305e-05 9.99614455e-01 -2.10233921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.505871559999996 meters 0.014609477916074906 Centerline is valid? [True, True] Translation: X:58.87, Y:-3.87, Z:-2.10 [[ 9.93819544e-01 1.07542348e-01 2.75201287e-02 5.88744550e+01] [-1.07502119e-01 9.94200504e-01 -2.94146915e-03 -3.87298329e+00] [-2.76768583e-02 -3.51826245e-05 9.99616922e-01 -2.10373847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.56587156 meters 0.029812062937919194 Centerline is valid? [True, True] Translation: X:58.94, Y:-3.89, Z:-2.11 [[ 9.94205803e-01 1.03811026e-01 2.78942909e-02 5.89355782e+01] [-1.03768100e-01 9.94597037e-01 -2.98597679e-03 -3.89341808e+00] [-2.80535564e-02 7.41378731e-05 9.99606419e-01 -2.10772606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62587155999999 meters 0.015748859233360047 Centerline is valid? [True, True] Translation: X:59.00, Y:-3.91, Z:-2.11 [[ 9.94544545e-01 1.00356669e-01 2.84549894e-02 5.89970557e+01] [-1.00310417e-01 9.94951510e-01 -3.05189125e-03 -3.90892928e+00] [-2.86176123e-02 1.80909956e-04 9.99590416e-01 -2.10606219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.685871559999995 meters 0.019200780263995344 Centerline is valid? [True, True] Translation: X:59.06, Y:-3.93, Z:-2.11 [[ 9.94753369e-01 9.80415350e-02 2.92163053e-02 5.90572065e+01] [-9.79916205e-02 9.95182290e-01 -3.13881970e-03 -3.92701885e+00] [-2.93832843e-02 2.59398373e-04 9.99568184e-01 -2.10811126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.74587156 meters 0.020297619069073985 Centerline is valid? [True, True] Translation: X:59.12, Y:-3.94, Z:-2.11 [[ 9.94657507e-01 9.90198995e-02 2.91805437e-02 5.91181941e+01] [-9.89703831e-02 9.95085426e-01 -3.13991259e-03 -3.93752784e+00] [-2.93480476e-02 2.35128039e-04 9.99569226e-01 -2.10955016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80587156 meters 0.015935744647322867 Centerline is valid? [True, True] Translation: X:59.18, Y:-3.95, Z:-2.11 [[ 9.94558746e-01 9.99765116e-02 2.92847762e-02 5.91798734e+01] [-9.99269048e-02 9.94989775e-01 -3.15623485e-03 -3.94510943e+00] [-2.94536022e-02 2.12723934e-04 9.99566126e-01 -2.11070099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.865871559999995 meters 0.020233749014735472 Centerline is valid? [True, True] Translation: X:59.24, Y:-3.95, Z:-2.11 [[ 9.94009339e-01 1.05191883e-01 2.96664954e-02 5.92407162e+01] [-1.05143134e-01 9.94451941e-01 -3.20277999e-03 -3.95235497e+00] [-2.98388104e-02 6.43649371e-05 9.99554721e-01 -2.11440005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.92587156 meters 0.014450783416681236 Centerline is valid? [True, True] Translation: X:59.30, Y:-3.96, Z:-2.12 [[ 9.93422558e-01 1.10554143e-01 2.98228671e-02 5.93031697e+01] [-1.10507160e-01 9.93870099e-01 -3.22408067e-03 -3.95748396e+00] [-2.99964913e-02 -9.27658896e-05 9.99550000e-01 -2.11551305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98587156 meters 0.016060763152702943 Centerline is valid? [True, True] Translation: X:59.37, Y:-3.96, Z:-2.12 [[ 9.92987086e-01 1.14442197e-01 2.96585714e-02 5.93652042e+01] [-1.14397283e-01 9.93429888e-01 -3.21234593e-03 -3.96322962e+00] [-2.98313392e-02 -2.03041967e-04 9.99554926e-01 -2.11828285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04587156 meters 0.020060730001526875 Centerline is valid? [True, True] Translation: X:59.43, Y:-3.97, Z:-2.12 [[ 9.92467249e-01 1.19103236e-01 2.86910977e-02 5.94259012e+01] [-1.19062988e-01 9.92881822e-01 -3.11321590e-03 -3.96974569e+00] [-2.88576635e-02 -3.26283017e-04 9.99583478e-01 -2.12362519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10587156 meters 0.02345436984536064 Centerline is valid? [True, True] Translation: X:59.49, Y:-3.97, Z:-2.13 [[ 9.92101481e-01 1.22338650e-01 2.77111375e-02 5.94867892e+01] [-1.22302327e-01 9.92488333e-01 -3.00828958e-03 -3.97472512e+00] [-2.78710108e-02 -4.04608042e-04 9.99611446e-01 -2.12876921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.16587156 meters 0.031013690406546796 Centerline is valid? [True, True] Translation: X:59.55, Y:-3.98, Z:-2.13 [[ 9.91349971e-01 1.28151202e-01 2.83285197e-02 5.95481000e+01] [-1.28115439e-01 9.91754475e-01 -3.08138578e-03 -3.98042573e+00] [-2.84898195e-02 -5.74589041e-04 9.99593918e-01 -2.13020704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22587156 meters 0.031165631569628434 Centerline is valid? [True, True] Translation: X:59.61, Y:-3.98, Z:-2.13 [[ 9.90813894e-01 1.32177777e-01 2.85808003e-02 5.96089371e+01] [-1.32143023e-01 9.91225782e-01 -3.10966658e-03 -3.98326350e+00] [-2.87410549e-02 -6.95652501e-04 9.99586648e-01 -2.13002279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28587155999999 meters 0.03685541358603543 Centerline is valid? [True, True] Translation: X:59.67, Y:-3.98, Z:-2.13 [[ 9.89995396e-01 1.37960924e-01 2.95955825e-02 5.96697911e+01] [-1.37926223e-01 9.90437269e-01 -3.22059138e-03 -3.98329161e+00] [-2.97568837e-02 -8.93636276e-04 9.99556766e-01 -2.13131493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34587155999999 meters 0.039745928887349014 Centerline is valid? [True, True] Translation: X:59.73, Y:-3.99, Z:-2.13 [[ 9.89537846e-01 1.41176969e-01 2.97307106e-02 5.97302934e+01] [-1.41143399e-01 9.89983875e-01 -3.23529602e-03 -3.98668431e+00] [-2.98896733e-02 -9.94845707e-04 9.99552709e-01 -2.13333053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40587156 meters 0.04277792131823526 Centerline is valid? [True, True] Translation: X:59.79, Y:-3.99, Z:-2.14 [[ 9.89205370e-01 1.43575071e-01 2.93075794e-02 5.97907185e+01] [-1.43543501e-01 9.89638870e-01 -3.18925088e-03 -3.98895071e+00] [-2.94618166e-02 -1.05208844e-03 9.99565353e-01 -2.13713008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46587156 meters 0.04123627720338299 Centerline is valid? [True, True] Translation: X:59.85, Y:-4.00, Z:-2.14 [[ 9.89219548e-01 1.43557110e-01 2.89144059e-02 5.98503465e+01] [-1.43526364e-01 9.89641491e-01 -3.14676041e-03 -3.99563458e+00] [-2.90666356e-02 -1.03714265e-03 9.99576938e-01 -2.13985136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.52587156 meters 0.041122074534513456 Centerline is valid? [True, True] Translation: X:59.91, Y:-4.00, Z:-2.14 [[ 9.89468910e-01 1.41862020e-01 2.87479174e-02 5.99101426e+01] [-1.41830943e-01 9.89885954e-01 -3.12764310e-03 -4.00388082e+00] [-2.89008534e-02 -9.82638611e-04 9.99581800e-01 -2.14297926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58587156 meters 0.03701194637190082 Centerline is valid? [True, True] Translation: X:59.97, Y:-4.00, Z:-2.14 [[ 9.89627324e-01 1.41357095e-01 2.56111477e-02 5.99694808e+01] [-1.40847665e-01 9.89814486e-01 -2.07176079e-02 -4.00110366e+00] [-2.82788658e-02 1.68954405e-02 9.99457278e-01 -2.14181296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64587156 meters 0.04020447879689369 Centerline is valid? [True, True] Translation: X:60.03, Y:-4.03, Z:-2.15 [[ 9.90327989e-01 1.35153336e-01 3.13695569e-02 6.00284663e+01] [-1.35661712e-01 9.90646499e-01 1.46770006e-02 -4.02670757e+00] [-2.90924961e-02 -1.87906922e-02 9.99400088e-01 -2.15031389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70587155999999 meters 0.030411967279114983 Centerline is valid? [True, True] Translation: X:60.09, Y:-4.02, Z:-2.15 [[ 9.90584407e-01 1.34057003e-01 2.77714188e-02 6.00885684e+01] [-1.33694717e-01 9.90916134e-01 -1.45237377e-02 -4.02246909e+00] [-2.94661557e-02 1.06740961e-02 9.99508784e-01 -2.14768023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76587156 meters 0.036500779849087485 Centerline is valid? [True, True] Translation: X:60.15, Y:-4.05, Z:-2.15 [[ 9.91425795e-01 1.27036456e-01 3.06044292e-02 6.01491876e+01] [-1.27344413e-01 9.91823622e-01 8.32487130e-03 -4.04638630e+00] [-2.92966337e-02 -1.21507952e-02 9.99496906e-01 -2.15473249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82587156 meters 0.019014343470453075 Centerline is valid? [True, True] Translation: X:60.21, Y:-4.06, Z:-2.15 [[ 9.92334220e-01 1.19726348e-01 3.06332700e-02 6.02089987e+01] [-1.19680212e-01 9.92806869e-01 -3.34184449e-03 -4.05575897e+00] [-3.08130277e-02 -3.49969595e-04 9.99525105e-01 -2.15269072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.88587156 meters 0.016340400562418086 Centerline is valid? [True, True] Translation: X:60.27, Y:-4.07, Z:-2.16 [[ 9.92868928e-01 1.15168026e-01 3.07834130e-02 6.02691250e+01] [-1.15119275e-01 9.93346003e-01 -3.35722849e-03 -4.06855614e+00] [-3.09652256e-02 -2.10476329e-04 9.99520440e-01 -2.15683194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94587156 meters 0.01439039187349691 Centerline is valid? [True, True] Translation: X:60.33, Y:-4.08, Z:-2.16 [[ 9.93492064e-01 1.09890666e-01 2.99593217e-02 6.03298516e+01] [-1.09842028e-01 9.93943680e-01 -3.26942710e-03 -4.08468392e+00] [-3.01371580e-02 -4.26427855e-05 9.99545772e-01 -2.16051751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00587156 meters 0.014188520409941384 Centerline is valid? [True, True] Translation: X:60.39, Y:-4.10, Z:-2.16 [[ 9.93717340e-01 1.07908841e-01 2.96905750e-02 6.03921606e+01] [-1.07860052e-01 9.94160793e-01 -3.24464774e-03 -4.09548735e+00] [-2.98673318e-02 2.18357693e-05 9.99553871e-01 -2.16222646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06587155999999 meters 0.020595876938980674 Centerline is valid? [True, True] Translation: X:60.45, Y:-4.11, Z:-2.17 [[ 9.93954021e-01 1.06111105e-01 2.82105998e-02 6.04522959e+01] [-1.06066171e-01 9.94354277e-01 -3.08866194e-03 -4.10648153e+00] [-2.83790719e-02 7.77976392e-05 9.99597230e-01 -2.17011973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12587156 meters 0.014886930739307335 Centerline is valid? [True, True] Translation: X:60.51, Y:-4.12, Z:-2.17 [[ 9.93976268e-01 1.05776394e-01 2.86798446e-02 6.05146567e+01] [-1.05729691e-01 9.94389936e-01 -3.14430641e-03 -4.11566216e+00] [-2.88515422e-02 9.30548411e-05 9.99583703e-01 -2.16942991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18587156 meters 0.02875701407948871 Centerline is valid? [True, True] Translation: X:60.58, Y:-4.12, Z:-2.18 [[ 9.93984195e-01 1.05581366e-01 2.91203436e-02 6.05758196e+01] [-1.05532955e-01 9.94410662e-01 -3.19865936e-03 -4.12477770e+00] [-2.92952990e-02 1.06260927e-04 9.99570795e-01 -2.17523757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24587156 meters 0.029667811595979005 Centerline is valid? [True, True] Translation: X:60.64, Y:-4.13, Z:-2.18 [[ 9.93804999e-01 1.07183879e-01 2.93809524e-02 6.06372921e+01] [-1.07135134e-01 9.94239213e-01 -3.23284965e-03 -4.13069024e+00] [-2.95582043e-02 6.50898810e-05 9.99563059e-01 -2.17573644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30587156 meters 0.014893324714339094 Centerline is valid? [True, True] Translation: X:60.70, Y:-4.13, Z:-2.18 [[ 9.93278888e-01 1.12110686e-01 2.87792465e-02 6.06990780e+01] [-1.12065846e-01 9.93695722e-01 -3.17138517e-03 -4.13249289e+00] [-2.89533603e-02 -7.51006795e-05 9.99580761e-01 -2.17713373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36587156 meters 0.01586601930129141 Centerline is valid? [True, True] Translation: X:60.76, Y:-4.13, Z:-2.18 [[ 9.92781350e-01 1.16294217e-01 2.93401813e-02 6.07614431e+01] [-1.16249271e-01 9.93214789e-01 -3.23884082e-03 -4.13406793e+00] [-2.95177605e-02 -1.95313940e-04 9.99564237e-01 -2.17663630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42587155999999 meters 0.01951044162478824 Centerline is valid? [True, True] Translation: X:60.82, Y:-4.13, Z:-2.18 [[ 9.92045760e-01 1.22198885e-01 3.02099593e-02 6.08238274e+01] [-1.22153797e-01 9.92505562e-01 -3.34052425e-03 -4.13059169e+00] [-3.03917609e-02 -3.76308308e-04 9.99537993e-01 -2.17829139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48587155999999 meters 0.02271796874584277 Centerline is valid? [True, True] Translation: X:60.89, Y:-4.13, Z:-2.18 [[ 9.91692811e-01 1.24962859e-01 3.04902027e-02 6.08852816e+01] [-1.24918082e-01 9.92161313e-01 -3.37649672e-03 -4.13209469e+00] [-3.06731362e-02 -4.60330126e-04 9.99529363e-01 -2.18217927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54587156 meters 0.030092376402413933 Centerline is valid? [True, True] Translation: X:60.95, Y:-4.14, Z:-2.19 [[ 9.91525525e-01 1.26442317e-01 2.98240569e-02 6.09466903e+01] [-1.26400004e-01 9.91973840e-01 -3.30742017e-03 -4.13653076e+00] [-3.00028821e-02 -4.90369384e-04 9.99549692e-01 -2.18851430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60587156 meters 0.022645745637085626 Centerline is valid? [True, True] Translation: X:61.01, Y:-4.14, Z:-2.19 [[ 9.91524838e-01 1.26327227e-01 3.03303185e-02 6.10084466e+01] [-1.26283271e-01 9.91988503e-01 -3.36813950e-03 -4.14442055e+00] [-3.05128150e-02 -4.90617875e-04 9.99534255e-01 -2.18654808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66587156 meters 0.021974889224735405 Centerline is valid? [True, True] Translation: X:61.07, Y:-4.15, Z:-2.19 [[ 9.91620746e-01 1.25619206e-01 3.01348941e-02 6.10704017e+01] [-1.25575331e-01 9.92078426e-01 -3.35162294e-03 -4.15185773e+00] [-3.03172065e-02 -4.60660461e-04 9.99540222e-01 -2.18983311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72587156 meters 0.02177447836278429 Centerline is valid? [True, True] Translation: X:61.13, Y:-4.16, Z:-2.19 [[ 9.91778641e-01 1.24307963e-01 3.03752817e-02 6.11308818e+01] [-1.24262603e-01 9.92243597e-01 -3.38383576e-03 -4.15992795e+00] [-3.05603165e-02 -4.18495541e-04 9.99532837e-01 -2.19358389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78587155999999 meters 0.021020747594791077 Centerline is valid? [True, True] Translation: X:61.19, Y:-4.17, Z:-2.19 [[ 9.91860274e-01 1.23499671e-01 3.10004560e-02 6.11924956e+01] [-1.23451873e-01 9.92344534e-01 -3.45851087e-03 -4.16664481e+00] [-3.11902580e-02 -3.96704811e-04 9.99513387e-01 -2.19465159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84587155999999 meters 0.019127167776541165 Centerline is valid? [True, True] Translation: X:61.26, Y:-4.18, Z:-2.20 [[ 9.91651624e-01 1.24062537e-01 3.51502917e-02 6.12555925e+01] [-1.24297051e-01 9.92234581e-01 4.55851194e-03 -4.18001279e+00] [-3.43117944e-02 -8.88953338e-03 9.99371641e-01 -2.19505347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90587156 meters 0.023682272623513925 Centerline is valid? [True, True] Translation: X:61.32, Y:-4.17, Z:-2.20 [[ 9.91469328e-01 1.27129781e-01 2.87504865e-02 6.13163701e+01] [-1.26835187e-01 9.91852954e-01 -1.18554956e-02 -4.17075603e+00] [-3.00234415e-02 8.10778690e-03 9.99516311e-01 -2.20177350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96587156 meters 0.02279945502806799 Centerline is valid? [True, True] Translation: X:61.38, Y:-4.19, Z:-2.20 [[ 9.91131341e-01 1.28269027e-01 3.47235068e-02 6.13776818e+01] [-1.28565976e-01 9.91679987e-01 6.44925453e-03 -4.19022280e+00] [-3.36073672e-02 -1.08563198e-02 9.99376148e-01 -2.20368669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.02587156 meters 0.025989327150000407 Centerline is valid? [True, True] Translation: X:61.44, Y:-4.18, Z:-2.21 [[ 9.91031967e-01 1.30472644e-01 2.88536005e-02 6.14394958e+01] [-1.30123054e-01 9.91403380e-01 -1.36868201e-02 -4.17753189e+00] [-3.03913126e-02 9.80955763e-03 9.99489940e-01 -2.20529052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08587156 meters 0.03349904660304149 Centerline is valid? [True, True] Translation: X:61.50, Y:-4.19, Z:-2.21 [[ 9.90987143e-01 1.30388365e-01 3.07141148e-02 6.15007531e+01] [-1.30344008e-01 9.91462825e-01 -3.45053380e-03 -4.18989294e+00] [-3.09018125e-02 -5.83966206e-04 9.99522254e-01 -2.20967616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14587156 meters 0.026785302197408843 Centerline is valid? [True, True] Translation: X:61.56, Y:-4.19, Z:-2.21 [[ 9.90891983e-01 1.30952299e-01 3.13778992e-02 6.15619824e+01] [-1.30906110e-01 9.91388483e-01 -3.53071345e-03 -4.19372177e+00] [-3.15700429e-02 -6.09003080e-04 9.99501356e-01 -2.20836911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20587155999999 meters 0.029050867329731726 Centerline is valid? [True, True] Translation: X:61.62, Y:-4.19, Z:-2.21 [[ 9.90624803e-01 1.32832860e-01 3.19050449e-02 6.16227257e+01] [-1.32785872e-01 9.91138223e-01 -3.59650871e-03 -4.19400191e+00] [-3.21000440e-02 -6.73748473e-04 9.99484434e-01 -2.20969255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26587156 meters 0.037628537109625264 Centerline is valid? [True, True] Translation: X:61.68, Y:-4.19, Z:-2.21 [[ 9.90048538e-01 1.37151246e-01 3.15186975e-02 6.16838348e+01] [-1.37107574e-01 9.90549792e-01 -3.55295754e-03 -4.19023846e+00] [-3.17081318e-02 -8.03851734e-04 9.99496848e-01 -2.21474600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32587156 meters 0.033434403629855024 Centerline is valid? [True, True] Translation: X:61.74, Y:-4.19, Z:-2.22 [[ 9.89994828e-01 1.37683536e-01 3.08785537e-02 6.17438662e+01] [-1.37641871e-01 9.90475945e-01 -3.48103777e-03 -4.19144283e+00] [-3.10637462e-02 -8.03972532e-04 9.99517082e-01 -2.21572668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.38587156 meters 0.03145325307651322 Centerline is valid? [True, True] Translation: X:61.80, Y:-4.20, Z:-2.22 [[ 9.90283703e-01 1.35500366e-01 3.12703934e-02 6.18032892e+01] [-1.35456574e-01 9.90777016e-01 -3.52444706e-03 -4.19640726e+00] [-3.14595509e-02 -7.45577852e-04 9.99504748e-01 -2.21850926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44587156 meters 0.027421211066005594 Centerline is valid? [True, True] Translation: X:61.86, Y:-4.21, Z:-2.22 [[ 9.90699261e-01 1.32216083e-01 3.21540338e-02 6.18636148e+01] [-1.32168087e-01 9.91220698e-01 -3.62293236e-03 -4.20618619e+00] [-3.23507537e-02 -6.60500716e-04 9.99476359e-01 -2.21873454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50587156 meters 0.02289404731110615 Centerline is valid? [True, True] Translation: X:61.92, Y:-4.22, Z:-2.22 [[ 9.91357954e-01 1.27210130e-01 3.20466817e-02 6.19237750e+01] [-1.27159829e-01 9.91875666e-01 -3.61111469e-03 -4.21733353e+00] [-3.22456942e-02 -4.95143309e-04 9.99479850e-01 -2.22173441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56587155999999 meters 0.021698355370103495 Centerline is valid? [True, True] Translation: X:61.98, Y:-4.22, Z:-2.23 [[ 9.91686268e-01 1.24752247e-01 3.15471480e-02 6.19838056e+01] [-1.24702232e-01 9.92187840e-01 -3.55569168e-03 -4.22486032e+00] [-3.17442772e-02 -4.07869153e-04 9.99495940e-01 -2.22653435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62587156 meters 0.019817374954121572 Centerline is valid? [True, True] Translation: X:62.04, Y:-4.23, Z:-2.23 [[ 9.91948285e-01 1.22904381e-01 3.05469100e-02 6.20441270e+01] [-1.22856604e-01 9.92418460e-01 -3.44318223e-03 -4.23246734e+00] [-3.07384995e-02 -3.37430931e-04 9.99527404e-01 -2.23102058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68587156 meters 0.020253058741220513 Centerline is valid? [True, True] Translation: X:62.10, Y:-4.24, Z:-2.23 [[ 9.91942073e-01 1.23017010e-01 3.02942231e-02 6.21044675e+01] [-1.22970047e-01 9.92404505e-01 -3.41553679e-03 -4.23695632e+00] [-3.04842926e-02 -3.37267398e-04 9.99535189e-01 -2.23414843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74587156 meters 0.022455244503563076 Centerline is valid? [True, True] Translation: X:62.16, Y:-4.24, Z:-2.23 [[ 9.91634490e-01 1.25236133e-01 3.12561968e-02 6.21639260e+01] [-1.25187237e-01 9.92126875e-01 -3.52415363e-03 -4.23620962e+00] [-3.14514642e-02 -4.18204626e-04 9.99505193e-01 -2.23498760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80587156 meters 0.025036715626972253 Centerline is valid? [True, True] Translation: X:62.22, Y:-4.24, Z:-2.24 [[ 9.91388035e-01 1.27450803e-01 3.01007885e-02 6.22239597e+01] [-1.27406426e-01 9.91844783e-01 -3.39549235e-03 -4.23595786e+00] [-3.02880682e-02 -4.68783408e-04 9.99541101e-01 -2.24015155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86587156 meters 0.028749857840158474 Centerline is valid? [True, True] Translation: X:62.28, Y:-4.23, Z:-2.25 [[ 9.91003977e-01 1.30549592e-01 2.94605200e-02 6.22842973e+01] [-1.30508471e-01 9.91441627e-01 -3.32261142e-03 -4.23248440e+00] [-2.96421515e-02 -5.52126293e-04 9.99560422e-01 -2.24515791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92587155999999 meters 0.029367670871531276 Centerline is valid? [True, True] Translation: X:62.34, Y:-4.23, Z:-2.24 [[ 9.90584786e-01 1.33564876e-01 3.00367458e-02 6.23443753e+01] [-1.33523536e-01 9.91039855e-01 -3.38691531e-03 -4.23121566e+00] [-3.02199851e-02 -6.55585728e-04 9.99543057e-01 -2.24468521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98587155999999 meters 0.03454362069238021 Centerline is valid? [True, True] Translation: X:62.40, Y:-4.23, Z:-2.25 [[ 9.90447410e-01 1.34458922e-01 3.05733022e-02 6.24035372e+01] [-1.34416529e-01 9.90918924e-01 -3.44702988e-03 -4.22537370e+00] [-3.07591477e-02 -6.95455348e-04 9.99526584e-01 -2.24941349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04587156 meters 0.032394081489791816 Centerline is valid? [True, True] Translation: X:62.46, Y:-4.24, Z:-2.25 [[ 9.90708796e-01 1.32775503e-01 2.94405567e-02 6.24618588e+01] [-1.32735496e-01 9.91145943e-01 -3.31780891e-03 -4.23630472e+00] [-2.96204121e-02 -6.20824416e-04 9.99561027e-01 -2.25324427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10587156 meters 0.025693259159082056 Centerline is valid? [True, True] Translation: X:62.52, Y:-4.24, Z:-2.25 [[ 9.90965704e-01 1.30562961e-01 3.06641019e-02 6.25207219e+01] [-1.30518581e-01 9.91439850e-01 -3.45305763e-03 -4.24314874e+00] [-3.08524540e-02 -5.80373396e-04 9.99523781e-01 -2.25155092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16587156 meters 0.02364511854722289 Centerline is valid? [True, True] Translation: X:62.58, Y:-4.25, Z:-2.25 [[ 9.91244642e-01 1.27871816e-01 3.29068267e-02 6.25792305e+01] [-1.27819287e-01 9.91790559e-01 -3.70366999e-03 -4.24676679e+00] [-3.31102751e-02 -5.34884109e-04 9.99451561e-01 -2.25057175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22587156 meters 0.02120861223918046 Centerline is valid? [True, True] Translation: X:62.64, Y:-4.25, Z:-2.25 [[ 9.91591174e-01 1.25209179e-01 3.27048101e-02 6.26387259e+01] [-1.25155882e-01 9.92130266e-01 -3.67984222e-03 -4.25449568e+00] [-3.29081820e-02 -4.44300278e-04 9.99458280e-01 -2.25420650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28587155999999 meters 0.02962105720897506 Centerline is valid? [True, True] Translation: X:62.70, Y:-4.26, Z:-2.26 [[ 9.91816249e-01 1.23474068e-01 3.24758793e-02 6.26983453e+01] [-1.23420589e-01 9.92347725e-01 -3.65392029e-03 -4.26086502e+00] [-3.26785293e-02 -3.84174642e-04 9.99465840e-01 -2.25938801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34587155999999 meters 0.01832878604238805 Centerline is valid? [True, True] Translation: X:62.76, Y:-4.26, Z:-2.26 [[ 9.91947304e-01 1.22433179e-01 3.24139281e-02 6.27584844e+01] [-1.22379393e-01 9.92476697e-01 -3.64559732e-03 -4.26404703e+00] [-3.26164104e-02 -3.50556421e-04 9.99467882e-01 -2.26011816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40587156 meters 0.022844986968162954 Centerline is valid? [True, True] Translation: X:62.82, Y:-4.27, Z:-2.26 [[ 9.91949641e-01 1.22585941e-01 3.17584056e-02 6.28178030e+01] [-1.22534411e-01 9.92457841e-01 -3.57110795e-03 -4.26742073e+00] [-3.19566463e-02 -3.49138284e-04 9.99489195e-01 -2.26499615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46587156 meters 0.0187371473247424 Centerline is valid? [True, True] Translation: X:62.88, Y:-4.27, Z:-2.27 [[ 9.92019072e-01 1.22085716e-01 3.15157046e-02 6.28766605e+01] [-1.22034743e-01 9.92519505e-01 -3.54304650e-03 -4.26921532e+00] [-3.17125069e-02 -3.31241213e-04 9.99496977e-01 -2.26799669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52587156 meters 0.01771357624068133 Centerline is valid? [True, True] Translation: X:62.94, Y:-4.27, Z:-2.27 [[ 9.92212510e-01 1.20510310e-01 3.14896746e-02 6.29350890e+01] [-1.20458648e-01 9.92712036e-01 -3.53951173e-03 -4.27441147e+00] [-3.16867267e-02 -2.81255809e-04 9.99497810e-01 -2.27100192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58587156 meters 0.016011997721277284 Centerline is valid? [True, True] Translation: X:62.99, Y:-4.28, Z:-2.27 [[ 9.92470425e-01 1.18222668e-01 3.20290012e-02 6.29944125e+01] [-1.18168087e-01 9.92987087e-01 -3.59835770e-03 -4.28237821e+00] [-3.22297921e-02 -2.13542200e-04 9.99480462e-01 -2.27284117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64587156 meters 0.014572495323587415 Centerline is valid? [True, True] Translation: X:63.05, Y:-4.29, Z:-2.27 [[ 9.92717191e-01 1.15776152e-01 3.32935719e-02 6.30535011e+01] [-1.15715827e-01 9.93275321e-01 -3.73958333e-03 -4.29148296e+00] [-3.35026378e-02 -1.40244526e-04 9.99438619e-01 -2.27292444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70587155999999 meters 0.013757717338408103 Centerline is valid? [True, True] Translation: X:63.11, Y:-4.30, Z:-2.28 [[ 9.93084556e-01 1.12389966e-01 3.39346519e-02 6.31129516e+01] [-1.12325353e-01 9.93664176e-01 -3.81055646e-03 -4.30032523e+00] [-3.41479163e-02 -2.75169942e-05 9.99416789e-01 -2.27536053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76587156 meters 0.013796703128077362 Centerline is valid? [True, True] Translation: X:63.17, Y:-4.31, Z:-2.28 [[ 9.93352812e-01 1.09746210e-01 3.47269510e-02 6.31730637e+01] [-1.09676930e-01 9.93959640e-01 -3.89944953e-03 -4.30937731e+00] [-3.49451375e-02 6.47837664e-05 9.99389230e-01 -2.27714456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82587156 meters 0.014541725953562058 Centerline is valid? [True, True] Translation: X:63.23, Y:-4.32, Z:-2.28 [[ 9.93695898e-01 1.06206980e-01 3.58962468e-02 6.32341312e+01] [-1.06130658e-01 9.94344025e-01 -4.03038705e-03 -4.32036324e+00] [-3.61212738e-02 1.95286774e-04 9.99347395e-01 -2.27788718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.88587156 meters 0.01623322152468148 Centerline is valid? [True, True] Translation: X:63.29, Y:-4.33, Z:-2.28 [[ 9.93967047e-01 1.03683145e-01 3.57675123e-02 6.32942866e+01] [-1.03605498e-01 9.94610336e-01 -4.02255290e-03 -4.33317819e+00] [-3.59918084e-02 2.92574088e-04 9.99352042e-01 -2.28194553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94587156 meters 0.01872128297538044 Centerline is valid? [True, True] Translation: X:63.35, Y:-4.35, Z:-2.29 [[ 9.94249847e-01 1.00975633e-01 3.56533863e-02 6.33546569e+01] [-1.00896633e-01 9.94888822e-01 -4.01270534e-03 -4.34535249e+00] [-3.58763409e-02 3.92325049e-04 9.99356160e-01 -2.28527461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00587156 meters 0.019268200313729195 Centerline is valid? [True, True] Translation: X:63.42, Y:-4.36, Z:-2.29 [[ 9.94320897e-01 9.98343278e-02 3.68654453e-02 6.34158202e+01] [-9.97488633e-02 9.95003970e-01 -4.15492970e-03 -4.35615299e+00] [-3.70960691e-02 4.54047162e-04 9.99311601e-01 -2.28596074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06587155999999 meters 0.02509916312864039 Centerline is valid? [True, True] Translation: X:63.48, Y:-4.37, Z:-2.29 [[ 9.94351859e-01 9.95433091e-02 3.68172601e-02 6.34781117e+01] [-9.94576483e-02 9.95033119e-01 -4.15544169e-03 -4.36652946e+00] [-3.70480396e-02 4.70213060e-04 9.99313375e-01 -2.29049105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12587156 meters 0.01928966518380993 Centerline is valid? [True, True] Translation: X:63.54, Y:-4.38, Z:-2.29 [[ 9.94360054e-01 9.95954634e-02 3.64530727e-02 6.35401562e+01] [-9.95112709e-02 9.95027900e-01 -4.12124564e-03 -4.37961945e+00] [-3.66822818e-02 4.70510442e-04 9.99326868e-01 -2.29188705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18587156 meters 0.019149469482594574 Centerline is valid? [True, True] Translation: X:63.60, Y:-4.39, Z:-2.30 [[ 9.94308970e-01 1.00190425e-01 3.62153320e-02 6.36024948e+01] [-1.00107471e-01 9.94968177e-01 -4.10124297e-03 -4.39131635e+00] [-3.64440081e-02 4.52477378e-04 9.99335594e-01 -2.29548953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.24587156 meters 0.016205669858136575 Centerline is valid? [True, True] Translation: X:63.66, Y:-4.40, Z:-2.30 [[ 9.93896289e-01 1.04029478e-01 3.67155800e-02 6.36646319e+01] [-1.03946567e-01 9.94574162e-01 -4.16508178e-03 -4.39830656e+00] [-3.69496585e-02 3.23200810e-04 9.99317076e-01 -2.29614463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30587156 meters 0.013608058312421059 Centerline is valid? [True, True] Translation: X:63.73, Y:-4.40, Z:-2.30 [[ 9.93354168e-01 1.08862970e-01 3.73677655e-02 6.37266457e+01] [-1.08780263e-01 9.94056754e-01 -4.24546384e-03 -4.40241705e+00] [-3.76078535e-02 1.52373855e-04 9.99292563e-01 -2.29715139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36587156 meters 0.01348804245465011 Centerline is valid? [True, True] Translation: X:63.79, Y:-4.40, Z:-2.30 [[ 9.92399771e-01 1.17258888e-01 3.73235538e-02 6.37900961e+01] [-1.17182073e-01 9.93101368e-01 -4.24665122e-03 -4.40279958e+00] [-3.75640300e-02 -1.59275701e-04 9.99294210e-01 -2.29972048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42587155999999 meters 0.02885111007938788 Centerline is valid? [True, True] Translation: X:63.85, Y:-4.41, Z:-2.31 [[ 9.92007720e-01 1.20815434e-01 3.63911260e-02 6.38505930e+01] [-1.20744515e-01 9.92674948e-01 -4.14836720e-03 -4.40632460e+00] [-3.66257459e-02 -2.78816552e-04 9.99329013e-01 -2.30631830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48587155999999 meters 0.01664790669472331 Centerline is valid? [True, True] Translation: X:63.91, Y:-4.42, Z:-2.31 [[ 9.91841780e-01 1.22500378e-01 3.52638780e-02 6.39107858e+01] [-1.22434826e-01 9.92468412e-01 -4.02053791e-03 -4.41511416e+00] [-3.54908024e-02 -3.29789304e-04 9.99369949e-01 -2.30983430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54587156 meters 0.01687385909825196 Centerline is valid? [True, True] Translation: X:63.97, Y:-4.43, Z:-2.31 [[ 9.91878639e-01 1.22426168e-01 3.44760718e-02 6.39702503e+01] [-1.22363394e-01 9.92477573e-01 -3.93284628e-03 -4.42649408e+00] [-3.46982113e-02 -3.17702951e-04 9.99397785e-01 -2.31410890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.60587156 meters 0.016898658871897152 Centerline is valid? [True, True] Translation: X:64.03, Y:-4.44, Z:-2.32 [[ 9.91873372e-01 1.22554508e-01 3.41702715e-02 6.40307973e+01] [-1.22492908e-01 9.92461733e-01 -3.89828995e-03 -4.43573525e+00] [-3.43904398e-02 -3.19005912e-04 9.99408423e-01 -2.31660714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.66587156 meters 0.022486379308696073 Centerline is valid? [True, True] Translation: X:64.09, Y:-4.44, Z:-2.32 [[ 9.91716894e-01 1.23525657e-01 3.51996364e-02 6.40903777e+01] [-1.23460866e-01 9.92341313e-01 -4.01667097e-03 -4.44353108e+00] [-3.54262154e-02 -3.62377155e-04 9.99372229e-01 -2.31832944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72587156 meters 0.018692778839366337 Centerline is valid? [True, True] Translation: X:64.15, Y:-4.45, Z:-2.32 [[ 9.91565945e-01 1.24375564e-01 3.64375618e-02 6.41506556e+01] [-1.24306692e-01 9.92235131e-01 -4.15838289e-03 -4.44974047e+00] [-3.66718301e-02 -4.06121901e-04 9.99327280e-01 -2.31776049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78587155999999 meters 0.01770703430670186 Centerline is valid? [True, True] Translation: X:64.21, Y:-4.46, Z:-2.32 [[ 9.91547833e-01 1.24158809e-01 3.76494993e-02 6.42118665e+01] [-1.24085124e-01 9.92262274e-01 -4.29664479e-03 -4.46118073e+00] [-3.78916441e-02 -4.11413962e-04 9.99281769e-01 -2.31792554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84587155999999 meters 0.015167745143449889 Centerline is valid? [True, True] Translation: X:64.27, Y:-4.48, Z:-2.32 [[ 9.91947677e-01 1.21128395e-01 3.69826835e-02 6.42723751e+01] [-1.21054966e-01 9.92636807e-01 -4.22659813e-03 -4.47720466e+00] [-3.72223339e-02 -2.84373314e-04 9.99306968e-01 -2.32259619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90587156 meters 0.019759150395701305 Centerline is valid? [True, True] Translation: X:64.33, Y:-4.49, Z:-2.33 [[ 9.92353574e-01 1.18121444e-01 3.58009693e-02 6.43318676e+01] [-1.18050462e-01 9.92999143e-01 -4.09749288e-03 -4.49124269e+00] [-3.60343336e-02 -1.60159268e-04 9.99350540e-01 -2.32735293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96587156 meters 0.013440049645639537 Centerline is valid? [True, True] Translation: X:64.40, Y:-4.51, Z:-2.33 [[ 9.93143456e-01 1.11456673e-01 3.52630865e-02 6.43987439e+01] [-1.11640958e-01 9.93743147e-01 3.29471288e-03 -4.51070333e+00] [-3.46752328e-02 -7.20892730e-03 9.99372633e-01 -2.33157173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.02587156 meters 0.012778456840098977 Centerline is valid? [True, True] Translation: X:64.45, Y:-4.51, Z:-2.33 [[ 9.92589684e-01 1.16269785e-01 3.53136912e-02 6.44529016e+01] [-1.15915366e-01 9.93187445e-01 -1.19300690e-02 -4.51046578e+00] [-3.64602213e-02 7.74826400e-03 9.99305067e-01 -2.33001578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08587156 meters 0.013773203227782825 Centerline is valid? [True, True] Translation: X:64.51, Y:-4.52, Z:-2.33 [[ 9.92222115e-01 1.19309048e-01 3.55052838e-02 6.45145857e+01] [-1.19239650e-01 9.92857147e-01 -4.07328354e-03 -4.51823301e+00] [-3.57376544e-02 -1.92035614e-04 9.99361188e-01 -2.33462401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14587156 meters 0.017134438524352726 Centerline is valid? [True, True] Translation: X:64.58, Y:-4.52, Z:-2.34 [[ 9.91810616e-01 1.22929090e-01 3.46430367e-02 6.45753035e+01] [-1.22864993e-01 9.92415409e-01 -3.98114322e-03 -4.51997018e+00] [-3.48696817e-02 -3.07876349e-04 9.99391820e-01 -2.34038075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20587155999999 meters 0.01673000046391323 Centerline is valid? [True, True] Translation: X:64.64, Y:-4.53, Z:-2.34 [[ 9.91659685e-01 1.23717841e-01 3.61243011e-02 6.46377701e+01] [-1.23877488e-01 9.92295067e-01 2.20648504e-03 -4.53177716e+00] [-3.55729842e-02 -6.66306994e-03 9.99344869e-01 -2.34431308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26587156 meters 0.017421772853442933 Centerline is valid? [True, True] Translation: X:64.70, Y:-4.53, Z:-2.34 [[ 9.91514998e-01 1.25206678e-01 3.49470601e-02 6.46989790e+01] [-1.24909284e-01 9.92111800e-01 -1.05758203e-02 -4.53090215e+00] [-3.59955540e-02 6.12087219e-03 9.99333205e-01 -2.34166780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32587156 meters 0.01609909433326488 Centerline is valid? [True, True] Translation: X:64.76, Y:-4.56, Z:-2.35 [[ 9.91748153e-01 1.20610736e-01 4.34586261e-02 6.47606967e+01] [-1.21411905e-01 9.92468637e-01 1.62835327e-02 -4.55798393e+00] [-4.11673546e-02 -2.14255581e-02 9.98922517e-01 -2.34981904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.38587156 meters 0.03191659968242041 Centerline is valid? [True, True] Translation: X:64.82, Y:-4.55, Z:-2.35 [[ 9.91906970e-01 1.22627694e-01 3.29091271e-02 6.48210222e+01] [-1.21836190e-01 9.92233479e-01 -2.50732238e-02 -4.54637944e+00] [-3.57282092e-02 2.08607828e-02 9.99143795e-01 -2.34557969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44587156 meters 0.014773167023070953 Centerline is valid? [True, True] Translation: X:64.88, Y:-4.57, Z:-2.35 [[ 9.91900349e-01 1.22041947e-01 3.52059845e-02 6.48821399e+01] [-1.21974727e-01 9.92524907e-01 -4.05890023e-03 -4.56796874e+00] [-3.54381726e-02 -2.68215807e-04 9.99371835e-01 -2.34919742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50587156 meters 0.015961589109445434 Centerline is valid? [True, True] Translation: X:64.94, Y:-4.57, Z:-2.35 [[ 9.91779428e-01 1.23368031e-01 3.39690204e-02 6.49431237e+01] [-1.23305997e-01 9.92360943e-01 -3.92309833e-03 -4.57464341e+00] [-3.41935140e-02 -2.97735715e-04 9.99415186e-01 -2.35343728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56587155999999 meters 0.017272003955529053 Centerline is valid? [True, True] Translation: X:65.01, Y:-4.59, Z:-2.36 [[ 9.91447547e-01 1.24840758e-01 3.80334874e-02 6.50051730e+01] [-1.25050955e-01 9.92145194e-01 3.18943286e-03 -4.58574266e+00] [-3.73365705e-02 -7.91827931e-03 9.99271375e-01 -2.35964251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62587156 meters 0.018308972942554687 Centerline is valid? [True, True] Translation: X:65.07, Y:-4.59, Z:-2.36 [[ 9.90993871e-01 1.28351283e-01 3.81719144e-02 6.50660510e+01] [-1.28461258e-01 9.91714434e-01 4.32238349e-04 -4.59072547e+00] [-3.78001602e-02 -5.33195770e-03 9.99271093e-01 -2.36076190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68587156 meters 0.021477754700327784 Centerline is valid? [True, True] Translation: X:65.13, Y:-4.58, Z:-2.36 [[ 9.90948637e-01 1.30168777e-01 3.28159897e-02 6.51291168e+01] [-1.29670354e-01 9.91413233e-01 -1.68938282e-02 -4.58245007e+00] [-3.47332554e-02 1.24856550e-02 9.99318623e-01 -2.36085103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.74587156 meters 0.021515775646513562 Centerline is valid? [True, True] Translation: X:65.19, Y:-4.60, Z:-2.36 [[ 9.90900745e-01 1.29989125e-01 3.49075983e-02 6.51895055e+01] [-1.29927220e-01 9.91515280e-01 -4.04565168e-03 -4.59643938e+00] [-3.51373079e-02 -5.26607957e-04 9.99382355e-01 -2.36264943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80587156 meters 0.01907240453772039 Centerline is valid? [True, True] Translation: X:65.25, Y:-4.61, Z:-2.36 [[ 9.91267889e-01 1.27029264e-01 3.53770883e-02 6.52497334e+01] [-1.26963798e-01 9.91898878e-01 -4.10008353e-03 -4.60770794e+00] [-3.56113248e-02 -4.27328330e-04 9.99365624e-01 -2.36481785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86587156 meters 0.022458791794391537 Centerline is valid? [True, True] Translation: X:65.31, Y:-4.62, Z:-2.37 [[ 9.91867656e-01 1.22411264e-01 3.48429992e-02 6.53106512e+01] [-1.22344725e-01 9.92479430e-01 -4.04344651e-03 -4.62410684e+00] [-3.50759234e-02 -2.52293359e-04 9.99384619e-01 -2.36892312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92587155999999 meters 0.013426738537512849 Centerline is valid? [True, True] Translation: X:65.37, Y:-4.65, Z:-2.37 [[ 9.92888503e-01 1.14254901e-01 3.34400614e-02 6.53707619e+01] [-1.14188777e-01 9.93451466e-01 -3.88682097e-03 -4.64879023e+00] [-3.36651664e-02 4.07001361e-05 9.99433167e-01 -2.37211715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98587155999999 meters 0.015348668943094975 Centerline is valid? [True, True] Translation: X:65.43, Y:-4.68, Z:-2.38 [[ 9.92921206e-01 1.10917503e-01 4.24827781e-02 6.54274611e+01] [-1.11698274e-01 9.93605823e-01 1.64609763e-02 -4.68497731e+00] [-4.03853253e-02 -2.10897055e-02 9.98961586e-01 -2.37700073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04587156 meters 0.017173772140707894 Centerline is valid? [True, True] Translation: X:65.49, Y:-4.67, Z:-2.38 [[ 9.93728972e-01 1.07749866e-01 2.98780265e-02 6.54925067e+01] [-1.07028665e-01 9.93947240e-01 -2.47739387e-02 -4.67484899e+00] [-3.23665706e-02 2.14207753e-02 9.99246494e-01 -2.37785640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10587156 meters 0.015941365520765034 Centerline is valid? [True, True] Translation: X:65.55, Y:-4.70, Z:-2.38 [[ 9.93539548e-01 1.09074767e-01 3.13346680e-02 6.55528842e+01] [-1.09013895e-01 9.94033526e-01 -3.64962783e-03 -4.69877432e+00] [-3.15457928e-02 2.10135390e-04 9.99502286e-01 -2.38136377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.16587156 meters 0.015102476243926983 Centerline is valid? [True, True] Translation: X:65.61, Y:-4.70, Z:-2.39 [[ 9.93137329e-01 1.12548939e-01 3.17959503e-02 6.56142704e+01] [-1.12487831e-01 9.93646177e-01 -3.70987019e-03 -4.70387243e+00] [-3.20114665e-02 1.07753075e-04 9.99487496e-01 -2.38510610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22587156 meters 0.014132348570884471 Centerline is valid? [True, True] Translation: X:65.68, Y:-4.71, Z:-2.39 [[ 9.92394666e-01 1.19100520e-01 3.11109674e-02 6.56775946e+01] [-1.19045086e-01 9.92882197e-01 -3.63466839e-03 -4.70522873e+00] [-3.13224166e-02 -9.65822687e-05 9.99509328e-01 -2.38528552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28587155999999 meters 0.018812678284198064 Centerline is valid? [True, True] Translation: X:65.74, Y:-4.71, Z:-2.39 [[ 9.91476957e-01 1.26642732e-01 3.05787858e-02 6.57389215e+01] [-1.26592539e-01 9.91948343e-01 -3.57967176e-03 -4.70515600e+00] [-3.07859153e-02 -3.21884081e-04 9.99525950e-01 -2.38939815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34587155999999 meters 0.024125006752531177 Centerline is valid? [True, True] Translation: X:65.80, Y:-4.70, Z:-2.39 [[ 9.90800601e-01 1.31938743e-01 3.01054482e-02 6.58003951e+01] [-1.31892479e-01 9.91257757e-01 -3.52610973e-03 -4.70432322e+00] [-3.03074895e-02 -4.77010539e-04 9.99540509e-01 -2.39336397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40587156 meters 0.02807531935746294 Centerline is valid? [True, True] Translation: X:65.86, Y:-4.70, Z:-2.40 [[ 9.90371559e-01 1.35237980e-01 2.95780906e-02 6.58621477e+01] [-1.35194613e-01 9.90812986e-01 -3.47037234e-03 -4.70479791e+00] [-2.97756824e-02 -5.61840441e-04 9.99556448e-01 -2.39709128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46587156 meters 0.02686431045359895 Centerline is valid? [True, True] Translation: X:65.92, Y:-4.71, Z:-2.40 [[ 9.90226758e-01 1.36499287e-01 2.86166484e-02 6.59241323e+01] [-1.36459258e-01 9.90639998e-01 -3.35624307e-03 -4.71314786e+00] [-2.88069213e-02 -5.81564924e-04 9.99584825e-01 -2.39930509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.52587156 meters 0.0250260331198324 Centerline is valid? [True, True] Translation: X:65.99, Y:-4.72, Z:-2.40 [[ 9.90545702e-01 1.34189754e-01 2.85012718e-02 6.59859965e+01] [-1.34148911e-01 9.90955526e-01 -3.34900776e-03 -4.72344831e+00] [-2.86928953e-02 -5.06069337e-04 9.99588146e-01 -2.40169171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58587156 meters 0.02266247519525749 Centerline is valid? [True, True] Translation: X:66.05, Y:-4.73, Z:-2.40 [[ 9.90813286e-01 1.31990112e-01 2.94557664e-02 6.60481447e+01] [-1.31945475e-01 9.91250928e-01 -3.46255456e-03 -4.73299432e+00] [-2.96550788e-02 -4.55810021e-04 9.99560088e-01 -2.40192736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64587155999999 meters 0.020376510559783085 Centerline is valid? [True, True] Translation: X:66.11, Y:-4.74, Z:-2.40 [[ 9.91147307e-01 1.29262531e-01 3.03020430e-02 6.61092331e+01] [-1.29213947e-01 9.91610332e-01 -3.56433010e-03 -4.74299333e+00] [-3.05085533e-02 -3.82670390e-04 9.99534432e-01 -2.40236939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70587155999999 meters 0.024462836587927427 Centerline is valid? [True, True] Translation: X:66.17, Y:-4.76, Z:-2.40 [[ 9.91802517e-01 1.23927741e-01 3.11397135e-02 6.61687283e+01] [-1.23873584e-01 9.92291221e-01 -3.66983968e-03 -4.75689174e+00] [-3.13544593e-02 -2.17631668e-04 9.99508304e-01 -2.40453227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76587156 meters 0.014469285454245256 Centerline is valid? [True, True] Translation: X:66.23, Y:-4.77, Z:-2.41 [[ 9.92184536e-01 1.20817989e-01 3.11907202e-02 6.62301777e+01] [-1.20762140e-01 9.92674669e-01 -3.67510911e-03 -4.76932790e+00] [-3.14062571e-02 -1.20271696e-04 9.99506695e-01 -2.40650783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82587156 meters 0.014415343677511594 Centerline is valid? [True, True] Translation: X:66.29, Y:-4.80, Z:-2.41 [[ 9.92372600e-01 1.17168754e-01 3.83158797e-02 6.62909261e+01] [-1.17432622e-01 9.93069719e-01 4.70234378e-03 -4.79523209e+00] [-3.74993722e-02 -9.16601135e-03 9.99254613e-01 -2.41220780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.88587156 meters 0.017336073895657188 Centerline is valid? [True, True] Translation: X:66.35, Y:-4.80, Z:-2.41 [[ 9.93514850e-01 1.09625164e-01 3.01755787e-02 6.63502615e+01] [-1.09272062e-01 9.93925331e-01 -1.31169206e-02 -4.79951810e+00] [-3.14302166e-02 9.73450766e-03 9.99458544e-01 -2.41231257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94587156 meters 0.023411452005610428 Centerline is valid? [True, True] Translation: X:66.41, Y:-4.83, Z:-2.42 [[ 9.94043288e-01 1.04556379e-01 3.07555681e-02 6.64087868e+01] [-1.04493924e-01 9.94518881e-01 -3.63539793e-03 -4.82517827e+00] [-3.09670972e-02 3.99972906e-04 9.99520324e-01 -2.41629802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00587156 meters 0.022048865752093427 Centerline is valid? [True, True] Translation: X:66.47, Y:-4.84, Z:-2.42 [[ 9.94027111e-01 1.04829155e-01 3.03471630e-02 6.64707121e+01] [-1.04768353e-01 9.94490169e-01 -3.59111158e-03 -4.83659141e+00] [-3.05564085e-02 3.90239973e-04 9.99532968e-01 -2.41814306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06587155999999 meters 0.02110779015374215 Centerline is valid? [True, True] Translation: X:66.53, Y:-4.85, Z:-2.42 [[ 9.93873512e-01 1.06356232e-01 3.00631531e-02 6.65306630e+01] [-1.06297089e-01 9.94328031e-01 -3.56320568e-03 -4.84636541e+00] [-3.02716050e-02 3.45750082e-04 9.99541650e-01 -2.42253908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12587156 meters 0.03290441303515046 Centerline is valid? [True, True] Translation: X:66.59, Y:-4.86, Z:-2.42 [[ 9.93687209e-01 1.07678157e-01 3.14824660e-02 6.65921569e+01] [-1.07613810e-01 9.94185752e-01 -3.73612064e-03 -4.85786212e+00] [-3.17017177e-02 3.24587159e-04 9.99497322e-01 -2.42406946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18587156 meters 0.016388212102825643 Centerline is valid? [True, True] Translation: X:66.65, Y:-4.87, Z:-2.42 [[ 9.93392768e-01 1.10480724e-01 3.10615152e-02 6.66541675e+01] [-1.10419314e-01 9.93878239e-01 -3.69071992e-03 -4.86641415e+00] [-3.12791174e-02 2.36543269e-04 9.99510661e-01 -2.42442216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24587156 meters 0.015119155633399207 Centerline is valid? [True, True] Translation: X:66.72, Y:-4.88, Z:-2.43 [[ 9.93159186e-01 1.12790704e-01 3.02173580e-02 6.67160035e+01] [-1.12733521e-01 9.93618755e-01 -3.59486806e-03 -4.87528649e+00] [-3.04300014e-02 1.63767071e-04 9.99536887e-01 -2.42863424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30587156 meters 0.014242359095502047 Centerline is valid? [True, True] Translation: X:66.78, Y:-4.88, Z:-2.43 [[ 9.92815512e-01 1.15925625e-01 2.96413276e-02 6.67768946e+01] [-1.15871829e-01 9.93257894e-01 -3.53198231e-03 -4.88444860e+00] [-2.98509299e-02 7.20119728e-05 9.99554359e-01 -2.43320225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36587156 meters 0.013230249928437816 Centerline is valid? [True, True] Translation: X:66.84, Y:-4.89, Z:-2.43 [[ 9.92529632e-01 1.18431434e-01 2.93074110e-02 6.68391765e+01] [-1.18379794e-01 9.92962233e-01 -3.49699754e-03 -4.89188037e+00] [-2.95153067e-02 1.46840526e-06 9.99564328e-01 -2.43332106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42587155999999 meters 0.022735521728651197 Centerline is valid? [True, True] Translation: X:66.90, Y:-4.90, Z:-2.44 [[ 9.92299801e-01 1.20047433e-01 3.04912892e-02 6.69002388e+01] [-1.19992087e-01 9.92768156e-01 -3.64511700e-03 -4.89748477e+00] [-3.07083679e-02 -4.16645616e-05 9.99528386e-01 -2.43685756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48587155999999 meters 0.02273257712809174 Centerline is valid? [True, True] Translation: X:66.96, Y:-4.90, Z:-2.44 [[ 9.91566330e-01 1.25834907e-01 3.10127227e-02 6.69621760e+01] [-1.25780321e-01 9.92051172e-01 -3.71254268e-03 -4.89899689e+00] [-3.12333754e-02 -2.19557880e-04 9.99512095e-01 -2.43743795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54587156 meters 0.018262333043263582 Centerline is valid? [True, True] Translation: X:67.02, Y:-4.90, Z:-2.44 [[ 9.91034038e-01 1.29922743e-01 3.11707522e-02 6.70234239e+01] [-1.29869463e-01 9.91524060e-01 -3.73641702e-03 -4.90021508e+00] [-3.13919963e-02 -3.45212393e-04 9.99507090e-01 -2.43959554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60587156 meters 0.01845472551801009 Centerline is valid? [True, True] Translation: X:67.08, Y:-4.91, Z:-2.44 [[ 9.91005042e-01 1.30367693e-01 3.02203755e-02 6.70844798e+01] [-1.30317688e-01 9.91465656e-01 -3.62683458e-03 -4.90868921e+00] [-3.04352865e-02 -3.44038121e-04 9.99536680e-01 -2.44373049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.66587156 meters 0.027932954056526307 Centerline is valid? [True, True] Translation: X:67.15, Y:-4.92, Z:-2.45 [[ 9.91351491e-01 1.27646919e-01 3.04710705e-02 6.71461529e+01] [-1.27594638e-01 9.91819640e-01 -3.66204547e-03 -4.91884667e+00] [-3.06892550e-02 -2.57570962e-04 9.99528941e-01 -2.44721158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72587156 meters 0.013686174201822695 Centerline is valid? [True, True] Translation: X:67.21, Y:-4.93, Z:-2.45 [[ 9.91969573e-01 1.22874765e-01 2.99692889e-02 6.72065384e+01] [-1.22821864e-01 9.92422179e-01 -3.60668653e-03 -4.93430588e+00] [-3.01853578e-02 -1.03160636e-04 9.99544313e-01 -2.44988178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78587155999999 meters 0.01295668368690002 Centerline is valid? [True, True] Translation: X:67.27, Y:-4.95, Z:-2.45 [[ 9.92392668e-01 1.19393522e-01 3.00329882e-02 6.72680764e+01] [-1.19338658e-01 9.92847011e-01 -3.61909008e-03 -4.94775135e+00] [-3.02502585e-02 7.46194836e-06 9.99542356e-01 -2.45188062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84587155999999 meters 0.015047687512360367 Centerline is valid? [True, True] Translation: X:67.33, Y:-4.96, Z:-2.46 [[ 9.93089362e-01 1.13509236e-01 2.98189921e-02 6.73273469e+01] [-1.13452282e-01 9.93536922e-01 -3.60047929e-03 -4.96480985e+00] [-3.00349573e-02 1.92564983e-04 9.99548830e-01 -2.45513124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90587156 meters 0.018258825455436153 Centerline is valid? [True, True] Translation: X:67.39, Y:-4.98, Z:-2.46 [[ 9.93723798e-01 1.07805085e-01 2.98509180e-02 6.73877433e+01] [-1.07745337e-01 9.94171981e-01 -3.60759158e-03 -4.98129156e+00] [-3.00658630e-02 3.68652397e-04 9.99547852e-01 -2.45652100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96587156 meters 0.023200536861871696 Centerline is valid? [True, True] Translation: X:67.45, Y:-5.00, Z:-2.46 [[ 9.94046850e-01 1.04710086e-01 3.01107654e-02 6.74466563e+01] [-1.04647839e-01 9.94502679e-01 -3.64010633e-03 -4.99926031e+00] [-3.03263927e-02 4.67409689e-04 9.99539940e-01 -2.46124537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02587156 meters 0.023685273766878328 Centerline is valid? [True, True] Translation: X:67.51, Y:-5.01, Z:-2.46 [[ 9.94200411e-01 1.03404209e-01 2.95484818e-02 6.75074873e+01] [-1.03343644e-01 9.94639292e-01 -3.57364071e-03 -5.01181829e+00] [-2.97596105e-02 4.99267289e-04 9.99556960e-01 -2.46416731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08587156 meters 0.02163006440423712 Centerline is valid? [True, True] Translation: X:67.57, Y:-5.02, Z:-2.47 [[ 9.93926310e-01 1.05899814e-01 2.99285863e-02 6.75687417e+01] [-1.05838656e-01 9.94376709e-01 -3.62474540e-03 -5.01983273e+00] [-3.01441490e-02 4.35128474e-04 9.99545467e-01 -2.46628772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14587155999999 meters 0.014511372684262214 Centerline is valid? [True, True] Translation: X:67.63, Y:-5.02, Z:-2.47 [[ 9.92985644e-01 1.14193925e-01 3.06473163e-02 6.76310392e+01] [-1.14133527e-01 9.93458459e-01 -3.71867045e-03 -5.01686118e+00] [-3.08714852e-02 1.94700080e-04 9.99523343e-01 -2.46601749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20587155999999 meters 0.013699797573137438 Centerline is valid? [True, True] Translation: X:67.69, Y:-5.01, Z:-2.47 [[ 9.91709130e-01 1.24668787e-01 3.11559685e-02 6.76938203e+01] [-1.24611553e-01 9.92198405e-01 -3.77958867e-03 -5.01041951e+00] [-3.13840990e-02 -1.34141013e-04 9.99507389e-01 -2.47013697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26587156 meters 0.017338108880506364 Centerline is valid? [True, True] Translation: X:67.76, Y:-5.01, Z:-2.47 [[ 9.90971937e-01 1.30384155e-01 3.12184557e-02 6.77560291e+01] [-1.30329349e-01 9.91463502e-01 -3.79274663e-03 -5.00923669e+00] [-3.14464735e-02 -3.10175519e-04 9.99505389e-01 -2.47277302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32587156 meters 0.02163860561417242 Centerline is valid? [True, True] Translation: X:67.82, Y:-5.01, Z:-2.47 [[ 9.90211984e-01 1.36054392e-01 3.11356667e-02 6.78180684e+01] [-1.36002529e-01 9.90701251e-01 -3.78736016e-03 -5.00842711e+00] [-3.13614309e-02 -4.84240003e-04 9.99507992e-01 -2.47485476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.38587156 meters 0.025274723104060558 Centerline is valid? [True, True] Translation: X:67.88, Y:-5.01, Z:-2.48 [[ 9.89693311e-01 1.39704220e-01 3.14623698e-02 6.78807197e+01] [-1.39652912e-01 9.90193098e-01 -3.83318866e-03 -5.00964083e+00] [-3.16893340e-02 -6.00130389e-04 9.99497587e-01 -2.47640260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44587156 meters 0.027941534915137577 Centerline is valid? [True, True] Translation: X:67.94, Y:-5.01, Z:-2.48 [[ 9.89397868e-01 1.41783227e-01 3.14543242e-02 6.79419150e+01] [-1.41732958e-01 9.89897507e-01 -3.83338639e-03 -5.00854344e+00] [-3.16800670e-02 -6.65370079e-04 9.99497839e-01 -2.48032571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50587156 meters 0.02749265718437356 Centerline is valid? [True, True] Translation: X:68.00, Y:-5.01, Z:-2.48 [[ 9.89176524e-01 1.43401044e-01 3.10796502e-02 6.80039103e+01] [-1.43352711e-01 9.89664408e-01 -3.78940662e-03 -5.01121163e+00] [-3.13018285e-02 -7.06960041e-04 9.99509728e-01 -2.48256827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56587155999999 meters 0.02792356066239244 Centerline is valid? [True, True] Translation: X:68.07, Y:-5.01, Z:-2.49 [[ 9.89302113e-01 1.42421894e-01 3.15805785e-02 6.80650271e+01] [-1.42371311e-01 9.89805809e-01 -3.85614452e-03 -5.01344333e+00] [-3.18078394e-02 -6.81276419e-04 9.99493770e-01 -2.48640064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62587156 meters 0.024875220610283067 Centerline is valid? [True, True] Translation: X:68.13, Y:-5.02, Z:-2.49 [[ 9.90008331e-01 1.37563588e-01 3.09800552e-02 6.81253876e+01] [-1.37512338e-01 9.90492807e-01 -3.78901568e-03 -5.01832849e+00] [-3.12067524e-02 -5.08982724e-04 9.99512821e-01 -2.49165200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68587156 meters 0.014951942805654265 Centerline is valid? [True, True] Translation: X:68.19, Y:-5.04, Z:-2.49 [[ 9.91222972e-01 1.28690436e-01 3.02620579e-02 6.81851650e+01] [-1.28637380e-01 9.91684789e-01 -3.70172711e-03 -5.03921381e+00] [-3.04867994e-02 -2.23594884e-04 9.99535144e-01 -2.49352874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.74587156 meters 0.013360701110197251 Centerline is valid? [True, True] Translation: X:68.24, Y:-5.06, Z:-2.50 [[ 9.92130667e-01 1.21565225e-01 2.99772619e-02 6.82442772e+01] [-1.21509919e-01 9.92583445e-01 -3.66652825e-03 -5.05548656e+00] [-3.02006562e-02 -4.85956142e-06 9.99543856e-01 -2.49946647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80587156 meters 0.01814644853442797 Centerline is valid? [True, True] Translation: X:68.30, Y:-5.08, Z:-2.50 [[ 9.93360506e-01 1.11161559e-01 2.96312725e-02 6.83038514e+01] [-1.11102749e-01 9.93802299e-01 -3.62892069e-03 -5.07703430e+00] [-2.98510232e-02 3.12710653e-04 9.99554310e-01 -2.50195173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86587156 meters 0.02620929177756328 Centerline is valid? [True, True] Translation: X:68.36, Y:-5.10, Z:-2.50 [[ 9.94315299e-01 1.02022397e-01 3.04715685e-02 6.83632275e+01] [-1.01955712e-01 9.94781915e-01 -3.73827607e-03 -5.09739719e+00] [-3.06939531e-02 6.10274638e-04 9.99528643e-01 -2.50264320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92587155999999 meters 0.030418415270306313 Centerline is valid? [True, True] Translation: X:68.42, Y:-5.11, Z:-2.50 [[ 9.94734714e-01 9.75172785e-02 3.15155537e-02 6.84229477e+01] [-9.74436590e-02 9.95233530e-01 -3.86713990e-03 -5.11439619e+00] [-3.17424487e-02 7.75787431e-04 9.99495780e-01 -2.50263674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98587155999999 meters 0.030510649219696026 Centerline is valid? [True, True] Translation: X:68.49, Y:-5.12, Z:-2.50 [[ 9.94720509e-01 9.75187311e-02 3.19563160e-02 6.84856156e+01] [-9.74430670e-02 9.95233380e-01 -3.92032308e-03 -5.12155825e+00] [-3.21862973e-02 7.85704325e-04 9.99481578e-01 -2.50456101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04587156 meters 0.027829372858919846 Centerline is valid? [True, True] Translation: X:68.55, Y:-5.12, Z:-2.51 [[ 9.94573939e-01 9.89529883e-02 3.21089634e-02 6.85478002e+01] [-9.88771397e-02 9.95091827e-01 -3.94542968e-03 -5.12496603e+00] [-3.23417791e-02 7.49179081e-04 9.99476587e-01 -2.50635000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10587156 meters 0.030400888762614372 Centerline is valid? [True, True] Translation: X:68.61, Y:-5.13, Z:-2.51 [[ 9.94301830e-01 1.01544009e-01 3.24451032e-02 6.86077917e+01] [-1.01467710e-01 9.94830816e-01 -3.99382524e-03 -5.13407987e+00] [-3.26829375e-02 6.78937431e-04 9.99465539e-01 -2.50978050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.16587156 meters 0.024773941857511462 Centerline is valid? [True, True] Translation: X:68.67, Y:-5.14, Z:-2.51 [[ 9.94060727e-01 1.03982768e-01 3.21069267e-02 6.86697364e+01] [-1.03909343e-01 9.94578923e-01 -3.95157240e-03 -5.14065728e+00] [-3.23437680e-02 5.91893293e-04 9.99476628e-01 -2.51189907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22587156 meters 0.022974692647202366 Centerline is valid? [True, True] Translation: X:68.73, Y:-5.15, Z:-2.51 [[ 9.93863321e-01 1.05670072e-01 3.27037483e-02 6.87321607e+01] [-1.05594619e-01 9.94401091e-01 -4.03060259e-03 -5.14509359e+00] [-3.29465570e-02 5.52528236e-04 9.99456962e-01 -2.51304270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28587155999999 meters 0.02195698101765353 Centerline is valid? [True, True] Translation: X:68.79, Y:-5.15, Z:-2.51 [[ 9.93648503e-01 1.07235463e-01 3.41058357e-02 6.87933537e+01] [-1.07154114e-01 9.94233512e-01 -4.20942528e-03 -5.15301448e+00] [-3.43605644e-02 5.28108522e-04 9.99409362e-01 -2.51360167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34587155999999 meters 0.021372512903680217 Centerline is valid? [True, True] Translation: X:68.85, Y:-5.16, Z:-2.51 [[ 9.93515781e-01 1.08156097e-01 3.50521262e-02 6.88544431e+01] [-1.08070531e-01 9.94133790e-01 -4.33220166e-03 -5.16204607e+00] [-3.53150571e-02 5.16008830e-04 9.99376096e-01 -2.51457252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40587156 meters 0.020733825284334196 Centerline is valid? [True, True] Translation: X:68.92, Y:-5.17, Z:-2.52 [[ 9.93464317e-01 1.09188059e-01 3.32658801e-02 6.89172026e+01] [-1.09111408e-01 9.94021004e-01 -4.11631948e-03 -5.16928887e+00] [-3.35164365e-02 4.59729493e-04 9.99438061e-01 -2.52061361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46587156 meters 0.019218039461828183 Centerline is valid? [True, True] Translation: X:68.98, Y:-5.17, Z:-2.53 [[ 9.93183146e-01 1.12094175e-01 3.19708289e-02 6.89798680e+01] [-1.12024694e-01 9.93697525e-01 -3.96192295e-03 -5.17034337e+00] [-3.22134420e-02 3.53392769e-04 9.99480950e-01 -2.52563311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.52587156 meters 0.01667899139197738 Centerline is valid? [True, True] Translation: X:69.04, Y:-5.18, Z:-2.53 [[ 9.92922338e-01 1.14453645e-01 3.17111129e-02 6.90408372e+01] [-1.14386292e-01 9.93428550e-01 -3.93595988e-03 -5.17651155e+00] [-3.19532098e-02 2.80785870e-04 9.99489326e-01 -2.52924180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58587156 meters 0.019605748518923747 Centerline is valid? [True, True] Translation: X:69.10, Y:-5.17, Z:-2.53 [[ 9.92430643e-01 1.18708376e-01 3.14601293e-02 6.91038265e+01] [-1.18644151e-01 9.92929152e-01 -3.90705988e-03 -5.17331035e+00] [-3.17014802e-02 1.44925627e-04 9.99497371e-01 -2.53165084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64587155999999 meters 0.012842412520397594 Centerline is valid? [True, True] Translation: X:69.17, Y:-5.17, Z:-2.54 [[ 9.91973535e-01 1.22317135e-01 3.20472215e-02 6.91655705e+01] [-1.22252180e-01 9.92491067e-01 -3.98589788e-03 -5.17286913e+00] [-3.22941247e-02 3.60625208e-05 9.99478408e-01 -2.53508733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70587155999999 meters 0.012103657988760452 Centerline is valid? [True, True] Translation: X:69.23, Y:-5.18, Z:-2.53 [[ 9.91730664e-01 1.23926815e-01 3.33531742e-02 6.92276419e+01] [-1.23857178e-01 9.92291361e-01 -4.15393433e-03 -5.17633951e+00] [-3.36108505e-02 -1.14459779e-05 9.99434996e-01 -2.53341866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76587156 meters 0.021921599559312385 Centerline is valid? [True, True] Translation: X:69.29, Y:-5.18, Z:-2.54 [[ 9.91603653e-01 1.24710943e-01 3.41961566e-02 6.92898247e+01] [-1.24637996e-01 9.92193116e-01 -4.26499212e-03 -5.17681434e+00] [-3.44610824e-02 -3.29586762e-05 9.99406040e-01 -2.53617301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82587156 meters 0.01862932714014862 Centerline is valid? [True, True] Translation: X:69.35, Y:-5.18, Z:-2.54 [[ 9.91599861e-01 1.24838253e-01 3.38397125e-02 6.93519316e+01] [-1.24766701e-01 9.92177106e-01 -4.22618202e-03 -5.17957781e+00] [-3.41025772e-02 -3.13877782e-05 9.99418337e-01 -2.53925714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.88587156 meters 0.012225540795346806 Centerline is valid? [True, True] Translation: X:69.41, Y:-5.18, Z:-2.54 [[ 9.91711252e-01 1.24030911e-01 3.35428903e-02 6.94136912e+01] [-1.23959944e-01 9.92278355e-01 -4.19515123e-03 -5.18321222e+00] [-3.38042124e-02 2.40388622e-06 9.99428474e-01 -2.54163889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94587156 meters 0.017024472245585173 Centerline is valid? [True, True] Translation: X:69.48, Y:-5.19, Z:-2.55 [[ 9.91865139e-01 1.22906649e-01 3.31285583e-02 6.94764021e+01] [-1.22836605e-01 9.92418235e-01 -4.14906660e-03 -5.18527524e+00] [-3.33873332e-02 4.59148786e-05 9.99442487e-01 -2.54606139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00587156 meters 0.013871792659312692 Centerline is valid? [True, True] Translation: X:69.54, Y:-5.19, Z:-2.55 [[ 9.92305226e-01 1.19338552e-01 3.29946758e-02 6.95369235e+01] [-1.19266882e-01 9.92853605e-01 -4.13889368e-03 -5.19115633e+00] [-3.32528124e-02 1.71873715e-04 9.99446958e-01 -2.54886506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06587155999999 meters 0.03518541749197848 Centerline is valid? [True, True] Translation: X:69.60, Y:-5.20, Z:-2.55 [[ 9.92615779e-01 1.16639137e-01 3.33050648e-02 6.95983942e+01] [-1.16564422e-01 9.93174325e-01 -4.18289311e-03 -5.19973292e+00] [-3.35656243e-02 2.69820073e-04 9.99436479e-01 -2.55263785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12587156 meters 0.02937933481980662 Centerline is valid? [True, True] Translation: X:69.66, Y:-5.21, Z:-2.56 [[ 9.92996830e-01 1.13468370e-01 3.28971765e-02 6.96601220e+01] [-1.13393559e-01 9.93541537e-01 -4.13693869e-03 -5.20719499e+00] [-3.31541230e-02 3.77639072e-04 9.99450180e-01 -2.55539657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18587156 meters 0.019951532183104213 Centerline is valid? [True, True] Translation: X:69.72, Y:-5.22, Z:-2.56 [[ 9.93201884e-01 1.11627908e-01 3.30034621e-02 6.97219068e+01] [-1.11551412e-01 9.93749974e-01 -4.15586811e-03 -5.21735750e+00] [-3.32611005e-02 4.46033233e-04 9.99446597e-01 -2.55696472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.24587156 meters 0.023290277102297877 Centerline is valid? [True, True] Translation: X:69.78, Y:-5.23, Z:-2.56 [[ 9.93534564e-01 1.08363547e-01 3.38586944e-02 6.97831345e+01] [-1.08280940e-01 9.94111166e-01 -4.26938217e-03 -5.22756904e+00] [-3.41219516e-02 5.75527511e-04 9.99417511e-01 -2.55807744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30587156 meters 0.02482102544273632 Centerline is valid? [True, True] Translation: X:69.84, Y:-5.24, Z:-2.56 [[ 9.93887281e-01 1.04887820e-01 3.44473107e-02 6.98439342e+01] [-1.04800005e-01 9.94483804e-01 -4.35001000e-03 -5.23803641e+00] [-3.47135556e-02 7.13341280e-04 9.99397048e-01 -2.55912577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36587156 meters 0.026465565232136494 Centerline is valid? [True, True] Translation: X:69.90, Y:-5.25, Z:-2.56 [[ 9.93960531e-01 1.04200940e-01 3.44184010e-02 6.99038128e+01] [-1.04112780e-01 9.94555990e-01 -4.34866496e-03 -5.24926818e+00] [-3.46841619e-02 7.39005904e-04 9.99398050e-01 -2.56210002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42587155999999 meters 0.025055085471711844 Centerline is valid? [True, True] Translation: X:69.97, Y:-5.26, Z:-2.57 [[ 9.93753495e-01 1.06168553e-01 3.43835775e-02 6.99651384e+01] [-1.06081562e-01 9.94347918e-01 -4.34965912e-03 -5.25702050e+00] [-3.46510357e-02 6.75025358e-04 9.99399245e-01 -2.56510675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48587155999999 meters 0.018317003985434753 Centerline is valid? [True, True] Translation: X:70.03, Y:-5.25, Z:-2.57 [[ 9.93036884e-01 1.12676137e-01 3.43778239e-02 7.00278906e+01] [-1.12592835e-01 9.93631663e-01 -4.35568339e-03 -5.25410276e+00] [-3.46496759e-02 4.54657602e-04 9.99399416e-01 -2.56663100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54587156 meters 0.01356837330608571 Centerline is valid? [True, True] Translation: X:70.09, Y:-5.25, Z:-2.57 [[ 9.92139628e-01 1.20526136e-01 3.36512954e-02 7.00895340e+01] [-1.20450784e-01 9.92710138e-01 -4.26494634e-03 -5.24904730e+00] [-3.39200197e-02 1.78097357e-04 9.99424535e-01 -2.57166328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60587156 meters 0.012128649670919638 Centerline is valid? [True, True] Translation: X:70.15, Y:-5.25, Z:-2.57 [[ 9.91489423e-01 1.25758739e-01 3.36669613e-02 7.01526035e+01] [-1.25686344e-01 9.92060855e-01 -4.26653787e-03 -5.24637615e+00] [-3.39362289e-02 -1.25011758e-06 9.99424000e-01 -2.57411053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.66587156 meters 0.014173311662045399 Centerline is valid? [True, True] Translation: X:70.21, Y:-5.24, Z:-2.58 [[ 9.90741048e-01 1.31576885e-01 3.34618999e-02 7.02147929e+01] [-1.31508488e-01 9.91305950e-01 -4.24637056e-03 -5.24234910e+00] [-3.37297047e-02 -1.93470239e-04 9.99430973e-01 -2.57965012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72587156 meters 0.014602945528680272 Centerline is valid? [True, True] Translation: X:70.28, Y:-5.24, Z:-2.58 [[ 9.90565337e-01 1.32980125e-01 3.31149309e-02 7.02773967e+01] [-1.32913753e-01 9.91118677e-01 -4.20742264e-03 -5.24198288e+00] [-3.33803301e-02 -2.33702734e-04 9.99442694e-01 -2.58201426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78587155999999 meters 0.013508752168589462 Centerline is valid? [True, True] Translation: X:70.34, Y:-5.25, Z:-2.58 [[ 9.90775377e-01 1.31321594e-01 3.34483426e-02 7.03395635e+01] [-1.31252741e-01 9.91339805e-01 -4.25549067e-03 -5.24830620e+00] [-3.37175112e-02 -1.73951283e-04 9.99431388e-01 -2.58444689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84587155999999 meters 0.012847820414405383 Centerline is valid? [True, True] Translation: X:70.40, Y:-5.25, Z:-2.59 [[ 9.90976338e-01 1.29809224e-01 3.33985500e-02 7.04015166e+01] [-1.29739528e-01 9.91538981e-01 -4.25477270e-03 -5.25433609e+00] [-3.36682730e-02 -1.16733057e-04 9.99433056e-01 -2.58737744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90587156 meters 0.01260044614697379 Centerline is valid? [True, True] Translation: X:70.46, Y:-5.26, Z:-2.59 [[ 9.91175301e-01 1.28555484e-01 3.23266330e-02 7.04641278e+01] [-1.28489360e-01 9.91702316e-01 -4.12325467e-03 -5.25694873e+00] [-3.25884638e-02 -6.67601978e-05 9.99468853e-01 -2.59112170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96587156 meters 0.012857942435628223 Centerline is valid? [True, True] Translation: X:70.53, Y:-5.26, Z:-2.60 [[ 9.91202713e-01 1.28480192e-01 3.17808333e-02 7.05252511e+01] [-1.28416054e-01 9.91712074e-01 -4.05956312e-03 -5.25889569e+00] [-3.20390096e-02 -5.73192276e-05 9.99486618e-01 -2.59564803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.02587156 meters 0.012794656439941491 Centerline is valid? [True, True] Translation: X:70.59, Y:-5.26, Z:-2.60 [[ 9.91295813e-01 1.27772828e-01 3.17287774e-02 7.05865185e+01] [-1.27708337e-01 9.91803460e-01 -4.05918418e-03 -5.26146178e+00] [-3.19873646e-02 -2.81771160e-05 9.99488273e-01 -2.59802051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08587156 meters 0.012636018570806587 Centerline is valid? [True, True] Translation: X:70.65, Y:-5.27, Z:-2.60 [[ 9.91627799e-01 1.25068933e-01 3.21258490e-02 7.06488567e+01] [-1.25001420e-01 9.92148053e-01 -4.10930967e-03 -5.26764264e+00] [-3.23875455e-02 5.91289587e-05 9.99475384e-01 -2.59908835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14587155999999 meters 0.013758405275511998 Centerline is valid? [True, True] Translation: X:70.71, Y:-5.27, Z:-2.60 [[ 9.91939948e-01 1.22421976e-01 3.26802526e-02 7.07100857e+01] [-1.22350482e-01 9.92478129e-01 -4.18610049e-03 -5.27449945e+00] [-3.29469066e-02 1.53915629e-04 9.99457091e-01 -2.60152562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20587155999999 meters 0.013725669281184358 Centerline is valid? [True, True] Translation: X:70.77, Y:-5.28, Z:-2.60 [[ 9.92041719e-01 1.21536021e-01 3.28971579e-02 7.07714978e+01] [-1.21462919e-01 9.92587004e-01 -4.21897553e-03 -5.28087332e+00] [-3.31660488e-02 1.89614934e-04 9.99449837e-01 -2.60255306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26587156 meters 0.01651570956285581 Centerline is valid? [True, True] Translation: X:70.83, Y:-5.29, Z:-2.61 [[ 9.92473429e-01 1.17993160e-01 3.27735589e-02 7.08320343e+01] [-1.17918483e-01 9.93014359e-01 -4.20893123e-03 -5.28850047e+00] [-3.30412397e-02 3.12644077e-04 9.99453940e-01 -2.60603848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32587156 meters 0.018969966873535794 Centerline is valid? [True, True] Translation: X:70.89, Y:-5.30, Z:-2.61 [[ 9.92772565e-01 1.15547086e-01 3.24269037e-02 7.08924930e+01] [-1.15472485e-01 9.93301925e-01 -4.17023461e-03 -5.29694797e+00] [-3.26915643e-02 3.95679355e-04 9.99465410e-01 -2.60976840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.38587156 meters 0.019948525558828954 Centerline is valid? [True, True] Translation: X:70.95, Y:-5.30, Z:-2.61 [[ 9.93041918e-01 1.13253046e-01 3.22722200e-02 7.09544039e+01] [-1.13177879e-01 9.93566065e-01 -4.15233846e-03 -5.30315572e+00] [-3.25348476e-02 4.70944720e-04 9.99470491e-01 -2.61114567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44587156 meters 0.023971738934923683 Centerline is valid? [True, True] Translation: X:71.02, Y:-5.31, Z:-2.62 [[ 9.93024856e-01 1.13237006e-01 3.28483815e-02 7.10166354e+01] [-1.13158933e-01 9.93567886e-01 -4.23214314e-03 -5.30847687e+00] [-3.31163322e-02 4.85535520e-04 9.99451386e-01 -2.61523801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50587156 meters 0.01955657868345112 Centerline is valid? [True, True] Translation: X:71.08, Y:-5.31, Z:-2.62 [[ 9.92857563e-01 1.14814238e-01 3.24276221e-02 7.10790253e+01] [-1.14738800e-01 9.93386885e-01 -4.18386213e-03 -5.30900688e+00] [-3.26935414e-02 4.33272713e-04 9.99465329e-01 -2.61647917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56587155999999 meters 0.019175395632718556 Centerline is valid? [True, True] Translation: X:71.14, Y:-5.31, Z:-2.62 [[ 9.92824347e-01 1.14891782e-01 3.31616464e-02 7.11403475e+01] [-1.14812700e-01 9.93377913e-01 -4.28551539e-03 -5.31334931e+00] [-3.34344176e-02 4.47385835e-04 9.99440813e-01 -2.61763580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62587156 meters 0.026500713623739847 Centerline is valid? [True, True] Translation: X:71.20, Y:-5.32, Z:-2.62 [[ 9.93154478e-01 1.11822326e-01 3.37631615e-02 7.12002856e+01] [-1.11738546e-01 9.93728057e-01 -4.36408476e-03 -5.32304543e+00] [-3.40394030e-02 5.61563735e-04 9.99420334e-01 -2.62115522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68587156 meters 0.027926073272679906 Centerline is valid? [True, True] Translation: X:71.26, Y:-5.34, Z:-2.62 [[ 9.93739027e-01 1.06652229e-01 3.32873490e-02 7.12594073e+01] [-1.06567865e-01 9.94296118e-01 -4.30347262e-03 -5.34022478e+00] [-3.35564568e-02 7.29166981e-04 9.99436558e-01 -2.62307257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74587156 meters 0.033656990835910075 Centerline is valid? [True, True] Translation: X:71.32, Y:-5.35, Z:-2.63 [[ 9.94140187e-01 1.03210981e-01 3.21369398e-02 7.13194540e+01] [-1.03130540e-01 9.94659151e-01 -4.15510052e-03 -5.35131132e+00] [-3.23941533e-02 8.16452445e-04 9.99474838e-01 -2.62809774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80587156 meters 0.031475585867939714 Centerline is valid? [True, True] Translation: X:71.38, Y:-5.36, Z:-2.63 [[ 9.94199475e-01 1.02975082e-01 3.10408964e-02 7.13800177e+01] [-1.02899960e-01 9.94683618e-01 -4.01218551e-03 -5.36304957e+00] [-3.12890263e-02 7.94805740e-04 9.99510063e-01 -2.63106506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86587156 meters 0.026830628157333326 Centerline is valid? [True, True] Translation: X:71.44, Y:-5.37, Z:-2.63 [[ 9.93943488e-01 1.05580352e-01 3.04816561e-02 7.14423448e+01] [-1.05509001e-01 9.94410525e-01 -3.94431737e-03 -5.36666940e+00] [-3.07277220e-02 7.04339496e-04 9.99527544e-01 -2.63262527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92587155999999 meters 0.022833922777509126 Centerline is valid? [True, True] Translation: X:71.50, Y:-5.37, Z:-2.64 [[ 9.93410303e-01 1.10496972e-01 3.04366329e-02 7.15038640e+01] [-1.10427925e-01 9.93876304e-01 -3.94535268e-03 -5.37108913e+00] [-3.06861978e-02 5.58299765e-04 9.99528912e-01 -2.63530788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98587155999999 meters 0.019528137961029424 Centerline is valid? [True, True] Translation: X:71.57, Y:-5.37, Z:-2.64 [[ 9.92947799e-01 1.14800287e-01 2.95898979e-02 7.15659202e+01] [-1.14736907e-01 9.93388505e-01 -3.83665338e-03 -5.37361781e+00] [-2.98347133e-02 4.14543162e-04 9.99554760e-01 -2.63870902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04587156 meters 0.01587638320434992 Centerline is valid? [True, True] Translation: X:71.63, Y:-5.38, Z:-2.64 [[ 9.92197339e-01 1.21007820e-01 3.00258026e-02 7.16258094e+01] [-1.20945346e-01 9.92651527e-01 -3.89490601e-03 -5.37530946e+00] [-3.02764729e-02 2.33034302e-04 9.99541535e-01 -2.64172417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10587156 meters 0.013639923669438905 Centerline is valid? [True, True] Translation: X:71.69, Y:-5.38, Z:-2.64 [[ 9.91676705e-01 1.24922273e-01 3.11727358e-02 7.16862730e+01] [-1.24856878e-01 9.92166524e-01 -4.04327747e-03 -5.37756414e+00] [-3.14336403e-02 1.17493619e-04 9.99505834e-01 -2.64195027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.16587156 meters 0.014416195225920555 Centerline is valid? [True, True] Translation: X:71.74, Y:-5.37, Z:-2.64 [[ 9.90462950e-01 1.33843968e-01 3.26946028e-02 7.17449307e+01] [-1.33776883e-01 9.91002403e-01 -4.24069418e-03 -5.37210064e+00] [-3.29680212e-02 -1.73531567e-04 9.99456392e-01 -2.64224784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22587156 meters 0.019359920623583687 Centerline is valid? [True, True] Translation: X:71.80, Y:-5.37, Z:-2.64 [[ 9.89614704e-01 1.39960706e-01 3.27679463e-02 7.18041475e+01] [-1.39896734e-01 9.90156986e-01 -4.24824198e-03 -5.36835623e+00] [-3.30399979e-02 -3.80005934e-04 9.99453958e-01 -2.64416411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28587155999999 meters 0.028575088122008416 Centerline is valid? [True, True] Translation: X:71.87, Y:-5.36, Z:-2.65 [[ 9.88245971e-01 1.49450975e-01 3.21606557e-02 7.18661769e+01] [-1.49394442e-01 9.88768899e-01 -4.16721631e-03 -5.35812650e+00] [-3.24222506e-02 -6.86388479e-04 9.99474025e-01 -2.64743944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34587155999999 meters 0.03665174181046412 Centerline is valid? [True, True] Translation: X:71.93, Y:-5.35, Z:-2.65 [[ 9.87281815e-01 1.55554363e-01 3.28246595e-02 7.19265571e+01] [-1.55498840e-01 9.87826919e-01 -4.25318821e-03 -5.34888007e+00] [-3.30866842e-02 -9.05101105e-04 9.99452076e-01 -2.64946139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40587156 meters 0.03702641081395877 Centerline is valid? [True, True] Translation: X:71.99, Y:-5.35, Z:-2.65 [[ 9.87150518e-01 1.56261847e-01 3.34079404e-02 7.19854299e+01] [-1.56204747e-01 9.87715212e-01 -4.32850866e-03 -5.34795072e+00] [-3.36739117e-02 -9.45589321e-04 9.99432426e-01 -2.65092023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46587156 meters 0.03343225712565748 Centerline is valid? [True, True] Translation: X:72.05, Y:-5.35, Z:-2.65 [[ 9.87721679e-01 1.52695803e-01 3.30132711e-02 7.20452621e+01] [-1.52638171e-01 9.88272899e-01 -4.27383550e-03 -5.35447145e+00] [-3.32787179e-02 -8.17725349e-04 9.99445776e-01 -2.65465976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52587156 meters 0.02968350574091023 Centerline is valid? [True, True] Translation: X:72.10, Y:-5.36, Z:-2.66 [[ 9.88227314e-01 1.49256328e-01 3.36054172e-02 7.21047260e+01] [-1.49194635e-01 9.88798279e-01 -4.35009156e-03 -5.36301070e+00] [-3.38782574e-02 -7.14868659e-04 9.99425711e-01 -2.65619487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58587156 meters 0.02335666430714084 Centerline is valid? [True, True] Translation: X:72.16, Y:-5.37, Z:-2.66 [[ 9.88993256e-01 1.44202602e-01 3.31353208e-02 7.21638748e+01] [-1.44139799e-01 9.89548040e-01 -4.28886523e-03 -5.37305007e+00] [-3.34074573e-02 -5.34459675e-04 9.99441672e-01 -2.65964827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64587155999999 meters 0.019782686992944765 Centerline is valid? [True, True] Translation: X:72.22, Y:-5.38, Z:-2.66 [[ 9.89380138e-01 1.41871385e-01 3.16141322e-02 7.22221505e+01] [-1.41813026e-01 9.89885004e-01 -4.09201197e-03 -5.38121672e+00] [-3.18748948e-02 -4.34740380e-04 9.99491772e-01 -2.66312297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70587155999999 meters 0.01898416248668661 Centerline is valid? [True, True] Translation: X:72.28, Y:-5.38, Z:-2.67 [[ 9.89756184e-01 1.39233422e-01 3.15713570e-02 7.22806920e+01] [-1.39173928e-01 9.90259527e-01 -4.08490925e-03 -5.38207201e+00] [-3.18325930e-02 -3.50845587e-04 9.99493153e-01 -2.66766277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76587156 meters 0.016655629948622772 Centerline is valid? [True, True] Translation: X:72.34, Y:-5.39, Z:-2.67 [[ 9.90111572e-01 1.36725967e-01 3.13860629e-02 7.23391746e+01] [-1.36665959e-01 9.90608872e-01 -4.05939745e-03 -5.38625934e+00] [-3.16463374e-02 -2.70149976e-04 9.99499093e-01 -2.66952941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82587156 meters 0.023178179939389216 Centerline is valid? [True, True] Translation: X:72.40, Y:-5.39, Z:-2.67 [[ 9.90639560e-01 1.32759573e-01 3.17515173e-02 7.23971931e+01] [-1.32696167e-01 9.91148261e-01 -4.10522398e-03 -5.38840244e+00] [-3.20154689e-02 -1.46507377e-04 9.99487363e-01 -2.67432330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.88587156 meters 0.02761708507798897 Centerline is valid? [True, True] Translation: X:72.45, Y:-5.40, Z:-2.68 [[ 9.91457454e-01 1.26594155e-01 3.14012147e-02 7.24539858e+01] [-1.26529100e-01 9.91954594e-01 -4.05824524e-03 -5.39933309e+00] [-3.16623294e-02 5.04100559e-05 9.99498621e-01 -2.67873296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94587156 meters 0.030951686449676854 Centerline is valid? [True, True] Translation: X:72.51, Y:-5.41, Z:-2.68 [[ 9.92359888e-01 1.19091312e-01 3.22352614e-02 7.25115994e+01] [-1.19018878e-01 9.92883262e-01 -4.16346746e-03 -5.41177935e+00] [-3.25016843e-02 2.95053474e-04 9.99471637e-01 -2.67732566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00587156 meters 0.02877952338561178 Centerline is valid? [True, True] Translation: X:72.57, Y:-5.42, Z:-2.68 [[ 9.92934236e-01 1.14237346e-01 3.21159214e-02 7.25702421e+01] [-1.14162966e-01 9.93453384e-01 -4.14625782e-03 -5.42432569e+00] [-3.23793283e-02 4.50512505e-04 9.99475551e-01 -2.67970710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06587155999999 meters 0.024269439380882524 Centerline is valid? [True, True] Translation: X:72.63, Y:-5.44, Z:-2.68 [[ 9.93483923e-01 1.09394875e-01 3.19758678e-02 7.26272807e+01] [-1.09318658e-01 9.93998187e-01 -4.12742382e-03 -5.43829749e+00] [-3.22354736e-02 6.04970261e-04 9.99480119e-01 -2.68045441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12587156 meters 0.025579333206387687 Centerline is valid? [True, True] Translation: X:72.69, Y:-5.45, Z:-2.68 [[ 9.93618558e-01 1.08188116e-01 3.18981670e-02 7.26862679e+01] [-1.08111674e-01 9.94130233e-01 -4.11657540e-03 -5.44799885e+00] [-3.21562968e-02 6.41741477e-04 9.99482647e-01 -2.68352032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18587156 meters 0.02779555327769246 Centerline is valid? [True, True] Translation: X:72.75, Y:-5.46, Z:-2.69 [[ 9.93834903e-01 1.06588383e-01 3.05139534e-02 7.27450099e+01] [-1.06517701e-01 9.94303011e-01 -3.93726170e-03 -5.45975294e+00] [-3.07597821e-02 6.62711935e-04 9.99526586e-01 -2.68827313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24587156 meters 0.02773916771527382 Centerline is valid? [True, True] Translation: X:72.80, Y:-5.47, Z:-2.69 [[ 9.93801047e-01 1.06952927e-01 3.03405579e-02 7.28037490e+01] [-1.06883237e-01 9.94263875e-01 -3.91418587e-03 -5.46878501e+00] [-3.05851543e-02 6.47024975e-04 9.99531955e-01 -2.69137929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30587156 meters 0.03495969733540707 Centerline is valid? [True, True] Translation: X:72.86, Y:-5.47, Z:-2.70 [[ 9.93682833e-01 1.08233275e-01 2.96645356e-02 7.28632470e+01] [-1.08167247e-01 9.94125347e-01 -3.82631432e-03 -5.47450749e+00] [-2.99044013e-02 5.93411716e-04 9.99552587e-01 -2.69613250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36587156 meters 0.022756084158302377 Centerline is valid? [True, True] Translation: X:72.92, Y:-5.48, Z:-2.70 [[ 9.93159273e-01 1.12973650e-01 2.95230761e-02 7.29215673e+01] [-1.12910359e-01 9.93597883e-01 -3.80751937e-03 -5.47921691e+00] [-2.97642153e-02 4.48012054e-04 9.99556847e-01 -2.69819214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42587155999999 meters 0.017741448602601958 Centerline is valid? [True, True] Translation: X:72.98, Y:-5.48, Z:-2.70 [[ 9.92433012e-01 1.19242882e-01 2.92891231e-02 7.29807210e+01] [-1.19183350e-01 9.92865081e-01 -3.77623448e-03 -5.47893262e+00] [-2.95304367e-02 2.56883945e-04 9.99563849e-01 -2.70220396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48587155999999 meters 0.01403800324537769 Centerline is valid? [True, True] Translation: X:73.04, Y:-5.48, Z:-2.70 [[ 9.91716316e-01 1.25156474e-01 2.88895410e-02 7.30399882e+01] [-1.25101077e-01 9.92137012e-01 -3.72421731e-03 -5.47730089e+00] [-2.91284928e-02 7.92543828e-05 9.99575672e-01 -2.70268670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54587156 meters 0.01378311718424108 Centerline is valid? [True, True] Translation: X:73.10, Y:-5.48, Z:-2.71 [[ 9.91370992e-01 1.27877842e-01 2.88238234e-02 7.30979253e+01] [-1.27823878e-01 9.91789926e-01 -3.71466400e-03 -5.48068907e+00] [-2.90622009e-02 -1.76275816e-06 9.99577605e-01 -2.70525233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60587156 meters 0.014203654966442861 Centerline is valid? [True, True] Translation: X:73.16, Y:-5.48, Z:-2.71 [[ 9.91066029e-01 1.30273070e-01 2.85841588e-02 7.31569575e+01] [-1.30221063e-01 9.91478150e-01 -3.68142417e-03 -5.48269377e+00] [-2.88201593e-02 -7.37251206e-05 9.99584610e-01 -2.70721108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.66587156 meters 0.014081158872913307 Centerline is valid? [True, True] Translation: X:73.22, Y:-5.49, Z:-2.71 [[ 9.90853488e-01 1.31396532e-01 3.07297515e-02 7.32151763e+01] [-1.31337010e-01 9.91329884e-01 -3.95624263e-03 -5.48693702e+00] [-3.09831575e-02 -1.15896865e-04 9.99519900e-01 -2.70671930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72587156 meters 0.014191415854666732 Centerline is valid? [True, True] Translation: X:73.27, Y:-5.49, Z:-2.71 [[ 9.90780966e-01 1.31918756e-01 3.08304879e-02 7.32726394e+01] [-1.31859150e-01 9.91260523e-01 -3.96747779e-03 -5.49136651e+00] [-3.10844303e-02 -1.34380448e-04 9.99516753e-01 -2.70895259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78587155999999 meters 0.013968322724811756 Centerline is valid? [True, True] Translation: X:73.33, Y:-5.50, Z:-2.71 [[ 9.90900551e-01 1.30984930e-01 3.09684617e-02 7.33300288e+01] [-1.30924407e-01 9.91384354e-01 -3.98285175e-03 -5.49726715e+00] [-3.12233419e-02 -1.07917491e-04 9.99512427e-01 -2.71170348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84587155999999 meters 0.013439177049859391 Centerline is valid? [True, True] Translation: X:73.39, Y:-5.51, Z:-2.71 [[ 9.91490826e-01 1.26548910e-01 3.05174583e-02 7.33868136e+01] [-1.26488086e-01 9.91960368e-01 -3.92322197e-03 -5.50837269e+00] [-3.07685886e-02 2.97437023e-05 9.99526534e-01 -2.71456542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90587156 meters 0.015211989305230033 Centerline is valid? [True, True] Translation: X:73.44, Y:-5.52, Z:-2.72 [[ 9.92214342e-01 1.20793195e-01 3.03266258e-02 7.34444232e+01] [-1.20730514e-01 9.92677673e-01 -3.89624706e-03 -5.52291267e+00] [-3.05752045e-02 2.04563085e-04 9.99532448e-01 -2.71706315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96587156 meters 0.01740455945537966 Centerline is valid? [True, True] Translation: X:73.50, Y:-5.54, Z:-2.72 [[ 9.92662778e-01 1.17138187e-01 2.99875595e-02 7.35018235e+01] [-1.17075275e-01 9.93115576e-01 -3.85126599e-03 -5.53546209e+00] [-3.02322428e-02 3.12206613e-04 9.99542853e-01 -2.71964933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.02587156 meters 0.017964780677616723 Centerline is valid? [True, True] Translation: X:73.56, Y:-5.54, Z:-2.72 [[ 9.92759907e-01 1.16261371e-01 3.01837749e-02 7.35606197e+01] [-1.16197273e-01 9.93218595e-01 -3.87500743e-03 -5.54211516e+00] [-3.04296002e-02 3.39679688e-04 9.99536855e-01 -2.72154677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08587156 meters 0.029557900247112627 Centerline is valid? [True, True] Translation: X:73.62, Y:-5.55, Z:-2.73 [[ 9.92784459e-01 1.16055449e-01 3.01687193e-02 7.36186970e+01] [-1.15991363e-01 9.93242676e-01 -3.87163366e-03 -5.54814996e+00] [-3.04141837e-02 3.44386850e-04 9.99537322e-01 -2.72608799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14587155999999 meters 0.017732903512863978 Centerline is valid? [True, True] Translation: X:73.68, Y:-5.56, Z:-2.73 [[ 9.92691190e-01 1.16587192e-01 3.11709533e-02 7.36774117e+01] [-1.16519091e-01 9.93180403e-01 -3.99856640e-03 -5.55696685e+00] [-3.14245616e-02 3.37330470e-04 9.99506070e-01 -2.72552925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20587155999999 meters 0.016910216905263266 Centerline is valid? [True, True] Translation: X:73.74, Y:-5.56, Z:-2.73 [[ 9.92592725e-01 1.17439235e-01 3.11079975e-02 7.37361492e+01] [-1.17371857e-01 9.93080022e-01 -3.98951793e-03 -5.56245280e+00] [-3.13612568e-02 3.08763036e-04 9.99508067e-01 -2.72662545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26587156 meters 0.015666690540904613 Centerline is valid? [True, True] Translation: X:73.79, Y:-5.57, Z:-2.73 [[ 9.92359910e-01 1.19362048e-01 3.12171550e-02 7.37945502e+01] [-1.19295195e-01 9.92850764e-01 -4.00199873e-03 -5.56654130e+00] [-3.14716630e-02 2.47366493e-04 9.99504614e-01 -2.72941378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32587156 meters 0.014908673390564293 Centerline is valid? [True, True] Translation: X:73.85, Y:-5.57, Z:-2.73 [[ 9.92150032e-01 1.21544349e-01 2.94157334e-02 7.38532562e+01] [-1.21485988e-01 9.92585988e-01 -3.76976091e-03 -5.57068495e+00] [-2.96558379e-02 1.66568961e-04 9.99560155e-01 -2.73485409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.38587156 meters 0.014535446683441932 Centerline is valid? [True, True] Translation: X:73.91, Y:-5.57, Z:-2.74 [[ 9.91890963e-01 1.23856440e-01 2.84938436e-02 7.39115653e+01] [-1.23802663e-01 9.92300143e-01 -3.65061892e-03 -5.57359265e+00] [-2.87265977e-02 9.34022019e-05 9.99587302e-01 -2.73943886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44587156 meters 0.014112207454021872 Centerline is valid? [True, True] Translation: X:73.97, Y:-5.58, Z:-2.74 [[ 9.91652226e-01 1.25594460e-01 2.91872446e-02 7.39707443e+01] [-1.25538859e-01 9.92081665e-01 -3.73697843e-03 -5.57784870e+00] [-2.94254740e-02 4.16495998e-05 9.99566976e-01 -2.74087957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50587156 meters 0.014082628297646489 Centerline is valid? [True, True] Translation: X:74.03, Y:-5.58, Z:-2.74 [[ 9.91423374e-01 1.27170924e-01 3.01205715e-02 7.40284573e+01] [-1.27112478e-01 9.91880817e-01 -3.85511787e-03 -5.58212277e+00] [-3.03662760e-02 -6.64650189e-06 9.99538838e-01 -2.74305625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56587155999999 meters 0.013464878646409986 Centerline is valid? [True, True] Translation: X:74.09, Y:-5.59, Z:-2.74 [[ 9.91514358e-01 1.26196270e-01 3.12054405e-02 7.40864552e+01] [-1.26133118e-01 9.92005293e-01 -3.99192917e-03 -5.59096676e+00] [-3.14597287e-02 2.20155798e-05 9.99505020e-01 -2.74291070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62587156 meters 0.014119952601348377 Centerline is valid? [True, True] Translation: X:74.14, Y:-5.60, Z:-2.75 [[ 9.91810577e-01 1.23870213e-01 3.11118992e-02 7.41435850e+01] [-1.23806338e-01 9.92298424e-01 -3.97857930e-03 -5.60107210e+00] [-3.13651160e-02 9.41467041e-05 9.99507989e-01 -2.74713085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68587156 meters 0.015118910119312271 Centerline is valid? [True, True] Translation: X:74.20, Y:-5.61, Z:-2.75 [[ 9.92215449e-01 1.20749329e-01 3.04647802e-02 7.42012596e+01] [-1.20686672e-01 9.92683013e-01 -3.89391393e-03 -5.61317713e+00] [-3.07120573e-02 1.86908603e-04 9.99528256e-01 -2.74912218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74587156 meters 0.017938374532439464 Centerline is valid? [True, True] Translation: X:74.26, Y:-5.63, Z:-2.75 [[ 9.92629287e-01 1.17419459e-01 2.99961623e-02 7.42574892e+01] [-1.17357233e-01 9.93082368e-01 -3.83275510e-03 -5.62912104e+00] [-3.02386999e-02 2.84238357e-04 9.99542666e-01 -2.75438355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80587156 meters 0.032720119902911314 Centerline is valid? [True, True] Translation: X:74.32, Y:-5.64, Z:-2.76 [[ 9.92692339e-01 1.16916380e-01 2.98744190e-02 7.43155275e+01] [-1.16854488e-01 9.93141718e-01 -3.81531480e-03 -5.63814533e+00] [-3.01156046e-02 2.96473844e-04 9.99546378e-01 -2.75773865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86587156 meters 0.017310096462065848 Centerline is valid? [True, True] Translation: X:74.37, Y:-5.65, Z:-2.76 [[ 9.92632339e-01 1.17540562e-01 2.94152431e-02 7.43741130e+01] [-1.17480872e-01 9.93068045e-01 -3.75530549e-03 -5.64656282e+00] [-2.96527387e-02 2.71909253e-04 9.99560224e-01 -2.75921532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92587155999999 meters 0.02774743786634163 Centerline is valid? [True, True] Translation: X:74.43, Y:-5.65, Z:-2.76 [[ 9.92328487e-01 1.19999523e-01 2.97369947e-02 7.44321453e+01] [-1.19939667e-01 9.92773929e-01 -3.79494782e-03 -5.65139579e+00] [-2.99775050e-02 1.99189601e-04 9.99550554e-01 -2.76373940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98587155999999 meters 0.0148206659755606 Centerline is valid? [True, True] Translation: X:74.49, Y:-5.66, Z:-2.76 [[ 9.92174124e-01 1.21302703e-01 2.96000216e-02 7.44909298e+01] [-1.21244017e-01 9.92615550e-01 -3.77610474e-03 -5.65871673e+00] [-2.98394934e-02 1.57727887e-04 9.99554691e-01 -2.76381682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04587156 meters 0.018492448962494357 Centerline is valid? [True, True] Translation: X:74.55, Y:-5.67, Z:-2.77 [[ 9.92028470e-01 1.22425793e-01 2.98569905e-02 7.45487380e+01] [-1.22366636e-01 9.92477662e-01 -3.80743280e-03 -5.66519687e+00] [-3.00985241e-02 1.23582261e-04 9.99546929e-01 -2.76860855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10587156 meters 0.018254359005768026 Centerline is valid? [True, True] Translation: X:74.61, Y:-5.67, Z:-2.77 [[ 9.91700392e-01 1.25195025e-01 2.92666591e-02 7.46066533e+01] [-1.25139421e-01 9.92132151e-01 -3.73109868e-03 -5.66924523e+00] [-2.95035084e-02 3.77192733e-05 9.99564676e-01 -2.77199446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.16587156 meters 0.014428784405934677 Centerline is valid? [True, True] Translation: X:74.66, Y:-5.68, Z:-2.78 [[ 9.91585307e-01 1.26265216e-01 2.85600042e-02 7.46636239e+01] [-1.26212769e-01 9.91996520e-01 -3.63891065e-03 -5.67625187e+00] [-2.87908926e-02 3.65311712e-06 9.99585456e-01 -2.77569807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22587156 meters 0.014028203684567567 Centerline is valid? [True, True] Translation: X:74.72, Y:-5.69, Z:-2.78 [[ 9.91723337e-01 1.25176866e-01 2.85582892e-02 7.47208920e+01] [-1.25124016e-01 9.92134442e-01 -3.63724558e-03 -5.68737251e+00] [-2.87889614e-02 3.38134866e-05 9.99585511e-01 -2.77662840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28587155999999 meters 0.014830870749839839 Centerline is valid? [True, True] Translation: X:74.78, Y:-5.70, Z:-2.78 [[ 9.91864545e-01 1.24253732e-01 2.76718961e-02 7.47774567e+01] [-1.24203809e-01 9.92250476e-01 -3.52235827e-03 -5.69781468e+00] [-2.78951183e-02 5.67473913e-05 9.99610854e-01 -2.78214373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34587155999999 meters 0.014801270800683842 Centerline is valid? [True, True] Translation: X:74.84, Y:-5.71, Z:-2.78 [[ 9.92122974e-01 1.22026299e-01 2.83123164e-02 7.48355117e+01] [-1.21973194e-01 9.92526860e-01 -3.60167133e-03 -5.71097615e+00] [-2.85402331e-02 1.19957216e-04 9.99592637e-01 -2.78247815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40587156 meters 0.015682757156033518 Centerline is valid? [True, True] Translation: X:74.89, Y:-5.72, Z:-2.78 [[ 9.92368829e-01 1.19907244e-01 2.87464899e-02 7.48925281e+01] [-1.19851645e-01 9.92785082e-01 -3.65564676e-03 -5.72422437e+00] [-2.89774248e-02 1.82435804e-04 9.99580050e-01 -2.78449018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46587156 meters 0.016167981914456016 Centerline is valid? [True, True] Translation: X:74.95, Y:-5.74, Z:-2.79 [[ 9.92530339e-01 1.18606465e-01 2.85663034e-02 7.49500272e+01] [-1.18551074e-01 9.92941317e-01 -3.63091102e-03 -5.73553698e+00] [-2.87953125e-02 2.17223398e-04 9.99585305e-01 -2.78649753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.52587156 meters 0.016616109296267823 Centerline is valid? [True, True] Translation: X:75.01, Y:-5.75, Z:-2.79 [[ 9.92570866e-01 1.17931297e-01 2.99213034e-02 7.50064065e+01] [-1.17870261e-01 9.93021726e-01 -3.80174674e-03 -5.74912620e+00] [-3.01608493e-02 2.46671218e-04 9.99545028e-01 -2.78736450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58587156 meters 0.015721756104573527 Centerline is valid? [True, True] Translation: X:75.06, Y:-5.76, Z:-2.79 [[ 9.92568164e-01 1.17772191e-01 3.06292552e-02 7.50644919e+01] [-1.17708217e-01 9.93040606e-01 -3.88971519e-03 -5.75836726e+00] [-3.08741944e-02 2.55492449e-04 9.99523246e-01 -2.78640474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64587155999999 meters 0.016038840897127104 Centerline is valid? [True, True] Translation: X:75.12, Y:-5.77, Z:-2.79 [[ 9.92570739e-01 1.17848568e-01 3.02496789e-02 7.51208656e+01] [-1.17786246e-01 9.93031547e-01 -3.84018981e-03 -5.76977052e+00] [-3.04914463e-02 2.48663921e-04 9.99534997e-01 -2.79013797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70587155999999 meters 0.01590451956743321 Centerline is valid? [True, True] Translation: X:75.18, Y:-5.78, Z:-2.79 [[ 9.92528704e-01 1.18338366e-01 2.97120100e-02 7.51787631e+01] [-1.18278517e-01 9.92973302e-01 -3.77001291e-03 -5.77840876e+00] [-2.99493699e-02 2.27553544e-04 9.99551391e-01 -2.79332100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76587156 meters 0.015280499094207213 Centerline is valid? [True, True] Translation: X:75.24, Y:-5.79, Z:-2.80 [[ 9.92467807e-01 1.18819408e-01 2.98261728e-02 7.52372530e+01] [-1.18759358e-01 9.92915859e-01 -3.78307775e-03 -5.78766872e+00] [-3.00643830e-02 2.12445742e-04 9.99547942e-01 -2.79585331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82587156 meters 0.01588860436065233 Centerline is valid? [True, True] Translation: X:75.29, Y:-5.80, Z:-2.80 [[ 9.92546504e-01 1.18257783e-01 2.94369621e-02 7.52941341e+01] [-1.18199079e-01 9.92982903e-01 -3.73252520e-03 -5.79884944e+00] [-2.96718003e-02 2.25283028e-04 9.99559670e-01 -2.79993329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.88587156 meters 0.016846646265181314 Centerline is valid? [True, True] Translation: X:75.35, Y:-5.81, Z:-2.80 [[ 9.92655062e-01 1.17515933e-01 2.87390463e-02 7.53506512e+01] [-1.17459727e-01 9.93070968e-01 -3.64207075e-03 -5.80931055e+00] [-2.89679139e-02 2.39639447e-04 9.99580313e-01 -2.80464550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94587156 meters 0.016996494297093896 Centerline is valid? [True, True] Translation: X:75.41, Y:-5.82, Z:-2.80 [[ 9.92828399e-01 1.15873544e-01 2.94124439e-02 7.54082670e+01] [-1.15814009e-01 9.93263931e-01 -3.72546319e-03 -5.82259505e+00] [-2.96460023e-02 2.92372611e-04 9.99560418e-01 -2.80495389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00587156 meters 0.019244626063985693 Centerline is valid? [True, True] Translation: X:75.47, Y:-5.84, Z:-2.81 [[ 9.93154092e-01 1.12770348e-01 3.04597691e-02 7.54671571e+01] [-1.12705102e-01 9.93621000e-01 -3.85600510e-03 -5.83955509e+00] [-3.07003092e-02 3.96635878e-04 9.99528556e-01 -2.80623638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06587155999999 meters 0.021573512439060184 Centerline is valid? [True, True] Translation: X:75.53, Y:-5.86, Z:-2.81 [[ 9.93458453e-01 1.09878003e-01 3.10986449e-02 7.55266631e+01] [-1.09808582e-01 9.93944957e-01 -3.93662133e-03 -5.85690564e+00] [-3.13428894e-02 4.95971645e-04 9.99508568e-01 -2.80804580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12587156 meters 0.02678338446221302 Centerline is valid? [True, True] Translation: X:75.58, Y:-5.88, Z:-2.81 [[ 9.93762856e-01 1.07039904e-01 3.12705001e-02 7.55847954e+01] [-1.06968304e-01 9.94254551e-01 -3.95849928e-03 -5.87992374e+00] [-3.15145544e-02 5.88857197e-04 9.99503120e-01 -2.81250342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18587156 meters 0.02436577370066303 Centerline is valid? [True, True] Translation: X:75.65, Y:-5.89, Z:-2.81 [[ 9.94043171e-01 1.04877324e-01 2.96466030e-02 7.56492442e+01] [-1.04598720e-01 9.94455850e-01 -1.08014122e-02 -5.88827993e+00] [-3.06150610e-02 7.63607334e-03 9.99502080e-01 -2.81063890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24587156 meters 0.02622670076003351 Centerline is valid? [True, True] Translation: X:75.70, Y:-5.91, Z:-2.82 [[ 9.93949688e-01 1.04928441e-01 3.24659945e-02 7.57039611e+01] [-1.05065931e-01 9.94461980e-01 2.55356781e-03 -5.91230581e+00] [-3.20182553e-02 -5.94918788e-03 9.99469579e-01 -2.81557506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30587156 meters 0.023477822521303728 Centerline is valid? [True, True] Translation: X:75.77, Y:-5.92, Z:-2.82 [[ 9.93704708e-01 1.07788101e-01 3.05398020e-02 7.57689093e+01] [-1.07603060e-01 9.94164550e-01 -7.64384964e-03 -5.91923561e+00] [-3.11855045e-02 4.30955323e-03 9.99504323e-01 -2.81770297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36587156 meters 0.021230619769483355 Centerline is valid? [True, True] Translation: X:75.82, Y:-5.93, Z:-2.82 [[ 9.93271415e-01 1.11434096e-01 3.15331443e-02 7.58239079e+01] [-1.11475396e-01 9.93767092e-01 -4.50737184e-04 -5.93360632e+00] [-3.13868286e-02 -3.06746539e-03 9.99502605e-01 -2.82127173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42587155999999 meters 0.01611655384116523 Centerline is valid? [True, True] Translation: X:75.89, Y:-5.94, Z:-2.82 [[ 9.92545660e-01 1.17739289e-01 3.14733645e-02 7.58856587e+01] [-1.17671736e-01 9.93044506e-01 -3.99649886e-03 -5.93593292e+00] [-3.17249967e-02 2.63182164e-04 9.99496601e-01 -2.82232955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48587155999999 meters 0.01382020897029026 Centerline is valid? [True, True] Translation: X:75.95, Y:-5.94, Z:-2.83 [[ 9.91843380e-01 1.23562434e-01 3.12895257e-02 7.59458188e+01] [-1.23498535e-01 9.92336797e-01 -3.97403598e-03 -5.94198038e+00] [-3.15407893e-02 7.74106933e-05 9.99502463e-01 -2.82585731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54587156 meters 0.02716233400796689 Centerline is valid? [True, True] Translation: X:76.01, Y:-5.95, Z:-2.83 [[ 9.91264959e-01 1.28454654e-01 2.98861791e-02 7.60054040e+01] [-1.28398567e-01 9.91715381e-01 -3.79627772e-03 -5.94783865e+00] [-3.01262330e-02 -7.42254751e-05 9.99546099e-01 -2.83330509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60587156 meters 0.014845807889847573 Centerline is valid? [True, True] Translation: X:76.07, Y:-5.95, Z:-2.83 [[ 9.90969153e-01 1.30620436e-01 3.03057828e-02 7.60652333e+01] [-1.30563774e-01 9.91432439e-01 -3.84957768e-03 -5.95377163e+00] [-3.05489697e-02 -1.42024654e-04 9.99533261e-01 -2.83297869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.66587156 meters 0.015847945376226656 Centerline is valid? [True, True] Translation: X:76.13, Y:-5.96, Z:-2.83 [[ 9.90634380e-01 1.32910099e-01 3.12798815e-02 7.61250152e+01] [-1.32850876e-01 9.91128073e-01 -3.97331212e-03 -5.96079079e+00] [-3.15304620e-02 -2.19460084e-04 9.99502767e-01 -2.83354527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72587156 meters 0.016114569557609388 Centerline is valid? [True, True] Translation: X:76.18, Y:-5.97, Z:-2.84 [[ 9.90573245e-01 1.33428256e-01 3.10088095e-02 7.61845529e+01] [-1.33370309e-01 9.91058447e-01 -3.93887932e-03 -5.97083257e+00] [-3.12571004e-02 -2.33906046e-04 9.99511350e-01 -2.83608600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78587155999999 meters 0.01658354372689268 Centerline is valid? [True, True] Translation: X:76.24, Y:-5.98, Z:-2.84 [[ 9.90615593e-01 1.33236652e-01 3.04752506e-02 7.62429349e+01] [-1.33180588e-01 9.91084227e-01 -3.87124188e-03 -5.97975486e+00] [-3.07193315e-02 -2.23799225e-04 9.99528025e-01 -2.84033260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84587155999999 meters 0.014646477898748076 Centerline is valid? [True, True] Translation: X:76.30, Y:-6.00, Z:-2.84 [[ 9.90736318e-01 1.31361690e-01 3.44333377e-02 7.63044327e+01] [-1.31560722e-01 9.91301686e-01 3.56978961e-03 -5.99735613e+00] [-3.36648921e-02 -8.06679497e-03 9.99400621e-01 -2.84088258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90587156 meters 0.015013654267166525 Centerline is valid? [True, True] Translation: X:76.36, Y:-6.00, Z:-2.84 [[ 9.90797830e-01 1.31902360e-01 3.03550243e-02 7.63632720e+01] [-1.31590250e-01 9.91230729e-01 -1.20684660e-02 -5.99699455e+00] [-3.16806921e-02 7.96298470e-03 9.99466320e-01 -2.84293926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96587156 meters 0.013849982857370761 Centerline is valid? [True, True] Translation: X:76.42, Y:-6.02, Z:-2.84 [[ 9.91167683e-01 1.28728713e-01 3.18675818e-02 7.64225817e+01] [-1.28664978e-01 9.91679843e-01 -4.05119517e-03 -6.01746172e+00] [-3.21239437e-02 -8.48279904e-05 9.99483889e-01 -2.84418880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02587156 meters 0.013488775348264785 Centerline is valid? [True, True] Translation: X:76.48, Y:-6.03, Z:-2.85 [[ 9.91266600e-01 1.27947727e-01 3.19359915e-02 7.64842027e+01] [-1.27883336e-01 9.91780911e-01 -4.05915572e-03 -6.02975275e+00] [-3.21928665e-02 -6.03756597e-05 9.99481674e-01 -2.84523707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08587156 meters 0.01336849711162638 Centerline is valid? [True, True] Translation: X:76.55, Y:-6.04, Z:-2.85 [[ 9.91232572e-01 1.27986592e-01 3.28240727e-02 7.65458173e+01] [-1.27918361e-01 9.91775897e-01 -4.17898441e-03 -6.04199717e+00] [-3.30889781e-02 -5.64561051e-05 9.99452408e-01 -2.84642700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14587155999999 meters 0.01351977731718705 Centerline is valid? [True, True] Translation: X:76.61, Y:-6.05, Z:-2.85 [[ 9.91225738e-01 1.28118314e-01 3.25151228e-02 7.66069667e+01] [-1.28051405e-01 9.91758889e-01 -4.14048778e-03 -6.05253932e+00] [-3.27776344e-02 -5.94491165e-05 9.99462667e-01 -2.85004581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20587155999999 meters 0.01367015884776884 Centerline is valid? [True, True] Translation: X:76.67, Y:-6.07, Z:-2.85 [[ 9.91260071e-01 1.27951936e-01 3.21212495e-02 7.66683910e+01] [-1.27886362e-01 9.91780369e-01 -4.09614521e-03 -6.06542430e+00] [-3.23813343e-02 -4.75245588e-05 9.99475586e-01 -2.85387552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26587156 meters 0.013353945749243491 Centerline is valid? [True, True] Translation: X:76.73, Y:-6.08, Z:-2.86 [[ 9.91083304e-01 1.28373742e-01 3.56940708e-02 7.67303668e+01] [-1.28665769e-01 9.91669871e-01 5.99883142e-03 -6.08307470e+00] [-3.46266421e-02 -1.05379467e-02 9.99344759e-01 -2.85723008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32587156 meters 0.015231489004337006 Centerline is valid? [True, True] Translation: X:76.79, Y:-6.08, Z:-2.86 [[ 9.90768422e-01 1.32445167e-01 2.89173135e-02 7.67910097e+01] [-1.32072168e-01 9.91134669e-01 -1.44572162e-02 -6.07760870e+00] [-3.05757404e-02 1.05045810e-02 9.99477252e-01 -2.86175022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38587156 meters 0.01779416265001457 Centerline is valid? [True, True] Translation: X:76.85, Y:-6.09, Z:-2.86 [[ 9.90118730e-01 1.36856226e-01 3.05822450e-02 7.68511264e+01] [-1.36800495e-01 9.90590874e-01 -3.91716282e-03 -6.08649140e+00] [-3.08305809e-02 -3.05209982e-04 9.99524578e-01 -2.86395046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44587156 meters 0.02210648169697872 Centerline is valid? [True, True] Translation: X:76.91, Y:-6.09, Z:-2.87 [[ 9.89409890e-01 1.41819770e-01 3.09066687e-02 7.69115662e+01] [-1.41765249e-01 9.89892387e-01 -3.95937268e-03 -6.08796962e+00] [-3.11557933e-02 -4.64049090e-04 9.99514433e-01 -2.86587028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50587156 meters 0.02619935288668245 Centerline is valid? [True, True] Translation: X:76.97, Y:-6.09, Z:-2.87 [[ 9.88866591e-01 1.45562491e-01 3.08937960e-02 7.69705235e+01] [-1.45509844e-01 9.89348888e-01 -3.95761420e-03 -6.08845278e+00] [-3.11408229e-02 -5.81798969e-04 9.99514838e-01 -2.86870974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56587155999999 meters 0.03198051938455593 Centerline is valid? [True, True] Translation: X:77.03, Y:-6.08, Z:-2.87 [[ 9.88043770e-01 1.51057032e-01 3.08428697e-02 7.70314473e+01] [-1.51007274e-01 9.88524761e-01 -3.94970904e-03 -6.08433705e+00] [-3.10855717e-02 -7.55012255e-04 9.99516442e-01 -2.87094788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62587156 meters 0.03707840219386904 Centerline is valid? [True, True] Translation: X:77.09, Y:-6.09, Z:-2.88 [[ 9.87803222e-01 1.52685184e-01 3.05291686e-02 7.70905591e+01] [-1.52637216e-01 9.88274556e-01 -3.90932576e-03 -6.08942914e+00] [-3.07680966e-02 -7.98242732e-04 9.99526231e-01 -2.87577628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68587156 meters 0.0309575576252803 Centerline is valid? [True, True] Translation: X:77.15, Y:-6.09, Z:-2.88 [[ 9.88075561e-01 1.50901335e-01 3.05854929e-02 7.71485111e+01] [-1.50852346e-01 9.88548549e-01 -3.91618971e-03 -6.09348570e+00] [-3.08262028e-02 -7.44402019e-04 9.99524482e-01 -2.87721560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74587156 meters 0.029129756257450515 Centerline is valid? [True, True] Translation: X:77.21, Y:-6.10, Z:-2.88 [[ 9.88453444e-01 1.48407273e-01 3.05789229e-02 7.72066332e+01] [-1.48357175e-01 9.88926102e-01 -3.91331511e-03 -6.09803575e+00] [-3.08210595e-02 -6.68472832e-04 9.99524695e-01 -2.88008708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80587156 meters 0.02862243298860978 Centerline is valid? [True, True] Translation: X:77.27, Y:-6.10, Z:-2.88 [[ 9.88585263e-01 1.47504294e-01 3.06865109e-02 7.72654519e+01] [-1.47453455e-01 9.89061206e-01 -3.92559789e-03 -6.10233546e+00] [-3.09298800e-02 -6.44043823e-04 9.99521349e-01 -2.88279803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86587156 meters 0.026690283778709193 Centerline is valid? [True, True] Translation: X:77.32, Y:-6.11, Z:-2.88 [[ 9.88724816e-01 1.46536809e-01 3.08253331e-02 7.73248565e+01] [-1.46485088e-01 9.89205025e-01 -3.94175169e-03 -6.10513066e+00] [-3.10701861e-02 -6.18143926e-04 9.99517014e-01 -2.88416903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92587155999999 meters 0.024923588365276132 Centerline is valid? [True, True] Translation: X:77.38, Y:-6.11, Z:-2.89 [[ 9.89110333e-01 1.43922159e-01 3.07759813e-02 7.73825214e+01] [-1.43869365e-01 9.89588867e-01 -3.93458188e-03 -6.10736232e+00] [-3.10218420e-02 -5.35985295e-04 9.99518563e-01 -2.88804342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98587155999999 meters 0.026425002837317583 Centerline is valid? [True, True] Translation: X:77.44, Y:-6.12, Z:-2.89 [[ 9.89657129e-01 1.40247806e-01 3.01549217e-02 7.74406338e+01] [-1.40195474e-01 9.90116347e-01 -3.85328541e-03 -6.11796330e+00] [-3.03972957e-02 -4.14152150e-04 9.99537810e-01 -2.89308826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04587156 meters 0.01624523187124615 Centerline is valid? [True, True] Translation: X:77.50, Y:-6.13, Z:-2.90 [[ 9.90681607e-01 1.32862241e-01 2.99596207e-02 7.74980191e+01] [-1.32807254e-01 9.91134496e-01 -3.82670179e-03 -6.12887242e+00] [-3.02024378e-02 -1.87811902e-04 9.99543785e-01 -2.89526397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10587156 meters 0.014259460601692081 Centerline is valid? [True, True] Translation: X:77.56, Y:-6.15, Z:-2.90 [[ 9.91737047e-01 1.24745030e-01 2.99383808e-02 7.75566486e+01] [-1.24686466e-01 9.92188830e-01 -3.82244826e-03 -6.14536764e+00] [-3.01813585e-02 5.79526450e-05 9.99544437e-01 -2.89623532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.16587156 meters 0.015485267598128846 Centerline is valid? [True, True] Translation: X:77.62, Y:-6.16, Z:-2.90 [[ 9.92203588e-01 1.20787289e-01 3.06996741e-02 7.76165053e+01] [-1.20723817e-01 9.92678396e-01 -3.91951368e-03 -6.15715003e+00] [-3.09483306e-02 1.82773697e-04 9.99520969e-01 -2.89721888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22587156 meters 0.016613277158831038 Centerline is valid? [True, True] Translation: X:77.68, Y:-6.17, Z:-2.90 [[ 9.92494020e-01 1.18243691e-01 3.12097790e-02 7.76782097e+01] [-1.18176876e-01 9.92984571e-01 -3.98330774e-03 -6.16650378e+00] [-3.14618300e-02 2.65134928e-04 9.99504919e-01 -2.89807526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28587155999999 meters 0.01596725097155399 Centerline is valid? [True, True] Translation: X:77.74, Y:-6.17, Z:-2.90 [[ 9.92383308e-01 1.19432301e-01 3.01876823e-02 7.77401238e+01] [-1.19370193e-01 9.92842321e-01 -3.85773222e-03 -6.16888066e+00] [-3.04323464e-02 2.24839590e-04 9.99536804e-01 -2.90194420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34587155999999 meters 0.01511289939971863 Centerline is valid? [True, True] Translation: X:77.80, Y:-6.17, Z:-2.90 [[ 9.92111877e-01 1.21694478e-01 3.00745257e-02 7.78012854e+01] [-1.21633664e-01 9.92567594e-01 -3.85020154e-03 -6.17263782e+00] [-3.03195479e-02 1.61755935e-04 9.99540244e-01 -2.90449614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40587156 meters 0.014316737685716618 Centerline is valid? [True, True] Translation: X:77.86, Y:-6.18, Z:-2.91 [[ 9.91863676e-01 1.23487964e-01 3.09381664e-02 7.78619948e+01] [-1.23424445e-01 9.92346064e-01 -3.96181464e-03 -6.17578332e+00] [-3.11906041e-02 1.11054011e-04 9.99513449e-01 -2.90539580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46587156 meters 0.013596560818397902 Centerline is valid? [True, True] Translation: X:77.92, Y:-6.18, Z:-2.91 [[ 9.91414728e-01 1.26830327e-01 3.17947522e-02 7.79211285e+01] [-1.26764947e-01 9.91924427e-01 -4.07187257e-03 -6.17628492e+00] [-3.20544283e-02 6.45437405e-06 9.99486125e-01 -2.90732304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.52587156 meters 0.013995938033785054 Centerline is valid? [True, True] Translation: X:77.98, Y:-6.18, Z:-2.91 [[ 9.91015740e-01 1.29913542e-01 3.17848102e-02 7.79801416e+01] [-1.29849820e-01 9.91525321e-01 -4.06957842e-03 -6.17524713e+00] [-3.20441375e-02 -9.42356044e-05 9.99486450e-01 -2.90925957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58587156 meters 0.02501110598187963 Centerline is valid? [True, True] Translation: X:78.04, Y:-6.17, Z:-2.91 [[ 9.90260480e-01 1.35295556e-01 3.28526078e-02 7.80387193e+01] [-1.35230486e-01 9.90805246e-01 -4.20487623e-03 -6.16848526e+00] [-3.31194372e-02 -2.78751358e-04 9.99451362e-01 -2.91250809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64587155999999 meters 0.021334794371109553 Centerline is valid? [True, True] Translation: X:78.10, Y:-6.16, Z:-2.91 [[ 9.89575412e-01 1.40223350e-01 3.28316241e-02 7.80996917e+01] [-1.40161163e-01 9.90119797e-01 -4.19943136e-03 -6.16206049e+00] [-3.30960994e-02 -4.46064616e-04 9.99452075e-01 -2.91303106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70587155999999 meters 0.02358042002174298 Centerline is valid? [True, True] Translation: X:78.16, Y:-6.16, Z:-2.92 [[ 9.89293293e-01 1.42134840e-01 3.31129546e-02 7.81593944e+01] [-1.42072672e-01 9.89847171e-01 -4.23483965e-03 -6.15653576e+00] [-3.33786827e-02 -5.14947458e-04 9.99442644e-01 -2.91539251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76587156 meters 0.02277473319916391 Centerline is valid? [True, True] Translation: X:78.22, Y:-6.16, Z:-2.92 [[ 9.89451784e-01 1.41082408e-01 3.28773750e-02 7.82181898e+01] [-1.41020590e-01 9.89997740e-01 -4.20320307e-03 -6.16084699e+00] [-3.31415250e-02 -4.77520059e-04 9.99450555e-01 -2.91912869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82587156 meters 0.021735010640357953 Centerline is valid? [True, True] Translation: X:78.28, Y:-6.17, Z:-2.92 [[ 9.89615384e-01 1.39946107e-01 3.28097402e-02 7.82768616e+01] [-1.39883969e-01 9.90159024e-01 -4.19305156e-03 -6.16788393e+00] [-3.30736616e-02 -4.40048353e-04 9.99452820e-01 -2.92196395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.88587156 meters 0.017825676001867314 Centerline is valid? [True, True] Translation: X:78.33, Y:-6.17, Z:-2.92 [[ 9.90180543e-01 1.35634668e-01 3.38486186e-02 7.83348920e+01] [-1.35566067e-01 9.90758872e-01 -4.32420357e-03 -6.17378090e+00] [-3.41223311e-02 -3.06981860e-04 9.99417617e-01 -2.92271195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94587156 meters 0.013388231490681446 Centerline is valid? [True, True] Translation: X:78.39, Y:-6.19, Z:-2.92 [[ 9.91018243e-01 1.29212852e-01 3.44511305e-02 7.83922899e+01] [-1.29137960e-01 9.91616877e-01 -4.39958985e-03 -6.18720327e+00] [-3.47308060e-02 -8.88749047e-05 9.99396700e-01 -2.92290482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00587156 meters 0.013546380130035172 Centerline is valid? [True, True] Translation: X:78.45, Y:-6.20, Z:-2.93 [[ 9.91597591e-01 1.24990315e-01 3.33412498e-02 7.84493196e+01] [-1.24917832e-01 9.92157960e-01 -4.25643517e-03 -6.19815911e+00] [-3.36117996e-02 5.57542241e-05 9.99434962e-01 -2.92892238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06587155999999 meters 0.0219966250184107 Centerline is valid? [True, True] Translation: X:78.51, Y:-6.21, Z:-2.93 [[ 9.92254321e-01 1.19869555e-01 3.25983327e-02 7.85078833e+01] [-1.19797574e-01 9.92789625e-01 -4.15943608e-03 -6.20986706e+00] [-3.28618763e-02 2.22017257e-04 9.99459878e-01 -2.93347445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12587156 meters 0.029083334290200474 Centerline is valid? [True, True] Translation: X:78.57, Y:-6.22, Z:-2.94 [[ 9.92682464e-01 1.16552882e-01 3.15745381e-02 7.85655802e+01] [-1.16483693e-01 9.93184435e-01 -4.02820441e-03 -6.22112031e+00] [-3.18288386e-02 3.20809068e-04 9.99493283e-01 -2.93981738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18587156 meters 0.017563284104893783 Centerline is valid? [True, True] Translation: X:78.62, Y:-6.23, Z:-2.94 [[ 9.92775255e-01 1.16019667e-01 3.06060450e-02 7.86243928e+01] [-1.15954437e-01 9.93246863e-01 -3.90362409e-03 -6.22814093e+00] [-3.08522553e-02 3.26514686e-04 9.99523903e-01 -2.94023832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24587156 meters 0.021023300789029555 Centerline is valid? [True, True] Translation: X:78.68, Y:-6.24, Z:-2.95 [[ 9.92833092e-01 1.15579220e-01 3.03956611e-02 7.86819300e+01] [-1.15514712e-01 9.93298208e-01 -3.87569185e-03 -6.23985297e+00] [-3.06399051e-02 3.36769098e-04 9.99530431e-01 -2.94794916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30587156 meters 0.022231242446086555 Centerline is valid? [True, True] Translation: X:78.74, Y:-6.24, Z:-2.95 [[ 9.92747546e-01 1.16094098e-01 3.12164946e-02 7.87411521e+01] [-1.16026344e-01 9.93238165e-01 -3.97931950e-03 -6.24055492e+00] [-3.14673893e-02 3.28523923e-04 9.99504725e-01 -2.94583004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36587156 meters 0.016350709516492878 Centerline is valid? [True, True] Translation: X:78.80, Y:-6.25, Z:-2.95 [[ 9.92556876e-01 1.17583928e-01 3.16996633e-02 7.87999732e+01] [-1.17514869e-01 9.93062908e-01 -4.03937187e-03 -6.24561998e+00] [-3.19547250e-02 2.84124559e-04 9.99489277e-01 -2.94548942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42587155999999 meters 0.02515505300291413 Centerline is valid? [True, True] Translation: X:78.86, Y:-6.25, Z:-2.95 [[ 9.92425240e-01 1.18631321e-01 3.19179135e-02 7.88582507e+01] [-1.18561898e-01 9.92938340e-01 -4.06564014e-03 -6.25236640e+00] [-3.21748323e-02 2.50595472e-04 9.99482225e-01 -2.95001326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48587155999999 meters 0.014367522715874874 Centerline is valid? [True, True] Translation: X:78.92, Y:-6.26, Z:-2.95 [[ 9.92267550e-01 1.19893793e-01 3.21027661e-02 7.89173090e+01] [-1.19824281e-01 9.92786702e-01 -4.08742489e-03 -6.25875062e+00] [-3.23612562e-02 2.09128217e-04 9.99476216e-01 -2.94909963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54587156 meters 0.014469810580650834 Centerline is valid? [True, True] Translation: X:78.98, Y:-6.27, Z:-2.95 [[ 9.92156901e-01 1.20696554e-01 3.25119196e-02 7.89750329e+01] [-1.20625709e-01 9.92689432e-01 -4.13892776e-03 -6.26620022e+00] [-3.27737933e-02 1.84692402e-04 9.99462778e-01 -2.95282259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60587156 meters 0.01345172849690515 Centerline is valid? [True, True] Translation: X:79.03, Y:-6.27, Z:-2.95 [[ 9.91976580e-01 1.22146566e-01 3.25987925e-02 7.90335760e+01] [-1.22076177e-01 9.92512064e-01 -4.14834773e-03 -6.27374826e+00] [-3.28614013e-02 1.35527822e-04 9.99459909e-01 -2.95365217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.66587156 meters 0.013559680898367834 Centerline is valid? [True, True] Translation: X:79.09, Y:-6.28, Z:-2.96 [[ 9.91788961e-01 1.23668832e-01 3.25680264e-02 7.90902787e+01] [-1.23599446e-01 9.92323543e-01 -4.14293894e-03 -6.28222563e+00] [-3.28303718e-02 8.35310947e-05 9.99460935e-01 -2.95912712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72587156 meters 0.013382298407656998 Centerline is valid? [True, True] Translation: X:79.15, Y:-6.29, Z:-2.96 [[ 9.91765788e-01 1.23886870e-01 3.24448061e-02 7.91484277e+01] [-1.23818194e-01 9.92296346e-01 -4.12513870e-03 -6.29009479e+00] [-3.27059130e-02 7.39141337e-05 9.99465016e-01 -2.96082557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78587155999999 meters 0.012699930756940078 Centerline is valid? [True, True] Translation: X:79.21, Y:-6.30, Z:-2.96 [[ 9.91583825e-01 1.25220418e-01 3.28841257e-02 7.92070627e+01] [-1.25150652e-01 9.92128946e-01 -4.17950098e-03 -6.29865280e+00] [-3.31486518e-02 2.88557940e-05 9.99450432e-01 -2.96150444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84587155999999 meters 0.012600265988198021 Centerline is valid? [True, True] Translation: X:79.26, Y:-6.31, Z:-2.96 [[ 9.91420608e-01 1.26338213e-01 3.35236179e-02 7.92646037e+01] [-1.26266399e-01 9.91987226e-01 -4.25918809e-03 -6.30580871e+00] [-3.37930989e-02 -1.02596698e-05 9.99428850e-01 -2.96344843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90587156 meters 0.013416696957102061 Centerline is valid? [True, True] Translation: X:79.32, Y:-6.31, Z:-2.97 [[ 9.91087722e-01 1.29244988e-01 3.22623692e-02 7.93226543e+01] [-1.29180077e-01 9.91612687e-01 -4.09707329e-03 -6.31040615e+00] [-3.25213008e-02 -1.07096309e-04 9.99471037e-01 -2.96779345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96587156 meters 0.014424180580912088 Centerline is valid? [True, True] Translation: X:79.38, Y:-6.31, Z:-2.97 [[ 9.90773126e-01 1.31575471e-01 3.25039843e-02 7.93810956e+01] [-1.31510906e-01 9.91306139e-01 -4.12567317e-03 -6.31482455e+00] [-3.27642365e-02 -1.87022319e-04 9.99463091e-01 -2.97024650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.02587156 meters 0.014071405106998057 Centerline is valid? [True, True] Translation: X:79.44, Y:-6.32, Z:-2.97 [[ 9.90761480e-01 1.31484241e-01 3.32202373e-02 7.94392301e+01] [-1.31416802e-01 9.91318243e-01 -4.21495531e-03 -6.32421327e+00] [-3.34860275e-02 -1.89681984e-04 9.99439168e-01 -2.97073989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08587156 meters 0.02423302360797482 Centerline is valid? [True, True] Translation: X:79.50, Y:-6.33, Z:-2.98 [[ 9.90887041e-01 1.30511976e-01 3.33091097e-02 7.94967337e+01] [-1.30443677e-01 9.91446720e-01 -4.22470708e-03 -6.33266034e+00] [-3.35755825e-02 -1.58755265e-04 9.99436169e-01 -2.97563987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14587155999999 meters 0.013811157354540561 Centerline is valid? [True, True] Translation: X:79.55, Y:-6.34, Z:-2.98 [[ 9.90945045e-01 1.30356868e-01 3.21714815e-02 7.95542875e+01] [-1.30293138e-01 9.91467127e-01 -4.07846756e-03 -6.34378049e+00] [-3.24286226e-02 -1.50186057e-04 9.99474043e-01 -2.97809208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20587155999999 meters 0.014633609899438411 Centerline is valid? [True, True] Translation: X:79.61, Y:-6.35, Z:-2.98 [[ 9.90716018e-01 1.32143017e-01 3.19373685e-02 7.96128907e+01] [-1.32081187e-01 9.91230639e-01 -4.04727673e-03 -6.34988390e+00] [-3.21921176e-02 -2.08623649e-04 9.99481678e-01 -2.98063482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26587156 meters 0.015763073570190644 Centerline is valid? [True, True] Translation: X:79.67, Y:-6.36, Z:-2.98 [[ 9.90563973e-01 1.33346386e-01 3.16505333e-02 7.96699114e+01] [-1.33286320e-01 9.91069463e-01 -4.00952793e-03 -6.35637291e+00] [-3.19025331e-02 -2.46889201e-04 9.99490954e-01 -2.98406968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32587156 meters 0.01626341397400173 Centerline is valid? [True, True] Translation: X:79.73, Y:-6.37, Z:-2.99 [[ 9.90366322e-01 1.34777968e-01 3.17717911e-02 7.97277815e+01] [-1.34718243e-01 9.90875780e-01 -4.02286967e-03 -6.36693201e+00] [-3.20240925e-02 -2.96125222e-04 9.99487053e-01 -2.98549394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38587156 meters 0.017951851829287508 Centerline is valid? [True, True] Translation: X:79.79, Y:-6.37, Z:-2.99 [[ 9.90142700e-01 1.36353024e-01 3.20200944e-02 7.97850071e+01] [-1.36293228e-01 9.90660249e-01 -4.05295054e-03 -6.37137256e+00] [-3.22736667e-02 -3.51122640e-04 9.99479008e-01 -2.98709682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44587156 meters 0.020845958576231362 Centerline is valid? [True, True] Translation: X:79.84, Y:-6.37, Z:-2.99 [[ 9.89603588e-01 1.40108390e-01 3.24711946e-02 7.98437778e+01] [-1.40049003e-01 9.90136054e-01 -4.10739443e-03 -6.37468246e+00] [-3.27263809e-02 -4.82866170e-04 9.99464232e-01 -2.98828925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50587155999999 meters 0.022968994721043152 Centerline is valid? [True, True] Translation: X:79.90, Y:-6.38, Z:-2.99 [[ 9.89208369e-01 1.42749971e-01 3.30037747e-02 7.99020358e+01] [-1.42690144e-01 9.89758611e-01 -4.17312929e-03 -6.38002723e+00] [-3.32614843e-02 -5.81218947e-04 9.99446515e-01 -2.98947648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56587155999999 meters 0.028533063020866587 Centerline is valid? [True, True] Translation: X:79.96, Y:-6.38, Z:-2.99 [[ 9.88530174e-01 1.47302411e-01 3.33180908e-02 7.99614600e+01] [-1.47244081e-01 9.89091223e-01 -4.21108998e-03 -6.37742118e+00] [-3.35749349e-02 -7.43102147e-04 9.99435927e-01 -2.99089496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62587156 meters 0.03263989492155138 Centerline is valid? [True, True] Translation: X:80.02, Y:-6.38, Z:-2.99 [[ 9.88034654e-01 1.50587431e-01 3.33308879e-02 8.00214197e+01] [-1.50530967e-01 9.88596324e-01 -4.21136277e-03 -6.37744241e+00] [-3.35849716e-02 -8.56358440e-04 9.99435499e-01 -2.99364794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68587156 meters 0.04383131312783736 Centerline is valid? [True, True] Translation: X:80.08, Y:-6.37, Z:-3.00 [[ 9.87366740e-01 1.54882001e-01 3.34437759e-02 8.00824563e+01] [-1.54827644e-01 9.87932463e-01 -4.22471878e-03 -6.37306210e+00] [-3.36945248e-02 -1.00667424e-03 9.99431671e-01 -2.99710655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74587156 meters 0.039761182375199426 Centerline is valid? [True, True] Translation: X:80.14, Y:-6.37, Z:-3.00 [[ 9.87242037e-01 1.55649093e-01 3.35636691e-02 8.01399597e+01] [-1.55594785e-01 9.87811868e-01 -4.23996232e-03 -6.37483936e+00] [-3.38145369e-02 -1.03646284e-03 9.99427588e-01 -2.99863688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80587156 meters 0.03758003814809972 Centerline is valid? [True, True] Translation: X:80.20, Y:-6.38, Z:-3.00 [[ 9.87088852e-01 1.56585756e-01 3.37120187e-02 8.01987070e+01] [-1.56531602e-01 9.87663781e-01 -4.25604845e-03 -6.38123286e+00] [-3.39625764e-02 -1.07589834e-03 9.99422526e-01 -3.00003181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86587156 meters 0.03840979843005136 Centerline is valid? [True, True] Translation: X:80.26, Y:-6.38, Z:-3.01 [[ 9.87370280e-01 1.55168614e-01 3.19786203e-02 8.02572331e+01] [-1.55119187e-01 9.87887519e-01 -4.03585805e-03 -6.37964322e+00] [-3.22175184e-02 -9.75611310e-04 9.99480405e-01 -3.00671250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92587155999999 meters 0.03562823552328367 Centerline is valid? [True, True] Translation: X:80.32, Y:-6.39, Z:-3.01 [[ 9.87803505e-01 1.52465091e-01 3.16011377e-02 8.03153682e+01] [-1.52415507e-01 9.88308466e-01 -3.98619756e-03 -6.38645836e+00] [-3.18394279e-02 -8.78923491e-04 9.99492610e-01 -3.00977679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98587155999999 meters 0.03257403333818117 Centerline is valid? [True, True] Translation: X:80.37, Y:-6.40, Z:-3.01 [[ 9.88886920e-01 1.45301972e-01 3.14642055e-02 8.03742353e+01] [-1.45249252e-01 9.89387143e-01 -3.96697099e-03 -6.40248949e+00] [-3.17066890e-02 -6.47266580e-04 9.99497007e-01 -3.01224904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04587156 meters 0.01901742562119356 Centerline is valid? [True, True] Translation: X:80.43, Y:-6.42, Z:-3.01 [[ 9.90087446e-01 1.36898626e-01 3.13945148e-02 8.04322635e+01] [-1.36841909e-01 9.90584991e-01 -3.95828843e-03 -6.41530148e+00] [-3.16408194e-02 -3.77033642e-04 9.99499233e-01 -3.01368226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10587156 meters 0.015147375294591921 Centerline is valid? [True, True] Translation: X:80.49, Y:-6.43, Z:-3.02 [[ 9.90806013e-01 1.31715152e-01 3.08960177e-02 8.04901913e+01] [-1.31657715e-01 9.91287585e-01 -3.89496703e-03 -6.42682999e+00] [-3.11398649e-02 -2.08542345e-04 9.99515015e-01 -3.01650921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.16587156 meters 0.01318778496673766 Centerline is valid? [True, True] Translation: X:80.55, Y:-6.44, Z:-3.02 [[ 9.91801822e-01 1.23861603e-01 3.14237031e-02 8.05462222e+01] [-1.23798289e-01 9.92299502e-01 -3.96001885e-03 -6.44214555e+00] [-3.16722192e-02 3.73532468e-05 9.99498309e-01 -3.01812525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22587156 meters 0.014628857505421254 Centerline is valid? [True, True] Translation: X:80.60, Y:-6.45, Z:-3.02 [[ 9.92368625e-01 1.19373513e-01 3.08945896e-02 8.06038654e+01] [-1.19310200e-01 9.92849401e-01 -3.89133679e-03 -6.45478593e+00] [-3.11381974e-02 1.75600870e-04 9.99515073e-01 -3.02149627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28587155999999 meters 0.028486038764500454 Centerline is valid? [True, True] Translation: X:80.66, Y:-6.47, Z:-3.02 [[ 9.92881772e-01 1.15021128e-01 3.09180722e-02 8.06613384e+01] [-1.14955655e-01 9.93362997e-01 -3.89280410e-03 -6.46585517e+00] [-3.11606236e-02 3.10886973e-04 9.99514342e-01 -3.02457260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34587155999999 meters 0.018884678409832892 Centerline is valid? [True, True] Translation: X:80.72, Y:-6.48, Z:-3.02 [[ 9.93116931e-01 1.12794825e-01 3.15608644e-02 8.07198502e+01] [-1.12725534e-01 9.93618225e-01 -3.97193579e-03 -6.47781228e+00] [-3.18074639e-02 3.86881403e-04 9.99493940e-01 -3.02495808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40587156 meters 0.027071773253017073 Centerline is valid? [True, True] Translation: X:80.78, Y:-6.49, Z:-3.03 [[ 9.93368267e-01 1.10472327e-01 3.18645612e-02 8.07782764e+01] [-1.10400525e-01 9.93879092e-01 -4.00939456e-03 -6.49065990e+00] [-3.21124483e-02 4.64941039e-04 9.99484154e-01 -3.02758752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46587156 meters 0.021213868332902765 Centerline is valid? [True, True] Translation: X:80.84, Y:-6.50, Z:-3.03 [[ 9.93391165e-01 1.10332189e-01 3.16354554e-02 8.08365164e+01] [-1.10261368e-01 9.93894658e-01 -3.97984707e-03 -6.50092830e+00] [-3.18814153e-02 4.65376321e-04 9.99491550e-01 -3.02987880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.52587156 meters 0.02004277711498621 Centerline is valid? [True, True] Translation: X:80.89, Y:-6.51, Z:-3.03 [[ 9.93180505e-01 1.12509252e-01 3.05639217e-02 8.08940788e+01] [-1.12444199e-01 9.93650604e-01 -3.84439884e-03 -6.50891239e+00] [-3.08023897e-02 3.81446299e-04 9.99525421e-01 -3.03498306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58587156 meters 0.030332261246208303 Centerline is valid? [True, True] Translation: X:80.95, Y:-6.51, Z:-3.04 [[ 9.92751997e-01 1.16047549e-01 3.12480158e-02 8.09539780e+01] [-1.15981340e-01 9.93243621e-01 -3.92921266e-03 -6.51202579e+00] [-3.14928679e-02 2.76546959e-04 9.99503938e-01 -3.03680954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64587155999999 meters 0.013471717341185237 Centerline is valid? [True, True] Translation: X:81.01, Y:-6.51, Z:-3.04 [[ 9.92037794e-01 1.22020345e-01 3.11777244e-02 8.10128707e+01] [-1.21957395e-01 9.92527596e-01 -3.91991272e-03 -6.51279095e+00] [-3.14230609e-02 8.63475112e-05 9.99506170e-01 -3.03689364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70587155999999 meters 0.013074750494424235 Centerline is valid? [True, True] Translation: X:81.07, Y:-6.51, Z:-3.04 [[ 9.91550514e-01 1.25845428e-01 3.14722998e-02 8.10722412e+01] [-1.25783256e-01 9.92049861e-01 -3.95546084e-03 -6.51468184e+00] [-3.17198673e-02 -3.66491093e-05 9.99496798e-01 -3.03871949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76587156 meters 0.014328727347369674 Centerline is valid? [True, True] Translation: X:81.13, Y:-6.52, Z:-3.04 [[ 9.91161918e-01 1.29139867e-01 3.03470972e-02 8.11306084e+01] [-1.29083647e-01 9.91626379e-01 -3.81266044e-03 -6.51741946e+00] [-3.05853486e-02 -1.38350154e-04 9.99532149e-01 -3.04407740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82587156 meters 0.014715895626135119 Centerline is valid? [True, True] Translation: X:81.19, Y:-6.52, Z:-3.05 [[ 9.91064660e-01 1.29820069e-01 3.06200820e-02 8.11886840e+01] [-1.29763203e-01 9.91537555e-01 -3.84549187e-03 -6.52292845e+00] [-3.08601833e-02 -1.62228830e-04 9.99523698e-01 -3.04634365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88587156 meters 0.014132186099744648 Centerline is valid? [True, True] Translation: X:81.25, Y:-6.53, Z:-3.05 [[ 9.90996633e-01 1.30042828e-01 3.18517992e-02 8.12470767e+01] [-1.29981459e-01 9.91508362e-01 -3.99861581e-03 -6.52751746e+00] [-3.21013166e-02 -1.77528539e-04 9.99484604e-01 -3.04547688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94587156 meters 0.014296548248956008 Centerline is valid? [True, True] Translation: X:81.30, Y:-6.53, Z:-3.05 [[ 9.91068266e-01 1.29659723e-01 3.11776937e-02 8.13046459e+01] [-1.29600776e-01 9.91558536e-01 -3.91268403e-03 -6.53410198e+00] [-3.14218258e-02 -1.62916315e-04 9.99506199e-01 -3.05046455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00587155999999 meters 0.024403779431354137 Centerline is valid? [True, True] Translation: X:81.36, Y:-6.54, Z:-3.06 [[ 9.91314516e-01 1.28034284e-01 3.00458255e-02 8.13627439e+01] [-1.27978855e-01 9.91769736e-01 -3.76862405e-03 -6.54157554e+00] [-3.02810536e-02 -1.09338632e-04 9.99541418e-01 -3.05628173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06587155999999 meters 0.013658488591743593 Centerline is valid? [True, True] Translation: X:81.42, Y:-6.55, Z:-3.06 [[ 9.91829468e-01 1.23959777e-01 3.01376925e-02 8.14194493e+01] [-1.23902167e-01 9.92287243e-01 -3.77883012e-03 -6.55352228e+00] [-3.03736707e-02 1.38296514e-05 9.99538614e-01 -3.06031417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12587156 meters 0.013699371579978614 Centerline is valid? [True, True] Translation: X:81.48, Y:-6.56, Z:-3.06 [[ 9.92210381e-01 1.20927059e-01 2.99199937e-02 8.14778814e+01] [-1.20868956e-01 9.92661390e-01 -3.74963906e-03 -6.56438627e+00] [-3.01538553e-02 1.04032396e-04 9.99545264e-01 -3.06045644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18587156 meters 0.0241084141510046 Centerline is valid? [True, True] Translation: X:81.53, Y:-6.58, Z:-3.07 [[ 9.92717116e-01 1.16948613e-01 2.89093423e-02 8.15349057e+01] [-1.16892717e-01 9.93137944e-01 -3.62180758e-03 -6.57724425e+00] [-2.91345301e-02 2.16138801e-04 9.99575476e-01 -3.06661348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24587156 meters 0.016500255593364262 Centerline is valid? [True, True] Translation: X:81.59, Y:-6.59, Z:-3.07 [[ 9.92830283e-01 1.16123726e-01 2.83427067e-02 8.15935744e+01] [-1.16069716e-01 9.93234728e-01 -3.54900673e-03 -6.58566706e+00] [-2.85630845e-02 2.33831445e-04 9.99591965e-01 -3.06833322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.30587156 meters 0.01564468594143765 Centerline is valid? [True, True] Translation: X:81.65, Y:-6.59, Z:-3.07 [[ 9.92650394e-01 1.17421191e-01 2.92824184e-02 8.16520005e+01] [-1.17364146e-01 9.93082184e-01 -3.66521911e-03 -6.58948871e+00] [-2.95102224e-02 2.01575163e-04 9.99564458e-01 -3.06913922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36587156 meters 0.031039623907099304 Centerline is valid? [True, True] Translation: X:81.71, Y:-6.59, Z:-3.07 [[ 9.92243626e-01 1.20602040e-01 3.01286252e-02 8.17116097e+01] [-1.20543160e-01 9.92700930e-01 -3.76966816e-03 -6.58935464e+00] [-3.03633439e-02 1.08629511e-04 9.99538921e-01 -3.07125449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42587155999999 meters 0.013828330968792005 Centerline is valid? [True, True] Translation: X:81.77, Y:-6.59, Z:-3.07 [[ 9.92051305e-01 1.22107336e-01 3.03974750e-02 8.17690012e+01] [-1.22048147e-01 9.92516899e-01 -3.80196984e-03 -6.59310511e+00] [-3.06342561e-02 6.17936291e-05 9.99530659e-01 -3.07210698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48587155999999 meters 0.019234531052521077 Centerline is valid? [True, True] Translation: X:81.83, Y:-6.59, Z:-3.07 [[ 9.91672299e-01 1.24890514e-01 3.14389932e-02 8.18280187e+01] [-1.24828663e-01 9.92170529e-01 -3.93016943e-03 -6.59387837e+00] [-3.16836834e-02 -2.70473212e-05 9.99497946e-01 -3.07305366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54587156 meters 0.013257185275679952 Centerline is valid? [True, True] Translation: X:81.89, Y:-6.60, Z:-3.07 [[ 9.91561302e-01 1.25560501e-01 3.22605740e-02 8.18861056e+01] [-1.25495777e-01 9.92085963e-01 -4.03139603e-03 -6.59692514e+00] [-3.25114467e-02 -5.11894827e-05 9.99471362e-01 -3.07259771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60587156 meters 0.01391955868405229 Centerline is valid? [True, True] Translation: X:81.94, Y:-6.60, Z:-3.08 [[ 9.91377818e-01 1.26946129e-01 3.24761680e-02 8.19441857e+01] [-1.26881343e-01 9.91909608e-01 -4.05640197e-03 -6.59815184e+00] [-3.27283676e-02 -9.91928713e-05 9.99464279e-01 -3.07633723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.66587156 meters 0.013533820099815685 Centerline is valid? [True, True] Translation: X:82.00, Y:-6.60, Z:-3.08 [[ 9.91343764e-01 1.27283692e-01 3.21932209e-02 8.20024966e+01] [-1.27220272e-01 9.91866346e-01 -4.01910807e-03 -6.60398667e+00] [-3.24429393e-02 -1.11312582e-04 9.99473583e-01 -3.07695423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72587156 meters 0.02005182176687021 Centerline is valid? [True, True] Translation: X:82.06, Y:-6.60, Z:-3.08 [[ 9.91189029e-01 1.28608058e-01 3.16903127e-02 8.20620880e+01] [-1.28547328e-01 9.91695489e-01 -3.95482113e-03 -6.60349838e+00] [-3.19357620e-02 -1.53729704e-04 9.99489912e-01 -3.08245359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78587155999999 meters 0.013937254659241505 Centerline is valid? [True, True] Translation: X:82.12, Y:-6.61, Z:-3.08 [[ 9.91358332e-01 1.27378498e-01 3.13588280e-02 8.21194878e+01] [-1.27318457e-01 9.91854175e-01 -3.91222371e-03 -6.61024494e+00] [-3.16017176e-02 -1.14142011e-04 9.99500534e-01 -3.08423236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84587155999999 meters 0.013396769284288337 Centerline is valid? [True, True] Translation: X:82.18, Y:-6.62, Z:-3.09 [[ 9.91613588e-01 1.25248521e-01 3.18637625e-02 8.21776552e+01] [-1.25185514e-01 9.92125398e-01 -3.97260087e-03 -6.61795977e+00] [-3.21104105e-02 -4.95964757e-05 9.99484327e-01 -3.08617716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90587156 meters 0.013314115267875785 Centerline is valid? [True, True] Translation: X:82.24, Y:-6.63, Z:-3.09 [[ 9.92118705e-01 1.20821916e-01 3.32045125e-02 8.22355327e+01] [-1.20751070e-01 9.92674194e-01 -4.13806880e-03 -6.62869432e+00] [-3.34612321e-02 9.59750438e-05 9.99440012e-01 -3.08625686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96587156 meters 0.014156194172427077 Centerline is valid? [True, True] Translation: X:82.29, Y:-6.64, Z:-3.09 [[ 9.92444489e-01 1.17947188e-01 3.37993613e-02 8.22938768e+01] [-1.17872169e-01 9.93019850e-01 -4.21055593e-03 -6.63745306e+00] [-3.40600599e-02 1.94739004e-04 9.99419769e-01 -3.08721338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.02587156 meters 0.015540566670338393 Centerline is valid? [True, True] Translation: X:82.35, Y:-6.65, Z:-3.09 [[ 9.92771553e-01 1.15221203e-01 3.35964045e-02 8.23521410e+01] [-1.15145576e-01 9.93339818e-01 -4.18366966e-03 -6.64530710e+00] [-3.38546937e-02 2.84950888e-04 9.99426725e-01 -3.08995181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08587156 meters 0.0166795803240315 Centerline is valid? [True, True] Translation: X:82.41, Y:-6.65, Z:-3.10 [[ 9.92970024e-01 1.13991597e-01 3.18817683e-02 8.24096315e+01] [-1.13922904e-01 9.93481666e-01 -3.96883001e-03 -6.65111738e+00] [-3.21263656e-02 3.08865609e-04 9.99483767e-01 -3.09650482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14587155999999 meters 0.017035617947888222 Centerline is valid? [True, True] Translation: X:82.47, Y:-6.66, Z:-3.10 [[ 9.93071857e-01 1.13390110e-01 3.08378078e-02 8.24684241e+01] [-1.13325611e-01 9.93550494e-01 -3.83698775e-03 -6.65586924e+00] [-3.10739957e-02 3.15691123e-04 9.99517037e-01 -3.10088356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20587155999999 meters 0.019070191504071406 Centerline is valid? [True, True] Translation: X:82.53, Y:-6.66, Z:-3.11 [[ 9.93157486e-01 1.12649945e-01 3.07928133e-02 8.25254801e+01] [-1.12585321e-01 9.93634679e-01 -3.83004020e-03 -6.66239496e+00] [-3.10282610e-02 3.37014321e-04 9.99518451e-01 -3.10624857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26587156 meters 0.03289908721707249 Centerline is valid? [True, True] Translation: X:82.58, Y:-6.67, Z:-3.11 [[ 9.93345297e-01 1.11113082e-01 3.03150860e-02 8.25838730e+01] [-1.11049792e-01 9.93807698e-01 -3.76866912e-03 -6.66807345e+00] [-3.05461143e-02 3.77105751e-04 9.99533287e-01 -3.11203968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32587156 meters 0.021830089071707557 Centerline is valid? [True, True] Translation: X:82.64, Y:-6.68, Z:-3.11 [[ 9.93827363e-01 1.06571713e-01 3.08162723e-02 8.26431837e+01] [-1.06504180e-01 9.94304881e-01 -3.82936245e-03 -6.67612354e+00] [-3.10488716e-02 5.23663386e-04 9.99517730e-01 -3.10925983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38587156 meters 0.025545036262538613 Centerline is valid? [True, True] Translation: X:82.70, Y:-6.69, Z:-3.11 [[ 9.94162829e-01 1.03292300e-01 3.11603934e-02 8.27011920e+01] [-1.03221659e-01 9.94650844e-01 -3.87148955e-03 -6.68711202e+00] [-3.13936067e-02 6.32463500e-04 9.99506899e-01 -3.11185050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44587156 meters 0.02908383988053805 Centerline is valid? [True, True] Translation: X:82.76, Y:-6.70, Z:-3.11 [[ 9.94455901e-01 1.00288062e-01 3.16190746e-02 8.27591351e+01] [-1.00213844e-01 9.94958171e-01 -3.92731156e-03 -6.69815409e+00] [-3.18535191e-02 7.36869139e-04 9.99492276e-01 -3.11349904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50587155999999 meters 0.03805728778125932 Centerline is valid? [True, True] Translation: X:82.82, Y:-6.71, Z:-3.12 [[ 9.94665069e-01 9.81556844e-02 3.17310766e-02 8.28180565e+01] [-9.80798940e-02 9.95170744e-01 -3.94001517e-03 -6.70755728e+00] [-3.19645740e-02 8.06814834e-04 9.99488677e-01 -3.11589069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56587155999999 meters 0.02879634473483057 Centerline is valid? [True, True] Translation: X:82.88, Y:-6.71, Z:-3.12 [[ 9.94641194e-01 9.83411136e-02 3.19048529e-02 8.28777901e+01] [-9.82646106e-02 9.95152440e-01 -3.96082016e-03 -6.71462221e+00] [-3.21397036e-02 8.04476946e-04 9.99483063e-01 -3.11654524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62587156 meters 0.025922849577587257 Centerline is valid? [True, True] Translation: X:82.94, Y:-6.72, Z:-3.12 [[ 9.94295391e-01 1.01503193e-01 3.27685335e-02 8.29379054e+01] [-1.01424232e-01 9.94834952e-01 -4.06724942e-03 -6.71666891e+00] [-3.30121213e-02 7.20523994e-04 9.99454692e-01 -3.11763537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68587156 meters 0.023853355283572332 Centerline is valid? [True, True] Translation: X:83.00, Y:-6.72, Z:-3.12 [[ 9.94028530e-01 1.03992084e-01 3.30594706e-02 8.29976976e+01] [-1.03913117e-01 9.94577917e-01 -4.10251480e-03 -6.72184396e+00] [-3.33068485e-02 6.42704107e-04 9.99444966e-01 -3.12061762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74587156 meters 0.02716980191960585 Centerline is valid? [True, True] Translation: X:83.06, Y:-6.72, Z:-3.12 [[ 9.93739753e-01 1.06716179e-01 3.30599595e-02 8.30559755e+01] [-1.06638748e-01 9.94289371e-01 -4.10162977e-03 -6.72497025e+00] [-3.33088767e-02 5.50479866e-04 9.99444954e-01 -3.12474826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.80587156 meters 0.026638647825406776 Centerline is valid? [True, True] Translation: X:83.12, Y:-6.73, Z:-3.13 [[ 9.93655596e-01 1.07692196e-01 3.24183331e-02 8.31150975e+01] [-1.07618294e-01 9.94184155e-01 -4.02102581e-03 -6.72926649e+00] [-3.26628262e-02 5.06709084e-04 9.99466299e-01 -3.12795142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86587156 meters 0.020112941773295447 Centerline is valid? [True, True] Translation: X:83.17, Y:-6.73, Z:-3.13 [[ 9.93493869e-01 1.09126064e-01 3.25796675e-02 8.31728764e+01] [-1.09052242e-01 9.94027812e-01 -4.03958600e-03 -6.73447999e+00] [-3.28259197e-02 4.60418142e-04 9.99460978e-01 -3.12928333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92587155999999 meters 0.026348077611707325 Centerline is valid? [True, True] Translation: X:83.23, Y:-6.74, Z:-3.13 [[ 9.93329968e-01 1.10858590e-01 3.17166694e-02 8.32317813e+01] [-1.10789572e-01 9.93836113e-01 -3.93067439e-03 -6.73761765e+00] [-3.19569205e-02 3.90580427e-04 9.99489171e-01 -3.13285479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98587155999999 meters 0.01720822873469492 Centerline is valid? [True, True] Translation: X:83.29, Y:-6.74, Z:-3.14 [[ 9.93117155e-01 1.12673729e-01 3.19835384e-02 8.32911284e+01] [-1.12604534e-01 9.93631984e-01 -3.96221473e-03 -6.73839338e+00] [-3.22263043e-02 3.33451965e-04 9.99480542e-01 -3.13539035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04587156 meters 0.016703288452510793 Centerline is valid? [True, True] Translation: X:83.35, Y:-6.74, Z:-3.14 [[ 9.93090411e-01 1.12621318e-01 3.29829400e-02 8.33500949e+01] [-1.12547755e-01 9.93637922e-01 -4.08443018e-03 -6.74254100e+00] [-3.32330939e-02 3.44052582e-04 9.99447569e-01 -3.13537803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10587156 meters 0.019031242741081693 Centerline is valid? [True, True] Translation: X:83.41, Y:-6.75, Z:-3.14 [[ 9.93348553e-01 1.10258809e-01 3.31910811e-02 8.34072389e+01] [-1.10183045e-01 9.93902820e-01 -4.10870675e-03 -6.75247181e+00] [-3.34417302e-02 4.24283515e-04 9.99440579e-01 -3.13841429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.16587156 meters 0.030414643892529413 Centerline is valid? [True, True] Translation: X:83.47, Y:-6.76, Z:-3.14 [[ 9.93668622e-01 1.07583300e-01 3.23806119e-02 8.34651281e+01] [-1.07509837e-01 9.94195948e-01 -4.00639731e-03 -6.76258528e+00] [-3.26236946e-02 4.99796982e-04 9.99467581e-01 -3.14382184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22587156 meters 0.02604774791830906 Centerline is valid? [True, True] Translation: X:83.52, Y:-6.78, Z:-3.14 [[ 9.94339824e-01 1.01307416e-01 3.20175127e-02 8.35236309e+01] [-1.01232396e-01 9.94854926e-01 -3.95968854e-03 -6.77814842e+00] [-3.22539260e-02 6.96066486e-04 9.99479464e-01 -3.14490528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28587155999999 meters 0.03362770845514446 Centerline is valid? [True, True] Translation: X:83.58, Y:-6.80, Z:-3.15 [[ 9.94811407e-01 9.67245931e-02 3.15375518e-02 8.35809045e+01] [-9.66495174e-02 9.95310837e-01 -3.89989877e-03 -6.79842614e+00] [-3.17668832e-02 8.31574619e-04 9.99494959e-01 -3.15027889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34587155999999 meters 0.04093274615951318 Centerline is valid? [True, True] Translation: X:83.64, Y:-6.81, Z:-3.15 [[ 9.95273211e-01 9.18070774e-02 3.16653744e-02 8.36403278e+01] [-9.17289203e-02 9.95776318e-01 -3.91520670e-03 -6.81218600e+00] [-3.18910736e-02 9.92069738e-04 9.99490858e-01 -3.15103962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40587156 meters 0.034297436253861724 Centerline is valid? [True, True] Translation: X:83.70, Y:-6.82, Z:-3.15 [[ 9.95211279e-01 9.20566870e-02 3.28645306e-02 8.36997880e+01] [-9.19726319e-02 9.95753244e-01 -4.06347415e-03 -6.82291265e+00] [-3.30990330e-02 1.02137793e-03 9.99451555e-01 -3.14989142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46587156 meters 0.03692626274299211 Centerline is valid? [True, True] Translation: X:83.76, Y:-6.83, Z:-3.15 [[ 9.94915108e-01 9.51179531e-02 3.31134820e-02 8.37590772e+01] [-9.50343123e-02 9.95465578e-01 -4.09425528e-03 -6.83106937e+00] [-3.33527686e-02 9.26519449e-04 9.99443212e-01 -3.15246073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.52587156 meters 0.035698489849150715 Centerline is valid? [True, True] Translation: X:83.82, Y:-6.84, Z:-3.16 [[ 9.94706229e-01 9.72103163e-02 3.33117322e-02 8.38195231e+01] [-9.71268459e-02 9.95263489e-01 -4.11866579e-03 -6.83798159e+00] [-3.35543276e-02 8.61399039e-04 9.99436524e-01 -3.15504025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58587156 meters 0.021630354580260483 Centerline is valid? [True, True] Translation: X:83.88, Y:-6.83, Z:-3.16 [[ 9.93963289e-01 1.04804440e-01 3.24501146e-02 8.38801278e+01] [-1.04729253e-01 9.94492675e-01 -4.01279007e-03 -6.83463936e+00] [-3.26919595e-02 5.90089760e-04 9.99465301e-01 -3.15630822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64587155999999 meters 0.016675904550449636 Centerline is valid? [True, True] Translation: X:83.94, Y:-6.83, Z:-3.16 [[ 9.93041823e-01 1.13312864e-01 3.20645129e-02 8.39392263e+01] [-1.13243904e-01 9.93559309e-01 -3.96446755e-03 -6.83172720e+00] [-3.23072205e-02 3.05771473e-04 9.99477939e-01 -3.16102004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70587155999999 meters 0.013482264313904672 Centerline is valid? [True, True] Translation: X:84.00, Y:-6.83, Z:-3.16 [[ 9.92396025e-01 1.18821928e-01 3.21166569e-02 8.39983511e+01] [-1.18755627e-01 9.92915572e-01 -3.97083337e-03 -6.83077585e+00] [-3.23609509e-02 1.26605512e-04 9.99476239e-01 -3.16340839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76587156 meters 0.013518103418443287 Centerline is valid? [True, True] Translation: X:84.06, Y:-6.82, Z:-3.17 [[ 9.91520017e-01 1.26093288e-01 3.14410368e-02 8.40588086e+01] [-1.26033445e-01 9.92018382e-01 -3.88588484e-03 -6.82395512e+00] [-3.16800705e-02 -1.09689582e-04 9.99498055e-01 -3.16661767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82587156 meters 0.023153320509789403 Centerline is valid? [True, True] Translation: X:84.12, Y:-6.82, Z:-3.17 [[ 9.91286873e-01 1.28200921e-01 3.02466292e-02 8.41180564e+01] [-1.28146561e-01 9.91748201e-01 -3.73690083e-03 -6.82498524e+00] [-3.04761143e-02 -1.71660780e-04 9.99535481e-01 -3.17218111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88587156 meters 0.014590943262255249 Centerline is valid? [True, True] Translation: X:84.18, Y:-6.83, Z:-3.17 [[ 9.91364394e-01 1.27671140e-01 2.99452444e-02 8.41761682e+01] [-1.27617651e-01 9.91816544e-01 -3.69851642e-03 -6.82984107e+00] [-3.01723826e-02 -1.54964270e-04 9.99544698e-01 -3.17489659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.94587156 meters 0.013153333679238679 Centerline is valid? [True, True] Translation: X:84.23, Y:-6.84, Z:-3.18 [[ 9.91981924e-01 1.22787067e-01 2.99198634e-02 8.42338756e+01] [-1.22731521e-01 9.92433039e-01 -3.69293370e-03 -6.84211430e+00] [-3.01469054e-02 -8.78686685e-06 9.99545479e-01 -3.17685451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00587155999999 meters 0.0136185021573993 Centerline is valid? [True, True] Translation: X:84.29, Y:-6.85, Z:-3.18 [[ 9.92455899e-01 1.18870664e-01 3.00175566e-02 8.42914757e+01] [-1.18813006e-01 9.92909741e-01 -3.70352279e-03 -6.85196204e+00] [-3.02449645e-02 1.09106906e-04 9.99542510e-01 -3.17954907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06587155999999 meters 0.015728625182596465 Centerline is valid? [True, True] Translation: X:84.35, Y:-6.86, Z:-3.18 [[ 9.93001360e-01 1.14049735e-01 3.06750341e-02 8.43492029e+01] [-1.13987270e-01 9.93475007e-01 -3.78311769e-03 -6.86279724e+00] [-3.09063433e-02 2.60077611e-04 9.99522251e-01 -3.18181128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12587156 meters 0.018817912321450147 Centerline is valid? [True, True] Translation: X:84.41, Y:-6.87, Z:-3.18 [[ 9.93465508e-01 1.09901759e-01 3.07877907e-02 8.44065268e+01] [-1.09836884e-01 9.93942378e-01 -3.79567716e-03 -6.87230649e+00] [-3.10184415e-02 3.89239344e-04 9.99518737e-01 -3.18377365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18587156 meters 0.021824525868802555 Centerline is valid? [True, True] Translation: X:84.46, Y:-6.88, Z:-3.18 [[ 9.93814735e-01 1.06500153e-01 3.14641015e-02 8.44646644e+01] [-1.06430755e-01 9.94312558e-01 -3.87702648e-03 -6.88267184e+00] [-3.16980552e-02 5.04297962e-04 9.99497363e-01 -3.18498142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24587156 meters 0.02655988022255895 Centerline is valid? [True, True] Translation: X:84.52, Y:-6.90, Z:-3.19 [[ 9.94431475e-01 1.00386715e-01 3.20709915e-02 8.45237865e+01] [-1.00311494e-01 9.94948241e-01 -3.94994377e-03 -6.89636872e+00] [-3.23054985e-02 7.10859345e-04 9.99477788e-01 -3.18544698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30587156 meters 0.04237249544189598 Centerline is valid? [True, True] Translation: X:84.58, Y:-6.91, Z:-3.19 [[ 9.95034167e-01 9.45034709e-02 3.12426092e-02 8.45829409e+01] [-9.44292003e-02 9.95524145e-01 -3.84751521e-03 -6.90948247e+00] [-3.14663753e-02 8.78194493e-04 9.99504425e-01 -3.19002790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36587156 meters 0.0434895570876537 Centerline is valid? [True, True] Translation: X:84.64, Y:-6.92, Z:-3.19 [[ 9.95285943e-01 9.17597227e-02 3.14013459e-02 8.46410589e+01] [-9.16833463e-02 9.95780706e-01 -3.86657428e-03 -6.92319733e+00] [-3.16236501e-02 9.69366562e-04 9.99499377e-01 -3.19285771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42587155999999 meters 0.04012990317287477 Centerline is valid? [True, True] Translation: X:84.70, Y:-6.94, Z:-3.20 [[ 9.95487399e-01 8.96928617e-02 3.09843328e-02 8.46995269e+01] [-8.96175023e-02 9.95968949e-01 -3.81518389e-03 -6.93678158e+00] [-3.12016281e-02 1.02122898e-03 9.99512589e-01 -3.19561481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48587155999999 meters 0.04388720692207358 Centerline is valid? [True, True] Translation: X:84.76, Y:-6.95, Z:-3.20 [[ 9.95625257e-01 8.84795840e-02 3.00284916e-02 8.47592100e+01] [-8.84082528e-02 9.96077462e-01 -3.69748861e-03 -6.94651033e+00] [-3.02378559e-02 1.02654657e-03 9.99542204e-01 -3.20084228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54587156 meters 0.0402621234578507 Centerline is valid? [True, True] Translation: X:84.82, Y:-6.96, Z:-3.20 [[ 9.95518155e-01 8.95470693e-02 3.04125966e-02 8.48187192e+01] [-8.94743944e-02 9.95982082e-01 -3.74491485e-03 -6.95650258e+00] [-3.06257474e-02 1.00698206e-03 9.99530415e-01 -3.20121177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60587156 meters 0.03612557256065166 Centerline is valid? [True, True] Translation: X:84.88, Y:-6.96, Z:-3.20 [[ 9.95303814e-01 9.19433762e-02 3.02775906e-02 8.48790395e+01] [-9.18724624e-02 9.95763804e-01 -3.72796041e-03 -6.95723260e+00] [-3.04920901e-02 9.28776406e-04 9.99534577e-01 -3.20287806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.66587156 meters 0.02672590028787554 Centerline is valid? [True, True] Translation: X:84.94, Y:-6.96, Z:-3.20 [[ 9.94525828e-01 9.99315381e-02 3.05297550e-02 8.49406065e+01] [-9.98632141e-02 9.94994077e-01 -3.75839311e-03 -6.95582574e+00] [-3.07525074e-02 6.89019560e-04 9.99526792e-01 -3.20354702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72587156 meters 0.02161589852590801 Centerline is valid? [True, True] Translation: X:85.00, Y:-6.96, Z:-3.21 [[ 9.93893445e-01 1.05922811e-01 3.09221396e-02 8.49997903e+01] [-1.05855593e-01 9.94374224e-01 -3.80738619e-03 -6.95653365e+00] [-3.11514676e-02 5.10854734e-04 9.99514545e-01 -3.20676816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78587155999999 meters 0.016221959219754577 Centerline is valid? [True, True] Translation: X:85.06, Y:-6.95, Z:-3.21 [[ 9.93193324e-01 1.12324381e-01 3.08261983e-02 8.50601845e+01] [-1.12260683e-01 9.93671544e-01 -3.79484761e-03 -6.95321421e+00] [-3.10573700e-02 3.08447248e-04 9.99517556e-01 -3.20871415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84587155999999 meters 0.014879448108398969 Centerline is valid? [True, True] Translation: X:85.12, Y:-6.96, Z:-3.21 [[ 9.92946839e-01 1.14320309e-01 3.14235780e-02 8.51186319e+01] [-1.14255132e-01 9.93443911e-01 -3.86787206e-03 -6.95759937e+00] [-3.16597386e-02 2.50286282e-04 9.99498673e-01 -3.21030865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90587156 meters 0.015269161989675569 Centerline is valid? [True, True] Translation: X:85.18, Y:-6.97, Z:-3.21 [[ 9.92902199e-01 1.14396595e-01 3.25367961e-02 8.51759676e+01] [-1.14326808e-01 9.93435128e-01 -4.00338685e-03 -6.96673860e+00] [-3.27811700e-02 2.55143570e-04 9.99462520e-01 -3.21274707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96587156 meters 0.014825168849773106 Centerline is valid? [True, True] Translation: X:85.23, Y:-6.97, Z:-3.21 [[ 9.92973955e-01 1.13661808e-01 3.29198755e-02 8.52333391e+01] [-1.13590025e-01 9.93519459e-01 -4.04866811e-03 -6.97436789e+00] [-3.31667159e-02 2.80852502e-04 9.99449794e-01 -3.21352931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.02587156 meters 0.016118214662538394 Centerline is valid? [True, True] Translation: X:85.29, Y:-6.98, Z:-3.22 [[ 9.93179894e-01 1.11899167e-01 3.27456142e-02 8.52909801e+01] [-1.11827264e-01 9.93719510e-01 -4.02480695e-03 -6.98324448e+00] [-3.29903282e-02 3.35504889e-04 9.99455615e-01 -3.21662465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08587156 meters 0.017787271772431036 Centerline is valid? [True, True] Translation: X:85.35, Y:-6.99, Z:-3.22 [[ 9.93452490e-01 1.09566028e-01 3.23641250e-02 8.53486156e+01] [-1.09494619e-01 9.93979437e-01 -3.97592740e-03 -6.99328903e+00] [-3.26049013e-02 4.06197452e-04 9.99468236e-01 -3.22066455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14587155999999 meters 0.031166463162021023 Centerline is valid? [True, True] Translation: X:85.41, Y:-7.01, Z:-3.22 [[ 9.93953601e-01 1.04761262e-01 3.28833974e-02 8.54066034e+01] [-1.04684972e-01 9.94497236e-01 -4.03791115e-03 -7.00959681e+00] [-3.31254645e-02 5.71098788e-04 9.99451038e-01 -3.22426804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20587155999999 meters 0.0264667983849671 Centerline is valid? [True, True] Translation: X:85.46, Y:-7.03, Z:-3.22 [[ 9.94268860e-01 1.01406178e-01 3.38558804e-02 8.54638201e+01] [-1.01323389e-01 9.94844859e-01 -4.15658659e-03 -7.02771009e+00] [-3.41028521e-02 7.02372077e-04 9.99418082e-01 -3.22489847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26587156 meters 0.027777541078990716 Centerline is valid? [True, True] Translation: X:85.52, Y:-7.04, Z:-3.23 [[ 9.94490009e-01 9.91848749e-02 3.39408751e-02 8.55234738e+01] [-9.91004268e-02 9.95068718e-01 -4.16553788e-03 -7.04011490e+00] [-3.41866614e-02 7.79030598e-04 9.99415162e-01 -3.22695687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32587156 meters 0.03221783726082863 Centerline is valid? [True, True] Translation: X:85.58, Y:-7.06, Z:-3.23 [[ 9.94828936e-01 9.61006480e-02 3.28641608e-02 8.55810215e+01] [-9.60197928e-02 9.95371253e-01 -4.03339356e-03 -7.05996592e+00] [-3.30996527e-02 8.56926710e-04 9.99451689e-01 -3.23258084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38587156 meters 0.03319482997418448 Centerline is valid? [True, True] Translation: X:85.64, Y:-7.07, Z:-3.24 [[ 9.94931340e-01 9.51253846e-02 3.26004588e-02 8.56409024e+01] [-9.50453062e-02 9.95464908e-01 -4.00081425e-03 -7.07265251e+00] [-3.28331917e-02 8.82014897e-04 9.99460456e-01 -3.23602453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44587156 meters 0.03789954058233144 Centerline is valid? [True, True] Translation: X:85.70, Y:-7.08, Z:-3.24 [[ 9.94965910e-01 9.49241667e-02 3.21285133e-02 8.57017958e+01] [-9.48462629e-02 9.95484121e-01 -3.94361333e-03 -7.08104886e+00] [-3.23577691e-02 8.76491406e-04 9.99475966e-01 -3.24043506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50587155999999 meters 0.028772902135958286 Centerline is valid? [True, True] Translation: X:85.76, Y:-7.09, Z:-3.24 [[ 9.94461364e-01 9.98251352e-02 3.28867539e-02 8.57607621e+01] [-9.97461495e-02 9.95004725e-01 -4.03777328e-03 -7.08805993e+00] [-3.31255468e-02 7.35082443e-04 9.99450928e-01 -3.24010478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56587155999999 meters 0.02271683213359429 Centerline is valid? [True, True] Translation: X:85.82, Y:-7.09, Z:-3.24 [[ 9.93840103e-01 1.05640784e-01 3.34943929e-02 8.58211341e+01] [-1.05562164e-01 9.94404204e-01 -4.11198769e-03 -7.09032558e+00] [-3.37413587e-02 5.50917685e-04 9.99430446e-01 -3.24134384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62587156 meters 0.024622768774920856 Centerline is valid? [True, True] Translation: X:85.88, Y:-7.08, Z:-3.25 [[ 9.92875512e-01 1.14412404e-01 3.32869313e-02 8.58821073e+01] [-1.14339685e-01 9.93433309e-01 -4.08627956e-03 -7.08417280e+00] [-3.35358674e-02 2.51149651e-04 9.99437483e-01 -3.24527826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68587156 meters 0.012020636396516854 Centerline is valid? [True, True] Translation: X:85.94, Y:-7.08, Z:-3.25 [[ 9.92252377e-01 1.19476903e-01 3.40659641e-02 8.59412717e+01] [-1.19403747e-01 9.92836977e-01 -4.18114231e-03 -7.08341830e+00] [-3.43214988e-02 8.11446191e-05 9.99410841e-01 -3.24601900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74587156 meters 0.018278605702418838 Centerline is valid? [True, True] Translation: X:86.00, Y:-7.08, Z:-3.25 [[ 9.91786369e-01 1.23545812e-01 3.31093641e-02 8.60007238e+01] [-1.23479022e-01 9.92338868e-01 -4.06230863e-03 -7.08468019e+00] [-3.33575901e-02 -5.93695809e-05 9.99443479e-01 -3.24968386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80587156 meters 0.012427854765235356 Centerline is valid? [True, True] Translation: X:86.06, Y:-7.09, Z:-3.25 [[ 9.91622603e-01 1.24734779e-01 3.35536728e-02 8.60585553e+01] [-1.24666916e-01 9.92190115e-01 -4.11527260e-03 -7.09017948e+00] [-3.38049401e-02 -1.02235593e-04 9.99428444e-01 -3.25228543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86587156 meters 0.011823488248815663 Centerline is valid? [True, True] Translation: X:86.12, Y:-7.10, Z:-3.25 [[ 9.91762547e-01 1.23543729e-01 3.38230228e-02 8.61167761e+01] [-1.23474153e-01 9.92339127e-01 -4.14617351e-03 -7.09975292e+00] [-3.40761426e-02 -6.42494770e-05 9.99419238e-01 -3.25411272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92587155999999 meters 0.011525379363822526 Centerline is valid? [True, True] Translation: X:86.18, Y:-7.11, Z:-3.26 [[ 9.92059447e-01 1.21158461e-01 3.37443425e-02 8.61751236e+01] [-1.21087883e-01 9.92633178e-01 -4.13491378e-03 -7.11041973e+00] [-3.39967337e-02 1.60492776e-05 9.99421944e-01 -3.25703125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98587155999999 meters 0.011727314981278034 Centerline is valid? [True, True] Translation: X:86.23, Y:-7.12, Z:-3.26 [[ 9.92194878e-01 1.20013356e-01 3.38543650e-02 8.62325817e+01] [-1.19941702e-01 9.92772276e-01 -4.14687203e-03 -7.11870881e+00] [-3.41073550e-02 5.39550174e-05 9.99418173e-01 -3.26038355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04587156 meters 0.025218839685991458 Centerline is valid? [True, True] Translation: X:86.29, Y:-7.13, Z:-3.26 [[ 9.92290476e-01 1.19005676e-01 3.46014621e-02 8.62906979e+01] [-1.18930287e-01 9.92893570e-01 -4.23620421e-03 -7.12557243e+00] [-3.48597016e-02 8.83832583e-05 9.99392212e-01 -3.26175105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10587156 meters 0.011845028076008911 Centerline is valid? [True, True] Translation: X:86.35, Y:-7.13, Z:-3.26 [[ 9.92402533e-01 1.17996974e-01 3.48414631e-02 8.63486434e+01] [-1.17919971e-01 9.93013947e-01 -4.26394479e-03 -7.13399742e+00] [-3.51011914e-02 1.23045267e-04 9.99383756e-01 -3.26448277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.16587156 meters 0.0125244676343083 Centerline is valid? [True, True] Translation: X:86.41, Y:-7.14, Z:-3.27 [[ 9.92574955e-01 1.16647663e-01 3.44714607e-02 8.64071387e+01] [-1.16571529e-01 9.93173346e-01 -4.21708283e-03 -7.14173877e+00] [-3.47280488e-02 1.67379906e-04 9.99396785e-01 -3.26746069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22587156 meters 0.01327526145160096 Centerline is valid? [True, True] Translation: X:86.47, Y:-7.15, Z:-3.27 [[ 9.92751063e-01 1.15220368e-01 3.41993174e-02 8.64650168e+01] [-1.15144640e-01 9.93339932e-01 -4.18221946e-03 -7.14884436e+00] [-3.44534245e-02 2.14034745e-04 9.99406282e-01 -3.27018833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28587155999999 meters 0.0146696752720887 Centerline is valid? [True, True] Translation: X:86.52, Y:-7.16, Z:-3.27 [[ 9.93036318e-01 1.12664420e-01 3.44325259e-02 8.65234435e+01] [-1.12586174e-01 9.93633049e-01 -4.20913787e-03 -7.15589190e+00] [-3.46875158e-02 3.03200408e-04 9.99398161e-01 -3.27187371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34587155999999 meters 0.018728087965799323 Centerline is valid? [True, True] Translation: X:86.58, Y:-7.17, Z:-3.27 [[ 9.93476998e-01 1.08395852e-01 3.54089562e-02 8.65803344e+01] [-1.08310458e-01 9.94107703e-01 -4.32665953e-03 -7.17050941e+00] [-3.56693081e-02 4.63276439e-04 9.99363540e-01 -3.27437292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40587156 meters 0.02622625359837779 Centerline is valid? [True, True] Translation: X:86.64, Y:-7.18, Z:-3.28 [[ 9.93934723e-01 1.03976682e-01 3.58136397e-02 8.66391642e+01] [-1.03886504e-01 9.94579537e-01 -4.37477167e-03 -7.18401694e+00] [-3.60743874e-02 6.27683650e-04 9.99348910e-01 -3.27743707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46587156 meters 0.027668291884181035 Centerline is valid? [True, True] Translation: X:86.70, Y:-7.20, Z:-3.28 [[ 9.94527215e-01 9.77918599e-02 3.67745998e-02 8.66985725e+01] [-9.76925479e-02 9.95206504e-01 -4.49216385e-03 -7.20171673e+00] [-3.70376179e-02 8.74974849e-04 9.99313489e-01 -3.27808182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52587156 meters 0.033606876023291016 Centerline is valid? [True, True] Translation: X:86.76, Y:-7.22, Z:-3.28 [[ 9.94795255e-01 9.50516740e-02 3.67093911e-02 8.67582494e+01] [-9.49508612e-02 9.95471862e-01 -4.48388652e-03 -7.21960677e+00] [-3.69693668e-02 9.74960743e-04 9.99315924e-01 -3.28164983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.58587156 meters 0.03393550816112697 Centerline is valid? [True, True] Translation: X:86.82, Y:-7.23, Z:-3.29 [[ 9.94925558e-01 9.41194826e-02 3.55620247e-02 8.68188472e+01] [-9.40240973e-02 9.95560423e-01 -4.34886679e-03 -7.23330556e+00] [-3.58134575e-02 9.83111446e-04 9.99358009e-01 -3.28667195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64587155999999 meters 0.03208292968517405 Centerline is valid? [True, True] Translation: X:86.88, Y:-7.24, Z:-3.29 [[ 9.94821895e-01 9.51581967e-02 3.56975587e-02 8.68801379e+01] [-9.50625472e-02 9.95461705e-01 -4.37109581e-03 -7.24255686e+00] [-3.59514983e-02 9.54960957e-04 9.99353080e-01 -3.28886474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70587155999999 meters 0.031100841627393516 Centerline is valid? [True, True] Translation: X:86.94, Y:-7.25, Z:-3.29 [[ 9.94646353e-01 9.70671480e-02 3.54485714e-02 8.69402672e+01] [-9.69738344e-02 9.95277441e-01 -4.34635199e-03 -7.25412173e+00] [-3.57030514e-02 8.85499265e-04 9.99362051e-01 -3.29192054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76587156 meters 0.030357837082920724 Centerline is valid? [True, True] Translation: X:87.00, Y:-7.26, Z:-3.30 [[ 9.94516549e-01 9.85473660e-02 3.50035634e-02 8.70024272e+01] [-9.84570949e-02 9.95132017e-01 -4.29752821e-03 -7.26200286e+00] [-3.52566768e-02 8.27613754e-04 9.99377947e-01 -3.29532531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82587156 meters 0.025150239367338918 Centerline is valid? [True, True] Translation: X:87.06, Y:-7.28, Z:-3.30 [[ 9.94306080e-01 1.00693345e-01 3.48750627e-02 8.70632491e+01] [-1.00605008e-01 9.94917227e-01 -4.28307085e-03 -7.27616397e+00] [-3.51290774e-02 7.50077419e-04 9.99382502e-01 -3.29777226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88587156 meters 0.02442356476799407 Centerline is valid? [True, True] Translation: X:87.12, Y:-7.29, Z:-3.30 [[ 9.94067288e-01 1.03200757e-01 3.43486580e-02 8.71234868e+01] [-1.03116363e-01 9.94660330e-01 -4.22420594e-03 -7.28807422e+00] [-3.46011887e-02 6.57236253e-04 9.99400983e-01 -3.30194093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.94587156 meters 0.03135134030014165 Centerline is valid? [True, True] Translation: X:87.18, Y:-7.29, Z:-3.31 [[ 9.93342597e-01 1.10073729e-01 3.39743852e-02 8.71835977e+01] [-1.09994958e-01 9.93923336e-01 -4.18462998e-03 -7.29276846e+00] [-3.42285521e-02 4.19760138e-04 9.99413943e-01 -3.30606774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00587155999999 meters 0.011362498436679493 Centerline is valid? [True, True] Translation: X:87.24, Y:-7.29, Z:-3.31 [[ 9.92172734e-01 1.19972703e-01 3.46383537e-02 8.72438604e+01] [-1.19896840e-01 9.92777187e-01 -4.26658430e-03 -7.28992134e+00] [-3.49000410e-02 8.01594638e-05 9.99390805e-01 -3.30740872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06587155999999 meters 0.012563458274615991 Centerline is valid? [True, True] Translation: X:87.30, Y:-7.29, Z:-3.31 [[ 9.91234001e-01 1.27338428e-01 3.52147816e-02 8.73029054e+01] [-1.27264685e-01 9.91859310e-01 -4.33690620e-03 -7.28895231e+00] [-3.54803638e-02 -1.82709205e-04 9.99370357e-01 -3.30946697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12587156 meters 0.020120700774134692 Centerline is valid? [True, True] Translation: X:87.36, Y:-7.28, Z:-3.31 [[ 9.90091875e-01 1.35962575e-01 3.51035307e-02 8.73635312e+01] [-1.35894773e-01 9.90713852e-01 -4.32140428e-03 -7.28451771e+00] [-3.53651033e-02 -4.91799060e-04 9.99374338e-01 -3.31245940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18587156 meters 0.024569201328223177 Centerline is valid? [True, True] Translation: X:87.42, Y:-7.28, Z:-3.31 [[ 9.89577809e-01 1.39658281e-01 3.50902266e-02 8.74230592e+01] [-1.39592876e-01 9.90199563e-01 -4.31902816e-03 -7.28348765e+00] [-3.53495151e-02 -6.24331236e-04 9.99374816e-01 -3.31480649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24587156 meters 0.029878766026127213 Centerline is valid? [True, True] Translation: X:87.48, Y:-7.28, Z:-3.32 [[ 9.89014331e-01 1.43664973e-01 3.47998251e-02 8.74823079e+01] [-1.43603167e-01 9.89626088e-01 -4.28208669e-03 -7.28323806e+00] [-3.50540007e-02 -7.62319982e-04 9.99385129e-01 -3.31893831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.30587156 meters 0.03184710232905405 Centerline is valid? [True, True] Translation: X:87.54, Y:-7.29, Z:-3.32 [[ 9.88815951e-01 1.45015768e-01 3.48344948e-02 8.75411619e+01] [-1.44954714e-01 9.89429011e-01 -4.28523680e-03 -7.28623718e+00] [-3.50876867e-02 -8.12113726e-04 9.99383908e-01 -3.32171206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36587156 meters 0.029103432185414658 Centerline is valid? [True, True] Translation: X:87.60, Y:-7.29, Z:-3.32 [[ 9.88774566e-01 1.45215686e-01 3.51747370e-02 8.75990074e+01] [-1.45153617e-01 9.89399675e-01 -4.32548861e-03 -7.29420448e+00] [-3.54300021e-02 -8.28807161e-04 9.99371817e-01 -3.32241887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42587155999999 meters 0.027721003533941992 Centerline is valid? [True, True] Translation: X:87.66, Y:-7.30, Z:-3.32 [[ 9.88958436e-01 1.43888739e-01 3.54576225e-02 8.76574777e+01] [-1.43824878e-01 9.89593557e-01 -4.35853916e-03 -7.30164031e+00] [-3.57157795e-02 -7.89274146e-04 9.99361676e-01 -3.32461389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48587155999999 meters 0.023397721471359715 Centerline is valid? [True, True] Translation: X:87.72, Y:-7.31, Z:-3.33 [[ 9.89480018e-01 1.40006030e-01 3.64363136e-02 8.77168381e+01] [-1.39936036e-01 9.90150425e-01 -4.47682278e-03 -7.31308232e+00] [-3.67042136e-02 -6.69026601e-04 9.99325949e-01 -3.32529221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54587156 meters 0.022939966846311766 Centerline is valid? [True, True] Translation: X:87.78, Y:-7.32, Z:-3.33 [[ 9.90035869e-01 1.36139435e-01 3.59865695e-02 8.77753466e+01] [-1.36068614e-01 9.90689550e-01 -4.42129210e-03 -7.32337656e+00] [-3.62534306e-02 -5.19404891e-04 9.99342493e-01 -3.32909748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60587156 meters 0.018213291924375142 Centerline is valid? [True, True] Translation: X:87.83, Y:-7.33, Z:-3.33 [[ 9.90408544e-01 1.33682411e-01 3.49274959e-02 8.78322789e+01] [-1.33614209e-01 9.91024136e-01 -4.29007105e-03 -7.32953859e+00] [-3.51874985e-02 -4.17886716e-04 9.99380641e-01 -3.33489617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.66587156 meters 0.014849285856492972 Centerline is valid? [True, True] Translation: X:87.89, Y:-7.34, Z:-3.34 [[ 9.90939973e-01 1.29865721e-01 3.42470995e-02 8.78906160e+01] [-1.29797951e-01 9.91531551e-01 -4.20419875e-03 -7.33985804e+00] [-3.45030610e-02 -2.79094754e-04 9.99404553e-01 -3.33835770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72587156 meters 0.012466714913698714 Centerline is valid? [True, True] Translation: X:87.95, Y:-7.35, Z:-3.34 [[ 9.91389551e-01 1.26322777e-01 3.44864303e-02 8.79486401e+01] [-1.26251952e-01 9.91989179e-01 -4.23244165e-03 -7.34988722e+00] [-3.47448195e-02 -1.57980719e-04 9.99396204e-01 -3.33998469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78587155999999 meters 0.011142566551692672 Centerline is valid? [True, True] Translation: X:88.00, Y:-7.37, Z:-3.34 [[ 9.92179748e-01 1.19753661e-01 3.51910256e-02 8.80045658e+01] [-1.19675834e-01 9.92803634e-01 -4.31731699e-03 -7.36636335e+00] [-3.54547926e-02 7.20391557e-05 9.99371279e-01 -3.34218585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84587155999999 meters 0.012303606649543303 Centerline is valid? [True, True] Translation: X:88.06, Y:-7.38, Z:-3.34 [[ 9.92599729e-01 1.16075332e-01 3.56692528e-02 8.80630527e+01] [-1.15993081e-01 9.93240392e-01 -4.37370777e-03 -7.37866052e+00] [-3.59358222e-02 2.03954616e-04 9.99354079e-01 -3.34316241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90587156 meters 0.013996483481697325 Centerline is valid? [True, True] Translation: X:88.12, Y:-7.39, Z:-3.34 [[ 9.92908186e-01 1.13339648e-01 3.58811783e-02 8.81227243e+01] [-1.13254667e-01 9.93556255e-01 -4.39868767e-03 -7.38780089e+00] [-3.61485149e-02 3.03782087e-04 9.99346383e-01 -3.34480716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96587156 meters 0.014351310385517953 Centerline is valid? [True, True] Translation: X:88.18, Y:-7.40, Z:-3.35 [[ 9.92948178e-01 1.13026856e-01 3.57609600e-02 8.81811337e+01] [-1.12942235e-01 9.93591884e-01 -4.38409876e-03 -7.39547834e+00] [-3.60273205e-02 3.14260113e-04 9.99350756e-01 -3.34822626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02587156 meters 0.031185191287434275 Centerline is valid? [True, True] Translation: X:88.24, Y:-7.40, Z:-3.35 [[ 9.93034297e-01 1.12337998e-01 3.55395313e-02 8.82412285e+01] [-1.12254017e-01 9.93669996e-01 -4.35596465e-03 -7.40131082e+00] [-3.58039062e-02 3.36167136e-04 9.99358778e-01 -3.35084528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.08587156 meters 0.015608732184124787 Centerline is valid? [True, True] Translation: X:88.30, Y:-7.41, Z:-3.35 [[ 9.93161197e-01 1.10982553e-01 3.62451221e-02 8.83010384e+01] [-1.10894303e-01 9.93822277e-01 -4.44237564e-03 -7.41132759e+00] [-3.65142360e-02 3.92617563e-04 9.99333056e-01 -3.35199441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14587155999999 meters 0.016689491653834012 Centerline is valid? [True, True] Translation: X:88.36, Y:-7.42, Z:-3.36 [[ 9.93310058e-01 1.09977364e-01 3.52151766e-02 8.83615192e+01] [-1.09893417e-01 9.93934004e-01 -4.31647665e-03 -7.42049512e+00] [-3.54762762e-02 4.17683596e-04 9.99370432e-01 -3.35694634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20587155999999 meters 0.018065687430139667 Centerline is valid? [True, True] Translation: X:88.42, Y:-7.43, Z:-3.36 [[ 9.93380046e-01 1.09433500e-01 3.49341339e-02 8.84206175e+01] [-1.09350520e-01 9.93994024e-01 -4.28294141e-03 -7.43300288e+00] [-3.51930176e-02 4.34522838e-04 9.99380439e-01 -3.36112835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26587156 meters 0.025549586987203842 Centerline is valid? [True, True] Translation: X:88.48, Y:-7.44, Z:-3.36 [[ 9.93472314e-01 1.08713210e-01 3.45571989e-02 8.84812597e+01] [-1.08631565e-01 9.94073051e-01 -4.23704666e-03 -7.44356925e+00] [-3.48130031e-02 4.55385958e-04 9.99393740e-01 -3.36416640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32587156 meters 0.022092597641363405 Centerline is valid? [True, True] Translation: X:88.54, Y:-7.45, Z:-3.36 [[ 9.93363162e-01 1.09424232e-01 3.54395951e-02 8.85422710e+01] [-1.09338784e-01 9.93995041e-01 -4.34609438e-03 -7.45304113e+00] [-3.57023498e-02 4.42327833e-04 9.99362370e-01 -3.36422285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38587156 meters 0.015316540602468173 Centerline is valid? [True, True] Translation: X:88.60, Y:-7.46, Z:-3.37 [[ 9.93094142e-01 1.11701458e-01 3.58721319e-02 8.86034250e+01] [-1.11615364e-01 9.93741742e-01 -4.40000878e-03 -7.46115665e+00] [-3.61391222e-02 3.65741887e-04 9.99346702e-01 -3.36564038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.44587156 meters 0.011803422922601262 Centerline is valid? [True, True] Translation: X:88.66, Y:-7.46, Z:-3.37 [[ 9.92467636e-01 1.17295287e-01 3.53526180e-02 8.86633957e+01] [-1.17215179e-01 9.93097070e-01 -4.33727169e-03 -7.46447722e+00] [-3.56173229e-02 1.60738325e-04 9.99365489e-01 -3.36888232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50587155999999 meters 0.010909820436441323 Centerline is valid? [True, True] Translation: X:88.72, Y:-7.47, Z:-3.37 [[ 9.92001628e-01 1.21401321e-01 3.45613770e-02 8.87224354e+01] [-1.21327244e-01 9.92603506e-01 -4.24037333e-03 -7.46804772e+00] [-3.48205309e-02 1.32206355e-05 9.99393581e-01 -3.37399004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56587155999999 meters 0.01239803248285382 Centerline is valid? [True, True] Translation: X:88.78, Y:-7.47, Z:-3.38 [[ 9.91373849e-01 1.26462303e-01 3.44264118e-02 8.87809816e+01] [-1.26391869e-01 9.91971400e-01 -4.22332916e-03 -7.46895500e+00] [-3.46841078e-02 -1.64320447e-04 9.99398312e-01 -3.37650731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62587156 meters 0.014809999373489128 Centerline is valid? [True, True] Translation: X:88.84, Y:-7.47, Z:-3.38 [[ 9.90974208e-01 1.29422999e-01 3.49257360e-02 8.88384858e+01] [-1.29352428e-01 9.91589437e-01 -4.28220481e-03 -7.47431048e+00] [-3.51862067e-02 -2.74174226e-04 9.99380736e-01 -3.37901433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68587156 meters 0.02410263527962601 Centerline is valid? [True, True] Translation: X:88.90, Y:-7.48, Z:-3.38 [[ 9.90815186e-01 1.30786854e-01 3.43521024e-02 8.88970816e+01] [-1.30719472e-01 9.91410458e-01 -4.20984325e-03 -7.48119607e+00] [-3.46076257e-02 -3.19312044e-04 9.99400926e-01 -3.38305047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74587156 meters 0.019191815256603732 Centerline is valid? [True, True] Translation: X:88.96, Y:-7.49, Z:-3.38 [[ 9.90417203e-01 1.33793176e-01 3.42512909e-02 8.89561720e+01] [-1.33728040e-01 9.91009185e-01 -4.19591855e-03 -7.48502112e+00] [-3.45047292e-02 -4.24648074e-04 9.99404444e-01 -3.38464557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.80587156 meters 0.019468424557524667 Centerline is valid? [True, True] Translation: X:89.01, Y:-7.49, Z:-3.38 [[ 9.89980131e-01 1.37102270e-01 3.37980440e-02 8.90149500e+01] [-1.37040823e-01 9.90556754e-01 -4.13891636e-03 -7.49171031e+00] [-3.40463356e-02 -5.34266813e-04 9.99420113e-01 -3.38484822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86587156 meters 0.027892965476597274 Centerline is valid? [True, True] Translation: X:89.07, Y:-7.49, Z:-3.39 [[ 9.89150112e-01 1.43057485e-01 3.34157399e-02 8.90745738e+01] [-1.43000884e-01 9.89714110e-01 -4.09003588e-03 -7.48721761e+00] [-3.36571395e-02 -7.32820888e-04 9.99433169e-01 -3.38989324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92587155999999 meters 0.03181242544647024 Centerline is valid? [True, True] Translation: X:89.13, Y:-7.49, Z:-3.39 [[ 9.88621389e-01 1.46744511e-01 3.30726211e-02 8.91349673e+01] [-1.46691127e-01 9.89174063e-01 -4.04801591e-03 -7.48562389e+00] [-3.33086031e-02 -8.49504955e-04 9.99444754e-01 -3.39339984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98587155999999 meters 0.030401837207141343 Centerline is valid? [True, True] Translation: X:89.19, Y:-7.49, Z:-3.40 [[ 9.88882472e-01 1.45207487e-01 3.20350084e-02 8.91936948e+01] [-1.45156615e-01 9.89400924e-01 -3.92039400e-03 -7.49245965e+00] [-3.22647374e-02 -7.73284463e-04 9.99479059e-01 -3.39805375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04587156 meters 0.03410158715992613 Centerline is valid? [True, True] Translation: X:89.25, Y:-7.50, Z:-3.40 [[ 9.89398636e-01 1.41652753e-01 3.20130656e-02 8.92517685e+01] [-1.41600127e-01 9.89916191e-01 -3.91655229e-03 -7.50447178e+00] [-3.22450424e-02 -6.58022651e-04 9.99479777e-01 -3.40077879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10587156 meters 0.020471150797577192 Centerline is valid? [True, True] Translation: X:89.31, Y:-7.52, Z:-3.40 [[ 9.90193310e-01 1.35918087e-01 3.23029905e-02 8.93097799e+01] [-1.35861494e-01 9.90719964e-01 -3.95070336e-03 -7.51825974e+00] [-3.25401896e-02 -4.76772529e-04 9.99470314e-01 -3.40222355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.16587156 meters 0.014926591447521545 Centerline is valid? [True, True] Translation: X:89.37, Y:-7.53, Z:-3.40 [[ 9.91006600e-01 1.29631613e-01 3.31898045e-02 8.93681775e+01] [-1.29568371e-01 9.91562185e-01 -4.05832001e-03 -7.53092793e+00] [-3.34358417e-02 -2.78526994e-04 9.99440827e-01 -3.40354594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22587156 meters 0.011831026199291371 Centerline is valid? [True, True] Translation: X:89.43, Y:-7.54, Z:-3.40 [[ 9.91583899e-01 1.25141659e-01 3.31803764e-02 8.94263005e+01] [-1.25075957e-01 9.92138876e-01 -4.05660194e-03 -7.54307537e+00] [-3.34271913e-02 -1.27606179e-04 9.99441147e-01 -3.40462421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28587155999999 meters 0.01594319955536544 Centerline is valid? [True, True] Translation: X:89.48, Y:-7.55, Z:-3.41 [[ 9.91916691e-01 1.22406880e-01 3.34340258e-02 8.94830286e+01] [-1.22338669e-01 9.92480002e-01 -4.08604676e-03 -7.55324674e+00] [-3.36827622e-02 -3.72562206e-05 9.99432574e-01 -3.40846893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34587155999999 meters 0.014170453180502019 Centerline is valid? [True, True] Translation: X:89.54, Y:-7.57, Z:-3.41 [[ 9.92976510e-01 1.13779156e-01 3.24338552e-02 8.95409184e+01] [-1.13710442e-01 9.93506036e-01 -3.96130121e-03 -7.57359223e+00] [-3.26739444e-02 2.45411038e-04 9.99466034e-01 -3.41275011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40587156 meters 0.01863738010528883 Centerline is valid? [True, True] Translation: X:89.60, Y:-7.59, Z:-3.42 [[ 9.93686177e-01 1.07648458e-01 3.16163038e-02 8.96002494e+01] [-1.07580060e-01 9.94188926e-01 -3.86147945e-03 -7.59048188e+00] [-3.18482614e-02 4.35814888e-04 9.99492620e-01 -3.41595314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46587156 meters 0.04254365361003911 Centerline is valid? [True, True] Translation: X:89.66, Y:-7.61, Z:-3.42 [[ 9.94430773e-01 1.00317694e-01 3.23078660e-02 8.96591551e+01] [-1.00242394e-01 9.94955220e-01 -3.94617257e-03 -7.61009085e+00] [-3.25407509e-02 6.85577606e-04 9.99470174e-01 -3.41785665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52587156 meters 0.029351971160125227 Centerline is valid? [True, True] Translation: X:89.72, Y:-7.63, Z:-3.42 [[ 9.94681274e-01 9.79458233e-02 3.18712948e-02 8.97185928e+01] [-9.78713163e-02 9.95191463e-01 -3.89320736e-03 -7.62600122e+00] [-3.20993640e-02 7.53214879e-04 9.99484399e-01 -3.41988278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58587156 meters 0.03505003645588942 Centerline is valid? [True, True] Translation: X:89.78, Y:-7.64, Z:-3.42 [[ 9.94419871e-01 1.00504799e-01 3.20609601e-02 8.97781011e+01] [-1.00430615e-01 9.94936342e-01 -3.91994409e-03 -7.63755986e+00] [-3.22925876e-02 6.78168348e-04 9.99478228e-01 -3.42314216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64587155999999 meters 0.022312570036713893 Centerline is valid? [True, True] Translation: X:89.84, Y:-7.64, Z:-3.42 [[ 9.94085933e-01 1.03878990e-01 3.16593450e-02 8.98394819e+01] [-1.03808356e-01 9.94589785e-01 -3.87108706e-03 -7.64200463e+00] [-3.18901857e-02 5.61688634e-04 9.99491221e-01 -3.42433496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70587155999999 meters 0.030627181072112798 Centerline is valid? [True, True] Translation: X:89.90, Y:-7.65, Z:-3.43 [[ 9.93588086e-01 1.08646990e-01 3.12817352e-02 8.98993054e+01] [-1.08580364e-01 9.94080313e-01 -3.82578696e-03 -7.64688632e+00] [-3.15122173e-02 4.04674137e-04 9.99503285e-01 -3.42968983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76587156 meters 0.01656112326543303 Centerline is valid? [True, True] Translation: X:89.96, Y:-7.65, Z:-3.43 [[ 9.93319688e-01 1.11393312e-01 3.01251840e-02 8.99606730e+01] [-1.11332783e-01 9.93776351e-01 -3.68439567e-03 -7.65368730e+00] [-3.03481125e-02 3.05862182e-04 9.99539343e-01 -3.43286603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82587156 meters 0.014934728255631751 Centerline is valid? [True, True] Translation: X:90.02, Y:-7.66, Z:-3.44 [[ 9.93072450e-01 1.13461832e-01 3.05535956e-02 9.00214654e+01] [-1.13400509e-01 9.93542325e-01 -3.73803513e-03 -7.66169287e+00] [-3.07804147e-02 2.47346414e-04 9.99526140e-01 -3.43509244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88587156 meters 0.01607291291611336 Centerline is valid? [True, True] Translation: X:90.08, Y:-7.67, Z:-3.44 [[ 9.92890140e-01 1.14792579e-01 3.14934078e-02 9.00825201e+01] [-1.14728069e-01 9.93389460e-01 -3.85379668e-03 -7.66982552e+00] [-3.17276066e-02 2.13218858e-04 9.99496530e-01 -3.43664825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.94587156 meters 0.02873603435778642 Centerline is valid? [True, True] Translation: X:90.14, Y:-7.68, Z:-3.44 [[ 9.92677369e-01 1.16350605e-01 3.24680963e-02 9.01431082e+01] [-1.16282846e-01 9.93208190e-01 -3.97386829e-03 -7.67665418e+00] [-3.27099411e-02 1.69286479e-04 9.99464872e-01 -3.43778192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00587155999999 meters 0.011881055662305325 Centerline is valid? [True, True] Translation: X:90.20, Y:-7.68, Z:-3.44 [[ 9.92319595e-01 1.19597681e-01 3.15945730e-02 9.02036862e+01] [-1.19535142e-01 9.92822437e-01 -3.86767469e-03 -7.68236821e+00] [-3.18303659e-02 6.13076162e-05 9.99493284e-01 -3.44075175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06587155999999 meters 0.024584077850228904 Centerline is valid? [True, True] Translation: X:90.26, Y:-7.69, Z:-3.45 [[ 9.92201463e-01 1.20773826e-01 3.08211080e-02 9.02630567e+01] [-1.20714852e-01 9.92680050e-01 -3.77389368e-03 -7.68792316e+00] [-3.10512867e-02 2.38973493e-05 9.99517792e-01 -3.44527487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12587156 meters 0.011829948772710555 Centerline is valid? [True, True] Translation: X:90.32, Y:-7.70, Z:-3.45 [[ 9.92052136e-01 1.21832307e-01 3.14555085e-02 9.03222062e+01] [-1.21771391e-01 9.92550698e-01 -3.85221897e-03 -7.69671334e+00] [-3.16905117e-02 -8.77896588e-06 9.99497730e-01 -3.44509867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18587156 meters 0.011850979012048648 Centerline is valid? [True, True] Translation: X:90.38, Y:-7.70, Z:-3.45 [[ 9.91965172e-01 1.22208512e-01 3.27135581e-02 9.03807670e+01] [-1.22142860e-01 9.92504448e-01 -4.00533360e-03 -7.70481806e+00] [-3.29578378e-02 -2.25761188e-05 9.99456743e-01 -3.44782454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24587156 meters 0.011644643134624095 Centerline is valid? [True, True] Translation: X:90.44, Y:-7.71, Z:-3.45 [[ 9.91696495e-01 1.24108164e-01 3.36930995e-02 9.04403600e+01] [-1.24039627e-01 9.92268691e-01 -4.12494882e-03 -7.71020241e+00] [-3.39445476e-02 -8.85821975e-05 9.99423714e-01 -3.44640962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.30587156 meters 0.01327857300095965 Centerline is valid? [True, True] Translation: X:90.50, Y:-7.71, Z:-3.45 [[ 9.91505017e-01 1.25915857e-01 3.26036631e-02 9.04985039e+01] [-1.25852680e-01 9.92040914e-01 -3.99092018e-03 -7.71442668e+00] [-3.28466878e-02 -1.46240993e-04 9.99460391e-01 -3.45354685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36587156 meters 0.013398681368604129 Centerline is valid? [True, True] Translation: X:90.56, Y:-7.72, Z:-3.46 [[ 9.91370997e-01 1.27049012e-01 3.22814970e-02 9.05575326e+01] [-1.26987719e-01 9.91896424e-01 -3.95020303e-03 -7.72051281e+00] [-3.25217708e-02 -1.83236964e-04 9.99471011e-01 -3.45503522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42587155999999 meters 0.014088985291455207 Centerline is valid? [True, True] Translation: X:90.62, Y:-7.72, Z:-3.46 [[ 9.91267567e-01 1.28019489e-01 3.16167764e-02 9.06166719e+01] [-1.27961212e-01 9.91771630e-01 -3.86812706e-03 -7.72439215e+00] [-3.18518175e-02 -2.11372123e-04 9.99492580e-01 -3.45797406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48587155999999 meters 0.013930774612830463 Centerline is valid? [True, True] Translation: X:90.68, Y:-7.73, Z:-3.46 [[ 9.91298003e-01 1.27847004e-01 3.13594067e-02 9.06752810e+01] [-1.27789602e-01 9.91793881e-01 -3.83614964e-03 -7.73078355e+00] [-3.15925079e-02 -2.04638616e-04 9.99500811e-01 -3.46097277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54587156 meters 0.02552717791501805 Centerline is valid? [True, True] Translation: X:90.73, Y:-7.74, Z:-3.46 [[ 9.91326083e-01 1.27395604e-01 3.22948369e-02 9.07341613e+01] [-1.27334539e-01 9.91851965e-01 -3.94894917e-03 -7.73703117e+00] [-3.25347762e-02 -1.97551852e-04 9.99470585e-01 -3.46280421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60587156 meters 0.01321065628071105 Centerline is valid? [True, True] Translation: X:90.79, Y:-7.74, Z:-3.47 [[ 9.91501248e-01 1.26165329e-01 3.17424793e-02 9.07919200e+01] [-1.26105757e-01 9.92009216e-01 -3.87976354e-03 -7.74373326e+00] [-3.19783237e-02 -1.56119002e-04 9.99488550e-01 -3.46632584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.66587156 meters 0.031491837861086704 Centerline is valid? [True, True] Translation: X:90.85, Y:-7.75, Z:-3.47 [[ 9.91970510e-01 1.22563700e-01 3.11872695e-02 9.08509362e+01] [-1.22504462e-01 9.92460648e-01 -3.81040827e-03 -7.75493869e+00] [-3.14191554e-02 -4.07670279e-05 9.99506296e-01 -3.47065966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72587156 meters 0.021566967437014365 Centerline is valid? [True, True] Translation: X:90.91, Y:-7.77, Z:-3.47 [[ 9.92364701e-01 1.19162456e-01 3.18215200e-02 9.09097895e+01] [-1.19099030e-01 9.92874768e-01 -3.88802386e-03 -7.76656340e+00] [-3.20580908e-02 6.84254778e-05 9.99486005e-01 -3.47263103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78587155999999 meters 0.013856381289937523 Centerline is valid? [True, True] Translation: X:90.97, Y:-7.78, Z:-3.47 [[ 9.92893091e-01 1.14617097e-01 3.20348322e-02 9.09692912e+01] [-1.14550475e-01 9.93409721e-01 -3.91333561e-03 -7.78200718e+00] [-3.22722488e-02 2.15918640e-04 9.99479092e-01 -3.47377414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84587155999999 meters 0.015268485850603074 Centerline is valid? [True, True] Translation: X:91.03, Y:-7.79, Z:-3.48 [[ 9.93210552e-01 1.11944657e-01 3.16416428e-02 9.10304358e+01] [-1.11878330e-01 9.93714398e-01 -3.86449598e-03 -7.79461854e+00] [-3.18753657e-02 2.98244019e-04 9.99491807e-01 -3.47512010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90587156 meters 0.01574921988432298 Centerline is valid? [True, True] Translation: X:91.09, Y:-7.81, Z:-3.48 [[ 9.93243808e-01 1.11221618e-01 3.31132887e-02 9.10921731e+01] [-1.11148380e-01 9.93795570e-01 -4.05006883e-03 -7.80672329e+00] [-3.33582948e-02 3.42217408e-04 9.99443399e-01 -3.47529343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96587156 meters 0.016626521125317133 Centerline is valid? [True, True] Translation: X:91.15, Y:-7.82, Z:-3.48 [[ 9.93229877e-01 1.11132852e-01 3.38216033e-02 9.11527477e+01] [-1.11056157e-01 9.93805494e-01 -4.14365054e-03 -7.81884893e+00] [-3.40725908e-02 3.59500225e-04 9.99419296e-01 -3.47719132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02587156 meters 0.015259194910668735 Centerline is valid? [True, True] Translation: X:91.21, Y:-7.83, Z:-3.48 [[ 9.93089626e-01 1.12198463e-01 3.44165538e-02 9.12145878e+01] [-1.12119459e-01 9.93685762e-01 -4.22305789e-03 -7.82881979e+00] [-3.46730601e-02 3.35109588e-04 9.99398652e-01 -3.47794499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08587156 meters 0.014045787997667898 Centerline is valid? [True, True] Translation: X:91.28, Y:-7.84, Z:-3.48 [[ 9.92855884e-01 1.14516560e-01 3.35134503e-02 9.12766443e+01] [-1.14442782e-01 9.93421307e-01 -4.11781264e-03 -7.83619140e+00] [-3.37645333e-02 2.53022041e-04 9.99429784e-01 -3.48254815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14587155999999 meters 0.026554905760115103 Centerline is valid? [True, True] Translation: X:91.34, Y:-7.84, Z:-3.49 [[ 9.92672762e-01 1.16301747e-01 3.27824835e-02 9.13384604e+01] [-1.16231948e-01 9.93213908e-01 -4.03334180e-03 -7.84292377e+00] [-3.30291032e-02 1.93416610e-04 9.99454372e-01 -3.48802624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20587155999999 meters 0.011593310852753941 Centerline is valid? [True, True] Translation: X:91.40, Y:-7.85, Z:-3.49 [[ 9.92029233e-01 1.21820198e-01 3.22155387e-02 9.14000278e+01] [-1.21755465e-01 9.92552185e-01 -3.97083563e-03 -7.84574891e+00] [-3.24593313e-02 1.67671204e-05 9.99473057e-01 -3.48991831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26587156 meters 0.013743214700477025 Centerline is valid? [True, True] Translation: X:91.46, Y:-7.84, Z:-3.49 [[ 9.91267494e-01 1.28040473e-01 3.15339774e-02 9.14598785e+01] [-1.27981560e-01 9.91768927e-01 -3.88795301e-03 -7.84318488e+00] [-3.17722343e-02 -1.81766161e-04 9.99495119e-01 -3.49420761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32587156 meters 0.017709272358340983 Centerline is valid? [True, True] Translation: X:91.52, Y:-7.84, Z:-3.50 [[ 9.90647938e-01 1.32930506e-01 3.07594469e-02 9.15194672e+01] [-1.32876810e-01 9.91125306e-01 -3.79236597e-03 -7.84198982e+00] [-3.09905874e-02 -3.30317657e-04 9.99519622e-01 -3.49849615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38587156 meters 0.019090038398163686 Centerline is valid? [True, True] Translation: X:91.58, Y:-7.85, Z:-3.50 [[ 9.90346707e-01 1.35000952e-01 3.14347493e-02 9.15777920e+01] [-1.34945946e-01 9.90845386e-01 -3.87460856e-03 -7.84704619e+00] [-3.16700521e-02 -4.04786141e-04 9.99498296e-01 -3.49972323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.44587156 meters 0.018691033655466892 Centerline is valid? [True, True] Translation: X:91.64, Y:-7.85, Z:-3.50 [[ 9.90207670e-01 1.35858710e-01 3.21119970e-02 9.16359672e+01] [-1.35801809e-01 9.90728123e-01 -3.95651464e-03 -7.85454992e+00] [-3.23517855e-02 -4.43096136e-04 9.99476446e-01 -3.49974952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50587155999999 meters 0.018534328854373734 Centerline is valid? [True, True] Translation: X:91.69, Y:-7.86, Z:-3.50 [[ 9.90265837e-01 1.35203228e-01 3.30705128e-02 9.16940453e+01] [-1.35142575e-01 9.90817792e-01 -4.07277186e-03 -7.86056117e+00] [-3.33175043e-02 -4.36107403e-04 9.99444723e-01 -3.50110904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56587155999999 meters 0.016163463866328887 Centerline is valid? [True, True] Translation: X:91.75, Y:-7.87, Z:-3.51 [[ 9.90766738e-01 1.31503827e-01 3.29850566e-02 9.17515418e+01] [-1.31441478e-01 9.91315614e-01 -4.06101796e-03 -7.87113228e+00] [-3.32326410e-02 -3.12083062e-04 9.99447595e-01 -3.50525066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62587156 meters 0.023890450639394503 Centerline is valid? [True, True] Translation: X:91.81, Y:-7.88, Z:-3.51 [[ 9.91321447e-01 1.27374432e-01 3.25198820e-02 9.18108962e+01] [-1.27311656e-01 9.91854689e-01 -4.00224320e-03 -7.88446184e+00] [-3.27647809e-02 -1.72650516e-04 9.99463076e-01 -3.51057340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68587156 meters 0.011854785712619609 Centerline is valid? [True, True] Translation: X:91.87, Y:-7.90, Z:-3.51 [[ 9.91744383e-01 1.24005434e-01 3.26455462e-02 9.18702528e+01] [-1.23940347e-01 9.92281537e-01 -4.01770877e-03 -7.89826885e+00] [-3.28917905e-02 -6.15602096e-05 9.99458917e-01 -3.51142817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74587156 meters 0.023491616235491803 Centerline is valid? [True, True] Translation: X:91.93, Y:-7.92, Z:-3.51 [[ 9.92433485e-01 1.18165004e-01 3.33588166e-02 9.19304133e+01] [-1.18093789e-01 9.92993965e-01 -4.10403215e-03 -7.91693179e+00] [-3.36100565e-02 1.33509887e-04 9.99435014e-01 -3.51348247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.80587156 meters 0.016135621993770454 Centerline is valid? [True, True] Translation: X:91.99, Y:-7.94, Z:-3.51 [[ 9.93073508e-01 1.12404339e-01 3.42092449e-02 9.19906022e+01] [-1.12325821e-01 9.93662492e-01 -4.21460175e-03 -7.93769653e+00] [-3.44661830e-02 3.42827845e-04 9.99405806e-01 -3.51360101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86587156 meters 0.02042889824923736 Centerline is valid? [True, True] Translation: X:92.05, Y:-7.95, Z:-3.52 [[ 9.93288983e-01 1.10457206e-01 3.42958053e-02 9.20518426e+01] [-1.10376935e-01 9.93880793e-01 -4.23091586e-03 -7.95088156e+00] [-3.45532774e-02 4.17056235e-04 9.99402770e-01 -3.51604091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92587155999999 meters 0.01864995206707116 Centerline is valid? [True, True] Translation: X:92.11, Y:-7.97, Z:-3.52 [[ 9.93296777e-01 1.10568786e-01 3.37054253e-02 9.21120920e+01] [-1.10491129e-01 9.93868389e-01 -4.16368707e-03 -7.96640384e+00] [-3.39591306e-02 4.11626453e-04 9.99423138e-01 -3.51980891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98587155999999 meters 0.01567139933641755 Centerline is valid? [True, True] Translation: X:92.17, Y:-7.97, Z:-3.52 [[ 9.92903486e-01 1.14276488e-01 3.29173609e-02 9.21734661e+01] [-1.14204258e-01 9.93448944e-01 -4.07235716e-03 -7.97379406e+00] [-3.31670921e-02 2.84154851e-04 9.99449780e-01 -3.52382896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04587156 meters 0.01172843326544691 Centerline is valid? [True, True] Translation: X:92.24, Y:-7.98, Z:-3.53 [[ 9.92251639e-01 1.19827226e-01 3.28347472e-02 9.22359494e+01] [-1.19758187e-01 9.92794755e-01 -4.06837182e-03 -7.97968598e+00] [-3.30856665e-02 1.04618814e-04 9.99452514e-01 -3.52519716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10587156 meters 0.011535698873898895 Centerline is valid? [True, True] Translation: X:92.30, Y:-7.98, Z:-3.53 [[ 9.91685926e-01 1.24461717e-01 3.26849406e-02 9.22977001e+01] [-1.24395775e-01 9.92224409e-01 -4.05124439e-03 -7.98269552e+00] [-3.29350207e-02 -4.83064671e-05 9.99457494e-01 -3.52847053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.16587156 meters 0.015971421337802022 Centerline is valid? [True, True] Translation: X:92.36, Y:-7.98, Z:-3.53 [[ 9.90651571e-01 1.32314687e-01 3.32007228e-02 9.23590219e+01] [-1.32250879e-01 9.91207712e-01 -4.12028747e-03 -7.98105817e+00] [-3.34539871e-02 -3.09055535e-04 9.99440211e-01 -3.53035764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22587156 meters 0.023982940339436303 Centerline is valid? [True, True] Translation: X:92.42, Y:-7.98, Z:-3.54 [[ 9.89611069e-01 1.40209493e-01 3.17998498e-02 9.24198535e+01] [-1.40155008e-01 9.90121707e-01 -3.94703629e-03 -7.97507911e+00] [-3.20391335e-02 -5.50877403e-04 9.99486463e-01 -3.53562036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28587155999999 meters 0.026586872044357907 Centerline is valid? [True, True] Translation: X:92.48, Y:-7.98, Z:-3.54 [[ 9.89136458e-01 1.43729745e-01 3.08355094e-02 9.24789939e+01] [-1.43680226e-01 9.89616767e-01 -3.82726954e-03 -7.97933094e+00] [-3.10654295e-02 -6.44761123e-04 9.99517145e-01 -3.53869527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34587155999999 meters 0.02897971683744089 Centerline is valid? [True, True] Translation: X:92.54, Y:-7.98, Z:-3.54 [[ 9.88869917e-01 1.45600311e-01 3.06077931e-02 9.25384476e+01] [-1.45552450e-01 9.89343247e-01 -3.79788985e-03 -7.98084366e+00] [-3.08345873e-02 -6.99420248e-04 9.99524256e-01 -3.54225546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40587156 meters 0.02802507846520997 Centerline is valid? [True, True] Translation: X:92.60, Y:-7.99, Z:-3.54 [[ 9.89000085e-01 1.44405973e-01 3.20272785e-02 9.25969931e+01] [-1.44352980e-01 9.89518283e-01 -3.97290498e-03 -7.98630129e+00] [-3.22652888e-02 -6.94029726e-04 9.99479099e-01 -3.54286385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46587156 meters 0.0255482632266671 Centerline is valid? [True, True] Translation: X:92.65, Y:-8.00, Z:-3.54 [[ 9.89267451e-01 1.42372493e-01 3.28631045e-02 9.26549435e+01] [-1.42315630e-01 9.89812940e-01 -4.07496448e-03 -7.99545299e+00] [-3.31084889e-02 -6.45703679e-04 9.99451555e-01 -3.54336715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52587156 meters 0.022001166135778256 Centerline is valid? [True, True] Translation: X:92.71, Y:-8.01, Z:-3.55 [[ 9.89876610e-01 1.38038460e-01 3.30103193e-02 9.27131927e+01] [-1.37978736e-01 9.90426741e-01 -4.09139338e-03 -8.00712566e+00] [-3.32590726e-02 -5.04747518e-04 9.99446637e-01 -3.54686591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.58587156 meters 0.0173396386471098 Centerline is valid? [True, True] Translation: X:92.77, Y:-8.02, Z:-3.55 [[ 9.90454710e-01 1.33881601e-01 3.27899932e-02 9.27728071e+01] [-1.33820431e-01 9.90997268e-01 -4.06297312e-03 -8.02119981e+00] [-3.30387510e-02 -3.63780155e-04 9.99454005e-01 -3.54921255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64587155999999 meters 0.012099355630767687 Centerline is valid? [True, True] Translation: X:92.83, Y:-8.04, Z:-3.55 [[ 9.91415837e-01 1.26679498e-01 3.23564881e-02 9.28325888e+01] [-1.26616135e-01 9.91943693e-01 -4.00808828e-03 -8.04217270e+00] [-3.26035569e-02 -1.23171248e-04 9.99468355e-01 -3.55211036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70587155999999 meters 0.0124615105685222 Centerline is valid? [True, True] Translation: X:92.89, Y:-8.06, Z:-3.56 [[ 9.92307269e-01 1.19530728e-01 3.22286855e-02 9.28920441e+01] [-1.19463916e-01 9.92830495e-01 -3.99767995e-03 -8.06423328e+00] [-3.24754674e-02 1.16761895e-04 9.99472526e-01 -3.55560736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76587156 meters 0.014744982197555816 Centerline is valid? [True, True] Translation: X:92.95, Y:-8.08, Z:-3.56 [[ 9.92850844e-01 1.15177230e-01 3.13274353e-02 9.29518664e+01] [-1.15111754e-01 9.93344925e-01 -3.89162142e-03 -8.08330412e+00] [-3.15671750e-02 2.57643584e-04 9.99501599e-01 -3.55825326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82587156 meters 0.027424537718751897 Centerline is valid? [True, True] Translation: X:93.01, Y:-8.09, Z:-3.56 [[ 9.92796613e-01 1.15557434e-01 3.16443447e-02 9.30140751e+01] [-1.15490668e-01 9.93300768e-01 -3.93574174e-03 -8.09442852e+00] [-3.18871561e-02 2.52764574e-04 9.99491443e-01 -3.56159435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88587156 meters 0.012448265351974677 Centerline is valid? [True, True] Translation: X:93.07, Y:-8.10, Z:-3.56 [[ 9.92313742e-01 1.19227987e-01 3.31379681e-02 9.30745596e+01] [-1.19156572e-01 9.92866892e-01 -4.12869669e-03 -8.10202579e+00] [-3.33938476e-02 1.48355764e-04 9.99442259e-01 -3.56093187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.94587156 meters 0.011536559336704524 Centerline is valid? [True, True] Translation: X:93.14, Y:-8.10, Z:-3.56 [[ 9.91432796e-01 1.26199249e-01 3.36862040e-02 9.31375992e+01] [-1.26129260e-01 9.92004911e-01 -4.20320262e-03 -8.10307905e+00] [-3.39473209e-02 -8.16230430e-05 9.99423620e-01 -3.56211129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00587155999999 meters 0.014700541718748704 Centerline is valid? [True, True] Translation: X:93.20, Y:-8.10, Z:-3.56 [[ 9.90609223e-01 1.32266625e-01 3.46252462e-02 9.32000690e+01] [-1.32196334e-01 9.91214130e-01 -4.32170567e-03 -8.10276446e+00] [-3.48926507e-02 -2.96209110e-04 9.99391022e-01 -3.56280213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06587155999999 meters 0.020455521305964047 Centerline is valid? [True, True] Translation: X:93.26, Y:-8.10, Z:-3.56 [[ 9.89747580e-01 1.38405487e-01 3.52654203e-02 9.32616955e+01] [-1.38336214e-01 9.90375513e-01 -4.40864892e-03 -8.10097249e+00] [-3.55361900e-02 -5.15035126e-04 9.99368257e-01 -3.56451645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12587156 meters 0.026350413836725105 Centerline is valid? [True, True] Translation: X:93.32, Y:-8.10, Z:-3.57 [[ 9.88947200e-01 1.44083224e-01 3.49780030e-02 9.33228880e+01] [-1.44018604e-01 9.89565317e-01 -4.37321300e-03 -8.09935724e+00] [-3.52431252e-02 -7.12606413e-04 9.99378514e-01 -3.56730913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18587156 meters 0.03358213812731659 Centerline is valid? [True, True] Translation: X:93.38, Y:-8.09, Z:-3.57 [[ 9.88051899e-01 1.50351934e-01 3.38783263e-02 9.33842635e+01] [-1.50294987e-01 9.88632123e-01 -4.23585452e-03 -8.09400649e+00] [-3.41300706e-02 -9.06498513e-04 9.99416988e-01 -3.57190282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24587156 meters 0.03587617147963709 Centerline is valid? [True, True] Translation: X:93.44, Y:-8.09, Z:-3.57 [[ 9.87396369e-01 1.54709014e-01 3.33696291e-02 9.34446195e+01] [-1.54656266e-01 9.87959532e-01 -4.17171705e-03 -8.09364770e+00] [-3.36132453e-02 -1.04168398e-03 9.99434372e-01 -3.57428828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.30587156 meters 0.04209643829737769 Centerline is valid? [True, True] Translation: X:93.50, Y:-8.09, Z:-3.58 [[ 9.87108449e-01 1.56510678e-01 3.34860647e-02 9.35047464e+01] [-1.56458612e-01 9.87675646e-01 -4.18583906e-03 -8.09393104e+00] [-3.37284991e-02 -1.10730610e-03 9.99430419e-01 -3.57868246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36587156 meters 0.03807462789017142 Centerline is valid? [True, True] Translation: X:93.56, Y:-8.10, Z:-3.58 [[ 9.87182851e-01 1.56188840e-01 3.27881733e-02 9.35638911e+01] [-1.56138763e-01 9.87726629e-01 -4.09803924e-03 -8.09678251e+00] [-3.30258199e-02 -1.07399076e-03 9.99453922e-01 -3.58113512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42587155999999 meters 0.03598483237367122 Centerline is valid? [True, True] Translation: X:93.62, Y:-8.10, Z:-3.58 [[ 9.87403056e-01 1.54698579e-01 3.32198004e-02 9.36226460e+01] [-1.54646387e-01 9.87961168e-01 -4.15034281e-03 -8.09909644e+00] [-3.34619249e-02 -1.03926095e-03 9.99439453e-01 -3.58283077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48587155999999 meters 0.03584608729492166 Centerline is valid? [True, True] Translation: X:93.68, Y:-8.10, Z:-3.59 [[ 9.87677323e-01 1.52909836e-01 3.33479739e-02 9.36809340e+01] [-1.52856274e-01 9.88239654e-01 -4.16480888e-03 -8.10107119e+00] [-3.35926305e-02 -9.83959748e-04 9.99435124e-01 -3.58554481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54587156 meters 0.03135916694016806 Centerline is valid? [True, True] Translation: X:93.74, Y:-8.11, Z:-3.59 [[ 9.88271109e-01 1.49002570e-01 3.34432362e-02 9.37409116e+01] [-1.48946548e-01 9.88836438e-01 -4.17424177e-03 -8.10704655e+00] [-3.36918633e-02 -8.55972039e-04 9.99431901e-01 -3.58793472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60587156 meters 0.027580354206707285 Centerline is valid? [True, True] Translation: X:93.80, Y:-8.11, Z:-3.59 [[ 9.88917880e-01 1.44631224e-01 3.35146997e-02 9.37996292e+01] [-1.44572463e-01 9.89485375e-01 -4.18285723e-03 -8.11232048e+00] [-3.37672770e-02 -7.08800364e-04 9.99429472e-01 -3.59028960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66587156 meters 0.022720501705715882 Centerline is valid? [True, True] Translation: X:93.86, Y:-8.12, Z:-3.59 [[ 9.89531875e-01 1.40178745e-01 3.43014241e-02 9.38590283e+01] [-1.40114547e-01 9.90126049e-01 -4.28019553e-03 -8.11766415e+00] [-3.45627260e-02 -5.70738595e-04 9.99402368e-01 -3.59160827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72587156 meters 0.018682564579091763 Centerline is valid? [True, True] Translation: X:93.92, Y:-8.13, Z:-3.59 [[ 9.90089224e-01 1.36194965e-01 3.42674806e-02 9.39171342e+01] [-1.36128529e-01 9.90681960e-01 -4.27532913e-03 -8.12656973e+00] [-3.45304531e-02 -4.31824426e-04 9.99403553e-01 -3.59449413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78587155999999 meters 0.01265057526070192 Centerline is valid? [True, True] Translation: X:93.98, Y:-8.14, Z:-3.60 [[ 9.90957238e-01 1.29715606e-01 3.43163865e-02 9.39757576e+01] [-1.29645155e-01 9.91551218e-01 -4.27963802e-03 -8.13570259e+00] [-3.45815907e-02 -2.08014985e-04 9.99401856e-01 -3.59595844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84587155999999 meters 0.010734822809110462 Centerline is valid? [True, True] Translation: X:94.03, Y:-8.15, Z:-3.60 [[ 9.91778334e-01 1.23229749e-01 3.44987600e-02 9.40343735e+01] [-1.23154655e-01 9.92378168e-01 -4.30143466e-03 -8.14628244e+00] [-3.47658809e-02 1.73868253e-05 9.99395484e-01 -3.59835015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90587156 meters 0.011398663227943452 Centerline is valid? [True, True] Translation: X:94.09, Y:-8.15, Z:-3.60 [[ 9.92159581e-01 1.20273576e-01 3.39651721e-02 9.40941190e+01] [-1.20199072e-01 9.92740778e-01 -4.23440435e-03 -8.15369789e+00] [-3.42278983e-02 1.18622658e-04 9.99414047e-01 -3.60174365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96587156 meters 0.014671832487598985 Centerline is valid? [True, True] Translation: X:94.15, Y:-8.16, Z:-3.60 [[ 9.92349521e-01 1.18670142e-01 3.40562099e-02 9.41529370e+01] [-1.18594290e-01 9.92933717e-01 -4.24584853e-03 -8.16117843e+00] [-3.43194146e-02 1.74493704e-04 9.99410900e-01 -3.60470217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02587156 meters 0.012775800298851479 Centerline is valid? [True, True] Translation: X:94.21, Y:-8.16, Z:-3.61 [[ 9.92466958e-01 1.17825600e-01 3.35628509e-02 9.42129890e+01] [-1.17751458e-01 9.93034283e-01 -4.18405003e-03 -8.16387687e+00] [-3.38220498e-02 2.00456757e-04 9.99427851e-01 -3.60774497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08587156 meters 0.013554148921465973 Centerline is valid? [True, True] Translation: X:94.27, Y:-8.17, Z:-3.61 [[ 9.92608869e-01 1.16648335e-01 3.34783245e-02 9.42727563e+01] [-1.16573927e-01 9.93173252e-01 -4.17262155e-03 -8.16900611e+00] [-3.37365057e-02 2.39081401e-04 9.99430733e-01 -3.61032861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14587155999999 meters 0.01484539914843824 Centerline is valid? [True, True] Translation: X:94.33, Y:-8.18, Z:-3.61 [[ 9.92741194e-01 1.15328116e-01 3.41225254e-02 9.43312367e+01] [-1.15250044e-01 9.93327409e-01 -4.25268429e-03 -8.17657921e+00] [-3.43852938e-02 2.89192332e-04 9.99408609e-01 -3.61239548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20587155999999 meters 0.01561347103212858 Centerline is valid? [True, True] Translation: X:94.39, Y:-8.18, Z:-3.61 [[ 9.92830021e-01 1.14197720e-01 3.53189691e-02 9.43911480e+01] [-1.14113414e-01 9.93457984e-01 -4.40029155e-03 -8.18439718e+00] [-3.55904151e-02 3.38373420e-04 9.99366403e-01 -3.61236959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26587156 meters 0.01595788888596646 Centerline is valid? [True, True] Translation: X:94.45, Y:-8.19, Z:-3.61 [[ 9.92826414e-01 1.14043886e-01 3.59124570e-02 9.44501812e+01] [-1.13956618e-01 9.93475651e-01 -4.47430168e-03 -8.19136257e+00] [-3.61884183e-02 3.49742729e-04 9.99344923e-01 -3.61400771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32587156 meters 0.015088974800821409 Centerline is valid? [True, True] Translation: X:94.51, Y:-8.20, Z:-3.62 [[ 9.92859158e-01 1.14265876e-01 3.42637152e-02 9.45114774e+01] [-1.14186594e-01 9.93450152e-01 -4.26824949e-03 -8.19781188e+00] [-3.45270084e-02 3.25313649e-04 9.99403712e-01 -3.61855901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38587156 meters 0.015250255152565399 Centerline is valid? [True, True] Translation: X:94.57, Y:-8.21, Z:-3.62 [[ 9.92918797e-01 1.13975691e-01 3.34933606e-02 9.45721128e+01] [-1.13899744e-01 9.93483484e-01 -4.17305661e-03 -8.20653524e+00] [-3.37507276e-02 3.28621156e-04 9.99430228e-01 -3.62273167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44587156 meters 0.016624678050632717 Centerline is valid? [True, True] Translation: X:94.63, Y:-8.22, Z:-3.62 [[ 9.93040833e-01 1.12853615e-01 3.36744076e-02 9.46309057e+01] [-1.12776182e-01 9.93611557e-01 -4.19612703e-03 -8.21828845e+00] [-3.39328286e-02 3.69254348e-04 9.99424048e-01 -3.62477454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50587155999999 meters 0.018811979992251746 Centerline is valid? [True, True] Translation: X:94.69, Y:-8.23, Z:-3.63 [[ 9.93271602e-01 1.11004686e-01 3.30073291e-02 9.46917894e+01] [-1.10929239e-01 9.93819792e-01 -4.11397125e-03 -8.23268253e+00] [-3.32600071e-02 4.24812924e-04 9.99446643e-01 -3.62845085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56587155999999 meters 0.033658389580198476 Centerline is valid? [True, True] Translation: X:94.75, Y:-8.24, Z:-3.63 [[ 9.93327719e-01 1.10572569e-01 3.27681324e-02 9.47523985e+01] [-1.10497760e-01 9.93867955e-01 -4.09071039e-03 -8.24236774e+00] [-3.30195170e-02 4.42610779e-04 9.99454609e-01 -3.63164612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62587156 meters 0.017433901100989545 Centerline is valid? [True, True] Translation: X:94.81, Y:-8.25, Z:-3.63 [[ 9.93256108e-01 1.11118860e-01 3.30893064e-02 9.48135933e+01] [-1.11042897e-01 9.93807031e-01 -4.13028831e-03 -8.25362061e+00] [-3.33433382e-02 4.28101667e-04 9.99443865e-01 -3.63198016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68587156 meters 0.017132601003667224 Centerline is valid? [True, True] Translation: X:94.87, Y:-8.26, Z:-3.63 [[ 9.93094448e-01 1.12284420e-01 3.39945158e-02 9.48739818e+01] [-1.12204715e-01 9.93676026e-01 -4.24940562e-03 -8.26479998e+00] [-3.42566774e-02 4.05716161e-04 9.99412985e-01 -3.63375436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74587156 meters 0.02299703192443102 Centerline is valid? [True, True] Translation: X:94.94, Y:-8.27, Z:-3.64 [[ 9.93005118e-01 1.13137406e-01 3.37751814e-02 9.49353726e+01] [-1.13059044e-01 9.93579279e-01 -4.22715320e-03 -8.27401163e+00] [-3.40365696e-02 3.78995033e-04 9.99420516e-01 -3.63713188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.80587156 meters 0.015616183334330782 Centerline is valid? [True, True] Translation: X:95.00, Y:-8.28, Z:-3.64 [[ 9.92916304e-01 1.14092915e-01 3.31665579e-02 9.49968102e+01] [-1.14017702e-01 9.93470023e-01 -4.15644660e-03 -8.28475417e+00] [-3.34242021e-02 3.45428862e-04 9.99441196e-01 -3.63985803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86587156 meters 0.016122793953857614 Centerline is valid? [True, True] Translation: X:95.06, Y:-8.30, Z:-3.64 [[ 9.93054560e-01 1.13094141e-01 3.24400453e-02 9.50573846e+01] [-1.13021483e-01 9.93584206e-01 -4.07069015e-03 -8.30211967e+00] [-3.26922879e-02 3.75995394e-04 9.99465394e-01 -3.64333889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92587155999999 meters 0.026518134667196137 Centerline is valid? [True, True] Translation: X:95.12, Y:-8.32, Z:-3.65 [[ 9.93075041e-01 1.12950480e-01 3.23133538e-02 9.51182678e+01] [-1.12878133e-01 9.93600544e-01 -4.06028729e-03 -8.31689777e+00] [-3.25651773e-02 3.84698919e-04 9.99469540e-01 -3.64814931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98587155999999 meters 0.016454606745941142 Centerline is valid? [True, True] Translation: X:95.18, Y:-8.33, Z:-3.65 [[ 9.92994890e-01 1.13707450e-01 3.21210896e-02 9.51804057e+01] [-1.13636170e-01 9.93514209e-01 -4.04192432e-03 -8.32902537e+00] [-3.23723558e-02 3.63492610e-04 9.99475812e-01 -3.64955568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04587156 meters 0.026913160206151955 Centerline is valid? [True, True] Translation: X:95.24, Y:-8.34, Z:-3.65 [[ 9.92768086e-01 1.15848004e-01 3.14764672e-02 9.52409738e+01] [-1.15780408e-01 9.93266909e-01 -3.96790104e-03 -8.33909263e+00] [-3.17242067e-02 2.94847316e-04 9.99496617e-01 -3.65481732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10587156 meters 0.015360438156069812 Centerline is valid? [True, True] Translation: X:95.30, Y:-8.35, Z:-3.66 [[ 9.92230172e-01 1.20591572e-01 3.06097731e-02 9.53023891e+01] [-1.20529840e-01 9.92702197e-01 -3.86071025e-03 -8.34684575e+00] [-3.08519582e-02 1.41322152e-04 9.99523955e-01 -3.65864576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16587156 meters 0.025818749806196677 Centerline is valid? [True, True] Translation: X:95.36, Y:-8.35, Z:-3.66 [[ 9.91639386e-01 1.25141018e-01 3.14809929e-02 9.53634231e+01] [-1.25077790e-01 9.92138965e-01 -3.97756990e-03 -8.35101319e+00] [-3.17312768e-02 6.74197526e-06 9.99496436e-01 -3.65861478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22587156 meters 0.014078025273875222 Centerline is valid? [True, True] Translation: X:95.42, Y:-8.35, Z:-3.66 [[ 9.90703613e-01 1.32159742e-01 3.22514161e-02 9.54239813e+01] [-1.32097055e-01 9.91228406e-01 -4.07610943e-03 -8.35010115e+00] [-3.25072173e-02 -2.22100756e-04 9.99471476e-01 -3.65974560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28587155999999 meters 0.02466918533697681 Centerline is valid? [True, True] Translation: X:95.48, Y:-8.35, Z:-3.67 [[ 9.89860658e-01 1.38513067e-01 3.14643862e-02 9.54835512e+01] [-1.38456613e-01 9.90360517e-01 -3.97650790e-03 -8.34757041e+00] [-3.17118841e-02 -4.20263622e-04 9.99496963e-01 -3.66535359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34587155999999 meters 0.023755321971091602 Centerline is valid? [True, True] Translation: X:95.54, Y:-8.35, Z:-3.67 [[ 9.89399374e-01 1.41821994e-01 3.12313979e-02 9.55437026e+01] [-1.41768059e-01 9.89892038e-01 -3.94582335e-03 -8.34870922e+00] [-3.14753166e-02 -5.23619518e-04 9.99504392e-01 -3.66795828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40587156 meters 0.024039479813166488 Centerline is valid? [True, True] Translation: X:95.60, Y:-8.35, Z:-3.67 [[ 9.89210666e-01 1.43183030e-01 3.09980197e-02 9.56023832e+01] [-1.43130580e-01 9.89696066e-01 -3.91589635e-03 -8.35397202e+00] [-3.12393080e-02 -5.63118108e-04 9.99511775e-01 -3.66960515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46587156 meters 0.024439181801166276 Centerline is valid? [True, True] Translation: X:95.66, Y:-8.36, Z:-3.67 [[ 9.89165657e-01 1.43513148e-01 3.09075840e-02 9.56608306e+01] [-1.43461211e-01 9.89648244e-01 -3.90297436e-03 -8.35769113e+00] [-3.11477644e-02 -5.73351247e-04 9.99514626e-01 -3.67203086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52587156 meters 0.02559491613345829 Centerline is valid? [True, True] Translation: X:95.72, Y:-8.36, Z:-3.67 [[ 9.89149050e-01 1.43255891e-01 3.25868954e-02 9.57185048e+01] [-1.43198069e-01 9.89685502e-01 -4.11344868e-03 -8.35919821e+00] [-3.28400537e-02 -5.97566637e-04 9.99460441e-01 -3.67286185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58587156 meters 0.023079660283996817 Centerline is valid? [True, True] Translation: X:95.78, Y:-8.37, Z:-3.67 [[ 9.89273450e-01 1.42238505e-01 3.32603046e-02 9.57771437e+01] [-1.42177766e-01 9.89832245e-01 -4.19629594e-03 -8.36676177e+00] [-3.35189969e-02 -5.77591637e-04 9.99437914e-01 -3.67350173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64587155999999 meters 0.019582836123068343 Centerline is valid? [True, True] Translation: X:95.84, Y:-8.37, Z:-3.68 [[ 9.89801271e-01 1.38493606e-01 3.33611328e-02 9.58357965e+01] [-1.38430428e-01 9.90363224e-01 -4.20728444e-03 -8.37468507e+00] [-3.36223210e-02 -4.53820425e-04 9.99434507e-01 -3.67647275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70587155999999 meters 0.02586291020916741 Centerline is valid? [True, True] Translation: X:95.89, Y:-8.38, Z:-3.68 [[ 9.90274724e-01 1.35398665e-01 3.19870566e-02 9.58934759e+01] [-1.35339002e-01 9.90791143e-01 -4.03302609e-03 -8.38380739e+00] [-3.22385587e-02 -3.35292530e-04 9.99480146e-01 -3.68250224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76587156 meters 0.013937498521411483 Centerline is valid? [True, True] Translation: X:95.95, Y:-8.39, Z:-3.69 [[ 9.90968477e-01 1.30584885e-01 3.04805862e-02 9.59512246e+01] [-1.30528479e-01 9.91437118e-01 -3.84157579e-03 -8.39190397e+00] [-3.07212363e-02 -1.71704045e-04 9.99527977e-01 -3.68650105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82587156 meters 0.029607733120779363 Centerline is valid? [True, True] Translation: X:96.01, Y:-8.40, Z:-3.69 [[ 9.91348985e-01 1.27558439e-01 3.09198076e-02 9.60102885e+01] [-1.27498963e-01 9.91831053e-01 -3.89569188e-03 -8.40277314e+00] [-3.11641537e-02 -8.02532036e-05 9.99514277e-01 -3.68801164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88587156 meters 0.011817045179571658 Centerline is valid? [True, True] Translation: X:96.07, Y:-8.41, Z:-3.69 [[ 9.91531200e-01 1.26090542e-01 3.10975180e-02 9.60689641e+01] [-1.26029677e-01 9.92018737e-01 -3.91744982e-03 -8.40962364e+00] [-3.13432739e-02 -3.49364416e-05 9.99508678e-01 -3.68930797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.94587156 meters 0.011518115272544843 Centerline is valid? [True, True] Translation: X:96.13, Y:-8.42, Z:-3.69 [[ 9.91678960e-01 1.24679024e-01 3.20621581e-02 9.61281217e+01] [-1.24613629e-01 9.92197128e-01 -4.03764278e-03 -8.41516220e+00] [-3.23153905e-02 8.66351584e-06 9.99477721e-01 -3.69039509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00587155999999 meters 0.01147569812640369 Centerline is valid? [True, True] Translation: X:96.19, Y:-8.42, Z:-3.69 [[ 9.91799921e-01 1.23750997e-01 3.19156347e-02 9.61883672e+01] [-1.23685750e-01 9.92313302e-01 -4.01819953e-03 -8.42325021e+00] [-3.21675650e-02 3.77407519e-05 9.99482489e-01 -3.69297803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06587155999999 meters 0.011859708644122257 Centerline is valid? [True, True] Translation: X:96.25, Y:-8.43, Z:-3.70 [[ 9.91964108e-01 1.22594245e-01 3.12707595e-02 9.62472460e+01] [-1.22531026e-01 9.92456873e-01 -3.93726956e-03 -8.43038944e+00] [-3.15175668e-02 7.39918634e-05 9.99503195e-01 -3.69672223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12587156 meters 0.012254917212477685 Centerline is valid? [True, True] Translation: X:96.31, Y:-8.44, Z:-3.70 [[ 9.92022946e-01 1.22366375e-01 3.02811091e-02 9.63054603e+01] [-1.22307006e-01 9.92484994e-01 -3.81209983e-03 -8.43641214e+00] [-3.05200192e-02 7.80986992e-05 9.99534153e-01 -3.70134854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18587156 meters 0.018726681489237527 Centerline is valid? [True, True] Translation: X:96.37, Y:-8.44, Z:-3.71 [[ 9.91980989e-01 1.22975578e-01 2.91671813e-02 9.63651646e+01] [-1.22920795e-01 9.92409696e-01 -3.67072406e-03 -8.44106457e+00] [-2.93972030e-02 5.60353757e-05 9.99567807e-01 -3.70681018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24587156 meters 0.02164450713544362 Centerline is valid? [True, True] Translation: X:96.42, Y:-8.44, Z:-3.71 [[ 9.91807598e-01 1.24228125e-01 2.97499814e-02 9.64237550e+01] [-1.24171706e-01 9.92253684e-01 -3.74364384e-03 -8.44359235e+00] [-2.99845945e-02 1.88684649e-05 9.99550361e-01 -3.70775261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.30587156 meters 0.011581273247612742 Centerline is valid? [True, True] Translation: X:96.48, Y:-8.45, Z:-3.71 [[ 9.91698466e-01 1.24748217e-01 3.11774754e-02 9.64823187e+01] [-1.24686560e-01 9.92188431e-01 -3.92167397e-03 -8.44871279e+00] [-3.14231522e-02 1.70589927e-06 9.99506171e-01 -3.70674203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36587155999999 meters 0.011614924853445981 Centerline is valid? [True, True] Translation: X:96.54, Y:-8.45, Z:-3.71 [[ 9.91570590e-01 1.25454614e-01 3.23868034e-02 9.65397551e+01] [-1.25388506e-01 9.92099360e-01 -4.07224072e-03 -8.45258646e+00] [-3.26418083e-02 -2.30187744e-05 9.99467114e-01 -3.70817484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42587155999999 meters 0.01148262380566661 Centerline is valid? [True, True] Translation: X:96.60, Y:-8.46, Z:-3.71 [[ 9.91592846e-01 1.25329133e-01 3.21906282e-02 9.65981963e+01] [-1.25263824e-01 9.92115219e-01 -4.04553224e-03 -8.45950757e+00] [-3.24438352e-02 -2.08003591e-05 9.99473560e-01 -3.71086833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48587155999999 meters 0.01122983713838248 Centerline is valid? [True, True] Translation: X:96.66, Y:-8.47, Z:-3.71 [[ 9.91760726e-01 1.23929727e-01 3.24358624e-02 9.66565556e+01] [-1.23862721e-01 9.92290997e-01 -4.07482087e-03 -8.46674397e+00] [-3.26908057e-02 2.36531331e-05 9.99465512e-01 -3.71201380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54587156 meters 0.0270096711807436 Centerline is valid? [True, True] Translation: X:96.71, Y:-8.48, Z:-3.72 [[ 9.91943961e-01 1.22539359e-01 3.21135972e-02 9.67141684e+01] [-1.22473003e-01 9.92463652e-01 -4.03267569e-03 -8.47566252e+00] [-3.23657394e-02 6.71396056e-05 9.99476090e-01 -3.71614320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60587156 meters 0.013549401104493068 Centerline is valid? [True, True] Translation: X:96.77, Y:-8.49, Z:-3.72 [[ 9.92381114e-01 1.19033127e-01 3.17936821e-02 9.67726690e+01] [-1.18966332e-01 9.92890267e-01 -3.99112401e-03 -8.48931621e+00] [-3.20427135e-02 1.78338361e-04 9.99486485e-01 -3.72072964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66587156 meters 0.01477798287812665 Centerline is valid? [True, True] Translation: X:96.83, Y:-8.50, Z:-3.72 [[ 9.92726781e-01 1.16116193e-01 3.17894452e-02 9.68317619e+01] [-1.16047932e-01 9.93235599e-01 -3.99021709e-03 -8.50040676e+00] [-3.20377374e-02 2.72095995e-04 9.99486623e-01 -3.72219788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72587156 meters 0.019179941392793127 Centerline is valid? [True, True] Translation: X:96.89, Y:-8.52, Z:-3.73 [[ 9.93317314e-01 1.11072205e-01 3.13636534e-02 9.68923267e+01] [-1.11003277e-01 9.93812247e-01 -3.93577128e-03 -8.51894379e+00] [-3.16067376e-02 4.28001443e-04 9.99500291e-01 -3.72604725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78587155999999 meters 0.023360333666167965 Centerline is valid? [True, True] Translation: X:96.95, Y:-8.54, Z:-3.73 [[ 9.93738907e-01 1.07153116e-01 3.16416707e-02 9.69511985e+01] [-1.07080918e-01 9.94242373e-01 -3.97242533e-03 -8.53586113e+00] [-3.18851475e-02 5.59334466e-04 9.99491383e-01 -3.72847178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84587155999999 meters 0.028531548281384315 Centerline is valid? [True, True] Translation: X:97.01, Y:-8.56, Z:-3.73 [[ 9.94298595e-01 1.01675814e-01 3.21299454e-02 9.70102803e+01] [-1.01598485e-01 9.94817305e-01 -4.03450286e-03 -8.55808933e+00] [-3.23736371e-02 7.47146740e-04 9.99475557e-01 -3.72934897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90587156 meters 0.03229274809280486 Centerline is valid? [True, True] Translation: X:97.07, Y:-8.57, Z:-3.73 [[ 9.94394940e-01 1.00703816e-01 3.22094025e-02 9.70696400e+01] [-1.00625588e-01 9.94916143e-01 -4.04467023e-03 -8.57198603e+00] [-3.24529682e-02 7.80909537e-04 9.99472959e-01 -3.73259262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96587156 meters 0.035226028344862784 Centerline is valid? [True, True] Translation: X:97.13, Y:-8.59, Z:-3.73 [[ 9.94549402e-01 9.93266705e-02 3.17127560e-02 9.71304911e+01] [-9.92500857e-02 9.95054546e-01 -3.98393328e-03 -8.58647514e+00] [-3.19516329e-02 8.14724711e-04 9.99489084e-01 -3.73457152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02587156 meters 0.03221887446467701 Centerline is valid? [True, True] Translation: X:97.19, Y:-8.60, Z:-3.74 [[ 9.94446020e-01 1.00289717e-01 3.19231318e-02 9.71901955e+01] [-1.00212431e-01 9.94957960e-01 -4.01587479e-03 -8.60390165e+00] [-3.21649250e-02 7.94476053e-04 9.99482259e-01 -3.73817488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08587156 meters 0.028841823708805125 Centerline is valid? [True, True] Translation: X:97.25, Y:-8.62, Z:-3.74 [[ 9.94094509e-01 1.04049476e-01 3.08190339e-02 9.72506184e+01] [-1.03979068e-01 9.94571906e-01 -3.88283266e-03 -8.61595317e+00] [-3.10557520e-02 6.55368200e-04 9.99517439e-01 -3.74338523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14587155999999 meters 0.020149559386856246 Centerline is valid? [True, True] Translation: X:97.31, Y:-8.62, Z:-3.75 [[ 9.93319371e-01 1.11469516e-01 2.98525478e-02 9.73111166e+01] [-1.11406761e-01 9.93767768e-01 -3.76244466e-03 -8.61871042e+00] [-3.00858977e-02 4.11533506e-04 9.99547232e-01 -3.74684149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20587155999999 meters 0.013725899332442698 Centerline is valid? [True, True] Translation: X:97.37, Y:-8.62, Z:-3.75 [[ 9.92507540e-01 1.18524650e-01 2.96764274e-02 9.73726515e+01] [-1.18465793e-01 9.92951091e-01 -3.73993972e-03 -8.61870305e+00] [-2.99105160e-02 1.96276870e-04 9.99552561e-01 -3.74739341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26587156 meters 0.013017018272218333 Centerline is valid? [True, True] Translation: X:97.43, Y:-8.62, Z:-3.75 [[ 9.91160363e-01 1.29211935e-01 3.00900318e-02 9.74340764e+01] [-1.29156315e-01 9.91616992e-01 -3.79297868e-03 -8.61605910e+00] [-3.03278849e-02 -1.26867486e-04 9.99539996e-01 -3.75067948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32587156 meters 0.0164304121870087 Centerline is valid? [True, True] Translation: X:97.50, Y:-8.62, Z:-3.75 [[ 9.90411356e-01 1.34775919e-01 3.03446495e-02 9.74952543e+01] [-1.34721946e-01 9.90876058e-01 -3.82559515e-03 -8.61751399e+00] [-3.05833848e-02 -2.99177350e-04 9.99532174e-01 -3.75256433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38587156 meters 0.022200376178258655 Centerline is valid? [True, True] Translation: X:97.56, Y:-8.62, Z:-3.75 [[ 9.89536937e-01 1.40857274e-01 3.12390584e-02 9.75551812e+01] [-1.40803090e-01 9.90029786e-01 -3.93861349e-03 -8.61710442e+00] [-3.14823806e-02 -5.01152424e-04 9.99504181e-01 -3.75375359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.44587156 meters 0.02453340446493895 Centerline is valid? [True, True] Translation: X:97.62, Y:-8.62, Z:-3.76 [[ 9.89152944e-01 1.43383907e-01 3.18984004e-02 9.76150482e+01] [-1.43328749e-01 9.89666965e-01 -4.02095860e-03 -8.62115056e+00] [-3.21453339e-02 -5.94614787e-04 9.99483028e-01 -3.75525953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50587155999999 meters 0.025938999109788512 Centerline is valid? [True, True] Translation: X:97.67, Y:-8.63, Z:-3.76 [[ 9.89024892e-01 1.44349860e-01 3.15100166e-02 9.76736962e+01] [-1.44296543e-01 9.89526521e-01 -3.97150015e-03 -8.62667928e+00] [-3.17532826e-02 -6.18873945e-04 9.99495546e-01 -3.75868966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56587155999999 meters 0.025073816275193332 Centerline is valid? [True, True] Translation: X:97.73, Y:-8.64, Z:-3.76 [[ 9.89201547e-01 1.43107766e-01 3.16301408e-02 9.77326792e+01] [-1.43053463e-01 9.89706940e-01 -3.98487679e-03 -8.63707338e+00] [-3.18748367e-02 -5.82954899e-04 9.99491698e-01 -3.76064916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62587156 meters 0.018916529936495566 Centerline is valid? [True, True] Translation: X:97.79, Y:-8.65, Z:-3.76 [[ 9.89883292e-01 1.38240095e-01 3.19490735e-02 9.77914624e+01] [-1.38182180e-01 9.90398652e-01 -4.02429302e-03 -8.64981451e+00] [-3.21986379e-02 -4.31212202e-04 9.99481396e-01 -3.76212246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68587156 meters 0.01232306180904324 Centerline is valid? [True, True] Translation: X:97.85, Y:-8.67, Z:-3.76 [[ 9.91149952e-01 1.28820973e-01 3.20457311e-02 9.78496824e+01] [-1.28757821e-01 9.91667858e-01 -4.03517330e-03 -8.67079558e+00] [-3.22985365e-02 -1.26676688e-04 9.99478258e-01 -3.76475961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74587156 meters 0.012125337741064335 Centerline is valid? [True, True] Translation: X:97.91, Y:-8.69, Z:-3.77 [[ 9.92014785e-01 1.22011936e-01 3.19335956e-02 9.79109218e+01] [-1.21945741e-01 9.92528629e-01 -4.01965275e-03 -8.69172687e+00] [-3.21854535e-02 9.33889884e-05 9.99481910e-01 -3.76835091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.80587156 meters 0.01791071634953401 Centerline is valid? [True, True] Translation: X:97.97, Y:-8.71, Z:-3.77 [[ 9.92988346e-01 1.13711331e-01 3.23091030e-02 9.79702018e+01] [-1.13638958e-01 9.93513761e-01 -4.07350190e-03 -8.71417405e+00] [-3.25627417e-02 3.73367110e-04 9.99469624e-01 -3.76977169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86587155999999 meters 0.02094229721809005 Centerline is valid? [True, True] Translation: X:98.03, Y:-8.73, Z:-3.77 [[ 9.93394281e-01 1.10244578e-01 3.18423492e-02 9.80307073e+01] [-1.10172313e-01 9.93904370e-01 -4.02049649e-03 -8.72855330e+00] [-3.20914880e-02 4.85792961e-04 9.99484817e-01 -3.77263902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92587155999999 meters 0.02239525760370682 Centerline is valid? [True, True] Translation: X:98.09, Y:-8.74, Z:-3.77 [[ 9.93730605e-01 1.07413587e-01 3.10130018e-02 9.80920552e+01] [-1.07343616e-01 9.94214265e-01 -3.91717494e-03 -8.74033018e+00] [-3.12543266e-02 5.63568860e-04 9.99511305e-01 -3.77470002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98587155999999 meters 0.038378965492976175 Centerline is valid? [True, True] Translation: X:98.15, Y:-8.75, Z:-3.78 [[ 9.93765367e-01 1.07091538e-01 3.10128621e-02 9.81521049e+01] [-1.07021402e-01 9.94248999e-01 -3.91748185e-03 -8.75160925e+00] [-3.12540362e-02 5.74017826e-04 9.99511308e-01 -3.77803450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04587156 meters 0.023672687363341043 Centerline is valid? [True, True] Translation: X:98.21, Y:-8.76, Z:-3.78 [[ 9.93745833e-01 1.07222924e-01 3.11843400e-02 9.82142251e+01] [-1.07151929e-01 9.94234837e-01 -3.94375725e-03 -8.76323772e+00] [-3.14274184e-02 5.77630140e-04 9.99505870e-01 -3.78028539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10587156 meters 0.023408002647713262 Centerline is valid? [True, True] Translation: X:98.28, Y:-8.77, Z:-3.78 [[ 9.93676234e-01 1.07910148e-01 3.10313056e-02 9.82759174e+01] [-1.07839989e-01 9.94160494e-01 -3.93059418e-03 -8.77299571e+00] [-3.12742491e-02 5.59322357e-04 9.99510685e-01 -3.78336385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16587156 meters 0.019885219016992663 Centerline is valid? [True, True] Translation: X:98.34, Y:-8.78, Z:-3.79 [[ 9.93223711e-01 1.12222536e-01 3.02119410e-02 9.83375293e+01] [-1.12157878e-01 9.93683012e-01 -3.83172668e-03 -8.77839127e+00] [-3.04510986e-02 4.17254597e-04 9.99536171e-01 -3.78775070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22587156 meters 0.02693291699650551 Centerline is valid? [True, True] Translation: X:98.40, Y:-8.78, Z:-3.79 [[ 9.92650294e-01 1.17415663e-01 2.93079415e-02 9.83998442e+01] [-1.17356941e-01 9.93082825e-01 -3.72175410e-03 -8.77986293e+00] [-2.95422056e-02 2.54909948e-04 9.99563501e-01 -3.79178788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28587155999999 meters 0.012202396558996114 Centerline is valid? [True, True] Translation: X:98.46, Y:-8.77, Z:-3.79 [[ 9.91586589e-01 1.26125658e-01 2.91265359e-02 9.84637313e+01] [-1.26071233e-01 9.92014273e-01 -3.70482987e-03 -8.77356722e+00] [-2.93612135e-02 1.64131106e-06 9.99568867e-01 -3.79295994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34587155999999 meters 0.017312664053915988 Centerline is valid? [True, True] Translation: X:98.53, Y:-8.77, Z:-3.80 [[ 9.91015759e-01 1.30495120e-01 2.93050889e-02 9.85251111e+01] [-1.30441867e-01 9.91448944e-01 -3.72980460e-03 -8.77481124e+00] [-2.95412207e-02 -1.26315379e-04 9.99563555e-01 -3.79533363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40587156 meters 0.0211379011441392 Centerline is valid? [True, True] Translation: X:98.59, Y:-8.78, Z:-3.80 [[ 9.90669932e-01 1.32759088e-01 3.07914049e-02 9.85867362e+01] [-1.32701364e-01 9.91148316e-01 -3.91977841e-03 -8.77804156e+00] [-3.10392354e-02 -2.02854825e-04 9.99518146e-01 -3.79524951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46587156 meters 0.013823564855031185 Centerline is valid? [True, True] Translation: X:98.65, Y:-8.78, Z:-3.80 [[ 9.90724735e-01 1.32369500e-01 3.07053060e-02 9.86475031e+01] [-1.32311935e-01 9.91200423e-01 -3.90804608e-03 -8.78451217e+00] [-3.09524184e-02 -1.90880519e-04 9.99520841e-01 -3.79948125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52587156 meters 0.012247256865769215 Centerline is valid? [True, True] Translation: X:98.71, Y:-8.80, Z:-3.80 [[ 9.91120480e-01 1.29307001e-01 3.09821602e-02 9.87091386e+01] [-1.29246740e-01 9.91604604e-01 -3.94828546e-03 -8.79543435e+00] [-3.12325936e-02 -9.11166206e-05 9.99512139e-01 -3.80204819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58587156 meters 0.01208213322721647 Centerline is valid? [True, True] Translation: X:98.77, Y:-8.81, Z:-3.81 [[ 9.91561510e-01 1.25960461e-01 3.06551008e-02 9.87702522e+01] [-1.25899710e-01 9.92035262e-01 -3.91164887e-03 -8.80859170e+00] [-3.09036540e-02 1.91721590e-05 9.99522368e-01 -3.80574514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64587155999999 meters 0.013348170295464657 Centerline is valid? [True, True] Translation: X:98.83, Y:-8.82, Z:-3.81 [[ 9.92213071e-01 1.20631078e-01 3.10058658e-02 9.88308191e+01] [-1.20566166e-01 9.92697389e-01 -3.96152658e-03 -8.82324909e+00] [-3.12573252e-02 1.92420098e-04 9.99511352e-01 -3.80561354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70587155999999 meters 0.01624689810160019 Centerline is valid? [True, True] Translation: X:98.89, Y:-8.84, Z:-3.81 [[ 9.92607333e-01 1.17297413e-01 3.11768954e-02 9.88908532e+01] [-1.17229960e-01 9.93096785e-01 -3.98902001e-03 -8.83786821e+00] [-3.14295763e-02 3.04664316e-04 9.99505922e-01 -3.80907836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76587156 meters 0.019218509278717575 Centerline is valid? [True, True] Translation: X:98.95, Y:-8.85, Z:-3.81 [[ 9.92987129e-01 1.13799471e-01 3.20350127e-02 9.89513288e+01] [-1.13726265e-01 9.93503646e-01 -4.10399325e-03 -8.85442677e+00] [-3.22939341e-02 4.31990123e-04 9.99478322e-01 -3.81025961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82587156 meters 0.030272675059559932 Centerline is valid? [True, True] Translation: X:99.01, Y:-8.87, Z:-3.81 [[ 9.93378740e-01 1.10333010e-01 3.20203935e-02 9.90121417e+01] [-1.10257860e-01 9.93894523e-01 -4.10866444e-03 -8.87024831e+00] [-3.22782151e-02 5.50959847e-04 9.99478771e-01 -3.81256989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88587156 meters 0.025000243846513448 Centerline is valid? [True, True] Translation: X:99.07, Y:-8.89, Z:-3.81 [[ 9.93837789e-01 1.05780118e-01 3.31212390e-02 9.90727630e+01] [-1.05697127e-01 9.94389281e-01 -4.25157110e-03 -8.88754900e+00] [-3.33851367e-02 7.24552233e-04 9.99442298e-01 -3.81230730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.94587156 meters 0.028245017439691152 Centerline is valid? [True, True] Translation: X:99.13, Y:-8.90, Z:-3.82 [[ 9.94023477e-01 1.03987280e-01 3.32260957e-02 9.91324052e+01] [-1.03902737e-01 9.94578315e-01 -4.26571855e-03 -8.90403244e+00] [-3.34895347e-02 7.87942088e-04 9.99438758e-01 -3.81553620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00587155999999 meters 0.031788580247136114 Centerline is valid? [True, True] Translation: X:99.19, Y:-8.92, Z:-3.82 [[ 9.94073020e-01 1.03683878e-01 3.26876747e-02 9.91926118e+01] [-1.03601701e-01 9.94609988e-01 -4.20231430e-03 -8.91859597e+00] [-3.29472000e-02 7.90908546e-04 9.99456781e-01 -3.81854178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06587155999999 meters 0.026453947340383942 Centerline is valid? [True, True] Translation: X:99.25, Y:-8.93, Z:-3.82 [[ 9.93934938e-01 1.04869296e-01 3.31024251e-02 9.92539232e+01] [-1.04785593e-01 9.94485720e-01 -4.25814911e-03 -8.93067358e+00] [-3.33664381e-02 7.63665919e-04 9.99442894e-01 -3.82022608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12587156 meters 0.026570346202954245 Centerline is valid? [True, True] Translation: X:99.31, Y:-8.94, Z:-3.82 [[ 9.93571243e-01 1.08280062e-01 3.30395603e-02 9.93134518e+01] [-1.08198326e-01 9.94120214e-01 -4.25712803e-03 -8.94416138e+00] [-3.33062568e-02 6.54934889e-04 9.99444978e-01 -3.82385507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18587156 meters 0.030291622711794516 Centerline is valid? [True, True] Translation: X:99.37, Y:-8.95, Z:-3.83 [[ 9.93269914e-01 1.11076395e-01 3.28163529e-02 9.93744455e+01] [-1.10997301e-01 9.93811715e-01 -4.22787306e-03 -8.95366425e+00] [-3.30828929e-02 5.56892513e-04 9.99452456e-01 -3.82711155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24587156 meters 0.038013267481934364 Centerline is valid? [True, True] Translation: X:99.44, Y:-8.96, Z:-3.83 [[ 9.92841074e-01 1.14876692e-01 3.27100617e-02 9.94353316e+01] [-1.14799952e-01 9.93379664e-01 -4.22077939e-03 -8.96350914e+00] [-3.29783792e-02 4.35449619e-04 9.99455970e-01 -3.82977532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30587156 meters 0.01621695499255424 Centerline is valid? [True, True] Translation: X:99.50, Y:-8.97, Z:-3.83 [[ 9.92446760e-01 1.18114184e-01 3.31431464e-02 9.94967492e+01] [-1.18037200e-01 9.92999964e-01 -4.27668769e-03 -8.97350554e+00] [-3.34162806e-02 3.32260630e-04 9.99441465e-01 -3.83041287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36587155999999 meters 0.013701296375179558 Centerline is valid? [True, True] Translation: X:99.56, Y:-8.98, Z:-3.83 [[ 9.92097101e-01 1.20801045e-01 3.39182706e-02 9.95591325e+01] [-1.20721766e-01 9.92676706e-01 -4.38315092e-03 -8.98036622e+00] [-3.41993663e-02 2.53837793e-04 9.99414998e-01 -3.83109779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42587155999999 meters 0.02504076591607827 Centerline is valid? [True, True] Translation: X:99.62, Y:-8.99, Z:-3.83 [[ 9.91754481e-01 1.23594058e-01 3.38756253e-02 9.96205264e+01] [-1.23516521e-01 9.92332849e-01 -4.38015966e-03 -8.98793401e+00] [-3.41572575e-02 1.59843590e-04 9.99416458e-01 -3.83442826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48587155999999 meters 0.018438658893451094 Centerline is valid? [True, True] Translation: X:99.68, Y:-9.00, Z:-3.84 [[ 9.91433083e-01 1.26465841e-01 3.26624114e-02 9.96819715e+01] [-1.26395144e-01 9.91970961e-01 -4.22852026e-03 -8.99648627e+00] [-3.29349270e-02 6.39246623e-05 9.99457496e-01 -3.84078457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54587156 meters 0.011862990763882931 Centerline is valid? [True, True] Translation: X:99.74, Y:-9.01, Z:-3.85 [[ 9.91331204e-01 1.27594801e-01 3.13370543e-02 9.97434866e+01] [-1.27530116e-01 9.91826379e-01 -4.06247586e-03 -9.00590587e+00] [-3.15992679e-02 3.08409279e-05 9.99500618e-01 -3.84519805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60587156 meters 0.012124423691940271 Centerline is valid? [True, True] Translation: X:99.80, Y:-9.02, Z:-3.85 [[ 9.91363115e-01 1.27254631e-01 3.17085640e-02 9.98040912e+01] [-1.27188056e-01 9.91870081e-01 -4.11604833e-03 -9.01653780e+00] [-3.19745622e-02 4.75478875e-05 9.99488682e-01 -3.84840920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66587156 meters 0.01203396891104421 Centerline is valid? [True, True] Translation: X:99.87, Y:-9.03, Z:-3.85 [[ 9.91473246e-01 1.26364826e-01 3.18234628e-02 9.98662222e+01] [-1.26297127e-01 9.91983833e-01 -4.13662254e-03 -9.02865097e+00] [-3.20910842e-02 8.21386559e-05 9.99484945e-01 -3.84895427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72587156 meters 0.011655952549402198 Centerline is valid? [True, True] Translation: X:99.93, Y:-9.04, Z:-3.85 [[ 9.91425996e-01 1.26701932e-01 3.19548947e-02 9.99283254e+01] [-1.26633648e-01 9.91940832e-01 -4.15992695e-03 -9.03721199e+00] [-3.22244356e-02 7.76948469e-05 9.99480655e-01 -3.85029403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78587155999999 meters 0.012051984628832686 Centerline is valid? [True, True] Translation: X:99.99, Y:-9.05, Z:-3.86 [[ 9.91331325e-01 1.27418278e-01 3.20435228e-02 9.99893907e+01] [-1.27349771e-01 9.91849070e-01 -4.17818041e-03 -9.04567371e+00] [-3.23147148e-02 6.12258293e-05 9.99477741e-01 -3.85546332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84587155999999 meters 0.011853984273704548 Centerline is valid? [True, True] Translation: X:100.05, Y:-9.05, Z:-3.86 [[ 9.91256642e-01 1.27974286e-01 3.21379955e-02 1.00051987e+02] [-1.27905469e-01 9.91777485e-01 -4.19659883e-03 -9.05349741e+00] [-3.24107971e-02 4.92810906e-05 9.99474631e-01 -3.85750681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90587156 meters 0.011466575084473322 Centerline is valid? [True, True] Translation: X:100.11, Y:-9.06, Z:-3.86 [[ 9.91155923e-01 1.28678275e-01 3.24320579e-02 1.00114591e+02] [-1.28608366e-01 9.91686392e-01 -4.24121235e-03 -9.06133474e+00] [-3.27081824e-02 3.26687749e-05 9.99464944e-01 -3.85942116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96587156 meters 0.011766915845357835 Centerline is valid? [True, True] Translation: X:100.18, Y:-9.07, Z:-3.86 [[ 9.91179395e-01 1.28539260e-01 3.22655609e-02 1.00175788e+02] [-1.28469782e-01 9.91704420e-01 -4.22590340e-03 -9.07125548e+00] [-3.25410939e-02 4.34787790e-05 9.99470397e-01 -3.86354230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02587156 meters 0.012232061197169138 Centerline is valid? [True, True] Translation: X:100.24, Y:-9.09, Z:-3.86 [[ 9.91493467e-01 1.25961612e-01 3.27776995e-02 1.00237513e+02] [-1.25888304e-01 9.92035107e-01 -4.29896118e-03 -9.08538401e+00] [-3.30581327e-02 1.36062920e-04 9.99453421e-01 -3.86480722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08587156 meters 0.01348335215266345 Centerline is valid? [True, True] Translation: X:100.30, Y:-9.10, Z:-3.87 [[ 9.91788980e-01 1.23768958e-01 3.21848287e-02 1.00298237e+02] [-1.23696916e-01 9.92311040e-01 -4.22763175e-03 -9.09805659e+00] [-3.24606104e-02 2.11754539e-04 9.99472993e-01 -3.86777200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14587155999999 meters 0.021165656691153976 Centerline is valid? [True, True] Translation: X:100.36, Y:-9.11, Z:-3.87 [[ 9.92110310e-01 1.21157428e-01 3.22181627e-02 1.00358424e+02] [-1.21083676e-01 9.92633258e-01 -4.23762927e-03 -9.11480917e+00] [-3.24942401e-02 3.03102103e-04 9.99471877e-01 -3.87075939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20587155999999 meters 0.015204985731526049 Centerline is valid? [True, True] Translation: X:100.42, Y:-9.13, Z:-3.87 [[ 9.92084823e-01 1.21378330e-01 3.21714995e-02 1.00420464e+02] [-1.21304734e-01 9.92606272e-01 -4.23686442e-03 -9.12515009e+00] [-3.24478957e-02 3.00773697e-04 9.99473383e-01 -3.87304745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26587156 meters 0.02019297398165068 Centerline is valid? [True, True] Translation: X:100.48, Y:-9.13, Z:-3.88 [[ 9.91823933e-01 1.23742235e-01 3.11952893e-02 1.00480579e+02] [-1.23674004e-01 9.92314370e-01 -4.11474839e-03 -9.13308762e+00] [-3.14647020e-02 2.23059601e-04 9.99504839e-01 -3.87805147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32587156 meters 0.013305952004871136 Centerline is valid? [True, True] Translation: X:100.54, Y:-9.14, Z:-3.88 [[ 9.91606723e-01 1.25546357e-01 3.08904410e-02 1.00541879e+02] [-1.25480179e-01 9.92087740e-01 -4.07932197e-03 -9.13999499e+00] [-3.11581719e-02 1.68945018e-04 9.99514452e-01 -3.88094023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38587156 meters 0.012225769857744847 Centerline is valid? [True, True] Translation: X:100.60, Y:-9.15, Z:-3.88 [[ 9.91233272e-01 1.28359981e-01 3.13099993e-02 1.00602873e+02] [-1.28293196e-01 9.91727638e-01 -4.14107228e-03 -9.14642782e+00] [-3.15825396e-02 8.79087599e-05 9.99501143e-01 -3.88364883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.44587156 meters 0.011960718857831858 Centerline is valid? [True, True] Translation: X:100.66, Y:-9.15, Z:-3.89 [[ 9.90907784e-01 1.30855246e-01 3.12836750e-02 1.00664624e+02] [-1.30789746e-01 9.91401485e-01 -4.13978601e-03 -9.15410671e+00] [-3.15563945e-02 1.05622817e-05 9.99501973e-01 -3.88700129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50587155999999 meters 0.01475369717583963 Centerline is valid? [True, True] Translation: X:100.73, Y:-9.16, Z:-3.89 [[ 9.90810011e-01 1.31833768e-01 3.02552372e-02 1.00726264e+02] [-1.31772797e-01 9.91271838e-01 -4.00908138e-03 -9.16227008e+00] [-3.05196969e-02 -1.45792579e-05 9.99534165e-01 -3.89206297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56587155999999 meters 0.02014964725530128 Centerline is valid? [True, True] Translation: X:100.79, Y:-9.17, Z:-3.89 [[ 9.90684582e-01 1.32668029e-01 3.07124307e-02 1.00788581e+02] [-1.32605445e-01 9.91160528e-01 -4.07470474e-03 -9.17120490e+00] [-3.09815321e-02 -3.58883600e-05 9.99519956e-01 -3.89315064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62587156 meters 0.03102434917526031 Centerline is valid? [True, True] Translation: X:100.85, Y:-9.18, Z:-3.90 [[ 9.90591852e-01 1.33299841e-01 3.09666949e-02 1.00850686e+02] [-1.33236334e-01 9.91075754e-01 -4.11451708e-03 -9.17994939e+00] [-3.12388050e-02 -5.00818280e-05 9.99511948e-01 -3.89545031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68587156 meters 0.012359835411044044 Centerline is valid? [True, True] Translation: X:100.91, Y:-9.19, Z:-3.90 [[ 9.90544418e-01 1.33624246e-01 3.10856231e-02 1.00912522e+02] [-1.33560217e-01 9.91032067e-01 -4.13651070e-03 -9.18795613e+00] [-3.13595875e-02 -5.44049709e-05 9.99508166e-01 -3.89894362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74587156 meters 0.012420982726636913 Centerline is valid? [True, True] Translation: X:100.98, Y:-9.19, Z:-3.90 [[ 9.90250059e-01 1.35805460e-01 3.10112387e-02 1.00975274e+02] [-1.35742637e-01 9.90735516e-01 -4.13200353e-03 -9.19411157e+00] [-3.12850842e-02 -1.17830565e-04 9.99510495e-01 -3.89988506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80587156 meters 0.012968239972153907 Centerline is valid? [True, True] Translation: X:101.04, Y:-9.20, Z:-3.90 [[ 9.90101154e-01 1.36817222e-01 3.13169651e-02 1.01037311e+02] [-1.36753439e-01 9.90596299e-01 -4.17972151e-03 -9.20043092e+00] [-3.15943276e-02 -1.44355577e-04 9.99500764e-01 -3.90258359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86587155999999 meters 0.012774243892302596 Centerline is valid? [True, True] Translation: X:101.10, Y:-9.21, Z:-3.91 [[ 9.90188303e-01 1.36320805e-01 3.07207079e-02 1.01099953e+02] [-1.36259103e-01 9.90664738e-01 -4.10293266e-03 -9.20959578e+00] [-3.09932372e-02 -1.23300172e-04 9.99519587e-01 -3.90598137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92587155999999 meters 0.012309355883725864 Centerline is valid? [True, True] Translation: X:101.16, Y:-9.22, Z:-3.91 [[ 9.90469861e-01 1.34231259e-01 3.08451463e-02 1.01159867e+02] [-1.34167843e-01 9.90950032e-01 -4.12596335e-03 -9.22137327e+00] [-3.11198320e-02 -5.17843801e-05 9.99515659e-01 -3.90985905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98587155999999 meters 0.012726489464675013 Centerline is valid? [True, True] Translation: X:101.22, Y:-9.24, Z:-3.91 [[ 9.90980326e-01 1.30490136e-01 3.05011073e-02 1.01221177e+02] [-1.30426221e-01 9.91449605e-01 -4.08427009e-03 -9.23709637e+00] [-3.07732677e-02 6.92871393e-05 9.99526388e-01 -3.91267709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04587156 meters 0.013513249986776624 Centerline is valid? [True, True] Translation: X:101.28, Y:-9.25, Z:-3.91 [[ 9.91210633e-01 1.28703842e-01 3.06072325e-02 1.01282911e+02] [-1.28638453e-01 9.91683066e-01 -4.10419871e-03 -9.25037075e+00] [-3.08809003e-02 1.30858345e-04 9.99523063e-01 -3.91429412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10587156 meters 0.026671536746309916 Centerline is valid? [True, True] Translation: X:101.34, Y:-9.26, Z:-3.91 [[ 9.91269833e-01 1.28108735e-01 3.11812507e-02 1.01344976e+02] [-1.28040396e-01 9.91760116e-01 -4.18687436e-03 -9.25957994e+00] [-3.14606959e-02 1.57862570e-04 9.99504977e-01 -3.91271357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16587156 meters 0.012332651791375337 Centerline is valid? [True, True] Translation: X:101.41, Y:-9.27, Z:-3.91 [[ 9.90986211e-01 1.30104832e-01 3.19227485e-02 1.01405488e+02] [-1.30034010e-01 9.91500238e-01 -4.29352497e-03 -9.26681320e+00] [-3.22100210e-02 1.03781037e-04 9.99481117e-01 -3.91491609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22587156 meters 0.011631177748211805 Centerline is valid? [True, True] Translation: X:101.47, Y:-9.27, Z:-3.92 [[ 9.90718907e-01 1.32240524e-01 3.14402916e-02 1.01467920e+02] [-1.32172755e-01 9.91217656e-01 -4.23325776e-03 -9.27211210e+00] [-3.17239804e-02 3.84185419e-05 9.99496667e-01 -3.91587246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28587155999999 meters 0.01206852068493384 Centerline is valid? [True, True] Translation: X:101.53, Y:-9.28, Z:-3.92 [[ 9.90236391e-01 1.35832546e-01 3.13274499e-02 1.01529825e+02] [-1.35766834e-01 9.90731808e-01 -4.22518982e-03 -9.27529183e+00] [-3.16110194e-02 -6.92919782e-05 9.99500244e-01 -3.91932424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34587155999999 meters 0.023992936975635173 Centerline is valid? [True, True] Translation: X:101.59, Y:-9.28, Z:-3.92 [[ 9.89921712e-01 1.38079010e-01 3.14514136e-02 1.01591333e+02] [-1.38013802e-01 9.90421207e-01 -4.24530333e-03 -9.27991404e+00] [-3.17363343e-02 -1.38211230e-04 9.99496266e-01 -3.92264558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40587156 meters 0.019425343844269614 Centerline is valid? [True, True] Translation: X:101.65, Y:-9.29, Z:-3.92 [[ 9.89671191e-01 1.39791766e-01 3.17678395e-02 1.01654051e+02] [-1.39725942e-01 9.90180906e-01 -4.29358076e-03 -9.28657322e+00] [-3.20561154e-02 -1.89558133e-04 9.99486053e-01 -3.92222617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46587156 meters 0.01344314901989819 Centerline is valid? [True, True] Translation: X:101.72, Y:-9.30, Z:-3.93 [[ 9.89639282e-01 1.40245354e-01 3.07462703e-02 1.01715345e+02] [-1.40183725e-01 9.90116763e-01 -4.16165065e-03 -9.29503845e+00] [-3.10260498e-02 -1.91593732e-04 9.99518558e-01 -3.92680947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52587156 meters 0.013580544607389866 Centerline is valid? [True, True] Translation: X:101.78, Y:-9.30, Z:-3.93 [[ 9.89644075e-01 1.40370176e-01 3.00136432e-02 1.01777601e+02] [-1.40311365e-01 9.90099075e-01 -4.06717670e-03 -9.30389140e+00] [-3.02873907e-02 -1.86197917e-04 9.99541214e-01 -3.93053780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58587156 meters 0.013721729018108602 Centerline is valid? [True, True] Translation: X:101.84, Y:-9.31, Z:-3.93 [[ 9.89706939e-01 1.40006157e-01 2.96386882e-02 1.01838483e+02] [-1.39948442e-01 9.90150619e-01 -4.02307527e-03 -9.31381038e+00] [-2.99100208e-02 -1.66222729e-04 9.99552581e-01 -3.93425254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64587155999999 meters 0.02289935507183857 Centerline is valid? [True, True] Translation: X:101.90, Y:-9.32, Z:-3.94 [[ 9.89692672e-01 1.40222827e-01 2.90856257e-02 1.01901000e+02] [-1.40167265e-01 9.90119958e-01 -3.95057834e-03 -9.32419333e+00] [-2.93522198e-02 -1.66994164e-04 9.99569117e-01 -3.93793082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70587155999999 meters 0.02007077185563855 Centerline is valid? [True, True] Translation: X:101.96, Y:-9.33, Z:-3.94 [[ 9.89536471e-01 1.41382662e-01 2.87839309e-02 1.01962328e+02] [-1.41328569e-01 9.89955002e-01 -3.91538000e-03 -9.33223382e+00] [-2.90483632e-02 -1.93580446e-04 9.99577989e-01 -3.94035771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76587156 meters 0.01543267071426193 Centerline is valid? [True, True] Translation: X:102.02, Y:-9.34, Z:-3.94 [[ 9.89153558e-01 1.43705035e-01 3.03990352e-02 1.02024768e+02] [-1.43645634e-01 9.89620528e-01 -4.14035765e-03 -9.33793407e+00] [-3.06784995e-02 -2.71239168e-04 9.99529267e-01 -3.93974432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82587156 meters 0.017505199628232947 Centerline is valid? [True, True] Translation: X:102.09, Y:-9.34, Z:-3.94 [[ 9.88767226e-01 1.46162124e-01 3.12411044e-02 1.02085592e+02] [-1.46100399e-01 9.89260588e-01 -4.26174381e-03 -9.34404460e+00] [-3.15284989e-02 -3.50465239e-04 9.99502792e-01 -3.94093709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88587156 meters 0.01784450478709739 Centerline is valid? [True, True] Translation: X:102.15, Y:-9.35, Z:-3.94 [[ 9.88468674e-01 1.48270472e-01 3.07497723e-02 1.02147222e+02] [-1.48211556e-01 9.88946764e-01 -4.19914410e-03 -9.35180785e+00] [-3.10324969e-02 -4.06749200e-04 9.99518293e-01 -3.94268305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.94587156 meters 0.02100047199520164 Centerline is valid? [True, True] Translation: X:102.21, Y:-9.35, Z:-3.95 [[ 9.88076632e-01 1.51240110e-01 2.88270425e-02 1.02208133e+02] [-1.51189455e-01 9.88496947e-01 -3.94140287e-03 -9.35422854e+00] [-2.90915417e-02 -4.63936766e-04 9.99576644e-01 -3.94978560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00587155999999 meters 0.022757931516544264 Centerline is valid? [True, True] Translation: X:102.27, Y:-9.36, Z:-3.95 [[ 9.87905737e-01 1.52357876e-01 2.87981415e-02 1.02269134e+02] [-1.52307660e-01 9.88325268e-01 -3.94218313e-03 -9.35968485e+00] [-2.90625536e-02 -4.91672200e-04 9.99577474e-01 -3.95319599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06587155999999 meters 0.022308528537807067 Centerline is valid? [True, True] Translation: X:102.33, Y:-9.37, Z:-3.95 [[ 9.87829489e-01 1.52703831e-01 2.95709374e-02 1.02331454e+02] [-1.52650855e-01 9.88271866e-01 -4.05409925e-03 -9.36682246e+00] [-2.98432020e-02 -5.09270091e-04 9.99554463e-01 -3.95332726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12587156 meters 0.02158341814053815 Centerline is valid? [True, True] Translation: X:102.39, Y:-9.38, Z:-3.96 [[ 9.87922124e-01 1.52131696e-01 2.94248795e-02 1.02392958e+02] [-1.52078976e-01 9.88360110e-01 -4.03449022e-03 -9.37511632e+00] [-2.96961510e-02 -4.89143405e-04 9.99558852e-01 -3.95608011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18587156 meters 0.018175381830819667 Centerline is valid? [True, True] Translation: X:102.45, Y:-9.39, Z:-3.96 [[ 9.88572606e-01 1.47754089e-01 2.98819562e-02 1.02452349e+02] [-1.47697501e-01 9.89024066e-01 -4.10437699e-03 -9.38691316e+00] [-3.01604123e-02 -3.56015601e-04 9.99545008e-01 -3.95910267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24587156 meters 0.021195254956040556 Centerline is valid? [True, True] Translation: X:102.51, Y:-9.41, Z:-3.96 [[ 9.89512958e-01 1.41330466e-01 2.98296205e-02 1.02512328e+02] [-1.41271202e-01 9.89962461e-01 -4.09563548e-03 -9.40568900e+00] [-3.01090425e-02 -1.61381949e-04 9.99546607e-01 -3.96207095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30587156 meters 0.023581973707596657 Centerline is valid? [True, True] Translation: X:102.57, Y:-9.42, Z:-3.96 [[ 9.90065383e-01 1.37357932e-01 3.00555319e-02 1.02571523e+02] [-1.37295774e-01 9.90521477e-01 -4.13197446e-03 -9.42107109e+00] [-3.03382093e-02 -3.55726274e-05 9.99539690e-01 -3.96458220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36587155999999 meters 0.02209322118730837 Centerline is valid? [True, True] Translation: X:102.63, Y:-9.44, Z:-3.96 [[ 9.90544799e-01 1.33745289e-01 3.05483162e-02 1.02633019e+02] [-1.33679219e-01 9.91015737e-01 -4.20418574e-03 -9.43678501e+00] [-3.08361521e-02 8.07592689e-05 9.99524450e-01 -3.96468552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42587155999999 meters 0.01268966389924897 Centerline is valid? [True, True] Translation: X:102.70, Y:-9.45, Z:-3.97 [[ 9.90581132e-01 1.33510718e-01 3.03958710e-02 1.02695287e+02] [-1.33445016e-01 9.91047365e-01 -4.18905866e-03 -9.44662560e+00] [-3.06830321e-02 9.34249783e-05 9.99529161e-01 -3.96705949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48587155999999 meters 0.012147907127975623 Centerline is valid? [True, True] Translation: X:102.76, Y:-9.45, Z:-3.97 [[ 9.90380435e-01 1.35037095e-01 3.01923420e-02 1.02757610e+02] [-1.34972802e-01 9.90840542e-01 -4.16681065e-03 -9.45369903e+00] [-3.04784705e-02 5.15827348e-05 9.99535422e-01 -3.96924478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54587156 meters 0.012448258929773887 Centerline is valid? [True, True] Translation: X:102.82, Y:-9.46, Z:-3.97 [[ 9.90296960e-01 1.35772853e-01 2.96253996e-02 1.02818802e+02] [-1.35711104e-01 9.90739992e-01 -4.09450475e-03 -9.46333369e+00] [-2.99069908e-02 3.42799194e-05 9.99552685e-01 -3.97401194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60587156 meters 0.012295125919624495 Centerline is valid? [True, True] Translation: X:102.88, Y:-9.47, Z:-3.98 [[ 9.90287815e-01 1.35954309e-01 2.90941320e-02 1.02880537e+02] [-1.35894687e-01 9.90715108e-01 -4.02607491e-03 -9.47346711e+00] [-2.93713583e-02 3.32349647e-05 9.99568568e-01 -3.97546882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66587156 meters 0.0124775970913573 Centerline is valid? [True, True] Translation: X:102.94, Y:-9.48, Z:-3.98 [[ 9.90267694e-01 1.36095221e-01 2.91201675e-02 1.02941833e+02] [-1.36035372e-01 9.90695760e-01 -4.03582694e-03 -9.48330925e+00] [-2.93984832e-02 3.51762168e-05 9.99567771e-01 -3.97920365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72587156 meters 0.013452548813001546 Centerline is valid? [True, True] Translation: X:103.00, Y:-9.50, Z:-3.98 [[ 9.90306942e-01 1.35797096e-01 2.91771962e-02 1.03002212e+02] [-1.35736718e-01 9.90736669e-01 -4.04933981e-03 -9.49620085e+00] [-2.94568068e-02 4.96724819e-05 9.99566053e-01 -3.98404991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78587155999999 meters 0.015550805031218175 Centerline is valid? [True, True] Translation: X:103.06, Y:-9.51, Z:-3.99 [[ 9.90307916e-01 1.35637068e-01 2.98800479e-02 1.03063134e+02] [-1.35573490e-01 9.90758589e-01 -4.15293551e-03 -9.50689405e+00] [-3.01672061e-02 6.17425409e-05 9.99544864e-01 -3.98547975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84587155999999 meters 0.012511283560230398 Centerline is valid? [True, True] Translation: X:103.13, Y:-9.52, Z:-3.99 [[ 9.90241460e-01 1.36035495e-01 3.02687019e-02 1.03125494e+02] [-1.35970300e-01 9.90703962e-01 -4.21145696e-03 -9.51885987e+00] [-3.05602306e-02 5.47148195e-05 9.99532926e-01 -3.98579522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90587156 meters 0.012290483255414977 Centerline is valid? [True, True] Translation: X:103.19, Y:-9.53, Z:-3.99 [[ 9.90255906e-01 1.35923233e-01 3.03004314e-02 1.03187229e+02] [-1.35857674e-01 9.90719370e-01 -4.22159354e-03 -9.52963089e+00] [-3.05930369e-02 6.39118165e-05 9.99531921e-01 -3.98686495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96587156 meters 0.013322237448280556 Centerline is valid? [True, True] Translation: X:103.25, Y:-9.55, Z:-3.99 [[ 9.90532564e-01 1.34105418e-01 2.93424011e-02 1.03246141e+02] [-1.34042961e-01 9.90967064e-01 -4.09425123e-03 -9.54592566e+00] [-2.96264143e-02 1.22346853e-04 9.99561034e-01 -3.99180651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02587156 meters 0.015036665213692686 Centerline is valid? [True, True] Translation: X:103.31, Y:-9.57, Z:-4.00 [[ 9.90880259e-01 1.31619618e-01 2.88545948e-02 1.03305704e+02] [-1.31558038e-01 9.91300276e-01 -4.03059603e-03 -9.56629272e+00] [-2.91340733e-02 1.97784164e-04 9.99575493e-01 -3.99623682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08587156 meters 0.01532642667641989 Centerline is valid? [True, True] Translation: X:103.37, Y:-9.58, Z:-4.00 [[ 9.90934539e-01 1.30923750e-01 3.01282601e-02 1.03366018e+02] [-1.30856123e-01 9.91392413e-01 -4.21399069e-03 -9.58092815e+00] [-3.04206400e-02 2.33321598e-04 9.99537158e-01 -3.99617083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14587155999999 meters 0.014881826693371144 Centerline is valid? [True, True] Translation: X:103.43, Y:-9.60, Z:-4.00 [[ 9.90826480e-01 1.31493292e-01 3.11833354e-02 1.03426370e+02] [-1.31420952e-01 9.91317034e-01 -4.36711816e-03 -9.59611200e+00] [-3.14868183e-02 2.28912699e-04 9.99504141e-01 -3.99702032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20587155999999 meters 0.013538749269318999 Centerline is valid? [True, True] Translation: X:103.49, Y:-9.61, Z:-4.00 [[ 9.90608844e-01 1.33272377e-01 3.05383734e-02 1.03488880e+02] [-1.33203699e-01 9.91079434e-01 -4.28146910e-03 -9.60576797e+00] [-3.08365554e-02 1.73436845e-04 9.99524425e-01 -3.99965425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26587156 meters 0.026449917908970673 Centerline is valid? [True, True] Translation: X:103.55, Y:-9.62, Z:-4.00 [[ 9.90142083e-01 1.36589680e-01 3.10147376e-02 1.03549552e+02] [-1.36520257e-01 9.90627707e-01 -4.35501962e-03 -9.61606340e+00] [-3.13189091e-02 7.79482483e-05 9.99509440e-01 -4.00289999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32587156 meters 0.011600642872221274 Centerline is valid? [True, True] Translation: X:103.61, Y:-9.63, Z:-4.00 [[ 9.89780177e-01 1.39083259e-01 3.14809110e-02 1.03610537e+02] [-1.39012834e-01 9.90280691e-01 -4.42548027e-03 -9.62568636e+00] [-3.17904485e-02 4.00199075e-06 9.99494556e-01 -4.00403941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38587156 meters 0.011646132618201958 Centerline is valid? [True, True] Translation: X:103.67, Y:-9.64, Z:-4.01 [[ 9.89397426e-01 1.41657720e-01 3.20284901e-02 1.03671275e+02] [-1.41585992e-01 9.89915696e-01 -4.50800010e-03 -9.63632437e+00] [-3.23440981e-02 -7.45818472e-05 9.99476790e-01 -4.00568434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44587156 meters 0.0120162981109826 Centerline is valid? [True, True] Translation: X:103.73, Y:-9.65, Z:-4.01 [[ 9.89237559e-01 1.42820051e-01 3.18038523e-02 1.03733084e+02] [-1.42749744e-01 9.89748666e-01 -4.48204599e-03 -9.64708611e+00] [-3.21179464e-02 -1.06183551e-04 9.99484080e-01 -4.00992535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50587155999999 meters 0.029682691850241093 Centerline is valid? [True, True] Translation: X:103.79, Y:-9.66, Z:-4.01 [[ 9.89238371e-01 1.42557095e-01 3.29381267e-02 1.03793915e+02] [-1.42481310e-01 9.89786576e-01 -4.64871115e-03 -9.65955268e+00] [-3.32644224e-02 -9.43839967e-05 9.99446582e-01 -4.01080900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56587155999999 meters 0.014280812607921304 Centerline is valid? [True, True] Translation: X:103.86, Y:-9.67, Z:-4.01 [[ 9.89122081e-01 1.43266310e-01 3.33507542e-02 1.03855862e+02] [-1.43188828e-01 9.89684167e-01 -4.71256818e-03 -9.67188779e+00] [-3.36818657e-02 -1.14150144e-04 9.99432598e-01 -4.01275789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62587156 meters 0.012106395254131895 Centerline is valid? [True, True] Translation: X:103.92, Y:-9.68, Z:-4.02 [[ 9.88977881e-01 1.44403968e-01 3.27146046e-02 1.03916934e+02] [-1.44329823e-01 9.89518809e-01 -4.62912571e-03 -9.68076447e+00] [-3.30401807e-02 -1.43590152e-04 9.99454014e-01 -4.01646500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68587156 meters 0.014515109629628395 Centerline is valid? [True, True] Translation: X:103.98, Y:-9.68, Z:-4.02 [[ 9.88623745e-01 1.47130178e-01 3.12378093e-02 1.03977649e+02] [-1.47063777e-01 9.89117113e-01 -4.42524131e-03 -9.68462591e+00] [-3.15489383e-02 -2.19051585e-04 9.99502184e-01 -4.02356124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74587156 meters 0.01669315149206228 Centerline is valid? [True, True] Translation: X:104.04, Y:-9.69, Z:-4.02 [[ 9.88042741e-01 1.50838804e-01 3.19248653e-02 1.04039571e+02] [-1.50771224e-01 9.88558314e-01 -4.52751334e-03 -9.68903638e+00] [-3.22425157e-02 -3.39974328e-04 9.99480017e-01 -4.02366691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80587156 meters 0.02190849479975096 Centerline is valid? [True, True] Translation: X:104.10, Y:-9.69, Z:-4.03 [[ 9.87599725e-01 1.53547391e-01 3.27105845e-02 1.04102156e+02] [-1.53477743e-01 9.88141190e-01 -4.64452235e-03 -9.69238068e+00] [-3.30358302e-02 -4.33417701e-04 9.99454074e-01 -4.02504944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86587155999999 meters 0.02046749030794376 Centerline is valid? [True, True] Translation: X:104.16, Y:-9.70, Z:-4.03 [[ 9.87322813e-01 1.55053852e-01 3.39406094e-02 1.04164004e+02] [-1.54979547e-01 9.87905895e-01 -4.82524627e-03 -9.69537532e+00] [-3.42783011e-02 -4.96024555e-04 9.99412203e-01 -4.02605792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92587155999999 meters 0.0174119376950666 Centerline is valid? [True, True] Translation: X:104.22, Y:-9.71, Z:-4.03 [[ 9.87579394e-01 1.53132313e-01 3.51771892e-02 1.04224741e+02] [-1.53051076e-01 9.88205597e-01 -5.00662840e-03 -9.70766398e+00] [-3.55289718e-02 -4.39463630e-04 9.99368550e-01 -4.02634602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98587155999999 meters 0.012984269238507483 Centerline is valid? [True, True] Translation: X:104.29, Y:-9.73, Z:-4.03 [[ 9.88412951e-01 1.47755408e-01 3.47588600e-02 1.04285079e+02] [-1.47672537e-01 9.89023904e-01 -4.95362271e-03 -9.72758073e+00] [-3.51092680e-02 -2.36704202e-04 9.99383452e-01 -4.02962199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04587156 meters 0.011591823896011861 Centerline is valid? [True, True] Translation: X:104.34, Y:-9.74, Z:-4.04 [[ 9.89130809e-01 1.43276162e-01 3.30482000e-02 1.04344655e+02] [-1.43198714e-01 9.89682745e-01 -4.71086409e-03 -9.74176629e+00] [-3.33821878e-02 -7.27989415e-05 9.99442657e-01 -4.03711471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10587156 meters 0.011042047728811302 Centerline is valid? [True, True] Translation: X:104.41, Y:-9.75, Z:-4.04 [[ 9.89287361e-01 1.42127365e-01 3.33216186e-02 1.04406637e+02] [-1.42047813e-01 9.89848378e-01 -4.75474229e-03 -9.75456261e+00] [-3.36591292e-02 -2.94566126e-05 9.99433371e-01 -4.03775828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16587156 meters 0.010983750747798653 Centerline is valid? [True, True] Translation: X:104.47, Y:-9.76, Z:-4.04 [[ 9.89204752e-01 1.42462789e-01 3.43265476e-02 1.04466663e+02] [-1.42378294e-01 9.89800158e-01 -4.90599528e-03 -9.76422507e+00] [-3.46753440e-02 -3.43214376e-05 9.99398629e-01 -4.03923566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22587156 meters 0.010566260764927204 Centerline is valid? [True, True] Translation: X:104.53, Y:-9.77, Z:-4.04 [[ 9.89158414e-01 1.42463619e-01 3.56335439e-02 1.04528125e+02] [-1.42372451e-01 9.89800038e-01 -5.09599120e-03 -9.77442019e+00] [-3.59960765e-02 -3.24923936e-05 9.99351931e-01 -4.03972374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28587155999999 meters 0.010618525047318868 Centerline is valid? [True, True] Translation: X:104.59, Y:-9.79, Z:-4.04 [[ 9.89115374e-01 1.42737068e-01 3.57338226e-02 1.04589722e+02] [-1.42645356e-01 9.89760642e-01 -5.11609466e-03 -9.78561129e+00] [-3.60981875e-02 -3.68559583e-05 9.99348247e-01 -4.04224573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34587155999999 meters 0.010498305925327779 Centerline is valid? [True, True] Translation: X:104.65, Y:-9.80, Z:-4.05 [[ 9.89163228e-01 1.42280132e-01 3.62280586e-02 1.04650030e+02] [-1.42185293e-01 9.89826431e-01 -5.19408065e-03 -9.79971346e+00] [-3.65985044e-02 -1.33035384e-05 9.99330050e-01 -4.04519787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40587156 meters 0.01060719320428776 Centerline is valid? [True, True] Translation: X:104.71, Y:-9.81, Z:-4.05 [[ 9.89189268e-01 1.42216682e-01 3.57632101e-02 1.04711953e+02] [-1.42123994e-01 9.89835550e-01 -5.13372116e-03 -9.81222949e+00] [-3.61297975e-02 -4.58837989e-06 9.99347106e-01 -4.04840684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46587156 meters 0.010913371558560475 Centerline is valid? [True, True] Translation: X:104.77, Y:-9.82, Z:-4.05 [[ 9.89071220e-01 1.43396472e-01 3.42866360e-02 1.04772940e+02] [-1.43311774e-01 9.89665322e-01 -4.92801378e-03 -9.82421796e+00] [-3.46389545e-02 -3.95220312e-05 9.99399891e-01 -4.05296070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52587156 meters 0.010838798666110393 Centerline is valid? [True, True] Translation: X:104.84, Y:-9.83, Z:-4.06 [[ 9.88939076e-01 1.44240127e-01 3.45584921e-02 1.04835136e+02] [-1.44154398e-01 9.89542713e-01 -4.97273214e-03 -9.83341727e+00] [-3.49143716e-02 -6.40294971e-05 9.99390305e-01 -4.05521038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58587156 meters 0.011171255211864814 Centerline is valid? [True, True] Translation: X:104.90, Y:-9.84, Z:-4.06 [[ 9.88589267e-01 1.46463234e-01 3.52105541e-02 1.04897107e+02] [-1.46375397e-01 9.89216105e-01 -5.07357162e-03 -9.84267400e+00] [-3.55739389e-02 -1.38280385e-04 9.99367038e-01 -4.05725208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64587155999999 meters 0.012492777186301436 Centerline is valid? [True, True] Translation: X:104.96, Y:-9.85, Z:-4.06 [[ 9.88176245e-01 1.49081703e-01 3.58099693e-02 1.04957616e+02] [-1.48992297e-01 9.88824855e-01 -5.16740243e-03 -9.85144856e+00] [-3.61801529e-02 -2.29105262e-04 9.99345258e-01 -4.05920508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70587155999999 meters 0.013880890282392158 Centerline is valid? [True, True] Translation: X:105.02, Y:-9.86, Z:-4.06 [[ 9.87860577e-01 1.51139492e-01 3.58933857e-02 1.05019430e+02] [-1.51050822e-01 9.88512400e-01 -5.18507080e-03 -9.86061228e+00] [-3.62647258e-02 -2.99598383e-04 9.99342174e-01 -4.06211774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76587156 meters 0.01984855083083196 Centerline is valid? [True, True] Translation: X:105.08, Y:-9.87, Z:-4.07 [[ 9.87442479e-01 1.53925599e-01 3.55564463e-02 1.05080547e+02] [-1.53840159e-01 9.88082363e-01 -5.14285048e-03 -9.86852565e+00] [-3.59243138e-02 -3.91740339e-04 9.99354437e-01 -4.06602782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82587156 meters 0.018392072616667792 Centerline is valid? [True, True] Translation: X:105.14, Y:-9.88, Z:-4.07 [[ 9.87125646e-01 1.56134426e-01 3.47131021e-02 1.05140678e+02] [-1.56054266e-01 9.87735709e-01 -5.02344099e-03 -9.87678568e+00] [-3.50717026e-02 -4.58360253e-04 9.99384693e-01 -4.07026313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88587156 meters 0.019631135852683616 Centerline is valid? [True, True] Translation: X:105.20, Y:-9.89, Z:-4.07 [[ 9.86618005e-01 1.59414493e-01 3.42334761e-02 1.05202223e+02] [-1.59338332e-01 9.87211580e-01 -4.95908902e-03 -9.88632691e+00] [-3.45862347e-02 -5.61978463e-04 9.99401559e-01 -4.07212904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.94587156 meters 0.021834280384481247 Centerline is valid? [True, True] Translation: X:105.26, Y:-9.89, Z:-4.07 [[ 9.86147119e-01 1.62085216e-01 3.52454455e-02 1.05263628e+02] [-1.62005942e-01 9.86776538e-01 -5.11258936e-03 -9.89213117e+00] [-3.56080539e-02 -6.68206334e-04 9.99365609e-01 -4.07374363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00587155999999 meters 0.02293946226449095 Centerline is valid? [True, True] Translation: X:105.32, Y:-9.90, Z:-4.08 [[ 9.86083027e-01 1.62246628e-01 3.62807908e-02 1.05324377e+02] [-1.62162626e-01 9.86749996e-01 -5.26576963e-03 -9.89997055e+00] [-3.66544235e-02 -6.90902261e-04 9.99327762e-01 -4.07522803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06587155999999 meters 0.028532503528005907 Centerline is valid? [True, True] Translation: X:105.39, Y:-9.91, Z:-4.08 [[ 9.86567941e-01 1.59214920e-01 3.65281636e-02 1.05385004e+02] [-1.59127477e-01 9.87243778e-01 -5.30747823e-03 -9.91469116e+00] [-3.69072319e-02 -5.76446631e-04 9.99318530e-01 -4.07900055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12587156 meters 0.017705370426736467 Centerline is valid? [True, True] Translation: X:105.45, Y:-9.93, Z:-4.08 [[ 9.87094600e-01 1.56008062e-01 3.61349618e-02 1.05445047e+02] [-1.55920125e-01 9.87755681e-01 -5.25631175e-03 -9.92974188e+00] [-3.65125408e-02 -4.45690799e-04 9.99333095e-01 -4.08200231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18587156 meters 0.01246781074739795 Centerline is valid? [True, True] Translation: X:105.51, Y:-9.95, Z:-4.08 [[ 9.87947031e-01 1.50485238e-01 3.62609494e-02 1.05505348e+02] [-1.50392721e-01 9.88612228e-01 -5.28129680e-03 -9.95060950e+00] [-3.66427752e-02 -2.35741341e-04 9.99328400e-01 -4.08451487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24587156 meters 0.019466327224731798 Centerline is valid? [True, True] Translation: X:105.56, Y:-9.97, Z:-4.09 [[ 9.88546460e-01 1.46563135e-01 3.59881141e-02 1.05564155e+02] [-1.46469347e-01 9.89201314e-01 -5.24315209e-03 -9.97037783e+00] [-3.63679425e-02 -8.80561342e-05 9.99338464e-01 -4.08782090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30587156 meters 0.010343843206866852 Centerline is valid? [True, True] Translation: X:105.62, Y:-9.99, Z:-4.09 [[ 9.88680361e-01 1.45352804e-01 3.71982054e-02 1.05624394e+02] [-1.45251519e-01 9.89379887e-01 -5.42543914e-03 -9.98631945e+00] [-3.75917591e-02 -3.90707225e-05 9.99293179e-01 -4.08772374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36587155999999 meters 0.010070525013866738 Centerline is valid? [True, True] Translation: X:105.69, Y:-10.00, Z:-4.09 [[ 9.88629178e-01 1.45425699e-01 3.82585228e-02 1.05685425e+02] [-1.45318363e-01 9.89369175e-01 -5.58646357e-03 -1.00021901e+01] [-3.86642185e-02 -3.67250191e-05 9.99252259e-01 -4.08806876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42587155999999 meters 0.010196730188420183 Centerline is valid? [True, True] Translation: X:105.75, Y:-10.01, Z:-4.09 [[ 9.88460779e-01 1.46544764e-01 3.83395512e-02 1.05747095e+02] [-1.46437527e-01 9.89204037e-01 -5.60570334e-03 -1.00138492e+01] [-3.87471253e-02 -7.33311869e-05 9.99249045e-01 -4.09122716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48587155999999 meters 0.011201098479740086 Centerline is valid? [True, True] Translation: X:105.81, Y:-10.03, Z:-4.10 [[ 9.88214042e-01 1.48829695e-01 3.58152019e-02 1.05807897e+02] [-1.48737382e-01 9.88862832e-01 -5.24314601e-03 -1.00274870e+01] [-3.61966578e-02 -1.45708834e-04 9.99344676e-01 -4.09859788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54587156 meters 0.012343562805755992 Centerline is valid? [True, True] Translation: X:105.87, Y:-10.04, Z:-4.10 [[ 9.87870400e-01 1.51116068e-01 3.57212381e-02 1.05868712e+02] [-1.51025516e-01 9.88516001e-01 -5.23539004e-03 -1.00377411e+01] [-3.61021670e-02 -2.22931564e-04 9.99348079e-01 -4.10125840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60587156 meters 0.0170332589959926 Centerline is valid? [True, True] Translation: X:105.93, Y:-10.04, Z:-4.10 [[ 9.86950019e-01 1.56854814e-01 3.64173974e-02 1.05929717e+02] [-1.56764366e-01 9.87621576e-01 -5.34372978e-03 -1.00425611e+01] [-3.68047972e-02 -4.34955994e-04 9.99322379e-01 -4.10227154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66587156 meters 0.021458794699212483 Centerline is valid? [True, True] Translation: X:105.99, Y:-10.05, Z:-4.10 [[ 9.86139439e-01 1.61708057e-01 3.71417731e-02 1.05991298e+02] [-1.61617193e-01 9.86838445e-01 -5.45585067e-03 -1.00473902e+01] [-3.75351846e-02 -6.22519588e-04 9.99295113e-01 -4.10382964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72587156 meters 0.028680960871154012 Centerline is valid? [True, True] Translation: X:106.05, Y:-10.05, Z:-4.11 [[ 9.84717808e-01 1.70168969e-01 3.70588752e-02 1.06052068e+02] [-1.70084251e-01 9.85414453e-01 -5.45001298e-03 -1.00490497e+01] [-3.74457743e-02 -9.36406193e-04 9.99298222e-01 -4.10666635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78587155999999 meters 0.03713971605795636 Centerline is valid? [True, True] Translation: X:106.11, Y:-10.05, Z:-4.11 [[ 9.83350901e-01 1.78010078e-01 3.65159872e-02 1.06113978e+02] [-1.77933211e-01 9.84027912e-01 -5.37029316e-03 -1.00460050e+01] [-3.68887169e-02 -1.21652423e-03 9.99318639e-01 -4.11025053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84587155999999 meters 0.04747380863496595 Centerline is valid? [True, True] Translation: X:106.18, Y:-10.04, Z:-4.12 [[ 9.82682108e-01 1.81841865e-01 3.56287971e-02 1.06175169e+02] [-1.81771175e-01 9.83326892e-01 -5.24054812e-03 -1.00392025e+01] [-3.59877053e-02 -1.32649545e-03 9.99351352e-01 -4.11521699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90587156 meters 0.04659541345423527 Centerline is valid? [True, True] Translation: X:106.24, Y:-10.05, Z:-4.12 [[ 9.82247616e-01 1.84055085e-01 3.62401284e-02 1.06236173e+02] [-1.83983456e-01 9.82914887e-01 -5.33033341e-03 -1.00470494e+01] [-3.66020366e-02 -1.43187678e-03 9.99328895e-01 -4.11647482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96587156 meters 0.04274028293993692 Centerline is valid? [True, True] Translation: X:106.30, Y:-10.06, Z:-4.12 [[ 9.82193874e-01 1.84163348e-01 3.71356230e-02 1.06297468e+02] [-1.84088205e-01 9.82894550e-01 -5.46223120e-03 -1.00569539e+01] [-3.75063443e-02 -1.47126015e-03 9.99295306e-01 -4.11722864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02587156 meters 0.03947947662883982 Centerline is valid? [True, True] Translation: X:106.36, Y:-10.06, Z:-4.12 [[ 9.82670035e-01 1.81657145e-01 3.68820388e-02 1.06358358e+02] [-1.81581009e-01 9.83360988e-01 -5.43173954e-03 -1.00647447e+01] [-3.72550724e-02 -1.35947014e-03 9.99304864e-01 -4.12064285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08587156 meters 0.04249263625819144 Centerline is valid? [True, True] Translation: X:106.42, Y:-10.07, Z:-4.12 [[ 9.83287550e-01 1.78378031e-01 3.64262515e-02 1.06417839e+02] [-1.78301480e-01 9.83961276e-01 -5.36561088e-03 -1.00730583e+01] [-3.67991280e-02 -1.21891618e-03 9.99321939e-01 -4.12443063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14587155999999 meters 0.03140158038630211 Centerline is valid? [True, True] Translation: X:106.48, Y:-10.09, Z:-4.13 [[ 9.84349904e-01 1.72361888e-01 3.66966862e-02 1.06476557e+02] [-1.72280017e-01 9.85033186e-01 -5.40542719e-03 -1.00874074e+01] [-3.70791434e-02 -1.00127399e-03 9.99311831e-01 -4.12612356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20587155999999 meters 0.023442994010746128 Centerline is valid? [True, True] Translation: X:106.54, Y:-10.10, Z:-4.13 [[ 9.85650889e-01 1.64837184e-01 3.63459501e-02 1.06535725e+02] [-1.64751749e-01 9.86320535e-01 -5.35386221e-03 -1.01042149e+01] [-3.67312725e-02 -7.11019795e-04 9.99324926e-01 -4.12918764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26587156 meters 0.01920564672755583 Centerline is valid? [True, True] Translation: X:106.60, Y:-10.12, Z:-4.13 [[ 9.86489360e-01 1.59575027e-01 3.70749674e-02 1.06595356e+02] [-1.59482403e-01 9.87185664e-01 -5.46153168e-03 -1.01179138e+01] [-3.74714004e-02 -5.25061983e-04 9.99297563e-01 -4.13154781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32587156 meters 0.026634048672908736 Centerline is valid? [True, True] Translation: X:106.65, Y:-10.14, Z:-4.13 [[ 9.87563270e-01 1.52833090e-01 3.68894965e-02 1.06654474e+02] [-1.52736650e-01 9.88251980e-01 -5.43508540e-03 -1.01363091e+01] [-3.72867789e-02 -2.66887431e-04 9.99304571e-01 -4.13428675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38587156 meters 0.011546152297610551 Centerline is valid? [True, True] Translation: X:106.72, Y:-10.15, Z:-4.14 [[ 9.87837736e-01 1.51079995e-01 3.67619714e-02 1.06715547e+02] [-1.50983003e-01 9.88521520e-01 -5.41641029e-03 -1.01482311e+01] [-3.71583111e-02 -1.99898381e-04 9.99309371e-01 -4.13692857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.44587156 meters 0.010406136625660629 Centerline is valid? [True, True] Translation: X:106.78, Y:-10.16, Z:-4.14 [[ 9.88201338e-01 1.48605785e-01 3.70733759e-02 1.06776751e+02] [-1.48505162e-01 9.88896511e-01 -5.46869601e-03 -1.01608809e+01] [-3.74744120e-02 -1.01414975e-04 9.99297582e-01 -4.13865792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50587155999999 meters 0.010494651214532226 Centerline is valid? [True, True] Translation: X:106.84, Y:-10.17, Z:-4.14 [[ 9.88063802e-01 1.49497515e-01 3.71539560e-02 1.06839449e+02] [-1.49396849e-01 9.88762093e-01 -5.48682777e-03 -1.01694405e+01] [-3.75566904e-02 -1.29348056e-04 9.99294490e-01 -4.14152915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56587155999999 meters 0.012648076106847523 Centerline is valid? [True, True] Translation: X:106.90, Y:-10.17, Z:-4.15 [[ 9.87550539e-01 1.53099449e-01 3.61177467e-02 1.06900538e+02] [-1.53006473e-01 9.88210754e-01 -5.34078895e-03 -1.01732038e+01] [-3.65096176e-02 -2.51950026e-04 9.99333270e-01 -4.14665417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62587156 meters 0.014750723083200534 Centerline is valid? [True, True] Translation: X:106.96, Y:-10.18, Z:-4.15 [[ 9.87055074e-01 1.56448916e-01 3.52989821e-02 1.06962384e+02] [-1.56362062e-01 9.87685985e-01 -5.22495477e-03 -1.01774847e+01] [-3.56817484e-02 -3.62103516e-04 9.99363138e-01 -4.15021355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68587156 meters 0.019864036576484532 Centerline is valid? [True, True] Translation: X:107.02, Y:-10.18, Z:-4.15 [[ 9.86246430e-01 1.61483699e-01 3.52277389e-02 1.07023829e+02] [-1.61400168e-01 9.86875234e-01 -5.22099287e-03 -1.01772626e+01] [-3.56084883e-02 -5.36577390e-04 9.99365673e-01 -4.15356400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74587156 meters 0.02259942320709717 Centerline is valid? [True, True] Translation: X:107.09, Y:-10.18, Z:-4.15 [[ 9.85600812e-01 1.65249653e-01 3.58272468e-02 1.07086346e+02] [-1.65165619e-01 9.86251534e-01 -5.31314649e-03 -1.01806018e+01] [-3.62126728e-02 -6.80787893e-04 9.99343874e-01 -4.15459334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80587156 meters 0.025665212654270693 Centerline is valid? [True, True] Translation: X:107.15, Y:-10.18, Z:-4.16 [[ 9.85176261e-01 1.67673874e-01 3.62381885e-02 1.07147846e+02] [-1.67589495e-01 9.85842212e-01 -5.37527113e-03 -1.01838733e+01] [-3.66264285e-02 -7.77550216e-04 9.99328725e-01 -4.15682769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86587155999999 meters 0.029052842868497183 Centerline is valid? [True, True] Translation: X:107.21, Y:-10.18, Z:-4.16 [[ 9.84651906e-01 1.70612623e-01 3.67689536e-02 1.07210778e+02] [-1.70527564e-01 9.85337777e-01 -5.46036986e-03 -1.01827966e+01] [-3.71614470e-02 -8.93556474e-04 9.99308875e-01 -4.15956807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92587155999999 meters 0.03836582493013756 Centerline is valid? [True, True] Translation: X:107.27, Y:-10.19, Z:-4.16 [[ 9.84344517e-01 1.72418696e-01 3.65741128e-02 1.07272283e+02] [-1.72335737e-01 9.85023289e-01 -5.43259777e-03 -1.01851099e+01] [-3.69630343e-02 -9.55478879e-04 9.99316177e-01 -4.16287881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98587155999999 meters 0.03462821519499884 Centerline is valid? [True, True] Translation: X:107.33, Y:-10.19, Z:-4.17 [[ 9.84096809e-01 1.73943478e-01 3.60157786e-02 1.07333909e+02] [-1.73863843e-01 9.84755139e-01 -5.35543186e-03 -1.01896103e+01] [-3.63982655e-02 -9.91578288e-04 9.99336872e-01 -4.16575742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04587156 meters 0.029526798771609974 Centerline is valid? [True, True] Translation: X:107.40, Y:-10.20, Z:-4.17 [[ 9.84090015e-01 1.73824233e-01 3.67692470e-02 1.07395950e+02] [-1.73741045e-01 9.84776180e-01 -5.47025521e-03 -1.01979054e+01] [-3.71603416e-02 -1.00510387e-03 9.99308811e-01 -4.16733430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10587156 meters 0.03587214777333889 Centerline is valid? [True, True] Translation: X:107.46, Y:-10.20, Z:-4.17 [[ 9.84684403e-01 1.70538658e-01 3.62379942e-02 1.07456058e+02] [-1.70455377e-01 9.85350610e-01 -5.39818975e-03 -1.02048743e+01] [-3.66277297e-02 -8.61447709e-04 9.99328608e-01 -4.17094201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16587156 meters 0.029792822934028476 Centerline is valid? [True, True] Translation: X:107.52, Y:-10.22, Z:-4.17 [[ 9.85341552e-01 1.66789813e-01 3.58215644e-02 1.07516560e+02] [-1.66705929e-01 9.85992216e-01 -5.33694797e-03 -1.02167232e+01] [-3.62099322e-02 -7.12950591e-04 9.99343951e-01 -4.17461128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22587156 meters 0.018409067108630155 Centerline is valid? [True, True] Translation: X:107.58, Y:-10.23, Z:-4.18 [[ 9.86328082e-01 1.60841104e-01 3.58755286e-02 1.07575175e+02] [-1.60752979e-01 9.86980190e-01 -5.34644201e-03 -1.02306151e+01] [-3.62683636e-02 -4.93752174e-04 9.99341964e-01 -4.17808028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28587155999999 meters 0.014105167690696528 Centerline is valid? [True, True] Translation: X:107.64, Y:-10.24, Z:-4.18 [[ 9.87014567e-01 1.56397386e-01 3.66347085e-02 1.07636004e+02] [-1.56302443e-01 9.87694155e-01 -5.45920751e-03 -1.02433651e+01] [-3.70376933e-02 -3.37777093e-04 9.99313812e-01 -4.17905985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34587155999999 meters 0.026538399656239248 Centerline is valid? [True, True] Translation: X:107.70, Y:-10.25, Z:-4.18 [[ 9.87258882e-01 1.54816623e-01 3.67656499e-02 1.07697081e+02] [-1.54719671e-01 9.87943186e-01 -5.48496413e-03 -1.02541951e+01] [-3.71715369e-02 -2.73289685e-04 9.99308862e-01 -4.18148637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40587156 meters 0.017135191538247774 Centerline is valid? [True, True] Translation: X:107.76, Y:-10.26, Z:-4.18 [[ 9.87163831e-01 1.55297037e-01 3.72880750e-02 1.07759343e+02] [-1.55197415e-01 9.87867778e-01 -5.56917177e-03 -1.02620842e+01] [-3.77005637e-02 -2.89327928e-04 9.99289039e-01 -4.18212565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46587156 meters 0.013675332151885676 Centerline is valid? [True, True] Translation: X:107.82, Y:-10.27, Z:-4.18 [[ 9.86905794e-01 1.56668930e-01 3.83640460e-02 1.07821586e+02] [-1.56564200e-01 9.87651117e-01 -5.73784779e-03 -1.02675204e+01] [-3.87892354e-02 -3.43720958e-04 9.99247355e-01 -4.18334569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52587156 meters 0.014652962485428687 Centerline is valid? [True, True] Translation: X:107.88, Y:-10.27, Z:-4.19 [[ 9.86676660e-01 1.58208278e-01 3.79382263e-02 1.07883367e+02] [-1.58106729e-01 9.87405685e-01 -5.68117752e-03 -1.02717556e+01] [-3.83592296e-02 -3.92803590e-04 9.99263937e-01 -4.18682399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58587156 meters 0.015336734330671321 Centerline is valid? [True, True] Translation: X:107.95, Y:-10.28, Z:-4.19 [[ 9.86573801e-01 1.58724082e-01 3.84551742e-02 1.07945081e+02] [-1.58619880e-01 9.87322894e-01 -5.76519253e-03 -1.02775291e+01] [-3.88827487e-02 -4.11967211e-04 9.99243695e-01 -4.18824845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64587155999999 meters 0.015631981273620633 Centerline is valid? [True, True] Translation: X:108.01, Y:-10.28, Z:-4.19 [[ 9.86431698e-01 1.59619384e-01 3.83947552e-02 1.08006983e+02] [-1.59515917e-01 9.87178535e-01 -5.76308936e-03 -1.02841991e+01] [-3.88223789e-02 -4.39680558e-04 9.99246031e-01 -4.19105818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70587155999999 meters 0.02973875914060651 Centerline is valid? [True, True] Translation: X:108.07, Y:-10.29, Z:-4.20 [[ 9.86352402e-01 1.60639587e-01 3.61090341e-02 1.08068494e+02] [-1.60548549e-01 9.87013032e-01 -5.42577668e-03 -1.02872469e+01] [-3.65116818e-02 -4.45525165e-04 9.99333127e-01 -4.19829445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76587156 meters 0.016437779597483472 Centerline is valid? [True, True] Translation: X:108.13, Y:-10.30, Z:-4.20 [[ 9.86479956e-01 1.60111561e-01 3.49511722e-02 1.08130771e+02] [-1.60025759e-01 9.87098841e-01 -5.25681460e-03 -1.02967590e+01] [-3.53419384e-02 -4.07345643e-04 9.99375196e-01 -4.20425718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82587156 meters 0.014074798767923153 Centerline is valid? [True, True] Translation: X:108.19, Y:-10.31, Z:-4.21 [[ 9.87048762e-01 1.56949919e-01 3.31883261e-02 1.08191152e+02] [-1.56870562e-01 9.87606525e-01 -4.99784099e-03 -1.03111469e+01] [-3.35614182e-02 -2.73158618e-04 9.99436620e-01 -4.21038731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88587156 meters 0.012716271196625295 Centerline is valid? [True, True] Translation: X:108.25, Y:-10.32, Z:-4.21 [[ 9.87312488e-01 1.55343227e-01 3.29018566e-02 1.08251615e+02] [-1.55264163e-01 9.87860535e-01 -4.96009108e-03 -1.03235830e+01] [-3.32729622e-02 -2.11319353e-04 9.99446279e-01 -4.21353229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94587156 meters 0.012001491658696203 Centerline is valid? [True, True] Translation: X:108.31, Y:-10.33, Z:-4.21 [[ 9.87244155e-01 1.55412989e-01 3.45800702e-02 1.08313087e+02] [-1.55325479e-01 9.87849561e-01 -5.21925057e-03 -1.03346918e+01] [-3.49710465e-02 -2.18491330e-04 9.99388302e-01 -4.21162863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00587155999999 meters 0.014864314417280564 Centerline is valid? [True, True] Translation: X:108.38, Y:-10.34, Z:-4.21 [[ 9.86530150e-01 1.59501229e-01 3.62990615e-02 1.08375017e+02] [-1.59407316e-01 9.87197659e-01 -5.48543777e-03 -1.03364643e+01] [-3.67092826e-02 -3.74786228e-04 9.99325917e-01 -4.21145730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06587155999999 meters 0.027003387331199606 Centerline is valid? [True, True] Translation: X:108.44, Y:-10.34, Z:-4.21 [[ 9.86015899e-01 1.62721560e-01 3.59769527e-02 1.08437075e+02] [-1.62631243e-01 9.86671911e-01 -5.44238550e-03 -1.03420096e+01] [-3.63830421e-02 -4.84697918e-04 9.99337800e-01 -4.21464029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12587156 meters 0.023027555760403454 Centerline is valid? [True, True] Translation: X:108.50, Y:-10.35, Z:-4.22 [[ 9.85083181e-01 1.68098203e-01 3.67983731e-02 1.08499186e+02] [-1.68007222e-01 9.85770011e-01 -5.57303799e-03 -1.03450541e+01] [-3.72115503e-02 -6.92486434e-04 9.99307170e-01 -4.21662024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18587156 meters 0.030303579808338244 Centerline is valid? [True, True] Translation: X:108.56, Y:-10.34, Z:-4.22 [[ 9.83983983e-01 1.74413590e-01 3.68160547e-02 1.08560467e+02] [-1.74326691e-01 9.84672049e-01 -5.58219638e-03 -1.03441259e+01] [-3.72253509e-02 -9.25229192e-04 9.99306468e-01 -4.21895075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24587156 meters 0.03549402568349587 Centerline is valid? [True, True] Translation: X:108.62, Y:-10.35, Z:-4.22 [[ 9.83210304e-01 1.78941079e-01 3.57433559e-02 1.08621730e+02] [-1.78862143e-01 9.83859216e-01 -5.41995862e-03 -1.03451800e+01] [-3.61362833e-02 -1.06417406e-03 9.99346305e-01 -4.22330944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30587156 meters 0.03625864055136855 Centerline is valid? [True, True] Translation: X:108.68, Y:-10.35, Z:-4.23 [[ 9.82820635e-01 1.81120421e-01 3.54822934e-02 1.08682899e+02] [-1.81044071e-01 9.83460270e-01 -5.37984855e-03 -1.03539308e+01] [-3.58698263e-02 -1.13643267e-03 9.99355825e-01 -4.22551986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36587155999999 meters 0.04194408388839182 Centerline is valid? [True, True] Translation: X:108.74, Y:-10.35, Z:-4.23 [[ 9.82092125e-01 1.84980522e-01 3.57388326e-02 1.08744049e+02] [-1.84905376e-01 9.82741354e-01 -5.42532018e-03 -1.03523406e+01] [-3.61256072e-02 -1.28013805e-03 9.99346437e-01 -4.22924301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42587155999999 meters 0.04464672911689606 Centerline is valid? [True, True] Translation: X:108.81, Y:-10.35, Z:-4.23 [[ 9.81831106e-01 1.86381787e-01 3.56301685e-02 1.08805215e+02] [-1.86308006e-01 9.82476497e-01 -5.40917961e-03 -1.03541217e+01] [-3.60139757e-02 -1.32728483e-03 9.99350405e-01 -4.23262350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48587155999999 meters 0.04052721748093519 Centerline is valid? [True, True] Translation: X:108.87, Y:-10.37, Z:-4.23 [[ 9.81797438e-01 1.86623005e-01 3.52936812e-02 1.08866603e+02] [-1.86550778e-01 9.82430711e-01 -5.35778412e-03 -1.03666467e+01] [-3.56734821e-02 -1.32380496e-03 9.99362622e-01 -4.23482395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54587156 meters 0.0405385383264139 Centerline is valid? [True, True] Translation: X:108.93, Y:-10.37, Z:-4.24 [[ 9.82107634e-01 1.84974713e-01 3.53405099e-02 1.08926650e+02] [-1.84900940e-01 9.82742476e-01 -5.37294805e-03 -1.03720630e+01] [-3.57244798e-02 -1.25768021e-03 9.99360886e-01 -4.23742181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60587156 meters 0.04243430413515814 Centerline is valid? [True, True] Translation: X:108.99, Y:-10.38, Z:-4.24 [[ 9.82496324e-01 1.82997481e-01 3.48266322e-02 1.08987189e+02] [-1.82924583e-01 9.83112688e-01 -5.29523181e-03 -1.03752520e+01] [-3.52075181e-02 -1.16810139e-03 9.99379340e-01 -4.24159877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66587156 meters 0.03576022349552407 Centerline is valid? [True, True] Translation: X:109.05, Y:-10.39, Z:-4.24 [[ 9.83267382e-01 1.78757479e-01 3.50858940e-02 1.09046432e+02] [-1.78680776e-01 9.83892635e-01 -5.33515090e-03 -1.03873226e+01] [-3.54744508e-02 -1.02329490e-03 9.99370060e-01 -4.24322384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72587156 meters 0.030371661952821916 Centerline is valid? [True, True] Translation: X:109.11, Y:-10.40, Z:-4.25 [[ 9.83780684e-01 1.75921438e-01 3.50316032e-02 1.09106785e+02] [-1.75843188e-01 9.84403780e-01 -5.32653868e-03 -1.04002621e+01] [-3.54222949e-02 -9.19922915e-04 9.99372010e-01 -4.24559268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78587155999999 meters 0.02577698663195271 Centerline is valid? [True, True] Translation: X:109.17, Y:-10.41, Z:-4.25 [[ 9.84570217e-01 1.71334254e-01 3.55817606e-02 1.09167125e+02] [-1.71250453e-01 9.85212662e-01 -5.41232936e-03 -1.04098231e+01] [-3.59829185e-02 -7.64574349e-04 9.99352113e-01 -4.24772164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84587155999999 meters 0.026545980883246785 Centerline is valid? [True, True] Translation: X:109.23, Y:-10.42, Z:-4.25 [[ 9.85120974e-01 1.68218214e-01 3.52036697e-02 1.09228434e+02] [-1.68134187e-01 9.85749572e-01 -5.35507283e-03 -1.04174616e+01] [-3.56028231e-02 -6.43545816e-04 9.99365811e-01 -4.25097518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90587156 meters 0.0291530311983022 Centerline is valid? [True, True] Translation: X:109.29, Y:-10.42, Z:-4.25 [[ 9.85243200e-01 1.67538877e-01 3.50222898e-02 1.09289410e+02] [-1.67455269e-01 9.85865278e-01 -5.32793011e-03 -1.04232186e+01] [-3.54198949e-02 -6.15360067e-04 9.99372329e-01 -4.25353670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96587156 meters 0.020216999562193153 Centerline is valid? [True, True] Translation: X:109.35, Y:-10.43, Z:-4.26 [[ 9.85407401e-01 1.66616564e-01 3.48019465e-02 1.09351184e+02] [-1.66533243e-01 9.86021598e-01 -5.29971800e-03 -1.04287632e+01] [-3.51984917e-02 -5.73299685e-04 9.99380177e-01 -4.25641124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02587156 meters 0.02006295195251746 Centerline is valid? [True, True] Translation: X:109.41, Y:-10.43, Z:-4.26 [[ 9.85663826e-01 1.65337197e-01 3.36219325e-02 1.09412436e+02] [-1.65258494e-01 9.86236968e-01 -5.12570175e-03 -1.04335318e+01] [-3.40066620e-02 -5.04091147e-04 9.99421479e-01 -4.26233966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08587156 meters 0.01578127396482264 Centerline is valid? [True, True] Translation: X:109.47, Y:-10.44, Z:-4.27 [[ 9.86404656e-01 1.60932685e-01 3.32644829e-02 1.09473508e+02] [-1.60852969e-01 9.86965325e-01 -5.07635802e-03 -1.04439380e+01] [-3.36478432e-02 -3.43347664e-04 9.99433692e-01 -4.26613442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14587155999999 meters 0.01195781065213022 Centerline is valid? [True, True] Translation: X:109.53, Y:-10.46, Z:-4.27 [[ 9.87322530e-01 1.55344566e-01 3.25927466e-02 1.09534721e+02] [-1.55264792e-01 9.87860337e-01 -4.97988352e-03 -1.04570864e+01] [-3.29706795e-02 -1.43754823e-04 9.99456309e-01 -4.26981607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20587155999999 meters 0.010958104010886378 Centerline is valid? [True, True] Translation: X:109.60, Y:-10.47, Z:-4.27 [[ 9.87653708e-01 1.53159499e-01 3.28986566e-02 1.09596518e+02] [-1.53076930e-01 9.88201479e-01 -5.02895088e-03 -1.04668694e+01] [-3.32807327e-02 -6.91633622e-05 9.99446041e-01 -4.27082913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26587156 meters 0.010898003727753501 Centerline is valid? [True, True] Translation: X:109.66, Y:-10.48, Z:-4.27 [[ 9.88117446e-01 1.50022013e-01 3.34261734e-02 1.09658881e+02] [-1.49934785e-01 9.88682656e-01 -5.11530234e-03 -1.04773152e+01] [-3.38152859e-02 4.27733490e-05 9.99428099e-01 -4.27296527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32587156 meters 0.01177204461254653 Centerline is valid? [True, True] Translation: X:109.72, Y:-10.49, Z:-4.27 [[ 9.88589963e-01 1.46623003e-01 3.45192813e-02 1.09720861e+02] [-1.46527656e-01 9.89192431e-01 -5.28966321e-03 -1.04901609e+01] [-3.49217981e-02 1.71278587e-04 9.99390033e-01 -4.27295680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38587156 meters 0.013732834986076628 Centerline is valid? [True, True] Translation: X:109.78, Y:-10.50, Z:-4.28 [[ 9.88904494e-01 1.44397384e-01 3.48898012e-02 1.09780679e+02] [-1.44298331e-01 9.89519746e-01 -5.35384798e-03 -1.05033806e+01] [-3.52972289e-02 2.59904247e-04 9.99376825e-01 -4.27607453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44587156 meters 0.02658515913027246 Centerline is valid? [True, True] Translation: X:109.84, Y:-10.52, Z:-4.28 [[ 9.89287244e-01 1.41795420e-01 3.47103500e-02 1.09841695e+02] [-1.41695590e-01 9.89895920e-01 -5.33179658e-03 -1.05165252e+01] [-3.51156582e-02 3.56374818e-04 9.99383192e-01 -4.27879093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50587155999999 meters 0.029905426819792733 Centerline is valid? [True, True] Translation: X:109.90, Y:-10.53, Z:-4.28 [[ 9.89429887e-01 1.40930754e-01 3.41616899e-02 1.09901673e+02] [-1.40833317e-01 9.90019380e-01 -5.25396871e-03 -1.05301289e+01] [-3.45611808e-02 3.87329578e-04 9.99402509e-01 -4.28393490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56587155999999 meters 0.016437056034384917 Centerline is valid? [True, True] Translation: X:109.96, Y:-10.54, Z:-4.29 [[ 9.89422002e-01 1.41149094e-01 3.34818728e-02 1.09963633e+02] [-1.41055548e-01 9.89988279e-01 -5.15160267e-03 -1.05417412e+01] [-3.38738057e-02 3.74305099e-04 9.99426048e-01 -4.28644590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62587156 meters 0.01430574710086326 Centerline is valid? [True, True] Translation: X:110.03, Y:-10.55, Z:-4.29 [[ 9.89040844e-01 1.43874974e-01 3.31391053e-02 1.10025365e+02] [-1.43784639e-01 9.89595832e-01 -5.10555217e-03 -1.05504717e+01] [-3.35288817e-02 2.84705325e-04 9.99437708e-01 -4.28999632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68587156 meters 0.012574975489498784 Centerline is valid? [True, True] Translation: X:110.09, Y:-10.56, Z:-4.29 [[ 9.88613726e-01 1.46866130e-01 3.27603554e-02 1.10087331e+02] [-1.46779302e-01 9.89156360e-01 -5.05285746e-03 -1.05587880e+01] [-3.31472076e-02 1.86782132e-04 9.99450463e-01 -4.29307815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74587156 meters 0.010829581045309882 Centerline is valid? [True, True] Translation: X:110.15, Y:-10.56, Z:-4.30 [[ 9.87784971e-01 1.52279952e-01 3.30403976e-02 1.10148647e+02] [-1.52194460e-01 9.88337400e-01 -5.10199429e-03 -1.05637412e+01] [-3.34319921e-02 1.11078066e-05 9.99440995e-01 -4.29621334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80587156 meters 0.014037837019267764 Centerline is valid? [True, True] Translation: X:110.21, Y:-10.57, Z:-4.30 [[ 9.87175623e-01 1.56245669e-01 3.27349992e-02 1.10211922e+02] [-1.56163768e-01 9.87718218e-01 -5.05968428e-03 -1.05691011e+01] [-3.31235088e-02 -1.17223839e-04 9.99451259e-01 -4.29856455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86587155999999 meters 0.014156613826511911 Centerline is valid? [True, True] Translation: X:110.27, Y:-10.57, Z:-4.30 [[ 9.86468102e-01 1.60836127e-01 3.18186088e-02 1.10272714e+02] [-1.60760899e-01 9.86981091e-01 -4.92534652e-03 -1.05722005e+01] [-3.21965389e-02 -2.56490913e-04 9.99481524e-01 -4.30347978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92587155999999 meters 0.015985591682573245 Centerline is valid? [True, True] Translation: X:110.33, Y:-10.58, Z:-4.31 [[ 9.86125763e-01 1.62900132e-01 3.19300257e-02 1.10333017e+02] [-1.62825382e-01 9.86642510e-01 -4.94491148e-03 -1.05789723e+01] [-3.23090474e-02 -3.22714020e-04 9.99477874e-01 -4.30677722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98587155999999 meters 0.014818839032156625 Centerline is valid? [True, True] Translation: X:110.39, Y:-10.59, Z:-4.31 [[ 9.86178675e-01 1.62353526e-01 3.30598424e-02 1.10394645e+02] [-1.62272907e-01 9.86732606e-01 -5.12516572e-03 -1.05905711e+01] [-3.34533132e-02 -3.10387594e-04 9.99440233e-01 -4.30694484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04587156 meters 0.025822184753018528 Centerline is valid? [True, True] Translation: X:110.45, Y:-10.60, Z:-4.31 [[ 9.86511646e-01 1.60017993e-01 3.44820971e-02 1.10454342e+02] [-1.59928791e-01 9.87114069e-01 -5.34762178e-03 -1.06040960e+01] [-3.48934788e-02 -2.39188933e-04 9.99391009e-01 -4.30799810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10587156 meters 0.011407720141214337 Centerline is valid? [True, True] Translation: X:110.51, Y:-10.62, Z:-4.31 [[ 9.86980402e-01 1.57195214e-01 3.40492266e-02 1.10514455e+02] [-1.57106466e-01 9.87567540e-01 -5.28318686e-03 -1.06198736e+01] [-3.44564027e-02 -1.34951765e-04 9.99406193e-01 -4.31028492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16587156 meters 0.010896489789076515 Centerline is valid? [True, True] Translation: X:110.58, Y:-10.63, Z:-4.31 [[ 9.87243816e-01 1.55740646e-01 3.30832270e-02 1.10575594e+02] [-1.55655870e-01 9.87797978e-01 -5.13855044e-03 -1.06337823e+01] [-3.34798259e-02 -7.65963587e-05 9.99439391e-01 -4.31444340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22587155999999 meters 0.010816067705300619 Centerline is valid? [True, True] Translation: X:110.64, Y:-10.65, Z:-4.32 [[ 9.87378401e-01 1.54905835e-01 3.29859945e-02 1.10636319e+02] [-1.54820866e-01 9.87929239e-01 -5.13020985e-03 -1.06454155e+01] [-3.33825279e-02 -4.14618290e-05 9.99442647e-01 -4.31805015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28587155999999 meters 0.011067450168310403 Centerline is valid? [True, True] Translation: X:110.70, Y:-10.66, Z:-4.32 [[ 9.87408000e-01 1.54857238e-01 3.23214831e-02 1.10696386e+02] [-1.54775411e-01 9.87936858e-01 -5.03361104e-03 -1.06558284e+01] [-3.27110755e-02 -3.23430173e-05 9.99464849e-01 -4.32184585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34587155999999 meters 0.011164572951955276 Centerline is valid? [True, True] Translation: X:110.76, Y:-10.67, Z:-4.33 [[ 9.87374122e-01 1.55114859e-01 3.21204622e-02 1.10758726e+02] [-1.55034117e-01 9.87896441e-01 -5.00436066e-03 -1.06664973e+01] [-3.25079410e-02 -3.85912719e-05 9.99471476e-01 -4.32520782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40587156 meters 0.01145269053517584 Centerline is valid? [True, True] Translation: X:110.82, Y:-10.68, Z:-4.33 [[ 9.87314786e-01 1.55593596e-01 3.16251025e-02 1.10819405e+02] [-1.55515374e-01 9.87821153e-01 -4.93333694e-03 -1.06767890e+01] [-3.20075409e-02 -4.74331419e-05 9.99487626e-01 -4.32919183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46587156 meters 0.01787167701095059 Centerline is valid? [True, True] Translation: X:110.88, Y:-10.69, Z:-4.33 [[ 9.87280376e-01 1.55664771e-01 3.23409653e-02 1.10881403e+02] [-1.55582773e-01 9.87809940e-01 -5.05209513e-03 -1.06860003e+01] [-3.27331602e-02 -4.38626710e-05 9.99464126e-01 -4.33028512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52587156 meters 0.010771402281529943 Centerline is valid? [True, True] Translation: X:110.94, Y:-10.70, Z:-4.33 [[ 9.87559266e-01 1.53696758e-01 3.32265473e-02 1.10942565e+02] [-1.53609054e-01 9.88118063e-01 -5.19159924e-03 -1.06993420e+01] [-3.36296835e-02 2.31134504e-05 9.99434362e-01 -4.33177675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58587156 meters 0.020158359615842773 Centerline is valid? [True, True] Translation: X:111.00, Y:-10.71, Z:-4.33 [[ 9.87803926e-01 1.52067948e-01 3.34476110e-02 1.11004253e+02] [-1.51977945e-01 9.88370038e-01 -5.23185585e-03 -1.07124883e+01] [-3.38542141e-02 8.47485798e-05 9.99426778e-01 -4.33359786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64587155999999 meters 0.02838858381363274 Centerline is valid? [True, True] Translation: X:111.07, Y:-10.73, Z:-4.34 [[ 9.88061382e-01 1.50341958e-01 3.36452215e-02 1.11066031e+02] [-1.50249659e-01 9.88634044e-01 -5.26946813e-03 -1.07255396e+01] [-3.40550335e-02 1.51374917e-04 9.99419948e-01 -4.33575088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70587155999999 meters 0.012571121746683822 Centerline is valid? [True, True] Translation: X:111.13, Y:-10.74, Z:-4.34 [[ 9.88248844e-01 1.49153503e-01 3.34283539e-02 1.11126803e+02] [-1.49061479e-01 9.88814034e-01 -5.24233500e-03 -1.07384553e+01] [-3.38363381e-02 1.97851632e-04 9.99427368e-01 -4.33829710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76587156 meters 0.013943142499630672 Centerline is valid? [True, True] Translation: X:111.19, Y:-10.75, Z:-4.34 [[ 9.88443030e-01 1.47853832e-01 3.34607268e-02 1.11186127e+02] [-1.47760680e-01 9.89009192e-01 -5.25346138e-03 -1.07545379e+01] [-3.38697108e-02 2.48567545e-04 9.99426226e-01 -4.34122044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82587156 meters 0.014268020862470749 Centerline is valid? [True, True] Translation: X:111.25, Y:-10.77, Z:-4.34 [[ 9.88505439e-01 1.47592686e-01 3.27627175e-02 1.11247053e+02] [-1.47503069e-01 9.89048195e-01 -5.14896588e-03 -1.07654939e+01] [-3.31638563e-02 2.57179419e-04 9.99449895e-01 -4.34491621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88587156 meters 0.020316474563855456 Centerline is valid? [True, True] Translation: X:111.31, Y:-10.78, Z:-4.35 [[ 9.88512103e-01 1.47789811e-01 3.16542991e-02 1.11307669e+02] [-1.47706090e-01 9.89018761e-01 -4.98000208e-03 -1.07783921e+01] [-3.20426893e-02 2.47259576e-04 9.99486471e-01 -4.34978565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94587156 meters 0.013782310298398754 Centerline is valid? [True, True] Translation: X:111.37, Y:-10.79, Z:-4.35 [[ 9.88310767e-01 1.49030396e-01 3.21211471e-02 1.11369399e+02] [-1.48944659e-01 9.88832592e-01 -5.05903662e-03 -1.07882111e+01] [-3.25163873e-02 2.15627067e-04 9.99471179e-01 -4.35166691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00587155999999 meters 0.011862063277909101 Centerline is valid? [True, True] Translation: X:111.43, Y:-10.80, Z:-4.35 [[ 9.87792083e-01 1.52245735e-01 3.29854130e-02 1.11431080e+02] [-1.52156918e-01 9.88342664e-01 -5.20099075e-03 -1.07958814e+01] [-3.33927196e-02 1.18538717e-04 9.99442301e-01 -4.35219588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06587155999999 meters 0.01789978484206579 Centerline is valid? [True, True] Translation: X:111.49, Y:-10.80, Z:-4.35 [[ 9.87388943e-01 1.54861196e-01 3.28798696e-02 1.11494133e+02] [-1.54774215e-01 9.87936237e-01 -5.18976444e-03 -1.08029108e+01] [-3.32869078e-02 3.53600088e-05 9.99445837e-01 -4.35463366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12587156 meters 0.01113535727302885 Centerline is valid? [True, True] Translation: X:111.56, Y:-10.81, Z:-4.36 [[ 9.87012836e-01 1.57239926e-01 3.28826279e-02 1.11556071e+02] [-1.57154034e-01 9.87560431e-01 -5.19667164e-03 -1.08121596e+01] [-3.32907064e-02 -3.84560123e-05 9.99445710e-01 -4.35796610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18587156 meters 0.011418617440932153 Centerline is valid? [True, True] Translation: X:111.62, Y:-10.82, Z:-4.36 [[ 9.86895191e-01 1.58124869e-01 3.21622190e-02 1.11618721e+02] [-1.58042971e-01 9.87419122e-01 -5.08894318e-03 -1.08206970e+01] [-3.25622785e-02 -6.07590953e-05 9.99469707e-01 -4.36172191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24587156 meters 0.011368067858147713 Centerline is valid? [True, True] Translation: X:111.68, Y:-10.83, Z:-4.36 [[ 9.86781007e-01 1.58760380e-01 3.25328427e-02 1.11680643e+02] [-1.58676716e-01 9.87317140e-01 -5.15403006e-03 -1.08306593e+01] [-3.29384890e-02 -7.63056595e-05 9.99457378e-01 -4.36413261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30587156 meters 0.028259707780093218 Centerline is valid? [True, True] Translation: X:111.74, Y:-10.84, Z:-4.37 [[ 9.86741943e-01 1.59143940e-01 3.18362135e-02 1.11742595e+02] [-1.59063826e-01 9.87255387e-01 -5.04970090e-03 -1.08426884e+01] [-3.22341026e-02 -8.12382453e-05 9.99480343e-01 -4.36729674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36587155999999 meters 0.01193845246736957 Centerline is valid? [True, True] Translation: X:111.80, Y:-10.85, Z:-4.37 [[ 9.86723292e-01 1.59386763e-01 3.11930292e-02 1.11803060e+02] [-1.59309755e-01 9.87216214e-01 -4.95465131e-03 -1.08518084e+01] [-3.15839700e-02 -8.04839768e-05 9.99501099e-01 -4.37218097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42587155999999 meters 0.012054675149811171 Centerline is valid? [True, True] Translation: X:111.87, Y:-10.86, Z:-4.37 [[ 9.86562607e-01 1.60341214e-01 3.13834065e-02 1.11865207e+02] [-1.60263686e-01 9.87061641e-01 -4.98677755e-03 -1.08626555e+01] [-3.17769427e-02 -1.09852136e-04 9.99494979e-01 -4.37444897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48587155999999 meters 0.012655000218535684 Centerline is valid? [True, True] Translation: X:111.93, Y:-10.87, Z:-4.38 [[ 9.86302541e-01 1.62003203e-01 3.10203133e-02 1.11926426e+02] [-1.61928087e-01 9.86790220e-01 -4.93523845e-03 -1.08710126e+01] [-3.14100662e-02 -1.55421745e-04 9.99506570e-01 -4.37586590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54587156 meters 0.015132419420631078 Centerline is valid? [True, True] Translation: X:111.99, Y:-10.87, Z:-4.38 [[ 9.85712002e-01 1.65619097e-01 3.06946803e-02 1.11987273e+02] [-1.65547134e-01 9.86189762e-01 -4.88881990e-03 -1.08748374e+01] [-3.10804614e-02 -2.62447904e-04 9.99516851e-01 -4.37934657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60587156 meters 0.016723979902855814 Centerline is valid? [True, True] Translation: X:112.05, Y:-10.88, Z:-4.38 [[ 9.85246856e-01 1.68248125e-01 3.13241253e-02 1.12048966e+02] [-1.68174349e-01 9.85744616e-01 -4.99406339e-03 -1.08805892e+01] [-3.17178296e-02 -3.47529107e-04 9.99496803e-01 -4.38027185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66587156 meters 0.019091277416762864 Centerline is valid? [True, True] Translation: X:112.11, Y:-10.89, Z:-4.39 [[ 9.84888453e-01 1.70464173e-01 3.06055727e-02 1.12110300e+02] [-1.70394652e-01 9.85363792e-01 -4.88467978e-03 -1.08852112e+01] [-3.09902860e-02 -4.04161200e-04 9.99519604e-01 -4.38505301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72587155999999 meters 0.01836771661938523 Centerline is valid? [True, True] Translation: X:112.17, Y:-10.89, Z:-4.39 [[ 9.84863516e-01 1.70654495e-01 3.03462974e-02 1.12172184e+02] [-1.70586109e-01 9.85330849e-01 -4.84746945e-03 -1.08946692e+01] [-3.07283854e-02 -4.02560998e-04 9.99527691e-01 -4.38732589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78587155999999 meters 0.01731034782086273 Centerline is valid? [True, True] Translation: X:112.23, Y:-10.91, Z:-4.39 [[ 9.85362103e-01 1.67879653e-01 2.96301890e-02 1.12232186e+02] [-1.67813020e-01 9.85807451e-01 -4.73916977e-03 -1.09060869e+01] [-3.00052713e-02 -3.02533227e-04 9.99549695e-01 -4.39363104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84587155999999 meters 0.014376589624196296 Centerline is valid? [True, True] Translation: X:112.29, Y:-10.92, Z:-4.39 [[ 9.85888500e-01 1.64693301e-01 2.99997049e-02 1.12293423e+02] [-1.64623338e-01 9.86344806e-01 -4.80427160e-03 -1.09203647e+01] [-3.03812845e-02 -2.02175440e-04 9.99538362e-01 -4.39465868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90587156 meters 0.016283251449442024 Centerline is valid? [True, True] Translation: X:112.35, Y:-10.94, Z:-4.39 [[ 9.86763004e-01 1.59198485e-01 3.08968645e-02 1.12353188e+02] [-1.59121557e-01 9.87246596e-01 -4.94860772e-03 -1.09396831e+01] [-3.12906352e-02 -3.32541720e-05 9.99510328e-01 -4.39422267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96587156 meters 0.011702506452107533 Centerline is valid? [True, True] Translation: X:112.41, Y:-10.95, Z:-4.40 [[ 9.87187256e-01 1.56426950e-01 3.14949369e-02 1.12414834e+02] [-1.56345432e-01 9.87689529e-01 -5.04976936e-03 -1.09537348e+01] [-3.18971394e-02 6.09784450e-05 9.99491155e-01 -4.39605550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02587156 meters 0.014783168556450564 Centerline is valid? [True, True] Translation: X:112.48, Y:-10.97, Z:-4.40 [[ 9.87430727e-01 1.54972355e-01 3.10504290e-02 1.12475598e+02] [-1.54892207e-01 9.87918801e-01 -4.98475517e-03 -1.09671966e+01] [-3.14478018e-02 1.12630962e-04 9.99505389e-01 -4.39873544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08587156 meters 0.012078248337022365 Centerline is valid? [True, True] Translation: X:112.54, Y:-10.98, Z:-4.40 [[ 9.87227640e-01 1.56246944e-01 3.11204137e-02 1.12537124e+02] [-1.56166897e-01 9.87718020e-01 -5.00136751e-03 -1.09758478e+01] [-3.15196418e-02 7.75097890e-05 9.99503130e-01 -4.40174971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14587155999999 meters 0.01868065536289569 Centerline is valid? [True, True] Translation: X:112.60, Y:-10.98, Z:-4.41 [[ 9.86920194e-01 1.58329177e-01 3.03381489e-02 1.12599221e+02] [-1.58253924e-01 9.87386384e-01 -4.88101170e-03 -1.09832678e+01] [-3.07282817e-02 1.60379181e-05 9.99527775e-01 -4.40522344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20587155999999 meters 0.011933064972611377 Centerline is valid? [True, True] Translation: X:112.66, Y:-10.99, Z:-4.41 [[ 9.86701357e-01 1.59712104e-01 3.02072256e-02 1.12661358e+02] [-1.59637966e-01 9.87163636e-01 -4.86583485e-03 -1.09921013e+01] [-3.05966074e-02 -2.10942021e-05 9.99531814e-01 -4.40793529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26587156 meters 0.01174238953947988 Centerline is valid? [True, True] Translation: X:112.72, Y:-11.01, Z:-4.41 [[ 9.86865032e-01 1.58568928e-01 3.08756254e-02 1.12722468e+02] [-1.58490673e-01 9.87347910e-01 -4.98117051e-03 -1.10066270e+01] [-3.12748430e-02 2.22443417e-05 9.99510822e-01 -4.40985707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32587156 meters 0.029057267718449936 Centerline is valid? [True, True] Translation: X:112.78, Y:-11.03, Z:-4.41 [[ 9.87442385e-01 1.55018392e-01 3.04439592e-02 1.12781095e+02] [-1.54940600e-01 9.87911575e-01 -4.91225037e-03 -1.10253191e+01] [-3.08374288e-02 1.33558913e-04 9.99524404e-01 -4.41323091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38587156 meters 0.013913226751601386 Centerline is valid? [True, True] Translation: X:112.84, Y:-11.04, Z:-4.41 [[ 9.87579030e-01 1.53972295e-01 3.13080338e-02 1.12842784e+02] [-1.53889349e-01 9.88075150e-01 -5.05635348e-03 -1.10401478e+01] [-3.17132285e-02 1.75575729e-04 9.99496994e-01 -4.41472697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44587156 meters 0.013637937327229253 Centerline is valid? [True, True] Translation: X:112.90, Y:-11.05, Z:-4.42 [[ 9.87476255e-01 1.54506531e-01 3.19120404e-02 1.12903082e+02] [-1.54420418e-01 9.87991753e-01 -5.16048437e-03 -1.10532558e+01] [-3.23261613e-02 1.67985148e-04 9.99477359e-01 -4.41632676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50587155999999 meters 0.013251825795444807 Centerline is valid? [True, True] Translation: X:112.96, Y:-11.06, Z:-4.42 [[ 9.87328387e-01 1.55589599e-01 3.12175097e-02 1.12964688e+02] [-1.55507601e-01 9.87821775e-01 -5.05244386e-03 -1.10642528e+01] [-3.16234436e-02 1.33861201e-04 9.99499845e-01 -4.42035322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56587155999999 meters 0.012885110562997733 Centerline is valid? [True, True] Translation: X:113.02, Y:-11.08, Z:-4.42 [[ 9.87173866e-01 1.56474296e-01 3.16788941e-02 1.13024853e+02] [-1.56390105e-01 9.87682025e-01 -5.13354855e-03 -1.10759559e+01] [-3.20919426e-02 1.13439401e-04 9.99484915e-01 -4.42231403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62587156 meters 0.013315541040966385 Centerline is valid? [True, True] Translation: X:113.09, Y:-11.09, Z:-4.43 [[ 9.87188661e-01 1.56597104e-01 3.05923812e-02 1.13085450e+02] [-1.56518517e-01 9.87662561e-01 -4.96175479e-03 -1.10871927e+01] [-3.09919460e-02 1.09913931e-04 9.99519628e-01 -4.42720685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68587156 meters 0.013449264067869917 Centerline is valid? [True, True] Translation: X:113.15, Y:-11.10, Z:-4.43 [[ 9.87332735e-01 1.55666208e-01 3.06936946e-02 1.13147281e+02] [-1.55586507e-01 9.87809704e-01 -4.98276557e-03 -1.10998873e+01] [-3.10951776e-02 1.44122823e-04 9.99516418e-01 -4.42864743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74587156 meters 0.012768043462283881 Centerline is valid? [True, True] Translation: X:113.21, Y:-11.11, Z:-4.43 [[ 9.87206459e-01 1.55980317e-01 3.30688508e-02 1.13207610e+02] [-1.55887729e-01 9.87760152e-01 -5.37571597e-03 -1.11126812e+01] [-3.35025989e-02 1.51913481e-04 9.99438619e-01 -4.42793849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80587156 meters 0.01340093965231706 Centerline is valid? [True, True] Translation: X:113.27, Y:-11.13, Z:-4.43 [[ 9.87169844e-01 1.56250955e-01 3.28837016e-02 1.13267918e+02] [-1.56159388e-01 9.87717377e-01 -5.35053791e-03 -1.11251908e+01] [-3.33158302e-02 1.46790960e-04 9.99444863e-01 -4.43212999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86587155999999 meters 0.014114367259637845 Centerline is valid? [True, True] Translation: X:113.33, Y:-11.14, Z:-4.44 [[ 9.87158451e-01 1.56733554e-01 3.08672134e-02 1.13327610e+02] [-1.56652944e-01 9.87640915e-01 -5.02774705e-03 -1.11352581e+01] [-3.12737396e-02 1.27743127e-04 9.99510849e-01 -4.43948917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92587155999999 meters 0.023917760949856856 Centerline is valid? [True, True] Translation: X:113.39, Y:-11.14, Z:-4.44 [[ 9.86984587e-01 1.58250070e-01 2.86066377e-02 1.13388598e+02] [-1.58181379e-01 9.87399063e-01 -4.66280670e-03 -1.11447593e+01] [-2.89840567e-02 7.70809363e-05 9.99579871e-01 -4.44305507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98587155999999 meters 0.012656821039434734 Centerline is valid? [True, True] Translation: X:113.45, Y:-11.15, Z:-4.44 [[ 9.86803730e-01 1.59312108e-01 2.89491076e-02 1.13449825e+02] [-1.59242073e-01 9.87228266e-01 -4.72361390e-03 -1.11548695e+01] [-2.93319062e-02 5.13639082e-05 9.99569726e-01 -4.44489844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04587156 meters 0.020268900971252984 Centerline is valid? [True, True] Translation: X:113.51, Y:-11.16, Z:-4.45 [[ 9.86194579e-01 1.62930683e-01 2.95608699e-02 1.13512234e+02] [-1.62859124e-01 9.86637517e-01 -4.82862404e-03 -1.11612939e+01] [-2.99525943e-02 -5.22945409e-05 9.99551319e-01 -4.44521543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10587156 meters 0.01729994362211094 Centerline is valid? [True, True] Translation: X:113.57, Y:-11.17, Z:-4.45 [[ 9.85638295e-01 1.66160491e-01 3.01304127e-02 1.13574603e+02] [-1.66087504e-01 9.86098712e-01 -4.92665045e-03 -1.11677091e+01] [-3.05301758e-02 -1.48389694e-04 9.99533835e-01 -4.44679078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16587156 meters 0.016036386697159764 Centerline is valid? [True, True] Translation: X:113.64, Y:-11.17, Z:-4.45 [[ 9.84706376e-01 1.71485485e-01 3.07584346e-02 1.13637266e+02] [-1.71411816e-01 9.85186597e-01 -5.03579609e-03 -1.11723943e+01] [-3.11663635e-02 -3.13578626e-04 9.99514162e-01 -4.44800558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22587155999999 meters 0.02021646468879561 Centerline is valid? [True, True] Translation: X:113.70, Y:-11.17, Z:-4.45 [[ 9.84064390e-01 1.74933989e-01 3.18649572e-02 1.13699275e+02] [-1.74856539e-01 9.84580069e-01 -5.22282389e-03 -1.11737138e+01] [-3.22872511e-02 -4.32201121e-04 9.99478537e-01 -4.45037164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28587155999999 meters 0.022731885400708234 Centerline is valid? [True, True] Translation: X:113.76, Y:-11.18, Z:-4.45 [[ 9.83185831e-01 1.79726938e-01 3.23086528e-02 1.13761545e+02] [-1.79649699e-01 9.83716360e-01 -5.30171300e-03 -1.11772106e+01] [-3.27354110e-02 -5.91670632e-04 9.99463878e-01 -4.45076087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34587155999999 meters 0.034874356644721806 Centerline is valid? [True, True] Translation: X:113.82, Y:-11.18, Z:-4.45 [[ 9.82673552e-01 1.82599804e-01 3.17805410e-02 1.13823841e+02] [-1.82526520e-01 9.83187091e-01 -5.21658715e-03 -1.11805367e+01] [-3.21987655e-02 -6.74589343e-04 9.99481258e-01 -4.45484632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40587156 meters 0.033520652577896416 Centerline is valid? [True, True] Translation: X:113.89, Y:-11.18, Z:-4.46 [[ 9.82120650e-01 1.85859447e-01 2.99214838e-02 1.13885406e+02] [-1.85795949e-01 9.82576067e-01 -4.91305725e-03 -1.11844081e+01] [-3.03132720e-02 -7.34075498e-04 9.99540178e-01 -4.45980674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46587156 meters 0.03294984834944033 Centerline is valid? [True, True] Translation: X:113.95, Y:-11.19, Z:-4.47 [[ 9.81981971e-01 1.86663504e-01 2.94643110e-02 1.13947001e+02] [-1.86602322e-01 9.82423624e-01 -4.83704798e-03 -1.11854500e+01] [-2.98493356e-02 -7.48214932e-04 9.99554129e-01 -4.46602138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52587156 meters 0.031497913550128036 Centerline is valid? [True, True] Translation: X:114.01, Y:-11.19, Z:-4.46 [[ 9.81948479e-01 1.86728912e-01 3.01578971e-02 1.14008448e+02] [-1.86664699e-01 9.82411182e-01 -4.95571601e-03 -1.11948010e+01] [-3.05528308e-02 -7.63156979e-04 9.99532862e-01 -4.46498609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58587156 meters 0.029656971391045662 Centerline is valid? [True, True] Translation: X:114.07, Y:-11.20, Z:-4.47 [[ 9.82017513e-01 1.86291716e-01 3.06104616e-02 1.14069688e+02] [-1.86225177e-01 9.82494186e-01 -5.03562802e-03 -1.11997977e+01] [-3.10126963e-02 -7.55363721e-04 9.99518705e-01 -4.46796228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64587155999999 meters 0.03306325602534407 Centerline is valid? [True, True] Translation: X:114.13, Y:-11.21, Z:-4.47 [[ 9.82111778e-01 1.85858019e-01 3.02200572e-02 1.14131571e+02] [-1.85792822e-01 9.82576342e-01 -4.97595238e-03 -1.12063978e+01] [-3.06183339e-02 -7.27728270e-04 9.99530884e-01 -4.47107183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70587155999999 meters 0.029058937774874758 Centerline is valid? [True, True] Translation: X:114.19, Y:-11.21, Z:-4.47 [[ 9.82195191e-01 1.85347513e-01 3.06415801e-02 1.14192745e+02] [-1.85280066e-01 9.82672777e-01 -5.05083211e-03 -1.12110514e+01] [-3.10468057e-02 -7.16370961e-04 9.99517675e-01 -4.47389150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76587156 meters 0.02653171526565662 Centerline is valid? [True, True] Translation: X:114.25, Y:-11.22, Z:-4.48 [[ 9.82540828e-01 1.83536859e-01 3.04588835e-02 1.14254297e+02] [-1.83469202e-01 9.83012613e-01 -5.02532798e-03 -1.12185560e+01] [-3.08637996e-02 -6.50677136e-04 9.99523388e-01 -4.47647710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82587156 meters 0.02482417229900379 Centerline is valid? [True, True] Translation: X:114.32, Y:-11.23, Z:-4.48 [[ 9.82927998e-01 1.81541853e-01 2.99183260e-02 1.14316141e+02] [-1.81475475e-01 9.83383053e-01 -4.94199768e-03 -1.12277924e+01] [-3.03183541e-02 -5.71814524e-04 9.99540129e-01 -4.48064218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88587156 meters 0.028057830848671025 Centerline is valid? [True, True] Translation: X:114.38, Y:-11.24, Z:-4.48 [[ 9.83501629e-01 1.78206745e-01 3.10950287e-02 1.14376844e+02] [-1.78133257e-01 9.83992948e-01 -5.14010690e-03 -1.12379328e+01] [-3.15132907e-02 -4.83755239e-04 9.99503216e-01 -4.48143944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94587156 meters 0.02092829199533483 Centerline is valid? [True, True] Translation: X:114.44, Y:-11.24, Z:-4.49 [[ 9.83770538e-01 1.76863902e-01 3.02438325e-02 1.14437776e+02] [-1.76793773e-01 9.84235224e-01 -4.99859723e-03 -1.12434504e+01] [-3.06511167e-02 -4.29448582e-04 9.99530052e-01 -4.48658674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00587155999999 meters 0.020312310998136546 Centerline is valid? [True, True] Translation: X:114.50, Y:-11.25, Z:-4.49 [[ 9.83782162e-01 1.76980621e-01 2.91636258e-02 1.14498790e+02] [-1.76915344e-01 9.84214249e-01 -4.82415312e-03 -1.12526605e+01] [-2.95570377e-02 -4.13577086e-04 9.99563010e-01 -4.49001098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06587155999999 meters 0.029617150857544107 Centerline is valid? [True, True] Translation: X:114.56, Y:-11.26, Z:-4.49 [[ 9.83795213e-01 1.76942884e-01 2.89515840e-02 1.14561639e+02] [-1.76878404e-01 9.84221038e-01 -4.79359981e-03 -1.12589559e+01] [-2.93429514e-02 -4.04989412e-04 9.99569321e-01 -4.49424360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12587156 meters 0.01902418870788884 Centerline is valid? [True, True] Translation: X:114.62, Y:-11.26, Z:-4.50 [[ 9.84030112e-01 1.75461134e-01 2.99688099e-02 1.14624142e+02] [-1.75391124e-01 9.84486291e-01 -4.96962829e-03 -1.12644056e+01] [-3.03758591e-02 -3.65999366e-04 9.99538480e-01 -4.49577570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18587156 meters 0.017023852191660544 Centerline is valid? [True, True] Translation: X:114.69, Y:-11.27, Z:-4.50 [[ 9.84252035e-01 1.74175824e-01 3.01780344e-02 1.14685303e+02] [-1.74104213e-01 9.84714514e-01 -5.00482010e-03 -1.12746756e+01] [-3.05884672e-02 -3.28118575e-04 9.99532009e-01 -4.49741958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24587156 meters 0.015077489074860123 Centerline is valid? [True, True] Translation: X:114.75, Y:-11.28, Z:-4.50 [[ 9.84773657e-01 1.71159832e-01 3.04163768e-02 1.14746024e+02] [-1.71085483e-01 9.85243248e-01 -5.04964103e-03 -1.12845920e+01] [-3.08318256e-02 -2.31047038e-04 9.99524560e-01 -4.50132422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30587156 meters 0.013147564379169242 Centerline is valid? [True, True] Translation: X:114.81, Y:-11.30, Z:-4.50 [[ 9.85217761e-01 1.68466560e-01 3.10641571e-02 1.14806675e+02] [-1.68387500e-01 9.85707359e-01 -5.16261256e-03 -1.12985124e+01] [-3.14898958e-02 -1.44518163e-04 9.99504060e-01 -4.50253184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36587155999999 meters 0.01255125545838711 Centerline is valid? [True, True] Translation: X:114.87, Y:-11.32, Z:-4.51 [[ 9.86198743e-01 1.62687644e-01 3.07371224e-02 1.14865250e+02] [-1.62607248e-01 9.86677621e-01 -5.11414702e-03 -1.13158308e+01] [-3.11596393e-02 4.54864789e-05 9.99514420e-01 -4.50646305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42587155999999 meters 0.01408801327980761 Centerline is valid? [True, True] Translation: X:114.92, Y:-11.33, Z:-4.51 [[ 9.86761482e-01 1.59201027e-01 3.09323499e-02 1.14924679e+02] [-1.59117826e-01 9.87246174e-01 -5.14876683e-03 -1.13344190e+01] [-3.13575331e-02 1.58716524e-04 9.99508219e-01 -4.50950635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48587155999999 meters 0.01749186360012437 Centerline is valid? [True, True] Translation: X:114.98, Y:-11.35, Z:-4.51 [[ 9.87417038e-01 1.55144536e-01 3.06229558e-02 1.14983826e+02] [-1.55060881e-01 9.87891739e-01 -5.10236930e-03 -1.13541608e+01] [-3.10437698e-02 2.89743874e-04 9.99517984e-01 -4.51217695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54587156 meters 0.019681624614273748 Centerline is valid? [True, True] Translation: X:115.05, Y:-11.37, Z:-4.51 [[ 9.87473038e-01 1.54714212e-01 3.09921111e-02 1.15045778e+02] [-1.54628177e-01 9.87959218e-01 -5.16827285e-03 -1.13683299e+01] [-3.14185471e-02 3.11276444e-04 9.99506267e-01 -4.51477552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60587156 meters 0.015026730722834166 Centerline is valid? [True, True] Translation: X:115.11, Y:-11.38, Z:-4.51 [[ 9.87142148e-01 1.56728384e-01 3.14100746e-02 1.15106998e+02] [-1.56640839e-01 9.87641710e-01 -5.24401347e-03 -1.13794160e+01] [-3.18437855e-02 2.56486298e-04 9.99492825e-01 -4.51380010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66587156 meters 0.022136853251806882 Centerline is valid? [True, True] Translation: X:115.17, Y:-11.39, Z:-4.52 [[ 9.86520699e-01 1.60499710e-01 3.18865870e-02 1.15168847e+02] [-1.60411272e-01 9.87035877e-01 -5.32925182e-03 -1.13877656e+01] [-3.23285487e-02 1.42449260e-04 9.99477286e-01 -4.51546136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72587155999999 meters 0.026025408884245406 Centerline is valid? [True, True] Translation: X:115.23, Y:-11.39, Z:-4.52 [[ 9.85258536e-01 1.67962334e-01 3.24695489e-02 1.15230059e+02] [-1.67874466e-01 9.85793409e-01 -5.43315084e-03 -1.13908353e+01] [-3.29208320e-02 -9.77499262e-05 9.99457958e-01 -4.51700179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78587155999999 meters 0.014302170663781854 Centerline is valid? [True, True] Translation: X:115.29, Y:-11.40, Z:-4.52 [[ 9.84375741e-01 1.73016287e-01 3.27072510e-02 1.15292017e+02] [-1.72929828e-01 9.84918928e-01 -5.47546917e-03 -1.13964811e+01] [-3.31613360e-02 -2.66140274e-04 9.99449976e-01 -4.51897305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84587155999999 meters 0.020004127596704446 Centerline is valid? [True, True] Translation: X:115.35, Y:-11.40, Z:-4.52 [[ 9.83189684e-01 1.79549615e-01 3.31659731e-02 1.15353045e+02] [-1.79464223e-01 9.83748798e-01 -5.55824929e-03 -1.14007717e+01] [-3.36249677e-02 -4.87292244e-04 9.99434402e-01 -4.52072293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90587156 meters 0.025292109491354374 Centerline is valid? [True, True] Translation: X:115.41, Y:-11.40, Z:-4.53 [[ 9.82442161e-01 1.83658891e-01 3.28148065e-02 1.15414569e+02] [-1.83577415e-01 9.82989843e-01 -5.50458240e-03 -1.14024250e+01] [-3.32675870e-02 -6.16123532e-04 9.99446291e-01 -4.52577074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96587156 meters 0.043806665970715156 Centerline is valid? [True, True] Translation: X:115.48, Y:-11.41, Z:-4.53 [[ 9.81458696e-01 1.89057986e-01 3.15579852e-02 1.15475771e+02] [-1.88985228e-01 9.81965629e-01 -5.29974280e-03 -1.14076365e+01] [-3.19908154e-02 -7.62514367e-04 9.99487872e-01 -4.52958073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02587156 meters 0.0310984082762203 Centerline is valid? [True, True] Translation: X:115.54, Y:-11.42, Z:-4.53 [[ 9.80842766e-01 1.92239104e-01 3.14896165e-02 1.15536862e+02] [-1.92168273e-01 9.81347737e-01 -5.28901640e-03 -1.14152501e+01] [-3.19190197e-02 -8.63611741e-04 9.99490085e-01 -4.53179693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08587156 meters 0.035242888080659576 Centerline is valid? [True, True] Translation: X:115.60, Y:-11.42, Z:-4.53 [[ 9.80099318e-01 1.95855974e-01 3.23382816e-02 1.15598359e+02] [-1.95783207e-01 9.80632155e-01 -5.43250738e-03 -1.14155325e+01] [-3.27759478e-02 -1.00689572e-03 9.99462217e-01 -4.53288024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14587155999999 meters 0.03559413687393063 Centerline is valid? [True, True] Translation: X:115.66, Y:-11.42, Z:-4.53 [[ 9.80081690e-01 1.95808838e-01 3.31478447e-02 1.15659271e+02] [-1.95732344e-01 9.80641544e-01 -5.56882160e-03 -1.14228677e+01] [-3.35965781e-02 -1.03020525e-03 9.99434945e-01 -4.53465957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20587155999999 meters 0.03239584875133412 Centerline is valid? [True, True] Translation: X:115.72, Y:-11.43, Z:-4.53 [[ 9.80545423e-01 1.93281607e-01 3.42475273e-02 1.15720077e+02] [-1.93198385e-01 9.81142840e-01 -5.75434167e-03 -1.14330940e+01] [-3.47139246e-02 -9.74173575e-04 9.99396815e-01 -4.53466840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26587156 meters 0.03426381037598249 Centerline is valid? [True, True] Translation: X:115.78, Y:-11.44, Z:-4.54 [[ 9.80830622e-01 1.91980529e-01 3.33881276e-02 1.15780440e+02] [-1.91900632e-01 9.81398319e-01 -5.61134536e-03 -1.14369756e+01] [-3.38443214e-02 -9.03423441e-04 9.99426709e-01 -4.54025507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32587156 meters 0.03101761450417104 Centerline is valid? [True, True] Translation: X:115.84, Y:-11.45, Z:-4.54 [[ 9.81099239e-01 1.90777433e-01 3.23767593e-02 1.15840980e+02] [-1.90701640e-01 9.81632963e-01 -5.44163672e-03 -1.14471800e+01] [-3.28202357e-02 -8.35515453e-04 9.99460922e-01 -4.54469433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38587156 meters 0.029472888030714506 Centerline is valid? [True, True] Translation: X:115.90, Y:-11.46, Z:-4.55 [[ 9.81801094e-01 1.87293522e-01 3.14284554e-02 1.15900226e+02] [-1.87220293e-01 9.82303747e-01 -5.28310656e-03 -1.14570379e+01] [-3.18617812e-02 -6.97084819e-04 9.99492041e-01 -4.54972400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44587156 meters 0.022481911685241694 Centerline is valid? [True, True] Translation: X:115.96, Y:-11.47, Z:-4.55 [[ 9.82923537e-01 1.81244635e-01 3.18072790e-02 1.15958920e+02] [-1.81166444e-01 9.83437912e-01 -5.34729807e-03 -1.14700783e+01] [-3.22496531e-02 -5.06426495e-04 9.99479716e-01 -4.55169519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50587155999999 meters 0.021917589085634116 Centerline is valid? [True, True] Translation: X:116.02, Y:-11.49, Z:-4.55 [[ 9.83803458e-01 1.76292366e-01 3.24308086e-02 1.16018384e+02] [-1.76208395e-01 9.84337787e-01 -5.45189596e-03 -1.14850448e+01] [-3.28839980e-02 -3.50986629e-04 9.99459113e-01 -4.55278833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56587155999999 meters 0.012882709306271348 Centerline is valid? [True, True] Translation: X:116.08, Y:-11.50, Z:-4.56 [[ 9.84779179e-01 1.70825793e-01 3.20705056e-02 1.16078548e+02] [-1.70740798e-01 9.85301233e-01 -5.39067181e-03 -1.15009777e+01] [-3.25199745e-02 -1.67122372e-04 9.99471072e-01 -4.55622300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62587156 meters 0.012604497136199292 Centerline is valid? [True, True] Translation: X:116.14, Y:-11.51, Z:-4.56 [[ 9.85028813e-01 1.69568919e-01 3.10583088e-02 1.16140331e+02] [-1.69488429e-01 9.85518325e-01 -5.22535464e-03 -1.15119058e+01] [-3.14945902e-02 -1.16899069e-04 9.99503916e-01 -4.56060160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68587156 meters 0.017296677983387482 Centerline is valid? [True, True] Translation: X:116.20, Y:-11.52, Z:-4.56 [[ 9.85005403e-01 1.69831582e-01 3.03576924e-02 1.16201472e+02] [-1.69754595e-01 9.85473095e-01 -5.11438858e-03 -1.15186216e+01] [-3.07852738e-02 -1.15657384e-04 9.99526014e-01 -4.56474751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74587156 meters 0.01277420719826283 Centerline is valid? [True, True] Translation: X:116.26, Y:-11.53, Z:-4.57 [[ 9.84856071e-01 1.70662338e-01 3.05431909e-02 1.16264394e+02] [-1.70584756e-01 9.85329562e-01 -5.14728202e-03 -1.15262194e+01] [-3.09735561e-02 -1.40870823e-04 9.99520194e-01 -4.56621878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80587156 meters 0.013291458987001832 Centerline is valid? [True, True] Translation: X:116.33, Y:-11.53, Z:-4.57 [[ 9.84743396e-01 1.71253718e-01 3.08643516e-02 1.16325645e+02] [-1.71174584e-01 9.85226949e-01 -5.20785244e-03 -1.15337772e+01] [-3.13002550e-02 -1.54794238e-04 9.99510015e-01 -4.56979732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86587155999999 meters 0.02911724736292243 Centerline is valid? [True, True] Translation: X:116.39, Y:-11.54, Z:-4.57 [[ 9.84486389e-01 1.72725360e-01 3.08626013e-02 1.16387847e+02] [-1.72646782e-01 9.84970005e-01 -5.21316830e-03 -1.15410780e+01] [-3.12991829e-02 -1.96035566e-04 9.99510041e-01 -4.57185080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92587155999999 meters 0.014171553746461946 Centerline is valid? [True, True] Translation: X:116.45, Y:-11.55, Z:-4.58 [[ 9.84418404e-01 1.73119315e-01 3.08238494e-02 1.16447914e+02] [-1.73040900e-01 9.84900839e-01 -5.21387158e-03 -1.15497908e+01] [-3.12610570e-02 -2.01155510e-04 9.99511233e-01 -4.57530581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98587155999999 meters 0.017534452077372174 Centerline is valid? [True, True] Translation: X:116.51, Y:-11.55, Z:-4.58 [[ 9.84094879e-01 1.75050611e-01 3.02415783e-02 1.16509767e+02] [-1.74975931e-01 9.84559404e-01 -5.11903081e-03 -1.15537546e+01] [-3.06707198e-02 -2.53936305e-04 9.99529511e-01 -4.57871277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04587156 meters 0.01683327818838176 Centerline is valid? [True, True] Translation: X:116.57, Y:-11.56, Z:-4.58 [[ 9.83765646e-01 1.76955704e-01 2.98635669e-02 1.16570054e+02] [-1.76883727e-01 9.84218768e-01 -5.05604762e-03 -1.15600449e+01] [-3.02869795e-02 -3.08413057e-04 9.99541197e-01 -4.58124183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10587156 meters 0.020137917419376403 Centerline is valid? [True, True] Translation: X:116.63, Y:-11.56, Z:-4.59 [[ 9.83357469e-01 1.79171116e-01 3.00965130e-02 1.16629309e+02] [-1.79099061e-01 9.83817852e-01 -5.09505809e-03 -1.15627663e+01] [-3.05223740e-02 -3.79993803e-04 9.99534012e-01 -4.58527253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16587156 meters 0.01926486792236066 Centerline is valid? [True, True] Translation: X:116.69, Y:-11.57, Z:-4.59 [[ 9.83372064e-01 1.79069961e-01 3.02213811e-02 1.16688633e+02] [-1.78997204e-01 9.83836270e-01 -5.11801415e-03 -1.15723248e+01] [-3.06493735e-02 -3.76630570e-04 9.99530127e-01 -4.58680161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22587155999999 meters 0.018532088057468067 Centerline is valid? [True, True] Translation: X:116.75, Y:-11.58, Z:-4.59 [[ 9.83537649e-01 1.78045269e-01 3.08800003e-02 1.16745953e+02] [-1.77968825e-01 9.84022234e-01 -5.22874780e-03 -1.15826119e+01] [-3.13175607e-02 -3.53007053e-04 9.99509423e-01 -4.58840247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28587155999999 meters 0.016007597941884125 Centerline is valid? [True, True] Translation: X:116.81, Y:-11.60, Z:-4.59 [[ 9.83864076e-01 1.76143208e-01 3.13855011e-02 1.16805305e+02] [-1.76063303e-01 9.84364506e-01 -5.31335092e-03 -1.15977659e+01] [-3.18306839e-02 -2.98219902e-04 9.99493231e-01 -4.58864252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34587155999999 meters 0.014940165711371647 Centerline is valid? [True, True] Translation: X:116.87, Y:-11.61, Z:-4.59 [[ 9.84020572e-01 1.75192057e-01 3.18002574e-02 1.16865627e+02] [-1.75109521e-01 9.84534240e-01 -5.38383811e-03 -1.16105157e+01] [-3.22516479e-02 -2.70720376e-04 9.99479744e-01 -4.59038131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40587156 meters 0.01676255587065744 Centerline is valid? [True, True] Translation: X:116.93, Y:-11.62, Z:-4.59 [[ 9.83750263e-01 1.76772206e-01 3.14166885e-02 1.16925310e+02] [-1.76692426e-01 9.84251739e-01 -5.31979766e-03 -1.16180161e+01] [-3.18623226e-02 -3.17738559e-04 9.99492217e-01 -4.59436250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46587156 meters 0.019355531856421512 Centerline is valid? [True, True] Translation: X:116.99, Y:-11.62, Z:-4.60 [[ 9.83233169e-01 1.79612789e-01 3.14925666e-02 1.16985227e+02] [-1.79534059e-01 9.83737301e-01 -5.33328514e-03 -1.16234795e+01] [-3.19383387e-02 -4.10125456e-04 9.99489757e-01 -4.59620874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52587156 meters 0.028419882539500285 Centerline is valid? [True, True] Translation: X:117.05, Y:-11.62, Z:-4.60 [[ 9.82143287e-01 1.85593637e-01 3.08150130e-02 1.17046563e+02] [-1.85521213e-01 9.82626405e-01 -5.21804663e-03 -1.16233824e+01] [-3.12480817e-02 -5.91969124e-04 9.99511484e-01 -4.59917832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58587156 meters 0.029701461761325588 Centerline is valid? [True, True] Translation: X:117.11, Y:-11.62, Z:-4.60 [[ 9.81271651e-01 1.90183876e-01 3.05947899e-02 1.17107305e+02] [-1.90114703e-01 9.81748215e-01 -5.18102864e-03 -1.16221546e+01] [-3.10217284e-02 -7.32522848e-04 9.99518442e-01 -4.60222881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64587155999999 meters 0.031086658995131983 Centerline is valid? [True, True] Translation: X:117.17, Y:-11.63, Z:-4.60 [[ 9.81060829e-01 1.91156964e-01 3.12836248e-02 1.17166731e+02] [-1.91085152e-01 9.81559170e-01 -5.29714091e-03 -1.16261200e+01] [-3.17193142e-02 -7.81018735e-04 9.99496511e-01 -4.60388572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70587155999999 meters 0.02913674520743912 Centerline is valid? [True, True] Translation: X:117.23, Y:-11.63, Z:-4.61 [[ 9.81420454e-01 1.89284381e-01 3.13897275e-02 1.17225708e+02] [-1.89211176e-01 9.81922043e-01 -5.31345304e-03 -1.16332405e+01] [-3.18280190e-02 -7.24555774e-04 9.99493098e-01 -4.60554278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76587156 meters 0.025453771578306795 Centerline is valid? [True, True] Translation: X:117.28, Y:-11.65, Z:-4.61 [[ 9.81942983e-01 1.86535628e-01 3.15029923e-02 1.17283748e+02] [-1.86460515e-01 9.82447989e-01 -5.33148773e-03 -1.16450499e+01] [-3.19445639e-02 -6.38847218e-04 9.99489438e-01 -4.60806582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82587156 meters 0.03163293326967989 Centerline is valid? [True, True] Translation: X:117.34, Y:-11.65, Z:-4.61 [[ 9.82778046e-01 1.82105323e-01 3.13841260e-02 1.17341708e+02] [-1.82028560e-01 9.83278906e-01 -5.30998934e-03 -1.16538795e+01] [-3.18263264e-02 -4.94266321e-04 9.99493292e-01 -4.61195794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88587156 meters 0.01822021813890721 Centerline is valid? [True, True] Translation: X:117.40, Y:-11.67, Z:-4.62 [[ 9.83380892e-01 1.78973486e-01 3.05043188e-02 1.17400480e+02] [-1.78899470e-01 9.83853823e-01 -5.16083251e-03 -1.16656514e+01] [-3.09354429e-02 -3.82142408e-04 9.99521312e-01 -4.61510877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94587156 meters 0.01633388017080835 Centerline is valid? [True, True] Translation: X:117.46, Y:-11.68, Z:-4.62 [[ 9.84031941e-01 1.75426361e-01 3.01119825e-02 1.17457835e+02] [-1.75352595e-01 9.84492519e-01 -5.09385643e-03 -1.16771879e+01] [-3.05386182e-02 -2.67696845e-04 9.99533552e-01 -4.61979939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00587155999999 meters 0.012509543196960812 Centerline is valid? [True, True] Translation: X:117.52, Y:-11.69, Z:-4.62 [[ 9.85147237e-01 1.69137109e-01 2.96236232e-02 1.17516976e+02] [-1.69062917e-01 9.85592529e-01 -5.00971327e-03 -1.16926200e+01] [-3.00441502e-02 -7.29509603e-05 9.99548570e-01 -4.62146184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06587155999999 meters 0.011910620967591722 Centerline is valid? [True, True] Translation: X:117.58, Y:-11.71, Z:-4.62 [[ 9.85931629e-01 1.64271028e-01 3.08845075e-02 1.17575701e+02] [-1.64187995e-01 9.86415239e-01 -5.22294406e-03 -1.17082031e+01] [-3.13229272e-02 7.86003857e-05 9.99509314e-01 -4.62120952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12587156 meters 0.012357960626733706 Centerline is valid? [True, True] Translation: X:117.63, Y:-11.72, Z:-4.62 [[ 9.86136054e-01 1.62870877e-01 3.17609967e-02 1.17634979e+02] [-1.62782341e-01 9.86647384e-01 -5.37104395e-03 -1.17201490e+01] [-3.22116910e-02 1.26450682e-04 9.99481061e-01 -4.62320622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18587156 meters 0.01202670512500164 Centerline is valid? [True, True] Translation: X:117.70, Y:-11.73, Z:-4.63 [[ 9.85936096e-01 1.64181474e-01 3.12163025e-02 1.17695597e+02] [-1.64096598e-01 9.86430148e-01 -5.27918193e-03 -1.17286682e+01] [-3.16594457e-02 8.24469951e-05 9.99498711e-01 -4.62624253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24587156 meters 0.011905771818962983 Centerline is valid? [True, True] Translation: X:117.76, Y:-11.73, Z:-4.63 [[ 9.85441716e-01 1.67191730e-01 3.08471959e-02 1.17755237e+02] [-1.67110287e-01 9.85924401e-01 -5.21792205e-03 -1.17322039e+01] [-3.12853966e-02 -1.29257036e-05 9.99510492e-01 -4.62959862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30587156 meters 0.013673871408604946 Centerline is valid? [True, True] Translation: X:117.81, Y:-11.74, Z:-4.64 [[ 9.84855997e-01 1.70983313e-01 2.86944548e-02 1.17814409e+02] [-1.70914451e-01 9.85273917e-01 -4.85377488e-03 -1.17354657e+01] [-2.91018124e-02 -1.24027707e-04 9.99576445e-01 -4.63695535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36587155999999 meters 0.025953610198256857 Centerline is valid? [True, True] Translation: X:117.87, Y:-11.74, Z:-4.64 [[ 9.84468169e-01 1.73191963e-01 2.87570442e-02 1.17872914e+02] [-1.73123768e-01 9.84888069e-01 -4.86348212e-03 -1.17410877e+01] [-2.91647857e-02 -1.90584492e-04 9.99574599e-01 -4.63868864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42587155999999 meters 0.016564759820900228 Centerline is valid? [True, True] Translation: X:117.93, Y:-11.74, Z:-4.64 [[ 9.83982806e-01 1.75841067e-01 2.92874842e-02 1.17931642e+02] [-1.75771549e-01 9.84418531e-01 -4.95170138e-03 -1.17446784e+01] [-2.97018546e-02 -2.75517441e-04 9.99558765e-01 -4.64132689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48587155999999 meters 0.016143742725638094 Centerline is valid? [True, True] Translation: X:117.99, Y:-11.75, Z:-4.64 [[ 9.83932594e-01 1.76147658e-01 2.91316476e-02 1.17989243e+02] [-1.76079049e-01 9.84363714e-01 -4.92411368e-03 -1.17537963e+01] [-2.95435080e-02 -2.84476867e-04 9.99563455e-01 -4.64287003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54587156 meters 0.01553317994628096 Centerline is valid? [True, True] Translation: X:118.05, Y:-11.76, Z:-4.65 [[ 9.84294666e-01 1.74113307e-01 2.91301619e-02 1.18045636e+02] [-1.74043869e-01 9.84725599e-01 -4.92200587e-03 -1.17647831e+01] [-2.95422029e-02 -2.25221953e-04 9.99563509e-01 -4.64688728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60587156 meters 0.01277588315021998 Centerline is valid? [True, True] Translation: X:118.10, Y:-11.78, Z:-4.65 [[ 9.85141459e-01 1.69079119e-01 3.01422717e-02 1.18101652e+02] [-1.69002479e-01 9.85602478e-01 -5.09086096e-03 -1.17829229e+01] [-3.05690559e-02 -7.89004491e-05 9.99532654e-01 -4.64843032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66587156 meters 0.011992990256965042 Centerline is valid? [True, True] Translation: X:118.16, Y:-11.80, Z:-4.65 [[ 9.85870973e-01 1.64686629e-01 3.06061872e-02 1.18159671e+02] [-1.64605557e-01 9.86345939e-01 -5.16715864e-03 -1.18011284e+01] [-3.10392504e-02 5.62032169e-05 9.99518165e-01 -4.64801711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72587155999999 meters 0.013451515623371244 Centerline is valid? [True, True] Translation: X:118.22, Y:-11.82, Z:-4.65 [[ 9.86425186e-01 1.61371406e-01 3.04075948e-02 1.18218215e+02] [-1.61289812e-01 9.86893735e-01 -5.13348869e-03 -1.18183469e+01] [-3.08374631e-02 1.59367291e-04 9.99524400e-01 -4.65143806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78587155999999 meters 0.019104471146106288 Centerline is valid? [True, True] Translation: X:118.28, Y:-11.84, Z:-4.65 [[ 9.86933242e-01 1.58120760e-01 3.09935567e-02 1.18277828e+02] [-1.58034429e-01 9.87419746e-01 -5.23108066e-03 -1.18384590e+01] [-3.14307923e-02 2.64678374e-04 9.99505896e-01 -4.65310046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84587155999999 meters 0.015481289750837117 Centerline is valid? [True, True] Translation: X:118.34, Y:-11.85, Z:-4.65 [[ 9.87013469e-01 1.57553116e-01 3.13277601e-02 1.18339826e+02] [-1.57464461e-01 9.87510471e-01 -5.29267504e-03 -1.18516666e+01] [-3.17703686e-02 2.90932687e-04 9.99495152e-01 -4.65470662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90587156 meters 0.01550027156605002 Centerline is valid? [True, True] Translation: X:118.40, Y:-11.87, Z:-4.66 [[ 9.87003204e-01 1.57542703e-01 3.17012913e-02 1.18400158e+02] [-1.57451681e-01 9.87512129e-01 -5.36307843e-03 -1.18661704e+01] [-3.21503236e-02 3.01953986e-04 9.99482999e-01 -4.65658107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96587156 meters 0.01744439832451961 Centerline is valid? [True, True] Translation: X:118.46, Y:-11.88, Z:-4.66 [[ 9.86828865e-01 1.58598371e-01 3.18645349e-02 1.18459579e+02] [-1.58506839e-01 9.87343143e-01 -5.39438745e-03 -1.18793936e+01] [-3.23167711e-02 2.72590539e-04 9.99477640e-01 -4.65991031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02587156 meters 0.013799490523627929 Centerline is valid? [True, True] Translation: X:118.52, Y:-11.89, Z:-4.66 [[ 9.86531261e-01 1.60746890e-01 3.02738976e-02 1.18521789e+02] [-1.60665158e-01 9.86995643e-01 -5.12914113e-03 -1.18913670e+01] [-3.07046985e-02 1.96097517e-04 9.99528480e-01 -4.66399411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08587156 meters 0.012943572275280809 Centerline is valid? [True, True] Translation: X:118.58, Y:-11.90, Z:-4.67 [[ 9.86177981e-01 1.62940472e-01 3.00564914e-02 1.18582174e+02] [-1.62860731e-01 9.86635893e-01 -5.09878450e-03 -1.19029418e+01] [-3.04856116e-02 1.33286849e-04 9.99535197e-01 -4.66713510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14587155999999 meters 0.012067392004100893 Centerline is valid? [True, True] Translation: X:118.64, Y:-11.91, Z:-4.67 [[ 9.85481393e-01 1.67016562e-01 3.05269008e-02 1.18643199e+02] [-1.66936100e-01 9.85954090e-01 -5.18369204e-03 -1.19110219e+01] [-3.09638851e-02 1.23902933e-05 9.99520504e-01 -4.67025015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20587155999999 meters 0.012277157071098561 Centerline is valid? [True, True] Translation: X:118.70, Y:-11.92, Z:-4.67 [[ 9.85036126e-01 1.69647955e-01 3.03875130e-02 1.18703302e+02] [-1.69569279e-01 9.85504727e-01 -5.16646387e-03 -1.19210306e+01] [-3.08235177e-02 -6.36351061e-05 9.99524840e-01 -4.67295409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26587156 meters 0.014324684609769113 Centerline is valid? [True, True] Translation: X:118.76, Y:-11.92, Z:-4.68 [[ 9.84302628e-01 1.73951240e-01 2.98211673e-02 1.18764264e+02] [-1.73877413e-01 9.84754248e-01 -5.07117558e-03 -1.19246122e+01] [-3.02486585e-02 -1.93655958e-04 9.99542386e-01 -4.67681868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32587156 meters 0.015404211557389984 Centerline is valid? [True, True] Translation: X:118.82, Y:-11.93, Z:-4.68 [[ 9.83901076e-01 1.76286109e-01 2.93578074e-02 1.18823792e+02] [-1.76215597e-01 9.84338935e-01 -4.99237990e-03 -1.19334770e+01] [-2.97781201e-02 -2.61295619e-04 9.99556499e-01 -4.67929526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38587156 meters 0.016334736924120352 Centerline is valid? [True, True] Translation: X:118.88, Y:-11.94, Z:-4.68 [[ 9.83640169e-01 1.77658521e-01 2.98239437e-02 1.18883924e+02] [-1.77586382e-01 9.84092148e-01 -5.07164772e-03 -1.19410635e+01] [-3.02505303e-02 -3.07649843e-04 9.99542301e-01 -4.68209545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44587156 meters 0.017170007153229735 Centerline is valid? [True, True] Translation: X:118.94, Y:-11.95, Z:-4.69 [[ 9.83651198e-01 1.77632746e-01 2.96129708e-02 1.18942689e+02] [-1.77561608e-01 9.84096801e-01 -5.03592358e-03 -1.19520610e+01] [-3.00365747e-02 -3.04534455e-04 9.99548754e-01 -4.68617109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50587155999999 meters 0.016228056868599895 Centerline is valid? [True, True] Translation: X:119.00, Y:-11.96, Z:-4.69 [[ 9.83701734e-01 1.77257686e-01 3.01763503e-02 1.19002466e+02] [-1.77183655e-01 9.84164429e-01 -5.13119688e-03 -1.19636085e+01] [-3.06080346e-02 -2.99188764e-04 9.99531420e-01 -4.68679605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56587155999999 meters 0.03049734709152672 Centerline is valid? [True, True] Translation: X:119.06, Y:-11.97, Z:-4.69 [[ 9.83672966e-01 1.77476332e-01 2.98269594e-02 1.19061986e+02] [-1.77404107e-01 9.84125023e-01 -5.07178632e-03 -1.19744203e+01] [-3.02535791e-02 -3.02445983e-04 9.99542210e-01 -4.68991107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62587156 meters 0.01706328913077625 Centerline is valid? [True, True] Translation: X:119.12, Y:-11.98, Z:-4.69 [[ 9.83426561e-01 1.78632570e-01 3.10258565e-02 1.19121647e+02] [-1.78554995e-01 9.83915790e-01 -5.27564720e-03 -1.19833313e+01] [-3.14692325e-02 -3.51610059e-04 9.99504659e-01 -4.69033731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68587156 meters 0.019343263860643757 Centerline is valid? [True, True] Translation: X:119.18, Y:-11.99, Z:-4.69 [[ 9.83027248e-01 1.80791155e-01 3.11767077e-02 1.19180519e+02] [-1.80713904e-01 9.83521418e-01 -5.30142919e-03 -1.19893548e+01] [-3.16214113e-02 -4.22615232e-04 9.99499829e-01 -4.69339766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74587156 meters 0.02373121459549267 Centerline is valid? [True, True] Translation: X:119.24, Y:-11.99, Z:-4.70 [[ 9.82179684e-01 1.85533127e-01 3.00087967e-02 1.19239839e+02] [-1.85463768e-01 9.82637854e-01 -5.10277053e-03 -1.19918456e+01] [-3.04345126e-02 -5.53706972e-04 9.99536610e-01 -4.69757864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80587156 meters 0.027530878242061192 Centerline is valid? [True, True] Translation: X:119.30, Y:-11.99, Z:-4.70 [[ 9.81582349e-01 1.88748799e-01 2.94954859e-02 1.19299379e+02] [-1.88683275e-01 9.82025192e-01 -5.01445017e-03 -1.19943769e+01] [-2.99117817e-02 -6.43209107e-04 9.99552336e-01 -4.70128044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86587155999999 meters 0.03277637777900528 Centerline is valid? [True, True] Translation: X:119.36, Y:-11.99, Z:-4.71 [[ 9.80877871e-01 1.92461280e-01 2.89354033e-02 1.19358644e+02] [-1.92399864e-01 9.81304287e-01 -4.91821906e-03 -1.19920094e+01] [-2.93410021e-02 -7.42995413e-04 9.99569184e-01 -4.70535594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92587155999999 meters 0.0393299626931421 Centerline is valid? [True, True] Translation: X:119.42, Y:-12.00, Z:-4.71 [[ 9.80486641e-01 1.94472724e-01 2.87455456e-02 1.19417699e+02] [-1.94413018e-01 9.80907600e-01 -4.88444005e-03 -1.19976963e+01] [-2.91466145e-02 -7.99380055e-04 9.99574828e-01 -4.70649437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98587155999999 meters 0.03728396641458145 Centerline is valid? [True, True] Translation: X:119.48, Y:-12.00, Z:-4.71 [[ 9.80418013e-01 1.94874736e-01 2.83611804e-02 1.19476016e+02] [-1.94816805e-01 9.80827811e-01 -4.81840929e-03 -1.19967935e+01] [-2.87564207e-02 -8.01179275e-04 9.99586128e-01 -4.71171430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04587156 meters 0.03389103963273815 Centerline is valid? [True, True] Translation: X:119.53, Y:-12.00, Z:-4.71 [[ 9.80613472e-01 1.93802343e-01 2.89459974e-02 1.19534576e+02] [-1.93741591e-01 9.81040280e-01 -4.91572707e-03 -1.20048675e+01] [-2.93498688e-02 -7.87615398e-04 9.99568890e-01 -4.71209440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10587156 meters 0.030609678763072818 Centerline is valid? [True, True] Translation: X:119.59, Y:-12.02, Z:-4.71 [[ 9.81072231e-01 1.91267368e-01 3.02336215e-02 1.19593281e+02] [-1.91199943e-01 9.81537691e-01 -5.13257762e-03 -1.20160425e+01] [-3.06571337e-02 -7.45237340e-04 9.99529682e-01 -4.71230727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16587156 meters 0.025677782386848882 Centerline is valid? [True, True] Translation: X:119.65, Y:-12.03, Z:-4.71 [[ 9.82136733e-01 1.85692907e-01 3.04233774e-02 1.19650948e+02] [-1.85621976e-01 9.82607660e-01 -5.16417912e-03 -1.20264549e+01] [-3.08531951e-02 -5.75317417e-04 9.99523761e-01 -4.71482796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22587155999999 meters 0.027559186709680973 Centerline is valid? [True, True] Translation: X:119.71, Y:-12.04, Z:-4.72 [[ 9.82707252e-01 1.82789529e-01 2.95710080e-02 1.19708584e+02] [-1.82721234e-01 9.83151955e-01 -5.01846800e-03 -1.20399630e+01] [-2.99901177e-02 -4.71566152e-04 9.99550084e-01 -4.71920511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28587155999999 meters 0.01800639139258714 Centerline is valid? [True, True] Translation: X:119.77, Y:-12.05, Z:-4.72 [[ 9.83413099e-01 1.79098612e-01 2.86768714e-02 1.19766157e+02] [-1.79032839e-01 9.83831065e-01 -4.86591889e-03 -1.20530657e+01] [-2.90846762e-02 -3.48893320e-04 9.99576890e-01 -4.72138343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34587155999999 meters 0.016728761058417873 Centerline is valid? [True, True] Translation: X:119.82, Y:-12.06, Z:-4.72 [[ 9.83734201e-01 1.77351891e-01 2.85189159e-02 1.19823826e+02] [-1.77286148e-01 9.84147458e-01 -4.83767324e-03 -1.20639481e+01] [-2.89247891e-02 -2.97024143e-04 9.99581547e-01 -4.72372115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40587156 meters 0.022651145878850167 Centerline is valid? [True, True] Translation: X:119.88, Y:-12.07, Z:-4.73 [[ 9.84034865e-01 1.75722365e-01 2.82317996e-02 1.19881575e+02] [-1.75657310e-01 9.84439734e-01 -4.78755127e-03 -1.20744146e+01] [-2.86337852e-02 -2.48004605e-04 9.99589938e-01 -4.72766935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46587156 meters 0.031805501433273355 Centerline is valid? [True, True] Translation: X:119.94, Y:-12.08, Z:-4.73 [[ 9.84176247e-01 1.74950982e-01 2.80939304e-02 1.19939525e+02] [-1.74886287e-01 9.84577119e-01 -4.76275192e-03 -1.20832922e+01] [-2.84938891e-02 -2.25855853e-04 9.99593941e-01 -4.73056640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52587156 meters 0.01489501136452941 Centerline is valid? [True, True] Translation: X:120.00, Y:-12.09, Z:-4.73 [[ 9.84339800e-01 1.73949505e-01 2.85784572e-02 1.19997869e+02] [-1.73882179e-01 9.84754553e-01 -4.84341954e-03 -1.20929491e+01] [-2.89852763e-02 -2.01713807e-04 9.99579818e-01 -4.73129076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58587156 meters 0.020099894885370017 Centerline is valid? [True, True] Translation: X:120.05, Y:-12.10, Z:-4.73 [[ 9.84518364e-01 1.72915412e-01 2.87028245e-02 1.20054619e+02] [-1.72847097e-01 9.84936663e-01 -4.86320541e-03 -1.21034660e+01] [-2.91113873e-02 -1.73284852e-04 9.99576159e-01 -4.73384289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64587155999999 meters 0.013513636857588017 Centerline is valid? [True, True] Translation: X:120.11, Y:-12.12, Z:-4.73 [[ 9.84680213e-01 1.71929173e-01 2.90729555e-02 1.20112701e+02] [-1.71858713e-01 9.85109302e-01 -4.92395657e-03 -1.21155675e+01] [-2.94866107e-02 -1.47918109e-04 9.99565164e-01 -4.73335128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70587155999999 meters 0.013664149804944339 Centerline is valid? [True, True] Translation: X:120.17, Y:-12.13, Z:-4.74 [[ 9.85032964e-01 1.69965810e-01 2.86650202e-02 1.20170215e+02] [-1.69896528e-01 9.85449956e-01 -4.85328331e-03 -1.21278412e+01] [-2.90728351e-02 -8.94433686e-05 9.99577292e-01 -4.73885733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76587156 meters 0.012572494764772353 Centerline is valid? [True, True] Translation: X:120.23, Y:-12.14, Z:-4.74 [[ 9.85193546e-01 1.68989598e-01 2.89169865e-02 1.20228779e+02] [-1.68918708e-01 9.85617833e-01 -4.89470182e-03 -1.21403525e+01] [-2.93282512e-02 -6.23913604e-05 9.99569832e-01 -4.73861668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82587156 meters 0.012510490224781356 Centerline is valid? [True, True] Translation: X:120.29, Y:-12.16, Z:-4.74 [[ 9.85585858e-01 1.66682848e-01 2.89368931e-02 1.20286003e+02] [-1.66610892e-01 9.86010562e-01 -4.89717802e-03 -1.21560244e+01] [-2.93483578e-02 5.38782170e-06 9.99569244e-01 -4.74131915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88587156 meters 0.01229993850156599 Centerline is valid? [True, True] Translation: X:120.34, Y:-12.17, Z:-4.74 [[ 9.85664415e-01 1.66161292e-01 2.92589451e-02 1.20344646e+02] [-1.66087502e-01 9.86098588e-01 -4.95146915e-03 -1.21678115e+01] [-2.96749470e-02 2.09418391e-05 9.99559602e-01 -4.74237350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94587156 meters 0.015605754601619106 Centerline is valid? [True, True] Translation: X:120.40, Y:-12.18, Z:-4.75 [[ 9.85535419e-01 1.67229060e-01 2.74659726e-02 1.20402934e+02] [-1.67164475e-01 9.85918070e-01 -4.64724321e-03 -1.21777187e+01] [-2.78563528e-02 -1.13121016e-05 9.99611936e-01 -4.74896512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00587155999999 meters 0.014337293837845424 Centerline is valid? [True, True] Translation: X:120.46, Y:-12.19, Z:-4.75 [[ 9.85220261e-01 1.69334658e-01 2.58226685e-02 1.20462200e+02] [-1.69278297e-01 9.85558608e-01 -4.36909470e-03 -1.21861345e+01] [-2.61895924e-02 -6.66967151e-05 9.99656992e-01 -4.75430084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06587155999999 meters 0.016591538968693628 Centerline is valid? [True, True] Translation: X:120.52, Y:-12.19, Z:-4.76 [[ 9.84535579e-01 1.73340128e-01 2.53553474e-02 1.20520267e+02] [-1.73287117e-01 9.84862006e-01 -4.29001867e-03 -1.21886250e+01] [-2.57151507e-02 -1.70079033e-04 9.99669296e-01 -4.75805043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12587156 meters 0.016901572938081474 Centerline is valid? [True, True] Translation: X:120.58, Y:-12.19, Z:-4.76 [[ 9.84063982e-01 1.75905865e-01 2.59847261e-02 1.20579074e+02] [-1.75851129e-01 9.84406962e-01 -4.39474213e-03 -1.21939696e+01] [-2.63526062e-02 -2.44735975e-04 9.99652680e-01 -4.75575374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18587156 meters 0.028326030308037396 Centerline is valid? [True, True] Translation: X:120.64, Y:-12.19, Z:-4.76 [[ 9.83379041e-01 1.79411805e-01 2.78759030e-02 1.20637181e+02] [-1.79350256e-01 9.83773994e-01 -4.71320091e-03 -1.21943636e+01] [-2.82691923e-02 -3.64687359e-04 9.99600280e-01 -4.75797204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24587156 meters 0.02069974656562848 Centerline is valid? [True, True] Translation: X:120.70, Y:-12.20, Z:-4.76 [[ 9.83177685e-01 1.80510492e-01 2.78855064e-02 1.20695540e+02] [-1.80449397e-01 9.83572978e-01 -4.71289214e-03 -1.22049252e+01] [-2.82781570e-02 -3.98312428e-04 9.99600014e-01 -4.75742606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30587156 meters 0.02303106831522622 Centerline is valid? [True, True] Translation: X:120.75, Y:-12.21, Z:-4.76 [[ 9.83065349e-01 1.81165220e-01 2.75985938e-02 1.20754647e+02] [-1.81105672e-01 9.83452587e-01 -4.66305025e-03 -1.22078933e+01] [-2.79866910e-02 -4.14178764e-04 9.99608210e-01 -4.75978063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36587155999999 meters 0.020913930985194985 Centerline is valid? [True, True] Translation: X:120.81, Y:-12.21, Z:-4.76 [[ 9.83171802e-01 1.80355543e-01 2.90703570e-02 1.20812143e+02] [-1.80289161e-01 9.83601396e-01 -4.91032914e-03 -1.22135483e+01] [-2.94792488e-02 -4.13373119e-04 9.99565307e-01 -4.75990762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42587155999999 meters 0.019236348924437357 Centerline is valid? [True, True] Translation: X:120.87, Y:-12.22, Z:-4.76 [[ 9.83273517e-01 1.79807393e-01 2.90257212e-02 1.20870809e+02] [-1.79741031e-01 9.83701755e-01 -4.90089663e-03 -1.22210009e+01] [-2.94338703e-02 -3.98191191e-04 9.99566650e-01 -4.76033306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48587155999999 meters 0.02052397038869066 Centerline is valid? [True, True] Translation: X:120.93, Y:-12.22, Z:-4.77 [[ 9.83335165e-01 1.79666675e-01 2.77819848e-02 1.20929593e+02] [-1.79605849e-01 9.83727474e-01 -4.68995524e-03 -1.22210625e+01] [-2.81725304e-02 -3.78009069e-04 9.99603004e-01 -4.76564090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54587156 meters 0.030358921405743693 Centerline is valid? [True, True] Translation: X:120.99, Y:-12.23, Z:-4.77 [[ 9.83545843e-01 1.78620000e-01 2.70641787e-02 1.20987468e+02] [-1.78561949e-01 9.83918075e-01 -4.56633555e-03 -1.22278254e+01] [-2.74445734e-02 -3.41432137e-04 9.99623268e-01 -4.77054456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60587156 meters 0.015280650395302771 Centerline is valid? [True, True] Translation: X:121.04, Y:-12.24, Z:-4.77 [[ 9.84598421e-01 1.72722316e-01 2.70730682e-02 1.21044807e+02] [-1.72662031e-01 9.84970543e-01 -4.56652964e-03 -1.22421674e+01] [-2.74549162e-02 -1.78293076e-04 9.99623027e-01 -4.77157011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66587156 meters 0.02507479693764884 Centerline is valid? [True, True] Translation: X:121.10, Y:-12.26, Z:-4.77 [[ 9.85947846e-01 1.64832935e-01 2.71468110e-02 1.21101933e+02] [-1.64769364e-01 9.86321500e-01 -4.57763497e-03 -1.22585345e+01] [-2.75300283e-02 4.03465476e-05 9.99620976e-01 -4.77285264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72587155999999 meters 0.013311173810077749 Centerline is valid? [True, True] Translation: X:121.16, Y:-12.27, Z:-4.77 [[ 9.86455778e-01 1.61610142e-01 2.80563677e-02 1.21159689e+02] [-1.61540976e-01 9.86854672e-01 -4.72956949e-03 -1.22703956e+01] [-2.84519040e-02 1.33258121e-04 9.99595154e-01 -4.77224501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78587155999999 meters 0.023477700296191756 Centerline is valid? [True, True] Translation: X:121.22, Y:-12.28, Z:-4.77 [[ 9.86238209e-01 1.62867225e-01 2.84334866e-02 1.21217898e+02] [-1.62796751e-01 9.86647991e-01 -4.79167605e-03 -1.22769055e+01] [-2.88342494e-02 9.68547683e-05 9.99584202e-01 -4.77408099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84587155999999 meters 0.012813690705402721 Centerline is valid? [True, True] Translation: X:121.28, Y:-12.28, Z:-4.78 [[ 9.85653923e-01 1.66472103e-01 2.78097596e-02 1.21275853e+02] [-1.66406150e-01 9.86046165e-01 -4.68556893e-03 -1.22772504e+01] [-2.82017233e-02 -9.36561036e-06 9.99602252e-01 -4.77787740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90587156 meters 0.014229307359476546 Centerline is valid? [True, True] Translation: X:121.34, Y:-12.27, Z:-4.78 [[ 9.84777778e-01 1.71609368e-01 2.76215993e-02 1.21335999e+02] [-1.71546389e-01 9.85165062e-01 -4.65150668e-03 -1.22725692e+01] [-2.80100767e-02 -1.57685212e-04 9.99607628e-01 -4.77986543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96587156 meters 0.015385380246696093 Centerline is valid? [True, True] Translation: X:121.39, Y:-12.28, Z:-4.78 [[ 9.84537309e-01 1.73098861e-01 2.68900080e-02 1.21394801e+02] [-1.73039765e-01 9.84904435e-01 -4.52700655e-03 -1.22770664e+01] [-2.72677078e-02 -1.96033828e-04 9.99628148e-01 -4.78456558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02587156 meters 0.023123238892015417 Centerline is valid? [True, True] Translation: X:121.45, Y:-12.28, Z:-4.79 [[ 9.84760243e-01 1.71975461e-01 2.59172714e-02 1.21453109e+02] [-1.71920207e-01 9.85101221e-01 -4.36203848e-03 -1.22844977e+01] [-2.62812992e-02 -1.60140573e-04 9.99654574e-01 -4.78798242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08587156 meters 0.014113493863862738 Centerline is valid? [True, True] Translation: X:121.51, Y:-12.29, Z:-4.79 [[ 9.85277075e-01 1.69128106e-01 2.49953781e-02 1.21511473e+02] [-1.69075827e-01 9.85594073e-01 -4.20567941e-03 -1.22921897e+01] [-2.53465951e-02 -8.23547261e-05 9.99678720e-01 -4.79178973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14587155999999 meters 0.013638979913805286 Centerline is valid? [True, True] Translation: X:121.57, Y:-12.30, Z:-4.79 [[ 9.85551725e-01 1.67364187e-01 2.60197261e-02 1.21568098e+02] [-1.67306951e-01 9.85895140e-01 -4.37682915e-03 -1.23022945e+01] [-2.63852459e-02 -3.96895170e-05 9.99651848e-01 -4.79445813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20587155999999 meters 0.013504776517868737 Centerline is valid? [True, True] Translation: X:121.62, Y:-12.31, Z:-4.80 [[ 9.85773959e-01 1.65978992e-01 2.64702852e-02 1.21624582e+02] [-1.65919303e-01 9.86129289e-01 -4.45091385e-03 -1.23126460e+01] [-2.68418817e-02 -4.33629566e-06 9.99639692e-01 -4.79642984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26587156 meters 0.013187975610692486 Centerline is valid? [True, True] Translation: X:121.68, Y:-12.32, Z:-4.80 [[ 9.86037654e-01 1.64306330e-01 2.70772072e-02 1.21682763e+02] [-1.64243293e-01 9.86409361e-01 -4.55109394e-03 -1.23220444e+01] [-2.74569842e-02 4.03003257e-05 9.99622985e-01 -4.79690274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32587156 meters 0.02871556968044325 Centerline is valid? [True, True] Translation: X:121.74, Y:-12.33, Z:-4.80 [[ 9.86068780e-01 1.64154627e-01 2.68629892e-02 1.21740852e+02] [-1.64092563e-01 9.86434618e-01 -4.51378690e-03 -1.23295854e+01] [-2.72395415e-02 4.28875918e-05 9.99628934e-01 -4.79977050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38587156 meters 0.013565212086975295 Centerline is valid? [True, True] Translation: X:121.80, Y:-12.34, Z:-4.80 [[ 9.85792979e-01 1.65833200e-01 2.66749245e-02 1.21798967e+02] [-1.65772651e-01 9.86153816e-01 -4.48091228e-03 -1.23359809e+01] [-2.70486627e-02 -4.72108498e-06 9.99634118e-01 -4.80302681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44587156 meters 0.02445555771678422 Centerline is valid? [True, True] Translation: X:121.86, Y:-12.34, Z:-4.81 [[ 9.85035811e-01 1.70581491e-01 2.46252918e-02 1.21858796e+02] [-1.70531397e-01 9.85343564e-01 -4.13565436e-03 -1.23358817e+01] [-2.49698389e-02 -1.25617758e-04 9.99688197e-01 -4.80636309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50587155999999 meters 0.01681545601011712 Centerline is valid? [True, True] Translation: X:121.92, Y:-12.34, Z:-4.81 [[ 9.84544279e-01 1.73368130e-01 2.48204414e-02 1.21916760e+02] [-1.73318151e-01 9.84857072e-01 -4.16734118e-03 -1.23380555e+01] [-2.51670714e-02 -1.98901090e-04 9.99683239e-01 -4.81054085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56587155999999 meters 0.017960344419249846 Centerline is valid? [True, True] Translation: X:121.98, Y:-12.34, Z:-4.81 [[ 9.84063338e-01 1.75781485e-01 2.68368450e-02 1.21976129e+02] [-1.75724009e-01 9.84429169e-01 -4.50375540e-03 -1.23400786e+01] [-2.72106498e-02 -2.83897411e-04 9.99629681e-01 -4.81033850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62587156 meters 0.017383901962624612 Centerline is valid? [True, True] Translation: X:122.03, Y:-12.35, Z:-4.81 [[ 9.84085796e-01 1.75590249e-01 2.72619000e-02 1.22033753e+02] [-1.75530902e-01 9.84463297e-01 -4.57373377e-03 -1.23493904e+01] [-2.76414431e-02 -2.84359461e-04 9.99617862e-01 -4.81159755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68587156 meters 0.02938939361829932 Centerline is valid? [True, True] Translation: X:122.09, Y:-12.36, Z:-4.81 [[ 9.84622511e-01 1.72508246e-01 2.75574906e-02 1.22091946e+02] [-1.72446441e-01 9.85008053e-01 -4.62175399e-03 -1.23607676e+01] [-2.79416408e-02 -2.01508159e-04 9.99609536e-01 -4.81384335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74587156 meters 0.014255767253788047 Centerline is valid? [True, True] Translation: X:122.15, Y:-12.37, Z:-4.82 [[ 9.85097703e-01 1.69817676e-01 2.72850379e-02 1.22148012e+02] [-1.69756073e-01 9.85475490e-01 -4.57540877e-03 -1.23731553e+01] [-2.76657214e-02 -1.24576216e-04 9.99617223e-01 -4.81868605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80587156 meters 0.019139272062618288 Centerline is valid? [True, True] Translation: X:122.21, Y:-12.39, Z:-4.82 [[ 9.85526827e-01 1.67319705e-01 2.72211389e-02 1.22205059e+02] [-1.67257487e-01 9.85902690e-01 -4.56286586e-03 -1.23859444e+01] [-2.76008514e-02 -5.61125685e-05 9.99619022e-01 -4.81959149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86587155999999 meters 0.012595567290013933 Centerline is valid? [True, True] Translation: X:122.26, Y:-12.40, Z:-4.82 [[ 9.85753972e-01 1.65759608e-01 2.85106997e-02 1.22263109e+02] [-1.65690746e-01 9.86166189e-01 -4.77751216e-03 -1.23950541e+01] [-2.89082066e-02 -1.45075125e-05 9.99582070e-01 -4.81960406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92587155999999 meters 0.012132456059888762 Centerline is valid? [True, True] Translation: X:122.32, Y:-12.41, Z:-4.82 [[ 9.85868132e-01 1.64910537e-01 2.94710060e-02 1.22320966e+02] [-1.64836623e-01 9.86308529e-01 -4.93691989e-03 -1.24059836e+01] [-2.98816547e-02 9.25088297e-06 9.99553444e-01 -4.82080169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98587155999999 meters 0.021856174005915826 Centerline is valid? [True, True] Translation: X:122.38, Y:-12.41, Z:-4.82 [[ 9.85813073e-01 1.65291074e-01 2.91795405e-02 1.22378538e+02] [-1.65218819e-01 9.86244828e-01 -4.88682958e-03 -1.24143322e+01] [-2.95859202e-02 -3.50871700e-06 9.99562241e-01 -4.82381551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04587156 meters 0.012430737211348738 Centerline is valid? [True, True] Translation: X:122.44, Y:-12.42, Z:-4.83 [[ 9.85672858e-01 1.66131201e-01 2.91451671e-02 1.22436684e+02] [-1.66059530e-01 9.86103657e-01 -4.87947036e-03 -1.24199903e+01] [-2.95507881e-02 -3.02712505e-05 9.99563280e-01 -4.82699770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10587156 meters 0.012470569994378438 Centerline is valid? [True, True] Translation: X:122.49, Y:-12.43, Z:-4.83 [[ 9.85520875e-01 1.67063105e-01 2.89572780e-02 1.22494786e+02] [-1.66992828e-01 9.85946203e-01 -4.84562594e-03 -1.24269773e+01] [-2.93598436e-02 -6.01922424e-05 9.99568905e-01 -4.83039429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16587156 meters 0.012764111825021369 Centerline is valid? [True, True] Translation: X:122.55, Y:-12.44, Z:-4.83 [[ 9.85590350e-01 1.66749687e-01 2.83937349e-02 1.22551808e+02] [-1.66682025e-01 9.85999259e-01 -4.75010020e-03 -1.24366446e+01] [-2.87882793e-02 -5.10723007e-05 9.99585530e-01 -4.83490348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22587155999999 meters 0.012006075362851198 Centerline is valid? [True, True] Translation: X:122.61, Y:-12.45, Z:-4.84 [[ 9.86071159e-01 1.63603735e-01 2.99580774e-02 1.22609386e+02] [-1.63527023e-01 9.86526136e-01 -5.00965981e-03 -1.24501997e+01] [-3.03740254e-02 4.09258559e-05 9.99538602e-01 -4.83557092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28587155999999 meters 0.012576849110514206 Centerline is valid? [True, True] Translation: X:122.67, Y:-12.46, Z:-4.84 [[ 9.86454374e-01 1.61238134e-01 3.01667324e-02 1.22667013e+02] [-1.61159289e-01 9.86915524e-01 -5.04306043e-03 -1.24633543e+01] [-3.05851501e-02 1.13099892e-04 9.99532158e-01 -4.83701105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34587155999999 meters 0.013578974153710848 Centerline is valid? [True, True] Translation: X:122.72, Y:-12.48, Z:-4.84 [[ 9.86808734e-01 1.59015246e-01 3.03755368e-02 1.22724106e+02] [-1.58934297e-01 9.87276111e-01 -5.07647820e-03 -1.24784640e+01] [-3.07962792e-02 1.81798428e-04 9.99525666e-01 -4.84019608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40587156 meters 0.014656683580246986 Centerline is valid? [True, True] Translation: X:122.78, Y:-12.49, Z:-4.84 [[ 9.86936720e-01 1.58210457e-01 3.04197485e-02 1.22780778e+02] [-1.58128926e-01 9.87405392e-01 -5.08270199e-03 -1.24899817e+01] [-3.08407603e-02 2.06063073e-04 9.99524289e-01 -4.84410828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46587156 meters 0.014092702926842454 Centerline is valid? [True, True] Translation: X:122.84, Y:-12.50, Z:-4.85 [[ 9.86868969e-01 1.58721537e-01 2.99518249e-02 1.22838767e+02] [-1.58642805e-01 9.87323371e-01 -5.00205543e-03 -1.24989808e+01] [-3.03660707e-02 1.84731760e-04 9.99538827e-01 -4.84704871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52587156 meters 0.013721714652117042 Centerline is valid? [True, True] Translation: X:122.90, Y:-12.51, Z:-4.85 [[ 9.86760734e-01 1.59339289e-01 3.02364941e-02 1.22895816e+02] [-1.59259384e-01 9.87223867e-01 -5.04828277e-03 -1.25073612e+01] [-3.06545784e-02 1.66001797e-04 9.99530024e-01 -4.85026991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58587156 meters 0.012849159389457238 Centerline is valid? [True, True] Translation: X:122.95, Y:-12.52, Z:-4.85 [[ 9.86632327e-01 1.59955578e-01 3.11587008e-02 1.22954355e+02] [-1.59871094e-01 9.87124202e-01 -5.20025463e-03 -1.25155633e+01] [-3.15893174e-02 1.49363764e-04 9.99500922e-01 -4.85056860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64587155999999 meters 0.012374687066187984 Centerline is valid? [True, True] Translation: X:123.01, Y:-12.52, Z:-4.85 [[ 9.86369426e-01 1.61708678e-01 3.04246492e-02 1.23012168e+02] [-1.61628997e-01 9.86838536e-01 -5.07663079e-03 -1.25210314e+01] [-3.08451515e-02 8.99278673e-05 9.99524171e-01 -4.85459052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70587155999999 meters 0.012024501696168852 Centerline is valid? [True, True] Translation: X:123.07, Y:-12.53, Z:-4.86 [[ 9.86367524e-01 1.61659958e-01 3.07435340e-02 1.23070014e+02] [-1.61578651e-01 9.86846518e-01 -5.12733536e-03 -1.25291059e+01] [-3.11680343e-02 8.99383235e-05 9.99514155e-01 -4.85654391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76587156 meters 0.01282353180730632 Centerline is valid? [True, True] Translation: X:123.13, Y:-12.54, Z:-4.86 [[ 9.86654229e-01 1.59815973e-01 3.11815121e-02 1.23125505e+02] [-1.59731441e-01 9.87146814e-01 -5.19945787e-03 -1.25417414e+01] [-3.16116867e-02 1.49399231e-04 9.99500215e-01 -4.85904694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82587156 meters 0.021914534869918317 Centerline is valid? [True, True] Translation: X:123.18, Y:-12.56, Z:-4.86 [[ 9.87268916e-01 1.55966956e-01 3.12153057e-02 1.23182384e+02] [-1.55880440e-01 9.87762237e-01 -5.20115974e-03 -1.25555158e+01] [-3.16445092e-02 2.69087752e-04 9.99499151e-01 -4.85961563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88587156 meters 0.016988834901987285 Centerline is valid? [True, True] Translation: X:123.24, Y:-12.57, Z:-4.86 [[ 9.87865288e-01 1.52191877e-01 3.09807156e-02 1.23238709e+02] [-1.52104865e-01 9.88350891e-01 -5.16000489e-03 -1.25726250e+01] [-3.14051287e-02 3.85072160e-04 9.99506663e-01 -4.86396703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94587156 meters 0.019493077008109594 Centerline is valid? [True, True] Translation: X:123.30, Y:-12.59, Z:-4.87 [[ 9.88156584e-01 1.50242439e-01 3.12053749e-02 1.23295078e+02] [-1.50153234e-01 9.88649082e-01 -5.19598286e-03 -1.25875225e+01] [-3.16318224e-02 4.48856720e-04 9.99499488e-01 -4.86717031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00587156 meters 0.02207425503693258 Centerline is valid? [True, True] Translation: X:123.35, Y:-12.60, Z:-4.87 [[ 9.88513953e-01 1.47559979e-01 3.26529726e-02 1.23350626e+02] [-1.47460911e-01 9.89052952e-01 -5.43489473e-03 -1.26045060e+01] [-3.30974919e-02 5.57432196e-04 9.99451972e-01 -4.86737003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06587156 meters 0.021163680465703126 Centerline is valid? [True, True] Translation: X:123.41, Y:-12.62, Z:-4.87 [[ 9.88693085e-01 1.46550712e-01 3.17627498e-02 1.23409256e+02] [-1.46456523e-01 9.89202993e-01 -5.28454260e-03 -1.26162658e+01] [-3.21942606e-02 5.72928827e-04 9.99481466e-01 -4.87011547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12587156 meters 0.021229159391800798 Centerline is valid? [True, True] Translation: X:123.47, Y:-12.63, Z:-4.87 [[ 9.88553256e-01 1.47447239e-01 3.19651502e-02 1.23465965e+02] [-1.47352340e-01 9.89069772e-01 -5.31739364e-03 -1.26315142e+01] [-3.23997988e-02 5.46387097e-04 9.99474839e-01 -4.87373578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.18587156 meters 0.01828592679140656 Centerline is valid? [True, True] Translation: X:123.52, Y:-12.64, Z:-4.88 [[ 9.87932010e-01 1.51340768e-01 3.29592897e-02 1.23523486e+02] [-1.51242059e-01 9.88481556e-01 -5.48209477e-03 -1.26410798e+01] [-3.34093144e-02 4.31106077e-04 9.99441660e-01 -4.87575374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.24587156 meters 0.025119209789341405 Centerline is valid? [True, True] Translation: X:123.58, Y:-12.65, Z:-4.88 [[ 9.87415011e-01 1.54717838e-01 3.27717418e-02 1.23581675e+02] [-1.54622144e-01 9.87958649e-01 -5.44983256e-03 -1.26499816e+01] [-3.32203120e-02 3.14009508e-04 9.99448004e-01 -4.87824118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.30587156 meters 0.012306422602512131 Centerline is valid? [True, True] Translation: X:123.64, Y:-12.66, Z:-4.88 [[ 9.86792405e-01 1.58592703e-01 3.30015845e-02 1.23639884e+02] [-1.58497879e-01 9.87344074e-01 -5.48647460e-03 -1.26588163e+01] [-3.34540337e-02 1.83330309e-04 9.99440240e-01 -4.88074560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36587156000002 meters 0.016635597742561875 Centerline is valid? [True, True] Translation: X:123.70, Y:-12.67, Z:-4.89 [[ 9.86615338e-01 1.59815792e-01 3.23896042e-02 1.23696701e+02] [-1.59725161e-01 9.87146845e-01 -5.38326795e-03 -1.26710636e+01] [-3.28336269e-02 1.37779992e-04 9.99460822e-01 -4.88569399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42587156000002 meters 0.011500500148333898 Centerline is valid? [True, True] Translation: X:123.75, Y:-12.68, Z:-4.89 [[ 9.86290508e-01 1.61868920e-01 3.20856167e-02 1.23753971e+02] [-1.61781135e-01 9.86812266e-01 -5.33065701e-03 -1.26821953e+01] [-3.25253478e-02 6.67289281e-05 9.99470909e-01 -4.88823472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48587156000002 meters 0.011567657756541531 Centerline is valid? [True, True] Translation: X:123.81, Y:-12.69, Z:-4.89 [[ 9.86015950e-01 1.63599713e-01 3.17439944e-02 1.23810618e+02] [-1.63514731e-01 9.86526803e-01 -5.27246680e-03 -1.26936717e+01] [-3.21788754e-02 8.12565381e-06 9.99482126e-01 -4.89234142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54587156 meters 0.011545681483049065 Centerline is valid? [True, True] Translation: X:123.87, Y:-12.70, Z:-4.89 [[ 9.85566805e-01 1.66152677e-01 3.24246916e-02 1.23869161e+02] [-1.66065461e-01 9.86100036e-01 -5.38339280e-03 -1.27030212e+01] [-3.28684547e-02 -7.89281145e-05 9.99459683e-01 -4.89292539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60587156 meters 0.012689164429550674 Centerline is valid? [True, True] Translation: X:123.93, Y:-12.71, Z:-4.90 [[ 9.85262298e-01 1.68017288e-01 3.20686013e-02 1.23926702e+02] [-1.67933011e-01 9.85784039e-01 -5.32286584e-03 -1.27111199e+01] [-3.25070488e-02 -1.40957732e-04 9.99471496e-01 -4.89747905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66587156 meters 0.01232231040378589 Centerline is valid? [True, True] Translation: X:123.98, Y:-12.72, Z:-4.90 [[ 9.85301548e-01 1.67741263e-01 3.23067708e-02 1.23984229e+02] [-1.67655659e-01 9.85831046e-01 -5.35999234e-03 -1.27245604e+01] [-3.27481095e-02 -1.35204217e-04 9.99463628e-01 -4.89906754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72587156 meters 0.01127793412124827 Centerline is valid? [True, True] Translation: X:124.04, Y:-12.75, Z:-4.90 [[ 9.85874856e-01 1.64279881e-01 3.26019766e-02 1.24039895e+02] [-1.64190866e-01 9.86413767e-01 -5.40733514e-03 -1.27459937e+01] [-3.30473549e-02 -2.19910319e-05 9.99453787e-01 -4.90153525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78587156 meters 0.011770721487756711 Centerline is valid? [True, True] Translation: X:124.10, Y:-12.76, Z:-4.90 [[ 9.86423131e-01 1.60953589e-01 3.26090309e-02 1.24096172e+02] [-1.60862774e-01 9.86961972e-01 -5.40678636e-03 -1.27632234e+01] [-3.30541151e-02 8.77999666e-05 9.99453560e-01 -4.90405120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84587156 meters 0.01298688379052822 Centerline is valid? [True, True] Translation: X:124.15, Y:-12.78, Z:-4.91 [[ 9.87015025e-01 1.57119782e-01 3.33873468e-02 1.24153958e+02] [-1.57022438e-01 9.87579529e-01 -5.53427054e-03 -1.27844462e+01] [-3.38422036e-02 2.19845593e-04 9.99427164e-01 -4.90546138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90587156 meters 0.02712849353690875 Centerline is valid? [True, True] Translation: X:124.21, Y:-12.80, Z:-4.91 [[ 9.87185725e-01 1.56238997e-01 3.24610510e-02 1.24212607e+02] [-1.56146509e-01 9.87719250e-01 -5.38061297e-03 -1.28014254e+01] [-3.29030665e-02 2.42984528e-04 9.99458518e-01 -4.91010902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.96587156 meters 0.014593323892300614 Centerline is valid? [True, True] Translation: X:124.27, Y:-12.82, Z:-4.91 [[ 9.87311921e-01 1.55322975e-01 3.30143082e-02 1.24271832e+02] [-1.55226784e-01 9.87863703e-01 -5.47263097e-03 -1.28207906e+01] [-3.34636621e-02 2.78488899e-04 9.99439896e-01 -4.91182788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.02587156 meters 0.014947880599974206 Centerline is valid? [True, True] Translation: X:124.33, Y:-12.84, Z:-4.91 [[ 9.87325258e-01 1.55188996e-01 3.32447179e-02 1.24332724e+02] [-1.55091395e-01 9.87884758e-01 -5.51039371e-03 -1.28365304e+01] [-3.36971026e-02 2.84581190e-04 9.99432051e-01 -4.91334084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.08587156000002 meters 0.013613158618811943 Centerline is valid? [True, True] Translation: X:124.39, Y:-12.85, Z:-4.92 [[ 9.87179666e-01 1.56113634e-01 3.32391434e-02 1.24393969e+02] [-1.56016411e-01 9.87739068e-01 -5.51480147e-03 -1.28539180e+01] [-3.36925363e-02 2.58248015e-04 9.99432212e-01 -4.91519599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.14587156000002 meters 0.012231692039878277 Centerline is valid? [True, True] Translation: X:124.45, Y:-12.87, Z:-4.92 [[ 9.86587529e-01 1.59809462e-01 3.32563175e-02 1.24453862e+02] [-1.59713975e-01 9.87147870e-01 -5.52537142e-03 -1.28680566e+01] [-3.37119096e-02 1.39763880e-04 9.99431582e-01 -4.91827441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20587156000002 meters 0.011576363752976453 Centerline is valid? [True, True] Translation: X:124.51, Y:-12.88, Z:-4.92 [[ 9.86013012e-01 1.63425839e-01 3.27159903e-02 1.24514104e+02] [-1.63335328e-01 9.86555622e-01 -5.43836841e-03 -1.28792169e+01] [-3.31649141e-02 1.86249953e-05 9.99449893e-01 -4.92336807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26587156000002 meters 0.02755224920933362 Centerline is valid? [True, True] Translation: X:124.57, Y:-12.89, Z:-4.93 [[ 9.85145219e-01 1.68534728e-01 3.29384865e-02 1.24574118e+02] [-1.68445614e-01 9.85695705e-01 -5.48190213e-03 -1.28861276e+01] [-3.33912155e-02 -1.47873917e-04 9.99442347e-01 -4.92534594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32587156 meters 0.016128641494330256 Centerline is valid? [True, True] Translation: X:124.63, Y:-12.90, Z:-4.93 [[ 9.84351195e-01 1.73097293e-01 3.30159382e-02 1.24632399e+02] [-1.73010326e-01 9.84904683e-01 -5.49474434e-03 -1.28957705e+01] [-3.34686775e-02 -3.03340053e-04 9.99439721e-01 -4.92809345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38587156 meters 0.018551132198204572 Centerline is valid? [True, True] Translation: X:124.69, Y:-12.90, Z:-4.93 [[ 9.83973987e-01 1.75392687e-01 3.21340617e-02 1.24691155e+02] [-1.75311513e-01 9.84498485e-01 -5.34842498e-03 -1.29045791e+01] [-3.25740097e-02 -3.70759935e-04 9.99469257e-01 -4.93236786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44587156 meters 0.020232121421553062 Centerline is valid? [True, True] Translation: X:124.75, Y:-12.92, Z:-4.93 [[ 9.83417646e-01 1.78520614e-01 3.19393709e-02 1.24750737e+02] [-1.78442100e-01 9.83936059e-01 -5.31504661e-03 -1.29155096e+01] [-3.23751441e-02 -4.72417786e-04 9.99475676e-01 -4.93445880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50587156 meters 0.022201144369878443 Centerline is valid? [True, True] Translation: X:124.81, Y:-12.93, Z:-4.94 [[ 9.83201945e-01 1.79689870e-01 3.20232122e-02 1.24809816e+02] [-1.79611566e-01 9.83723177e-01 -5.32891696e-03 -1.29253134e+01] [-3.24595284e-02 -5.12337764e-04 9.99472919e-01 -4.93747890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56587156 meters 0.022548781014873384 Centerline is valid? [True, True] Translation: X:124.87, Y:-12.94, Z:-4.94 [[ 9.82994473e-01 1.80595634e-01 3.32728635e-02 1.24868017e+02] [-1.80511596e-01 9.83557268e-01 -5.53743785e-03 -1.29378500e+01] [-3.37258038e-02 -5.62866903e-04 9.99430965e-01 -4.93686794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62587156 meters 0.023133280016090947 Centerline is valid? [True, True] Translation: X:124.93, Y:-12.95, Z:-4.94 [[ 9.82801984e-01 1.81592093e-01 3.35346361e-02 1.24927622e+02] [-1.81507342e-01 9.83373758e-01 -5.57998633e-03 -1.29471590e+01] [-3.39903626e-02 -6.02761041e-04 9.99421979e-01 -4.93941447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.68587156 meters 0.02545265811479962 Centerline is valid? [True, True] Translation: X:124.99, Y:-12.95, Z:-4.94 [[ 9.82415567e-01 1.83524114e-01 3.43300666e-02 1.24986101e+02] [-1.83436482e-01 9.83014969e-01 -5.71207138e-03 -1.29548867e+01] [-3.47952722e-02 -6.85758784e-04 9.99394226e-01 -4.94063582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.74587156 meters 0.027802958016695235 Centerline is valid? [True, True] Translation: X:125.05, Y:-12.96, Z:-4.94 [[ 9.82107338e-01 1.85208966e-01 3.41000761e-02 1.25045460e+02] [-1.85123461e-01 9.82698882e-01 -5.67549189e-03 -1.29591415e+01] [-3.45612587e-02 -7.38781874e-04 9.99402308e-01 -4.94397136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.80587156 meters 0.030260597185515874 Centerline is valid? [True, True] Translation: X:125.10, Y:-12.96, Z:-4.95 [[ 9.81753519e-01 1.87062344e-01 3.41717365e-02 1.25104458e+02] [-1.86977626e-01 9.82347713e-01 -5.68665528e-03 -1.29640358e+01] [-3.46322863e-02 -8.06456351e-04 9.99399797e-01 -4.94633886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86587156000002 meters 0.031342492697668804 Centerline is valid? [True, True] Translation: X:125.16, Y:-12.97, Z:-4.95 [[ 9.81629394e-01 1.87711903e-01 3.41756375e-02 1.25163421e+02] [-1.87627592e-01 9.82223779e-01 -5.68637226e-03 -1.29676409e+01] [-3.46355235e-02 -8.30382389e-04 9.99399665e-01 -4.94942160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92587156000002 meters 0.031287276338365276 Centerline is valid? [True, True] Translation: X:125.22, Y:-12.97, Z:-4.95 [[ 9.81790902e-01 1.86830249e-01 3.43668727e-02 1.25221312e+02] [-1.86744508e-01 9.82391882e-01 -5.71656837e-03 -1.29748884e+01] [-3.48297646e-02 -8.05349930e-04 9.99392935e-01 -4.95150258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98587156000002 meters 0.025965602266553943 Centerline is valid? [True, True] Translation: X:125.28, Y:-12.98, Z:-4.95 [[ 9.82271466e-01 1.84386414e-01 3.38292487e-02 1.25279863e+02] [-1.84301945e-01 9.82853574e-01 -5.62542632e-03 -1.29841716e+01] [-3.42864502e-02 -7.09100585e-04 9.99411795e-01 -4.95427936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04587156 meters 0.026752821259722562 Centerline is valid? [True, True] Translation: X:125.34, Y:-12.99, Z:-4.96 [[ 9.82679385e-01 1.82249340e-01 3.35619440e-02 1.25337404e+02] [-1.82164973e-01 9.83252145e-01 -5.58046138e-03 -1.29896241e+01] [-3.40168889e-02 -6.30006264e-04 9.99421060e-01 -4.95898389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10587156 meters 0.025068621735275284 Centerline is valid? [True, True] Translation: X:125.40, Y:-13.00, Z:-4.96 [[ 9.83107385e-01 1.79979067e-01 3.32776979e-02 1.25395969e+02] [-1.79894900e-01 9.83670287e-01 -5.53090481e-03 -1.29995605e+01] [-3.37297297e-02 -5.49014780e-04 9.99430840e-01 -4.96003709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16587156 meters 0.0198766189476542 Centerline is valid? [True, True] Translation: X:125.46, Y:-13.01, Z:-4.96 [[ 9.83313273e-01 1.78777056e-01 3.36715106e-02 1.25455199e+02] [-1.78690210e-01 9.83889475e-01 -5.59549837e-03 -1.30062490e+01] [-3.41293916e-02 -5.14641468e-04 9.99417290e-01 -4.96250864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22587156 meters 0.01760746867591904 Centerline is valid? [True, True] Translation: X:125.52, Y:-13.01, Z:-4.97 [[ 9.83777216e-01 1.76184456e-01 3.37850077e-02 1.25515075e+02] [-1.76095527e-01 9.84357077e-01 -5.61340316e-03 -1.30125524e+01] [-3.42455058e-02 -4.27050594e-04 9.99413359e-01 -4.96534914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28587156 meters 0.01538936098896256 Centerline is valid? [True, True] Translation: X:125.57, Y:-13.02, Z:-4.97 [[ 9.84386848e-01 1.72719645e-01 3.39183916e-02 1.25573077e+02] [-1.72627964e-01 9.84970979e-01 -5.63533042e-03 -1.30217579e+01] [-3.43819636e-02 -3.07917709e-04 9.99408718e-01 -4.96887427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34587156 meters 0.014470693479366385 Centerline is valid? [True, True] Translation: X:125.63, Y:-13.03, Z:-4.97 [[ 9.84606015e-01 1.71626087e-01 3.30980489e-02 1.25631796e+02] [-1.71538213e-01 9.85162127e-01 -5.49772043e-03 -1.30301167e+01] [-3.35504965e-02 -2.64491561e-04 9.99436989e-01 -4.97233656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40587156 meters 0.023288280981541683 Centerline is valid? [True, True] Translation: X:125.69, Y:-13.03, Z:-4.97 [[ 9.84440299e-01 1.72681024e-01 3.25355487e-02 1.25691174e+02] [-1.72596706e-01 9.84977754e-01 -5.40375879e-03 -1.30321117e+01] [-3.29799183e-02 -2.95850615e-04 9.99455971e-01 -4.97447435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.46587156 meters 0.02661243037122061 Centerline is valid? [True, True] Translation: X:125.75, Y:-13.04, Z:-4.98 [[ 9.84337784e-01 1.73288449e-01 3.24074001e-02 1.25749047e+02] [-1.73205174e-01 9.84871064e-01 -5.38095114e-03 -1.30373986e+01] [-3.28495673e-02 -3.16455845e-04 9.99460257e-01 -4.97784142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.52587156 meters 0.016976530873979427 Centerline is valid? [True, True] Translation: X:125.81, Y:-13.04, Z:-4.98 [[ 9.84181331e-01 1.74230128e-01 3.21087142e-02 1.25806947e+02] [-1.74148947e-01 9.84704901e-01 -5.32934680e-03 -1.30386998e+01] [-3.25461410e-02 -3.46655121e-04 9.99470174e-01 -4.98257447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.58587156000002 meters 0.01636966476499062 Centerline is valid? [True, True] Translation: X:125.86, Y:-13.04, Z:-4.99 [[ 9.84485254e-01 1.72716268e-01 3.09495473e-02 1.25864263e+02] [-1.72640152e-01 9.84971577e-01 -5.13517636e-03 -1.30447689e+01] [-3.13713530e-02 -2.87629150e-04 9.99507757e-01 -4.98802365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64587156000002 meters 0.015495842351149171 Centerline is valid? [True, True] Translation: X:125.92, Y:-13.05, Z:-4.99 [[ 9.84602596e-01 1.71921834e-01 3.16324226e-02 1.25922921e+02] [-1.71841985e-01 9.85110557e-01 -5.24619135e-03 -1.30512093e+01] [-3.20633683e-02 -2.70364652e-04 9.99485801e-01 -4.98900936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70587156000002 meters 0.03032422620221932 Centerline is valid? [True, True] Translation: X:125.98, Y:-13.06, Z:-4.99 [[ 9.84746678e-01 1.70825622e-01 3.30543100e-02 1.25980980e+02] [-1.70737869e-01 9.85301246e-01 -5.48032619e-03 -1.30595617e+01] [-3.35046330e-02 -2.46889446e-04 9.99438532e-01 -4.98901433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76587156000002 meters 0.013508493873555254 Centerline is valid? [True, True] Translation: X:126.04, Y:-13.07, Z:-4.99 [[ 9.84799582e-01 1.70553176e-01 3.28846134e-02 1.26038839e+02] [-1.70466222e-01 9.85348445e-01 -5.45064483e-03 -1.30689826e+01] [-3.33324274e-02 -2.37923039e-04 9.99444292e-01 -4.99141259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82587156 meters 0.014871503378168232 Centerline is valid? [True, True] Translation: X:126.10, Y:-13.07, Z:-4.99 [[ 9.84575702e-01 1.71749072e-01 3.33607885e-02 1.26096567e+02] [-1.71660319e-01 9.85140688e-01 -5.52804442e-03 -1.30709377e+01] [-3.38145066e-02 -2.83945386e-04 9.99428086e-01 -4.99363331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88587156 meters 0.01698329246118863 Centerline is valid? [True, True] Translation: X:126.16, Y:-13.07, Z:-5.00 [[ 9.84211863e-01 1.73949208e-01 3.26906930e-02 1.26155912e+02] [-1.73865286e-01 9.84754562e-01 -5.41434536e-03 -1.30744075e+01] [-3.31341301e-02 -3.54913759e-04 9.99450851e-01 -4.99774100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94587156 meters 0.018138170735310013 Centerline is valid? [True, True] Translation: X:126.21, Y:-13.08, Z:-5.00 [[ 9.84036189e-01 1.74938487e-01 3.27002321e-02 1.26214175e+02] [-1.74855115e-01 9.84579288e-01 -5.41433466e-03 -1.30802879e+01] [-3.31431468e-02 -3.89901593e-04 9.99450539e-01 -5.00079541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00587156 meters 0.018760531070016104 Centerline is valid? [True, True] Translation: X:126.27, Y:-13.08, Z:-5.00 [[ 9.83850379e-01 1.76058208e-01 3.22790656e-02 1.26272493e+02] [-1.75977619e-01 9.84379667e-01 -5.34319943e-03 -1.30848994e+01] [-3.27155700e-02 -4.23484308e-04 9.99464613e-01 -5.00352520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06587156 meters 0.02134136812270966 Centerline is valid? [True, True] Translation: X:126.33, Y:-13.09, Z:-5.01 [[ 9.83660758e-01 1.77180885e-01 3.19131236e-02 1.26331033e+02] [-1.77102766e-01 9.84178198e-01 -5.28068748e-03 -1.30858576e+01] [-3.23438373e-02 -4.57497402e-04 9.99476697e-01 -5.00794535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12587156 meters 0.020809855672758625 Centerline is valid? [True, True] Translation: X:126.39, Y:-13.09, Z:-5.01 [[ 9.83604114e-01 1.77467789e-01 3.20644866e-02 1.26389516e+02] [-1.77389147e-01 9.84126497e-01 -5.30364625e-03 -1.30944889e+01] [-3.24967372e-02 -4.71203649e-04 9.99471730e-01 -5.00933853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.18587156 meters 0.02013874141214363 Centerline is valid? [True, True] Translation: X:126.45, Y:-13.10, Z:-5.01 [[ 9.83749939e-01 1.76598477e-01 3.23888047e-02 1.26447391e+02] [-1.76517818e-01 9.84282874e-01 -5.35569311e-03 -1.31019983e+01] [-3.28255530e-02 -4.48538339e-04 9.99460996e-01 -5.01159911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.24587156 meters 0.019338089641207357 Centerline is valid? [True, True] Translation: X:126.50, Y:-13.11, Z:-5.02 [[ 9.83853748e-01 1.76126688e-01 3.17992535e-02 1.26504754e+02] [-1.76048732e-01 9.84367415e-01 -5.25696646e-03 -1.31098985e+01] [-3.22280411e-02 -4.26132103e-04 9.99480451e-01 -5.01517457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.30587156 meters 0.020042927201934273 Centerline is valid? [True, True] Translation: X:126.56, Y:-13.12, Z:-5.02 [[ 9.84003347e-01 1.75462642e-01 3.08265100e-02 1.26561367e+02] [-1.75389130e-01 9.84486011e-01 -5.09385705e-03 -1.31178920e+01] [-3.12420495e-02 -3.94262386e-04 9.99511770e-01 -5.02161736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36587156000002 meters 0.01824198433482715 Centerline is valid? [True, True] Translation: X:126.62, Y:-13.13, Z:-5.02 [[ 9.84126508e-01 1.74710560e-01 3.11646803e-02 1.26620021e+02] [-1.74635112e-01 9.84619763e-01 -5.14772141e-03 -1.31265770e+01] [-3.15847214e-02 -3.76438346e-04 9.99501007e-01 -5.02174598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42587156000002 meters 0.017424846370114336 Centerline is valid? [True, True] Translation: X:126.68, Y:-13.13, Z:-5.02 [[ 9.83983581e-01 1.75285472e-01 3.24240021e-02 1.26678161e+02] [-1.75204168e-01 9.84517564e-01 -5.35408548e-03 -1.31339351e+01] [-3.28604930e-02 -4.12488107e-04 9.99459863e-01 -5.02035601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48587156000002 meters 0.01922168395040386 Centerline is valid? [True, True] Translation: X:126.73, Y:-13.14, Z:-5.02 [[ 9.83897230e-01 1.75645565e-01 3.30889224e-02 1.26734542e+02] [-1.75561143e-01 9.84453374e-01 -5.46247143e-03 -1.31388743e+01] [-3.35339602e-02 -4.34618540e-04 9.99437484e-01 -5.02299162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54587156 meters 0.02783658778050814 Centerline is valid? [True, True] Translation: X:126.79, Y:-13.14, Z:-5.02 [[ 9.83727953e-01 1.76608229e-01 3.29976913e-02 1.26793305e+02] [-1.76524921e-01 9.84281115e-01 -5.44418751e-03 -1.31442481e+01] [-3.34404927e-02 -4.69315414e-04 9.99440600e-01 -5.02483994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60587156 meters 0.020814682166553806 Centerline is valid? [True, True] Translation: X:126.85, Y:-13.15, Z:-5.03 [[ 9.83422118e-01 1.78276628e-01 3.31418386e-02 1.26851822e+02] [-1.78193591e-01 9.83980266e-01 -5.46635620e-03 -1.31498584e+01] [-3.35854387e-02 -5.29927653e-04 9.99435710e-01 -5.02663654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66587156 meters 0.02480083582599776 Centerline is valid? [True, True] Translation: X:126.91, Y:-13.15, Z:-5.03 [[ 9.82987676e-01 1.80754039e-01 3.26068402e-02 1.26910605e+02] [-1.80675072e-01 9.83528144e-01 -5.37662278e-03 -1.31482411e+01] [-3.30415913e-02 -6.06089268e-04 9.99453794e-01 -5.03053776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72587156 meters 0.02617529191132898 Centerline is valid? [True, True] Translation: X:126.97, Y:-13.15, Z:-5.03 [[ 9.82875226e-01 1.81236313e-01 3.33119912e-02 1.26968282e+02] [-1.81154235e-01 9.83439369e-01 -5.49099951e-03 -1.31523893e+01] [-3.37554921e-02 -6.37640888e-04 9.99429918e-01 -5.03269138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78587156 meters 0.023564190980375536 Centerline is valid? [True, True] Translation: X:127.03, Y:-13.16, Z:-5.03 [[ 9.83020864e-01 1.80493081e-01 3.30488873e-02 1.27026487e+02] [-1.80411985e-01 9.83576065e-01 -5.44430867e-03 -1.31607495e+01] [-3.34887546e-02 -6.10546348e-04 9.99438908e-01 -5.03484281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84587156 meters 0.021539341616884235 Centerline is valid? [True, True] Translation: X:127.08, Y:-13.17, Z:-5.04 [[ 9.83617196e-01 1.77263391e-01 3.27856907e-02 1.27083654e+02] [-1.77181841e-01 9.84163321e-01 -5.39935181e-03 -1.31715175e+01] [-3.32235816e-02 -4.98133753e-04 9.99447820e-01 -5.03903184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90587156 meters 0.019500125892946238 Centerline is valid? [True, True] Translation: X:127.14, Y:-13.18, Z:-5.04 [[ 9.83953513e-01 1.75457340e-01 3.24068934e-02 1.27141799e+02] [-1.75376736e-01 9.84486939e-01 -5.33540713e-03 -1.31817922e+01] [-3.28402997e-02 -4.33622616e-04 9.99460518e-01 -5.04180529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.96587156 meters 0.01681319582772351 Centerline is valid? [True, True] Translation: X:127.20, Y:-13.19, Z:-5.04 [[ 9.84455738e-01 1.72570880e-01 3.26525903e-02 1.27199195e+02] [-1.72487514e-01 9.84997043e-01 -5.37427705e-03 -1.31923423e+01] [-3.30901486e-02 -3.41426251e-04 9.99452313e-01 -5.04460781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.02587156 meters 0.01475769527606452 Centerline is valid? [True, True] Translation: X:127.26, Y:-13.21, Z:-5.05 [[ 9.84820261e-01 1.70650357e-01 3.17412794e-02 1.27257061e+02] [-1.70570629e-01 9.85331610e-01 -5.22284166e-03 -1.32052074e+01] [-3.21669658e-02 -2.70569709e-04 9.99482473e-01 -5.04758958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.08587156000002 meters 0.013600466888090742 Centerline is valid? [True, True] Translation: X:127.31, Y:-13.22, Z:-5.05 [[ 9.85340171e-01 1.67769888e-01 3.09517664e-02 1.27313835e+02] [-1.67692690e-01 9.85826169e-01 -5.09186059e-03 -1.32176427e+01] [-3.13673222e-02 -1.73170171e-04 9.99507909e-01 -5.05148065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14587156000002 meters 0.025268077390567526 Centerline is valid? [True, True] Translation: X:127.37, Y:-13.22, Z:-5.05 [[ 9.85343886e-01 1.67808160e-01 3.06242990e-02 1.27371531e+02] [-1.67732699e-01 9.85819654e-01 -5.03498897e-03 -1.32242088e+01] [-3.10349481e-02 -1.75500718e-04 9.99518285e-01 -5.05497591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20587156000002 meters 0.014568855270450366 Centerline is valid? [True, True] Translation: X:127.43, Y:-13.23, Z:-5.06 [[ 9.85089110e-01 1.69139790e-01 3.14829562e-02 1.27428953e+02] [-1.69060775e-01 9.85592046e-01 -5.17432281e-03 -1.32304481e+01] [-3.19045351e-02 -2.25363913e-04 9.99490895e-01 -5.05514149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26587156000002 meters 0.013980222323756031 Centerline is valid? [True, True] Translation: X:127.49, Y:-13.24, Z:-5.06 [[ 9.85180796e-01 1.68691224e-01 3.10172420e-02 1.27486861e+02] [-1.68614384e-01 9.85668924e-01 -5.09536492e-03 -1.32406092e+01] [-3.14322749e-02 -2.10097467e-04 9.99505862e-01 -5.05768100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32587156 meters 0.013691559264944041 Centerline is valid? [True, True] Translation: X:127.54, Y:-13.25, Z:-5.06 [[ 9.85422368e-01 1.67208326e-01 3.13708914e-02 1.27543589e+02] [-1.67129019e-01 9.85921573e-01 -5.15200350e-03 -1.32505694e+01] [-3.17906965e-02 -1.66086795e-04 9.99494534e-01 -5.06140054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38587156 meters 0.01339405102525259 Centerline is valid? [True, True] Translation: X:127.60, Y:-13.26, Z:-5.06 [[ 9.85581310e-01 1.66338470e-01 3.09999138e-02 1.27600601e+02] [-1.66260653e-01 9.86068707e-01 -5.08929649e-03 -1.32618295e+01] [-3.14145907e-02 -1.38150414e-04 9.99506430e-01 -5.06465386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44587156 meters 0.02938384298456347 Centerline is valid? [True, True] Translation: X:127.66, Y:-13.27, Z:-5.07 [[ 9.85914507e-01 1.64535064e-01 3.00132966e-02 1.27657705e+02] [-1.64461356e-01 9.86371231e-01 -4.92504405e-03 -1.32748973e+01] [-3.04145948e-02 -8.03550983e-05 9.99537366e-01 -5.06692608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50587156 meters 0.01258772588744917 Centerline is valid? [True, True] Translation: X:127.72, Y:-13.28, Z:-5.07 [[ 9.85924265e-01 1.64533294e-01 2.97008261e-02 1.27715162e+02] [-1.64461154e-01 9.86371527e-01 -4.87238630e-03 -1.32846124e+01] [-3.00977190e-02 -8.08282711e-05 9.99546958e-01 -5.07002463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56587156 meters 0.013477874566516395 Centerline is valid? [True, True] Translation: X:127.77, Y:-13.29, Z:-5.07 [[ 9.85685942e-01 1.65964974e-01 2.96454279e-02 1.27772121e+02] [-1.65893791e-01 9.86131640e-01 -4.86197309e-03 -1.32921785e+01] [-3.00412117e-02 -1.25613887e-04 9.99548653e-01 -5.07329324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62587156 meters 0.015182397055756946 Centerline is valid? [True, True] Translation: X:127.83, Y:-13.30, Z:-5.07 [[ 9.85176005e-01 1.68945948e-01 2.97574552e-02 1.27831535e+02] [-1.68875644e-01 9.85625293e-01 -4.87835732e-03 -1.32953120e+01] [-3.01538792e-02 -2.19268832e-04 9.99545244e-01 -5.07491410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.68587156 meters 0.01833612756143772 Centerline is valid? [True, True] Translation: X:127.89, Y:-13.30, Z:-5.08 [[ 9.84447264e-01 1.73052819e-01 3.02705474e-02 1.27891134e+02] [-1.72982054e-01 9.84912482e-01 -4.96099088e-03 -1.32974911e+01] [-3.06723534e-02 -3.52427555e-04 9.99529431e-01 -5.07669341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.74587156 meters 0.020953669366380444 Centerline is valid? [True, True] Translation: X:127.95, Y:-13.30, Z:-5.08 [[ 9.84019040e-01 1.75370776e-01 3.08483293e-02 1.27949020e+02] [-1.75298465e-01 9.84502363e-01 -5.05428468e-03 -1.33021134e+01] [-3.12566269e-02 -4.34152410e-04 9.99511298e-01 -5.07879993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.80587156 meters 0.021020063619648113 Centerline is valid? [True, True] Translation: X:128.01, Y:-13.31, Z:-5.08 [[ 9.83646679e-01 1.77519718e-01 3.04296019e-02 1.28008196e+02] [-1.77450443e-01 9.84117118e-01 -4.98379383e-03 -1.33072432e+01] [-3.08310138e-02 -4.97454076e-04 9.99524488e-01 -5.07985198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86587156000002 meters 0.022729053384324363 Centerline is valid? [True, True] Translation: X:128.07, Y:-13.31, Z:-5.08 [[ 9.83513980e-01 1.78377567e-01 2.96933389e-02 1.28066518e+02] [-1.78312034e-01 9.83961981e-01 -4.86189595e-03 -1.33104659e+01] [-3.00843697e-02 -5.12937011e-04 9.99547231e-01 -5.08446520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92587156000002 meters 0.02523552342372395 Centerline is valid? [True, True] Translation: X:128.12, Y:-13.32, Z:-5.09 [[ 9.83544711e-01 1.78375992e-01 2.86671749e-02 1.28123965e+02] [-1.78314961e-01 9.83962275e-01 -4.69215406e-03 -1.33153445e+01] [-2.90443863e-02 -4.96842851e-04 9.99577999e-01 -5.09098493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98587156000002 meters 0.022484658396985012 Centerline is valid? [True, True] Translation: X:128.18, Y:-13.32, Z:-5.09 [[ 9.83731838e-01 1.77291776e-01 2.89706374e-02 1.28182440e+02] [-1.77228986e-01 9.84158222e-01 -4.74144083e-03 -1.33238403e+01] [-2.93523095e-02 -4.70130404e-04 9.99569018e-01 -5.09118722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04587156 meters 0.02144373092147989 Centerline is valid? [True, True] Translation: X:128.24, Y:-13.33, Z:-5.09 [[ 9.84014241e-01 1.75597420e-01 2.96903834e-02 1.28239418e+02] [-1.75530899e-01 9.84461962e-01 -4.85261081e-03 -1.33319173e+01] [-3.00811590e-02 -4.36541545e-04 9.99547364e-01 -5.09300802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10587156 meters 0.018823130950326287 Centerline is valid? [True, True] Translation: X:128.30, Y:-13.34, Z:-5.09 [[ 9.84468798e-01 1.73073759e-01 2.94390728e-02 1.28297594e+02] [-1.73007288e-01 9.84908801e-01 -4.80962062e-03 -1.33416910e+01] [-2.98272210e-02 -3.58252721e-04 9.99555005e-01 -5.09497176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16587156 meters 0.01681133949282483 Centerline is valid? [True, True] Translation: X:128.36, Y:-13.35, Z:-5.10 [[ 9.84845127e-01 1.71029363e-01 2.87929160e-02 1.28355207e+02] [-1.70964944e-01 9.85265889e-01 -4.70271006e-03 -1.33536427e+01] [-2.91729795e-02 -2.91138191e-04 9.99574336e-01 -5.09809201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22587156 meters 0.01633420713057525 Centerline is valid? [True, True] Translation: X:128.41, Y:-13.36, Z:-5.10 [[ 9.85293993e-01 1.68639780e-01 2.75022025e-02 1.28411011e+02] [-1.68580099e-01 9.85677726e-01 -4.49114675e-03 -1.33630362e+01] [-2.78656944e-02 -2.11224096e-04 9.99611654e-01 -5.10476867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28587156 meters 0.01476775820569965 Centerline is valid? [True, True] Translation: X:128.47, Y:-13.38, Z:-5.11 [[ 9.85483046e-01 1.67508068e-01 2.76444099e-02 1.28468673e+02] [-1.67447404e-01 9.85870688e-01 -4.51145809e-03 -1.33751417e+01] [-2.80095190e-02 -1.83019200e-04 9.99607640e-01 -5.10526257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34587156 meters 0.015611047927825089 Centerline is valid? [True, True] Translation: X:128.53, Y:-13.38, Z:-5.11 [[ 9.85457037e-01 1.67576147e-01 2.81542658e-02 1.28526232e+02] [-1.67513288e-01 9.85859117e-01 -4.59338147e-03 -1.33817010e+01] [-2.85258808e-02 -1.89633546e-04 9.99593036e-01 -5.10866217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40587156 meters 0.0157107749351716 Centerline is valid? [True, True] Translation: X:128.58, Y:-13.39, Z:-5.11 [[ 9.85320345e-01 1.68292520e-01 2.86608532e-02 1.28583361e+02] [-1.68227731e-01 9.85737075e-01 -4.67433983e-03 -1.33889107e+01] [-2.90387221e-02 -2.15828167e-04 9.99578264e-01 -5.10916275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.46587156 meters 0.015972052910776892 Centerline is valid? [True, True] Translation: X:128.64, Y:-13.39, Z:-5.11 [[ 9.85140800e-01 1.69239064e-01 2.92530769e-02 1.28640961e+02] [-1.69172050e-01 9.85574998e-01 -4.76876227e-03 -1.33945326e+01] [-2.96381621e-02 -2.50900725e-04 9.99560662e-01 -5.10999563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.52587156 meters 0.017988582636165023 Centerline is valid? [True, True] Translation: X:128.70, Y:-13.40, Z:-5.11 [[ 9.84857543e-01 1.70958875e-01 2.87868569e-02 1.28698935e+02] [-1.70894780e-01 9.85278120e-01 -4.69054504e-03 -1.33980625e+01] [-2.91649506e-02 -3.00004926e-04 9.99574567e-01 -5.11367061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.58587156000002 meters 0.01778123166732057 Centerline is valid? [True, True] Translation: X:128.76, Y:-13.40, Z:-5.11 [[ 9.84685376e-01 1.71926471e-01 2.89136316e-02 1.28757663e+02] [-1.71862282e-01 9.85109729e-01 -4.70932744e-03 -1.34035412e+01] [-2.92927578e-02 -3.31956845e-04 9.99570820e-01 -5.11435652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64587156000002 meters 0.01793296739497194 Centerline is valid? [True, True] Translation: X:128.82, Y:-13.41, Z:-5.12 [[ 9.84685871e-01 1.71700870e-01 3.02083777e-02 1.28815579e+02] [-1.71630731e-01 9.85149072e-01 -4.91908608e-03 -1.34091990e+01] [-3.06043666e-02 -3.40931371e-04 9.99531519e-01 -5.11546590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70587156000002 meters 0.017409747554591334 Centerline is valid? [True, True] Translation: X:128.87, Y:-13.42, Z:-5.12 [[ 9.84720475e-01 1.71466711e-01 3.04097391e-02 1.28873650e+02] [-1.71395623e-01 9.85189856e-01 -4.94856625e-03 -1.34178037e+01] [-3.08078809e-02 -3.39141677e-04 9.99525267e-01 -5.11718035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76587156000002 meters 0.016582288147098546 Centerline is valid? [True, True] Translation: X:128.93, Y:-13.43, Z:-5.12 [[ 9.84843930e-01 1.70808937e-01 3.01121250e-02 1.28931200e+02] [-1.70738971e-01 9.85304119e-01 -4.89868232e-03 -1.34270812e+01] [-3.05063395e-02 -3.16875683e-04 9.99534523e-01 -5.12006058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82587156 meters 0.01747246480164369 Centerline is valid? [True, True] Translation: X:128.99, Y:-13.43, Z:-5.13 [[ 9.85039941e-01 1.69805252e-01 2.93681961e-02 1.28987445e+02] [-1.69738266e-01 9.85477599e-01 -4.77730528e-03 -1.34348565e+01] [-2.97529109e-02 -2.79070160e-04 9.99557245e-01 -5.12645630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88587156 meters 0.02083635111508394 Centerline is valid? [True, True] Translation: X:129.05, Y:-13.44, Z:-5.13 [[ 9.85180621e-01 1.69016837e-01 2.91967810e-02 1.29045610e+02] [-1.68950433e-01 9.85613130e-01 -4.74439612e-03 -1.34447580e+01] [-2.95786135e-02 -2.58721662e-04 9.99562424e-01 -5.12575981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94587156 meters 0.01637754883634659 Centerline is valid? [True, True] Translation: X:129.10, Y:-13.45, Z:-5.13 [[ 9.85156263e-01 1.69030444e-01 2.99306823e-02 1.29102914e+02] [-1.68960707e-01 9.85610794e-01 -4.86227720e-03 -1.34524463e+01] [-3.03218764e-02 -2.67006416e-04 9.99540151e-01 -5.12793740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00587156 meters 0.01742412783718559 Centerline is valid? [True, True] Translation: X:129.16, Y:-13.46, Z:-5.13 [[ 9.85005258e-01 1.69850212e-01 3.02579926e-02 1.29160832e+02] [-1.69779385e-01 9.85469846e-01 -4.91358975e-03 -1.34587964e+01] [-3.06529135e-02 -2.97271639e-04 9.99530045e-01 -5.13026693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06587156 meters 0.016213717711027528 Centerline is valid? [True, True] Translation: X:129.22, Y:-13.47, Z:-5.13 [[ 9.85146257e-01 1.69228052e-01 2.91327665e-02 1.29218498e+02] [-1.69162175e-01 9.85576884e-01 -4.72912549e-03 -1.34698018e+01] [-2.95128819e-02 -2.69281852e-04 9.99564364e-01 -5.13209227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12587156 meters 0.022335932676897166 Centerline is valid? [True, True] Translation: X:129.28, Y:-13.48, Z:-5.14 [[ 9.85391553e-01 1.67824858e-01 2.89534776e-02 1.29275065e+02] [-1.67759221e-01 9.85816801e-01 -4.69875648e-03 -1.34793632e+01] [-2.93313928e-02 -2.27097909e-04 9.99569716e-01 -5.13510460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.18587156 meters 0.017581369767244656 Centerline is valid? [True, True] Translation: X:129.33, Y:-13.49, Z:-5.14 [[ 9.85416663e-01 1.67548463e-01 2.96902980e-02 1.29331804e+02] [-1.67479374e-01 9.85863815e-01 -4.81643190e-03 -1.34881503e+01] [-3.00775762e-02 -2.26320267e-04 9.99547542e-01 -5.13642209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.24587156 meters 0.015882095411799652 Centerline is valid? [True, True] Translation: X:129.39, Y:-13.49, Z:-5.14 [[ 9.85369172e-01 1.67987289e-01 2.87726583e-02 1.29390453e+02] [-1.67922597e-01 9.85789134e-01 -4.66740577e-03 -1.34936900e+01] [-2.91478388e-02 -2.32461748e-04 9.99575084e-01 -5.13945757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.30587156 meters 0.015512606543647936 Centerline is valid? [True, True] Translation: X:129.45, Y:-13.50, Z:-5.14 [[ 9.85337427e-01 1.68275681e-01 2.81682461e-02 1.29448511e+02] [-1.68213977e-01 9.85739944e-01 -4.56305768e-03 -1.35023974e+01] [-2.85344170e-02 -2.42141183e-04 9.99592781e-01 -5.14143454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36587156000002 meters 0.01734679858276515 Centerline is valid? [True, True] Translation: X:129.51, Y:-13.51, Z:-5.15 [[ 9.85311700e-01 1.68413614e-01 2.82437268e-02 1.29505702e+02] [-1.68351662e-01 9.85716386e-01 -4.57435104e-03 -1.35066610e+01] [-2.86106873e-02 -2.47716740e-04 9.99590600e-01 -5.14710355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42587156000002 meters 0.01599563164200955 Centerline is valid? [True, True] Translation: X:129.56, Y:-13.52, Z:-5.15 [[ 9.85440511e-01 1.67694719e-01 2.80264369e-02 1.29563179e+02] [-1.67633453e-01 9.85838947e-01 -4.53820287e-03 -1.35171566e+01] [-2.83905857e-02 -2.26039439e-04 9.99596881e-01 -5.14779841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48587156000002 meters 0.014640905218037249 Centerline is valid? [True, True] Translation: X:129.62, Y:-13.53, Z:-5.15 [[ 9.85842267e-01 1.65384527e-01 2.76221440e-02 1.29620639e+02] [-1.65324316e-01 9.86229147e-01 -4.46537951e-03 -1.35283998e+01] [-2.79802682e-02 -1.64452201e-04 9.99608462e-01 -5.15038114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54587156 meters 0.01412637991629051 Centerline is valid? [True, True] Translation: X:129.68, Y:-13.54, Z:-5.15 [[ 9.86108707e-01 1.63721300e-01 2.80170309e-02 1.29677563e+02] [-1.63658718e-01 9.86506625e-01 -4.52796973e-03 -1.35363102e+01] [-2.83803117e-02 -1.20160991e-04 9.99597191e-01 -5.15275944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60587156 meters 0.013278380916205281 Centerline is valid? [True, True] Translation: X:129.74, Y:-13.55, Z:-5.15 [[ 9.86442074e-01 1.61672533e-01 2.81784821e-02 1.29735266e+02] [-1.61608445e-01 9.86844460e-01 -4.55216434e-03 -1.35492142e+01] [-2.85437389e-02 -6.34342464e-05 9.99592542e-01 -5.15432217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66587156 meters 0.013255240350202611 Centerline is valid? [True, True] Translation: X:129.79, Y:-13.56, Z:-5.16 [[ 9.86651854e-01 1.60566164e-01 2.71408500e-02 1.29793145e+02] [-1.60506326e-01 9.87025079e-01 -4.38329723e-03 -1.35587764e+01] [-2.74925088e-02 -3.14897869e-05 9.99622009e-01 -5.15792158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72587156 meters 0.014991916278955415 Centerline is valid? [True, True] Translation: X:129.85, Y:-13.57, Z:-5.16 [[ 9.86712266e-01 1.60054747e-01 2.79532005e-02 1.29851459e+02] [-1.59991108e-01 9.87108139e-01 -4.51305178e-03 -1.35683655e+01] [-2.83151671e-02 -1.91799817e-05 9.99599045e-01 -5.15787677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78587156 meters 0.019475405422716332 Centerline is valid? [True, True] Translation: X:129.91, Y:-13.58, Z:-5.16 [[ 9.87034620e-01 1.57870565e-01 2.89748844e-02 1.29907810e+02] [-1.57801287e-01 9.87459813e-01 -4.67666108e-03 -1.35818605e+01] [-2.93498411e-02 4.37523418e-05 9.99569200e-01 -5.15810572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84587156 meters 0.013511964538781703 Centerline is valid? [True, True] Translation: X:129.97, Y:-13.60, Z:-5.16 [[ 9.87392535e-01 1.55814446e-01 2.78897997e-02 1.29965172e+02] [-1.55749490e-01 9.87786337e-01 -4.49976219e-03 -1.35965360e+01] [-2.82502910e-02 9.92095223e-05 9.99600876e-01 -5.16422791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90587156 meters 0.023556143020740678 Centerline is valid? [True, True] Translation: X:130.02, Y:-13.61, Z:-5.16 [[ 9.87507094e-01 1.54964418e-01 2.85616630e-02 1.30023067e+02] [-1.54895979e-01 9.87920044e-01 -4.60676421e-03 -1.36082709e+01] [-2.89305239e-02 1.25125606e-04 9.99581417e-01 -5.16251898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.96587156 meters 0.013945733013204268 Centerline is valid? [True, True] Translation: X:130.08, Y:-13.62, Z:-5.17 [[ 9.87633080e-01 1.54060529e-01 2.90904136e-02 1.30079808e+02] [-1.53989179e-01 9.88061400e-01 -4.69072286e-03 -1.36215461e+01] [-2.94657700e-02 1.53104163e-04 9.99565778e-01 -5.16645129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.02587156 meters 0.014211826357891455 Centerline is valid? [True, True] Translation: X:130.14, Y:-13.64, Z:-5.17 [[ 9.87836360e-01 1.52764178e-01 2.90246884e-02 1.30137047e+02] [-1.52692647e-01 9.88262652e-01 -4.67820989e-03 -1.36363366e+01] [-2.93986784e-02 1.89449340e-04 9.99567747e-01 -5.16773260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.08587156000002 meters 0.014605902581355438 Centerline is valid? [True, True] Translation: X:130.19, Y:-13.65, Z:-5.17 [[ 9.87919519e-01 1.52324471e-01 2.85005167e-02 1.30193866e+02] [-1.52255357e-01 9.88330520e-01 -4.59238140e-03 -1.36507384e+01] [-2.88674626e-02 1.97546893e-04 9.99583228e-01 -5.17128490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14587156000002 meters 0.014520793558064423 Centerline is valid? [True, True] Translation: X:130.25, Y:-13.66, Z:-5.17 [[ 9.87877548e-01 1.52631750e-01 2.83107459e-02 1.30250265e+02] [-1.52563708e-01 9.88283114e-01 -4.56078121e-03 -1.36623655e+01] [-2.86751521e-02 1.86300990e-04 9.99588766e-01 -5.17342016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20587156000002 meters 0.013929641609506794 Centerline is valid? [True, True] Translation: X:130.31, Y:-13.67, Z:-5.18 [[ 9.87631090e-01 1.54269708e-01 2.80301295e-02 1.30307096e+02] [-1.54203729e-01 9.88028764e-01 -4.51343432e-03 -1.36740797e+01] [-2.83908604e-02 1.35257569e-04 9.99596889e-01 -5.17645679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26587156000002 meters 0.022232109120808724 Centerline is valid? [True, True] Translation: X:130.37, Y:-13.68, Z:-5.18 [[ 9.87284300e-01 1.56487104e-01 2.79552757e-02 1.30365638e+02] [-1.56422416e-01 9.87680000e-01 -4.49960489e-03 -1.36830510e+01] [-2.83149969e-02 6.95574993e-05 9.99599048e-01 -5.17607154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32587156 meters 0.013163913352022893 Centerline is valid? [True, True] Translation: X:130.42, Y:-13.69, Z:-5.18 [[ 9.87250876e-01 1.56597202e-01 2.85135880e-02 1.30422543e+02] [-1.56529986e-01 9.87662550e-01 -4.58818970e-03 -1.36947085e+01] [-2.88803007e-02 6.64627690e-05 9.99582875e-01 -5.18020988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38587156 meters 0.013676142107477132 Centerline is valid? [True, True] Translation: X:130.48, Y:-13.71, Z:-5.18 [[ 9.87359010e-01 1.56010443e-01 2.79808220e-02 1.30479304e+02] [-1.55945529e-01 9.87755403e-01 -4.50076736e-03 -1.37076695e+01] [-2.83403748e-02 8.03891291e-05 9.99598328e-01 -5.18395998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44587156 meters 0.012699697113929119 Centerline is valid? [True, True] Translation: X:130.54, Y:-13.72, Z:-5.18 [[ 9.87399683e-01 1.55410721e-01 2.98223772e-02 1.30536855e+02] [-1.55336766e-01 9.87849937e-01 -4.79498658e-03 -1.37218116e+01] [-3.02052257e-02 1.02056619e-04 9.99543713e-01 -5.18124647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50587156 meters 0.012873022793338906 Centerline is valid? [True, True] Translation: X:130.59, Y:-13.73, Z:-5.18 [[ 9.87496982e-01 1.54665287e-01 3.04690026e-02 1.30594131e+02] [-1.54587780e-01 9.87966919e-01 -4.89745323e-03 -1.37332918e+01] [-3.08598326e-02 1.26084805e-04 9.99523714e-01 -5.18199915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56587156 meters 0.01451242935493728 Centerline is valid? [True, True] Translation: X:130.65, Y:-13.75, Z:-5.19 [[ 9.87932497e-01 1.51925934e-01 3.01312497e-02 1.30649614e+02] [-1.51848901e-01 9.88391859e-01 -4.84188943e-03 -1.37515563e+01] [-3.05170904e-02 2.08062778e-04 9.99534223e-01 -5.18604112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62587156 meters 0.01621193905136652 Centerline is valid? [True, True] Translation: X:130.71, Y:-13.77, Z:-5.19 [[ 9.88278117e-01 1.49865232e-01 2.90993943e-02 1.30706269e+02] [-1.49792545e-01 9.88706399e-01 -4.67430703e-03 -1.37675786e+01] [-2.94712735e-02 2.60643029e-04 9.99565594e-01 -5.19060921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.68587156 meters 0.017538339649891717 Centerline is valid? [True, True] Translation: X:130.76, Y:-13.79, Z:-5.19 [[ 9.88670643e-01 1.47155751e-01 2.95895931e-02 1.30762571e+02] [-1.47079422e-01 9.89113272e-01 -4.75165592e-03 -1.37869003e+01] [-2.99666927e-02 3.45802457e-04 9.99550838e-01 -5.19184677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.74587156 meters 0.01815407329419382 Centerline is valid? [True, True] Translation: X:130.82, Y:-13.80, Z:-5.19 [[ 9.88882954e-01 1.45774500e-01 2.93308325e-02 1.30819622e+02] [-1.45698934e-01 9.89317769e-01 -4.70872905e-03 -1.38017537e+01] [-2.97039264e-02 3.82910866e-04 9.99558668e-01 -5.19382149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.80587156 meters 0.01817917160831223 Centerline is valid? [True, True] Translation: X:130.88, Y:-13.82, Z:-5.20 [[ 9.88853584e-01 1.46320417e-01 2.75485790e-02 1.30876741e+02] [-1.46254004e-01 9.89237190e-01 -4.42137963e-03 -1.38155588e+01] [-2.78990170e-02 3.43007119e-04 9.99610688e-01 -5.19867372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86587156000002 meters 0.015264556721918333 Centerline is valid? [True, True] Translation: X:130.93, Y:-13.82, Z:-5.20 [[ 9.88171810e-01 1.50996348e-01 2.67689506e-02 1.30934743e+02] [-1.50935388e-01 9.88534300e-01 -4.29501178e-03 -1.38229027e+01] [-2.71105569e-02 2.03827610e-04 9.99632421e-01 -5.20250003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92587156000002 meters 0.013438987986269267 Centerline is valid? [True, True] Translation: X:130.99, Y:-13.83, Z:-5.21 [[ 9.87463325e-01 1.55544682e-01 2.68706998e-02 1.30993624e+02] [-1.55484960e-01 9.87828854e-01 -4.31062584e-03 -1.38298058e+01] [-2.72141475e-02 7.85952401e-05 9.99629623e-01 -5.20520290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98587156000002 meters 0.013036665388898229 Centerline is valid? [True, True] Translation: X:131.05, Y:-13.83, Z:-5.21 [[ 9.86737673e-01 1.59948979e-01 2.76602259e-02 1.31052815e+02] [-1.59887510e-01 9.87125282e-01 -4.43419104e-03 -1.38337590e+01] [-2.80133526e-02 -4.71413127e-05 9.99607548e-01 -5.20664304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04587156 meters 0.013515050214282127 Centerline is valid? [True, True] Translation: X:131.11, Y:-13.85, Z:-5.21 [[ 9.86705825e-01 1.60241298e-01 2.70987476e-02 1.31109207e+02] [-1.60182441e-01 9.87077871e-01 -4.34308948e-03 -1.38484141e+01] [-2.74445164e-02 -5.53918553e-05 9.99623327e-01 -5.21118486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10587156 meters 0.013262490805656132 Centerline is valid? [True, True] Translation: X:131.17, Y:-13.86, Z:-5.21 [[ 9.86780019e-01 1.59569860e-01 2.83311562e-02 1.31166115e+02] [-1.59505301e-01 9.87186638e-01 -4.53878422e-03 -1.38609459e+01] [-2.86923920e-02 -4.01880213e-05 9.99588288e-01 -5.21259388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16587156 meters 0.011898783567589836 Centerline is valid? [True, True] Translation: X:131.22, Y:-13.88, Z:-5.21 [[ 9.86988389e-01 1.58200155e-01 2.87511756e-02 1.31223167e+02] [-1.58133139e-01 9.87407065e-01 -4.60425512e-03 -1.38786377e+01] [-2.91175078e-02 -2.16730507e-06 9.99575995e-01 -5.21034214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22587156 meters 0.018547768377974835 Centerline is valid? [True, True] Translation: X:131.28, Y:-13.89, Z:-5.21 [[ 9.87235944e-01 1.56630065e-01 2.88481201e-02 1.31279084e+02] [-1.56561965e-01 9.87657340e-01 -4.61845145e-03 -1.38929121e+01] [-2.92154459e-02 4.29828897e-05 9.99573137e-01 -5.21389171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28587156 meters 0.012919921760255755 Centerline is valid? [True, True] Translation: X:131.34, Y:-13.91, Z:-5.22 [[ 9.87485499e-01 1.55084531e-01 2.86561948e-02 1.31335616e+02] [-1.55016742e-01 9.87901200e-01 -4.58571080e-03 -1.39083365e+01] [-2.90206620e-02 8.61329584e-05 9.99578808e-01 -5.21762675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34587156 meters 0.012726293224345342 Centerline is valid? [True, True] Translation: X:131.39, Y:-13.92, Z:-5.22 [[ 9.87547888e-01 1.54735163e-01 2.83936473e-02 1.31392874e+02] [-1.54668505e-01 9.87955981e-01 -4.54236872e-03 -1.39221929e+01] [-2.87545379e-02 9.42036505e-05 9.99586498e-01 -5.21910161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40587156 meters 0.02756034376253327 Centerline is valid? [True, True] Translation: X:131.45, Y:-13.94, Z:-5.22 [[ 9.87496035e-01 1.55065503e-01 2.83949043e-02 1.31448656e+02] [-1.54999012e-01 9.87904187e-01 -4.54132136e-03 -1.39378982e+01] [-2.87556472e-02 8.33547338e-05 9.99586467e-01 -5.22216906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.46587156 meters 0.012758936817057125 Centerline is valid? [True, True] Translation: X:131.51, Y:-13.95, Z:-5.22 [[ 9.87269107e-01 1.56456958e-01 2.86518899e-02 1.31506782e+02] [-1.56389899e-01 9.87684777e-01 -4.58047634e-03 -1.39470139e+01] [-2.90156829e-02 4.12966094e-05 9.99578956e-01 -5.22494078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.52587156 meters 0.012832038626721963 Centerline is valid? [True, True] Translation: X:131.57, Y:-13.95, Z:-5.23 [[ 9.86805578e-01 1.59373680e-01 2.85443759e-02 1.31565008e+02] [-1.59308383e-01 9.87218328e-01 -4.56193810e-03 -1.39528066e+01] [-2.89065839e-02 -4.56123905e-05 9.99582116e-01 -5.22685652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.58587156000002 meters 0.02264986178942666 Centerline is valid? [True, True] Translation: X:131.62, Y:-13.96, Z:-5.23 [[ 9.86321128e-01 1.62441682e-01 2.79880703e-02 1.31623523e+02] [-1.62380177e-01 9.86718137e-01 -4.47171585e-03 -1.39592022e+01] [-2.83427297e-02 -1.34159980e-04 9.99598255e-01 -5.22988884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64587156000002 meters 0.02239272722325906 Centerline is valid? [True, True] Translation: X:131.68, Y:-13.96, Z:-5.23 [[ 9.85784664e-01 1.65788573e-01 2.72533456e-02 1.31682407e+02] [-1.65731567e-01 9.86161294e-01 -4.35309404e-03 -1.39628863e+01] [-2.75978878e-02 -2.25526317e-04 9.99619080e-01 -5.23314462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70587156000002 meters 0.016444988871633197 Centerline is valid? [True, True] Translation: X:131.74, Y:-13.97, Z:-5.24 [[ 9.85756658e-01 1.65930372e-01 2.74029695e-02 1.31739250e+02] [-1.65872821e-01 9.86137444e-01 -4.37598945e-03 -1.39715816e+01] [-2.77492038e-02 -2.31747128e-04 9.99614890e-01 -5.23672933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76587156000002 meters 0.01425207174870973 Centerline is valid? [True, True] Translation: X:131.80, Y:-13.99, Z:-5.24 [[ 9.86305556e-01 1.62497483e-01 2.82120202e-02 1.31797141e+02] [-1.62435138e-01 9.86708948e-01 -4.50309044e-03 -1.39853704e+01] [-2.85687937e-02 -1.41200279e-04 9.99591819e-01 -5.23840628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82587156 meters 0.01666174134130595 Centerline is valid? [True, True] Translation: X:131.85, Y:-14.00, Z:-5.24 [[ 9.86999966e-01 1.58177278e-01 2.84783247e-02 1.31854246e+02] [-1.58112025e-01 9.87410729e-01 -4.54303444e-03 -1.40018410e+01] [-2.88384082e-02 -1.87907554e-05 9.99584086e-01 -5.23934896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88587156 meters 0.013770437253941828 Centerline is valid? [True, True] Translation: X:131.91, Y:-14.02, Z:-5.24 [[ 9.88025833e-01 1.51661022e-01 2.83529216e-02 1.31911242e+02] [-1.51593707e-01 9.88432550e-01 -4.52130772e-03 -1.40237483e+01] [-2.87106568e-02 1.69044330e-04 9.99587750e-01 -5.24216033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94587156 meters 0.015323910252421826 Centerline is valid? [True, True] Translation: X:131.97, Y:-14.04, Z:-5.24 [[ 9.88397202e-01 1.49243356e-01 2.82381177e-02 1.31969398e+02] [-1.49175619e-01 9.88800467e-01 -4.50230118e-03 -1.40398640e+01] [-2.85938025e-02 2.37623220e-04 9.99591085e-01 -5.24444233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00587156 meters 0.015800480653641792 Centerline is valid? [True, True] Translation: X:132.03, Y:-14.05, Z:-5.24 [[ 9.88544164e-01 1.48066674e-01 2.92693816e-02 1.32028029e+02] [-1.47993404e-01 9.88977341e-01 -4.66596295e-03 -1.40525423e+01] [-2.96376288e-02 2.80835013e-04 9.99560670e-01 -5.24476133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06587156 meters 0.015900594535122718 Centerline is valid? [True, True] Translation: X:132.09, Y:-14.06, Z:-5.25 [[ 9.88479399e-01 1.48382525e-01 2.98513654e-02 1.32086007e+02] [-1.48306483e-01 9.88930003e-01 -4.75783003e-03 -1.40639854e+01] [-3.02268897e-02 2.75865951e-04 9.99543025e-01 -5.24645265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12587156 meters 0.015502035425313837 Centerline is valid? [True, True] Translation: X:132.15, Y:-14.08, Z:-5.25 [[ 9.88401735e-01 1.48984424e-01 2.94219672e-02 1.32145454e+02] [-1.48910836e-01 9.88839510e-01 -4.68888989e-03 -1.40754369e+01] [-2.97921752e-02 2.53257175e-04 9.99556083e-01 -5.25011946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.18587156 meters 0.01509857122926611 Centerline is valid? [True, True] Translation: X:132.20, Y:-14.09, Z:-5.25 [[ 9.88223759e-01 1.50302877e-01 2.86853267e-02 1.32204019e+02] [-1.50233479e-01 9.88639976e-01 -4.57164961e-03 -1.40876812e+01] [-2.90465928e-02 2.08316339e-04 9.99578037e-01 -5.25452629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.24587156 meters 0.013702568734601394 Centerline is valid? [True, True] Translation: X:132.26, Y:-14.10, Z:-5.26 [[ 9.87886897e-01 1.52397441e-01 2.92318248e-02 1.32262915e+02] [-1.52326295e-01 9.88319279e-01 -4.65853837e-03 -1.40952282e+01] [-2.96003253e-02 1.49333442e-04 9.99561803e-01 -5.25632628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.30587156 meters 0.011687003651651052 Centerline is valid? [True, True] Translation: X:132.32, Y:-14.10, Z:-5.26 [[ 9.86982194e-01 1.58039599e-01 2.98267163e-02 1.32323264e+02] [-1.57968122e-01 9.87432775e-01 -4.75264036e-03 -1.40973579e+01] [-3.02029826e-02 -2.08989500e-05 9.99543786e-01 -5.25508832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36587156000002 meters 0.015811489431743906 Centerline is valid? [True, True] Translation: X:132.38, Y:-14.10, Z:-5.26 [[ 9.86004591e-01 1.64249294e-01 2.85852540e-02 1.32382589e+02] [-1.64186266e-01 9.86418840e-01 -4.55430581e-03 -1.40977165e+01] [-2.89450746e-02 -2.02739674e-04 9.99580983e-01 -5.26376193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42587156000002 meters 0.02950030192221336 Centerline is valid? [True, True] Translation: X:132.44, Y:-14.10, Z:-5.26 [[ 9.85554494e-01 1.67021426e-01 2.80389625e-02 1.32440670e+02] [-1.66961921e-01 9.85953227e-01 -4.46672490e-03 -1.41037405e+01] [-2.83911443e-02 -2.79238235e-04 9.99596851e-01 -5.26371276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48587156000002 meters 0.020228884615982195 Centerline is valid? [True, True] Translation: X:132.50, Y:-14.11, Z:-5.27 [[ 9.85315446e-01 1.68455913e-01 2.78581584e-02 1.32498439e+02] [-1.68397807e-01 9.85709137e-01 -4.43576481e-03 -1.41068810e+01] [-2.82072721e-02 -3.20625209e-04 9.99602044e-01 -5.27118885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54587156 meters 0.017413181530606663 Centerline is valid? [True, True] Translation: X:132.56, Y:-14.12, Z:-5.27 [[ 9.85340821e-01 1.68202870e-01 2.84826545e-02 1.32556020e+02] [-1.68142081e-01 9.85752348e-01 -4.53322773e-03 -1.41177967e+01] [-2.88393455e-02 -3.22358460e-04 9.99584008e-01 -5.26812691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60587156 meters 0.018786398710848397 Centerline is valid? [True, True] Translation: X:132.61, Y:-14.13, Z:-5.27 [[ 9.85375320e-01 1.67976813e-01 2.86228651e-02 1.32614253e+02] [-1.67915370e-01 9.85790895e-01 -4.55410400e-03 -1.41264294e+01] [-2.89811436e-02 -3.18717288e-04 9.99579908e-01 -5.27058395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66587156 meters 0.017492290533940826 Centerline is valid? [True, True] Translation: X:132.67, Y:-14.13, Z:-5.27 [[ 9.85296151e-01 1.68461837e-01 2.84974342e-02 1.32672743e+02] [-1.68401175e-01 9.85708120e-01 -4.53271736e-03 -1.41327741e+01] [-2.88537421e-02 -3.32932442e-04 9.99583589e-01 -5.27286758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72587156 meters 0.019132377503636347 Centerline is valid? [True, True] Translation: X:132.73, Y:-14.13, Z:-5.28 [[ 9.85183174e-01 1.69240502e-01 2.77806881e-02 1.32730590e+02] [-1.69183197e-01 9.85574721e-01 -4.41752856e-03 -1.41349648e+01] [-2.81275687e-02 -3.47950815e-04 9.99604281e-01 -5.27788833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78587156 meters 0.018925128456233252 Centerline is valid? [True, True] Translation: X:132.79, Y:-14.14, Z:-5.28 [[ 9.85124347e-01 1.69580697e-01 2.77922342e-02 1.32788722e+02] [-1.69523533e-01 9.85516239e-01 -4.41745542e-03 -1.41414092e+01] [-2.81388133e-02 -3.59694838e-04 9.99603960e-01 -5.27930713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84587156 meters 0.01888600543991114 Centerline is valid? [True, True] Translation: X:132.85, Y:-14.15, Z:-5.28 [[ 9.85287737e-01 1.68614234e-01 2.78803679e-02 1.32846670e+02] [-1.68556356e-01 9.85682062e-01 -4.43021185e-03 -1.41463984e+01] [-2.82281753e-02 -3.34379795e-04 9.99601450e-01 -5.28265196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90587156 meters 0.017574332394457853 Centerline is valid? [True, True] Translation: X:132.90, Y:-14.15, Z:-5.29 [[ 9.85570179e-01 1.66976216e-01 2.77554667e-02 1.32904850e+02] [-1.66918259e-01 9.85960882e-01 -4.40845133e-03 -1.41536808e+01] [-2.81019109e-02 -2.88056015e-04 9.99605022e-01 -5.28534594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.96587156 meters 0.014586586440702444 Centerline is valid? [True, True] Translation: X:132.96, Y:-14.16, Z:-5.29 [[ 9.86091869e-01 1.63710007e-01 2.86680767e-02 1.32963092e+02] [-1.63646837e-01 9.86508486e-01 -4.55194744e-03 -1.41628975e+01] [-2.90265003e-02 -2.02801732e-04 9.99578622e-01 -5.28579071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.02587156 meters 0.012709494809911216 Centerline is valid? [True, True] Translation: X:133.02, Y:-14.17, Z:-5.29 [[ 9.86692270e-01 1.59945619e-01 2.92534509e-02 1.33019928e+02] [-1.59878227e-01 9.87125823e-01 -4.64355390e-03 -1.41746792e+01] [-2.96195529e-02 -9.52311240e-05 9.99561240e-01 -5.28829563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.08587156000002 meters 0.02263779512149081 Centerline is valid? [True, True] Translation: X:133.08, Y:-14.19, Z:-5.29 [[ 9.86998126e-01 1.57917229e-01 2.99474257e-02 1.33077579e+02] [-1.57845729e-01 9.87452352e-01 -4.75167641e-03 -1.41852736e+01] [-3.03220275e-02 -3.71775154e-05 9.99540181e-01 -5.28970474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14587156000002 meters 0.01262506504878021 Centerline is valid? [True, True] Translation: X:133.13, Y:-14.20, Z:-5.29 [[ 9.88002436e-01 1.51296137e-01 3.09946077e-02 1.33134954e+02] [-1.51216335e-01 9.88488467e-01 -4.91629800e-03 -1.41992267e+01] [-3.13816292e-02 1.70423402e-04 9.99507461e-01 -5.28964209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20587156000002 meters 0.015729835721148312 Centerline is valid? [True, True] Translation: X:133.19, Y:-14.21, Z:-5.29 [[ 9.88762700e-01 1.46332606e-01 3.05792555e-02 1.33192946e+02] [-1.46252609e-01 9.89235394e-01 -4.84866642e-03 -1.42134972e+01] [-3.09595998e-02 3.21884608e-04 9.99520585e-01 -5.29219643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26587156000002 meters 0.0175355915025501 Centerline is valid? [True, True] Translation: X:133.25, Y:-14.22, Z:-5.30 [[ 9.89044903e-01 1.44554906e-01 2.99008051e-02 1.33250288e+02] [-1.44477625e-01 9.89496712e-01 -4.74051061e-03 -1.42242755e+01] [-3.02720124e-02 3.68580547e-04 9.99541630e-01 -5.29622171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32587156 meters 0.018681709059820518 Centerline is valid? [True, True] Translation: X:133.31, Y:-14.23, Z:-5.30 [[ 9.89214740e-01 1.43618335e-01 2.87744939e-02 1.33309732e+02] [-1.43546406e-01 9.89633078e-01 -4.56077733e-03 -1.42320153e+01] [-2.91312022e-02 3.81112993e-04 9.99575524e-01 -5.30036057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38587156 meters 0.018153793301489352 Centerline is valid? [True, True] Translation: X:133.37, Y:-14.24, Z:-5.30 [[ 9.89153849e-01 1.43853493e-01 2.96788597e-02 1.33369149e+02] [-1.43777099e-01 9.89598921e-01 -4.70337059e-03 -1.42399844e+01] [-3.00467638e-02 3.85216786e-04 9.99548420e-01 -5.30112303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44587156 meters 0.029191937814973024 Centerline is valid? [True, True] Translation: X:133.43, Y:-14.25, Z:-5.30 [[ 9.88950885e-01 1.45247458e-01 2.96533933e-02 1.33428395e+02] [-1.45171842e-01 9.89395300e-01 -4.69861684e-03 -1.42460957e+01] [-3.00213901e-02 3.41863542e-04 9.99549198e-01 -5.30301788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50587156 meters 0.016706490741498006 Centerline is valid? [True, True] Translation: X:133.49, Y:-14.25, Z:-5.31 [[ 9.88712914e-01 1.46733966e-01 3.02641228e-02 1.33487007e+02] [-1.46655919e-01 9.89175946e-01 -4.79476427e-03 -1.42526867e+01] [-3.06400971e-02 3.02232622e-04 9.99530436e-01 -5.30683409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56587156 meters 0.015472146243624335 Centerline is valid? [True, True] Translation: X:133.55, Y:-14.26, Z:-5.31 [[ 9.88651421e-01 1.47062866e-01 3.06737687e-02 1.33545390e+02] [-1.46982880e-01 9.89127103e-01 -4.85866982e-03 -1.42597468e+01] [-3.10547859e-02 2.95011952e-04 9.99517640e-01 -5.30770004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62587156 meters 0.017017551266351103 Centerline is valid? [True, True] Translation: X:133.60, Y:-14.27, Z:-5.31 [[ 9.88854981e-01 1.45724671e-01 3.04983135e-02 1.33602732e+02] [-1.45645014e-01 9.89325128e-01 -4.82918626e-03 -1.42705238e+01] [-3.08764795e-02 3.33437600e-04 9.99523152e-01 -5.31113330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68587156 meters 0.018802024750728737 Centerline is valid? [True, True] Translation: X:133.66, Y:-14.28, Z:-5.31 [[ 9.89139709e-01 1.43769275e-01 3.05455534e-02 1.33661143e+02] [-1.43688466e-01 9.89611156e-01 -4.83575757e-03 -1.42834335e+01] [-3.09234537e-02 3.94196141e-04 9.99521678e-01 -5.31448471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.74587156 meters 0.03398088764721354 Centerline is valid? [True, True] Translation: X:133.72, Y:-14.30, Z:-5.32 [[ 9.89501407e-01 1.41554161e-01 2.91442121e-02 1.33718619e+02] [-1.41479652e-01 9.89930414e-01 -4.61340835e-03 -1.42966335e+01] [-2.95037891e-02 4.41661060e-04 9.99564571e-01 -5.31890733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.80587156 meters 0.02939721519575382 Centerline is valid? [True, True] Translation: X:133.78, Y:-14.31, Z:-5.32 [[ 9.89716502e-01 1.40057557e-01 2.90710759e-02 1.33776588e+02] [-1.39982810e-01 9.90143246e-01 -4.60067051e-03 -1.43099472e+01] [-2.94288881e-02 4.83908618e-04 9.99566759e-01 -5.32070385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86587156000002 meters 0.022097317113850986 Centerline is valid? [True, True] Translation: X:133.84, Y:-14.32, Z:-5.32 [[ 9.89742063e-01 1.40018081e-01 2.83828537e-02 1.33835841e+02] [-1.39946845e-01 9.90148834e-01 -4.49077924e-03 -1.43213951e+01] [-2.87320398e-02 4.72622285e-04 9.99587038e-01 -5.32477274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92587156000002 meters 0.02392455998906086 Centerline is valid? [True, True] Translation: X:133.90, Y:-14.33, Z:-5.33 [[ 9.89651654e-01 1.40485063e-01 2.92155813e-02 1.33895278e+02] [-1.40409787e-01 9.90082685e-01 -4.62253469e-03 -1.43346653e+01] [-2.95752383e-02 4.72545542e-04 9.99562445e-01 -5.32503704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98587156000002 meters 0.020125901673681935 Centerline is valid? [True, True] Translation: X:133.95, Y:-14.34, Z:-5.33 [[ 9.89530244e-01 1.41345042e-01 2.91800471e-02 1.33954965e+02] [-1.41270323e-01 9.89960292e-01 -4.61691241e-03 -1.43443268e+01] [-2.95396656e-02 4.46299797e-04 9.99563509e-01 -5.32800326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04587156 meters 0.018761221411158303 Centerline is valid? [True, True] Translation: X:134.01, Y:-14.36, Z:-5.33 [[ 9.89298274e-01 1.42892541e-01 2.95067389e-02 1.34014436e+02] [-1.42816827e-01 9.89738126e-01 -4.66860209e-03 -1.43571935e+01] [-2.98710528e-02 4.04581177e-04 9.99553679e-01 -5.32946719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10587156 meters 0.017768407089100133 Centerline is valid? [True, True] Translation: X:134.07, Y:-14.37, Z:-5.33 [[ 9.89034343e-01 1.44602493e-01 3.00197824e-02 1.34072543e+02] [-1.44524905e-01 9.89489763e-01 -4.74991951e-03 -1.43679499e+01] [-3.03911175e-02 3.59227323e-04 9.99538019e-01 -5.33194732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16587156 meters 0.02073818064182829 Centerline is valid? [True, True] Translation: X:134.13, Y:-14.38, Z:-5.33 [[ 9.88698057e-01 1.46848913e-01 3.01918692e-02 1.34132347e+02] [-1.46771495e-01 9.89158891e-01 -4.77663957e-03 -1.43794060e+01] [-3.05660002e-02 2.91348486e-04 9.99532708e-01 -5.33309277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22587156 meters 0.014654713271221361 Centerline is valid? [True, True] Translation: X:134.19, Y:-14.39, Z:-5.34 [[ 9.88406725e-01 1.48958146e-01 2.93873717e-02 1.34191258e+02] [-1.48885737e-01 9.88843477e-01 -4.64919279e-03 -1.43890415e+01] [-2.97520460e-02 2.19932923e-04 9.99557286e-01 -5.33824782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28587156 meters 0.017841186285775065 Centerline is valid? [True, True] Translation: X:134.25, Y:-14.40, Z:-5.34 [[ 9.88126349e-01 1.50866169e-01 2.90812256e-02 1.34247778e+02] [-1.50796057e-01 9.88554183e-01 -4.60177492e-03 -1.44037152e+01] [-2.94426194e-02 1.61800902e-04 9.99566459e-01 -5.34194615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34587156 meters 0.018968113252898454 Centerline is valid? [True, True] Translation: X:134.31, Y:-14.41, Z:-5.34 [[ 9.87960356e-01 1.51711775e-01 3.02964009e-02 1.34307065e+02] [-1.51636116e-01 9.88424766e-01 -4.79278066e-03 -1.44130687e+01] [-3.06728342e-02 1.41048716e-04 9.99529468e-01 -5.34094276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40587156 meters 0.012082273008418154 Centerline is valid? [True, True] Translation: X:134.37, Y:-14.42, Z:-5.34 [[ 9.87700924e-01 1.53373791e-01 3.03869212e-02 1.34366142e+02] [-1.53298497e-01 9.88168241e-01 -4.80607176e-03 -1.44243634e+01] [-3.07645159e-02 8.86921704e-05 9.99526656e-01 -5.34393385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.46587156 meters 0.012545788718243987 Centerline is valid? [True, True] Translation: X:134.42, Y:-14.43, Z:-5.35 [[ 9.87011142e-01 1.57900646e-01 2.96038927e-02 1.34424118e+02] [-1.57831205e-01 9.87455003e-01 -4.68267430e-03 -1.44322782e+01] [-2.99719093e-02 -5.05663483e-05 9.99550740e-01 -5.34796737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.52587156 meters 0.01449479805016331 Centerline is valid? [True, True] Translation: X:134.48, Y:-14.44, Z:-5.35 [[ 9.86158053e-01 1.63004384e-01 3.03622367e-02 1.34482985e+02] [-1.62933786e-01 9.86625322e-01 -4.80160667e-03 -1.44368559e+01] [-3.07388345e-02 -2.11891095e-04 9.99527428e-01 -5.34916559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.58587156000002 meters 0.01650247819191581 Centerline is valid? [True, True] Translation: X:134.54, Y:-14.44, Z:-5.35 [[ 9.85749557e-01 1.65406898e-01 3.06328200e-02 1.34541680e+02] [-1.65336242e-01 9.86225366e-01 -4.84290750e-03 -1.44441828e+01] [-3.10119144e-02 -2.90821396e-04 9.99518973e-01 -5.35141582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64587156000002 meters 0.018091836761000447 Centerline is valid? [True, True] Translation: X:134.60, Y:-14.45, Z:-5.35 [[ 9.85234123e-01 1.68553797e-01 3.00556331e-02 1.34600635e+02] [-1.68487292e-01 9.85692381e-01 -4.74999021e-03 -1.44529720e+01] [-3.04262374e-02 -3.84139799e-04 9.99536941e-01 -5.35368318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70587156000002 meters 0.022231906094230966 Centerline is valid? [True, True] Translation: X:134.66, Y:-14.46, Z:-5.36 [[ 9.84903045e-01 1.70406596e-01 3.04562663e-02 1.34658776e+02] [-1.70339202e-01 9.85373732e-01 -4.81294456e-03 -1.44566478e+01] [-3.08309623e-02 -4.47612348e-04 9.99524513e-01 -5.35866037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76587156 meters 0.02211164556934022 Centerline is valid? [True, True] Translation: X:134.72, Y:-14.47, Z:-5.36 [[ 9.84538351e-01 1.72615297e-01 2.98025939e-02 1.34716478e+02] [-1.72551832e-01 9.84989189e-01 -4.70782254e-03 -1.44655854e+01] [-3.01678750e-02 -5.07460326e-04 9.99544717e-01 -5.35886072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82587156 meters 0.024727297970770352 Centerline is valid? [True, True] Translation: X:134.78, Y:-14.47, Z:-5.36 [[ 9.84086814e-01 1.75064563e-01 3.04227217e-02 1.34775221e+02] [-1.74999663e-01 9.84556775e-01 -4.80365634e-03 -1.44707787e+01] [-3.07938468e-02 -5.96751195e-04 9.99525579e-01 -5.35976276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88587156 meters 0.026935213253777106 Centerline is valid? [True, True] Translation: X:134.83, Y:-14.48, Z:-5.36 [[ 9.83635159e-01 1.77553910e-01 3.06020156e-02 1.34833702e+02] [-1.77489494e-01 9.84110841e-01 -4.83042705e-03 -1.44754740e+01] [-3.09734365e-02 -6.80158387e-04 9.99519977e-01 -5.36201887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94587156 meters 0.03035748658331148 Centerline is valid? [True, True] Translation: X:134.89, Y:-14.48, Z:-5.37 [[ 9.83118500e-01 1.80524040e-01 2.98175512e-02 1.34893755e+02] [-1.80464301e-01 9.83570282e-01 -4.70485306e-03 -1.44766454e+01] [-3.01769964e-02 -7.55575474e-04 9.99544285e-01 -5.36684808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00587156 meters 0.031685579365017584 Centerline is valid? [True, True] Translation: X:134.95, Y:-14.48, Z:-5.37 [[ 9.82996692e-01 1.81217703e-01 2.96251348e-02 1.34952113e+02] [-1.81159061e-01 9.83442702e-01 -4.67405927e-03 -1.44826896e+01] [-2.99816449e-02 -7.72276805e-04 9.99550151e-01 -5.36967026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06587156 meters 0.03245051920584167 Centerline is valid? [True, True] Translation: X:135.01, Y:-14.48, Z:-5.37 [[ 9.82937284e-01 1.81491622e-01 2.99180152e-02 1.35010964e+02] [-1.81431987e-01 9.83392174e-01 -4.71876946e-03 -1.44847875e+01] [-3.02775591e-02 -7.89830517e-04 9.99541218e-01 -5.37206515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12587156 meters 0.03246756669615984 Centerline is valid? [True, True] Translation: X:135.07, Y:-14.49, Z:-5.37 [[ 9.83037883e-01 1.80914806e-01 3.01057084e-02 1.35069449e+02] [-1.80854196e-01 9.83498463e-01 -4.74688494e-03 -1.44892636e+01] [-3.04676997e-02 -7.78375945e-04 9.99535449e-01 -5.37464359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18587156 meters 0.031197385301134504 Centerline is valid? [True, True] Translation: X:135.13, Y:-14.49, Z:-5.38 [[ 9.83371795e-01 1.79208149e-01 2.93998760e-02 1.35128606e+02] [-1.79149626e-01 9.83810925e-01 -4.63421436e-03 -1.44924408e+01] [-2.97544082e-02 -7.09821107e-04 9.99556988e-01 -5.37798949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.24587156 meters 0.029002996737628947 Centerline is valid? [True, True] Translation: X:135.19, Y:-14.50, Z:-5.38 [[ 9.83705714e-01 1.77459557e-01 2.88300692e-02 1.35187059e+02] [-1.77402570e-01 9.84127882e-01 -4.54304724e-03 -1.44991880e+01] [-2.91786821e-02 -6.45506829e-04 9.99574003e-01 -5.38085463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.30587156 meters 0.023265228535052085 Centerline is valid? [True, True] Translation: X:135.25, Y:-14.51, Z:-5.38 [[ 9.84724356e-01 1.71763028e-01 2.85553106e-02 1.35246377e+02] [-1.71704773e-01 9.85138182e-01 -4.49813179e-03 -1.45100189e+01] [-2.89035395e-02 -4.73663198e-04 9.99582093e-01 -5.38460925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36587156000002 meters 0.01708127610049005 Centerline is valid? [True, True] Translation: X:135.30, Y:-14.53, Z:-5.38 [[ 9.85646119e-01 1.66386088e-01 2.85901756e-02 1.35303829e+02] [-1.66325444e-01 9.86060632e-01 -4.50301209e-03 -1.45253511e+01] [-2.89408852e-02 -3.16897275e-04 9.99581075e-01 -5.38485644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42587156000002 meters 0.013264372399545895 Centerline is valid? [True, True] Translation: X:135.36, Y:-14.54, Z:-5.39 [[ 9.86830381e-01 1.59064553e-01 2.93984293e-02 1.35360523e+02] [-1.58997222e-01 9.87268179e-01 -4.62890280e-03 -1.45365290e+01] [-2.97604281e-02 -1.06326664e-04 9.99557055e-01 -5.38744651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48587156000002 meters 0.027152843576391868 Centerline is valid? [True, True] Translation: X:135.42, Y:-14.55, Z:-5.39 [[ 9.87477580e-01 1.54950732e-01 2.96361230e-02 1.35417909e+02] [-1.54880516e-01 9.87922199e-01 -4.66425464e-03 -1.45477764e+01] [-3.00009135e-02 1.57888532e-05 9.99549871e-01 -5.38876464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54587156 meters 0.02259944659556467 Centerline is valid? [True, True] Translation: X:135.48, Y:-14.56, Z:-5.39 [[ 9.88075621e-01 1.51076714e-01 2.97051011e-02 1.35475216e+02] [-1.51004463e-01 9.88522033e-01 -4.67367398e-03 -1.45599568e+01] [-3.00702302e-02 1.32340498e-04 9.99547780e-01 -5.39157273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60587156 meters 0.022457251882091845 Centerline is valid? [True, True] Translation: X:135.53, Y:-14.57, Z:-5.39 [[ 9.88921010e-01 1.45555542e-01 2.91345230e-02 1.35533157e+02] [-1.45483687e-01 9.89350038e-01 -4.58241504e-03 -1.45725244e+01] [-2.94912373e-02 2.93048693e-04 9.99564996e-01 -5.39316262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66587156 meters 0.020459686674620742 Centerline is valid? [True, True] Translation: X:135.59, Y:-14.59, Z:-5.40 [[ 9.89723029e-01 1.40262744e-01 2.78332344e-02 1.35591244e+02] [-1.40195109e-01 9.90114225e-01 -4.37641401e-03 -1.45871878e+01] [-2.81719292e-02 4.29354391e-04 9.99603000e-01 -5.39777573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72587156 meters 0.023957804183246934 Centerline is valid? [True, True] Translation: X:135.65, Y:-14.60, Z:-5.40 [[ 9.90154901e-01 1.37016867e-01 2.86295312e-02 1.35648954e+02] [-1.36943960e-01 9.90568569e-01 -4.50125301e-03 -1.46022794e+01] [-2.89762613e-02 5.36296355e-04 9.99579956e-01 -5.39977188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78587156 meters 0.03188431715524507 Centerline is valid? [True, True] Translation: X:135.71, Y:-14.62, Z:-5.40 [[ 9.90574916e-01 1.33995441e-01 2.83999730e-02 1.35706494e+02] [-1.33922463e-01 9.90981755e-01 -4.46497506e-03 -1.46167469e+01] [-2.87421414e-02 6.19497967e-04 9.99586667e-01 -5.40236586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84587156 meters 0.028354052616479754 Centerline is valid? [True, True] Translation: X:135.77, Y:-14.63, Z:-5.40 [[ 9.90709659e-01 1.32859384e-01 2.90302514e-02 1.35765603e+02] [-1.32782672e-01 9.91134673e-01 -4.56305350e-03 -1.46279870e+01] [-2.93791332e-02 6.65946823e-04 9.99568118e-01 -5.40412892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90587156 meters 0.02875834181821714 Centerline is valid? [True, True] Translation: X:135.83, Y:-14.64, Z:-5.41 [[ 9.90841813e-01 1.31873881e-01 2.90134507e-02 1.35825141e+02] [-1.31796840e-01 9.91266259e-01 -4.56025850e-03 -1.46404401e+01] [-2.93614337e-02 6.94613683e-04 9.99568619e-01 -5.40619581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.96587156 meters 0.029278698496974547 Centerline is valid? [True, True] Translation: X:135.88, Y:-14.65, Z:-5.41 [[ 9.90786277e-01 1.32237746e-01 2.92529002e-02 1.35884349e+02] [-1.32159575e-01 9.91217788e-01 -4.59825109e-03 -1.46524913e+01] [-2.96040574e-02 6.89833210e-04 9.99561466e-01 -5.40860908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.02587156 meters 0.02731532896417241 Centerline is valid? [True, True] Translation: X:135.94, Y:-14.66, Z:-5.41 [[ 9.90650001e-01 1.33355710e-01 2.87893950e-02 1.35944363e+02] [-1.33280465e-01 9.91068028e-01 -4.52557043e-03 -1.46636669e+01] [-2.91357596e-02 6.46192422e-04 9.99575255e-01 -5.41120163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.08587156000002 meters 0.027526374346476357 Centerline is valid? [True, True] Translation: X:136.00, Y:-14.68, Z:-5.42 [[ 9.90622444e-01 1.33729918e-01 2.79907595e-02 1.36004082e+02] [-1.33658921e-01 9.91017622e-01 -4.40067716e-03 -1.46769193e+01] [-2.83278381e-02 6.18194834e-04 9.99598495e-01 -5.41565286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14587156000002 meters 0.024779489275221462 Centerline is valid? [True, True] Translation: X:136.06, Y:-14.69, Z:-5.42 [[ 9.90312036e-01 1.35854940e-01 2.87316218e-02 1.36064188e+02] [-1.35781007e-01 9.90728574e-01 -4.51786051e-03 -1.46891745e+01] [-2.90790124e-02 5.72883096e-04 9.99576952e-01 -5.41632337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20587156000002 meters 0.021267868697997884 Centerline is valid? [True, True] Translation: X:136.12, Y:-14.70, Z:-5.42 [[ 9.89843759e-01 1.39130018e-01 2.91919551e-02 1.36124935e+02] [-1.39055097e-01 9.90274004e-01 -4.59096658e-03 -1.46974980e+01] [-2.95467756e-02 4.85049451e-04 9.99563281e-01 -5.41729718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26587156 meters 0.016769852898747797 Centerline is valid? [True, True] Translation: X:136.18, Y:-14.70, Z:-5.42 [[ 9.88872298e-01 1.45649196e-01 3.02967022e-02 1.36184349e+02] [-1.45571519e-01 9.89336252e-01 -4.76579134e-03 -1.47045132e+01] [-3.06677594e-02 3.02422088e-04 9.99529588e-01 -5.41887406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32587156 meters 0.013294250227367138 Centerline is valid? [True, True] Translation: X:136.24, Y:-14.71, Z:-5.42 [[ 9.88088595e-01 1.50920068e-01 3.00676291e-02 1.36242924e+02] [-1.50845990e-01 9.88545959e-01 -4.73003978e-03 -1.47141243e+01] [-3.04370912e-02 1.38117068e-04 9.99536675e-01 -5.42123705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38587156 meters 0.012211300718061948 Centerline is valid? [True, True] Translation: X:136.30, Y:-14.72, Z:-5.42 [[ 9.87516707e-01 1.54557707e-01 3.03754673e-02 1.36301843e+02] [-1.54483847e-01 9.87983762e-01 -4.77773188e-03 -1.47215614e+01] [-3.07489037e-02 2.55710231e-05 9.99527140e-01 -5.42239506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44587156 meters 0.013788460158257377 Centerline is valid? [True, True] Translation: X:136.36, Y:-14.73, Z:-5.42 [[ 9.86519646e-01 1.60724755e-01 3.07659200e-02 1.36360941e+02] [-1.60651993e-01 9.86999253e-01 -4.83865368e-03 -1.47260618e+01] [-3.11436315e-02 -1.69179452e-04 9.99514905e-01 -5.42456103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50587156 meters 0.01824596985821819 Centerline is valid? [True, True] Translation: X:136.42, Y:-14.73, Z:-5.43 [[ 9.85651299e-01 1.66026277e-01 3.04432450e-02 1.36419419e+02] [-1.65957600e-01 9.86121272e-01 -4.78658045e-03 -1.47281748e+01] [-3.08154296e-02 -3.34388651e-04 9.99525036e-01 -5.42835690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56587156 meters 0.026106465384347913 Centerline is valid? [True, True] Translation: X:136.48, Y:-14.73, Z:-5.43 [[ 9.84199646e-01 1.74662053e-01 2.90555336e-02 1.36480139e+02] [-1.74603318e-01 9.84628271e-01 -4.56613743e-03 -1.47252777e+01] [-2.94064308e-02 -5.79201746e-04 9.99567370e-01 -5.43258205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62587156 meters 0.032129837587792184 Centerline is valid? [True, True] Translation: X:136.54, Y:-14.72, Z:-5.44 [[ 9.83265195e-01 1.79823435e-01 2.92076741e-02 1.36541425e+02] [-1.79766372e-01 9.83698626e-01 -4.58953014e-03 -1.47242409e+01] [-2.95568540e-02 -7.37832351e-04 9.99562828e-01 -5.43508092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68587156 meters 0.04398886569328448 Centerline is valid? [True, True] Translation: X:136.60, Y:-14.72, Z:-5.44 [[ 9.82317501e-01 1.84842470e-01 2.97588221e-02 1.36603046e+02] [-1.84785531e-01 9.82767745e-01 -4.67613446e-03 -1.47225121e+01] [-3.01103588e-02 -9.05551047e-04 9.99546170e-01 -5.43648587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.74587156 meters 0.03811991486991124 Centerline is valid? [True, True] Translation: X:136.66, Y:-14.72, Z:-5.44 [[ 9.82313408e-01 1.84834860e-01 2.99406659e-02 1.36660360e+02] [-1.84777172e-01 9.82769173e-01 -4.70627167e-03 -1.47236679e+01] [-3.02946466e-02 -9.09317819e-04 9.99540598e-01 -5.43941133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.80587156 meters 0.03386879421731563 Centerline is valid? [True, True] Translation: X:136.72, Y:-14.74, Z:-5.44 [[ 9.82869916e-01 1.81980412e-01 2.91523297e-02 1.36717732e+02] [-1.81924607e-01 9.83301827e-01 -4.57762815e-03 -1.47358472e+01] [-2.94985777e-02 -8.04313126e-04 9.99564499e-01 -5.44322158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86587156000002 meters 0.02823810261647775 Centerline is valid? [True, True] Translation: X:136.78, Y:-14.75, Z:-5.45 [[ 9.84193759e-01 1.74825498e-01 2.82610888e-02 1.36775795e+02] [-1.74770153e-01 9.84599267e-01 -4.43591823e-03 -1.47479208e+01] [-2.86013589e-02 -5.73391757e-04 9.99590733e-01 -5.44933809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92587156000002 meters 0.02828477148875462 Centerline is valid? [True, True] Translation: X:136.83, Y:-14.76, Z:-5.45 [[ 9.84609146e-01 1.72459676e-01 2.83282678e-02 1.36832747e+02] [-1.72403088e-01 9.85016449e-01 -4.44644909e-03 -1.47626580e+01] [-2.86706430e-02 -5.05866418e-04 9.99588785e-01 -5.44966396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98587156000002 meters 0.020366994153669916 Centerline is valid? [True, True] Translation: X:136.89, Y:-14.77, Z:-5.45 [[ 9.85364088e-01 1.68001439e-01 2.88640122e-02 1.36889675e+02] [-1.67940816e-01 9.85786675e-01 -4.52920802e-03 -1.47737729e+01] [-2.92146721e-02 -3.84526832e-04 9.99573086e-01 -5.45174340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04587156 meters 0.017050395789611858 Centerline is valid? [True, True] Translation: X:136.95, Y:-14.78, Z:-5.45 [[ 9.86036052e-01 1.63954085e-01 2.91883884e-02 1.36947604e+02] [-1.63890376e-01 9.86467934e-01 -4.57810260e-03 -1.47813715e+01] [-2.95440078e-02 -2.69521737e-04 9.99563444e-01 -5.45404682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10587156 meters 0.014713073425939919 Centerline is valid? [True, True] Translation: X:137.01, Y:-14.79, Z:-5.45 [[ 9.86455365e-01 1.61294623e-01 2.98304709e-02 1.37006027e+02] [-1.61226908e-01 9.86906281e-01 -4.67734933e-03 -1.47880747e+01] [-3.01943104e-02 -1.95478248e-04 9.99544029e-01 -5.45452177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16587156 meters 0.017351816628340833 Centerline is valid? [True, True] Translation: X:137.06, Y:-14.80, Z:-5.46 [[ 9.86807217e-01 1.59012984e-01 3.04366004e-02 1.37063830e+02] [-1.58941451e-01 9.87276483e-01 -4.77086564e-03 -1.47981507e+01] [-3.08079694e-02 -1.29712786e-04 9.99525313e-01 -5.45641279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22587156 meters 0.01246468201782178 Centerline is valid? [True, True] Translation: X:137.12, Y:-14.81, Z:-5.46 [[ 9.87719023e-01 1.53339318e-01 2.99697444e-02 1.37120538e+02] [-1.53267389e-01 9.88173594e-01 -4.69638494e-03 -1.48116547e+01] [-3.03354505e-02 4.53242660e-05 9.99539773e-01 -5.45940553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28587156 meters 0.013462776382389073 Centerline is valid? [True, True] Translation: X:137.18, Y:-14.82, Z:-5.46 [[ 9.88395173e-01 1.48805809e-01 3.05256165e-02 1.37178167e+02] [-1.48729085e-01 9.88866420e-01 -4.78146998e-03 -1.48236086e+01] [-3.08972676e-02 1.85934833e-04 9.99522548e-01 -5.45992335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34587156 meters 0.01926185914974819 Centerline is valid? [True, True] Translation: X:137.23, Y:-14.84, Z:-5.46 [[ 9.89496617e-01 1.41428830e-01 2.99053649e-02 1.37234528e+02] [-1.41351892e-01 9.89948343e-01 -4.68201641e-03 -1.48437935e+01] [-3.02669386e-02 4.05659493e-04 9.99541769e-01 -5.46477804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40587156 meters 0.02293718804571302 Centerline is valid? [True, True] Translation: X:137.29, Y:-14.86, Z:-5.47 [[ 9.90228569e-01 1.36260119e-01 2.96742506e-02 1.37292976e+02] [-1.36182012e-01 9.90672936e-01 -4.64691568e-03 -1.48600255e+01] [-3.00306662e-02 5.60409522e-04 9.99548821e-01 -5.46637663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.46587156 meters 0.024542588070322162 Centerline is valid? [True, True] Translation: X:137.35, Y:-14.87, Z:-5.47 [[ 9.90313229e-01 1.35535676e-01 3.01627234e-02 1.37351650e+02] [-1.35454651e-01 9.90772290e-01 -4.72302490e-03 -1.48723640e+01] [-3.05245289e-02 5.91592862e-04 9.99533843e-01 -5.46804529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.52587156 meters 0.022984643387846674 Centerline is valid? [True, True] Translation: X:137.41, Y:-14.88, Z:-5.47 [[ 9.89964366e-01 1.37994021e-01 3.04664267e-02 1.37411847e+02] [-1.37912535e-01 9.90432925e-01 -4.77006212e-03 -1.48785567e+01] [-3.08331922e-02 5.20489378e-04 9.99524409e-01 -5.46983178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.58587156000002 meters 0.019447884039309443 Centerline is valid? [True, True] Translation: X:137.47, Y:-14.89, Z:-5.47 [[ 9.89602074e-01 1.40504565e-01 3.07604176e-02 1.37471348e+02] [-1.40422705e-01 9.90079930e-01 -4.81622746e-03 -1.48867527e+01] [-3.11319740e-02 4.46687627e-04 9.99515183e-01 -5.47281514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64587156000002 meters 0.02509748998091147 Centerline is valid? [True, True] Translation: X:137.53, Y:-14.89, Z:-5.48 [[ 9.89148320e-01 1.43875698e-01 2.97554027e-02 1.37529019e+02] [-1.43800627e-01 9.89595713e-01 -4.65881659e-03 -1.48949497e+01] [-3.01161095e-02 3.29415028e-04 9.99546353e-01 -5.47719697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70587156000002 meters 0.028251279795847115 Centerline is valid? [True, True] Translation: X:137.59, Y:-14.90, Z:-5.48 [[ 9.88934633e-01 1.45435584e-01 2.92708380e-02 1.37588533e+02] [-1.45363662e-01 9.89367684e-01 -4.58159381e-03 -1.49033597e+01] [-2.96259480e-02 2.75980580e-04 9.99561017e-01 -5.48007296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76587156 meters 0.014132029530544078 Centerline is valid? [True, True] Translation: X:137.65, Y:-14.91, Z:-5.48 [[ 9.88572800e-01 1.47590441e-01 3.06737895e-02 1.37647425e+02] [-1.47512486e-01 9.89048539e-01 -4.80146618e-03 -1.49107305e+01] [-3.10465172e-02 2.21831942e-04 9.99517916e-01 -5.47992328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82587156 meters 0.013783896204611481 Centerline is valid? [True, True] Translation: X:137.70, Y:-14.92, Z:-5.48 [[ 9.88323402e-01 1.49159138e-01 3.11191952e-02 1.37704929e+02] [-1.49079763e-01 9.88813189e-01 -4.86852922e-03 -1.49219504e+01] [-3.14972562e-02 1.72439134e-04 9.99503823e-01 -5.48292488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88587156 meters 0.012340985784424234 Centerline is valid? [True, True] Translation: X:137.76, Y:-14.93, Z:-5.48 [[ 9.87886029e-01 1.52003906e-01 3.12411017e-02 1.37764094e+02] [-1.51925365e-01 9.88379890e-01 -4.88644998e-03 -1.49277349e+01] [-3.16208361e-02 8.09398921e-05 9.99499933e-01 -5.48354119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94587156 meters 0.013024881205810478 Centerline is valid? [True, True] Translation: X:137.82, Y:-14.93, Z:-5.49 [[ 9.87492112e-01 1.54858435e-01 2.96343351e-02 1.37821311e+02] [-1.54789074e-01 9.87936671e-01 -4.63440606e-03 -1.49338718e+01] [-2.99945232e-02 -1.06318525e-05 9.99550063e-01 -5.49037047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00587156 meters 0.02254042122362676 Centerline is valid? [True, True] Translation: X:137.88, Y:-14.94, Z:-5.49 [[ 9.87191940e-01 1.56819286e-01 2.93220966e-02 1.37879802e+02] [-1.56752302e-01 9.87627312e-01 -4.58358400e-03 -1.49405393e+01] [-2.96780978e-02 -7.14289765e-05 9.99559506e-01 -5.49388606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06587156 meters 0.01471640189666791 Centerline is valid? [True, True] Translation: X:137.94, Y:-14.95, Z:-5.50 [[ 9.86843808e-01 1.59024559e-01 2.91631321e-02 1.37938023e+02] [-1.58959297e-01 9.87274618e-01 -4.55754173e-03 -1.49452242e+01] [-2.95167811e-02 -1.38169149e-04 9.99564275e-01 -5.49689356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12587156 meters 0.016895058559686458 Centerline is valid? [True, True] Translation: X:138.00, Y:-14.95, Z:-5.50 [[ 9.86664985e-01 1.60177308e-01 2.89039419e-02 1.37996081e+02] [-1.60113748e-01 9.87088243e-01 -4.51527023e-03 -1.49529620e+01] [-2.92539851e-02 -1.72859441e-04 9.99571996e-01 -5.49834685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18587156 meters 0.0153181360575453 Centerline is valid? [True, True] Translation: X:138.05, Y:-14.96, Z:-5.50 [[ 9.86484232e-01 1.61201783e-01 2.93742341e-02 1.38054260e+02] [-1.61136625e-01 9.86921447e-01 -4.58759826e-03 -1.49592743e+01] [-2.97295906e-02 -2.07671593e-04 9.99557956e-01 -5.50025184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.24587156 meters 0.029251826025758362 Centerline is valid? [True, True] Translation: X:138.11, Y:-14.97, Z:-5.50 [[ 9.86633127e-01 1.60183035e-01 2.99410627e-02 1.38111902e+02] [-1.60114945e-01 9.87087312e-01 -4.67360954e-03 -1.49691226e+01] [-3.03030761e-02 -1.82873604e-04 9.99540740e-01 -5.50027591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.30587156 meters 0.013109341768693444 Centerline is valid? [True, True] Translation: X:138.17, Y:-14.98, Z:-5.50 [[ 9.87078162e-01 1.57192832e-01 3.10984711e-02 1.38168696e+02] [-1.57117938e-01 9.87567924e-01 -4.85278112e-03 -1.49792114e+01] [-3.14746750e-02 -9.60533699e-05 9.99504545e-01 -5.50222436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36587156000002 meters 0.012298173917324552 Centerline is valid? [True, True] Translation: X:138.23, Y:-14.99, Z:-5.50 [[ 9.87724129e-01 1.53094606e-01 3.10336371e-02 1.38225674e+02] [-1.53018064e-01 9.88211536e-01 -4.84062448e-03 -1.49941504e+01] [-3.14088717e-02 3.24945339e-05 9.99506619e-01 -5.50493438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42587156000002 meters 0.013352176676244878 Centerline is valid? [True, True] Translation: X:138.28, Y:-15.01, Z:-5.51 [[ 9.88254852e-01 1.49665565e-01 3.08636805e-02 1.38281753e+02] [-1.49588227e-01 9.88736668e-01 -4.81281860e-03 -1.50076128e+01] [-3.12363659e-02 1.39448096e-04 9.99512016e-01 -5.50845154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48587156000002 meters 0.02017571387831597 Centerline is valid? [True, True] Translation: X:138.34, Y:-15.03, Z:-5.51 [[ 9.88991682e-01 1.44605616e-01 3.13794399e-02 1.38339087e+02] [-1.44523214e-01 9.89489325e-01 -4.89037217e-03 -1.50262906e+01] [-3.17567961e-02 3.01479899e-04 9.99495580e-01 -5.51292110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54587156 meters 0.028092920853958588 Centerline is valid? [True, True] Translation: X:138.40, Y:-15.04, Z:-5.51 [[ 9.89327096e-01 1.42231669e-01 3.16551734e-02 1.38398699e+02] [-1.42146589e-01 9.89833323e-01 -4.93357871e-03 -1.50373380e+01] [-3.20350566e-02 3.81248175e-04 9.99486673e-01 -5.51192149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60587156 meters 0.02877453428077222 Centerline is valid? [True, True] Translation: X:138.46, Y:-15.05, Z:-5.51 [[ 9.89555642e-01 1.40619852e-01 3.17126053e-02 1.38457529e+02] [-1.40533636e-01 9.90063568e-01 -4.94252968e-03 -1.50501494e+01] [-3.20925129e-02 4.34220419e-04 9.99484808e-01 -5.51465198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66587156 meters 0.02566576636581905 Centerline is valid? [True, True] Translation: X:138.52, Y:-15.06, Z:-5.52 [[ 9.89665851e-01 1.39881006e-01 3.15405723e-02 1.38516262e+02] [-1.39795344e-01 9.90168216e-01 -4.91584078e-03 -1.50617546e+01] [-3.19181049e-02 4.55814604e-04 9.99490384e-01 -5.51812820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72587156 meters 0.03194147547090822 Centerline is valid? [True, True] Translation: X:138.58, Y:-15.08, Z:-5.52 [[ 9.89949522e-01 1.38125417e-01 3.03531500e-02 1.38576296e+02] [-1.38045283e-01 9.90414624e-01 -4.73001719e-03 -1.50761932e+01] [-3.07155392e-02 4.92369069e-04 9.99528045e-01 -5.52409443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78587156 meters 0.02289122294983332 Centerline is valid? [True, True] Translation: X:138.64, Y:-15.09, Z:-5.53 [[ 9.90013504e-01 1.37538671e-01 3.09253418e-02 1.38636041e+02] [-1.37455176e-01 9.90496261e-01 -4.81994074e-03 -1.50883815e+01] [-3.12943636e-02 5.20958118e-04 9.99510076e-01 -5.52673855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84587156 meters 0.035006173622895306 Centerline is valid? [True, True] Translation: X:138.70, Y:-15.10, Z:-5.53 [[ 9.90137019e-01 1.36342274e-01 3.22407768e-02 1.38697086e+02] [-1.36250908e-01 9.90661620e-01 -5.02438629e-03 -1.51030178e+01] [-3.26247364e-02 5.81995763e-04 9.99467502e-01 -5.52527115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90587156 meters 0.0246231506399824 Centerline is valid? [True, True] Translation: X:138.76, Y:-15.11, Z:-5.53 [[ 9.90095076e-01 1.36427092e-01 3.31570200e-02 1.38758289e+02] [-1.36330313e-01 9.90649932e-01 -5.17290223e-03 -1.51142755e+01] [-3.35527236e-02 6.01358114e-04 9.99436768e-01 -5.52678110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.96587156 meters 0.021126721392063747 Centerline is valid? [True, True] Translation: X:138.82, Y:-15.12, Z:-5.53 [[ 9.89852376e-01 1.38210153e-01 3.30185764e-02 1.38820097e+02] [-1.38114955e-01 9.90402775e-01 -5.15779487e-03 -1.51244289e+01] [-3.34145493e-02 5.45096327e-04 9.99441429e-01 -5.53010980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.02587156 meters 0.019761088878293375 Centerline is valid? [True, True] Translation: X:138.88, Y:-15.14, Z:-5.53 [[ 9.89476300e-01 1.40713839e-01 3.37085739e-02 1.38880160e+02] [-1.40616026e-01 9.90050197e-01 -5.26690738e-03 -1.51353387e+01] [-3.41143070e-02 4.71514328e-04 9.99417826e-01 -5.53320367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.08587156000002 meters 0.020680200131162767 Centerline is valid? [True, True] Translation: X:138.94, Y:-15.14, Z:-5.54 [[ 9.88624647e-01 1.46746003e-01 3.29684319e-02 1.38941823e+02] [-1.46655588e-01 9.89174171e-01 -5.15725516e-03 -1.51405364e+01] [-3.33683279e-02 2.63584789e-04 9.99443088e-01 -5.53594095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14587156000002 meters 0.012638690844534742 Centerline is valid? [True, True] Translation: X:139.00, Y:-15.15, Z:-5.54 [[ 9.87938864e-01 1.51397442e-01 3.24902407e-02 1.39001871e+02] [-1.51312077e-01 9.88472965e-01 -5.08451424e-03 -1.51454611e+01] [-3.28855070e-02 1.07023425e-04 9.99459120e-01 -5.54101304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20587156000002 meters 0.011964044010167011 Centerline is valid? [True, True] Translation: X:139.06, Y:-15.15, Z:-5.54 [[ 9.87107716e-01 1.56527442e-01 3.34292870e-02 1.39061637e+02] [-1.56440001e-01 9.87673608e-01 -5.23167540e-03 -1.51490375e+01] [-3.38361253e-02 -6.54505517e-05 9.99427392e-01 -5.54153908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26587156 meters 0.0233247214898056 Centerline is valid? [True, True] Translation: X:139.12, Y:-15.16, Z:-5.54 [[ 9.86792223e-01 1.58384277e-01 3.39930740e-02 1.39119805e+02] [-1.58294988e-01 9.87377538e-01 -5.31915123e-03 -1.51561610e+01] [-3.44064676e-02 -1.32036165e-04 9.99407913e-01 -5.54383436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32587156 meters 0.012926524795596413 Centerline is valid? [True, True] Translation: X:139.18, Y:-15.16, Z:-5.55 [[ 9.86749098e-01 1.58627300e-01 3.41115457e-02 1.39179165e+02] [-1.58537579e-01 9.87338523e-01 -5.33634026e-03 -1.51644893e+01] [-3.45261324e-02 -1.42332939e-04 9.99403785e-01 -5.54761850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38587156 meters 0.01279680013910773 Centerline is valid? [True, True] Translation: X:139.24, Y:-15.18, Z:-5.55 [[ 9.86914980e-01 1.57794829e-01 3.31604458e-02 1.39236481e+02] [-1.57709595e-01 9.87471913e-01 -5.18690687e-03 -1.51752418e+01] [-3.35634759e-02 -1.10684377e-04 9.99436582e-01 -5.55186852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44587156 meters 0.01495375735051894 Centerline is valid? [True, True] Translation: X:139.30, Y:-15.18, Z:-5.55 [[ 9.86919732e-01 1.57894045e-01 3.25409516e-02 1.39295180e+02] [-1.57812060e-01 9.87456054e-01 -5.08881374e-03 -1.51843476e+01] [-3.29362531e-02 -1.13103910e-04 9.99457448e-01 -5.55433121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50587156 meters 0.012935060636793828 Centerline is valid? [True, True] Translation: X:139.35, Y:-15.19, Z:-5.56 [[ 9.86821204e-01 1.58269118e-01 3.36867497e-02 1.39353159e+02] [-1.58181497e-01 9.87396004e-01 -5.26734166e-03 -1.51910776e+01] [-3.40958196e-02 -1.30696055e-04 9.99418560e-01 -5.55584508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56587156 meters 0.012486243720453555 Centerline is valid? [True, True] Translation: X:139.41, Y:-15.20, Z:-5.56 [[ 9.86797331e-01 1.58279653e-01 3.43304507e-02 1.39412852e+02] [-1.58188721e-01 9.87394315e-01 -5.36614382e-03 -1.51971082e+01] [-3.47470432e-02 -1.35393674e-04 9.99396130e-01 -5.55678294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62587156 meters 0.012153889083343491 Centerline is valid? [True, True] Translation: X:139.47, Y:-15.21, Z:-5.56 [[ 9.87070945e-01 1.56711672e-01 3.36511601e-02 1.39469982e+02] [-1.56623417e-01 9.87644392e-01 -5.25926810e-03 -1.52078830e+01] [-3.40595683e-02 -7.92889256e-05 9.99419801e-01 -5.56136742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68587156 meters 0.012382144288328326 Centerline is valid? [True, True] Translation: X:139.53, Y:-15.22, Z:-5.56 [[ 9.87918000e-01 1.51411493e-01 3.30542706e-02 1.39528551e+02] [-1.51323423e-01 9.88470814e-01 -5.16450056e-03 -1.52237565e+01] [-3.34551466e-02 1.00217697e-04 9.99440215e-01 -5.56452720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.74587156 meters 0.015027917426974532 Centerline is valid? [True, True] Translation: X:139.59, Y:-15.24, Z:-5.57 [[ 9.88664812e-01 1.46468638e-01 3.29974042e-02 1.39587916e+02] [-1.46378123e-01 9.89215278e-01 -5.15540291e-03 -1.52415696e+01] [-3.33966412e-02 2.66867370e-04 9.99442141e-01 -5.56733612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.80587156 meters 0.019197078240497715 Centerline is valid? [True, True] Translation: X:139.65, Y:-15.26, Z:-5.57 [[ 9.89410143e-01 1.41406559e-01 3.27376645e-02 1.39647577e+02] [-1.41314685e-01 9.89951512e-01 -5.11503642e-03 -1.52584299e+01] [-3.31320002e-02 4.34556158e-04 9.99450890e-01 -5.56987567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86587156000002 meters 0.02044122844182676 Centerline is valid? [True, True] Translation: X:139.71, Y:-15.27, Z:-5.57 [[ 9.89500819e-01 1.40779295e-01 3.27004508e-02 1.39707800e+02] [-1.40687196e-01 9.90040898e-01 -5.11197885e-03 -1.52703345e+01] [-3.30944445e-02 4.57772533e-04 9.99452124e-01 -5.57239718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92587156000002 meters 0.017904009500302666 Centerline is valid? [True, True] Translation: X:139.77, Y:-15.28, Z:-5.57 [[ 9.89087556e-01 1.43431141e-01 3.36647366e-02 1.39768956e+02] [-1.43334936e-01 9.89660225e-01 -5.26644768e-03 -1.52755094e+01] [-3.40720234e-02 3.83645014e-04 9.99419306e-01 -5.57297682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98587156000002 meters 0.01468511448683886 Centerline is valid? [True, True] Translation: X:139.83, Y:-15.28, Z:-5.57 [[ 9.88675084e-01 1.45986310e-01 3.47789660e-02 1.39830547e+02] [-1.45885179e-01 9.89286563e-01 -5.44158745e-03 -1.52789797e+01] [-3.52007611e-02 3.06226224e-04 9.99380214e-01 -5.57224558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04587156 meters 0.012678087737653857 Centerline is valid? [True, True] Translation: X:139.89, Y:-15.28, Z:-5.57 [[ 9.88252985e-01 1.48557753e-01 3.58696524e-02 1.39891958e+02] [-1.48451838e-01 9.88903708e-01 -5.61314611e-03 -1.52818949e+01] [-3.63055086e-02 2.22292589e-04 9.99340713e-01 -5.57268071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10587156 meters 0.023017114014966058 Centerline is valid? [True, True] Translation: X:139.95, Y:-15.29, Z:-5.58 [[ 9.88344937e-01 1.47997072e-01 3.56532253e-02 1.39951258e+02] [-1.47892048e-01 9.88987770e-01 -5.57977514e-03 -1.52948942e+01] [-3.60863941e-02 2.41914015e-04 9.99348645e-01 -5.57596906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16587156 meters 0.014821612037588196 Centerline is valid? [True, True] Translation: X:140.01, Y:-15.31, Z:-5.58 [[ 9.88645746e-01 1.46066315e-01 3.52735252e-02 1.40012157e+02] [-1.45962201e-01 9.89274752e-01 -5.52279706e-03 -1.53066966e+01] [-3.57019025e-02 3.11488448e-04 9.99362435e-01 -5.57959296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22587156 meters 0.015070752058351043 Centerline is valid? [True, True] Translation: X:140.07, Y:-15.32, Z:-5.58 [[ 9.88603585e-01 1.46362194e-01 3.52286709e-02 1.40072634e+02] [-1.46258302e-01 9.89231022e-01 -5.52223002e-03 -1.53161797e+01] [-3.56575398e-02 3.06810824e-04 9.99364021e-01 -5.58278607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28587156 meters 0.012989658476062729 Centerline is valid? [True, True] Translation: X:140.13, Y:-15.32, Z:-5.58 [[ 9.88321355e-01 1.48310883e-01 3.49968811e-02 1.40134104e+02] [-1.48209443e-01 9.88940759e-01 -5.48961663e-03 -1.53207409e+01] [-3.54240121e-02 2.38637080e-04 9.99372344e-01 -5.58421314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34587156 meters 0.012687551087012087 Centerline is valid? [True, True] Translation: X:140.19, Y:-15.33, Z:-5.59 [[ 9.88151145e-01 1.49711749e-01 3.38187441e-02 1.40194339e+02] [-1.49617815e-01 9.88729669e-01 -5.30572354e-03 -1.53270545e+01] [-3.42319248e-02 1.82970195e-04 9.99413899e-01 -5.58897120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40587156 meters 0.013385429795766854 Centerline is valid? [True, True] Translation: X:140.25, Y:-15.34, Z:-5.59 [[ 9.88296882e-01 1.48605893e-01 3.44319866e-02 1.40253715e+02] [-1.48507834e-01 9.88896475e-01 -5.40236966e-03 -1.53387700e+01] [-3.48524941e-02 2.25725341e-04 9.99392442e-01 -5.59148595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.46587156 meters 0.017663389178019916 Centerline is valid? [True, True] Translation: X:140.31, Y:-15.36, Z:-5.60 [[ 9.89025344e-01 1.43818736e-01 3.38384446e-02 1.40312634e+02] [-1.43721252e-01 9.89603972e-01 -5.30850903e-03 -1.53590241e+01] [-3.42501223e-02 3.86946351e-04 9.99413218e-01 -5.59599898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.52587156 meters 0.020652170613765824 Centerline is valid? [True, True] Translation: X:140.37, Y:-15.38, Z:-5.60 [[ 9.89610682e-01 1.39660878e-01 3.41399648e-02 1.40372303e+02] [-1.39558964e-01 9.90199245e-01 -5.36189952e-03 -1.53782599e+01] [-3.45542149e-02 5.41654938e-04 9.99402678e-01 -5.59786356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.58587156000002 meters 0.026368448848436154 Centerline is valid? [True, True] Translation: X:140.43, Y:-15.40, Z:-5.60 [[ 9.90244764e-01 1.35318480e-01 3.32297507e-02 1.40429777e+02] [-1.35219427e-01 9.90801923e-01 -5.22061932e-03 -1.54008673e+01] [-3.36305471e-02 6.76383088e-04 9.99434104e-01 -5.60235544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64587156000002 meters 0.03410942468649589 Centerline is valid? [True, True] Translation: X:140.49, Y:-15.42, Z:-5.60 [[ 9.90253857e-01 1.35284315e-01 3.30976297e-02 1.40491244e+02] [-1.35186037e-01 9.90806590e-01 -5.19965401e-03 -1.54185409e+01] [-3.34967813e-02 6.74640027e-04 9.99438598e-01 -5.60367021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70587156000002 meters 0.023466980069981196 Centerline is valid? [True, True] Translation: X:140.55, Y:-15.43, Z:-5.61 [[ 9.90091302e-01 1.36454730e-01 3.31559869e-02 1.40552894e+02] [-1.36356546e-01 9.90646099e-01 -5.21524514e-03 -1.54266258e+01] [-3.35574939e-02 6.42533013e-04 9.99436582e-01 -5.60581407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76587156 meters 0.02085610568644252 Centerline is valid? [True, True] Translation: X:140.61, Y:-15.44, Z:-5.61 [[ 9.89629234e-01 1.39599602e-01 3.38516025e-02 1.40613688e+02] [-1.39498848e-01 9.90207879e-01 -5.33174389e-03 -1.54374205e+01] [-3.42644328e-02 5.54190070e-04 9.99412648e-01 -5.60710681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82587156 meters 0.015322783827092392 Centerline is valid? [True, True] Translation: X:140.67, Y:-15.44, Z:-5.61 [[ 9.88629768e-01 1.46277588e-01 3.48432093e-02 1.40674495e+02] [-1.46174934e-01 9.89243527e-01 -5.48933607e-03 -1.54423721e+01] [-3.52713861e-02 3.33717237e-04 9.99377715e-01 -5.60795329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88587156 meters 0.012546947991714826 Centerline is valid? [True, True] Translation: X:140.74, Y:-15.45, Z:-5.61 [[ 9.87991148e-01 1.50469586e-01 3.51054776e-02 1.40735952e+02] [-1.50368027e-01 9.88614621e-01 -5.53055199e-03 -1.54498017e+01] [-3.55379683e-02 1.85395000e-04 9.99368310e-01 -5.61003416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94587156 meters 0.011070713443217882 Centerline is valid? [True, True] Translation: X:140.80, Y:-15.46, Z:-5.61 [[ 9.87324044e-01 1.54904085e-01 3.45826047e-02 1.40797262e+02] [-1.54808049e-01 9.87929513e-01 -5.45384784e-03 -1.54574263e+01] [-3.50099992e-02 3.10495186e-05 9.99386962e-01 -5.61376787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00587156 meters 0.010896203376344797 Centerline is valid? [True, True] Translation: X:140.86, Y:-15.47, Z:-5.62 [[ 9.87009849e-01 1.56891600e-01 3.45916800e-02 1.40858619e+02] [-1.56796531e-01 9.87615828e-01 -5.46105918e-03 -1.54662766e+01] [-3.50200850e-02 -3.37362283e-05 9.99386608e-01 -5.61567879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06587156 meters 0.01144115269522455 Centerline is valid? [True, True] Translation: X:140.92, Y:-15.48, Z:-5.62 [[ 9.86704665e-01 1.58835800e-01 3.44251716e-02 1.40920091e+02] [-1.58742620e-01 9.87305008e-01 -5.44071160e-03 -1.54765948e+01] [-3.48523241e-02 -9.63664305e-05 9.99392469e-01 -5.62008843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12587156 meters 0.011923131436370655 Centerline is valid? [True, True] Translation: X:140.98, Y:-15.48, Z:-5.62 [[ 9.86579337e-01 1.59580329e-01 3.45735631e-02 1.40980242e+02] [-1.59486527e-01 9.87184940e-01 -5.47196484e-03 -1.54845163e+01] [-3.50037188e-02 -1.15490056e-04 9.99387175e-01 -5.62302163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18587156 meters 0.011465336029055914 Centerline is valid? [True, True] Translation: X:141.04, Y:-15.50, Z:-5.63 [[ 9.86619719e-01 1.59457429e-01 3.39832222e-02 1.41041921e+02] [-1.59366769e-01 9.87204800e-01 -5.37743836e-03 -1.54970704e+01] [-3.44058726e-02 -1.10309596e-04 9.99407937e-01 -5.62538958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.24587156 meters 0.011132783911020232 Centerline is valid? [True, True] Translation: X:141.10, Y:-15.51, Z:-5.63 [[ 9.86907763e-01 1.57730635e-01 3.36766110e-02 1.41102827e+02] [-1.57640366e-01 9.87482174e-01 -5.33573496e-03 -1.55094563e+01] [-3.40966619e-02 -4.29150293e-05 9.99418539e-01 -5.62895991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.30587156 meters 0.011134570131324389 Centerline is valid? [True, True] Translation: X:141.16, Y:-15.52, Z:-5.63 [[ 9.87282308e-01 1.55224656e-01 3.43358611e-02 1.41164028e+02] [-1.55129076e-01 9.87879195e-01 -5.44665629e-03 -1.55238580e+01] [-3.47651381e-02 5.08969855e-05 9.99395509e-01 -5.63014965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36587156000002 meters 0.012941376335112522 Centerline is valid? [True, True] Translation: X:141.22, Y:-15.54, Z:-5.63 [[ 9.87913577e-01 1.50948817e-01 3.52309362e-02 1.41223096e+02] [-1.50845209e-01 9.88541556e-01 -5.59590548e-03 -1.55406959e+01] [-3.56719398e-02 2.13853077e-04 9.99363531e-01 -5.63141901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42587156000002 meters 0.016153709502915205 Centerline is valid? [True, True] Translation: X:141.28, Y:-15.56, Z:-5.63 [[ 9.88558630e-01 1.46487661e-01 3.59610969e-02 1.41282662e+02] [-1.46376552e-01 9.89212421e-01 -5.71757332e-03 -1.55590189e+01] [-3.64107177e-02 3.88295063e-04 9.99336835e-01 -5.63274231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48587156000002 meters 0.019769755263896176 Centerline is valid? [True, True] Translation: X:141.34, Y:-15.58, Z:-5.64 [[ 9.88910569e-01 1.44086121e-01 3.59871670e-02 1.41341958e+02] [-1.43973053e-01 9.89565034e-01 -5.72741658e-03 -1.55769167e+01] [-3.64368834e-02 4.82720490e-04 9.99335840e-01 -5.63641117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54587156 meters 0.020135404631821334 Centerline is valid? [True, True] Translation: X:141.40, Y:-15.59, Z:-5.64 [[ 9.89338138e-01 1.41291745e-01 3.53085191e-02 1.41402242e+02] [-1.41180932e-01 9.89967831e-01 -5.62476743e-03 -1.55905666e+01] [-3.57490313e-02 5.79907311e-04 9.99360631e-01 -5.63793983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60587156 meters 0.02312749362856579 Centerline is valid? [True, True] Translation: X:141.46, Y:-15.61, Z:-5.64 [[ 9.89484061e-01 1.40450421e-01 3.45683786e-02 1.41461708e+02] [-1.40343483e-01 9.90087529e-01 -5.51287178e-03 -1.56069039e+01] [-3.50000057e-02 6.03452101e-04 9.99387130e-01 -5.64311583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66587156 meters 0.02957585628038739 Centerline is valid? [True, True] Translation: X:141.52, Y:-15.62, Z:-5.64 [[ 9.89443164e-01 1.40835793e-01 3.41687538e-02 1.41523505e+02] [-1.40731461e-01 9.90032796e-01 -5.45152576e-03 -1.56184758e+01] [-3.45959568e-02 5.85356257e-04 9.99401209e-01 -5.64460696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72587156 meters 0.022434097188901807 Centerline is valid? [True, True] Translation: X:141.58, Y:-15.63, Z:-5.65 [[ 9.89216508e-01 1.42346637e-01 3.44693479e-02 1.41583036e+02] [-1.42241128e-01 9.89816720e-01 -5.50661286e-03 -1.56320216e+01] [-3.49021847e-02 5.44273408e-04 9.99390585e-01 -5.64811396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78587156 meters 0.01647719126891429 Centerline is valid? [True, True] Translation: X:141.65, Y:-15.64, Z:-5.65 [[ 9.88619436e-01 1.46402487e-01 3.46110154e-02 1.41645165e+02] [-1.46298402e-01 9.89225023e-01 -5.53463833e-03 -1.56352655e+01] [-3.50483673e-02 4.08114771e-04 9.99385534e-01 -5.64852805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84587156 meters 0.014704634587806254 Centerline is valid? [True, True] Translation: X:141.71, Y:-15.64, Z:-5.65 [[ 9.88115556e-01 1.49753465e-01 3.46633472e-02 1.41706330e+02] [-1.49650911e-01 9.88723324e-01 -5.54909157e-03 -1.56427598e+01] [-3.51034556e-02 2.95742202e-04 9.99383640e-01 -5.65213986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90587156 meters 0.011353545566630808 Centerline is valid? [True, True] Translation: X:141.77, Y:-15.65, Z:-5.65 [[ 9.87363093e-01 1.54391086e-01 3.57423452e-02 1.41769373e+02] [-1.54284825e-01 9.88009804e-01 -5.72891202e-03 -1.56459661e+01] [-3.61982804e-02 1.42014839e-04 9.99344617e-01 -5.65200791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.96587156 meters 0.029194101712342 Centerline is valid? [True, True] Translation: X:141.83, Y:-15.65, Z:-5.66 [[ 9.86795644e-01 1.58108681e-01 3.51568139e-02 1.41831557e+02] [-1.58008184e-01 9.87421716e-01 -5.63638406e-03 -1.56516910e+01] [-3.56057627e-02 6.89490954e-06 9.99365914e-01 -5.65776577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.02587156 meters 0.011128958006596275 Centerline is valid? [True, True] Translation: X:141.89, Y:-15.66, Z:-5.66 [[ 9.86557356e-01 1.59900857e-01 3.37090476e-02 1.41893288e+02] [-1.59809308e-01 9.87133078e-01 -5.41033811e-03 -1.56583804e+01] [-3.41404336e-02 -4.94107095e-05 9.99417044e-01 -5.66202367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.08587156000002 meters 0.011109417441875154 Centerline is valid? [True, True] Translation: X:141.96, Y:-15.67, Z:-5.66 [[ 9.86549655e-01 1.60025463e-01 3.33411020e-02 1.41955831e+02] [-1.59935796e-01 9.87112886e-01 -5.35652082e-03 -1.56681363e+01] [-3.37686112e-02 -4.79619407e-05 9.99429677e-01 -5.66486674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14587156000002 meters 0.010964478684341843 Centerline is valid? [True, True] Translation: X:142.02, Y:-15.68, Z:-5.67 [[ 9.86785823e-01 1.58343348e-01 3.43674903e-02 1.42015642e+02] [-1.58246791e-01 9.87384112e-01 -5.52896117e-03 -1.56809597e+01] [-3.48093881e-02 1.73554426e-05 9.99393969e-01 -5.66678146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20587156000002 meters 0.011657299381033317 Centerline is valid? [True, True] Translation: X:142.08, Y:-15.70, Z:-5.67 [[ 9.87217219e-01 1.55546388e-01 3.47488683e-02 1.42075238e+02] [-1.55445744e-01 9.87828581e-01 -5.59596336e-03 -1.56989725e+01] [-3.51963572e-02 1.22867714e-04 9.99380409e-01 -5.66901354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26587156 meters 0.012203763597972256 Centerline is valid? [True, True] Translation: X:142.14, Y:-15.71, Z:-5.67 [[ 9.87367386e-01 1.54674479e-01 3.43722372e-02 1.42136768e+02] [-1.54575265e-01 9.87965475e-01 -5.54140293e-03 -1.57109747e+01] [-3.48156973e-02 1.58302849e-04 9.99393737e-01 -5.67228931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32587156 meters 0.012165787810520566 Centerline is valid? [True, True] Translation: X:142.20, Y:-15.72, Z:-5.68 [[ 9.87284626e-01 1.55191421e-01 3.44193286e-02 1.42197357e+02] [-1.55092012e-01 9.87884407e-01 -5.55576785e-03 -1.57222234e+01] [-3.48645255e-02 1.46961261e-04 9.99392037e-01 -5.67530196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38587156 meters 0.011902285228072317 Centerline is valid? [True, True] Translation: X:142.26, Y:-15.74, Z:-5.68 [[ 9.87190620e-01 1.55664730e-01 3.49738643e-02 1.42258893e+02] [-1.55562164e-01 9.87809937e-01 -5.65160888e-03 -1.57352407e+01] [-3.54272869e-02 1.38605262e-04 9.99372247e-01 -5.67702748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44587156 meters 0.011957021533887521 Centerline is valid? [True, True] Translation: X:142.32, Y:-15.75, Z:-5.68 [[ 9.87318201e-01 1.54832865e-01 3.50649993e-02 1.42320827e+02] [-1.54729003e-01 9.87940663e-01 -5.67294843e-03 -1.57494670e+01] [-3.55204975e-02 1.75432852e-04 9.99368933e-01 -5.67854101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50587156 meters 0.014089114941607953 Centerline is valid? [True, True] Translation: X:142.38, Y:-15.77, Z:-5.68 [[ 9.87565855e-01 1.53291078e-01 3.48644229e-02 1.42379540e+02] [-1.53187184e-01 9.88181051e-01 -5.64777308e-03 -1.57658467e+01] [-3.53181153e-02 2.36765088e-04 9.99376093e-01 -5.68383461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56587156 meters 0.014082944515818395 Centerline is valid? [True, True] Translation: X:142.44, Y:-15.78, Z:-5.68 [[ 9.87697238e-01 1.52316133e-01 3.54113109e-02 1.42440986e+02] [-1.52208125e-01 9.88331785e-01 -5.74197450e-03 -1.57803473e+01] [-3.58727195e-02 2.81443129e-04 9.99356327e-01 -5.68437085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62587156 meters 0.015024973895407408 Centerline is valid? [True, True] Translation: X:142.50, Y:-15.79, Z:-5.69 [[ 9.87682531e-01 1.52272965e-01 3.60022429e-02 1.42501466e+02] [-1.52161027e-01 9.88338433e-01 -5.84506551e-03 -1.57946040e+01] [-3.64724457e-02 2.94930865e-04 9.99334615e-01 -5.68696989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68587156 meters 0.014359150228678754 Centerline is valid? [True, True] Translation: X:142.56, Y:-15.81, Z:-5.69 [[ 9.87706290e-01 1.51977024e-01 3.65960092e-02 1.42562558e+02] [-1.51860910e-01 9.88383976e-01 -5.94815708e-03 -1.58089212e+01] [-3.70748923e-02 3.17528888e-04 9.99312439e-01 -5.68722281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.74587156 meters 0.014468210039638269 Centerline is valid? [True, True] Translation: X:142.62, Y:-15.82, Z:-5.69 [[ 9.87680193e-01 1.52404819e-01 3.55050440e-02 1.42624156e+02] [-1.52295564e-01 9.88318107e-01 -5.77751402e-03 -1.58202246e+01] [-3.59707989e-02 2.99075466e-04 9.99352797e-01 -5.69219596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.80587156 meters 0.015397433192960087 Centerline is valid? [True, True] Translation: X:142.68, Y:-15.84, Z:-5.69 [[ 9.87774601e-01 1.51651196e-01 3.61005841e-02 1.42684733e+02] [-1.51537475e-01 9.88434014e-01 -5.88165793e-03 -1.58352355e+01] [-3.65750057e-02 3.39160962e-04 9.99330853e-01 -5.69499054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86587156000002 meters 0.019106594840125012 Centerline is valid? [True, True] Translation: X:142.75, Y:-15.85, Z:-5.70 [[ 9.88055306e-01 1.49828609e-01 3.60291571e-02 1.42745015e+02] [-1.49713886e-01 9.88711898e-01 -5.87660299e-03 -1.58528014e+01] [-3.65029396e-02 4.12343664e-04 9.99333461e-01 -5.69708557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92587156000002 meters 0.021000586950103636 Centerline is valid? [True, True] Translation: X:142.80, Y:-15.88, Z:-5.70 [[ 9.88610659e-01 1.46254209e-01 3.54777611e-02 1.42804562e+02] [-1.46140434e-01 9.89246891e-01 -5.79321017e-03 -1.58752066e+01] [-3.59435463e-02 5.42493899e-04 9.99353675e-01 -5.70142576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98587156000002 meters 0.02225967874801554 Centerline is valid? [True, True] Translation: X:142.86, Y:-15.89, Z:-5.70 [[ 9.88895417e-01 1.44253856e-01 3.57306591e-02 1.42864946e+02] [-1.44137113e-01 9.89540520e-01 -5.83547289e-03 -1.58917920e+01] [-3.61987244e-02 6.20558350e-04 9.99344419e-01 -5.70419567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04587156 meters 0.03134253472543245 Centerline is valid? [True, True] Translation: X:142.93, Y:-15.91, Z:-5.71 [[ 9.89068655e-01 1.43222823e-01 3.50773394e-02 1.42925437e+02] [-1.43109456e-01 9.89690254e-01 -5.73459865e-03 -1.59090745e+01] [-3.55370263e-02 6.52012804e-04 9.99368148e-01 -5.70603419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10587156 meters 0.02543425644144617 Centerline is valid? [True, True] Translation: X:142.99, Y:-15.92, Z:-5.71 [[ 9.88757303e-01 1.45301020e-01 3.53073585e-02 1.42985339e+02] [-1.45187246e-01 9.89387320e-01 -5.77887505e-03 -1.59210553e+01] [-3.57723293e-02 5.87726745e-04 9.99359793e-01 -5.70851568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16587156 meters 0.01603737958434842 Centerline is valid? [True, True] Translation: X:143.05, Y:-15.93, Z:-5.71 [[ 9.87839410e-01 1.51305514e-01 3.57762573e-02 1.43046133e+02] [-1.51192484e-01 9.88486974e-01 -5.85963504e-03 -1.59282751e+01] [-3.62509594e-02 3.79277220e-04 9.99342646e-01 -5.71109230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22587156 meters 0.011963253733702108 Centerline is valid? [True, True] Translation: X:143.11, Y:-15.93, Z:-5.71 [[ 9.86957073e-01 1.57061540e-01 3.53186765e-02 1.43107618e+02] [-1.56955067e-01 9.87588804e-01 -5.78459605e-03 -1.59344892e+01] [-3.57888670e-02 1.65702745e-04 9.99359360e-01 -5.71469901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28587156 meters 0.01078553110327434 Centerline is valid? [True, True] Translation: X:143.17, Y:-15.94, Z:-5.72 [[ 9.86451761e-01 1.60411954e-01 3.43646416e-02 1.43169804e+02] [-1.60313001e-01 9.87050152e-01 -5.63374393e-03 -1.59420693e+01] [-3.48233446e-02 4.83178044e-05 9.99393482e-01 -5.71889286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34587156 meters 0.011398068438007693 Centerline is valid? [True, True] Translation: X:143.23, Y:-15.95, Z:-5.72 [[ 9.85620387e-01 1.65586926e-01 3.36663336e-02 1.43231247e+02] [-1.65494738e-01 9.86195191e-01 -5.52605203e-03 -1.59480189e+01] [-3.41166183e-02 -1.25011537e-04 9.99417851e-01 -5.72241021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40587156 meters 0.012682871731887708 Centerline is valid? [True, True] Translation: X:143.29, Y:-15.96, Z:-5.72 [[ 9.85100376e-01 1.68518504e-01 3.43331243e-02 1.43293256e+02] [-1.68424210e-01 9.85698464e-01 -5.64114272e-03 -1.59553578e+01] [-3.47927448e-02 -2.25437530e-04 9.99394524e-01 -5.72404459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.46587156 meters 0.025794117327492604 Centerline is valid? [True, True] Translation: X:143.36, Y:-15.96, Z:-5.72 [[ 9.84574050e-01 1.71312744e-01 3.55792577e-02 1.43355517e+02] [-1.71213070e-01 9.85216644e-01 -5.85231075e-03 -1.59619561e+01] [-3.60558522e-02 -3.29600630e-04 9.99349722e-01 -5.72323583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.52587156 meters 0.014924449706216088 Centerline is valid? [True, True] Translation: X:143.42, Y:-15.97, Z:-5.73 [[ 9.84369995e-01 1.72353312e-01 3.61945972e-02 1.43416470e+02] [-1.72250626e-01 9.85035127e-01 -5.95995822e-03 -1.59718579e+01] [-3.66801682e-02 -3.67737990e-04 9.99326989e-01 -5.72635869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.58587156000002 meters 0.014993110213721506 Centerline is valid? [True, True] Translation: X:143.48, Y:-15.98, Z:-5.73 [[ 9.84399681e-01 1.72265982e-01 3.58008235e-02 1.43476817e+02] [-1.72165222e-01 9.85050408e-01 -5.90170435e-03 -1.59835559e+01] [-3.62822787e-02 -3.54020842e-04 9.99341519e-01 -5.72951171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64587156000002 meters 0.02971301230041524 Centerline is valid? [True, True] Translation: X:143.54, Y:-15.99, Z:-5.73 [[ 9.84494475e-01 1.71905700e-01 3.49150251e-02 1.43538618e+02] [-1.71809423e-01 9.85113356e-01 -5.76182068e-03 -1.59948799e+01] [-3.53857474e-02 -3.26249678e-04 9.99373675e-01 -5.73281343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70587156000002 meters 0.02722571528026963 Centerline is valid? [True, True] Translation: X:143.60, Y:-16.01, Z:-5.74 [[ 9.84487639e-01 1.71909171e-01 3.50902363e-02 1.43600866e+02] [-1.71811685e-01 9.85112752e-01 -5.79752623e-03 -1.60050470e+01] [-3.55644872e-02 -3.21319695e-04 9.99367332e-01 -5.73523274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76587156 meters 0.014704381576466734 Centerline is valid? [True, True] Translation: X:143.66, Y:-16.02, Z:-5.74 [[ 9.84448669e-01 1.72159399e-01 3.49565444e-02 1.43663279e+02] [-1.72062574e-01 9.85069052e-01 -5.78217647e-03 -1.60157754e+01] [-3.54300661e-02 -3.22457074e-04 9.99372106e-01 -5.73930063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82587156 meters 0.014924297473627795 Centerline is valid? [True, True] Translation: X:143.73, Y:-16.03, Z:-5.74 [[ 9.84373898e-01 1.72499649e-01 3.53822090e-02 1.43725879e+02] [-1.72400423e-01 9.85009523e-01 -5.85946264e-03 -1.60257034e+01] [-3.58625681e-02 -3.32005706e-04 9.99356676e-01 -5.74119412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88587156 meters 0.026402542548737494 Centerline is valid? [True, True] Translation: X:143.79, Y:-16.03, Z:-5.74 [[ 9.84298408e-01 1.72982432e-01 3.51243946e-02 1.43788081e+02] [-1.72884719e-01 9.84924851e-01 -5.82338596e-03 -1.60331074e+01] [-3.56022326e-02 -3.40521552e-04 9.99365982e-01 -5.74372188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94587156 meters 0.016341854852389863 Centerline is valid? [True, True] Translation: X:143.85, Y:-16.04, Z:-5.75 [[ 9.84247866e-01 1.73442143e-01 3.42631230e-02 1.43848385e+02] [-1.73349215e-01 9.84844001e-01 -5.68713131e-03 -1.60409952e+01] [-3.47302194e-02 -3.41938626e-04 9.99396665e-01 -5.74847717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00587156 meters 0.016915497590558833 Centerline is valid? [True, True] Translation: X:143.91, Y:-16.05, Z:-5.75 [[ 9.84092762e-01 1.74185355e-01 3.49413506e-02 1.43910754e+02] [-1.74088996e-01 9.84712813e-01 -5.80489007e-03 -1.60472107e+01] [-3.54183225e-02 -3.70354331e-04 9.99372506e-01 -5.74951858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06587156 meters 0.01550301141926105 Centerline is valid? [True, True] Translation: X:143.97, Y:-16.06, Z:-5.75 [[ 9.84012220e-01 1.74724278e-01 3.45163402e-02 1.43973501e+02] [-1.74630367e-01 9.84617328e-01 -5.74038156e-03 -1.60555646e+01] [-3.49883707e-02 -3.78995552e-04 9.99387648e-01 -5.75085091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12587156 meters 0.018922125191779497 Centerline is valid? [True, True] Translation: X:144.04, Y:-16.06, Z:-5.75 [[ 9.84021163e-01 1.74507441e-01 3.53483179e-02 1.44035833e+02] [-1.74408539e-01 9.84655785e-01 -5.88619908e-03 -1.60618790e+01] [-3.58331112e-02 -3.72904037e-04 9.99357718e-01 -5.75162078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18587156 meters 0.013480454544462308 Centerline is valid? [True, True] Translation: X:144.10, Y:-16.07, Z:-5.75 [[ 9.84565122e-01 1.71041090e-01 3.71007591e-02 1.44096569e+02] [-1.70929413e-01 9.85263864e-01 -6.18498675e-03 -1.60716661e+01] [-3.76119242e-02 -2.52088729e-04 9.99292389e-01 -5.75350224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.24587156 meters 0.011132574600343824 Centerline is valid? [True, True] Translation: X:144.16, Y:-16.08, Z:-5.76 [[ 9.85164057e-01 1.67672738e-01 3.65736772e-02 1.44157668e+02] [-1.67561673e-01 9.85842705e-01 -6.10297860e-03 -1.60848165e+01] [-3.70791960e-02 -1.15911367e-04 9.99312323e-01 -5.75778964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.30587156 meters 0.010659613431291536 Centerline is valid? [True, True] Translation: X:144.22, Y:-16.10, Z:-5.76 [[ 9.85698978e-01 1.64721657e-01 3.55569964e-02 1.44218814e+02] [-1.64614575e-01 9.86340091e-01 -5.93850611e-03 -1.60992386e+01] [-3.60494916e-02 3.79559693e-07 9.99350006e-01 -5.76299586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36587156000002 meters 0.02269593852350866 Centerline is valid? [True, True] Translation: X:144.28, Y:-16.11, Z:-5.77 [[ 9.86137800e-01 1.62364027e-01 3.42076218e-02 1.44279764e+02] [-1.62263302e-01 9.86730923e-01 -5.71892116e-03 -1.61088533e+01] [-3.46822653e-02 8.90026740e-05 9.99398385e-01 -5.76510286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42587156000002 meters 0.012048077808499466 Centerline is valid? [True, True] Translation: X:144.34, Y:-16.12, Z:-5.77 [[ 9.86283764e-01 1.61658461e-01 3.33298540e-02 1.44339811e+02] [-1.61562243e-01 9.86846760e-01 -5.57793377e-03 -1.61178010e+01] [-3.37931787e-02 1.16579535e-04 9.99428841e-01 -5.77169785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48587156000002 meters 0.013053274641118114 Centerline is valid? [True, True] Translation: X:144.40, Y:-16.13, Z:-5.78 [[ 9.86541593e-01 1.60321484e-01 3.21357709e-02 1.44401398e+02] [-1.60231171e-01 9.87064839e-01 -5.38296131e-03 -1.61258874e+01] [-3.25830938e-02 1.61363028e-04 9.99469017e-01 -5.77654524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54587156 meters 0.013345074740362482 Centerline is valid? [True, True] Translation: X:144.46, Y:-16.14, Z:-5.78 [[ 9.86670333e-01 1.59439615e-01 3.25678296e-02 1.44463586e+02] [-1.59346200e-01 9.87207663e-01 -5.46063337e-03 -1.61355916e+01] [-3.30218522e-02 1.98285054e-04 9.99454610e-01 -5.77877467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60587156 meters 0.01985938400419664 Centerline is valid? [True, True] Translation: X:144.52, Y:-16.14, Z:-5.78 [[ 9.86770367e-01 1.58883380e-01 3.22538992e-02 1.44524291e+02] [-1.58791246e-01 9.87297332e-01 -5.41457731e-03 -1.61443779e+01] [-3.27044750e-02 2.21307588e-04 9.99465041e-01 -5.78036970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66587156 meters 0.015008220021572814 Centerline is valid? [True, True] Translation: X:144.59, Y:-16.15, Z:-5.79 [[ 9.86922908e-01 1.58092169e-01 3.14649058e-02 1.44585949e+02] [-1.58003938e-01 9.87424329e-01 -5.28680069e-03 -1.61526862e+01] [-3.19050153e-02 2.46085689e-04 9.99490875e-01 -5.78522016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72587156 meters 0.02428359484364059 Centerline is valid? [True, True] Translation: X:144.65, Y:-16.16, Z:-5.79 [[ 9.87095598e-01 1.57029926e-01 3.13668929e-02 1.44647467e+02] [-1.56941540e-01 9.87593804e-01 -5.27557008e-03 -1.61640139e+01] [-3.18061714e-02 2.84723522e-04 9.99494015e-01 -5.78776419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78587156 meters 0.017298268523052666 Centerline is valid? [True, True] Translation: X:144.71, Y:-16.18, Z:-5.79 [[ 9.87434466e-01 1.54589195e-01 3.27926076e-02 1.44708822e+02] [-1.54491051e-01 9.87978761e-01 -5.52116747e-03 -1.61762065e+01] [-3.32519127e-02 3.85626647e-04 9.99446928e-01 -5.78742585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84587156 meters 0.01900762293005229 Centerline is valid? [True, True] Translation: X:144.77, Y:-16.19, Z:-5.79 [[ 9.87603405e-01 1.53490120e-01 3.28678673e-02 1.44768170e+02] [-1.53390702e-01 9.88150089e-01 -5.54022113e-03 -1.61892910e+01] [-3.33287552e-02 4.29916004e-04 9.99444350e-01 -5.79036467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90587156 meters 0.02031658645726168 Centerline is valid? [True, True] Translation: X:144.83, Y:-16.20, Z:-5.79 [[ 9.87770605e-01 1.52515673e-01 3.23759321e-02 1.44829043e+02] [-1.52418614e-01 9.88300946e-01 -5.45954283e-03 -1.62017541e+01] [-3.28298302e-02 4.58081242e-04 9.99460851e-01 -5.79413680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.96587156 meters 0.023412145596520148 Centerline is valid? [True, True] Translation: X:144.89, Y:-16.21, Z:-5.80 [[ 9.87783315e-01 1.52529491e-01 3.19198488e-02 1.44891057e+02] [-1.52434993e-01 9.88298814e-01 -5.38763446e-03 -1.62141307e+01] [-3.23681218e-02 4.56113518e-04 9.99475911e-01 -5.79719580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.02587156 meters 0.019780042690854285 Centerline is valid? [True, True] Translation: X:144.95, Y:-16.23, Z:-5.80 [[ 9.87633815e-01 1.53571816e-01 3.15459034e-02 1.44951487e+02] [-1.53479852e-01 9.88137398e-01 -5.33075458e-03 -1.62260767e+01] [-3.19903406e-02 4.23172902e-04 9.99488088e-01 -5.80150482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.08587156000002 meters 0.021060216990437874 Centerline is valid? [True, True] Translation: X:145.01, Y:-16.24, Z:-5.80 [[ 9.87366115e-01 1.55241697e-01 3.17516906e-02 1.45013284e+02] [-1.55149220e-01 9.87876446e-01 -5.37083838e-03 -1.62360101e+01] [-3.22005254e-02 3.76733788e-04 9.99481358e-01 -5.80271806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14587156000002 meters 0.026223443485828626 Centerline is valid? [True, True] Translation: X:145.07, Y:-16.25, Z:-5.81 [[ 9.87135881e-01 1.56888064e-01 3.08040229e-02 1.45074018e+02] [-1.56801669e-01 9.87616340e-01 -5.21561005e-03 -1.62467824e+01] [-3.12408233e-02 3.18393628e-04 9.99511836e-01 -5.80680875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20587156000002 meters 0.014373987170589813 Centerline is valid? [True, True] Translation: X:145.13, Y:-16.26, Z:-5.81 [[ 9.86566473e-01 1.60320545e-01 3.13674573e-02 1.45134151e+02] [-1.60232515e-01 9.87064980e-01 -5.31660537e-03 -1.62559598e+01] [-3.18140797e-02 2.19098011e-04 9.99493780e-01 -5.81019895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26587156 meters 0.014283860691487503 Centerline is valid? [True, True] Translation: X:145.19, Y:-16.26, Z:-5.81 [[ 9.85822441e-01 1.64518047e-01 3.29837436e-02 1.45194803e+02] [-1.64422872e-01 9.86374069e-01 -5.59605309e-03 -1.62624981e+01] [-3.34549611e-02 9.34328690e-05 9.99440222e-01 -5.81002293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32587156 meters 0.01096893055420276 Centerline is valid? [True, True] Translation: X:145.26, Y:-16.27, Z:-5.81 [[ 9.85243604e-01 1.67921860e-01 3.31253744e-02 1.45257812e+02] [-1.67827626e-01 9.85800309e-01 -5.62486514e-03 -1.62699771e+01] [-3.35995421e-02 -1.74905549e-05 9.99435376e-01 -5.81139232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38587156 meters 0.013013422342999443 Centerline is valid? [True, True] Translation: X:145.32, Y:-16.27, Z:-5.81 [[ 9.84163369e-01 1.74047338e-01 3.36152842e-02 1.45320258e+02] [-1.73953629e-01 9.84737262e-01 -5.71491885e-03 -1.62713677e+01] [-3.40968893e-02 -2.23086903e-04 9.99418507e-01 -5.81327182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44587156 meters 0.015626510739955843 Centerline is valid? [True, True] Translation: X:145.38, Y:-16.28, Z:-5.82 [[ 9.83505220e-01 1.77790431e-01 3.32873112e-02 1.45382187e+02] [-1.77700493e-01 9.84068313e-01 -5.66482510e-03 -1.62773020e+01] [-3.37641399e-02 -3.43786568e-04 9.99429770e-01 -5.81647469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50587156 meters 0.029035856505594735 Centerline is valid? [True, True] Translation: X:145.44, Y:-16.28, Z:-5.82 [[ 9.82855811e-01 1.81394847e-01 3.30206676e-02 1.45443331e+02] [-1.81308163e-01 9.83410240e-01 -5.62585000e-03 -1.62800005e+01] [-3.34933628e-02 -4.57517198e-04 9.99438835e-01 -5.81959571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56587156 meters 0.019789723621976788 Centerline is valid? [True, True] Translation: X:145.50, Y:-16.29, Z:-5.82 [[ 9.82592856e-01 1.82798780e-01 3.31041542e-02 1.45504847e+02] [-1.82712382e-01 9.83150218e-01 -5.64214677e-03 -1.62889786e+01] [-3.35777340e-02 -5.04605767e-04 9.99435982e-01 -5.82219427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62587156 meters 0.01993705780536522 Centerline is valid? [True, True] Translation: X:145.57, Y:-16.30, Z:-5.82 [[ 9.82483191e-01 1.83156262e-01 3.43593283e-02 1.45566431e+02] [-1.83063188e-01 9.83083670e-01 -5.86229616e-03 -1.62966328e+01] [-3.48518108e-02 -5.30320755e-04 9.99392350e-01 -5.82314628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68587156 meters 0.0268195742643899 Centerline is valid? [True, True] Translation: X:145.63, Y:-16.31, Z:-5.83 [[ 9.82571780e-01 1.82780874e-01 3.38208402e-02 1.45628764e+02] [-1.82690284e-01 9.83153548e-01 -5.77592838e-03 -1.63076739e+01] [-3.43068083e-02 -5.03474681e-04 9.99411221e-01 -5.82700020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.74587156 meters 0.023728284363368317 Centerline is valid? [True, True] Translation: X:145.69, Y:-16.32, Z:-5.83 [[ 9.82641382e-01 1.82591741e-01 3.28050515e-02 1.45691023e+02] [-1.82506204e-01 9.83188705e-01 -5.60854722e-03 -1.63158528e+01] [-3.32776305e-02 -4.75934837e-04 9.99446033e-01 -5.83153664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.80587156 meters 0.03066205502636518 Centerline is valid? [True, True] Translation: X:145.75, Y:-16.32, Z:-5.84 [[ 9.82581799e-01 1.83034060e-01 3.21176003e-02 1.45751681e+02] [-1.82952095e-01 9.83106458e-01 -5.49754510e-03 -1.63221765e+01] [-3.25812583e-02 -4.74194503e-04 9.99468977e-01 -5.83603771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86587156000002 meters 0.01952485878010744 Centerline is valid? [True, True] Translation: X:145.81, Y:-16.33, Z:-5.84 [[ 9.82697613e-01 1.82469846e-01 3.17829511e-02 1.45812475e+02] [-1.82389082e-01 9.83211350e-01 -5.44654484e-03 -1.63317893e+01] [-3.22431885e-02 -4.44556670e-04 9.99479954e-01 -5.83961664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92587156000002 meters 0.018150816300053475 Centerline is valid? [True, True] Translation: X:145.87, Y:-16.34, Z:-5.84 [[ 9.83008706e-01 1.80733072e-01 3.20849095e-02 1.45872783e+02] [-1.80649858e-01 9.83532106e-01 -5.49780395e-03 -1.63425983e+01] [-3.25501736e-02 -3.91745194e-04 9.99470026e-01 -5.84240716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98587156000002 meters 0.01537786592810818 Centerline is valid? [True, True] Translation: X:145.93, Y:-16.36, Z:-5.84 [[ 9.83220386e-01 1.79383230e-01 3.31561257e-02 1.45933980e+02] [-1.79293421e-01 9.83779209e-01 -5.68659004e-03 -1.63560684e+01] [-3.36383860e-02 -3.53503940e-04 9.99434007e-01 -5.84151640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04587156 meters 0.01500830016410752 Centerline is valid? [True, True] Translation: X:146.00, Y:-16.36, Z:-5.84 [[ 9.83342176e-01 1.78522461e-01 3.41744959e-02 1.45995327e+02] [-1.78426311e-01 9.83935782e-01 -5.86755592e-03 -1.63637336e+01] [-3.46729999e-02 -3.27814023e-04 9.99398657e-01 -5.84176332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10587156 meters 0.015762324543294605 Centerline is valid? [True, True] Translation: X:146.06, Y:-16.37, Z:-5.85 [[ 9.83272450e-01 1.79073455e-01 3.32864323e-02 1.46057028e+02] [-1.78982361e-01 9.83835650e-01 -5.72079133e-03 -1.63716304e+01] [-3.37728206e-02 -3.32587717e-04 9.99429480e-01 -5.84697990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16587156 meters 0.016168435571396304 Centerline is valid? [True, True] Translation: X:146.12, Y:-16.38, Z:-5.85 [[ 9.83122890e-01 1.79915833e-01 3.31613723e-02 1.46118249e+02] [-1.79825714e-01 9.83681944e-01 -5.70485651e-03 -1.63814989e+01] [-3.36466372e-02 -3.54692426e-04 9.99433729e-01 -5.84887603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22587156 meters 0.016718201188523057 Centerline is valid? [True, True] Translation: X:146.18, Y:-16.39, Z:-5.85 [[ 9.83012275e-01 1.80499425e-01 3.32689865e-02 1.46179539e+02] [-1.80408819e-01 9.83575021e-01 -5.73031821e-03 -1.63884656e+01] [-3.37568632e-02 -3.69045424e-04 9.99430007e-01 -5.85143937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28587156 meters 0.017559197596943212 Centerline is valid? [True, True] Translation: X:146.24, Y:-16.40, Z:-5.85 [[ 9.82833594e-01 1.81456308e-01 3.33426952e-02 1.46239584e+02] [-1.81365816e-01 9.83398926e-01 -5.74403490e-03 -1.63960210e+01] [-3.38314620e-02 -4.01794633e-04 9.99427471e-01 -5.85387182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34587156 meters 0.01760056382707092 Centerline is valid? [True, True] Translation: X:146.30, Y:-16.40, Z:-5.86 [[ 9.82569524e-01 1.82942102e-01 3.30048027e-02 1.46300235e+02] [-1.82854281e-01 9.83123586e-01 -5.68560054e-03 -1.64032747e+01] [-3.34879357e-02 -4.48571634e-04 9.99439021e-01 -5.85558208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40587156 meters 0.028460812814797818 Centerline is valid? [True, True] Translation: X:146.36, Y:-16.40, Z:-5.86 [[ 9.81908835e-01 1.86379596e-01 3.34317973e-02 1.46360455e+02] [-1.86291436e-01 9.82477643e-01 -5.76034979e-03 -1.64021073e+01] [-3.39196051e-02 -5.71919188e-04 9.99424401e-01 -5.85762228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.46587156 meters 0.023414077259351036 Centerline is valid? [True, True] Translation: X:146.42, Y:-16.41, Z:-5.86 [[ 9.81739926e-01 1.87242311e-01 3.35713353e-02 1.46419041e+02] [-1.87153925e-01 9.82313571e-01 -5.78415728e-03 -1.64083031e+01] [-3.40606172e-02 -6.04469041e-04 9.99419586e-01 -5.86055948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.52587156 meters 0.024420197305179178 Centerline is valid? [True, True] Translation: X:146.48, Y:-16.41, Z:-5.86 [[ 9.81502087e-01 1.88603489e-01 3.28994938e-02 1.46479170e+02] [-1.88519413e-01 9.82053112e-01 -5.66712982e-03 -1.64119377e+01] [-3.33778907e-02 -6.39893518e-04 9.99442598e-01 -5.86392724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.58587156000002 meters 0.026451685435576702 Centerline is valid? [True, True] Translation: X:146.54, Y:-16.42, Z:-5.87 [[ 9.81536876e-01 1.88445551e-01 3.27663902e-02 1.46536829e+02] [-1.88362082e-01 9.82083436e-01 -5.64372604e-03 -1.64150322e+01] [-3.32428642e-02 -6.32420261e-04 9.99447103e-01 -5.86804622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64587156000002 meters 0.02311871822215892 Centerline is valid? [True, True] Translation: X:146.59, Y:-16.42, Z:-5.87 [[ 9.81846547e-01 1.86799953e-01 3.29110360e-02 1.46594886e+02] [-1.86714892e-01 9.82397801e-01 -5.66652173e-03 -1.64222936e+01] [-3.33902353e-02 -5.81325731e-04 9.99442222e-01 -5.86968300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70587156000002 meters 0.021112311559404216 Centerline is valid? [True, True] Translation: X:146.65, Y:-16.43, Z:-5.87 [[ 9.82249712e-01 1.84771570e-01 3.23260100e-02 1.46653008e+02] [-1.84688459e-01 9.82781365e-01 -5.56426505e-03 -1.64308573e+01] [-3.27975182e-02 -5.04743210e-04 9.99461889e-01 -5.87331058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76587156 meters 0.01922723876989047 Centerline is valid? [True, True] Translation: X:146.71, Y:-16.44, Z:-5.88 [[ 9.82840726e-01 1.81537188e-01 3.26857309e-02 1.46711350e+02] [-1.81450485e-01 9.83383998e-01 -5.62444924e-03 -1.64389559e+01] [-3.31636714e-02 -4.02903927e-04 9.99449853e-01 -5.87636804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82587156 meters 0.016325087796994247 Centerline is valid? [True, True] Translation: X:146.77, Y:-16.45, Z:-5.88 [[ 9.83312999e-01 1.78976456e-01 3.26032909e-02 1.46769229e+02] [-1.78888818e-01 9.83853306e-01 -5.60918504e-03 -1.64495051e+01] [-3.30807676e-02 -3.16779609e-04 9.99452631e-01 -5.87901063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88587156 meters 0.021589008881521165 Centerline is valid? [True, True] Translation: X:146.83, Y:-16.46, Z:-5.88 [[ 9.83842729e-01 1.76081412e-01 3.23855023e-02 1.46826726e+02] [-1.75993419e-01 9.84375583e-01 -5.57030156e-03 -1.64570415e+01] [-3.28603243e-02 -2.19334593e-04 9.99459930e-01 -5.88174056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94587156 meters 0.013489729178748635 Centerline is valid? [True, True] Translation: X:146.89, Y:-16.47, Z:-5.88 [[ 9.83965612e-01 1.75471433e-01 3.19601530e-02 1.46886002e+02] [-1.75385488e-01 9.84484503e-01 -5.49488393e-03 -1.64653969e+01] [-3.24284705e-02 -1.98570201e-04 9.99474039e-01 -5.88397320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00587156 meters 0.01390499469848777 Centerline is valid? [True, True] Translation: X:146.95, Y:-16.47, Z:-5.89 [[ 9.83862019e-01 1.76122200e-01 3.15673526e-02 1.46945200e+02] [-1.76038706e-01 9.84368286e-01 -5.42684081e-03 -1.64689143e+01] [-3.20296879e-02 -2.17813339e-04 9.99486894e-01 -5.88680854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06587156 meters 0.014347967835351463 Centerline is valid? [True, True] Translation: X:147.00, Y:-16.47, Z:-5.89 [[ 9.83658792e-01 1.77180446e-01 3.19760906e-02 1.47004635e+02] [-1.77095387e-01 9.84178349e-01 -5.49550195e-03 -1.64713500e+01] [-3.24438716e-02 -2.57119327e-04 9.99473526e-01 -5.88777427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12587156 meters 0.01549459955622623 Centerline is valid? [True, True] Translation: X:147.06, Y:-16.48, Z:-5.89 [[ 9.83669711e-01 1.77093063e-01 3.21239114e-02 1.47062292e+02] [-1.77007217e-01 9.84194077e-01 -5.51942932e-03 -1.64765407e+01] [-3.25936160e-02 -2.56868716e-04 9.99468654e-01 -5.89227558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18587156 meters 0.014206362022315273 Centerline is valid? [True, True] Translation: X:147.12, Y:-16.48, Z:-5.89 [[ 9.83849546e-01 1.75902035e-01 3.31442961e-02 1.47121066e+02] [-1.75810056e-01 9.84407651e-01 -5.69223937e-03 -1.64838521e+01] [-3.36287751e-02 -2.26793422e-04 9.99434367e-01 -5.89177209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.24587156 meters 0.012960562652819604 Centerline is valid? [True, True] Translation: X:147.18, Y:-16.49, Z:-5.89 [[ 9.84157731e-01 1.74169900e-01 3.31422133e-02 1.47179582e+02] [-1.74077007e-01 9.84715602e-01 -5.69020408e-03 -1.64934174e+01] [-3.36267168e-02 -1.69238948e-04 9.99434448e-01 -5.89382249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.30587156 meters 0.01155709199300195 Centerline is valid? [True, True] Translation: X:147.24, Y:-16.51, Z:-5.90 [[ 9.84772732e-01 1.70617211e-01 3.33531573e-02 1.47237208e+02] [-1.70521130e-01 9.85337386e-01 -5.72531722e-03 -1.65077008e+01] [-3.38409505e-02 -4.92817819e-05 9.99427230e-01 -5.89569156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36587156000002 meters 0.011356751667410847 Centerline is valid? [True, True] Translation: X:147.29, Y:-16.52, Z:-5.90 [[ 9.85172086e-01 1.68185015e-01 3.39081436e-02 1.47294831e+02] [-1.68084326e-01 9.85755446e-01 -5.81889744e-03 -1.65201677e+01] [-3.44037886e-02 3.31878482e-05 9.99408014e-01 -5.89644100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42587156000002 meters 0.011445581453320891 Centerline is valid? [True, True] Translation: X:147.35, Y:-16.53, Z:-5.90 [[ 9.85397292e-01 1.66718706e-01 3.45983983e-02 1.47352046e+02] [-1.66613035e-01 9.86004496e-01 -5.93553701e-03 -1.65314943e+01] [-3.51037413e-02 8.43179637e-05 9.99383670e-01 -5.89804253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48587156000002 meters 0.011477681721721205 Centerline is valid? [True, True] Translation: X:147.41, Y:-16.54, Z:-5.90 [[ 9.85413668e-01 1.66789221e-01 3.37825184e-02 1.47411016e+02] [-1.66688561e-01 9.85992571e-01 -5.79430754e-03 -1.65401840e+01] [-3.42757402e-02 7.86304886e-05 9.99412411e-01 -5.90103080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54587156 meters 0.011646325321573678 Centerline is valid? [True, True] Translation: X:147.47, Y:-16.55, Z:-5.90 [[ 9.85488193e-01 1.66568565e-01 3.26792581e-02 1.47469482e+02] [-1.66474279e-01 9.86029871e-01 -5.60429387e-03 -1.65522293e+01] [-3.31562238e-02 8.27095030e-05 9.99450178e-01 -5.90449903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60587156 meters 0.01177954567704865 Centerline is valid? [True, True] Translation: X:147.53, Y:-16.56, Z:-5.91 [[ 9.85517304e-01 1.66234489e-01 3.34923551e-02 1.47527431e+02] [-1.66135285e-01 9.86086246e-01 -5.74296501e-03 -1.65622143e+01] [-3.39810296e-02 9.55294447e-05 9.99422473e-01 -5.90662342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66587156 meters 0.01177589183032107 Centerline is valid? [True, True] Translation: X:147.59, Y:-16.57, Z:-5.91 [[ 9.85527024e-01 1.66335746e-01 3.26941131e-02 1.47586634e+02] [-1.66241314e-01 9.86069172e-01 -5.60479974e-03 -1.65719446e+01] [-3.31709355e-02 8.85693113e-05 9.99449689e-01 -5.90949234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72587156 meters 0.012027492101041726 Centerline is valid? [True, True] Translation: X:147.65, Y:-16.58, Z:-5.91 [[ 9.85585187e-01 1.66106183e-01 3.21025710e-02 1.47645173e+02] [-1.66015043e-01 9.86107868e-01 -5.50259863e-03 -1.65818663e+01] [-3.25706135e-02 9.37700134e-05 9.99469432e-01 -5.91312442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78587156 meters 0.02066283941157465 Centerline is valid? [True, True] Translation: X:147.70, Y:-16.60, Z:-5.92 [[ 9.85737381e-01 1.65349230e-01 3.13280710e-02 1.47702666e+02] [-1.65262072e-01 9.86235073e-01 -5.36920851e-03 -1.65959568e+01] [-3.17846369e-02 1.15287592e-04 9.99494734e-01 -5.91719965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84587156 meters 0.01367580095153009 Centerline is valid? [True, True] Translation: X:147.76, Y:-16.61, Z:-5.92 [[ 9.85977690e-01 1.64067217e-01 3.04949796e-02 1.47760487e+02] [-1.63984065e-01 9.86449150e-01 -5.22503913e-03 -1.66092598e+01] [-3.09390043e-02 1.51081296e-04 9.99521263e-01 -5.92338490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90587156 meters 0.013759610839591622 Centerline is valid? [True, True] Translation: X:147.82, Y:-16.62, Z:-5.92 [[ 9.86129507e-01 1.63022885e-01 3.11790685e-02 1.47819162e+02] [-1.62935446e-01 9.86622270e-01 -5.34197734e-03 -1.66231748e+01] [-3.16328279e-02 1.87706048e-04 9.99499539e-01 -5.92402236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96587156 meters 0.015535558311409915 Centerline is valid? [True, True] Translation: X:147.88, Y:-16.64, Z:-5.93 [[ 9.86537930e-01 1.60678019e-01 3.04218234e-02 1.47877307e+02] [-1.60593692e-01 9.87006843e-01 -5.21125125e-03 -1.66413064e+01] [-3.08638814e-02 2.55544072e-04 9.99523564e-01 -5.92761215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.02587156 meters 0.01661506697350374 Centerline is valid? [True, True] Translation: X:147.94, Y:-16.66, Z:-5.93 [[ 9.86774419e-01 1.59171075e-01 3.06727107e-02 1.47935551e+02] [-1.59084623e-01 9.87250969e-01 -5.25422818e-03 -1.66575991e+01] [-3.11179845e-02 3.05181337e-04 9.99515672e-01 -5.92983864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.08587156000002 meters 0.017077078170831532 Centerline is valid? [True, True] Translation: X:148.00, Y:-16.68, Z:-5.93 [[ 9.87001910e-01 1.57723067e-01 3.08328225e-02 1.47995810e+02] [-1.57635063e-01 9.87483322e-01 -5.27974515e-03 -1.66761881e+01] [-3.12796356e-02 3.50784614e-04 9.99510611e-01 -5.93099404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14587156000002 meters 0.01695088457958315 Centerline is valid? [True, True] Translation: X:148.05, Y:-16.69, Z:-5.93 [[ 9.86835279e-01 1.58583895e-01 3.17376707e-02 1.48054893e+02] [-1.58490904e-01 9.87345448e-01 -5.44059374e-03 -1.66949463e+01] [-3.21988352e-02 3.38837742e-04 9.99481426e-01 -5.93227927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20587156000002 meters 0.01454524002206078 Centerline is valid? [True, True] Translation: X:148.12, Y:-16.70, Z:-5.93 [[ 9.86371962e-01 1.61600639e-01 3.09125497e-02 1.48116025e+02] [-1.61513756e-01 9.86856209e-01 -5.30380573e-03 -1.67048465e+01] [-3.13633400e-02 2.38723261e-04 9.99508021e-01 -5.93488850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26587156 meters 0.012182529530825666 Centerline is valid? [True, True] Translation: X:148.18, Y:-16.71, Z:-5.94 [[ 9.85012138e-01 1.69830705e-01 3.01433309e-02 1.48176297e+02] [-1.69751723e-01 9.85473252e-01 -5.17893256e-03 -1.67089542e+01] [-3.05849881e-02 -1.55709161e-05 9.99532170e-01 -5.93774458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32587156 meters 0.012811781341093304 Centerline is valid? [True, True] Translation: X:148.24, Y:-16.72, Z:-5.94 [[ 9.84477009e-01 1.72846148e-01 3.04832446e-02 1.48235606e+02] [-1.72766813e-01 9.84948830e-01 -5.23747371e-03 -1.67166400e+01] [-3.09297133e-02 -1.10320589e-04 9.99521556e-01 -5.94063364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38587156 meters 0.018846752909765604 Centerline is valid? [True, True] Translation: X:148.29, Y:-16.72, Z:-5.94 [[ 9.83088392e-01 1.80284298e-01 3.21680678e-02 1.48294443e+02] [-1.80199931e-01 9.83614477e-01 -5.52675725e-03 -1.67189208e+01] [-3.26373647e-02 -3.63392693e-04 9.99467193e-01 -5.94255651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44587156 meters 0.020373068785400083 Centerline is valid? [True, True] Translation: X:148.35, Y:-16.73, Z:-5.94 [[ 9.82473955e-01 1.83517343e-01 3.26544515e-02 1.48352938e+02] [-1.83432230e-01 9.83016355e-01 -5.60908429e-03 -1.67277922e+01] [-3.31292242e-02 -4.79099642e-04 9.99450962e-01 -5.94267655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50587156 meters 0.025905085644210832 Centerline is valid? [True, True] Translation: X:148.41, Y:-16.74, Z:-5.95 [[ 9.82217541e-01 1.85010232e-01 3.19361139e-02 1.48410852e+02] [-1.84929652e-01 9.82736457e-01 -5.48443695e-03 -1.67401618e+01] [-3.23994604e-02 -5.19024259e-04 9.99474865e-01 -5.94669026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56587156 meters 0.022537995560780972 Centerline is valid? [True, True] Translation: X:148.47, Y:-16.75, Z:-5.95 [[ 9.82160238e-01 1.85351219e-01 3.17205505e-02 1.48468660e+02] [-1.85271918e-01 9.82672197e-01 -5.44689826e-03 -1.67508621e+01] [-3.21804923e-02 -5.27200334e-04 9.99481935e-01 -5.95029840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62587156 meters 0.022028426653133943 Centerline is valid? [True, True] Translation: X:148.53, Y:-16.76, Z:-5.95 [[ 9.82213710e-01 1.85083446e-01 3.16282313e-02 1.48527243e+02] [-1.85004525e-01 9.82722671e-01 -5.42927416e-03 -1.67637212e+01] [-3.20866487e-02 -5.18658373e-04 9.99484956e-01 -5.95225666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68587156 meters 0.022249062568783742 Centerline is valid? [True, True] Translation: X:148.58, Y:-16.77, Z:-5.95 [[ 9.82308894e-01 1.84453225e-01 3.23457029e-02 1.48584627e+02] [-1.84370359e-01 9.82841161e-01 -5.55184640e-03 -1.67740360e+01] [-3.28147442e-02 -5.09960765e-04 9.99461321e-01 -5.95482682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.74587156 meters 0.01885694720809665 Centerline is valid? [True, True] Translation: X:148.64, Y:-16.79, Z:-5.96 [[ 9.82720243e-01 1.82156083e-01 3.28646616e-02 1.48642544e+02] [-1.82069317e-01 9.83269529e-01 -5.63897645e-03 -1.67927122e+01] [-3.33419941e-02 -4.42110175e-04 9.99443903e-01 -5.95621154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.80587156 meters 0.017951569744585595 Centerline is valid? [True, True] Translation: X:148.70, Y:-16.81, Z:-5.96 [[ 9.83043400e-01 1.80592565e-01 3.18119276e-02 1.48702106e+02] [-1.80510467e-01 9.83557921e-01 -5.45784750e-03 -1.68051263e+01] [-3.22745201e-02 -3.77084952e-04 9.99478971e-01 -5.96087462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86587156000002 meters 0.016594573224285553 Centerline is valid? [True, True] Translation: X:148.76, Y:-16.82, Z:-5.96 [[ 9.83407164e-01 1.78620534e-01 3.17025854e-02 1.48759436e+02] [-1.78537970e-01 9.83917989e-01 -5.43920992e-03 -1.68209166e+01] [-3.21642986e-02 -3.11157246e-04 9.99482547e-01 -5.96439331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92587156000002 meters 0.030301940953907806 Centerline is valid? [True, True] Translation: X:148.82, Y:-16.84, Z:-5.97 [[ 9.83553737e-01 1.77818684e-01 3.16632610e-02 1.48818739e+02] [-1.77735926e-01 9.84063227e-01 -5.43195747e-03 -1.68355640e+01] [-3.21245543e-02 -2.85076943e-04 9.99483833e-01 -5.96564014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98587156000002 meters 0.015386050989242176 Centerline is valid? [True, True] Translation: X:148.88, Y:-16.85, Z:-5.97 [[ 9.83579944e-01 1.77586540e-01 3.21483195e-02 1.48877919e+02] [-1.77501103e-01 9.84105148e-01 -5.51517118e-03 -1.68473367e+01] [-3.26167469e-02 -2.81750409e-04 9.99467893e-01 -5.96831437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04587156 meters 0.019715359476398398 Centerline is valid? [True, True] Translation: X:148.94, Y:-16.86, Z:-5.97 [[ 9.83498379e-01 1.78179784e-01 3.13512853e-02 1.48937755e+02] [-1.78098833e-01 9.83997906e-01 -5.37843681e-03 -1.68567997e+01] [-3.18079278e-02 -2.93943430e-04 9.99493957e-01 -5.97231677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10587156 meters 0.01757467354418484 Centerline is valid? [True, True] Translation: X:149.00, Y:-16.87, Z:-5.98 [[ 9.83393283e-01 1.78722802e-01 3.15564717e-02 1.48996868e+02] [-1.78641063e-01 9.83899416e-01 -5.41375990e-03 -1.68656037e+01] [-3.20159565e-02 -3.13426547e-04 9.99487309e-01 -5.97620193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16587156 meters 0.018102000907455725 Centerline is valid? [True, True] Translation: X:149.06, Y:-16.88, Z:-5.98 [[ 9.83152847e-01 1.80000831e-01 3.17833275e-02 1.49056913e+02] [-1.79918596e-01 9.83666393e-01 -5.45217336e-03 -1.68758464e+01] [-3.22455869e-02 -3.58091890e-04 9.99479912e-01 -5.97688843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22587156 meters 0.02972011657554609 Centerline is valid? [True, True] Translation: X:149.12, Y:-16.88, Z:-5.98 [[ 9.82990865e-01 1.80951299e-01 3.13940438e-02 1.49116226e+02] [-1.80871543e-01 9.83491983e-01 -5.38563760e-03 -1.68838877e+01] [-3.18503285e-02 -3.84256592e-04 9.99492576e-01 -5.98006177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28587156 meters 0.019350724319767223 Centerline is valid? [True, True] Translation: X:149.18, Y:-16.89, Z:-5.98 [[ 9.82821273e-01 1.81845452e-01 3.15369268e-02 1.49176258e+02] [-1.81765460e-01 9.83327035e-01 -5.40916632e-03 -1.68930564e+01] [-3.19947450e-02 -4.16080281e-04 9.99487950e-01 -5.98172032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34587156 meters 0.0211547646608067 Centerline is valid? [True, True] Translation: X:149.23, Y:-16.90, Z:-5.98 [[ 9.82555481e-01 1.83105909e-01 3.25108168e-02 1.49234545e+02] [-1.83021581e-01 9.83093080e-01 -5.57644249e-03 -1.68982546e+01] [-3.29822386e-02 -4.71016957e-04 9.99455827e-01 -5.98301564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40587156 meters 0.02173188119480956 Centerline is valid? [True, True] Translation: X:149.29, Y:-16.91, Z:-5.98 [[ 9.82423979e-01 1.83760706e-01 3.27891393e-02 1.49294068e+02] [-1.83675320e-01 9.82970882e-01 -5.62331841e-03 -1.69056157e+01] [-3.32641141e-02 -4.98072819e-04 9.99446472e-01 -5.98477577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46587156 meters 0.02166358363397634 Centerline is valid? [True, True] Translation: X:149.35, Y:-16.91, Z:-5.99 [[ 9.82299141e-01 1.84321562e-01 3.33760298e-02 1.49353630e+02] [-1.84233443e-01 9.82865852e-01 -5.72316699e-03 -1.69122637e+01] [-3.38590630e-02 -5.27118850e-04 9.99426479e-01 -5.98519413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.52587156 meters 0.021100429513048788 Centerline is valid? [True, True] Translation: X:149.41, Y:-16.92, Z:-5.99 [[ 9.82419147e-01 1.83715364e-01 3.31856084e-02 1.49412812e+02] [-1.83627928e-01 9.82979354e-01 -5.68972310e-03 -1.69216473e+01] [-3.36660575e-02 -5.04111615e-04 9.99433010e-01 -5.98760018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.58587156000002 meters 0.021972971002341985 Centerline is valid? [True, True] Translation: X:149.47, Y:-16.93, Z:-5.99 [[ 9.82635031e-01 1.82685250e-01 3.24729959e-02 1.49471709e+02] [-1.82600990e-01 9.83171342e-01 -5.56689452e-03 -1.69261364e+01] [-3.29435085e-02 -4.59375623e-04 9.99457110e-01 -5.99321378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64587156000002 meters 0.017001013278883204 Centerline is valid? [True, True] Translation: X:149.53, Y:-16.94, Z:-5.99 [[ 9.83278581e-01 1.79131640e-01 3.27885152e-02 1.49530195e+02] [-1.79043804e-01 9.83825054e-01 -5.61958962e-03 -1.69411705e+01] [-3.32648090e-02 -3.44958373e-04 9.99446514e-01 -5.99465411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70587156000002 meters 0.013252059675671004 Centerline is valid? [True, True] Translation: X:149.59, Y:-16.96, Z:-6.00 [[ 9.83982326e-01 1.75279833e-01 3.24924938e-02 1.49590315e+02] [-1.75191503e-01 9.84518631e-01 -5.56800198e-03 -1.69564569e+01] [-3.29654239e-02 -2.13593268e-04 9.99456470e-01 -5.99599040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76587156 meters 0.011545871857022296 Centerline is valid? [True, True] Translation: X:149.65, Y:-16.97, Z:-6.00 [[ 9.84963568e-01 1.69657127e-01 3.26071748e-02 1.49649681e+02] [-1.69565086e-01 9.85503150e-01 -5.58775581e-03 -1.69731347e+01] [-3.30824761e-02 -2.53025132e-05 9.99452625e-01 -5.99942813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82587156 meters 0.02596441580614259 Centerline is valid? [True, True] Translation: X:149.71, Y:-16.99, Z:-6.00 [[ 9.85461444e-01 1.66729328e-01 3.26661004e-02 1.49710619e+02] [-1.66635168e-01 9.86002700e-01 -5.60319584e-03 -1.69876470e+01] [-3.31430803e-02 7.84123230e-05 9.99450614e-01 -6.00045021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88587156 meters 0.013644306084211164 Centerline is valid? [True, True] Translation: X:149.77, Y:-17.01, Z:-6.00 [[ 9.86026086e-01 1.63204485e-01 3.34193557e-02 1.49770563e+02] [-1.63103708e-01 9.86592243e-01 -5.73821917e-03 -1.70057334e+01] [-3.39077802e-02 2.07212943e-04 9.99424944e-01 -6.00325888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94587156 meters 0.014879477172012138 Centerline is valid? [True, True] Translation: X:149.83, Y:-17.02, Z:-6.01 [[ 9.86290929e-01 1.61696578e-01 3.29305244e-02 1.49831321e+02] [-1.61597708e-01 9.86840488e-01 -5.65969082e-03 -1.70198766e+01] [-3.34123274e-02 2.60604462e-04 9.99441618e-01 -6.00656068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00587156 meters 0.014479591072961352 Centerline is valid? [True, True] Translation: X:149.89, Y:-17.03, Z:-6.01 [[ 9.86285250e-01 1.61889539e-01 3.21431551e-02 1.49892740e+02] [-1.61795281e-01 9.86808854e-01 -5.52933558e-03 -1.70321217e+01] [-3.26142916e-02 2.52891306e-04 9.99467980e-01 -6.00917291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06587156 meters 0.013360777609978535 Centerline is valid? [True, True] Translation: X:149.95, Y:-17.04, Z:-6.01 [[ 9.85855086e-01 1.64644543e-01 3.13356734e-02 1.49953109e+02] [-1.64556149e-01 9.86352953e-01 -5.39688246e-03 -1.70398061e+01] [-3.17966012e-02 1.64066272e-04 9.99494347e-01 -6.01340323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12587156 meters 0.012172446158365295 Centerline is valid? [True, True] Translation: X:150.01, Y:-17.04, Z:-6.02 [[ 9.84619365e-01 1.71857812e-01 3.14578896e-02 1.50014388e+02] [-1.71772210e-01 9.85121763e-01 -5.42396996e-03 -1.70403502e+01] [-3.19220033e-02 -6.30453591e-05 9.99490361e-01 -6.01609824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18587156 meters 0.017826905197362894 Centerline is valid? [True, True] Translation: X:150.08, Y:-17.03, Z:-6.02 [[ 9.82916454e-01 1.81218141e-01 3.21749791e-02 1.50075992e+02] [-1.81133498e-01 9.83442854e-01 -5.55059476e-03 -1.70341066e+01] [-3.26481217e-02 -3.72195583e-04 9.99466839e-01 -6.01701572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.24587156 meters 0.020031250389391488 Centerline is valid? [True, True] Translation: X:150.14, Y:-17.04, Z:-6.02 [[ 9.82424104e-01 1.83920943e-01 3.18742426e-02 1.50135927e+02] [-1.83839321e-01 9.82940932e-01 -5.49795637e-03 -1.70392026e+01] [-3.23416871e-02 -4.58414268e-04 9.99476766e-01 -6.01983190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.30587156 meters 0.02586361479391539 Centerline is valid? [True, True] Translation: X:150.20, Y:-17.04, Z:-6.03 [[ 9.81616874e-01 1.88398099e-01 3.05690726e-02 1.50195602e+02] [-1.88325212e-01 9.82092571e-01 -5.27225083e-03 -1.70372795e+01] [-3.10149411e-02 -5.81596689e-04 9.99518752e-01 -6.02527879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36587156000002 meters 0.029293454580432553 Centerline is valid? [True, True] Translation: X:150.26, Y:-17.03, Z:-6.03 [[ 9.80947734e-01 1.91771395e-01 3.10688782e-02 1.50256652e+02] [-1.91697835e-01 9.81439372e-01 -5.35715893e-03 -1.70349472e+01] [-3.15195702e-02 -7.00743789e-04 9.99502889e-01 -6.02714394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42587156000002 meters 0.028395831677361757 Centerline is valid? [True, True] Translation: X:150.31, Y:-17.04, Z:-6.03 [[ 9.81070192e-01 1.91215176e-01 3.06273688e-02 1.50314417e+02] [-1.91143435e-01 9.81547912e-01 -5.28058021e-03 -1.70440417e+01] [-3.10719569e-02 -6.73600629e-04 9.99516923e-01 -6.03007884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48587156000002 meters 0.02433246571756672 Centerline is valid? [True, True] Translation: X:150.37, Y:-17.05, Z:-6.03 [[ 9.81788331e-01 1.87362248e-01 3.14175384e-02 1.50374003e+02] [-1.87284846e-01 9.82290724e-01 -5.41487704e-03 -1.70524573e+01] [-3.18757000e-02 -5.67765735e-04 9.99491680e-01 -6.03141701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54587156 meters 0.018321217768195088 Centerline is valid? [True, True] Translation: X:150.43, Y:-17.06, Z:-6.03 [[ 9.82833056e-01 1.81627616e-01 3.24128443e-02 1.50433202e+02] [-1.81542123e-01 9.83367304e-01 -5.58601520e-03 -1.70643948e+01] [-3.28883060e-02 -3.94176197e-04 9.99458956e-01 -6.03232497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60587156 meters 0.013806891304908135 Centerline is valid? [True, True] Translation: X:150.49, Y:-17.08, Z:-6.03 [[ 9.83848153e-01 1.75984484e-01 3.27455972e-02 1.50490639e+02] [-1.75894109e-01 9.84392919e-01 -5.64306842e-03 -1.70805546e+01] [-3.32276265e-02 -2.07835199e-04 9.99447788e-01 -6.03479585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66587156 meters 0.024904192608148617 Centerline is valid? [True, True] Translation: X:150.55, Y:-17.10, Z:-6.04 [[ 9.85520824e-01 1.66310562e-01 3.30076278e-02 1.50548287e+02] [-1.66213335e-01 9.86073417e-01 -5.68719541e-03 -1.71026973e+01] [-3.34937849e-02 1.18541610e-04 9.99438919e-01 -6.03539022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72587156 meters 0.01541303121586568 Centerline is valid? [True, True] Translation: X:150.61, Y:-17.12, Z:-6.04 [[ 9.86386546e-01 1.60956877e-01 3.36818203e-02 1.50606877e+02] [-1.60852538e-01 9.86961392e-01 -5.80265575e-03 -1.71191681e+01] [-3.41766336e-02 3.05855279e-04 9.99415761e-01 -6.03916838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78587156 meters 0.026358551144994115 Centerline is valid? [True, True] Translation: X:150.67, Y:-17.13, Z:-6.04 [[ 9.87182615e-01 1.56058499e-01 3.34100140e-02 1.50666661e+02] [-1.55952954e-01 9.87747701e-01 -5.75810703e-03 -1.71346506e+01] [-3.38992661e-02 4.73912771e-04 9.99425142e-01 -6.04072030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84587156 meters 0.02226930415011463 Centerline is valid? [True, True] Translation: X:150.73, Y:-17.15, Z:-6.05 [[ 9.87642463e-01 1.53334673e-01 3.24167252e-02 1.50727093e+02] [-1.53233648e-01 9.88174159e-01 -5.59292287e-03 -1.71511593e+01] [-3.28909592e-02 5.56475048e-04 9.99458791e-01 -6.04633312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90587156 meters 0.024016122038115695 Centerline is valid? [True, True] Translation: X:150.79, Y:-17.16, Z:-6.05 [[ 9.87893213e-01 1.51846150e-01 3.17765192e-02 1.50787932e+02] [-1.51748298e-01 9.88403963e-01 -5.48276878e-03 -1.71628943e+01] [-3.22405749e-02 5.94357367e-04 9.99479961e-01 -6.05006887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96587156 meters 0.024630140877297126 Centerline is valid? [True, True] Translation: X:150.85, Y:-17.18, Z:-6.05 [[ 9.88062186e-01 1.50503054e-01 3.28929628e-02 1.50848454e+02] [-1.50397266e-01 9.88609319e-01 -5.68119114e-03 -1.71784826e+01] [-3.33733262e-02 6.66358477e-04 9.99442733e-01 -6.05159952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.02587156 meters 0.02602392125545754 Centerline is valid? [True, True] Translation: X:150.91, Y:-17.19, Z:-6.06 [[ 9.87932661e-01 1.51436353e-01 3.24975049e-02 1.50908204e+02] [-1.51333415e-01 9.88466808e-01 -5.61843631e-03 -1.71940884e+01] [-3.29735405e-02 6.32678346e-04 9.99456025e-01 -6.05600828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.08587156000002 meters 0.022056843622759205 Centerline is valid? [True, True] Translation: X:150.97, Y:-17.20, Z:-6.06 [[ 9.87239489e-01 1.55879747e-01 3.25529547e-02 1.50967924e+02] [-1.55778637e-01 9.87775917e-01 -5.63508654e-03 -1.72017586e+01] [-3.30334205e-02 4.92125060e-04 9.99454126e-01 -6.05888553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14587156000002 meters 0.017638352204805186 Centerline is valid? [True, True] Translation: X:151.03, Y:-17.21, Z:-6.06 [[ 9.86531363e-01 1.60375099e-01 3.21822667e-02 1.51029096e+02] [-1.60278659e-01 9.87056084e-01 -5.57118050e-03 -1.72052749e+01] [-3.26591808e-02 3.38013751e-04 9.99466490e-01 -6.06248504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20587156000002 meters 0.012642826584411015 Centerline is valid? [True, True] Translation: X:151.09, Y:-17.21, Z:-6.06 [[ 9.85492629e-01 1.66652381e-01 3.21132811e-02 1.51090653e+02] [-1.66559654e-01 9.86015703e-01 -5.56008750e-03 -1.72071619e+01] [-3.25908013e-02 1.30648245e-04 9.99468770e-01 -6.06476985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26587156 meters 0.011986357809501618 Centerline is valid? [True, True] Translation: X:151.15, Y:-17.21, Z:-6.07 [[ 9.84838049e-01 1.70541092e-01 3.17766089e-02 1.51149409e+02] [-1.70452303e-01 9.85350565e-01 -5.50242026e-03 -1.72135407e+01] [-3.22494883e-02 2.59666787e-06 9.99479850e-01 -6.06908333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32587156 meters 0.012156469343125859 Centerline is valid? [True, True] Translation: X:151.21, Y:-17.22, Z:-6.07 [[ 9.84381527e-01 1.73089115e-01 3.21429310e-02 1.51208496e+02] [-1.72999633e-01 9.84906164e-01 -5.56557226e-03 -1.72218383e+01] [-3.26211108e-02 -8.20687442e-05 9.99467787e-01 -6.07070428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38587156 meters 0.01216957475203629 Centerline is valid? [True, True] Translation: X:151.27, Y:-17.23, Z:-6.07 [[ 9.84249724e-01 1.73744745e-01 3.26380682e-02 1.51266785e+02] [-1.73652871e-01 9.84790715e-01 -5.65050442e-03 -1.72325911e+01] [-3.31234120e-02 -1.06186840e-04 9.99451264e-01 -6.07248147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44587156 meters 0.012415985909491462 Centerline is valid? [True, True] Translation: X:151.33, Y:-17.25, Z:-6.07 [[ 9.84136290e-01 1.74381277e-01 3.26639407e-02 1.51325690e+02] [-1.74289641e-01 9.84678198e-01 -5.65396159e-03 -1.72452900e+01] [-3.31494153e-02 -1.28717701e-04 9.99450399e-01 -6.07454626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50587156 meters 0.015008758248803615 Centerline is valid? [True, True] Translation: X:151.38, Y:-17.26, Z:-6.08 [[ 9.84094865e-01 1.74620269e-01 3.26352317e-02 1.51384597e+02] [-1.74528922e-01 9.84635843e-01 -5.64910296e-03 -1.72559401e+01] [-3.31202668e-02 -1.36538593e-04 9.99451364e-01 -6.07697357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56587156 meters 0.013038824339784816 Centerline is valid? [True, True] Translation: X:151.44, Y:-17.27, Z:-6.08 [[ 9.83958723e-01 1.75437265e-01 3.23573398e-02 1.51444372e+02] [-1.75347926e-01 9.84490599e-01 -5.60049710e-03 -1.72671193e+01] [-3.28380327e-02 -1.63134444e-04 9.99460673e-01 -6.08154859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62587156 meters 0.013946902841832793 Centerline is valid? [True, True] Translation: X:151.50, Y:-17.28, Z:-6.08 [[ 9.83718610e-01 1.76845025e-01 3.19927127e-02 1.51503642e+02] [-1.76758424e-01 9.84238688e-01 -5.53762401e-03 -1.72761633e+01] [-3.24677668e-02 -2.07517690e-04 9.99472762e-01 -6.08407846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68587156 meters 0.015474767127041567 Centerline is valid? [True, True] Translation: X:151.56, Y:-17.29, Z:-6.09 [[ 9.83372115e-01 1.78719096e-01 3.22299317e-02 1.51561406e+02] [-1.78632237e-01 9.83900102e-01 -5.57791109e-03 -1.72855839e+01] [-3.27079123e-02 -2.72142573e-04 9.99464916e-01 -6.08685511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.74587156 meters 0.01489059927612867 Centerline is valid? [True, True] Translation: X:151.62, Y:-17.30, Z:-6.09 [[ 9.83325793e-01 1.78722439e-01 3.35957448e-02 1.51620609e+02] [-1.78628098e-01 9.83899491e-01 -5.81323629e-03 -1.72968389e+01] [-3.40937920e-02 -2.84838827e-04 9.99418597e-01 -6.08613828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.80587156 meters 0.014256592767483017 Centerline is valid? [True, True] Translation: X:151.68, Y:-17.31, Z:-6.09 [[ 9.83341933e-01 1.78411632e-01 3.47553206e-02 1.51680014e+02] [-1.78310489e-01 9.83955898e-01 -6.01335585e-03 -1.73092808e+01] [-3.52705553e-02 -2.84053241e-04 9.99377760e-01 -6.08636340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86587156000002 meters 0.014099566878189843 Centerline is valid? [True, True] Translation: X:151.74, Y:-17.32, Z:-6.09 [[ 9.83399696e-01 1.78263360e-01 3.38705184e-02 1.51738409e+02] [-1.78167215e-01 9.83982775e-01 -5.86026763e-03 -1.73234213e+01] [-3.43726777e-02 -2.71630525e-04 9.99409048e-01 -6.09077323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92587156000002 meters 0.01596980510419303 Centerline is valid? [True, True] Translation: X:151.80, Y:-17.33, Z:-6.10 [[ 9.83261287e-01 1.79114904e-01 3.33929981e-02 1.51796811e+02] [-1.79021940e-01 9.83828116e-01 -5.77775055e-03 -1.73328299e+01] [-3.38878516e-02 -2.97040840e-04 9.99425598e-01 -6.09561852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98587156000002 meters 0.017592748947694407 Centerline is valid? [True, True] Translation: X:151.86, Y:-17.34, Z:-6.10 [[ 9.82668697e-01 1.82182678e-01 3.42301578e-02 1.51856484e+02] [-1.82086864e-01 9.83264614e-01 -5.92225205e-03 -1.73397293e+01] [-3.47362346e-02 -4.13250374e-04 9.99396429e-01 -6.09509165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04587156 meters 0.03069202912959093 Centerline is valid? [True, True] Translation: X:151.91, Y:-17.34, Z:-6.10 [[ 9.82219422e-01 1.84688347e-01 3.36930657e-02 1.51914968e+02] [-1.84597013e-01 9.82797014e-01 -5.82861673e-03 -1.73441780e+01] [-3.41899220e-02 -4.94658744e-04 9.99415231e-01 -6.09920037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10587156 meters 0.03026419361842894 Centerline is valid? [True, True] Translation: X:151.97, Y:-17.35, Z:-6.10 [[ 9.81829853e-01 1.86852515e-01 3.31100813e-02 1.51973863e+02] [-1.86765588e-01 9.82387817e-01 -5.72648708e-03 -1.73515237e+01] [-3.35969490e-02 -5.61387837e-04 9.99435305e-01 -6.10155910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16587156 meters 0.023799552641521157 Centerline is valid? [True, True] Translation: X:152.03, Y:-17.36, Z:-6.11 [[ 9.81659472e-01 1.87799628e-01 3.28021446e-02 1.52032770e+02] [-1.87714858e-01 9.82207184e-01 -5.67266666e-03 -1.73579163e+01] [-3.32838268e-02 -5.88822968e-04 9.99445766e-01 -6.10547511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22587156 meters 0.022988277642445775 Centerline is valid? [True, True] Translation: X:152.09, Y:-17.37, Z:-6.11 [[ 9.81889960e-01 1.86465582e-01 3.35066053e-02 1.52089724e+02] [-1.86376408e-01 9.82461336e-01 -5.79293613e-03 -1.73658372e+01] [-3.39991275e-02 -5.56814918e-04 9.99421707e-01 -6.10700406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28587156 meters 0.01941693505747091 Centerline is valid? [True, True] Translation: X:152.15, Y:-17.38, Z:-6.11 [[ 9.82560542e-01 1.82706967e-01 3.45390546e-02 1.52146978e+02] [-1.82609969e-01 9.83167315e-01 -5.96913891e-03 -1.73777635e+01] [-3.50482728e-02 -4.42135324e-04 9.99385523e-01 -6.10740262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34587156 meters 0.015340443533703776 Centerline is valid? [True, True] Translation: X:152.21, Y:-17.39, Z:-6.11 [[ 9.83236443e-01 1.78828147e-01 3.55892109e-02 1.52205131e+02] [-1.78722667e-01 9.83880275e-01 -6.14925821e-03 -1.73919977e+01] [-3.61151830e-02 -3.14423909e-04 9.99347585e-01 -6.10825240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40587156 meters 0.011147122525862928 Centerline is valid? [True, True] Translation: X:152.26, Y:-17.41, Z:-6.11 [[ 9.84305609e-01 1.72962078e-01 3.50226794e-02 1.52264717e+02] [-1.72856255e-01 9.84928480e-01 -6.05023959e-03 -1.74085069e+01] [-3.55412964e-02 -9.86044358e-05 9.99368204e-01 -6.11035003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46587156 meters 0.01363484556892798 Centerline is valid? [True, True] Translation: X:152.32, Y:-17.42, Z:-6.11 [[ 9.84982236e-01 1.69243068e-01 3.41581429e-02 1.52324381e+02] [-1.69140176e-01 9.85574342e-01 -5.90068878e-03 -1.74237965e+01] [-3.46640399e-02 3.45593216e-05 9.99399021e-01 -6.11432744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.52587156 meters 0.015555733901439786 Centerline is valid? [True, True] Translation: X:152.38, Y:-17.44, Z:-6.12 [[ 9.85922568e-01 1.64060101e-01 3.22641183e-02 1.52384687e+02] [-1.63965375e-01 9.86450323e-01 -5.57818585e-03 -1.74392685e+01] [-3.27421077e-02 2.09461048e-04 9.99463812e-01 -6.12011444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.58587156000002 meters 0.017256599511254668 Centerline is valid? [True, True] Translation: X:152.45, Y:-17.45, Z:-6.12 [[ 9.86353116e-01 1.61658800e-01 3.12083783e-02 1.52445526e+02] [-1.61568808e-01 9.86846671e-01 -5.40082298e-03 -1.74528429e+01] [-3.16709748e-02 2.84818079e-04 9.99498308e-01 -6.12475565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64587156000002 meters 0.01760322120151951 Centerline is valid? [True, True] Translation: X:152.51, Y:-17.47, Z:-6.13 [[ 9.86628842e-01 1.60142456e-01 3.02972176e-02 1.52505264e+02] [-1.60056768e-01 9.87093859e-01 -5.24836890e-03 -1.74674297e+01] [-3.07466841e-02 3.28917414e-04 9.99527155e-01 -6.13058927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70587156000002 meters 0.017414613125784406 Centerline is valid? [True, True] Translation: X:152.57, Y:-17.48, Z:-6.13 [[ 9.86602220e-01 1.60330798e-01 3.01677725e-02 1.52566180e+02] [-1.60245785e-01 9.87063285e-01 -5.23064923e-03 -1.74773964e+01] [-3.06161348e-02 3.26311773e-04 9.99531163e-01 -6.13264815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76587156 meters 0.01658719038733587 Centerline is valid? [True, True] Translation: X:152.63, Y:-17.49, Z:-6.13 [[ 9.86440556e-01 1.61304173e-01 3.02653894e-02 1.52627993e+02] [-1.61218909e-01 9.86904693e-01 -5.25270329e-03 -1.74853729e+01] [-3.07163378e-02 3.02126512e-04 9.99528096e-01 -6.13379111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82587156 meters 0.014763255434429311 Centerline is valid? [True, True] Translation: X:152.69, Y:-17.49, Z:-6.13 [[ 9.86078301e-01 1.63111621e-01 3.23138160e-02 1.52688745e+02] [-1.63015150e-01 9.86607585e-01 -5.61557815e-03 -1.74931568e+01] [-3.27970220e-02 2.69758221e-04 9.99461997e-01 -6.13265764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88587156 meters 0.013654384130818636 Centerline is valid? [True, True] Translation: X:152.75, Y:-17.50, Z:-6.13 [[ 9.85848080e-01 1.64346745e-01 3.30712820e-02 1.52750693e+02] [-1.64246407e-01 9.86402602e-01 -5.74674969e-03 -1.75021921e+01] [-3.35660582e-02 2.33582913e-04 9.99436474e-01 -6.13279614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94587156 meters 0.013188693527495859 Centerline is valid? [True, True] Translation: X:152.81, Y:-17.51, Z:-6.14 [[ 9.85553751e-01 1.66216323e-01 3.24951847e-02 1.52811647e+02] [-1.66120280e-01 9.86089298e-01 -5.65231079e-03 -1.75097332e+01] [-3.29826602e-02 1.72546924e-04 9.99455909e-01 -6.13719009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00587156 meters 0.012623189984839802 Centerline is valid? [True, True] Translation: X:152.87, Y:-17.52, Z:-6.14 [[ 9.85366682e-01 1.67439237e-01 3.18842266e-02 1.52872464e+02] [-1.67347208e-01 9.85882388e-01 -5.55233885e-03 -1.75174449e+01] [-3.23637769e-02 1.35353409e-04 9.99476147e-01 -6.14020863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06587156 meters 0.011897550112074936 Centerline is valid? [True, True] Translation: X:152.93, Y:-17.52, Z:-6.14 [[ 9.85041466e-01 1.69444036e-01 3.13373455e-02 1.52933392e+02] [-1.69356119e-01 9.85539808e-01 -5.45810882e-03 -1.75228497e+01] [-3.18090454e-02 6.92923043e-05 9.99493962e-01 -6.14215737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12587156 meters 0.011325646623166478 Centerline is valid? [True, True] Translation: X:152.99, Y:-17.53, Z:-6.14 [[ 9.84602161e-01 1.71697489e-01 3.28413921e-02 1.52993033e+02] [-1.71602173e-01 9.85149721e-01 -5.72029566e-03 -1.75293181e+01] [-3.33358487e-02 -3.43878880e-06 9.99444206e-01 -6.14183997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18587156 meters 0.011982705371126197 Centerline is valid? [True, True] Translation: X:153.05, Y:-17.54, Z:-6.15 [[ 9.84279016e-01 1.73661541e-01 3.21945331e-02 1.53052071e+02] [-1.73571024e-01 9.84805394e-01 -5.60671864e-03 -1.75355847e+01] [-3.26790212e-02 -6.94625524e-05 9.99465896e-01 -6.14622278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.24587156 meters 0.01289135547280036 Centerline is valid? [True, True] Translation: X:153.11, Y:-17.54, Z:-6.15 [[ 9.83941054e-01 1.75765774e-01 3.10868927e-02 1.53111519e+02] [-1.75682436e-01 9.84432006e-01 -5.41358185e-03 -1.75400407e+01] [-3.15544545e-02 -1.34775618e-04 9.99502025e-01 -6.14979421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.30587156 meters 0.01326107171078832 Centerline is valid? [True, True] Translation: X:153.17, Y:-17.55, Z:-6.15 [[ 9.83885755e-01 1.76060983e-01 3.11665126e-02 1.53168502e+02] [-1.75977376e-01 9.84379251e-01 -5.42711521e-03 -1.75475906e+01] [-3.16351716e-02 -1.44939771e-04 9.99499472e-01 -6.15310085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36587156000002 meters 0.012841123591475646 Centerline is valid? [True, True] Translation: X:153.23, Y:-17.56, Z:-6.16 [[ 9.84160506e-01 1.74659192e-01 3.03688162e-02 1.53225942e+02] [-1.74579210e-01 9.84628944e-01 -5.28609444e-03 -1.75591463e+01] [-3.08252804e-02 -9.93985666e-05 9.99524783e-01 -6.15585927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42587156000002 meters 0.012180636462477454 Centerline is valid? [True, True] Translation: X:153.28, Y:-17.57, Z:-6.16 [[ 9.84547737e-01 1.72497265e-01 3.01736194e-02 1.53284693e+02] [-1.72417346e-01 9.85009996e-01 -5.25038461e-03 -1.75686063e+01] [-3.06269937e-02 -3.32010814e-05 9.99530883e-01 -6.15683287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48587156000002 meters 0.012195163214313293 Centerline is valid? [True, True] Translation: X:153.34, Y:-17.58, Z:-6.16 [[ 9.84888278e-01 1.70383828e-01 3.10552870e-02 1.53342410e+02] [-1.70298139e-01 9.85377770e-01 -5.40311804e-03 -1.75803174e+01] [-3.15217934e-02 3.28100311e-05 9.99503064e-01 -6.15882078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54587156 meters 0.015669193733514542 Centerline is valid? [True, True] Translation: X:153.40, Y:-17.60, Z:-6.16 [[ 9.85675713e-01 1.65711598e-01 3.13537221e-02 1.53401457e+02] [-1.65621939e-01 9.86174241e-01 -5.45347577e-03 -1.75967558e+01] [-3.18239373e-02 1.82494360e-04 9.99493474e-01 -6.15946772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60587156 meters 0.02973238087859704 Centerline is valid? [True, True] Translation: X:153.46, Y:-17.61, Z:-6.16 [[ 9.86350568e-01 1.61745964e-01 3.08350593e-02 1.53459606e+02] [-1.61657326e-01 9.86832382e-01 -5.36273165e-03 -1.76128240e+01] [-3.12964352e-02 3.04820179e-04 9.99510100e-01 -6.16360635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66587156 meters 0.022733442035079265 Centerline is valid? [True, True] Translation: X:153.52, Y:-17.63, Z:-6.17 [[ 9.87236932e-01 1.56430199e-01 2.98803228e-02 1.53517852e+02] [-1.56344478e-01 9.87688909e-01 -5.19838309e-03 -1.76337511e+01] [-3.03256475e-02 4.60412297e-04 9.99539966e-01 -6.16948627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72587156 meters 0.023953457152886385 Centerline is valid? [True, True] Translation: X:153.58, Y:-17.65, Z:-6.17 [[ 9.87611444e-01 1.54064735e-01 2.97941833e-02 1.53579169e+02] [-1.53978464e-01 9.88060613e-01 -5.18235957e-03 -1.76464134e+01] [-3.02368778e-02 5.30495055e-04 9.99542620e-01 -6.17068920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78587156 meters 0.026085157450305273 Centerline is valid? [True, True] Translation: X:153.64, Y:-17.66, Z:-6.17 [[ 9.87753266e-01 1.53111507e-01 3.00058796e-02 1.53638440e+02] [-1.53023406e-01 9.88208755e-01 -5.22441699e-03 -1.76623428e+01] [-3.04519913e-02 5.68833058e-04 9.99536069e-01 -6.17430541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84587156 meters 0.025901715682436377 Centerline is valid? [True, True] Translation: X:153.70, Y:-17.67, Z:-6.18 [[ 9.87852272e-01 1.52458989e-01 3.00690095e-02 1.53698946e+02] [-1.52370073e-01 9.88309619e-01 -5.24003050e-03 -1.76743646e+01] [-3.05163811e-02 5.94758853e-04 9.99534090e-01 -6.17564540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90587156 meters 0.026173553120055055 Centerline is valid? [True, True] Translation: X:153.76, Y:-17.69, Z:-6.18 [[ 9.87889205e-01 1.52310891e-01 2.96025366e-02 1.53759035e+02] [-1.52224516e-01 9.88332454e-01 -5.16310749e-03 -1.76900298e+01] [-3.00435452e-02 5.94346358e-04 9.99548414e-01 -6.17852056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96587156 meters 0.024597658545112595 Centerline is valid? [True, True] Translation: X:153.82, Y:-17.70, Z:-6.18 [[ 9.87774876e-01 1.53063712e-01 2.95346345e-02 1.53820273e+02] [-1.52977921e-01 9.88216155e-01 -5.15617224e-03 -1.77012875e+01] [-2.99758258e-02 5.74990400e-04 9.99550459e-01 -6.18057436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.02587156 meters 0.02391268466046158 Centerline is valid? [True, True] Translation: X:153.88, Y:-17.72, Z:-6.18 [[ 9.87493505e-01 1.54953278e-01 2.90871109e-02 1.53880042e+02] [-1.54870736e-01 9.87921665e-01 -5.08313681e-03 -1.77152518e+01] [-2.95234358e-02 5.14822298e-04 9.99563956e-01 -6.18387296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.08587156000002 meters 0.023343181660773513 Centerline is valid? [True, True] Translation: X:153.94, Y:-17.73, Z:-6.19 [[ 9.87361210e-01 1.55818077e-01 2.89580487e-02 1.53940997e+02] [-1.55736507e-01 9.87785648e-01 -5.06503659e-03 -1.77260589e+01] [-2.93935692e-02 4.91195295e-04 9.99567795e-01 -6.18633799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14587156000002 meters 0.0275975662370222 Centerline is valid? [True, True] Translation: X:154.00, Y:-17.74, Z:-6.19 [[ 9.87017116e-01 1.57747934e-01 3.02126030e-02 1.54001924e+02] [-1.57659882e-01 9.87479306e-01 -5.28980908e-03 -1.77389964e+01] [-3.06687767e-02 4.57816689e-04 9.99529498e-01 -6.18500654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20587156000002 meters 0.024707239659413918 Centerline is valid? [True, True] Translation: X:154.06, Y:-17.75, Z:-6.19 [[ 9.86814252e-01 1.58959716e-01 3.04867376e-02 1.54060973e+02] [-1.58870465e-01 9.87284976e-01 -5.34332866e-03 -1.77536884e+01] [-3.09484720e-02 4.29430695e-04 9.99520889e-01 -6.18808553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26587156 meters 0.018665805631464655 Centerline is valid? [True, True] Translation: X:154.12, Y:-17.77, Z:-6.19 [[ 9.86550534e-01 1.60559300e-01 3.06391074e-02 1.54122038e+02] [-1.60469737e-01 9.87026120e-01 -5.37607400e-03 -1.77676103e+01] [-3.11047780e-02 3.87119164e-04 9.99516054e-01 -6.19147751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32587156 meters 0.01853394884590829 Centerline is valid? [True, True] Translation: X:154.18, Y:-17.78, Z:-6.19 [[ 9.86371287e-01 1.61462975e-01 3.16447809e-02 1.54181865e+02] [-1.61367866e-01 9.86878701e-01 -5.55358971e-03 -1.77822783e+01] [-3.21262594e-02 3.71450685e-04 9.99483749e-01 -6.19311961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38587156 meters 0.01845420175864114 Centerline is valid? [True, True] Translation: X:154.24, Y:-17.80, Z:-6.19 [[ 9.86358323e-01 1.61528687e-01 3.17134418e-02 1.54243610e+02] [-1.61433048e-01 9.86867946e-01 -5.57029029e-03 -1.77955511e+01] [-3.21967409e-02 3.74704613e-04 9.99481480e-01 -6.19475035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44587156 meters 0.016985142322217383 Centerline is valid? [True, True] Translation: X:154.30, Y:-17.81, Z:-6.20 [[ 9.86288121e-01 1.61933097e-01 3.18341822e-02 1.54304962e+02] [-1.61836744e-01 9.86801670e-01 -5.59750693e-03 -1.78106023e+01] [-3.23204458e-02 3.68814187e-04 9.99477490e-01 -6.19621518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50587156 meters 0.016424390141959115 Centerline is valid? [True, True] Translation: X:154.37, Y:-17.82, Z:-6.20 [[ 9.86113927e-01 1.62970730e-01 3.19352977e-02 1.54365976e+02] [-1.62874089e-01 9.86630845e-01 -5.62202730e-03 -1.78236233e+01] [-3.24245756e-02 3.42526891e-04 9.99474127e-01 -6.19884946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56587156 meters 0.014804602787840133 Centerline is valid? [True, True] Translation: X:154.43, Y:-17.84, Z:-6.20 [[ 9.85633098e-01 1.65755220e-01 3.24438447e-02 1.54425843e+02] [-1.65656787e-01 9.86166892e-01 -5.71751696e-03 -1.78363692e+01] [-3.29427538e-02 2.60830893e-04 9.99457206e-01 -6.20137167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62587156 meters 0.012592450282000142 Centerline is valid? [True, True] Translation: X:154.49, Y:-17.85, Z:-6.20 [[ 9.84981620e-01 1.69430429e-01 3.32345834e-02 1.54487869e+02] [-1.69329020e-01 9.85542139e-01 -5.86303164e-03 -1.78453863e+01] [-3.37474583e-02 1.47398991e-04 9.99430381e-01 -6.20325165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68587156 meters 0.02726180352393677 Centerline is valid? [True, True] Translation: X:154.55, Y:-17.86, Z:-6.21 [[ 9.84724849e-01 1.71090945e-01 3.23243071e-02 1.54549235e+02] [-1.70995847e-01 9.85255236e-01 -5.70436637e-03 -1.78580721e+01] [-3.28236582e-02 8.99090402e-05 9.99461155e-01 -6.20698657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.74587156 meters 0.01188990918295722 Centerline is valid? [True, True] Translation: X:154.61, Y:-17.87, Z:-6.21 [[ 9.84583834e-01 1.72162109e-01 3.09011516e-02 1.54610361e+02] [-1.72075551e-01 9.85068630e-01 -5.45893411e-03 -1.78705706e+01] [-3.13795767e-02 5.74455906e-05 9.99507538e-01 -6.21170189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.80587156 meters 0.012273899132683619 Centerline is valid? [True, True] Translation: X:154.67, Y:-17.89, Z:-6.22 [[ 9.84419121e-01 1.73101907e-01 3.08986255e-02 1.54670363e+02] [-1.73015650e-01 9.84903919e-01 -5.46406123e-03 -1.78859729e+01] [-3.13780168e-02 3.29805619e-05 9.99507588e-01 -6.21746036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86587156000002 meters 0.012024499320690253 Centerline is valid? [True, True] Translation: X:154.73, Y:-17.90, Z:-6.22 [[ 9.84046258e-01 1.75212267e-01 3.08808079e-02 1.54732430e+02] [-1.75126960e-01 9.84530680e-01 -5.46692091e-03 -1.78981164e+01] [-3.13609744e-02 -2.83589554e-05 9.99508123e-01 -6.21952301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92587156000002 meters 0.01219635118067634 Centerline is valid? [True, True] Translation: X:154.79, Y:-17.91, Z:-6.22 [[ 9.83579341e-01 1.77757906e-01 3.12058878e-02 1.54794593e+02] [-1.77671878e-01 9.84074243e-01 -5.53064175e-03 -1.79078811e+01] [-3.16920258e-02 -1.04583724e-04 9.99497676e-01 -6.22126762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98587156000002 meters 0.013981880932249462 Centerline is valid? [True, True] Translation: X:154.86, Y:-17.92, Z:-6.22 [[ 9.82905227e-01 1.81532068e-01 3.07151938e-02 1.54856395e+02] [-1.81450368e-01 9.83385002e-01 -5.45001425e-03 -1.79165961e+01] [-3.11942133e-02 -2.16435717e-04 9.99513319e-01 -6.22486366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04587156 meters 0.01504711633625375 Centerline is valid? [True, True] Translation: X:154.92, Y:-17.93, Z:-6.23 [[ 9.82665785e-01 1.82840726e-01 3.06141282e-02 1.54916815e+02] [-1.82760025e-01 9.83142515e-01 -5.43759764e-03 -1.79270018e+01] [-3.10922653e-02 -2.51697687e-04 9.99516487e-01 -6.22847657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10587156 meters 0.014465905944911749 Centerline is valid? [True, True] Translation: X:154.98, Y:-17.94, Z:-6.23 [[ 9.82782902e-01 1.82326274e-01 2.99148238e-02 1.54977704e+02] [-1.82248852e-01 9.83238058e-01 -5.31759956e-03 -1.79419849e+01] [-3.03829314e-02 -2.25896387e-04 9.99538307e-01 -6.23258957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16587156 meters 0.022872150460986063 Centerline is valid? [True, True] Translation: X:155.04, Y:-17.96, Z:-6.23 [[ 9.83004514e-01 1.81055564e-01 3.03481129e-02 1.55037570e+02] [-1.80975072e-01 9.83472851e-01 -5.40126836e-03 -1.79567532e+01] [-3.08244748e-02 -1.82780744e-04 9.99524796e-01 -6.23463465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22587156 meters 0.026044523501067878 Centerline is valid? [True, True] Translation: X:155.10, Y:-17.97, Z:-6.24 [[ 9.83482439e-01 1.78319318e-01 3.10565975e-02 1.55097659e+02] [-1.78233499e-01 9.83972668e-01 -5.53244633e-03 -1.79744910e+01] [-3.15453851e-02 -9.42622119e-05 9.99502316e-01 -6.23531640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28587156 meters 0.012107132277588558 Centerline is valid? [True, True] Translation: X:155.16, Y:-17.99, Z:-6.24 [[ 9.83724565e-01 1.77011203e-01 3.08709338e-02 1.55158247e+02] [-1.76925610e-01 9.84208835e-01 -5.50427133e-03 -1.79900707e+01] [-3.13577635e-02 -4.71718679e-05 9.99508223e-01 -6.24018859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34587156 meters 0.012343775950759368 Centerline is valid? [True, True] Translation: X:155.22, Y:-18.00, Z:-6.24 [[ 9.83614672e-01 1.77739497e-01 3.01802670e-02 1.55219181e+02] [-1.77657851e-01 9.84077572e-01 -5.38708339e-03 -1.80010799e+01] [-3.06572213e-02 -6.29471167e-05 9.99529955e-01 -6.24410248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40587156 meters 0.013976581763305499 Centerline is valid? [True, True] Translation: X:155.28, Y:-18.01, Z:-6.25 [[ 9.83022023e-01 1.81112663e-01 2.94262772e-02 1.55280385e+02] [-1.81036407e-01 9.83462342e-01 -5.25749855e-03 -1.80058805e+01] [-2.98918350e-02 -1.58990635e-04 9.99553127e-01 -6.24801328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46587156 meters 0.015335283071618262 Centerline is valid? [True, True] Translation: X:155.34, Y:-18.01, Z:-6.25 [[ 9.82431728e-01 1.84249439e-01 2.96655411e-02 1.55342741e+02] [-1.84173230e-01 9.82879484e-01 -5.30478014e-03 -1.80110667e+01] [-3.01350545e-02 -2.52014187e-04 9.99545804e-01 -6.24952113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.52587156 meters 0.019315740204048 Centerline is valid? [True, True] Translation: X:155.40, Y:-18.01, Z:-6.25 [[ 9.81601524e-01 1.88402966e-01 3.10285424e-02 1.55404170e+02] [-1.88321444e-01 9.82091732e-01 -5.55548467e-03 -1.80122255e+01] [-3.15195448e-02 -3.90067702e-04 9.99503060e-01 -6.25055502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.58587156000002 meters 0.01960861426793643 Centerline is valid? [True, True] Translation: X:155.47, Y:-18.02, Z:-6.25 [[ 9.81121834e-01 1.90840343e-01 3.13035291e-02 1.55466464e+02] [-1.90758599e-01 9.81620976e-01 -5.60504313e-03 -1.80191679e+01] [-3.17978691e-02 -4.72187172e-04 9.99494208e-01 -6.25074253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64587156000002 meters 0.019120886505949584 Centerline is valid? [True, True] Translation: X:155.53, Y:-18.03, Z:-6.25 [[ 9.81300401e-01 1.89825075e-01 3.18742011e-02 1.55526945e+02] [-1.89739597e-01 9.81817827e-01 -5.71309366e-03 -1.80269980e+01] [-3.23791473e-02 -4.41536971e-04 9.99475560e-01 -6.25347936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70587156000002 meters 0.028741981138015224 Centerline is valid? [True, True] Translation: X:155.59, Y:-18.04, Z:-6.25 [[ 9.81606820e-01 1.88115102e-01 3.25693078e-02 1.55587341e+02] [-1.88024693e-01 9.82146913e-01 -5.84433948e-03 -1.80387869e+01] [-3.30872537e-02 -3.86990618e-04 9.99452392e-01 -6.25378832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76587156 meters 0.01640663698825914 Centerline is valid? [True, True] Translation: X:155.65, Y:-18.05, Z:-6.26 [[ 9.81929646e-01 1.86486306e-01 3.22029269e-02 1.55647689e+02] [-1.86397060e-01 9.82457505e-01 -5.77810777e-03 -1.80482718e+01] [-3.27155452e-02 -3.28835583e-04 9.99464649e-01 -6.25832819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82587156 meters 0.02169234030737428 Centerline is valid? [True, True] Translation: X:155.71, Y:-18.05, Z:-6.26 [[ 9.81811671e-01 1.87212214e-01 3.15820971e-02 1.55708317e+02] [-1.87126545e-01 9.82319435e-01 -5.67316851e-03 -1.80543281e+01] [-3.20857942e-02 -3.39865644e-04 9.99485061e-01 -6.26043338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88587156 meters 0.030128903527740922 Centerline is valid? [True, True] Translation: X:155.77, Y:-18.06, Z:-6.26 [[ 9.81564057e-01 1.88601053e-01 3.10103922e-02 1.55768564e+02] [-1.88519150e-01 9.82053715e-01 -5.57047178e-03 -1.80591220e+01] [-3.15044677e-02 -3.78277907e-04 9.99503539e-01 -6.26444079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94587156 meters 0.01863029965308181 Centerline is valid? [True, True] Translation: X:155.83, Y:-18.07, Z:-6.27 [[ 9.81571849e-01 1.88586686e-01 3.08507251e-02 1.55827102e+02] [-1.88505610e-01 9.82056475e-01 -5.54205247e-03 -1.80675371e+01] [-3.13423116e-02 -3.75612058e-04 9.99508638e-01 -6.26789598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00587156 meters 0.01752134645962916 Centerline is valid? [True, True] Translation: X:155.89, Y:-18.07, Z:-6.27 [[ 9.81703581e-01 1.87634713e-01 3.24236506e-02 1.55886828e+02] [-1.87544665e-01 9.82238811e-01 -5.82377918e-03 -1.80748626e+01] [-3.29405112e-02 -3.63657801e-04 9.99457248e-01 -6.26814941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06587156 meters 0.015720824545903355 Centerline is valid? [True, True] Translation: X:155.95, Y:-18.09, Z:-6.27 [[ 9.81925729e-01 1.86409198e-01 3.27639040e-02 1.55946874e+02] [-1.86316606e-01 9.82472139e-01 -5.88376462e-03 -1.80853675e+01] [-3.32864107e-02 -3.27039529e-04 9.99445800e-01 -6.27003163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12587156 meters 0.01978684931858357 Centerline is valid? [True, True] Translation: X:156.01, Y:-18.10, Z:-6.27 [[ 9.82265963e-01 1.84676467e-01 3.23756171e-02 1.56007288e+02] [-1.84585106e-01 9.82799335e-01 -5.81431071e-03 -1.80966024e+01] [-3.28925013e-02 -2.64857209e-04 9.99458860e-01 -6.27232977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18587156 meters 0.015733894247261775 Centerline is valid? [True, True] Translation: X:156.07, Y:-18.10, Z:-6.28 [[ 9.82471666e-01 1.83931805e-01 3.03070419e-02 1.56066860e+02] [-1.83851368e-01 9.82938981e-01 -5.44367123e-03 -1.81024122e+01] [-3.07912371e-02 -2.23738353e-04 9.99525812e-01 -6.28160859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.24587156 meters 0.016019512341860397 Centerline is valid? [True, True] Translation: X:156.13, Y:-18.11, Z:-6.29 [[ 9.82655673e-01 1.83232002e-01 2.85282804e-02 1.56126127e+02] [-1.83160413e-01 9.83069681e-01 -5.12497440e-03 -1.81082286e+01] [-2.89843468e-02 -1.89166455e-04 9.99579848e-01 -6.28834677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.30587156 meters 0.0139927206125909 Centerline is valid? [True, True] Translation: X:156.18, Y:-18.12, Z:-6.29 [[ 9.82902674e-01 1.81762759e-01 2.94046284e-02 1.56184425e+02] [-1.81686066e-01 9.83342401e-01 -5.28171885e-03 -1.81199449e+01] [-2.98748376e-02 -1.50995667e-04 9.99553636e-01 -6.28729059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36587156000002 meters 0.01259737066262961 Centerline is valid? [True, True] Translation: X:156.24, Y:-18.13, Z:-6.29 [[ 9.83569921e-01 1.77964739e-01 3.03111031e-02 1.56242949e+02] [-1.77881468e-01 9.84036864e-01 -5.44362767e-03 -1.81325182e+01] [-3.07960167e-02 -3.75950835e-05 9.99525689e-01 -6.28776103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42587156000002 meters 0.019052159968223098 Centerline is valid? [True, True] Translation: X:156.30, Y:-18.15, Z:-6.29 [[ 9.84310801e-01 1.73820746e-01 3.03083396e-02 1.56302930e+02] [-1.73735549e-01 9.84777305e-01 -5.44234798e-03 -1.81481541e+01] [-3.07929580e-02 9.13258765e-05 9.99525780e-01 -6.28936162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48587156000002 meters 0.013887228918430836 Centerline is valid? [True, True] Translation: X:156.36, Y:-18.16, Z:-6.29 [[ 9.84835186e-01 1.70966936e-01 2.94951515e-02 1.56364088e+02] [-1.70885005e-01 9.85276751e-01 -5.29513775e-03 -1.81616751e+01] [-2.99661805e-02 1.74558845e-04 9.99550898e-01 -6.29125441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54587156 meters 0.01701639675417242 Centerline is valid? [True, True] Translation: X:156.42, Y:-18.18, Z:-6.30 [[ 9.85516261e-01 1.67169983e-01 2.84938005e-02 1.56423121e+02] [-1.67091762e-01 9.85928048e-01 -5.12134061e-03 -1.81787050e+01] [-2.89489715e-02 2.86085114e-04 9.99580850e-01 -6.29604127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60587156 meters 0.034520840244009046 Centerline is valid? [True, True] Translation: X:156.48, Y:-18.19, Z:-6.30 [[ 9.85774346e-01 1.65627118e-01 2.85761632e-02 1.56482974e+02] [-1.65547721e-01 9.86188393e-01 -5.13871049e-03 -1.81942510e+01] [-2.90325903e-02 3.34890275e-04 9.99578409e-01 -6.29869950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66587156 meters 0.019596844098933947 Centerline is valid? [True, True] Translation: X:156.54, Y:-18.21, Z:-6.30 [[ 9.85966639e-01 1.64826117e-01 2.64978964e-02 1.56543712e+02] [-1.64757530e-01 9.86322584e-01 -4.76617933e-03 -1.82088861e+01] [-2.69210645e-02 3.33565859e-04 9.99637507e-01 -6.30392348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72587156 meters 0.018996107297294448 Centerline is valid? [True, True] Translation: X:156.60, Y:-18.22, Z:-6.31 [[ 9.85769675e-01 1.65993208e-01 2.65405708e-02 1.56604350e+02] [-1.65924698e-01 9.86126848e-01 -4.77845440e-03 -1.82208473e+01] [-2.69655604e-02 3.06719252e-04 9.99636316e-01 -6.30619679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78587156 meters 0.025213989022663877 Centerline is valid? [True, True] Translation: X:156.67, Y:-18.23, Z:-6.31 [[ 9.85033916e-01 1.70152900e-01 2.74986278e-02 1.56666154e+02] [-1.70080837e-01 9.85417652e-01 -4.95583239e-03 -1.82297305e+01] [-2.79408824e-02 2.04673360e-04 9.99609556e-01 -6.30528887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84587156 meters 0.013760674648313093 Centerline is valid? [True, True] Translation: X:156.73, Y:-18.24, Z:-6.31 [[ 9.84141207e-01 1.75190579e-01 2.78270828e-02 1.56726146e+02] [-1.75118589e-01 9.84534538e-01 -5.02230514e-03 -1.82364577e+01] [-2.82765846e-02 6.96179833e-05 9.99600135e-01 -6.30897957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90587156 meters 0.01333460908740368 Centerline is valid? [True, True] Translation: X:156.79, Y:-18.24, Z:-6.31 [[ 9.83637265e-01 1.77993142e-01 2.78598560e-02 1.56786144e+02] [-1.77922091e-01 9.84031728e-01 -5.02874299e-03 -1.82445464e+01] [-2.83100640e-02 -1.04248320e-05 9.99599190e-01 -6.31094609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96587156 meters 0.014059666211140747 Centerline is valid? [True, True] Translation: X:156.85, Y:-18.25, Z:-6.31 [[ 9.83060486e-01 1.81262137e-01 2.71315174e-02 1.56845812e+02] [-1.81195997e-01 9.83434811e-01 -4.89727685e-03 -1.82524493e+01] [-2.75697695e-02 -1.01802975e-04 9.99619876e-01 -6.31420231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.02587156 meters 0.014879865628408548 Centerline is valid? [True, True] Translation: X:156.90, Y:-18.26, Z:-6.32 [[ 9.82863597e-01 1.82314155e-01 2.72157752e-02 1.56903994e+02] [-1.82248002e-01 9.83240322e-01 -4.91266618e-03 -1.82626272e+01] [-2.76552961e-02 -1.31539884e-04 9.99617510e-01 -6.31790827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.08587156000002 meters 0.015675528262009908 Centerline is valid? [True, True] Translation: X:156.96, Y:-18.27, Z:-6.32 [[ 9.82557762e-01 1.83915970e-01 2.74801908e-02 1.56962937e+02] [-1.83849156e-01 9.82941954e-01 -4.96021382e-03 -1.82713510e+01] [-2.79236950e-02 -1.78513291e-04 9.99610042e-01 -6.31912498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14587156000002 meters 0.029930727979767625 Centerline is valid? [True, True] Translation: X:157.02, Y:-18.28, Z:-6.32 [[ 9.81812121e-01 1.87767061e-01 2.80800555e-02 1.57022728e+02] [-1.87698891e-01 9.82213543e-01 -5.06779783e-03 -1.82756014e+01] [-2.85321763e-02 -2.94969940e-04 9.99592831e-01 -6.31805599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20587156000002 meters 0.019242866950600616 Centerline is valid? [True, True] Translation: X:157.08, Y:-18.28, Z:-6.32 [[ 9.81370886e-01 1.90071908e-01 2.79974040e-02 1.57082100e+02] [-1.90005096e-01 9.81770105e-01 -5.05219078e-03 -1.82824073e+01] [-2.84472938e-02 -3.61576490e-04 9.99595228e-01 -6.32044470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26587156 meters 0.021208840048431196 Centerline is valid? [True, True] Translation: X:157.14, Y:-18.29, Z:-6.32 [[ 9.81257168e-01 1.90706583e-01 2.76653175e-02 1.57139202e+02] [-1.90641603e-01 9.81647013e-01 -4.99210277e-03 -1.82898179e+01] [-2.81096031e-02 -3.75623828e-04 9.99604776e-01 -6.32468134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32587156 meters 0.028476305585971536 Centerline is valid? [True, True] Translation: X:157.20, Y:-18.30, Z:-6.33 [[ 9.81423588e-01 1.89903003e-01 2.72871833e-02 1.57197344e+02] [-1.89839529e-01 9.81802794e-01 -4.92198995e-03 -1.83005955e+01] [-2.77253334e-02 -3.49628977e-04 9.99615518e-01 -6.32745007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38587156 meters 0.019640102366821472 Centerline is valid? [True, True] Translation: X:157.25, Y:-18.31, Z:-6.33 [[ 9.81546431e-01 1.89293010e-01 2.71064685e-02 1.57254583e+02] [-1.89230177e-01 9.81920591e-01 -4.88810970e-03 -1.83117642e+01] [-2.75416845e-02 -3.31455202e-04 9.99620601e-01 -6.32965093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44587156 meters 0.020341010042662252 Centerline is valid? [True, True] Translation: X:157.31, Y:-18.32, Z:-6.33 [[ 9.81407941e-01 1.90032620e-01 2.69454367e-02 1.57312864e+02] [-1.89970846e-01 9.81777714e-01 -4.85776801e-03 -1.83191590e+01] [-2.73775636e-02 -3.51395294e-04 9.99625102e-01 -6.33148656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50587156 meters 0.022062070864448943 Centerline is valid? [True, True] Translation: X:157.37, Y:-18.33, Z:-6.33 [[ 9.81134373e-01 1.91535040e-01 2.62615712e-02 1.57371217e+02] [-1.91476933e-01 9.81485701e-01 -4.73323782e-03 -1.83250768e+01] [-2.66819375e-02 -3.84542778e-04 9.99643900e-01 -6.33432489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56587156 meters 0.02223369382687193 Centerline is valid? [True, True] Translation: X:157.43, Y:-18.33, Z:-6.34 [[ 9.81110476e-01 1.91708186e-01 2.58883382e-02 1.57429699e+02] [-1.91651812e-01 9.81451896e-01 -4.66473735e-03 -1.83330834e+01] [-2.63024270e-02 -3.84924244e-04 9.99653957e-01 -6.33744777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62587156 meters 0.02040206572085948 Centerline is valid? [True, True] Translation: X:157.49, Y:-18.34, Z:-6.34 [[ 9.81529699e-01 1.89504955e-01 2.62168360e-02 1.57487481e+02] [-1.89446390e-01 9.81879709e-01 -4.72262172e-03 -1.83447169e+01] [-2.66367395e-02 -3.31291457e-04 9.99645124e-01 -6.33860591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68587156 meters 0.0164503632390211 Centerline is valid? [True, True] Translation: X:157.55, Y:-18.36, Z:-6.34 [[ 9.82357016e-01 1.85010604e-01 2.73087948e-02 1.57545302e+02] [-1.84945368e-01 9.82736500e-01 -4.91757204e-03 -1.83616616e+01] [-2.77471524e-02 -2.19823708e-04 9.99614949e-01 -6.33796589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.74587156 meters 0.014904446308322274 Centerline is valid? [True, True] Translation: X:157.60, Y:-18.37, Z:-6.34 [[ 9.82741236e-01 1.82781138e-01 2.84731383e-02 1.57602828e+02] [-1.82709296e-01 9.83153614e-01 -5.12681846e-03 -1.83744235e+01] [-2.89305545e-02 -1.63971166e-04 9.99581410e-01 -6.33764409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.80587156 meters 0.014293197942114238 Centerline is valid? [True, True] Translation: X:157.66, Y:-18.39, Z:-6.34 [[ 9.82878304e-01 1.81912298e-01 2.92943013e-02 1.57661734e+02] [-1.81835920e-01 9.83314749e-01 -5.27288150e-03 -1.83852272e+01] [-2.97647205e-02 -1.44155400e-04 9.99556922e-01 -6.33924178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86587156000002 meters 0.014632779367091895 Centerline is valid? [True, True] Translation: X:157.72, Y:-18.40, Z:-6.34 [[ 9.82857960e-01 1.82111145e-01 2.87360734e-02 1.57720794e+02] [-1.82037755e-01 9.83277941e-01 -5.17172265e-03 -1.83950669e+01] [-2.91973754e-02 -1.47981514e-04 9.99573655e-01 -6.34220520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92587156000002 meters 0.026392009997067496 Centerline is valid? [True, True] Translation: X:157.78, Y:-18.40, Z:-6.35 [[ 9.82832681e-01 1.82352927e-01 2.80594278e-02 1.57778984e+02] [-1.82283061e-01 9.83233130e-01 -5.04961645e-03 -1.84042090e+01] [-2.85097714e-02 -1.51830326e-04 9.99593502e-01 -6.34616050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98587156000002 meters 0.015566094039803035 Centerline is valid? [True, True] Translation: X:157.84, Y:-18.41, Z:-6.35 [[ 9.82940408e-01 1.81905447e-01 2.71765024e-02 1.57835240e+02] [-1.81839768e-01 9.83316017e-01 -4.88965741e-03 -1.84145876e+01] [-2.76125455e-02 -1.35527061e-04 9.99618692e-01 -6.35160544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04587156 meters 0.02770242348062527 Centerline is valid? [True, True] Translation: X:157.89, Y:-18.43, Z:-6.35 [[ 9.83025065e-01 1.81478714e-01 2.69666012e-02 1.57892709e+02] [-1.81413933e-01 9.83394865e-01 -4.85013682e-03 -1.84254589e+01] [-2.73990137e-02 -1.24311120e-04 9.99624569e-01 -6.35410567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10587156 meters 0.014387336415697762 Centerline is valid? [True, True] Translation: X:157.95, Y:-18.44, Z:-6.35 [[ 9.83195728e-01 1.80547358e-01 2.69965245e-02 1.57951229e+02] [-1.80482126e-01 9.83566287e-01 -4.85393639e-03 -1.84391226e+01] [-2.74292367e-02 -1.00020613e-04 9.99623743e-01 -6.35472807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16587156 meters 0.014204536601649095 Centerline is valid? [True, True] Translation: X:158.01, Y:-18.45, Z:-6.36 [[ 9.83365549e-01 1.79573734e-01 2.73033133e-02 1.58009150e+02] [-1.79506649e-01 9.83744514e-01 -4.90858176e-03 -1.84507882e+01] [-2.77409371e-02 -7.41960924e-05 9.99615143e-01 -6.35711052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22587156 meters 0.013459843073832217 Centerline is valid? [True, True] Translation: X:158.07, Y:-18.46, Z:-6.36 [[ 9.83388773e-01 1.79293608e-01 2.82899665e-02 1.58067401e+02] [-1.79221507e-01 9.83795607e-01 -5.08471703e-03 -1.84630757e+01] [-2.87432021e-02 -6.99167810e-05 9.99586826e-01 -6.35643809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28587156 meters 0.013930141206739625 Centerline is valid? [True, True] Translation: X:158.13, Y:-18.47, Z:-6.36 [[ 9.83393736e-01 1.79344373e-01 2.77912993e-02 1.58125422e+02] [-1.79274836e-01 9.83786354e-01 -4.99423566e-03 -1.84745013e+01] [-2.82363891e-02 -7.09805807e-05 9.99601271e-01 -6.36067687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34587156 meters 0.014247006233274009 Centerline is valid? [True, True] Translation: X:158.19, Y:-18.48, Z:-6.36 [[ 9.83056243e-01 1.81250388e-01 2.73627462e-02 1.58185667e+02] [-1.81183732e-01 9.83436974e-01 -4.91671586e-03 -1.84836551e+01] [-2.78006930e-02 -1.24276247e-04 9.99613478e-01 -6.36276696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40587156 meters 0.020012732712695148 Centerline is valid? [True, True] Translation: X:158.25, Y:-18.48, Z:-6.37 [[ 9.81994889e-01 1.87072744e-01 2.62645636e-02 1.58245677e+02] [-1.87013395e-01 9.82346025e-01 -4.71996999e-03 -1.84817679e+01] [-2.66838673e-02 -2.76838795e-04 9.99643884e-01 -6.37027769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46587156 meters 0.022511413615157558 Centerline is valid? [True, True] Translation: X:158.31, Y:-18.49, Z:-6.37 [[ 9.80976047e-01 1.92255475e-01 2.69040544e-02 1.58305934e+02] [-1.92195181e-01 9.81344816e-01 -4.83364661e-03 -1.84852414e+01] [-2.73314493e-02 -4.29138060e-04 9.99626334e-01 -6.36915336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.52587156 meters 0.02564345937063439 Centerline is valid? [True, True] Translation: X:158.36, Y:-18.49, Z:-6.37 [[ 9.80364456e-01 1.95287441e-01 2.73559663e-02 1.58364971e+02] [-1.95226293e-01 9.80745911e-01 -4.91448931e-03 -1.84875433e+01] [-2.77889902e-02 -5.22613268e-04 9.99613675e-01 -6.37060223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.58587156000002 meters 0.027103122303868514 Centerline is valid? [True, True] Translation: X:158.42, Y:-18.49, Z:-6.37 [[ 9.79909775e-01 1.97555705e-01 2.73601266e-02 1.58423983e+02] [-1.97495459e-01 9.80291486e-01 -4.91390328e-03 -1.84898331e+01] [-2.77916688e-02 -5.88318905e-04 9.99613564e-01 -6.37217612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64587156000002 meters 0.027001326590053956 Centerline is valid? [True, True] Translation: X:158.48, Y:-18.50, Z:-6.38 [[ 9.80080873e-01 1.96680659e-01 2.75354609e-02 1.58481193e+02] [-1.96619327e-01 9.80467437e-01 -4.94416835e-03 -1.84961308e+01] [-2.79700450e-02 -5.68318970e-04 9.99608600e-01 -6.37515489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70587156000002 meters 0.022996671539083465 Centerline is valid? [True, True] Translation: X:158.54, Y:-18.51, Z:-6.38 [[ 9.80896568e-01 1.92428805e-01 2.85145094e-02 1.58540031e+02] [-1.92361305e-01 9.81310827e-01 -5.11761479e-03 -1.85071086e+01] [-2.89663733e-02 -4.65237440e-04 9.99580278e-01 -6.37666969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76587156 meters 0.022287381965274106 Centerline is valid? [True, True] Translation: X:158.60, Y:-18.52, Z:-6.38 [[ 9.82166686e-01 1.85790895e-01 2.88156827e-02 1.58597734e+02] [-1.85719123e-01 9.82589268e-01 -5.17094719e-03 -1.85202678e+01] [-2.92746954e-02 -2.72891236e-04 9.99571367e-01 -6.37894624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82587156 meters 0.014268438265655256 Centerline is valid? [True, True] Translation: X:158.65, Y:-18.54, Z:-6.38 [[ 9.83111057e-01 1.80705926e-01 2.89485316e-02 1.58654550e+02] [-1.80631296e-01 9.83537164e-01 -5.19438819e-03 -1.85364908e+01] [-2.94106134e-02 -1.22350318e-04 9.99567407e-01 -6.38165052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88587156 meters 0.02805647445281228 Centerline is valid? [True, True] Translation: X:158.71, Y:-18.55, Z:-6.39 [[ 9.84176491e-01 1.74869533e-01 2.85881398e-02 1.58710157e+02] [-1.74794320e-01 9.84591613e-01 -5.12851615e-03 -1.85530230e+01] [-2.90444639e-02 5.03205681e-05 9.99578119e-01 -6.38559665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94587156 meters 0.01758493387169574 Centerline is valid? [True, True] Translation: X:158.77, Y:-18.57, Z:-6.39 [[ 9.85427007e-01 1.67673833e-01 2.86199233e-02 1.58765918e+02] [-1.67595473e-01 9.85842491e-01 -5.13219677e-03 -1.85739098e+01] [-2.90752716e-02 2.60835697e-04 9.99577191e-01 -6.38891828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00587156 meters 0.021819060806012747 Centerline is valid? [True, True] Translation: X:158.82, Y:-18.59, Z:-6.39 [[ 9.86502613e-01 1.61423904e-01 2.74757678e-02 1.58824648e+02] [-1.61349305e-01 9.86885070e-01 -4.92543908e-03 -1.85910070e+01] [-2.79105087e-02 4.25762493e-04 9.99610335e-01 -6.39221530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06587156 meters 0.027131435267193745 Centerline is valid? [True, True] Translation: X:158.88, Y:-18.61, Z:-6.40 [[ 9.86956293e-01 1.58612470e-01 2.75564826e-02 1.58882593e+02] [-1.58536355e-01 9.87340786e-01 -4.93922116e-03 -1.86104714e+01] [-2.79910612e-02 5.06091102e-04 9.99608045e-01 -6.39756333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12587156 meters 0.03867762472156901 Centerline is valid? [True, True] Translation: X:158.94, Y:-18.62, Z:-6.40 [[ 9.87327218e-01 1.56121724e-01 2.84775598e-02 1.58943754e+02] [-1.56039358e-01 9.87737642e-01 -5.10571935e-03 -1.86240011e+01] [-2.89254715e-02 5.97395527e-04 9.99581392e-01 -6.39526347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18587156 meters 0.02685467758327247 Centerline is valid? [True, True] Translation: X:159.00, Y:-18.64, Z:-6.40 [[ 9.87282757e-01 1.56311152e-01 2.89755374e-02 1.59004674e+02] [-1.56225812e-01 9.87707677e-01 -5.20006169e-03 -1.86380795e+01] [-2.94321884e-02 6.07204392e-04 9.99566595e-01 -6.39748211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.24587156 meters 0.03304813615634682 Centerline is valid? [True, True] Translation: X:159.07, Y:-18.65, Z:-6.40 [[ 9.86966275e-01 1.58352288e-01 2.86727331e-02 1.59065561e+02] [-1.58269444e-01 9.87382527e-01 -5.15051598e-03 -1.86486366e+01] [-2.91265517e-02 5.45368044e-04 9.99575583e-01 -6.39993813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.30587156 meters 0.026501571228698517 Centerline is valid? [True, True] Translation: X:159.13, Y:-18.66, Z:-6.40 [[ 9.86546007e-01 1.60874479e-01 2.90925626e-02 1.59127183e+02] [-1.60790095e-01 9.86974755e-01 -5.23236393e-03 -1.86591099e+01] [-2.95553787e-02 4.84171833e-04 9.99563027e-01 -6.40280961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36587156000002 meters 0.01926183945941599 Centerline is valid? [True, True] Translation: X:159.19, Y:-18.67, Z:-6.40 [[ 9.85854303e-01 1.64923949e-01 2.98560544e-02 1.59187850e+02] [-1.64836861e-01 9.86306216e-01 -5.37199424e-03 -1.86679108e+01] [-3.03331826e-02 3.74625332e-04 9.99539773e-01 -6.40497993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.42587156000002 meters 0.014668217077065074 Centerline is valid? [True, True] Translation: X:159.25, Y:-18.67, Z:-6.41 [[ 9.84992999e-01 1.69857953e-01 3.06115540e-02 1.59249229e+02] [-1.69768758e-01 9.85468530e-01 -5.50868117e-03 -1.86746836e+01] [-3.11024165e-02 2.29126878e-04 9.99516177e-01 -6.40571669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48587156000002 meters 0.013387734840762139 Centerline is valid? [True, True] Translation: X:159.31, Y:-18.69, Z:-6.41 [[ 9.84616715e-01 1.72045196e-01 3.05020483e-02 1.59310720e+02] [-1.71957717e-01 9.85089044e-01 -5.48800829e-03 -1.86860119e+01] [-3.09914191e-02 1.58522099e-04 9.99519638e-01 -6.40808661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54587156 meters 0.014365390056750126 Centerline is valid? [True, True] Translation: X:159.37, Y:-18.70, Z:-6.41 [[ 9.84689557e-01 1.71651793e-01 3.03667373e-02 1.59370760e+02] [-1.71564737e-01 9.85157668e-01 -5.46897893e-03 -1.87017785e+01] [-3.08547842e-02 1.75385131e-04 9.99523862e-01 -6.41353413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60587156 meters 0.015330637979227818 Centerline is valid? [True, True] Translation: X:159.43, Y:-18.72, Z:-6.42 [[ 9.84947158e-01 1.70192435e-01 3.02263286e-02 1.59431077e+02] [-1.70105312e-01 9.85410820e-01 -5.44966138e-03 -1.87185475e+01] [-3.07128423e-02 2.25969442e-04 9.99528224e-01 -6.41672946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66587156 meters 0.015289078327055155 Centerline is valid? [True, True] Translation: X:159.49, Y:-18.74, Z:-6.42 [[ 9.85061509e-01 1.69395965e-01 3.09649790e-02 1.59491506e+02] [-1.69303974e-01 9.85548040e-01 -5.58802430e-03 -1.87369841e+01] [-3.14640631e-02 2.62053657e-04 9.99504849e-01 -6.41813123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72587156 meters 0.01541170811657017 Centerline is valid? [True, True] Translation: X:159.55, Y:-18.75, Z:-6.42 [[ 9.85049728e-01 1.69486623e-01 3.08434606e-02 1.59552814e+02] [-1.69395202e-01 9.85532452e-01 -5.57232464e-03 -1.87507697e+01] [-3.13416658e-02 2.64282651e-04 9.99508694e-01 -6.42124523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78587156 meters 0.016898862875512156 Centerline is valid? [True, True] Translation: X:159.61, Y:-18.77, Z:-6.42 [[ 9.85021334e-01 1.69505246e-01 3.16376819e-02 1.59611327e+02] [-1.69408837e-01 9.85529246e-01 -5.72287795e-03 -1.87716711e+01] [-3.21499187e-02 2.77453958e-04 9.99483019e-01 -6.42453009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84587156 meters 0.015372998951763346 Centerline is valid? [True, True] Translation: X:159.67, Y:-18.79, Z:-6.42 [[ 9.84875866e-01 1.69969529e-01 3.36138055e-02 1.59671998e+02] [-1.69860767e-01 9.85449277e-01 -6.08619416e-03 -1.87854200e+01] [-3.41591679e-02 2.84478971e-04 9.99416365e-01 -6.42242019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90587156 meters 0.014487017804709493 Centerline is valid? [True, True] Translation: X:159.73, Y:-18.80, Z:-6.42 [[ 9.84674876e-01 1.71054206e-01 3.39977391e-02 1.59732207e+02] [-1.70943388e-01 9.85261586e-01 -6.16155045e-03 -1.88034011e+01] [-3.45506255e-02 2.55435220e-04 9.99402916e-01 -6.42483667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96587156 meters 0.02250619730627754 Centerline is valid? [True, True] Translation: X:159.79, Y:-18.82, Z:-6.43 [[ 9.84314362e-01 1.73158946e-01 3.37819021e-02 1.59792962e+02] [-1.73050573e-01 9.84893875e-01 -6.12815455e-03 -1.88153601e+01] [-3.43327332e-02 1.86053021e-04 9.99410441e-01 -6.42761571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.02587156 meters 0.011422190930004059 Centerline is valid? [True, True] Translation: X:159.85, Y:-18.83, Z:-6.43 [[ 9.83331424e-01 1.78555440e-01 3.43113172e-02 1.59853722e+02] [-1.78446715e-01 9.83929853e-01 -6.23017083e-03 -1.88264660e+01] [-3.48723602e-02 3.58091136e-06 9.99391774e-01 -6.42989624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.08587156000002 meters 0.014443231086569832 Centerline is valid? [True, True] Translation: X:159.92, Y:-18.83, Z:-6.43 [[ 9.81864593e-01 1.86564841e-01 3.36968880e-02 1.59915613e+02] [-1.86464489e-01 9.82442613e-01 -6.12430870e-03 -1.88305838e+01] [-3.42478394e-02 -2.70031130e-04 9.99413334e-01 -6.43318927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14587156000002 meters 0.01855805282499542 Centerline is valid? [True, True] Translation: X:159.98, Y:-18.84, Z:-6.44 [[ 9.80784113e-01 1.92085494e-01 3.41421556e-02 1.59977725e+02] [-1.91985589e-01 9.81378087e-01 -6.21162969e-03 -1.88363832e+01] [-3.46995273e-02 -4.62534136e-04 9.99397683e-01 -6.43567147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20587156000002 meters 0.026246409306031455 Centerline is valid? [True, True] Translation: X:160.04, Y:-18.84, Z:-6.44 [[ 9.79377438e-01 1.99273880e-01 3.33129741e-02 1.60038220e+02] [-1.99182867e-01 9.79943587e-01 -6.06235039e-03 -1.88371178e+01] [-3.38529035e-02 -6.98044488e-04 9.99426582e-01 -6.43983379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26587156 meters 0.030903228621448228 Centerline is valid? [True, True] Translation: X:160.10, Y:-18.84, Z:-6.44 [[ 9.78547613e-01 2.03344477e-01 3.30997564e-02 1.60098304e+02] [-2.03256873e-01 9.79106906e-01 -6.02582302e-03 -1.88419162e+01] [-3.36335179e-02 -8.31198270e-04 9.99433888e-01 -6.44305351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32587156 meters 0.03474826275340047 Centerline is valid? [True, True] Translation: X:160.16, Y:-18.84, Z:-6.45 [[ 9.77827251e-01 2.06677992e-01 3.37353765e-02 1.60158181e+02] [-2.06588969e-01 9.78408544e-01 -6.14161346e-03 -1.88435655e+01] [-3.42763170e-02 -9.63919660e-04 9.99411930e-01 -6.44533817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38587156 meters 0.042873641893085304 Centerline is valid? [True, True] Translation: X:160.22, Y:-18.85, Z:-6.45 [[ 9.77714700e-01 2.07140381e-01 3.41588623e-02 1.60215356e+02] [-2.07049425e-01 9.78310725e-01 -6.21772149e-03 -1.88495603e+01] [-3.47059226e-02 -9.93415096e-04 9.99397074e-01 -6.44727907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44587156 meters 0.03317469249938224 Centerline is valid? [True, True] Translation: X:160.27, Y:-18.86, Z:-6.45 [[ 9.77930196e-01 2.05938558e-01 3.52397694e-02 1.60273810e+02] [-2.05841077e-01 9.78564429e-01 -6.41157524e-03 -1.88603261e+01] [-3.58047754e-02 -9.83719056e-04 9.99358319e-01 -6.44787604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50587156 meters 0.030196799443213185 Centerline is valid? [True, True] Translation: X:160.33, Y:-18.87, Z:-6.45 [[ 9.78447225e-01 2.03457061e-01 3.53022929e-02 1.60332332e+02] [-2.03357651e-01 9.79083460e-01 -6.42209358e-03 -1.88723531e+01] [-3.58705114e-02 -8.95311710e-04 9.99356045e-01 -6.45066490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56587156 meters 0.024166292042733822 Centerline is valid? [True, True] Translation: X:160.39, Y:-18.89, Z:-6.46 [[ 9.79505682e-01 1.98491692e-01 3.42003930e-02 1.60391115e+02] [-1.98395401e-01 9.80102326e-01 -6.22056025e-03 -1.88890249e+01] [-3.47546142e-02 -6.92126589e-04 9.99395636e-01 -6.45595300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62587156 meters 0.028108496703186468 Centerline is valid? [True, True] Translation: X:160.45, Y:-18.90, Z:-6.46 [[ 9.80169569e-01 1.95295768e-01 3.35734820e-02 1.60450756e+02] [-1.95201087e-01 9.80744228e-01 -6.10697430e-03 -1.89009966e+01] [-3.41196649e-02 -5.67709803e-04 9.99417593e-01 -6.46026931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68587156 meters 0.019207936148831838 Centerline is valid? [True, True] Translation: X:160.51, Y:-18.91, Z:-6.47 [[ 9.80985705e-01 1.91384572e-01 3.22334122e-02 1.60510029e+02] [-1.91295184e-01 9.81515040e-01 -5.86333087e-03 -1.89142822e+01] [-3.27597300e-02 -4.14252748e-04 9.99463170e-01 -6.46720873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.74587156 meters 0.0166100523600205 Centerline is valid? [True, True] Translation: X:160.57, Y:-18.93, Z:-6.47 [[ 9.81521790e-01 1.88613911e-01 3.22454440e-02 1.60569368e+02] [-1.88522927e-01 9.82051266e-01 -5.86655049e-03 -1.89277532e+01] [-3.27731921e-02 -3.20858358e-04 9.99462763e-01 -6.46892471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.80587156 meters 0.015079444901277154 Centerline is valid? [True, True] Translation: X:160.63, Y:-18.94, Z:-6.47 [[ 9.81757752e-01 1.87220836e-01 3.31673908e-02 1.60629169e+02] [-1.87123785e-01 9.82317810e-01 -6.03407556e-03 -1.89394365e+01] [-3.37106233e-02 -2.82407242e-04 9.99431596e-01 -6.46952026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86587156000002 meters 0.025981700056662085 Centerline is valid? [True, True] Translation: X:160.69, Y:-18.95, Z:-6.47 [[ 9.81745525e-01 1.86995315e-01 3.47631568e-02 1.60690177e+02] [-1.86888525e-01 9.82360764e-01 -6.32528984e-03 -1.89487348e+01] [-3.53327609e-02 -2.87010126e-04 9.99375562e-01 -6.46880214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92587156000002 meters 0.016042065378237887 Centerline is valid? [True, True] Translation: X:160.75, Y:-18.96, Z:-6.47 [[ 9.81391235e-01 1.88668171e-01 3.57150547e-02 1.60749506e+02] [-1.88556517e-01 9.82040832e-01 -6.49962222e-03 -1.89564966e+01] [-3.62999138e-02 -3.55634034e-04 9.99340878e-01 -6.46987167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98587156000002 meters 0.019295179730525625 Centerline is valid? [True, True] Translation: X:160.81, Y:-18.96, Z:-6.47 [[ 9.80705477e-01 1.92302544e-01 3.51638970e-02 1.60810267e+02] [-1.92196656e-01 9.81335569e-01 -6.39897632e-03 -1.89572744e+01] [-3.57381223e-02 -4.82872297e-04 9.99361073e-01 -6.47333365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04587156 meters 0.02237941675148269 Centerline is valid? [True, True] Translation: X:160.87, Y:-18.96, Z:-6.48 [[ 9.80177312e-01 1.95145201e-01 3.42167822e-02 1.60869619e+02] [-1.95046697e-01 9.80774196e-01 -6.22590737e-03 -1.89610237e+01] [-3.47738931e-02 -5.71377220e-04 9.99395042e-01 -6.47873113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10587156 meters 0.022189353548081964 Centerline is valid? [True, True] Translation: X:160.93, Y:-18.97, Z:-6.48 [[ 9.80143829e-01 1.95389887e-01 3.37767038e-02 1.60928268e+02] [-1.95294091e-01 9.80725478e-01 -6.14452547e-03 -1.89706116e+01] [-3.43262521e-02 -5.73871950e-04 9.99410516e-01 -6.48163509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16587156 meters 0.030377041291541815 Centerline is valid? [True, True] Translation: X:160.99, Y:-18.98, Z:-6.48 [[ 9.80434031e-01 1.93919029e-01 3.38307727e-02 1.60985764e+02] [-1.93822077e-01 9.81017398e-01 -6.15361831e-03 -1.89802137e+01] [-3.43818803e-02 -5.23933825e-04 9.99408631e-01 -6.48419020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22587156 meters 0.0193375429540333 Centerline is valid? [True, True] Translation: X:161.04, Y:-18.99, Z:-6.49 [[ 9.80790428e-01 1.92081273e-01 3.39841254e-02 1.61044232e+02] [-1.91982383e-01 9.81378913e-01 -6.18016534e-03 -1.89938670e+01] [-3.45383981e-02 -4.62906358e-04 9.99403264e-01 -6.48751011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28587156 meters 0.018436981509396305 Centerline is valid? [True, True] Translation: X:161.10, Y:-19.01, Z:-6.49 [[ 9.81532502e-01 1.88373963e-01 3.33046217e-02 1.61101159e+02] [-1.88276882e-01 9.82097319e-01 -6.05577094e-03 -1.90084710e+01] [-3.38491292e-02 -3.26554313e-04 9.99426901e-01 -6.49145679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34587156 meters 0.014003068783092827 Centerline is valid? [True, True] Translation: X:161.16, Y:-19.02, Z:-6.49 [[ 9.82005857e-01 1.85762278e-01 3.40128294e-02 1.61159652e+02] [-1.85659487e-01 9.82594686e-01 -6.18365433e-03 -1.90234541e+01] [-3.45695152e-02 -2.42419678e-04 9.99402266e-01 -6.49294059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40587156 meters 0.013817174741011486 Centerline is valid? [True, True] Translation: X:161.22, Y:-19.04, Z:-6.50 [[ 9.82120461e-01 1.85163559e-01 3.39684749e-02 1.61218114e+02] [-1.85060675e-01 9.82707692e-01 -6.17568465e-03 -1.90351223e+01] [-3.45245933e-02 -2.20962624e-04 9.99403824e-01 -6.49576989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46587156 meters 0.01453281234853846 Centerline is valid? [True, True] Translation: X:161.28, Y:-19.04, Z:-6.50 [[ 9.81985266e-01 1.85891568e-01 3.39007563e-02 1.61277011e+02] [-1.85789539e-01 9.82570234e-01 -6.16305132e-03 -1.90433573e+01] [-3.44555333e-02 -2.46380281e-04 9.99406201e-01 -6.49783735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.52587156 meters 0.015947140173671576 Centerline is valid? [True, True] Translation: X:161.34, Y:-19.05, Z:-6.50 [[ 9.81609021e-01 1.87680470e-01 3.49252117e-02 1.61335357e+02] [-1.87573338e-01 9.82230085e-01 -6.34850656e-03 -1.90482805e+01] [-3.54960844e-02 -3.19287249e-04 9.99369764e-01 -6.49786747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.58587156000002 meters 0.026974929569265307 Centerline is valid? [True, True] Translation: X:161.39, Y:-19.06, Z:-6.50 [[ 9.81303542e-01 1.88864141e-01 3.70633912e-02 1.61394516e+02] [-1.88744385e-01 9.82003150e-01 -6.73571589e-03 -1.90568624e+01] [-3.76685022e-02 -3.85725122e-04 9.99290216e-01 -6.49608519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64587156000002 meters 0.017843859557146947 Centerline is valid? [True, True] Translation: X:161.45, Y:-19.06, Z:-6.50 [[ 9.81123582e-01 1.89777455e-01 3.71622658e-02 1.61453469e+02] [-1.89657746e-01 9.81827041e-01 -6.75283014e-03 -1.90627266e+01] [-3.77684524e-02 -4.22750654e-04 9.99286428e-01 -6.49803702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70587156000002 meters 0.017157411653043304 Centerline is valid? [True, True] Translation: X:161.51, Y:-19.07, Z:-6.50 [[ 9.81083026e-01 1.90075234e-01 3.67083205e-02 1.61511781e+02] [-1.89958691e-01 9.81769433e-01 -6.66897843e-03 -1.90725399e+01] [-3.73067146e-02 -4.30242956e-04 9.99303770e-01 -6.50129943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76587156 meters 0.030379921287190886 Centerline is valid? [True, True] Translation: X:161.57, Y:-19.08, Z:-6.51 [[ 9.81024765e-01 1.90504870e-01 3.60319964e-02 1.61570597e+02] [-1.90392904e-01 9.81686152e-01 -6.54524563e-03 -1.90792799e+01] [-3.66190130e-02 -4.39188382e-04 9.99329203e-01 -6.50550294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82587156 meters 0.017008766104079816 Centerline is valid? [True, True] Translation: X:161.63, Y:-19.09, Z:-6.51 [[ 9.81085246e-01 1.90295262e-01 3.54887854e-02 1.61629613e+02] [-1.90186541e-01 9.81726811e-01 -6.44572926e-03 -1.90895298e+01] [-3.60668839e-02 -4.25679463e-04 9.99349288e-01 -6.50899749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88587156 meters 0.01657092267499351 Centerline is valid? [True, True] Translation: X:161.69, Y:-19.10, Z:-6.51 [[ 9.81394114e-01 1.88799308e-01 3.49344240e-02 1.61687255e+02] [-1.88693038e-01 9.82015625e-01 -6.34426043e-03 -1.90980241e+01] [-3.55039422e-02 -3.65662752e-04 9.99369469e-01 -6.51380406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94587156 meters 0.015483936195365968 Centerline is valid? [True, True] Translation: X:161.75, Y:-19.11, Z:-6.52 [[ 9.81616532e-01 1.87505343e-01 3.56473160e-02 1.61745698e+02] [-1.87393888e-01 9.82263529e-01 -6.47235400e-03 -1.91080588e+01] [-3.62286593e-02 -3.26719454e-04 9.99343473e-01 -6.51509733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00587156 meters 0.014565827156316359 Centerline is valid? [True, True] Translation: X:161.80, Y:-19.12, Z:-6.52 [[ 9.81697855e-01 1.87057094e-01 3.57626247e-02 1.61804353e+02] [-1.86944668e-01 9.82348994e-01 -6.49192609e-03 -1.91190576e+01] [-3.63457392e-02 -3.12522070e-04 9.99339226e-01 -6.51646215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06587156 meters 0.015677226281987696 Centerline is valid? [True, True] Translation: X:161.86, Y:-19.13, Z:-6.52 [[ 9.81600148e-01 1.87792431e-01 3.45709701e-02 1.61862968e+02] [-1.87687859e-01 9.82208682e-01 -6.27479156e-03 -1.91252269e+01] [-3.51342654e-02 -3.29215041e-04 9.99382547e-01 -6.52163710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12587156 meters 0.01684226029795993 Centerline is valid? [True, True] Translation: X:161.92, Y:-19.13, Z:-6.53 [[ 9.81367059e-01 1.89137852e-01 3.38462321e-02 1.61921393e+02] [-1.89038440e-01 9.81950475e-01 -6.14265796e-03 -1.91297817e+01] [-3.43971328e-02 -3.70036741e-04 9.99408175e-01 -6.52501160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18587156 meters 0.016950790002276894 Centerline is valid? [True, True] Translation: X:161.98, Y:-19.14, Z:-6.53 [[ 9.81419384e-01 1.88703443e-01 3.47419636e-02 1.61978869e+02] [-1.88598515e-01 9.82034050e-01 -6.30271268e-03 -1.91355362e+01] [-3.53071348e-02 -3.66678338e-04 9.99376441e-01 -6.52660428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24587156 meters 0.029712576754888153 Centerline is valid? [True, True] Translation: X:162.04, Y:-19.15, Z:-6.53 [[ 9.81883527e-01 1.86386725e-01 3.41281035e-02 1.62036412e+02] [-1.86284152e-01 9.82476417e-01 -6.18908358e-03 -1.91491299e+01] [-3.46836199e-02 -2.80565599e-04 9.99398303e-01 -6.52944927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.30587156 meters 0.012004452528712833 Centerline is valid? [True, True] Translation: X:162.09, Y:-19.17, Z:-6.53 [[ 9.82743312e-01 1.81736875e-01 3.44570989e-02 1.62092698e+02] [-1.81629513e-01 9.83347189e-01 -6.24705137e-03 -1.91655332e+01] [-3.50186109e-02 -1.19178148e-04 9.99386653e-01 -6.53344169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36587156000002 meters 0.024184857007787733 Centerline is valid? [True, True] Translation: X:162.15, Y:-19.18, Z:-6.54 [[ 9.83342913e-01 1.78544632e-01 3.40371785e-02 1.62149580e+02] [-1.78438019e-01 9.83931814e-01 -6.16921261e-03 -1.91796320e+01] [-3.45917426e-02 -7.07519846e-06 9.99401527e-01 -6.53662750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42587156000002 meters 0.011738759476079537 Centerline is valid? [True, True] Translation: X:162.21, Y:-19.19, Z:-6.54 [[ 9.83595201e-01 1.77273059e-01 3.33877798e-02 1.62207714e+02] [-1.77169786e-01 9.84161705e-01 -6.05024074e-03 -1.91915410e+01] [-3.39315190e-02 3.56819474e-05 9.99424160e-01 -6.54066263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48587156000002 meters 0.01664735360266164 Centerline is valid? [True, True] Translation: X:162.27, Y:-19.20, Z:-6.54 [[ 9.84019799e-01 1.75062177e-01 3.25310565e-02 1.62267157e+02] [-1.74962961e-01 9.84557374e-01 -5.89404598e-03 -1.92038032e+01] [-3.30605161e-02 1.08127963e-04 9.99453346e-01 -6.54273726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54587156 meters 0.014299532139468078 Centerline is valid? [True, True] Translation: X:162.33, Y:-19.22, Z:-6.55 [[ 9.84656277e-01 1.71349105e-01 3.30378493e-02 1.62325615e+02] [-1.71244686e-01 9.85210347e-01 -5.98575958e-03 -1.92207521e+01] [-3.35748856e-02 2.36359612e-04 9.99436177e-01 -6.54647276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60587156 meters 0.021178246182327828 Centerline is valid? [True, True] Translation: X:162.39, Y:-19.24, Z:-6.55 [[ 9.85225251e-01 1.67911291e-01 3.37194726e-02 1.62385620e+02] [-1.67800533e-01 9.85802043e-01 -6.10838097e-03 -1.92373257e+01] [-3.42663911e-02 3.59985699e-04 9.99412670e-01 -6.54528462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66587156 meters 0.020313668581880637 Centerline is valid? [True, True] Translation: X:162.44, Y:-19.26, Z:-6.55 [[ 9.85990422e-01 1.63038117e-01 3.52343682e-02 1.62444119e+02] [-1.62913830e-01 9.86619612e-01 -6.38945564e-03 -1.92574161e+01] [-3.58046435e-02 5.59776203e-04 9.99358651e-01 -6.54603392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72587156 meters 0.021754234209882792 Centerline is valid? [True, True] Translation: X:162.50, Y:-19.27, Z:-6.55 [[ 9.86153876e-01 1.61955647e-01 3.56497106e-02 1.62504929e+02] [-1.61827493e-01 9.86797849e-01 -6.47057389e-03 -1.92714417e+01] [-3.62270037e-02 6.11878223e-04 9.99343399e-01 -6.54799374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78587156 meters 0.03026273111574713 Centerline is valid? [True, True] Translation: X:162.57, Y:-19.29, Z:-6.55 [[ 9.86010423e-01 1.63070472e-01 3.45176189e-02 1.62565077e+02] [-1.62950813e-01 9.86614266e-01 -6.27083150e-03 -1.92859980e+01] [-3.50781627e-02 5.58431152e-04 9.99384416e-01 -6.55200972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84587156 meters 0.019104727981073627 Centerline is valid? [True, True] Translation: X:162.63, Y:-19.29, Z:-6.56 [[ 9.85409550e-01 1.66769005e-01 3.40017170e-02 1.62625904e+02] [-1.66654899e-01 9.85995901e-01 -6.18282665e-03 -1.92948333e+01] [-3.45566574e-02 4.26063727e-04 9.99402650e-01 -6.55716800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90587156 meters 0.012842939936091152 Centerline is valid? [True, True] Translation: X:162.69, Y:-19.30, Z:-6.56 [[ 9.84128507e-01 1.74233223e-01 3.36729147e-02 1.62688002e+02] [-1.74125443e-01 9.84704400e-01 -6.12981681e-03 -1.92953877e+01] [-3.42258850e-02 1.69216268e-04 9.99414108e-01 -6.55968420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96587156 meters 0.011646694172771671 Centerline is valid? [True, True] Translation: X:162.75, Y:-19.30, Z:-6.56 [[ 9.82756335e-01 1.81631252e-01 3.46420875e-02 1.62748797e+02] [-1.81521723e-01 9.83366707e-01 -6.30744837e-03 -1.92964741e+01] [-3.52115052e-02 -8.96065660e-05 9.99379879e-01 -6.56090308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.02587156 meters 0.021422320659322935 Centerline is valid? [True, True] Translation: X:162.81, Y:-19.29, Z:-6.56 [[ 9.81524986e-01 1.88294682e-01 3.39678369e-02 1.62807603e+02] [-1.88193375e-01 9.82112523e-01 -6.18424249e-03 -1.92945158e+01] [-3.45246980e-02 -3.22533346e-04 9.99403793e-01 -6.56396821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.08587156000002 meters 0.018803891544820275 Centerline is valid? [True, True] Translation: X:162.87, Y:-19.30, Z:-6.57 [[ 9.80854981e-01 1.91897464e-01 3.31491872e-02 1.62866173e+02] [-1.91803120e-01 9.81414881e-01 -6.03277435e-03 -1.92988930e+01] [-3.36907797e-02 -4.40840750e-04 9.99432207e-01 -6.56832388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14587156000002 meters 0.026164125076468012 Centerline is valid? [True, True] Translation: X:162.92, Y:-19.30, Z:-6.57 [[ 9.80425576e-01 1.94186175e-01 3.25179937e-02 1.62923780e+02] [-1.94096693e-01 9.80964560e-01 -5.91653795e-03 -1.93018528e+01] [-3.30479093e-02 -5.10909898e-04 9.99453638e-01 -6.57183095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20587156000002 meters 0.02027719674361155 Centerline is valid? [True, True] Translation: X:162.98, Y:-19.31, Z:-6.57 [[ 9.80680909e-01 1.92792241e-01 3.31074915e-02 1.62981284e+02] [-1.92698781e-01 9.81239485e-01 -6.02107392e-03 -1.93122101e+01] [-3.36471942e-02 -4.75021021e-04 9.99433660e-01 -6.57440770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26587156 meters 0.016816919598783887 Centerline is valid? [True, True] Translation: X:163.04, Y:-19.33, Z:-6.57 [[ 9.81168392e-01 1.90120972e-01 3.40969706e-02 1.63038241e+02] [-1.90020288e-01 9.81760591e-01 -6.19931142e-03 -1.93258588e+01] [-3.46536811e-02 -3.96547741e-04 9.99399302e-01 -6.57461174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32587156 meters 0.021754919691628766 Centerline is valid? [True, True] Translation: X:163.10, Y:-19.34, Z:-6.58 [[ 9.81715212e-01 1.87267122e-01 3.41506541e-02 1.63095975e+02] [-1.87164454e-01 9.82308982e-01 -6.20734040e-03 -1.93391490e+01] [-3.47089250e-02 -2.97948009e-04 9.99397419e-01 -6.57551473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38587156 meters 0.020370319719514772 Centerline is valid? [True, True] Translation: X:163.15, Y:-19.35, Z:-6.58 [[ 9.82455721e-01 1.83491608e-01 3.33404677e-02 1.63154100e+02] [-1.83391643e-01 9.83021263e-01 -6.05819664e-03 -1.93527745e+01] [-3.38860169e-02 -1.62453214e-04 9.99425691e-01 -6.57972401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44587156 meters 0.011733217392255125 Centerline is valid? [True, True] Translation: X:163.21, Y:-19.37, Z:-6.59 [[ 9.83299509e-01 1.79159099e-01 3.20014627e-02 1.63211830e+02] [-1.79064739e-01 9.83820114e-01 -5.81398477e-03 -1.93691156e+01] [-3.25253110e-02 -1.34451799e-05 9.99470912e-01 -6.58643258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50587156 meters 0.020143493198690677 Centerline is valid? [True, True] Translation: X:163.27, Y:-19.38, Z:-6.59 [[ 9.83910272e-01 1.75894230e-01 3.13336326e-02 1.63269510e+02] [-1.75802124e-01 9.84409067e-01 -5.69226521e-03 -1.93847162e+01] [-3.18463486e-02 9.21590326e-05 9.99492772e-01 -6.58935171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56587156 meters 0.015208551531888078 Centerline is valid? [True, True] Translation: X:163.33, Y:-19.40, Z:-6.59 [[ 9.84258326e-01 1.73810144e-01 3.20247081e-02 1.63328428e+02] [-1.73712843e-01 9.84779167e-01 -5.81728242e-03 -1.93984654e+01] [-3.25483681e-02 1.62605571e-04 9.99470148e-01 -6.59103077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62587156 meters 0.01522514113225589 Centerline is valid? [True, True] Translation: X:163.39, Y:-19.41, Z:-6.59 [[ 9.84307603e-01 1.73451281e-01 3.24529835e-02 1.63387852e+02] [-1.73351165e-01 9.84842435e-01 -5.89507856e-03 -1.94095839e+01] [-3.29835842e-02 1.76808165e-04 9.99455878e-01 -6.59239773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68587156 meters 0.023074618243662446 Centerline is valid? [True, True] Translation: X:163.45, Y:-19.42, Z:-6.59 [[ 9.83901049e-01 1.75660200e-01 3.28971188e-02 1.63447638e+02] [-1.75558550e-01 9.84450854e-01 -5.97597495e-03 -1.94152726e+01] [-3.34353376e-02 1.04397529e-04 9.99440877e-01 -6.59356920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74587156 meters 0.011572710798432296 Centerline is valid? [True, True] Translation: X:163.51, Y:-19.42, Z:-6.60 [[ 9.83539548e-01 1.77594029e-01 3.33214397e-02 1.63505725e+02] [-1.77490873e-01 9.84103836e-01 -6.05231193e-03 -1.94218747e+01] [-3.38666111e-02 3.84366984e-05 9.99426361e-01 -6.59756720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.80587156 meters 0.011272983453327858 Centerline is valid? [True, True] Translation: X:163.57, Y:-19.43, Z:-6.60 [[ 9.83477282e-01 1.77879102e-01 3.36371904e-02 1.63565013e+02] [-1.77774195e-01 9.84052348e-01 -6.10830255e-03 -1.94306899e+01] [-3.41872956e-02 2.75523556e-05 9.99415443e-01 -6.59839010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86587156000002 meters 0.011618711840925586 Centerline is valid? [True, True] Translation: X:163.62, Y:-19.44, Z:-6.60 [[ 9.83816449e-01 1.75953916e-01 3.38439653e-02 1.63623913e+02] [-1.75846612e-01 9.84398400e-01 -6.14480171e-03 -1.94435230e+01] [-3.43971472e-02 9.40103725e-05 9.99408239e-01 -6.59970290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92587156000002 meters 0.012312847483669063 Centerline is valid? [True, True] Translation: X:163.68, Y:-19.46, Z:-6.60 [[ 9.84092630e-01 1.74242374e-01 3.46596328e-02 1.63681266e+02] [-1.74128775e-01 9.84702783e-01 -6.29281073e-03 -1.94585542e+01] [-3.52259112e-02 1.57469255e-04 9.99379363e-01 -6.60174417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98587156 meters 0.013234273885247835 Centerline is valid? [True, True] Translation: X:163.74, Y:-19.47, Z:-6.60 [[ 9.84387525e-01 1.72596003e-01 3.45227498e-02 1.63740658e+02] [-1.72482269e-01 9.84992677e-01 -6.26846539e-03 -1.94725229e+01] [-3.50865678e-02 2.16036908e-04 9.99384253e-01 -6.60364647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04587156 meters 0.015728449686375236 Centerline is valid? [True, True] Translation: X:163.80, Y:-19.49, Z:-6.61 [[ 9.84926620e-01 1.69715184e-01 3.34112185e-02 1.63800197e+02] [-1.69607048e-01 9.85493106e-01 -6.06524026e-03 -1.94911717e+01] [-3.39558888e-02 3.07038450e-04 9.99423285e-01 -6.60886464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10587156 meters 0.028832334141352618 Centerline is valid? [True, True] Translation: X:163.86, Y:-19.51, Z:-6.61 [[ 9.85306747e-01 1.67539663e-01 3.31824703e-02 1.63860051e+02] [-1.67431582e-01 9.85865261e-01 -6.02927545e-03 -1.95073590e+01] [-3.37235875e-02 3.84892285e-04 9.99431124e-01 -6.61108073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16587156 meters 0.02008685479077209 Centerline is valid? [True, True] Translation: X:163.92, Y:-19.53, Z:-6.61 [[ 9.85719544e-01 1.65029493e-01 3.34999588e-02 1.63919683e+02] [-1.64917687e-01 9.86288515e-01 -6.09271661e-03 -1.95265149e+01] [-3.40461026e-02 4.80974108e-04 9.99420148e-01 -6.61440048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22587156 meters 0.02169429845985192 Centerline is valid? [True, True] Translation: X:163.98, Y:-19.54, Z:-6.62 [[ 9.85968386e-01 1.63750243e-01 3.24376243e-02 1.63979149e+02] [-1.63644552e-01 9.86501695e-01 -5.90478578e-03 -1.95445637e+01] [-3.29666815e-02 5.13691597e-04 9.99456319e-01 -6.61907086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28587156 meters 0.023210879896318714 Centerline is valid? [True, True] Translation: X:164.04, Y:-19.56, Z:-6.63 [[ 9.86192624e-01 1.62890421e-01 2.98466000e-02 1.64039393e+02] [-1.62800416e-01 9.86644038e-01 -5.43759161e-03 -1.95613792e+01] [-3.03337015e-02 5.03473838e-04 9.99539701e-01 -6.62638352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34587156 meters 0.021968214268285324 Centerline is valid? [True, True] Translation: X:164.10, Y:-19.58, Z:-6.63 [[ 9.85819083e-01 1.65029144e-01 3.04321588e-02 1.64098868e+02] [-1.64936422e-01 9.86288587e-01 -5.54967517e-03 -1.95752138e+01] [-3.09307490e-02 4.51604303e-04 9.99521428e-01 -6.62875553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40587156 meters 0.01894494023163681 Centerline is valid? [True, True] Translation: X:164.16, Y:-19.59, Z:-6.63 [[ 9.85418684e-01 1.67252693e-01 3.12498625e-02 1.64159962e+02] [-1.67155882e-01 9.85913982e-01 -5.70367197e-03 -1.95867553e+01] [-3.17636309e-02 3.96906600e-04 9.99495330e-01 -6.62854041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46587156 meters 0.024420178659235976 Centerline is valid? [True, True] Translation: X:164.22, Y:-19.60, Z:-6.63 [[ 9.84957557e-01 1.69932739e-01 3.13284998e-02 1.64221228e+02] [-1.69836628e-01 9.85455612e-01 -5.72326447e-03 -1.95999377e+01] [-3.18454160e-02 3.16445816e-04 9.99492756e-01 -6.62839144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.52587156 meters 0.01583303700662338 Centerline is valid? [True, True] Translation: X:164.28, Y:-19.61, Z:-6.63 [[ 9.84693482e-01 1.71391940e-01 3.16788414e-02 1.64280265e+02] [-1.71294233e-01 9.85202886e-01 -5.79309553e-03 -1.96144299e+01] [-3.22029758e-02 2.78020570e-04 9.99481311e-01 -6.63341704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.58587156000002 meters 0.01397637842828 Centerline is valid? [True, True] Translation: X:164.34, Y:-19.63, Z:-6.63 [[ 9.84238160e-01 1.73868864e-01 3.23243222e-02 1.64340766e+02] [-1.73768292e-01 9.84768793e-01 -5.91649710e-03 -1.96274292e+01] [-3.28606784e-02 2.06299962e-04 9.99459921e-01 -6.63460853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64587156000002 meters 0.03501028967731643 Centerline is valid? [True, True] Translation: X:164.40, Y:-19.64, Z:-6.64 [[ 9.83891575e-01 1.75876057e-01 3.20153328e-02 1.64401945e+02] [-1.75778287e-01 9.84412308e-01 -5.86529825e-03 -1.96401605e+01] [-3.25478532e-02 1.43217153e-04 9.99470168e-01 -6.63646951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70587156000002 meters 0.011689861814251933 Centerline is valid? [True, True] Translation: X:164.46, Y:-19.65, Z:-6.64 [[ 9.83311261e-01 1.79028001e-01 3.23718728e-02 1.64462889e+02] [-1.78929564e-01 9.83843978e-01 -5.93618647e-03 -1.96526337e+01] [-3.29116157e-02 4.48339129e-05 9.99458265e-01 -6.63962384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76587156 meters 0.011490958963512156 Centerline is valid? [True, True] Translation: X:164.52, Y:-19.66, Z:-6.64 [[ 9.83007165e-01 1.80706756e-01 3.22797522e-02 1.64524494e+02] [-1.80609611e-01 9.83537019e-01 -5.92452422e-03 -1.96642661e+01] [-3.28189328e-02 -6.18372718e-06 9.99461314e-01 -6.64209763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82587156 meters 0.011472618127143664 Centerline is valid? [True, True] Translation: X:164.58, Y:-19.68, Z:-6.65 [[ 9.82942559e-01 1.80962797e-01 3.28084123e-02 1.64584684e+02] [-1.80862357e-01 9.83489942e-01 -6.02843576e-03 -1.96801343e+01] [-3.33576661e-02 -8.20069785e-06 9.99443478e-01 -6.64510864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88587156 meters 0.011595963177041913 Centerline is valid? [True, True] Translation: X:164.65, Y:-19.70, Z:-6.65 [[ 9.83105329e-01 1.80107355e-01 3.26382083e-02 1.64645327e+02] [-1.80007283e-01 9.83646959e-01 -6.00316606e-03 -1.96977284e+01] [-3.31856887e-02 2.66293350e-05 9.99449203e-01 -6.64787943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94587156 meters 0.01107949859716016 Centerline is valid? [True, True] Translation: X:164.71, Y:-19.71, Z:-6.65 [[ 9.82884656e-01 1.81146424e-01 3.35220335e-02 1.64706918e+02] [-1.81041194e-01 9.83456137e-01 -6.17355643e-03 -1.97096744e+01] [-3.40857673e-02 -9.75090794e-07 9.99418911e-01 -6.64791279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00587156 meters 0.012282980066315464 Centerline is valid? [True, True] Translation: X:164.77, Y:-19.72, Z:-6.65 [[ 9.82049976e-01 1.85642745e-01 3.33858654e-02 1.64767314e+02] [-1.85540921e-01 9.82617294e-01 -6.14975894e-03 -1.97171365e+01] [-3.39471868e-02 -1.55073597e-04 9.99423616e-01 -6.65065460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06587156 meters 0.02434802617759327 Centerline is valid? [True, True] Translation: X:164.83, Y:-19.72, Z:-6.65 [[ 9.81452244e-01 1.88718014e-01 3.37194811e-02 1.64828206e+02] [-1.88615766e-01 9.82031285e-01 -6.21680964e-03 -1.97229506e+01] [-3.42868093e-02 -2.58523977e-04 9.99412001e-01 -6.65227998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12587156 meters 0.014974970521095681 Centerline is valid? [True, True] Translation: X:164.89, Y:-19.73, Z:-6.66 [[ 9.81285868e-01 1.89617365e-01 3.35156678e-02 1.64889223e+02] [-1.89516694e-01 9.81858022e-01 -6.18446168e-03 -1.97330233e+01] [-3.40803087e-02 -2.83053734e-04 9.99419057e-01 -6.65654162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18587156 meters 0.013129416575663468 Centerline is valid? [True, True] Translation: X:164.95, Y:-19.75, Z:-6.66 [[ 9.81647032e-01 1.87817266e-01 3.30723379e-02 1.64949376e+02] [-1.87718039e-01 9.82203965e-01 -6.10807088e-03 -1.97488595e+01] [-3.36309826e-02 -2.12304741e-04 9.99434296e-01 -6.65914897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24587156 meters 0.01141216489200324 Centerline is valid? [True, True] Translation: X:165.01, Y:-19.77, Z:-6.66 [[ 9.82585713e-01 1.82691294e-01 3.38999631e-02 1.65007226e+02] [-1.82583768e-01 9.83170326e-01 -6.26719446e-03 -1.97703487e+01] [-3.44743997e-02 -3.15272597e-05 9.99405581e-01 -6.66092294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.30587156 meters 0.01155735480405178 Centerline is valid? [True, True] Translation: X:165.07, Y:-19.79, Z:-6.66 [[ 9.83084498e-01 1.79969116e-01 3.39997990e-02 1.65068202e+02] [-1.79859145e-01 9.83672259e-01 -6.29091089e-03 -1.97879769e+01] [-3.45768288e-02 6.93222084e-05 9.99402040e-01 -6.66253026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36587156000002 meters 0.012760032308755623 Centerline is valid? [True, True] Translation: X:165.13, Y:-19.81, Z:-6.66 [[ 9.83600103e-01 1.76914491e-01 3.51012993e-02 1.65128769e+02] [-1.76795075e-01 9.84226207e-01 -6.50188551e-03 -1.98081712e+01] [-3.56978964e-02 1.89518436e-04 9.99362609e-01 -6.66331964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42587156000002 meters 0.013721213992257886 Centerline is valid? [True, True] Translation: X:165.19, Y:-19.83, Z:-6.67 [[ 9.83878262e-01 1.75550389e-01 3.41412758e-02 1.65188677e+02] [-1.75436368e-01 9.84470418e-01 -6.33063688e-03 -1.98253913e+01] [-3.47224218e-02 2.38954600e-04 9.99396966e-01 -6.66698917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48587156 meters 0.023287196761455985 Centerline is valid? [True, True] Translation: X:165.25, Y:-19.84, Z:-6.67 [[ 9.83853856e-01 1.75749436e-01 3.38190220e-02 1.65249210e+02] [-1.75637479e-01 9.84434904e-01 -6.27661366e-03 -1.98384590e+01] [-3.43957370e-02 2.35382802e-04 9.99408264e-01 -6.67105681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54587156 meters 0.013822043998318486 Centerline is valid? [True, True] Translation: X:165.31, Y:-19.85, Z:-6.68 [[ 9.83579277e-01 1.77591478e-01 3.21414407e-02 1.65309823e+02] [-1.77491154e-01 9.84104282e-01 -5.97087754e-03 -1.98514662e+01] [-3.26909064e-02 1.68010008e-04 9.99465495e-01 -6.67788090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60587156 meters 0.014738957867035296 Centerline is valid? [True, True] Translation: X:165.37, Y:-19.86, Z:-6.68 [[ 9.83251874e-01 1.79382392e-01 3.22134946e-02 1.65371413e+02] [-1.79282387e-01 9.83779419e-01 -5.99009565e-03 -1.98606667e+01] [-3.27654906e-02 1.14460564e-04 9.99463061e-01 -6.67838563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66587156 meters 0.029496290480986745 Centerline is valid? [True, True] Translation: X:165.43, Y:-19.87, Z:-6.68 [[ 9.82847187e-01 1.81432124e-01 3.30725291e-02 1.65431007e+02] [-1.81327667e-01 9.83403468e-01 -6.15595888e-03 -1.98733947e+01] [-3.36405285e-02 5.34023237e-05 9.99433996e-01 -6.68105650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72587156 meters 0.011230180516376123 Centerline is valid? [True, True] Translation: X:165.49, Y:-19.88, Z:-6.68 [[ 9.82456153e-01 1.83465515e-01 3.34710652e-02 1.65492824e+02] [-1.83359527e-01 9.83026146e-01 -6.23532198e-03 -1.98837989e+01] [-3.40468988e-02 -1.13082353e-05 9.99420236e-01 -6.68250002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78587156 meters 0.011675375711734173 Centerline is valid? [True, True] Translation: X:165.55, Y:-19.89, Z:-6.68 [[ 9.81840032e-01 1.86651225e-01 3.39333497e-02 1.65554895e+02] [-1.86543954e-01 9.82426235e-01 -6.32823970e-03 -1.98941242e+01] [-3.45181867e-02 -1.16742162e-04 9.99404063e-01 -6.68426316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84587156 meters 0.02833312004631774 Centerline is valid? [True, True] Translation: X:165.62, Y:-19.90, Z:-6.69 [[ 9.81485856e-01 1.88559633e-01 3.36270517e-02 1.65615702e+02] [-1.88455179e-01 9.82061726e-01 -6.27787735e-03 -1.99045798e+01] [-3.42075947e-02 -1.75544209e-04 9.99414734e-01 -6.68600579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90587156 meters 0.01419538026485632 Centerline is valid? [True, True] Translation: X:165.68, Y:-19.91, Z:-6.69 [[ 9.80877641e-01 1.91607936e-01 3.41387357e-02 1.65677213e+02] [-1.91501915e-01 9.81471508e-01 -6.37933885e-03 -1.99135776e+01] [-3.47285284e-02 -2.80282434e-04 9.99396743e-01 -6.68856956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96587156 meters 0.019330687457937534 Centerline is valid? [True, True] Translation: X:165.74, Y:-19.92, Z:-6.69 [[ 9.79827826e-01 1.96939775e-01 3.39434230e-02 1.65738374e+02] [-1.96837920e-01 9.80415480e-01 -6.34976050e-03 -1.99155225e+01] [-3.45291778e-02 -4.59680747e-04 9.99403584e-01 -6.69191939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.02587156 meters 0.035229181321421964 Centerline is valid? [True, True] Translation: X:165.80, Y:-19.92, Z:-6.69 [[ 9.79011637e-01 2.01034776e-01 3.34848303e-02 1.65800407e+02] [-2.00938058e-01 9.79583924e-01 -6.26366837e-03 -1.99199633e+01] [-3.40604166e-02 -5.96172549e-04 9.99419598e-01 -6.69431139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.08587156000002 meters 0.026487796798398747 Centerline is valid? [True, True] Translation: X:165.86, Y:-19.92, Z:-6.70 [[ 9.78396967e-01 2.04188614e-01 3.23478833e-02 1.65861003e+02] [-2.04099871e-01 9.78931332e-01 -6.05717975e-03 -1.99241671e+01] [-3.29031636e-02 -6.75872522e-04 9.99458316e-01 -6.70092175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14587156000002 meters 0.02497300499537107 Centerline is valid? [True, True] Translation: X:165.92, Y:-19.94, Z:-6.70 [[ 9.78635551e-01 2.02817466e-01 3.37273307e-02 1.65920844e+02] [-2.02720148e-01 9.79216342e-01 -6.31634658e-03 -1.99363756e+01] [-3.43074188e-02 -6.55808154e-04 9.99411112e-01 -6.70141818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20587156000002 meters 0.03174335952062098 Centerline is valid? [True, True] Translation: X:165.98, Y:-19.96, Z:-6.70 [[ 9.79743194e-01 1.97252312e-01 3.45658626e-02 1.65980142e+02] [-1.97146601e-01 9.80352642e-01 -6.47415003e-03 -1.99562671e+01] [-3.51637758e-02 -4.71537878e-04 9.99381452e-01 -6.70199232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26587156 meters 0.015389948471098848 Centerline is valid? [True, True] Translation: X:166.04, Y:-19.97, Z:-6.70 [[ 9.80403543e-01 1.93938595e-01 3.45935665e-02 1.66039939e+02] [-1.93830640e-01 9.81013607e-01 -6.47964205e-03 -1.99733750e+01] [-3.51934121e-02 -3.52629116e-04 9.99380458e-01 -6.70467931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32587156 meters 0.014673371485990575 Centerline is valid? [True, True] Translation: X:166.10, Y:-19.99, Z:-6.71 [[ 9.80808179e-01 1.92141356e-01 3.31212233e-02 1.66099506e+02] [-1.92041184e-01 9.81367223e-01 -6.20944193e-03 -1.99865236e+01] [-3.36971735e-02 -2.70367502e-04 9.99432052e-01 -6.71109388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38587156 meters 0.01571516053888912 Centerline is valid? [True, True] Translation: X:166.16, Y:-20.00, Z:-6.72 [[ 9.80680369e-01 1.93142694e-01 3.10147202e-02 1.66160710e+02] [-1.93055223e-01 9.81170638e-01 -5.81894725e-03 -1.99960661e+01] [-3.15546200e-02 -2.81026399e-04 9.99501989e-01 -6.71670803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44587156 meters 0.017162530980956176 Centerline is valid? [True, True] Translation: X:166.22, Y:-20.00, Z:-6.72 [[ 9.80246794e-01 1.95426668e-01 3.04078939e-02 1.66222932e+02] [-1.95343530e-01 9.80718257e-01 -5.71011946e-03 -2.00030769e+01] [-3.09374864e-02 -3.42659037e-04 9.99521263e-01 -6.72012609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50587156 meters 0.027174823019516302 Centerline is valid? [True, True] Translation: X:166.28, Y:-20.01, Z:-6.72 [[ 9.79919450e-01 1.96982813e-01 3.09134606e-02 1.66283545e+02] [-1.96897482e-01 9.80406863e-01 -5.81072105e-03 -2.00112638e+01] [-3.14523811e-02 -3.92743974e-04 9.99505174e-01 -6.72076475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56587156 meters 0.019672655117704486 Centerline is valid? [True, True] Translation: X:166.34, Y:-20.02, Z:-6.72 [[ 9.79537995e-01 1.98539313e-01 3.29766314e-02 1.66344425e+02] [-1.98442858e-01 9.80092814e-01 -6.20543513e-03 -2.00176607e+01] [-3.35521823e-02 -4.65517516e-04 9.99436859e-01 -6.71935794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62587156 meters 0.02597440621617479 Centerline is valid? [True, True] Translation: X:166.41, Y:-20.02, Z:-6.72 [[ 9.79098289e-01 2.00586010e-01 3.36421288e-02 1.66405752e+02] [-2.00486800e-01 9.79675944e-01 -6.33151133e-03 -2.00225269e+01] [-3.42283969e-02 -5.45630834e-04 9.99413888e-01 -6.72050300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68587156 meters 0.026254058537112997 Centerline is valid? [True, True] Translation: X:166.47, Y:-20.03, Z:-6.72 [[ 9.78893429e-01 2.01600574e-01 3.35389787e-02 1.66466711e+02] [-2.01502540e-01 9.79467648e-01 -6.31289896e-03 -2.00321833e+01] [-3.41230286e-02 -5.78534081e-04 9.99417472e-01 -6.72280391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74587156 meters 0.023162349158702304 Centerline is valid? [True, True] Translation: X:166.53, Y:-20.04, Z:-6.73 [[ 9.78788036e-01 2.02297777e-01 3.23973933e-02 1.66527164e+02] [-2.02206660e-01 9.79323885e-01 -6.09878977e-03 -2.00403464e+01] [-3.29613127e-02 -5.81546235e-04 9.99456459e-01 -6.72760006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.80587156 meters 0.023105350745649816 Centerline is valid? [True, True] Translation: X:166.59, Y:-20.05, Z:-6.73 [[ 9.78809393e-01 2.02212429e-01 3.22847713e-02 1.66587938e+02] [-2.02121872e-01 9.79341514e-01 -6.07837698e-03 -2.00503115e+01] [-3.28469402e-02 -5.75885937e-04 9.99460228e-01 -6.73035940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86587156000002 meters 0.02166286505384019 Centerline is valid? [True, True] Translation: X:166.65, Y:-20.06, Z:-6.73 [[ 9.78938295e-01 2.01418452e-01 3.33229936e-02 1.66648252e+02] [-2.01321488e-01 9.79505123e-01 -6.27469551e-03 -2.00619618e+01] [-3.39038824e-02 -5.66094918e-04 9.99424938e-01 -6.73125472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92587156000002 meters 0.02316162770865933 Centerline is valid? [True, True] Translation: X:166.71, Y:-20.07, Z:-6.74 [[ 9.78865479e-01 2.01817221e-01 3.30481950e-02 1.66708259e+02] [-2.01722046e-01 9.79423034e-01 -6.22387049e-03 -2.00706404e+01] [-3.36242477e-02 -5.74217534e-04 9.99434380e-01 -6.73503636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98587156 meters 0.024265786664935927 Centerline is valid? [True, True] Translation: X:166.77, Y:-20.08, Z:-6.74 [[ 9.78581828e-01 2.03283697e-01 3.24552566e-02 1.66767651e+02] [-2.03192689e-01 9.79119688e-01 -6.11292932e-03 -2.00769159e+01] [-3.30202396e-02 -6.12669329e-04 9.99454495e-01 -6.73851436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04587156 meters 0.026733018590998213 Centerline is valid? [True, True] Translation: X:166.83, Y:-20.08, Z:-6.74 [[ 9.78332567e-01 2.04730739e-01 3.08336186e-02 1.66826950e+02] [-2.04649338e-01 9.78818129e-01 -5.80686398e-03 -2.00799752e+01] [-3.13693484e-02 -6.29035482e-04 9.99507663e-01 -6.74400481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10587156 meters 0.0275770095350293 Centerline is valid? [True, True] Translation: X:166.88, Y:-20.09, Z:-6.75 [[ 9.78293624e-01 2.04931558e-01 3.07350276e-02 1.66884938e+02] [-2.04850800e-01 9.78776100e-01 -5.78752719e-03 -2.00873830e+01] [-3.12687574e-02 -6.34194038e-04 9.99510812e-01 -6.74786924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16587156 meters 0.026891275792550854 Centerline is valid? [True, True] Translation: X:166.94, Y:-20.10, Z:-6.75 [[ 9.78454571e-01 2.03943874e-01 3.21488567e-02 1.66941963e+02] [-2.03855030e-01 9.78982378e-01 -6.05224181e-03 -2.00960168e+01] [-3.27074819e-02 -6.31862490e-04 9.99464767e-01 -6.74719335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22587156 meters 0.03303824275229845 Centerline is valid? [True, True] Translation: X:167.00, Y:-20.10, Z:-6.75 [[ 9.78639971e-01 2.02879179e-01 3.32241722e-02 1.66999477e+02] [-2.02783748e-01 9.79203583e-01 -6.25261951e-03 -2.01038698e+01] [-3.38017547e-02 -6.18258781e-04 9.99428366e-01 -6.74767121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28587156 meters 0.02139965836948079 Centerline is valid? [True, True] Translation: X:167.06, Y:-20.12, Z:-6.75 [[ 9.79112644e-01 2.00448988e-01 3.40386934e-02 1.67057904e+02] [-2.00347430e-01 9.79703986e-01 -6.40361787e-03 -2.01175803e+01] [-3.46314423e-02 -5.49701513e-04 9.99400001e-01 -6.74756568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34587156 meters 0.020074263066075185 Centerline is valid? [True, True] Translation: X:167.12, Y:-20.13, Z:-6.75 [[ 9.79825054e-01 1.96903402e-01 3.42332396e-02 1.67116037e+02] [-1.96798545e-01 9.80422800e-01 -6.43936652e-03 -2.01269541e+01] [-3.48309818e-02 -4.27599084e-04 9.99393126e-01 -6.75205680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40587156 meters 0.01710636067663406 Centerline is valid? [True, True] Translation: X:167.17, Y:-20.14, Z:-6.75 [[ 9.80093661e-01 1.95509965e-01 3.45292585e-02 1.67174104e+02] [-1.95402451e-01 9.80701640e-01 -6.49419705e-03 -2.01412897e+01] [-3.51325807e-02 -3.82180380e-04 9.99382587e-01 -6.75309731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46587156 meters 0.0153992021548884 Centerline is valid? [True, True] Translation: X:167.23, Y:-20.15, Z:-6.76 [[ 9.80617266e-01 1.93064283e-01 3.34059836e-02 1.67232710e+02] [-1.92962266e-01 9.81186068e-01 -6.28195669e-03 -2.01543910e+01] [-3.39903072e-02 -2.85899115e-04 9.99422122e-01 -6.75775849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.52587156 meters 0.013591466135079637 Centerline is valid? [True, True] Translation: X:167.29, Y:-20.17, Z:-6.76 [[ 9.81318132e-01 1.89754880e-01 3.17460128e-02 1.67291811e+02] [-1.89661020e-01 9.81831482e-01 -5.96980109e-03 -2.01672592e+01] [-3.23020337e-02 -1.62707105e-04 9.99478140e-01 -6.76409943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.58587156000002 meters 0.012525762298237788 Centerline is valid? [True, True] Translation: X:167.35, Y:-20.18, Z:-6.77 [[ 9.81786288e-01 1.87397797e-01 3.12689970e-02 1.67351529e+02] [-1.87305549e-01 9.82284103e-01 -5.87984684e-03 -2.01815315e+01] [-3.18169090e-02 -8.41036590e-05 9.99493710e-01 -6.76709589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64587156000002 meters 0.011985840008055127 Centerline is valid? [True, True] Translation: X:167.41, Y:-20.20, Z:-6.77 [[ 9.82489021e-01 1.83511258e-01 3.22326329e-02 1.67411291e+02] [-1.83411120e-01 9.83017607e-01 -6.06175489e-03 -2.01982003e+01] [-3.27976459e-02 4.37843385e-05 9.99462012e-01 -6.76833666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70587156000002 meters 0.012742936809373563 Centerline is valid? [True, True] Translation: X:167.47, Y:-20.21, Z:-6.77 [[ 9.82927369e-01 1.80987162e-01 3.31275619e-02 1.67471687e+02] [-1.80879947e-01 9.83485450e-01 -6.23018185e-03 -2.02137008e+01] [-3.37080580e-02 1.31704636e-04 9.99431713e-01 -6.76946296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76587156 meters 0.023125228501601015 Centerline is valid? [True, True] Translation: X:167.53, Y:-20.23, Z:-6.77 [[ 9.83206629e-01 1.79496268e-01 3.29516932e-02 1.67532055e+02] [-1.79389168e-01 9.83758636e-01 -6.20256358e-03 -2.02288891e+01] [-3.35298497e-02 1.87224823e-04 9.99437699e-01 -6.77262026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82587156 meters 0.0262308570906891 Centerline is valid? [True, True] Translation: X:167.59, Y:-20.25, Z:-6.77 [[ 9.83609584e-01 1.77206088e-01 3.33194813e-02 1.67592542e+02] [-1.77095081e-01 9.84173728e-01 -6.27734284e-03 -2.02453406e+01] [-3.39045415e-02 2.73738349e-04 9.99425038e-01 -6.77446881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88587156 meters 0.017414093484195668 Centerline is valid? [True, True] Translation: X:167.65, Y:-20.26, Z:-6.77 [[ 9.84072783e-01 1.74391943e-01 3.44703890e-02 1.67651873e+02] [-1.74271188e-01 9.84676240e-01 -6.50036101e-03 -2.02640093e+01] [-3.50757837e-02 3.89632701e-04 9.99384579e-01 -6.77453730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94587156 meters 0.018805842948739233 Centerline is valid? [True, True] Translation: X:167.71, Y:-20.28, Z:-6.78 [[ 9.84323697e-01 1.73369293e-01 3.24029064e-02 1.67711375e+02] [-1.73261889e-01 9.84856804e-01 -6.11505011e-03 -2.02828820e+01] [-3.29723848e-02 4.04999966e-04 9.99456181e-01 -6.78065363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00587156 meters 0.026779857126935792 Centerline is valid? [True, True] Translation: X:167.77, Y:-20.30, Z:-6.78 [[ 9.84124724e-01 1.74698500e-01 3.12883768e-02 1.67772399e+02] [-1.74598878e-01 9.84621912e-01 -5.90951655e-03 -2.02970175e+01] [-3.18396051e-02 3.52785860e-04 9.99492929e-01 -6.78445100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06587156 meters 0.012571019261477759 Centerline is valid? [True, True] Translation: X:167.83, Y:-20.30, Z:-6.78 [[ 9.83001621e-01 1.80565402e-01 3.32257088e-02 1.67834394e+02] [-1.80456121e-01 9.83562963e-01 -6.28375714e-03 -2.03011775e+01] [-3.38142057e-02 1.81160919e-04 9.99428120e-01 -6.78177375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12587156 meters 0.01805495578095484 Centerline is valid? [True, True] Translation: X:167.90, Y:-20.31, Z:-6.78 [[ 9.81912706e-01 1.86251058e-01 3.40291251e-02 1.67895409e+02] [-1.86139825e-01 9.82502185e-01 -6.43602231e-03 -2.03078784e+01] [-3.46324057e-02 -1.45632898e-05 9.99400118e-01 -6.78335194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18587156 meters 0.015385612052273212 Centerline is valid? [True, True] Translation: X:167.96, Y:-20.31, Z:-6.78 [[ 9.80138402e-01 1.95319537e-01 3.43364411e-02 1.67957529e+02] [-1.95211692e-01 9.80739602e-01 -6.49832443e-03 -2.03069621e+01] [-3.49443573e-02 -3.33617441e-04 9.99389204e-01 -6.78443002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24587156 meters 0.02406633141844684 Centerline is valid? [True, True] Translation: X:168.02, Y:-20.30, Z:-6.79 [[ 9.78577077e-01 2.03021869e-01 3.41909939e-02 1.68018441e+02] [-2.02919608e-01 9.79174016e-01 -6.47136621e-03 -2.03048565e+01] [-3.47927617e-02 -6.05292434e-04 9.99394365e-01 -6.78882718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.30587156 meters 0.024735502971563614 Centerline is valid? [True, True] Translation: X:168.08, Y:-20.32, Z:-6.79 [[ 9.77984937e-01 2.05989402e-01 3.33740905e-02 1.68078060e+02] [-2.05893704e-01 9.78553976e-01 -6.31648544e-03 -2.03152853e+01] [-3.39594780e-02 -6.94087510e-04 9.99422970e-01 -6.79137456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36587156000002 meters 0.02680393665852277 Centerline is valid? [True, True] Translation: X:168.14, Y:-20.32, Z:-6.80 [[ 9.77802305e-01 2.06977964e-01 3.26002244e-02 1.68136229e+02] [-2.06887192e-01 9.78345346e-01 -6.17035999e-03 -2.03225670e+01] [-3.31714064e-02 -7.11176651e-04 9.99449424e-01 -6.79596708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42587156000002 meters 0.02613415956304136 Centerline is valid? [True, True] Translation: X:168.19, Y:-20.33, Z:-6.80 [[ 9.77993994e-01 2.06067695e-01 3.26167520e-02 1.68194389e+02] [-2.05976365e-01 9.78537501e-01 -6.17225547e-03 -2.03338046e+01] [-3.31886174e-02 -6.81851233e-04 9.99448874e-01 -6.79837888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48587156 meters 0.024715462079122074 Centerline is valid? [True, True] Translation: X:168.25, Y:-20.35, Z:-6.80 [[ 9.78432191e-01 2.04067713e-01 3.20439823e-02 1.68251268e+02] [-2.03978529e-01 9.78956589e-01 -6.06271184e-03 -2.03475683e+01] [-3.26068713e-02 -6.04331942e-04 9.99468072e-01 -6.80133986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54587156 meters 0.024271603341493066 Centerline is valid? [True, True] Translation: X:168.31, Y:-20.36, Z:-6.80 [[ 9.78514876e-01 2.03781921e-01 3.13299481e-02 1.68309980e+02] [-2.03696561e-01 9.79016133e-01 -5.92638843e-03 -2.03598666e+01] [-3.18802155e-02 -5.82743438e-04 9.99491527e-01 -6.80484506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60587156 meters 0.02393401179744973 Centerline is valid? [True, True] Translation: X:168.37, Y:-20.37, Z:-6.81 [[ 9.78676275e-01 2.03096761e-01 3.07319693e-02 1.68367985e+02] [-2.03014306e-01 9.79158518e-01 -5.81280718e-03 -2.03709615e+01] [-3.12720318e-02 -5.50172934e-04 9.99510759e-01 -6.80876642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66587156 meters 0.02531952425552595 Centerline is valid? [True, True] Translation: X:168.43, Y:-20.37, Z:-6.81 [[ 9.78464517e-01 2.04000776e-01 3.14781248e-02 1.68426226e+02] [-2.03914780e-01 9.78970546e-01 -5.95252891e-03 -2.03749590e+01] [-3.20304775e-02 -5.94516557e-04 9.99486716e-01 -6.80946475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72587156 meters 0.027015910825517672 Centerline is valid? [True, True] Translation: X:168.49, Y:-20.38, Z:-6.81 [[ 9.78086231e-01 2.05691743e-01 3.22216069e-02 1.68485387e+02] [-2.05602631e-01 9.78616606e-01 -6.09074335e-03 -2.03797966e+01] [-3.27854152e-02 -6.67574932e-04 9.99462191e-01 -6.81010051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78587156 meters 0.02997874430975568 Centerline is valid? [True, True] Translation: X:168.55, Y:-20.38, Z:-6.81 [[ 9.77466062e-01 2.08553661e-01 3.26415021e-02 1.68545911e+02] [-2.08463864e-01 9.78010618e-01 -6.16830496e-03 -2.03820455e+01] [-3.32101583e-02 -7.75264898e-04 9.99448090e-01 -6.81171498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84587156 meters 0.030463144000349267 Centerline is valid? [True, True] Translation: X:168.60, Y:-20.39, Z:-6.81 [[ 9.77296902e-01 2.09295185e-01 3.29589131e-02 1.68604679e+02] [-2.09204074e-01 9.77852172e-01 -6.22769357e-03 -2.03875169e+01] [-3.35323711e-02 -8.08833265e-04 9.99437305e-01 -6.81304874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90587156 meters 0.0297880360467967 Centerline is valid? [True, True] Translation: X:168.66, Y:-20.39, Z:-6.82 [[ 9.77656281e-01 2.07714934e-01 3.22909125e-02 1.68662889e+02] [-2.07626663e-01 9.78189122e-01 -6.10011065e-03 -2.03916296e+01] [-3.28537034e-02 -7.40642933e-04 9.99459897e-01 -6.81717390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96587156 meters 0.024103776007935042 Centerline is valid? [True, True] Translation: X:168.72, Y:-20.40, Z:-6.82 [[ 9.78694144e-01 2.02826243e-01 3.19262940e-02 1.68720986e+02] [-2.02737432e-01 9.79214577e-01 -6.02875236e-03 -2.04042867e+01] [-3.24854817e-02 -5.72350242e-04 9.99472044e-01 -6.81975873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.02587156 meters 0.02832717755154168 Centerline is valid? [True, True] Translation: X:168.78, Y:-20.42, Z:-6.82 [[ 9.79442651e-01 1.99109738e-01 3.23636439e-02 1.68778769e+02] [-1.99016470e-01 9.79977094e-01 -6.11065533e-03 -2.04177958e+01] [-3.29323207e-02 -4.55861726e-04 9.99457480e-01 -6.82100179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.08587156000002 meters 0.016558041008911627 Centerline is valid? [True, True] Translation: X:168.84, Y:-20.43, Z:-6.82 [[ 9.80302990e-01 1.94735319e-01 3.29272282e-02 1.68836141e+02] [-1.94636343e-01 9.80855777e-01 -6.21594690e-03 -2.04300450e+01] [-3.35073264e-02 -3.15323949e-04 9.99438422e-01 -6.82388250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14587156000002 meters 0.013138844349633102 Centerline is valid? [True, True] Translation: X:168.89, Y:-20.44, Z:-6.83 [[ 9.81362009e-01 1.89441811e-01 3.22553430e-02 1.68893938e+02] [-1.89344022e-01 9.81891940e-01 -6.08760224e-03 -2.04418802e+01] [-3.28245078e-02 -1.33214805e-04 9.99461122e-01 -6.82827630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20587156000002 meters 0.028465958870242506 Centerline is valid? [True, True] Translation: X:168.95, Y:-20.46, Z:-6.83 [[ 9.82387034e-01 1.84193893e-01 3.14376372e-02 1.68950812e+02] [-1.84098362e-01 9.82889927e-01 -5.93169867e-03 -2.04565801e+01] [-3.19923196e-02 3.96063534e-05 9.99488114e-01 -6.83103894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26587156 meters 0.018866629919611758 Centerline is valid? [True, True] Translation: X:169.01, Y:-20.47, Z:-6.83 [[ 9.82685143e-01 1.82590274e-01 3.14754258e-02 1.69008608e+02] [-1.82493722e-01 9.83189088e-01 -5.93782913e-03 -2.04678306e+01] [-3.20304850e-02 9.09488505e-05 9.99486888e-01 -6.83394781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32587156 meters 0.028698964652927733 Centerline is valid? [True, True] Translation: X:169.07, Y:-20.48, Z:-6.83 [[ 9.83538455e-01 1.77780835e-01 3.23432020e-02 1.69067243e+02] [-1.77676351e-01 9.84070074e-01 -6.09945285e-03 -2.04811440e+01] [-3.29123430e-02 2.52424306e-04 9.99458210e-01 -6.83408754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38587156 meters 0.022602403435484066 Centerline is valid? [True, True] Translation: X:169.13, Y:-20.50, Z:-6.84 [[ 9.84193535e-01 1.74197370e-01 3.19117746e-02 1.69127061e+02] [-1.74093766e-01 9.84710689e-01 -6.01822880e-03 -2.04950614e+01] [-3.24722252e-02 3.67460849e-04 9.99472571e-01 -6.83675716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44587156 meters 0.032665299517503237 Centerline is valid? [True, True] Translation: X:169.18, Y:-20.52, Z:-6.84 [[ 9.85354647e-01 1.67511108e-01 3.18786585e-02 1.69184322e+02] [-1.67404189e-01 9.85870013e-01 -6.01287832e-03 -2.05160877e+01] [-3.24354374e-02 5.88196630e-04 9.99473660e-01 -6.83967312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50587156 meters 0.03184718799230485 Centerline is valid? [True, True] Translation: X:169.24, Y:-20.54, Z:-6.84 [[ 9.86001644e-01 1.63667542e-01 3.18385726e-02 1.69241184e+02] [-1.63558872e-01 9.86515294e-01 -6.00581520e-03 -2.05362666e+01] [-3.23921958e-02 7.14262631e-04 9.99474980e-01 -6.84475104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56587156 meters 0.03620248849249653 Centerline is valid? [True, True] Translation: X:169.30, Y:-20.55, Z:-6.85 [[ 9.86519159e-01 1.60599278e-01 3.14296120e-02 1.69298919e+02] [-1.60491829e-01 9.87019364e-01 -5.92855853e-03 -2.05546149e+01] [-3.19737579e-02 8.04440640e-04 9.99488385e-01 -6.84827685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62587156 meters 0.029380209536938557 Centerline is valid? [True, True] Translation: X:169.36, Y:-20.56, Z:-6.85 [[ 9.86443318e-01 1.61085241e-01 3.13229325e-02 1.69361512e+02] [-1.60978808e-01 9.86940185e-01 -5.90711687e-03 -2.05578348e+01] [-3.18654102e-02 7.84707626e-04 9.99491861e-01 -6.84766934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68587156 meters 0.026622114016931556 Centerline is valid? [True, True] Translation: X:169.42, Y:-20.57, Z:-6.85 [[ 9.85763726e-01 1.65104273e-01 3.17876649e-02 1.69421753e+02] [-1.64996516e-01 9.86275888e-01 -6.00180990e-03 -2.05650983e+01] [-3.23423319e-02 6.71512539e-04 9.99476624e-01 -6.84973637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74587156 meters 0.020789602746402132 Centerline is valid? [True, True] Translation: X:169.48, Y:-20.57, Z:-6.85 [[ 9.84956125e-01 1.69757264e-01 3.23095026e-02 1.69483634e+02] [-1.69648412e-01 9.85485765e-01 -6.10114197e-03 -2.05675753e+01] [-3.28762680e-02 5.28101357e-04 9.99459290e-01 -6.85036985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.80587156 meters 0.015377750106348023 Centerline is valid? [True, True] Translation: X:169.54, Y:-20.57, Z:-6.85 [[ 9.83719644e-01 1.76710588e-01 3.26960098e-02 1.69544127e+02] [-1.76602911e-01 9.84262809e-01 -6.17530038e-03 -2.05684770e+01] [-3.32727074e-02 3.00553790e-04 9.99446265e-01 -6.85282974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86587156000002 meters 0.012885958865938844 Centerline is valid? [True, True] Translation: X:169.60, Y:-20.57, Z:-6.86 [[ 9.83007957e-01 1.80544240e-01 3.31531985e-02 1.69604002e+02] [-1.80435718e-01 9.83566850e-01 -6.26133474e-03 -2.05734475e+01] [-3.37388350e-02 1.72920696e-04 9.99430668e-01 -6.85584280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.92587156000002 meters 0.025792377293093638 Centerline is valid? [True, True] Translation: X:169.66, Y:-20.59, Z:-6.86 [[ 9.83146435e-01 1.79786182e-01 3.31664957e-02 1.69660909e+02] [-1.79677165e-01 9.83705693e-01 -6.26313627e-03 -2.05853960e+01] [-3.37520960e-02 1.98318182e-04 9.99430216e-01 -6.85848301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98587156 meters 0.01651277215138047 Centerline is valid? [True, True] Translation: X:169.72, Y:-20.60, Z:-6.86 [[ 9.83862495e-01 1.75838884e-01 3.30949871e-02 1.69718878e+02] [-1.75728154e-01 9.84418903e-01 -6.24812856e-03 -2.06033366e+01] [-3.36779949e-02 3.31578360e-04 9.99432680e-01 -6.86206613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04587156 meters 0.01941537745973588 Centerline is valid? [True, True] Translation: X:169.78, Y:-20.62, Z:-6.87 [[ 9.84418622e-01 1.72834031e-01 3.23786185e-02 1.69777590e+02] [-1.72726426e-01 9.84950870e-01 -6.11266354e-03 -2.06212696e+01] [-3.29478247e-02 4.24776778e-04 9.99456983e-01 -6.86679847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10587156 meters 0.021935650022807656 Centerline is valid? [True, True] Translation: X:169.84, Y:-20.64, Z:-6.87 [[ 9.84754513e-01 1.70953577e-01 3.21468988e-02 1.69836612e+02] [-1.70846520e-01 9.85278966e-01 -6.06845198e-03 -2.06398288e+01] [-3.27110867e-02 4.83749703e-04 9.99464732e-01 -6.87028721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16587156 meters 0.021945707736783216 Centerline is valid? [True, True] Translation: X:169.90, Y:-20.65, Z:-6.87 [[ 9.84691601e-01 1.71220573e-01 3.26491393e-02 1.69896424e+02] [-1.71110083e-01 9.85232600e-01 -6.16949698e-03 -2.06531249e+01] [-3.32233412e-02 4.88454939e-04 9.99447833e-01 -6.87222340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22587156 meters 0.01941009720523432 Centerline is valid? [True, True] Translation: X:169.96, Y:-20.67, Z:-6.88 [[ 9.84208107e-01 1.74071452e-01 3.21485935e-02 1.69955755e+02] [-1.73965817e-01 9.84732949e-01 -6.07575028e-03 -2.06652696e+01] [-3.27153939e-02 3.87046357e-04 9.99464633e-01 -6.87560346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28587156 meters 0.014108489144216915 Centerline is valid? [True, True] Translation: X:170.02, Y:-20.67, Z:-6.88 [[ 9.83042010e-01 1.80655696e-01 3.14948519e-02 1.70015588e+02] [-1.80557667e-01 9.83546385e-01 -5.95289633e-03 -2.06688670e+01] [-3.20520723e-02 1.65310210e-04 9.99486187e-01 -6.88003274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34587156 meters 0.011543458285929961 Centerline is valid? [True, True] Translation: X:170.08, Y:-20.67, Z:-6.88 [[ 9.81994468e-01 1.86109658e-01 3.24046334e-02 1.70075326e+02] [-1.86008871e-01 9.82528979e-01 -6.12411799e-03 -2.06728963e+01] [-3.29782488e-02 -1.36992898e-05 9.99456070e-01 -6.87767453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40587156 meters 0.019003452280457394 Centerline is valid? [True, True] Translation: X:170.13, Y:-20.67, Z:-6.88 [[ 9.80364545e-01 1.94456452e-01 3.27421448e-02 1.70134521e+02] [-1.94358214e-01 9.80911107e-01 -6.18748087e-03 -2.06688227e+01] [-3.33203290e-02 -2.97717912e-04 9.99444679e-01 -6.88203340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46587156 meters 0.018833601670755422 Centerline is valid? [True, True] Translation: X:170.19, Y:-20.68, Z:-6.88 [[ 9.79448331e-01 1.98969741e-01 3.30455524e-02 1.70192564e+02] [-1.98872323e-01 9.80005527e-01 -6.24230551e-03 -2.06759475e+01] [-3.36268539e-02 -4.57830055e-04 9.99434353e-01 -6.88209807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.52587156 meters 0.023714843213593184 Centerline is valid? [True, True] Translation: X:170.25, Y:-20.68, Z:-6.89 [[ 9.78485109e-01 2.03805271e-01 3.20983350e-02 1.70251864e+02] [-2.03716025e-01 9.79011257e-01 -6.06129596e-03 -2.06796529e+01] [-3.26599554e-02 -6.08057388e-04 9.99466336e-01 -6.88642751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.58587156000002 meters 0.02833146659846662 Centerline is valid? [True, True] Translation: X:170.31, Y:-20.68, Z:-6.89 [[ 9.77832647e-01 2.06820395e-01 3.26900407e-02 1.70310976e+02] [-2.06729570e-01 9.78378659e-01 -6.17126088e-03 -2.06798844e+01] [-3.32595808e-02 -7.23537692e-04 9.99446485e-01 -6.88822127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.64587156000002 meters 0.027139333534298038 Centerline is valid? [True, True] Translation: X:170.37, Y:-20.69, Z:-6.89 [[ 9.77910837e-01 2.06371684e-01 3.31831611e-02 1.70369096e+02] [-2.06277889e-01 9.78473407e-01 -6.26286944e-03 -2.06904410e+01] [-3.37613197e-02 -7.20424524e-04 9.99429665e-01 -6.88936153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70587156000002 meters 0.025287391916489814 Centerline is valid? [True, True] Translation: X:170.43, Y:-20.70, Z:-6.89 [[ 9.78321835e-01 2.04366788e-01 3.34754132e-02 1.70427031e+02] [-2.04270216e-01 9.78894163e-01 -6.31636710e-03 -2.07017581e+01] [-3.40597422e-02 -6.58590050e-04 9.99419582e-01 -6.89185422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76587156 meters 0.01806392702014433 Centerline is valid? [True, True] Translation: X:170.48, Y:-20.72, Z:-6.89 [[ 9.79640771e-01 1.97890847e-01 3.38108443e-02 1.70484031e+02] [-1.97788534e-01 9.80223964e-01 -6.37779627e-03 -2.07216160e+01] [-3.44043074e-02 -4.39448100e-04 9.99407900e-01 -6.89322137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82587156 meters 0.011623838598994254 Centerline is valid? [True, True] Translation: X:170.54, Y:-20.75, Z:-6.89 [[ 9.81472094e-01 1.88498420e-01 3.43638566e-02 1.70540266e+02] [-1.88386997e-01 9.82073487e-01 -6.48122836e-03 -2.07462077e+01] [-3.49695338e-02 -1.12558981e-04 9.99388372e-01 -6.89493786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88587156 meters 0.011708244194604743 Centerline is valid? [True, True] Translation: X:170.60, Y:-20.77, Z:-6.90 [[ 9.82743429e-01 1.81759962e-01 3.43317417e-02 1.70597894e+02] [-1.81644669e-01 9.83342921e-01 -6.47410883e-03 -2.07687837e+01] [-3.49366089e-02 1.26210072e-04 9.99389522e-01 -6.89795691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94587156 meters 0.017596592065774876 Centerline is valid? [True, True] Translation: X:170.65, Y:-20.80, Z:-6.90 [[ 9.84250580e-01 1.73636052e-01 3.31860869e-02 1.70654843e+02] [-1.73523751e-01 9.84809810e-01 -6.25668606e-03 -2.07965608e+01] [-3.37683702e-02 3.99572598e-04 9.99429606e-01 -6.90283043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00587156 meters 0.021559256083880717 Centerline is valid? [True, True] Translation: X:170.71, Y:-20.82, Z:-6.91 [[ 9.84892874e-01 1.70076389e-01 3.25583959e-02 1.70713458e+02] [-1.69966156e-01 9.85430745e-01 -6.14423709e-03 -2.08170928e+01] [-3.31290340e-02 5.17589922e-04 9.99450949e-01 -6.90701166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06587156 meters 0.023901309331788835 Centerline is valid? [True, True] Translation: X:170.77, Y:-20.84, Z:-6.91 [[ 9.85278028e-01 1.67953519e-01 3.19190120e-02 1.70772806e+02] [-1.67846400e-01 9.85794745e-01 -6.02547692e-03 -2.08379472e+01] [-3.24775944e-02 5.79278776e-04 9.99472296e-01 -6.91058706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12587156 meters 0.022639863465647666 Centerline is valid? [True, True] Translation: X:170.83, Y:-20.85, Z:-6.91 [[ 9.85072041e-01 1.69004519e-01 3.27192212e-02 1.70832999e+02] [-1.68892348e-01 9.85615115e-01 -6.18224544e-03 -2.08533261e+01] [-3.32933864e-02 5.63931026e-04 9.99445462e-01 -6.91108693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18587156 meters 0.018579802938873763 Centerline is valid? [True, True] Translation: X:170.89, Y:-20.86, Z:-6.91 [[ 9.84446424e-01 1.72398340e-01 3.38238049e-02 1.70894151e+02] [-1.72280227e-01 9.85027203e-01 -6.39789071e-03 -2.08639111e+01] [-3.44203536e-02 4.71207845e-04 9.99407333e-01 -6.91057958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24587156 meters 0.014645413639418249 Centerline is valid? [True, True] Translation: X:170.96, Y:-20.87, Z:-6.91 [[ 9.83558084e-01 1.77381693e-01 3.39003067e-02 1.70955688e+02] [-1.77265936e-01 9.84142086e-01 -6.41425267e-03 -2.08714605e+01] [-3.45004895e-02 2.99420470e-04 9.99404636e-01 -6.91360821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.30587156 meters 0.018100598326007106 Centerline is valid? [True, True] Translation: X:171.02, Y:-20.87, Z:-6.92 [[ 9.81902877e-01 1.86540566e-01 3.27010170e-02 1.71017246e+02] [-1.86437905e-01 9.82447259e-01 -6.18795929e-03 -2.08746432e+01] [-3.32813300e-02 -2.07340588e-05 9.99446023e-01 -6.91847492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.36587156000002 meters 0.016701329054810754 Centerline is valid? [True, True] Translation: X:171.08, Y:-20.87, Z:-6.92 [[ 9.80203318e-01 1.95511084e-01 3.12549537e-02 1.71077867e+02] [-1.95421721e-01 9.80701444e-01 -5.91853056e-03 -2.08738076e+01] [-3.18089165e-02 -3.06533534e-04 9.99493921e-01 -6.92458228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42587156000002 meters 0.02153282706314231 Centerline is valid? [True, True] Translation: X:171.14, Y:-20.88, Z:-6.93 [[ 9.79121914e-01 2.00921752e-01 3.08338586e-02 1.71137906e+02] [-2.00837483e-01 9.79607178e-01 -5.83805898e-03 -2.08779648e+01] [-3.13780623e-02 -4.76423073e-04 9.99507474e-01 -6.92776717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48587156 meters 0.027040556582344978 Centerline is valid? [True, True] Translation: X:171.20, Y:-20.88, Z:-6.93 [[ 9.77482789e-01 2.08497238e-01 3.25007425e-02 1.71199587e+02] [-2.08407822e-01 9.78022661e-01 -6.15258796e-03 -2.08789090e+01] [-3.30692602e-02 -7.59360120e-04 9.99452774e-01 -6.92593364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54587156 meters 0.03511560798362762 Centerline is valid? [True, True] Translation: X:171.26, Y:-20.87, Z:-6.93 [[ 9.76190318e-01 2.14395104e-01 3.29727394e-02 1.71260034e+02] [-2.14306425e-01 9.76746535e-01 -6.24204968e-03 -2.08746452e+01] [-3.35442739e-02 -9.72841452e-04 9.99436759e-01 -6.92876994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60587156 meters 0.0379654395866882 Centerline is valid? [True, True] Translation: X:171.32, Y:-20.88, Z:-6.93 [[ 9.75908672e-01 2.15779796e-01 3.22698531e-02 1.71317536e+02] [-2.15695613e-01 9.76441541e-01 -6.10903280e-03 -2.08794478e+01] [-3.28278309e-02 -9.98607635e-04 9.99460523e-01 -6.93324641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66587156 meters 0.0344080896160645 Centerline is valid? [True, True] Translation: X:171.38, Y:-20.89, Z:-6.94 [[ 9.76348562e-01 2.13844684e-01 3.18423861e-02 1.71375428e+02] [-2.13761752e-01 9.76867237e-01 -6.02611469e-03 -2.08903257e+01] [-3.23944363e-02 -9.23095841e-04 9.99474736e-01 -6.93609427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72587156 meters 0.030552762158859426 Centerline is valid? [True, True] Translation: X:171.43, Y:-20.90, Z:-6.94 [[ 9.77218054e-01 2.09769982e-01 3.22712008e-02 1.71433883e+02] [-2.09682640e-01 9.77750436e-01 -6.10542750e-03 -2.09028378e+01] [-3.28339161e-02 -8.00376613e-04 9.99460501e-01 -6.93802619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78587156 meters 0.021684431805748337 Centerline is valid? [True, True] Translation: X:171.49, Y:-20.92, Z:-6.94 [[ 9.79045565e-01 2.00958642e-01 3.29455038e-02 1.71490351e+02] [-2.00862647e-01 9.79599591e-01 -6.23208975e-03 -2.09222144e+01] [-3.35257944e-02 -5.16021278e-04 9.99437719e-01 -6.93968433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84587156 meters 0.013604031910895887 Centerline is valid? [True, True] Translation: X:171.55, Y:-20.95, Z:-6.94 [[ 9.80823423e-01 1.91941547e-01 3.38209316e-02 1.71547286e+02] [-1.91835027e-01 9.81406336e-01 -6.39727294e-03 -2.09452411e+01] [-3.44199791e-02 -2.13444207e-04 9.99407434e-01 -6.94025951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90587156 meters 0.01160461636379622 Centerline is valid? [True, True] Translation: X:171.60, Y:-20.96, Z:-6.94 [[ 9.81887234e-01 1.86533397e-01 3.32077178e-02 1.71604260e+02] [-1.86427640e-01 9.82448620e-01 -6.28042042e-03 -2.09625379e+01] [-3.37963847e-02 -2.41718326e-05 9.99428739e-01 -6.94357233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96587156 meters 0.023044686029379008 Centerline is valid? [True, True] Translation: X:171.66, Y:-20.98, Z:-6.95 [[ 9.83282187e-01 1.79184871e-01 3.23870730e-02 1.71661832e+02] [-1.79080323e-01 9.83815396e-01 -6.12411768e-03 -2.09819080e+01] [-3.29602503e-02 2.21848313e-04 9.99456639e-01 -6.94733200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.02587156 meters 0.01832946383019359 Centerline is valid? [True, True] Translation: X:171.72, Y:-21.00, Z:-6.95 [[ 9.84109395e-01 1.74748294e-01 3.14917989e-02 1.71720810e+02] [-1.74647210e-01 9.84613074e-01 -5.95374916e-03 -2.10011229e+01] [-3.20476445e-02 3.59185650e-04 9.99486278e-01 -6.95197501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.08587156000002 meters 0.024968911502045336 Centerline is valid? [True, True] Translation: X:171.78, Y:-21.02, Z:-6.96 [[ 9.85230921e-01 1.68326126e-01 3.14061593e-02 1.71778210e+02] [-1.68222125e-01 9.85731194e-01 -5.94386290e-03 -2.10246188e+01] [-3.19585383e-02 5.72866658e-04 9.99489031e-01 -6.95512532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.14587156000002 meters 0.026277106864845537 Centerline is valid? [True, True] Translation: X:171.84, Y:-21.04, Z:-6.96 [[ 9.85748908e-01 1.65159643e-01 3.19590907e-02 1.71838902e+02] [-1.65050282e-01 9.86266607e-01 -6.04853230e-03 -2.10404206e+01] [-3.25191573e-02 6.87477187e-04 9.99470876e-01 -6.95507370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20587156000002 meters 0.03443010321339143 Centerline is valid? [True, True] Translation: X:171.90, Y:-21.06, Z:-6.96 [[ 9.86084094e-01 1.63208068e-01 3.16431031e-02 1.71897085e+02] [-1.63099797e-01 9.86591389e-01 -5.99052192e-03 -2.10589441e+01] [-3.21965146e-02 7.46174673e-04 9.99481279e-01 -6.95752539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26587156 meters 0.029469144889924557 Centerline is valid? [True, True] Translation: X:171.96, Y:-21.07, Z:-6.96 [[ 9.86051740e-01 1.63350327e-01 3.19160994e-02 1.71958535e+02] [-1.63240281e-01 9.86567845e-01 -6.04136707e-03 -2.10744302e+01] [-3.24742567e-02 7.47107470e-04 9.99472293e-01 -6.96026427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32587156 meters 0.025196510014345846 Centerline is valid? [True, True] Translation: X:172.02, Y:-21.08, Z:-6.96 [[ 9.85762846e-01 1.65107426e-01 3.17985626e-02 1.72020438e+02] [-1.64998866e-01 9.86275345e-01 -6.02645345e-03 -2.10840412e+01] [-3.23571506e-02 6.93927136e-04 9.99476129e-01 -6.96167536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38587156 meters 0.023883338200227217 Centerline is valid? [True, True] Translation: X:172.08, Y:-21.10, Z:-6.97 [[ 9.85269610e-01 1.68097196e-01 3.14186031e-02 1.72079364e+02] [-1.67992703e-01 9.85770250e-01 -5.95538815e-03 -2.10999223e+01] [-3.19726083e-02 5.89566916e-04 9.99488572e-01 -6.96589083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44587156 meters 0.021175848021230567 Centerline is valid? [True, True] Translation: X:172.14, Y:-21.11, Z:-6.97 [[ 9.84817684e-01 1.70877744e-01 3.05765572e-02 1.72141148e+02] [-1.70779932e-01 9.85292116e-01 -5.80172799e-03 -2.11102674e+01] [-3.11182270e-02 4.91781946e-04 9.99515590e-01 -6.96930541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50587156 meters 0.0177402424432103 Centerline is valid? [True, True] Translation: X:172.20, Y:-21.12, Z:-6.97 [[ 9.84054353e-01 1.75133555e-01 3.10687811e-02 1.72201013e+02] [-1.75034611e-01 9.84544618e-01 -5.89749665e-03 -2.11233617e+01] [-3.16214507e-02 3.65345236e-04 9.99499850e-01 -6.97075625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56587156 meters 0.01595299748812721 Centerline is valid? [True, True] Translation: X:172.26, Y:-21.14, Z:-6.97 [[ 9.83549853e-01 1.77861731e-01 3.15419021e-02 1.72261147e+02] [-1.77761150e-01 9.84055448e-01 -5.98735844e-03 -2.11357728e+01] [-3.21039025e-02 2.81940723e-04 9.99484497e-01 -6.97272556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62587156 meters 0.012518568837947537 Centerline is valid? [True, True] Translation: X:172.32, Y:-21.15, Z:-6.97 [[ 9.82673818e-01 1.82493370e-01 3.23780295e-02 1.72322968e+02] [-1.82389808e-01 9.83207074e-01 -6.14870778e-03 -2.11456749e+01] [-3.29564060e-02 1.36751552e-04 9.99456781e-01 -6.97300058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68587156 meters 0.011752884987014867 Centerline is valid? [True, True] Translation: X:172.38, Y:-21.16, Z:-6.98 [[ 9.82076773e-01 1.85690974e-01 3.23121303e-02 1.72383931e+02] [-1.85589377e-01 9.82608193e-01 -6.14182237e-03 -2.11566159e+01] [-3.28906449e-02 3.49529483e-05 9.99458956e-01 -6.97598207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74587156 meters 0.01238191612719405 Centerline is valid? [True, True] Translation: X:172.44, Y:-21.17, Z:-6.98 [[ 9.81433028e-01 1.89231531e-01 3.13151565e-02 1.72443427e+02] [-1.89137738e-01 9.81932494e-01 -5.95766763e-03 -2.11683791e+01] [-3.18767483e-02 -7.58261024e-05 9.99491804e-01 -6.98067883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.80587156 meters 0.013212023500773948 Centerline is valid? [True, True] Translation: X:172.51, Y:-21.18, Z:-6.98 [[ 9.80805534e-01 1.92362442e-01 3.18935014e-02 1.72505306e+02] [-1.92266642e-01 9.81323932e-01 -6.07277079e-03 -2.11779465e+01] [-3.24660292e-02 -1.75849204e-04 9.99472824e-01 -6.98103733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86587156000002 meters 0.029333018430217517 Centerline is valid? [True, True] Translation: X:172.57, Y:-21.19, Z:-6.98 [[ 9.80503241e-01 1.93904553e-01 3.18499492e-02 1.72565181e+02] [-1.93809642e-01 9.81020375e-01 -6.07017745e-03 -2.11893782e+01] [-3.24224842e-02 -2.20998594e-04 9.99474229e-01 -6.98359377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92587156000002 meters 0.014328853200781784 Centerline is valid? [True, True] Translation: X:172.63, Y:-21.20, Z:-6.98 [[ 9.80252720e-01 1.95038981e-01 3.26251596e-02 1.72625909e+02] [-1.94939846e-01 9.80795457e-01 -6.22317923e-03 -2.12034528e+01] [-3.32123709e-02 -2.59655235e-04 9.99448283e-01 -6.98468574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98587156 meters 0.015149350852690322 Centerline is valid? [True, True] Translation: X:172.69, Y:-21.22, Z:-6.99 [[ 9.80134548e-01 1.95671589e-01 3.23866942e-02 1.72686232e+02] [-1.95574059e-01 9.80669442e-01 -6.18328485e-03 -2.12155557e+01] [-3.29705345e-02 -2.73546119e-04 9.99456287e-01 -6.98760074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04587156 meters 0.015916349581121418 Centerline is valid? [True, True] Translation: X:172.75, Y:-21.23, Z:-6.99 [[ 9.79868619e-01 1.97074755e-01 3.19222664e-02 1.72747033e+02] [-1.96980548e-01 9.80388415e-01 -6.10073612e-03 -2.12252964e+01] [-3.24985212e-02 -3.10145659e-04 9.99471735e-01 -6.99120230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10587156 meters 0.023082187674218727 Centerline is valid? [True, True] Translation: X:172.81, Y:-21.24, Z:-6.99 [[ 9.79730411e-01 1.97797149e-01 3.16955717e-02 1.72806847e+02] [-1.97704442e-01 9.80242920e-01 -6.06396698e-03 -2.12353967e+01] [-3.22687951e-02 -3.25302455e-04 9.99479174e-01 -6.99367225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16587156 meters 0.01816778769635884 Centerline is valid? [True, True] Translation: X:172.87, Y:-21.24, Z:-7.00 [[ 9.79439988e-01 1.99180499e-01 3.20068697e-02 1.72866649e+02] [-1.99086686e-01 9.79962749e-01 -6.12392330e-03 -2.12435359e+01] [-3.25853061e-02 -3.74126255e-04 9.99468888e-01 -6.99699309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22587156 meters 0.02763429594753645 Centerline is valid? [True, True] Translation: X:172.93, Y:-21.26, Z:-7.00 [[ 9.79458335e-01 1.99223790e-01 3.11649065e-02 1.72927086e+02] [-1.99134863e-01 9.79953952e-01 -5.96305926e-03 -2.12557348e+01] [-3.17281566e-02 -3.65451308e-04 9.99496468e-01 -6.99911917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28587156 meters 0.018214338253057922 Centerline is valid? [True, True] Translation: X:172.99, Y:-21.26, Z:-7.00 [[ 9.79362360e-01 1.99502939e-01 3.23719743e-02 1.72985872e+02] [-1.99407102e-01 9.79897151e-01 -6.19521388e-03 -2.12631392e+01] [-3.29571687e-02 -3.87842291e-04 9.99456690e-01 -7.00097791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34587156 meters 0.01878511985177593 Centerline is valid? [True, True] Translation: X:173.05, Y:-21.27, Z:-7.00 [[ 9.79260254e-01 2.00003130e-01 3.23744125e-02 1.73045579e+02] [-1.99907569e-01 9.79795174e-01 -6.19516537e-03 -2.12719117e+01] [-3.29593456e-02 -4.05210888e-04 9.99456611e-01 -7.00291556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40587156 meters 0.019158683802473563 Centerline is valid? [True, True] Translation: X:173.11, Y:-21.28, Z:-7.01 [[ 9.79119354e-01 2.00579894e-01 3.30604904e-02 1.73105147e+02] [-2.00480560e-01 9.79677252e-01 -6.32666120e-03 -2.12774488e+01] [-3.36576115e-02 -4.33429219e-04 9.99433328e-01 -7.00507130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46587156 meters 0.017539887623082742 Centerline is valid? [True, True] Translation: X:173.17, Y:-21.29, Z:-7.01 [[ 9.79395002e-01 1.99378714e-01 3.21490172e-02 1.73165009e+02] [-1.99284176e-01 9.79922437e-01 -6.15101282e-03 -2.12883188e+01] [-3.27299243e-02 -3.82519199e-04 9.99464159e-01 -7.00838835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.52587156 meters 0.015111729950503767 Centerline is valid? [True, True] Translation: X:173.22, Y:-21.30, Z:-7.01 [[ 9.80105397e-01 1.95980236e-01 3.13872129e-02 1.73224717e+02] [-1.95888359e-01 9.80607811e-01 -6.00602298e-03 -2.13030723e+01] [-3.19556079e-02 -2.61854091e-04 9.99489255e-01 -7.01304191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.58587156000002 meters 0.012649972451034741 Centerline is valid? [True, True] Translation: X:173.28, Y:-21.32, Z:-7.01 [[ 9.80903136e-01 1.91807893e-01 3.22299560e-02 1.73284629e+02] [-1.91708780e-01 9.81432481e-01 -6.16670069e-03 -2.13211318e+01] [-3.28143475e-02 -1.29829491e-04 9.99461456e-01 -7.01400058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64587156000002 meters 0.012150714397664797 Centerline is valid? [True, True] Translation: X:173.34, Y:-21.34, Z:-7.01 [[ 9.82054315e-01 1.85584425e-01 3.35818969e-02 1.73343623e+02] [-1.85472960e-01 9.82628319e-01 -6.43178162e-03 -2.13401042e+01] [-3.41921614e-02 8.78250803e-05 9.99415273e-01 -7.01425392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70587156000002 meters 0.014165946780384653 Centerline is valid? [True, True] Translation: X:173.40, Y:-21.36, Z:-7.02 [[ 9.82713119e-01 1.82264147e-01 3.24762578e-02 1.73404031e+02] [-1.82157923e-01 9.83249582e-01 -6.22503773e-03 -2.13560858e+01] [-3.30668681e-02 2.01618581e-04 9.99453121e-01 -7.01976537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76587156 meters 0.02698117833244794 Centerline is valid? [True, True] Translation: X:173.47, Y:-21.37, Z:-7.02 [[ 9.82673883e-01 1.82745939e-01 3.09186386e-02 1.73465579e+02] [-1.82649746e-01 9.83160154e-01 -5.93139004e-03 -2.13667657e+01] [-3.14819110e-02 1.81340580e-04 9.99504305e-01 -7.02255103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82587156 meters 0.025265323864500977 Centerline is valid? [True, True] Translation: X:173.53, Y:-21.37, Z:-7.02 [[ 9.81930026e-01 1.86634135e-01 3.13228977e-02 1.73526871e+02] [-1.86537183e-01 9.82429486e-01 -6.01528563e-03 -2.13712882e+01] [-3.18951959e-02 6.37044876e-05 9.99491217e-01 -7.02498974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88587156 meters 0.012229828814668565 Centerline is valid? [True, True] Translation: X:173.59, Y:-21.38, Z:-7.03 [[ 9.81408148e-01 1.89200393e-01 3.22685407e-02 1.73588052e+02] [-1.89098746e-01 9.81938496e-01 -6.20108796e-03 -2.13760135e+01] [-3.28589707e-02 -1.61423257e-05 9.99459998e-01 -7.02709789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94587156 meters 0.012757731406105298 Centerline is valid? [True, True] Translation: X:173.65, Y:-21.38, Z:-7.03 [[ 9.80898266e-01 1.91802746e-01 3.24083079e-02 1.73648507e+02] [-1.91701631e-01 9.81433490e-01 -6.22805199e-03 -2.13798685e+01] [-3.30011562e-02 -1.03640096e-04 9.99455308e-01 -7.03046811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00587156 meters 0.026340197767411765 Centerline is valid? [True, True] Translation: X:173.71, Y:-21.39, Z:-7.03 [[ 9.80936295e-01 1.91600388e-01 3.24542198e-02 1.73707470e+02] [-1.91498876e-01 9.81473016e-01 -6.23687508e-03 -2.13922135e+01] [-3.30479287e-02 -9.69694764e-05 9.99453763e-01 -7.03165204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06587156 meters 0.012340225365754152 Centerline is valid? [True, True] Translation: X:173.77, Y:-21.40, Z:-7.04 [[ 9.81224697e-01 1.90108711e-01 3.25080428e-02 1.73766763e+02] [-1.90006043e-01 9.81763045e-01 -6.24721850e-03 -2.14042388e+01] [-3.31028458e-02 -4.67995056e-05 9.99451950e-01 -7.03535903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12587156 meters 0.01212060190837759 Centerline is valid? [True, True] Translation: X:173.83, Y:-21.42, Z:-7.04 [[ 9.81418978e-01 1.89001748e-01 3.30927290e-02 1.73826730e+02] [-1.88894724e-01 9.81976751e-01 -6.35958031e-03 -2.14152792e+01] [-3.36982623e-02 -9.62908849e-06 9.99432052e-01 -7.03663394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18587156 meters 0.027342328209412847 Centerline is valid? [True, True] Translation: X:173.89, Y:-21.43, Z:-7.04 [[ 9.81378699e-01 1.89166306e-01 3.33460229e-02 1.73886436e+02] [-1.89057732e-01 9.81945064e-01 -6.40825696e-03 -2.14265424e+01] [-3.39561889e-02 -1.53965859e-05 9.99423322e-01 -7.03705932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24587156 meters 0.018931702215853347 Centerline is valid? [True, True] Translation: X:173.95, Y:-21.43, Z:-7.04 [[ 9.81128959e-01 1.90487424e-01 3.31738931e-02 1.73945932e+02] [-1.90380715e-01 9.81689634e-01 -6.37537525e-03 -2.14326131e+01] [-3.37808958e-02 -6.06042221e-05 9.99429261e-01 -7.04037842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.30587156 meters 0.012976533648550502 Centerline is valid? [True, True] Translation: X:174.01, Y:-21.44, Z:-7.04 [[ 9.80821520e-01 1.92094263e-01 3.29990760e-02 1.74006003e+02] [-1.91989612e-01 9.81376472e-01 -6.34101403e-03 -2.14366736e+01] [-3.36025893e-02 -1.16076770e-04 9.99435267e-01 -7.04443479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36587156000002 meters 0.013447213456246547 Centerline is valid? [True, True] Translation: X:174.06, Y:-21.44, Z:-7.05 [[ 9.80759977e-01 1.92435267e-01 3.28410789e-02 1.74064103e+02] [-1.92331831e-01 9.81309662e-01 -6.30991771e-03 -2.14444420e+01] [-3.34415187e-02 -1.27870086e-04 9.99440668e-01 -7.04804178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42587156000002 meters 0.012510492831428388 Centerline is valid? [True, True] Translation: X:174.12, Y:-21.46, Z:-7.05 [[ 9.81212708e-01 1.90248543e-01 3.20486133e-02 1.74122665e+02] [-1.90148903e-01 9.81735957e-01 -6.15675728e-03 -2.14552601e+01] [-3.26345901e-02 -5.29201788e-05 9.99467349e-01 -7.05017490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48587156 meters 0.012527579681743247 Centerline is valid? [True, True] Translation: X:174.18, Y:-21.47, Z:-7.05 [[ 9.81757670e-01 1.87449295e-01 3.18533934e-02 1.74180130e+02] [-1.87349417e-01 9.82274280e-01 -6.11847442e-03 -2.14693479e+01] [-3.24356728e-02 3.91444993e-05 9.99473824e-01 -7.05380315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54587156 meters 0.015418496206416242 Centerline is valid? [True, True] Translation: X:174.24, Y:-21.49, Z:-7.06 [[ 9.82645973e-01 1.82890392e-01 3.09515106e-02 1.74237868e+02] [-1.82793863e-01 9.83133293e-01 -5.94413310e-03 -2.14892439e+01] [-3.15165854e-02 1.83232258e-04 9.99503212e-01 -7.06050438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60587156 meters 0.016932557947684758 Centerline is valid? [True, True] Translation: X:174.30, Y:-21.50, Z:-7.06 [[ 9.83229386e-01 1.79635858e-01 3.14790845e-02 1.74298074e+02] [-1.79534332e-01 9.83733131e-01 -6.04572299e-03 -2.15022744e+01] [-3.20530470e-02 2.92756073e-04 9.99486126e-01 -7.05984611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66587156 meters 0.0192633343309105 Centerline is valid? [True, True] Translation: X:174.36, Y:-21.52, Z:-7.06 [[ 9.83480040e-01 1.78243844e-01 3.15617230e-02 1.74356754e+02] [-1.78141039e-01 9.83986289e-01 -6.06245480e-03 -2.15158933e+01] [-3.21368980e-02 3.39865143e-04 9.99483419e-01 -7.06358069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72587156 meters 0.016458455195412575 Centerline is valid? [True, True] Translation: X:174.42, Y:-21.52, Z:-7.06 [[ 9.83452533e-01 1.78175993e-01 3.27785084e-02 1.74419003e+02] [-1.78065105e-01 9.83998572e-01 -6.29511836e-03 -2.15239155e+01] [-3.33756444e-02 3.54241556e-04 9.99442815e-01 -7.05990800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78587156 meters 0.018590003316747625 Centerline is valid? [True, True] Translation: X:174.48, Y:-21.54, Z:-7.07 [[ 9.83411452e-01 1.78448857e-01 3.25256901e-02 1.74479405e+02] [-1.78339637e-01 9.83949127e-01 -6.25216696e-03 -2.15371579e+01] [-3.31193165e-02 3.47832828e-04 9.99451344e-01 -7.06566136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84587156 meters 0.015730137536407153 Centerline is valid? [True, True] Translation: X:174.54, Y:-21.54, Z:-7.07 [[ 9.83222849e-01 1.79596343e-01 3.19058301e-02 1.74541154e+02] [-1.79491658e-01 9.83740341e-01 -6.13894493e-03 -2.15428548e+01] [-3.24895843e-02 3.09120575e-04 9.99472026e-01 -7.06714605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90587156 meters 0.016988284807813933 Centerline is valid? [True, True] Translation: X:174.60, Y:-21.55, Z:-7.07 [[ 9.83085099e-01 1.80404009e-01 3.15924423e-02 1.74601163e+02] [-1.80301605e-01 9.83592554e-01 -6.08432387e-03 -2.15549619e+01] [-3.21717274e-02 2.85240092e-04 9.99482315e-01 -7.07347385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96587156 meters 0.015461285116175446 Centerline is valid? [True, True] Translation: X:174.66, Y:-21.56, Z:-7.07 [[ 9.82935993e-01 1.81221715e-01 3.15519127e-02 1.74661182e+02] [-1.81119776e-01 9.83442230e-01 -6.08332215e-03 -2.15641191e+01] [-3.21319135e-02 2.64840928e-04 9.99483602e-01 -7.07447164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.02587156 meters 0.01475236187830146 Centerline is valid? [True, True] Translation: X:174.72, Y:-21.57, Z:-7.08 [[ 9.82827256e-01 1.81741067e-01 3.19494913e-02 1.74721388e+02] [-1.81636817e-01 9.83346389e-01 -6.15997672e-03 -2.15735288e+01] [-3.25369376e-02 2.50989124e-04 9.99470502e-01 -7.07571780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.08587156000002 meters 0.01313309529562225 Centerline is valid? [True, True] Translation: X:174.78, Y:-21.58, Z:-7.08 [[ 9.82206903e-01 1.84943117e-01 3.26442028e-02 1.74780748e+02] [-1.84836045e-01 9.82749216e-01 -6.29403027e-03 -2.15779026e+01] [-3.32451023e-02 1.48214644e-04 9.99447218e-01 -7.07691298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.14587156000002 meters 0.012871360517047672 Centerline is valid? [True, True] Translation: X:174.84, Y:-21.58, Z:-7.08 [[ 9.81081139e-01 1.90811398e-01 3.27232096e-02 1.74839789e+02] [-1.90707066e-01 9.81626715e-01 -6.30927758e-03 -2.15769092e+01] [-3.33258588e-02 -5.06340669e-05 9.99444538e-01 -7.08235474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20587156000002 meters 0.027127966957306588 Centerline is valid? [True, True] Translation: X:174.90, Y:-21.58, Z:-7.08 [[ 9.80291602e-01 1.94999932e-01 3.16765185e-02 1.74898900e+02] [-1.94904417e-01 9.80803238e-01 -6.10553406e-03 -2.15798613e+01] [-3.22590106e-02 -1.88689604e-04 9.99479525e-01 -7.08382959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26587156 meters 0.017991593943355352 Centerline is valid? [True, True] Translation: X:174.96, Y:-21.58, Z:-7.09 [[ 9.79379773e-01 1.99453863e-01 3.21467905e-02 1.74958787e+02] [-1.99357937e-01 9.79907159e-01 -6.19462971e-03 -2.15791914e+01] [-3.27364130e-02 -3.41822795e-04 9.99463962e-01 -7.08640686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32587156 meters 0.018377412071441793 Centerline is valid? [True, True] Translation: X:175.02, Y:-21.59, Z:-7.09 [[ 9.79011803e-01 2.01130512e-01 3.28999465e-02 1.75017055e+02] [-2.01031037e-01 9.79564367e-01 -6.33815928e-03 -2.15863804e+01] [-3.35024125e-02 -4.08777614e-04 9.99438553e-01 -7.08677408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38587156 meters 0.020739362329393878 Centerline is valid? [True, True] Translation: X:175.08, Y:-21.59, Z:-7.09 [[ 9.78847137e-01 2.01889084e-01 3.31523935e-02 1.75075274e+02] [-2.01788564e-01 9.79408293e-01 -6.38521448e-03 -2.15888793e+01] [-3.37588342e-02 -4.39624954e-04 9.99429911e-01 -7.08963135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44587156 meters 0.029721705921187867 Centerline is valid? [True, True] Translation: X:175.13, Y:-21.60, Z:-7.09 [[ 9.78720562e-01 2.02557024e-01 3.28133037e-02 1.75133480e+02] [-2.02458995e-01 9.79270361e-01 -6.31781043e-03 -2.15967188e+01] [-3.34128127e-02 -4.59977526e-04 9.99441530e-01 -7.08975091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50587156 meters 0.022057599659080093 Centerline is valid? [True, True] Translation: X:175.19, Y:-21.60, Z:-7.09 [[ 9.78642452e-01 2.02914164e-01 3.29361976e-02 1.75191617e+02] [-2.02815656e-01 9.79196413e-01 -6.33987008e-03 -2.15984974e+01] [-3.35374560e-02 -4.75510523e-04 9.99437348e-01 -7.09477516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56587156 meters 0.021361230855380803 Centerline is valid? [True, True] Translation: X:175.25, Y:-21.60, Z:-7.10 [[ 9.78639523e-01 2.02961146e-01 3.27331058e-02 1.75250903e+02] [-2.02863949e-01 9.79186676e-01 -6.29856717e-03 -2.16025544e+01] [-3.33301855e-02 -4.76340334e-04 9.99444282e-01 -7.09714791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62587156 meters 0.022174201015778806 Centerline is valid? [True, True] Translation: X:175.31, Y:-21.61, Z:-7.10 [[ 9.78761169e-01 2.02263514e-01 3.34072428e-02 1.75309248e+02] [-2.02161921e-01 9.79331025e-01 -6.42665374e-03 -2.16122491e+01] [-3.40166269e-02 -4.63513251e-04 9.99421160e-01 -7.09713784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68587156 meters 0.018241757866998703 Centerline is valid? [True, True] Translation: X:175.37, Y:-21.62, Z:-7.10 [[ 9.78992585e-01 2.00933427e-01 3.46305593e-02 1.75368737e+02] [-2.00823491e-01 9.79604802e-01 -6.66007445e-03 -2.16169810e+01] [-3.52624937e-02 -4.34466291e-04 9.99377990e-01 -7.09840293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74587156 meters 0.020126708176028376 Centerline is valid? [True, True] Translation: X:175.43, Y:-21.62, Z:-7.10 [[ 9.79258314e-01 1.99580725e-01 3.49383584e-02 1.75426761e+02] [-1.99468005e-01 9.79881310e-01 -6.71810531e-03 -2.16192703e+01] [-3.55762488e-02 -3.90324189e-04 9.99366889e-01 -7.10374580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.80587156 meters 0.01663191465626346 Centerline is valid? [True, True] Translation: X:175.48, Y:-21.63, Z:-7.11 [[ 9.79521174e-01 1.98514854e-01 3.36173042e-02 1.75484387e+02] [-1.98409937e-01 9.80097820e-01 -6.46219655e-03 -2.16280202e+01] [-3.42310886e-02 -3.40148861e-04 9.99413887e-01 -7.10570246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86587156000002 meters 0.016795273248763034 Centerline is valid? [True, True] Translation: X:175.54, Y:-21.64, Z:-7.11 [[ 9.79941376e-01 1.96342706e-01 3.41239240e-02 1.75542798e+02] [-1.96233381e-01 9.80535297e-01 -6.55683238e-03 -2.16359361e+01] [-3.47470982e-02 -2.70941638e-04 9.99396101e-01 -7.10686165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92587156000002 meters 0.01260751065105536 Centerline is valid? [True, True] Translation: X:175.60, Y:-21.65, Z:-7.11 [[ 9.80625736e-01 1.92899837e-01 3.41001191e-02 1.75600190e+02] [-1.92788640e-01 9.81218442e-01 -6.55059430e-03 -2.16485541e+01] [-3.47232742e-02 -1.50434200e-04 9.99396954e-01 -7.11003034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98587156 meters 0.012219308958742677 Centerline is valid? [True, True] Translation: X:175.66, Y:-21.67, Z:-7.11 [[ 9.82055496e-01 1.85630255e-01 3.32927989e-02 1.75655709e+02] [-1.85520127e-01 9.82619661e-01 -6.39410098e-03 -2.16660415e+01] [-3.39010973e-02 1.02877733e-04 9.99425187e-01 -7.11463990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04587156 meters 0.015900261308614168 Centerline is valid? [True, True] Translation: X:175.71, Y:-21.68, Z:-7.12 [[ 9.83403044e-01 1.78397864e-01 3.30553425e-02 1.75712273e+02] [-1.78285301e-01 9.83958374e-01 -6.34586131e-03 -2.16836579e+01] [-3.36571691e-02 3.47257646e-04 9.99433377e-01 -7.11700300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10587156 meters 0.01959211818837074 Centerline is valid? [True, True] Translation: X:175.77, Y:-21.70, Z:-7.12 [[ 9.84064870e-01 1.74689188e-01 3.31665369e-02 1.75768496e+02] [-1.74573809e-01 9.84623513e-01 -6.36571656e-03 -2.16978107e+01] [-3.37685740e-02 4.74269340e-04 9.99429567e-01 -7.11952115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16587156 meters 0.022859065881545598 Centerline is valid? [True, True] Translation: X:175.83, Y:-21.71, Z:-7.12 [[ 9.84783728e-01 1.70625765e-01 3.29826748e-02 1.75825945e+02] [-1.70509473e-01 9.85335719e-01 -6.32774710e-03 -2.17130399e+01] [-3.35786843e-02 6.07603865e-04 9.99435892e-01 -7.12194416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22587156 meters 0.025212920670477274 Centerline is valid? [True, True] Translation: X:175.88, Y:-21.73, Z:-7.12 [[ 9.85172132e-01 1.68179029e-01 3.39364854e-02 1.75883361e+02] [-1.68054501e-01 9.85756212e-01 -6.50954136e-03 -2.17260685e+01] [-3.45478696e-02 7.09839615e-04 9.99402792e-01 -7.12272368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28587156 meters 0.03082612401802427 Centerline is valid? [True, True] Translation: X:175.94, Y:-21.75, Z:-7.12 [[ 9.85911325e-01 1.63496940e-01 3.53215293e-02 1.75940148e+02] [-1.63359105e-01 9.86543424e-01 -6.77318966e-03 -2.17456477e+01] [-3.59536183e-02 9.07670989e-04 9.99353047e-01 -7.12358361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34587156 meters 0.03454362002969873 Centerline is valid? [True, True] Translation: X:176.00, Y:-21.76, Z:-7.13 [[ 9.86664435e-01 1.58988338e-01 3.48712017e-02 1.75998750e+02] [-1.58851203e-01 9.87279894e-01 -6.68624747e-03 -2.17640611e+01] [-3.54906717e-02 1.05775027e-03 9.99369448e-01 -7.12589584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40587156 meters 0.038543953992643314 Centerline is valid? [True, True] Translation: X:176.06, Y:-21.79, Z:-7.13 [[ 9.87018933e-01 1.56831105e-01 3.46068057e-02 1.76056052e+02] [-1.56694710e-01 9.87624794e-01 -6.63577072e-03 -2.17858407e+01] [-3.52192346e-02 1.12692795e-03 9.99378975e-01 -7.13008928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46587156 meters 0.044363260460151856 Centerline is valid? [True, True] Translation: X:176.11, Y:-21.80, Z:-7.13 [[ 9.87122659e-01 1.56353548e-01 3.37997594e-02 1.76114210e+02] [-1.56223108e-01 9.87700519e-01 -6.48261236e-03 -2.18034830e+01] [-3.43976194e-02 1.11883007e-03 9.99407601e-01 -7.13303426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52587156 meters 0.03507431388292249 Centerline is valid? [True, True] Translation: X:176.17, Y:-21.81, Z:-7.14 [[ 9.86715639e-01 1.58917408e-01 3.37269323e-02 1.76174757e+02] [-1.58789012e-01 9.87291346e-01 -6.46903019e-03 -2.18119065e+01] [-3.43263499e-02 1.02762700e-03 9.99410149e-01 -7.13505864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.58587156000002 meters 0.02864633192093186 Centerline is valid? [True, True] Translation: X:176.23, Y:-21.82, Z:-7.14 [[ 9.85707404e-01 1.65061984e-01 3.36965233e-02 1.76234842e+02] [-1.64937384e-01 9.86282860e-01 -6.46371582e-03 -2.18197461e+01] [-3.43012172e-02 8.13516125e-04 9.99411209e-01 -7.13831200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64587156000002 meters 0.023591043354576537 Centerline is valid? [True, True] Translation: X:176.29, Y:-21.83, Z:-7.14 [[ 9.84523053e-01 1.72003652e-01 3.36021196e-02 1.76293459e+02] [-1.71883782e-01 9.85096147e-01 -6.44568965e-03 -2.18269985e+01] [-3.42100007e-02 5.70270646e-04 9.99414504e-01 -7.14209828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70587156000002 meters 0.018903213174095483 Centerline is valid? [True, True] Translation: X:176.35, Y:-21.83, Z:-7.14 [[ 9.83890957e-01 1.75680583e-01 3.30895409e-02 1.76351638e+02] [-1.75566440e-01 9.84447126e-01 -6.34679454e-03 -2.18336734e+01] [-3.36899120e-02 4.35140867e-04 9.99432239e-01 -7.14477160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76587156 meters 0.015086881502608517 Centerline is valid? [True, True] Translation: X:176.41, Y:-21.84, Z:-7.15 [[ 9.83137600e-01 1.79921210e-01 3.26927637e-02 1.76410450e+02] [-1.79812182e-01 9.83680983e-01 -6.26915554e-03 -2.18408618e+01] [-3.32872040e-02 2.84885365e-04 9.99445787e-01 -7.14689406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82587156 meters 0.013513475095266583 Centerline is valid? [True, True] Translation: X:176.47, Y:-21.85, Z:-7.15 [[ 9.82687881e-01 1.82101285e-01 3.41123314e-02 1.76468221e+02] [-1.81983953e-01 9.83279754e-01 -6.53960354e-03 -2.18495089e+01] [-3.47328350e-02 2.18492226e-04 9.99396609e-01 -7.14699259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88587156 meters 0.01269815579054224 Centerline is valid? [True, True] Translation: X:176.53, Y:-21.86, Z:-7.15 [[ 9.82420556e-01 1.83359336e-01 3.50600218e-02 1.76525332e+02] [-1.83236254e-01 9.83045941e-01 -6.71958450e-03 -2.18601255e+01] [-3.56977107e-02 1.77190887e-04 9.99362618e-01 -7.14827622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94587156 meters 0.012723290757540669 Centerline is valid? [True, True] Translation: X:176.58, Y:-21.87, Z:-7.15 [[ 9.82375265e-01 1.83667822e-01 3.47126707e-02 1.76582987e+02] [-1.83547436e-01 9.82988354e-01 -6.65087118e-03 -2.18723225e+01] [-3.53437020e-02 1.62229647e-04 9.99375203e-01 -7.15153477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00587156 meters 0.012772829697827583 Centerline is valid? [True, True] Translation: X:176.64, Y:-21.89, Z:-7.15 [[ 9.82502404e-01 1.82979904e-01 3.47473891e-02 1.76640500e+02] [-1.82858905e-01 9.83116636e-01 -6.65588667e-03 -2.18851191e+01] [-3.53786298e-02 1.85555140e-04 9.99373963e-01 -7.15316250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06587156 meters 0.013585469120056988 Centerline is valid? [True, True] Translation: X:176.70, Y:-21.90, Z:-7.16 [[ 9.82767776e-01 1.81626873e-01 3.43391469e-02 1.76697433e+02] [-1.81507933e-01 9.83367493e-01 -6.57602179e-03 -2.18987940e+01] [-3.49623831e-02 2.29874731e-04 9.99388603e-01 -7.15590410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12587156 meters 0.013969147130490056 Centerline is valid? [True, True] Translation: X:176.76, Y:-21.91, Z:-7.16 [[ 9.82894037e-01 1.80931378e-01 3.43969271e-02 1.76755135e+02] [-1.80811671e-01 9.83495690e-01 -6.58540002e-03 -2.19114066e+01] [-3.50207351e-02 2.53384547e-04 9.99386554e-01 -7.15877283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18587156 meters 0.015253795030880622 Centerline is valid? [True, True] Translation: X:176.81, Y:-21.93, Z:-7.16 [[ 9.83243995e-01 1.79012392e-01 3.44355768e-02 1.76811444e+02] [-1.78891295e-01 9.83846767e-01 -6.59120490e-03 -2.19270717e+01] [-3.50592382e-02 3.20537724e-04 9.99385185e-01 -7.16147416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24587156 meters 0.01693510220974869 Centerline is valid? [True, True] Translation: X:176.87, Y:-21.94, Z:-7.16 [[ 9.83576110e-01 1.77160128e-01 3.45300633e-02 1.76868765e+02] [-1.77037307e-01 9.84181965e-01 -6.60690193e-03 -2.19442979e+01] [-3.51543452e-02 3.85281461e-04 9.99381821e-01 -7.16391135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.30587156 meters 0.018188019499125067 Centerline is valid? [True, True] Translation: X:176.93, Y:-21.96, Z:-7.17 [[ 9.83778518e-01 1.75890673e-01 3.52462485e-02 1.76925039e+02] [-1.75761917e-01 9.84409609e-01 -6.74313519e-03 -2.19608053e+01] [-3.58828003e-02 4.38803338e-04 9.99355909e-01 -7.16563874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36587156000002 meters 0.018605558888911723 Centerline is valid? [True, True] Translation: X:176.98, Y:-21.98, Z:-7.17 [[ 9.83879247e-01 1.75321765e-01 3.52690486e-02 1.76982155e+02] [-1.75192525e-01 9.84511081e-01 -6.74614566e-03 -2.19774360e+01] [-3.59055153e-02 4.58519032e-04 9.99355084e-01 -7.16778860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42587156000002 meters 0.018433886672068845 Centerline is valid? [True, True] Translation: X:177.04, Y:-21.99, Z:-7.17 [[ 9.83806428e-01 1.75737346e-01 3.52320403e-02 1.77041088e+02] [-1.75608680e-01 9.84436991e-01 -6.73807488e-03 -2.19931733e+01] [-3.58678551e-02 4.41909295e-04 9.99356444e-01 -7.17077020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48587156 meters 0.017846882883535132 Centerline is valid? [True, True] Translation: X:177.10, Y:-22.01, Z:-7.17 [[ 9.83645292e-01 1.76654174e-01 3.51460027e-02 1.77098056e+02] [-1.76526724e-01 9.84272898e-01 -6.72152592e-03 -2.20098192e+01] [-3.57806435e-02 4.07388612e-04 9.99359585e-01 -7.17342528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54587156 meters 0.016172000802625625 Centerline is valid? [True, True] Translation: X:177.16, Y:-22.02, Z:-7.18 [[ 9.83290984e-01 1.78578776e-01 3.53335803e-02 1.77156510e+02] [-1.78451181e-01 9.83925559e-01 -6.75801039e-03 -2.20249354e+01] [-3.59724500e-02 3.39771565e-04 9.99352724e-01 -7.17627094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60587156 meters 0.013899697894180893 Centerline is valid? [True, True] Translation: X:177.22, Y:-22.04, Z:-7.18 [[ 9.82899521e-01 1.80702708e-01 3.54268744e-02 1.77216297e+02] [-1.80575816e-01 9.83537728e-01 -6.77585411e-03 -2.20361635e+01] [-3.60680827e-02 2.62747000e-04 9.99349300e-01 -7.17828837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66587156 meters 0.011571196302330484 Centerline is valid? [True, True] Translation: X:177.27, Y:-22.04, Z:-7.18 [[ 9.81864357e-01 1.86230478e-01 3.55048378e-02 1.77273861e+02] [-1.86106628e-01 9.82506084e-01 -6.79098649e-03 -2.20447954e+01] [-3.61484078e-02 6.01419484e-05 9.99346431e-01 -7.18258220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72587156 meters 0.012480177867634772 Centerline is valid? [True, True] Translation: X:177.33, Y:-22.05, Z:-7.18 [[ 9.80673430e-01 1.92454643e-01 3.52254644e-02 1.77332476e+02] [-1.92336787e-01 9.81305855e-01 -6.73636799e-03 -2.20501979e+01] [-3.58633998e-02 -1.68975531e-04 9.99356687e-01 -7.18375134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78587156 meters 0.014173471773383678 Centerline is valid? [True, True] Translation: X:177.39, Y:-22.06, Z:-7.19 [[ 9.80184941e-01 1.94998691e-01 3.48280293e-02 1.77390935e+02] [-1.94885143e-01 9.80803468e-01 -6.65869696e-03 -2.20596632e+01] [-3.54578891e-02 -2.60710988e-04 9.99371137e-01 -7.18672939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84587156 meters 0.021971771007940722 Centerline is valid? [True, True] Translation: X:177.45, Y:-22.07, Z:-7.19 [[ 9.80112503e-01 1.95444922e-01 3.43622491e-02 1.77447967e+02] [-1.95334724e-01 9.80714641e-01 -6.56797785e-03 -2.20735581e+01] [-3.49832387e-02 -2.74783241e-04 9.99387861e-01 -7.18940726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90587156 meters 0.01376801697921534 Centerline is valid? [True, True] Translation: X:177.51, Y:-22.09, Z:-7.19 [[ 9.80296105e-01 1.94447611e-01 3.47803504e-02 1.77505309e+02] [-1.94334155e-01 9.80912874e-01 -6.64598636e-03 -2.20905512e+01] [-3.54087896e-02 -2.43975461e-04 9.99372882e-01 -7.19188721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96587156 meters 0.026746932375285047 Centerline is valid? [True, True] Translation: X:177.56, Y:-22.11, Z:-7.19 [[ 9.80350826e-01 1.94094523e-01 3.52075869e-02 1.77563435e+02] [-1.93978067e-01 9.80982804e-01 -6.72673256e-03 -2.21064121e+01] [-3.58436592e-02 -2.34941806e-04 9.99357382e-01 -7.19313359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02587156 meters 0.014014761199056227 Centerline is valid? [True, True] Translation: X:177.62, Y:-22.12, Z:-7.20 [[ 9.80192289e-01 1.94812505e-01 3.56534013e-02 1.77621074e+02] [-1.94693584e-01 9.80840465e-01 -6.81107834e-03 -2.21177939e+01] [-3.62971819e-02 -2.65322025e-04 9.99341005e-01 -7.19561913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.08587156000002 meters 0.02764961278289535 Centerline is valid? [True, True] Translation: X:177.68, Y:-22.13, Z:-7.20 [[ 9.79927574e-01 1.96310374e-01 3.47013945e-02 1.77679032e+02] [-1.96198707e-01 9.80541758e-01 -6.62787917e-03 -2.21306201e+01] [-3.53272878e-02 -3.13527168e-04 9.99375747e-01 -7.19864069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14587156000002 meters 0.02430056571669233 Centerline is valid? [True, True] Translation: X:177.74, Y:-22.14, Z:-7.20 [[ 9.79914198e-01 1.96472249e-01 3.41587409e-02 1.77736539e+02] [-1.96364172e-01 9.80509335e-01 -6.52348894e-03 -2.21406681e+01] [-3.47746488e-02 -3.15093447e-04 9.99395129e-01 -7.20394060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20587156000002 meters 0.02468471901928716 Centerline is valid? [True, True] Translation: X:177.79, Y:-22.16, Z:-7.20 [[ 9.80018250e-01 1.95759571e-01 3.52479876e-02 1.77794956e+02] [-1.95644082e-01 9.80651875e-01 -6.72999717e-03 -2.21561037e+01] [-3.58834665e-02 -3.00540149e-04 9.99355936e-01 -7.20328613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26587156 meters 0.012605269497519708 Centerline is valid? [True, True] Translation: X:177.85, Y:-22.17, Z:-7.21 [[ 9.80571278e-01 1.92835013e-01 3.59809086e-02 1.77853428e+02] [-1.92712720e-01 9.81231175e-01 -6.86941086e-03 -2.21744572e+01] [-3.66302522e-02 -1.98031800e-04 9.99328867e-01 -7.20522396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32587156 meters 0.010949436842795295 Centerline is valid? [True, True] Translation: X:177.91, Y:-22.20, Z:-7.21 [[ 9.81230652e-01 1.89299479e-01 3.67711032e-02 1.77912873e+02] [-1.89169303e-01 9.81919397e-01 -7.01942194e-03 -2.21950683e+01] [-3.74350324e-02 -6.82919986e-05 9.99299061e-01 -7.20692021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38587156 meters 0.010851904939629026 Centerline is valid? [True, True] Translation: X:177.97, Y:-22.21, Z:-7.21 [[ 9.81541572e-01 1.87702835e-01 3.66577126e-02 1.77972747e+02] [-1.87572109e-01 9.82225863e-01 -7.00414926e-03 -2.22115082e+01] [-3.73208521e-02 -1.10079842e-06 9.99303334e-01 -7.21086763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44587156 meters 0.010933688752919439 Centerline is valid? [True, True] Translation: X:178.03, Y:-22.23, Z:-7.21 [[ 9.81836091e-01 1.86129282e-01 3.67937632e-02 1.78033064e+02] [-1.85996224e-01 9.82525260e-01 -7.03693859e-03 -2.22296642e+01] [-3.74605821e-02 6.56192587e-05 9.99298104e-01 -7.21258768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50587156 meters 0.011406213636320557 Centerline is valid? [True, True] Translation: X:178.09, Y:-22.25, Z:-7.22 [[ 9.81935976e-01 1.85763695e-01 3.59664897e-02 1.78092236e+02] [-1.85636044e-01 9.82594444e-01 -6.88597878e-03 -2.22470405e+01] [-3.66196378e-02 8.49134133e-05 9.99329273e-01 -7.21780454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56587156 meters 0.011532845623086697 Centerline is valid? [True, True] Translation: X:178.15, Y:-22.26, Z:-7.22 [[ 9.81998889e-01 1.85364538e-01 3.63066003e-02 1.78153251e+02] [-1.85233933e-01 9.82669821e-01 -6.95800290e-03 -2.22623173e+01] [-3.69671674e-02 1.07536768e-04 9.99316475e-01 -7.21983099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62587156 meters 0.01239218476907396 Centerline is valid? [True, True] Translation: X:178.21, Y:-22.28, Z:-7.22 [[ 9.82409146e-01 1.83187317e-01 3.62584693e-02 1.78212967e+02] [-1.83055313e-01 9.83078007e-01 -6.95588034e-03 -2.22813870e+01] [-3.69191328e-02 1.96215025e-04 9.99318237e-01 -7.22230040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68587156 meters 0.014241832068098346 Centerline is valid? [True, True] Translation: X:178.27, Y:-22.30, Z:-7.23 [[ 9.82853241e-01 1.80807929e-01 3.61662856e-02 1.78271355e+02] [-1.80674745e-01 9.83518382e-01 -6.94468546e-03 -2.23014384e+01] [-3.68258609e-02 2.91272180e-04 9.99321655e-01 -7.22539456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74587156 meters 0.01679073881360251 Centerline is valid? [True, True] Translation: X:178.33, Y:-22.32, Z:-7.23 [[ 9.83393883e-01 1.77719789e-01 3.67715714e-02 1.78329979e+02] [-1.77579721e-01 9.84081044e-01 -7.06698749e-03 -2.23247644e+01] [-3.74421499e-02 4.19746876e-04 9.99298709e-01 -7.22730430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.80587156 meters 0.017215484577358976 Centerline is valid? [True, True] Translation: X:178.39, Y:-22.34, Z:-7.23 [[ 9.83417538e-01 1.77502822e-01 3.71846039e-02 1.78390695e+02] [-1.77359190e-01 9.84120193e-01 -7.15279365e-03 -2.23402658e+01] [-3.78637607e-02 4.39151482e-04 9.99282814e-01 -7.22890827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86587156000002 meters 0.01677933210242994 Centerline is valid? [True, True] Translation: X:178.45, Y:-22.36, Z:-7.23 [[ 9.83242580e-01 1.78210602e-01 3.84058532e-02 1.78450268e+02] [-1.78057606e-01 9.83992273e-01 -7.39561522e-03 -2.23605603e+01] [-3.91090398e-02 4.33229502e-04 9.99234855e-01 -7.22898996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92587156000002 meters 0.013653176213207923 Centerline is valid? [True, True] Translation: X:178.51, Y:-22.38, Z:-7.23 [[ 9.82570387e-01 1.81902567e-01 3.83000091e-02 1.78510892e+02] [-1.81752961e-01 9.83316516e-01 -7.38174259e-03 -2.23754188e+01] [-3.90037894e-02 2.91941613e-04 9.99239020e-01 -7.23156764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98587156 meters 0.010846678521349778 Centerline is valid? [True, True] Translation: X:178.57, Y:-22.38, Z:-7.24 [[ 9.81361342e-01 1.88648213e-01 3.66301497e-02 1.78571478e+02] [-1.88515839e-01 9.82044730e-01 -7.06592796e-03 -2.23840473e+01] [-3.73054202e-02 2.88651319e-05 9.99303910e-01 -7.23774910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04587156 meters 0.012562277890172054 Centerline is valid? [True, True] Translation: X:178.63, Y:-22.39, Z:-7.24 [[ 9.80232736e-01 1.94669682e-01 3.53199481e-02 1.78633574e+02] [-1.94550325e-01 9.80868839e-01 -6.81845051e-03 -2.23912996e+01] [-3.59715821e-02 -1.87838988e-04 9.99352796e-01 -7.24262068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10587156 meters 0.01645696444737831 Centerline is valid? [True, True] Translation: X:178.70, Y:-22.40, Z:-7.24 [[ 9.78927020e-01 2.01109152e-01 3.54541698e-02 1.78695612e+02] [-2.00992862e-01 9.79568748e-01 -6.85102577e-03 -2.23989173e+01] [-3.61076007e-02 -4.19380801e-04 9.99347820e-01 -7.24410985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16587156 meters 0.023987550845741803 Centerline is valid? [True, True] Translation: X:178.76, Y:-22.40, Z:-7.25 [[ 9.77196715e-01 2.09497521e-01 3.46030075e-02 1.78756686e+02] [-2.09391925e-01 9.77808921e-01 -6.68852982e-03 -2.24035981e+01] [-3.52363598e-02 -7.09580976e-04 9.99378755e-01 -7.24828584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22587156 meters 0.032443391641352126 Centerline is valid? [True, True] Translation: X:178.82, Y:-22.41, Z:-7.25 [[ 9.76120678e-01 2.14229156e-01 3.59762524e-02 1.78817052e+02] [-2.14118201e-01 9.76783001e-01 -6.95444667e-03 -2.24102248e+01] [-3.66308370e-02 -9.14791234e-04 9.99328447e-01 -7.24838274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28587156 meters 0.032080660359662144 Centerline is valid? [True, True] Translation: X:178.88, Y:-22.42, Z:-7.25 [[ 9.75652539e-01 2.16298637e-01 3.62908086e-02 1.78877042e+02] [-2.16187159e-01 9.76326737e-01 -7.01531589e-03 -2.24204860e+01] [-3.69490900e-02 -1.00109606e-03 9.99316648e-01 -7.25120467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34587156 meters 0.034503859889183926 Centerline is valid? [True, True] Translation: X:178.94, Y:-22.43, Z:-7.25 [[ 9.75233083e-01 2.18158603e-01 3.64315358e-02 1.78938370e+02] [-2.18047453e-01 9.75912738e-01 -7.04526369e-03 -2.24315417e+01] [-3.70909847e-02 -1.07302936e-03 9.99311317e-01 -7.25349630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40587156 meters 0.035336950643451596 Centerline is valid? [True, True] Translation: X:179.00, Y:-22.44, Z:-7.26 [[ 9.75271666e-01 2.17983272e-01 3.64481932e-02 1.78998693e+02] [-2.17871669e-01 9.75951929e-01 -7.05464833e-03 -2.24413827e+01] [-3.71094798e-02 -1.06083007e-03 9.99310643e-01 -7.25659913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46587156 meters 0.032792725068505925 Centerline is valid? [True, True] Translation: X:179.06, Y:-22.46, Z:-7.26 [[ 9.75681637e-01 2.16235007e-01 3.58854411e-02 1.79058741e+02] [-2.16125446e-01 9.76340859e-01 -6.95113517e-03 -2.24586852e+01] [-3.65395012e-02 -9.73662000e-04 9.99331735e-01 -7.26011923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52587156 meters 0.030653388768108972 Centerline is valid? [True, True] Translation: X:179.12, Y:-22.47, Z:-7.26 [[ 9.76327981e-01 2.13106379e-01 3.70046592e-02 1.79117415e+02] [-2.12987371e-01 9.77028609e-01 -7.17476197e-03 -2.24743338e+01] [-3.76835983e-02 -8.76604208e-04 9.99289336e-01 -7.26036928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.58587156000002 meters 0.028963250205713116 Centerline is valid? [True, True] Translation: X:179.18, Y:-22.49, Z:-7.26 [[ 9.76407947e-01 2.12546292e-01 3.80998114e-02 1.79177871e+02] [-2.12419612e-01 9.77150604e-01 -7.38954973e-03 -2.24885935e+01] [-3.87998751e-02 -8.77932070e-04 9.99246616e-01 -7.26043809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64587156000002 meters 0.03133028021416089 Centerline is valid? [True, True] Translation: X:179.24, Y:-22.50, Z:-7.26 [[ 9.75995442e-01 2.14285033e-01 3.89207021e-02 1.79240205e+02] [-2.14153954e-01 9.76770700e-01 -7.55533956e-03 -2.24957664e+01] [-3.96355976e-02 -9.61045251e-04 9.99213739e-01 -7.26132402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70587156000002 meters 0.034191352171950615 Centerline is valid? [True, True] Translation: X:179.30, Y:-22.50, Z:-7.27 [[ 9.75300562e-01 2.17564002e-01 3.81407764e-02 1.79301216e+02] [-2.17440370e-01 9.76045475e-01 -7.41055970e-03 -2.24995076e+01] [-3.88394033e-02 -1.06582152e-03 9.99244897e-01 -7.26593519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76587156 meters 0.034534709035619005 Centerline is valid? [True, True] Translation: X:179.36, Y:-22.51, Z:-7.27 [[ 9.75241161e-01 2.18003587e-01 3.71364241e-02 1.79361494e+02] [-2.17886684e-01 9.75947398e-01 -7.21584829e-03 -2.25077135e+01] [-3.78162773e-02 -1.05434003e-03 9.99284153e-01 -7.27050070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82587156 meters 0.03308059244319664 Centerline is valid? [True, True] Translation: X:179.42, Y:-22.52, Z:-7.28 [[ 9.75961908e-01 2.14993862e-01 3.57210435e-02 1.79421021e+02] [-2.14883672e-01 9.76614984e-01 -6.94123812e-03 -2.25171344e+01] [-3.63780299e-02 -9.01484986e-04 9.99337694e-01 -7.27688527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88587156 meters 0.028712128193372797 Centerline is valid? [True, True] Translation: X:179.48, Y:-22.53, Z:-7.28 [[ 9.76675579e-01 2.11670299e-01 3.60624019e-02 1.79481103e+02] [-2.11555712e-01 9.77340815e-01 -7.00799615e-03 -2.25286876e+01] [-3.67286419e-02 -7.84668406e-04 9.99324968e-01 -7.27774646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94587156 meters 0.027237155718179754 Centerline is valid? [True, True] Translation: X:179.54, Y:-22.54, Z:-7.28 [[ 9.76949359e-01 2.10249602e-01 3.69466496e-02 1.79541516e+02] [-2.10128288e-01 9.77647454e-01 -7.18039160e-03 -2.25363054e+01] [-3.76304724e-02 -7.48657252e-04 9.99291443e-01 -7.27867790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00587156 meters 0.02298775285270221 Centerline is valid? [True, True] Translation: X:179.60, Y:-22.55, Z:-7.28 [[ 9.77412094e-01 2.08159706e-01 3.65394896e-02 1.79602520e+02] [-2.08039624e-01 9.78094627e-01 -7.10040711e-03 -2.25467000e+01] [-3.72170971e-02 -6.61637903e-04 9.99306985e-01 -7.28123439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06587156 meters 0.021066766326476808 Centerline is valid? [True, True] Translation: X:179.66, Y:-22.56, Z:-7.29 [[ 9.78255267e-01 2.04262704e-01 3.59635821e-02 1.79661794e+02] [-2.04143493e-01 9.78915982e-01 -6.99536348e-03 -2.25558975e+01] [-3.66342171e-02 -4.98480094e-04 9.99328617e-01 -7.28659644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12587156 meters 0.01711303573898263 Centerline is valid? [True, True] Translation: X:179.72, Y:-22.57, Z:-7.29 [[ 9.79033741e-01 2.00522691e-01 3.58271340e-02 1.79720811e+02] [-2.00401860e-01 9.79688993e-01 -6.96931867e-03 -2.25697964e+01] [-3.64969554e-02 -3.56626153e-04 9.99333701e-01 -7.29010572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18587156 meters 0.012123268514173335 Centerline is valid? [True, True] Translation: X:179.78, Y:-22.59, Z:-7.29 [[ 9.80197626e-01 1.94876332e-01 3.51543719e-02 1.79781195e+02] [-1.94756378e-01 9.80827811e-01 -6.83805948e-03 -2.25871633e+01] [-3.58129616e-02 -1.43888456e-04 9.99358500e-01 -7.29327443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24587156 meters 0.01120459532116384 Centerline is valid? [True, True] Translation: X:179.84, Y:-22.60, Z:-7.29 [[ 9.81240102e-01 1.89492299e-01 3.55039625e-02 1.79841485e+02] [-1.89366365e-01 9.81882206e-01 -6.90753752e-03 -2.26044104e+01] [-3.61696342e-02 5.46964910e-05 9.99345663e-01 -7.29448494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.30587156 meters 0.012497059539098637 Centerline is valid? [True, True] Translation: X:179.90, Y:-22.62, Z:-7.30 [[ 9.81816879e-01 1.86435140e-01 3.57429079e-02 1.79900755e+02] [-1.86305246e-01 9.82467255e-01 -6.96042402e-03 -2.26210798e+01] [-3.64139042e-02 1.74770543e-04 9.99336779e-01 -7.29698912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.36587156000002 meters 0.014107172709417491 Centerline is valid? [True, True] Translation: X:179.96, Y:-22.64, Z:-7.30 [[ 9.82317093e-01 1.83653113e-01 3.63959149e-02 1.79961167e+02] [-1.83516298e-01 9.82991074e-01 -7.09348169e-03 -2.26367743e+01] [-3.70795994e-02 2.88804734e-04 9.99312273e-01 -7.29770483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42587156000002 meters 0.015156889951635591 Centerline is valid? [True, True] Translation: X:180.02, Y:-22.65, Z:-7.30 [[ 9.82376961e-01 1.83158858e-01 3.72604314e-02 1.80021922e+02] [-1.83014858e-01 9.83083277e-01 -7.26857662e-03 -2.26512816e+01] [-3.79614112e-02 3.21269660e-04 9.99279154e-01 -7.29916616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48587156 meters 0.02543419255509767 Centerline is valid? [True, True] Translation: X:180.08, Y:-22.66, Z:-7.30 [[ 9.81984445e-01 1.85156396e-01 3.77314154e-02 1.80083091e+02] [-1.85009932e-01 9.82709033e-01 -7.36752843e-03 -2.26609311e+01] [-3.84431477e-02 2.54111708e-04 9.99260757e-01 -7.29850696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54587156 meters 0.011120826868728515 Centerline is valid? [True, True] Translation: X:180.14, Y:-22.67, Z:-7.30 [[ 9.81106253e-01 1.89902794e-01 3.69790328e-02 1.80144317e+02] [-1.89765227e-01 9.81802894e-01 -7.22738349e-03 -2.26673626e+01] [-3.76786217e-02 7.34965698e-05 9.99289906e-01 -7.30482710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60587156 meters 0.0108751604220613 Centerline is valid? [True, True] Translation: X:180.21, Y:-22.67, Z:-7.31 [[ 9.80454253e-01 1.93385605e-01 3.62141694e-02 1.80207204e+02] [-1.93255936e-01 9.81122828e-01 -7.08086191e-03 -2.26735894e+01] [-3.68998851e-02 -5.61420313e-05 9.99318966e-01 -7.30729048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66587156 meters 0.012420674146936048 Centerline is valid? [True, True] Translation: X:180.27, Y:-22.68, Z:-7.31 [[ 9.79683196e-01 1.97297384e-01 3.59802489e-02 1.80268496e+02] [-1.97171742e-01 9.80343666e-01 -7.04272311e-03 -2.26785717e+01] [-3.66625200e-02 -1.94650871e-04 9.99327685e-01 -7.31191789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72587156 meters 0.013436267542961658 Centerline is valid? [True, True] Translation: X:180.33, Y:-22.69, Z:-7.32 [[ 9.79312404e-01 1.99222472e-01 3.54629638e-02 1.80329467e+02] [-1.99101472e-01 9.79954254e-01 -6.94720015e-03 -2.26882484e+01] [-3.61361206e-02 -2.57249009e-04 9.99346844e-01 -7.31500508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78587156 meters 0.01455363091419407 Centerline is valid? [True, True] Translation: X:180.39, Y:-22.70, Z:-7.32 [[ 9.78903790e-01 2.01273697e-01 3.51606278e-02 1.80390749e+02] [-2.01155852e-01 9.79534989e-01 -6.89413223e-03 -2.26960166e+01] [-3.58286726e-02 -3.24073878e-04 9.99357894e-01 -7.31828894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84587156 meters 0.016374115101678226 Centerline is valid? [True, True] Translation: X:180.45, Y:-22.70, Z:-7.32 [[ 9.78548003e-01 2.03103681e-01 3.45355055e-02 1.80450875e+02] [-2.02990898e-01 9.79157164e-01 -6.77812415e-03 -2.27040870e+01] [-3.51923496e-02 -3.77673441e-04 9.99380486e-01 -7.32221601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90587156 meters 0.018164271272474906 Centerline is valid? [True, True] Translation: X:180.51, Y:-22.71, Z:-7.32 [[ 9.78057355e-01 2.05465783e-01 3.44618865e-02 1.80511140e+02] [-2.05354909e-01 9.78664192e-01 -6.76472305e-03 -2.27102651e+01] [-3.51165334e-02 -4.60630432e-04 9.99383118e-01 -7.32493084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96587156 meters 0.020555937959775606 Centerline is valid? [True, True] Translation: X:180.57, Y:-22.72, Z:-7.33 [[ 9.77815709e-01 2.06594501e-01 3.45709718e-02 1.80569944e+02] [-2.06483622e-01 9.78426522e-01 -6.78631122e-03 -2.27166790e+01] [-3.52271702e-02 -5.02577754e-04 9.99379204e-01 -7.32805841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02587156 meters 0.020389824243158886 Centerline is valid? [True, True] Translation: X:180.63, Y:-22.73, Z:-7.33 [[ 9.77813128e-01 2.06648950e-01 3.43176039e-02 1.80628504e+02] [-2.06539754e-01 9.78415024e-01 -6.73575132e-03 -2.27250187e+01] [-3.49687952e-02 -5.01643393e-04 9.99388279e-01 -7.33155414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.08587156000002 meters 0.01878652335958993 Centerline is valid? [True, True] Translation: X:180.69, Y:-22.74, Z:-7.33 [[ 9.78001656e-01 2.05688574e-01 3.47127015e-02 1.80686736e+02] [-2.05576280e-01 9.78617385e-01 -6.81225585e-03 -2.27366420e+01] [-3.53716564e-02 -4.73710558e-04 9.99374115e-01 -7.33321471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14587156000002 meters 0.01735122579469928 Centerline is valid? [True, True] Translation: X:180.74, Y:-22.75, Z:-7.33 [[ 9.78452288e-01 2.03431421e-01 3.53097356e-02 1.80744062e+02] [-2.03313790e-01 9.79089116e-01 -6.92860538e-03 -2.27475168e+01] [-3.59808738e-02 -3.99646363e-04 9.99352399e-01 -7.33488610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20587156000002 meters 0.014715041485475444 Centerline is valid? [True, True] Translation: X:180.80, Y:-22.76, Z:-7.34 [[ 9.78788199e-01 2.01683679e-01 3.60188206e-02 1.80803790e+02] [-2.01560151e-01 9.79450650e-01 -7.06611938e-03 -2.27601415e+01] [-3.67037782e-02 -3.43724663e-04 9.99326130e-01 -7.33525463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26587156 meters 0.01290881119702636 Centerline is valid? [True, True] Translation: X:180.86, Y:-22.77, Z:-7.34 [[ 9.79413747e-01 1.98645861e-01 3.58961419e-02 1.80863474e+02] [-1.98521119e-01 9.80071308e-01 -7.04243950e-03 -2.27710629e+01] [-3.65797302e-02 -2.28680186e-04 9.99330712e-01 -7.33883904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32587156 meters 0.012014100326432771 Centerline is valid? [True, True] Translation: X:180.92, Y:-22.78, Z:-7.34 [[ 9.79795396e-01 1.96784489e-01 3.57329934e-02 1.80924127e+02] [-1.96659607e-01 9.80446755e-01 -7.01133571e-03 -2.27810982e+01] [-3.64140196e-02 -1.57562001e-04 9.99336777e-01 -7.34234878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38587156 meters 0.011425998121808403 Centerline is valid? [True, True] Translation: X:180.98, Y:-22.79, Z:-7.35 [[ 9.80113802e-01 1.95092072e-01 3.62769779e-02 1.80983588e+02] [-1.94962161e-01 9.80784928e-01 -7.11906182e-03 -2.27919976e+01] [-3.69687857e-02 -9.51472844e-05 9.99316416e-01 -7.34532082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44587156 meters 0.010767961615958414 Centerline is valid? [True, True] Translation: X:181.04, Y:-22.81, Z:-7.35 [[ 9.80693556e-01 1.92048389e-01 3.68451445e-02 1.81043017e+02] [-1.91912213e-01 9.81385457e-01 -7.23096687e-03 -2.28055302e+01] [-3.75479845e-02 2.03293990e-05 9.99294826e-01 -7.34628368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50587156 meters 0.01177874087402159 Centerline is valid? [True, True] Translation: X:181.10, Y:-22.82, Z:-7.35 [[ 9.81333154e-01 1.88663448e-01 3.73007376e-02 1.81102032e+02] [-1.88521412e-01 9.82041791e-01 -7.32099483e-03 -2.28207404e+01] [-3.80120873e-02 1.52347218e-04 9.99277268e-01 -7.34861440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56587156 meters 0.012927674183772615 Centerline is valid? [True, True] Translation: X:181.16, Y:-22.83, Z:-7.35 [[ 9.81675747e-01 1.86976949e-01 3.67742958e-02 1.81162112e+02] [-1.86837592e-01 9.82364277e-01 -7.22086967e-03 -2.28344217e+01] [-3.74758907e-02 2.17731752e-04 9.99297508e-01 -7.35209521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62587156 meters 0.012883635603387933 Centerline is valid? [True, True] Translation: X:181.22, Y:-22.85, Z:-7.36 [[ 9.81640320e-01 1.87159962e-01 3.67890158e-02 1.81222690e+02] [-1.87020408e-01 9.82329426e-01 -7.22947677e-03 -2.28458578e+01] [-3.74920014e-02 2.16449150e-04 9.99296904e-01 -7.35531638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68587156 meters 0.02826610640537504 Centerline is valid? [True, True] Translation: X:181.28, Y:-22.85, Z:-7.36 [[ 9.81276761e-01 1.89169488e-01 3.62052770e-02 1.81282289e+02] [-1.89035443e-01 9.81944440e-01 -7.12160943e-03 -2.28544788e+01] [-3.68987616e-02 1.44189258e-04 9.99318998e-01 -7.35826331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74587156 meters 0.011234264970366854 Centerline is valid? [True, True] Translation: X:181.34, Y:-22.86, Z:-7.36 [[ 9.80897923e-01 1.91248227e-01 3.55440694e-02 1.81342924e+02] [-1.91120387e-01 9.81541701e-01 -6.99189145e-03 -2.28622478e+01] [-3.62251732e-02 6.51355218e-05 9.99343651e-01 -7.36393992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.80587156 meters 0.013967272249453598 Centerline is valid? [True, True] Translation: X:181.40, Y:-22.87, Z:-7.37 [[ 9.80280796e-01 1.94739834e-01 3.35552943e-02 1.81403456e+02] [-1.94627914e-01 9.80854930e-01 -6.60162529e-03 -2.28677433e+01] [-3.41984753e-02 -5.93504548e-05 9.99415059e-01 -7.36802910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.86587156000002 meters 0.021791483446523447 Centerline is valid? [True, True] Translation: X:181.46, Y:-22.87, Z:-7.37 [[ 9.79697490e-01 1.97518314e-01 3.43415707e-02 1.81462284e+02] [-1.97402786e-01 9.80299184e-01 -6.75650353e-03 -2.28727343e+01] [-3.49995469e-02 -1.59792160e-04 9.99387315e-01 -7.36899426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.92587156000002 meters 0.02556541180009637 Centerline is valid? [True, True] Translation: X:181.52, Y:-22.88, Z:-7.37 [[ 9.79402449e-01 1.98777676e-01 3.54722099e-02 1.81519666e+02] [-1.98655265e-01 9.80044586e-01 -6.97821107e-03 -2.28797702e+01] [-3.61514599e-02 -2.12264238e-04 9.99346300e-01 -7.37032164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98587156 meters 0.014865726409757215 Centerline is valid? [True, True] Translation: X:181.58, Y:-22.88, Z:-7.37 [[ 9.78932794e-01 2.00670424e-01 3.77089560e-02 1.81578204e+02] [-2.00533583e-01 9.79658762e-01 -7.41570274e-03 -2.28849911e+01] [-3.84300214e-02 -3.02437459e-04 9.99261248e-01 -7.36935014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04587156 meters 0.0135703184830913 Centerline is valid? [True, True] Translation: X:181.64, Y:-22.90, Z:-7.37 [[ 9.78963338e-01 2.00513793e-01 3.77492018e-02 1.81636371e+02] [-2.00376614e-01 9.79690834e-01 -7.42177314e-03 -2.28971104e+01] [-3.84707148e-02 -2.98413416e-04 9.99259683e-01 -7.37097957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10587156 meters 0.012424367891335561 Centerline is valid? [True, True] Translation: X:181.69, Y:-22.91, Z:-7.38 [[ 9.79412847e-01 1.98518337e-01 3.66189215e-02 1.81694093e+02] [-1.98387891e-01 9.80097150e-01 -7.19864763e-03 -2.29114226e+01] [-3.73191641e-02 -2.14302638e-04 9.99303374e-01 -7.37583429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16587156 meters 0.011138890095935034 Centerline is valid? [True, True] Translation: X:181.75, Y:-22.93, Z:-7.38 [[ 9.80275225e-01 1.94395449e-01 3.56495926e-02 1.81750899e+02] [-1.94269127e-01 9.80923242e-01 -7.00713688e-03 -2.29288062e+01] [-3.63316694e-02 -5.66925585e-05 9.99339785e-01 -7.38117759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22587156 meters 0.02268508640587932 Centerline is valid? [True, True] Translation: X:181.81, Y:-22.94, Z:-7.38 [[ 9.80754747e-01 1.92042969e-01 3.52083037e-02 1.81809058e+02] [-1.91918259e-01 9.81386518e-01 -6.91988125e-03 -2.29442966e+01] [-3.58818691e-02 2.95900480e-05 9.99356038e-01 -7.38205749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28587156 meters 0.011673950086990183 Centerline is valid? [True, True] Translation: X:181.87, Y:-22.96, Z:-7.39 [[ 9.81083791e-01 1.90515266e-01 3.43296914e-02 1.81866879e+02] [-1.90395766e-01 9.81684230e-01 -6.74728665e-03 -2.29572245e+01] [-3.49863777e-02 8.34256801e-05 9.99387786e-01 -7.38756746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34587156 meters 0.01112710329400152 Centerline is valid? [True, True] Translation: X:181.93, Y:-22.97, Z:-7.39 [[ 9.80933406e-01 1.90924125e-01 3.62991897e-02 1.81925985e+02] [-1.90790810e-01 9.81604795e-01 -7.13396815e-03 -2.29687428e+01] [-3.69935053e-02 7.23958522e-05 9.99315503e-01 -7.38585648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40587156 meters 0.010619523799136098 Centerline is valid? [True, True] Translation: X:181.98, Y:-22.98, Z:-7.39 [[ 9.80647500e-01 1.92079925e-01 3.78917211e-02 1.81984058e+02] [-1.91935550e-01 9.81379285e-01 -7.44602634e-03 -2.29770273e+01] [-3.86163823e-02 2.91587974e-05 9.99254109e-01 -7.38551228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46587156 meters 0.024134118232366344 Centerline is valid? [True, True] Translation: X:182.04, Y:-22.98, Z:-7.39 [[ 9.80100744e-01 1.94968642e-01 3.72794903e-02 1.82044045e+02] [-1.94831036e-01 9.80809472e-01 -7.32434374e-03 -2.29824473e+01] [-3.79920945e-02 -8.46069732e-05 9.99278036e-01 -7.38681279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52587156 meters 0.013093956619197987 Centerline is valid? [True, True] Translation: X:182.10, Y:-22.98, Z:-7.39 [[ 9.79314031e-01 1.98981493e-01 3.67477205e-02 1.82102807e+02] [-1.98850634e-01 9.80003219e-01 -7.21914804e-03 -2.29842434e+01] [-3.74493612e-02 -2.37494565e-04 9.99298498e-01 -7.39193466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.58587156000002 meters 0.01487642585526265 Centerline is valid? [True, True] Translation: X:182.16, Y:-22.99, Z:-7.39 [[ 9.78768454e-01 2.01778725e-01 3.60230475e-02 1.82161684e+02] [-2.01654952e-01 9.79431075e-01 -7.07457788e-03 -2.29887231e+01] [-3.67095914e-02 -3.39852254e-04 9.99325918e-01 -7.39473204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.64587156000002 meters 0.01807347812869878 Centerline is valid? [True, True] Translation: X:182.22, Y:-22.99, Z:-7.40 [[ 9.78202415e-01 2.04425748e-01 3.64712044e-02 1.82220600e+02] [-2.04300779e-01 9.78881972e-01 -7.16082489e-03 -2.29902674e+01] [-3.71648615e-02 -4.46359288e-04 9.99309048e-01 -7.39700702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70587156000002 meters 0.02037976239898281 Centerline is valid? [True, True] Translation: X:182.28, Y:-22.99, Z:-7.40 [[ 9.77825065e-01 2.06289287e-01 3.60953297e-02 1.82278555e+02] [-2.06168245e-01 9.78490912e-01 -7.08442392e-03 -2.29941610e+01] [-3.67803929e-02 -5.14383523e-04 9.99323240e-01 -7.40029035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76587156 meters 0.030848056305888216 Centerline is valid? [True, True] Translation: X:182.34, Y:-23.00, Z:-7.40 [[ 9.77741289e-01 2.06782872e-01 3.55361029e-02 1.82337537e+02] [-2.06665958e-01 9.78386716e-01 -6.97249989e-03 -2.29997883e+01] [-3.62098445e-02 -5.26801690e-04 9.99344070e-01 -7.40264305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82587156 meters 0.019123940999338045 Centerline is valid? [True, True] Translation: X:182.39, Y:-23.01, Z:-7.41 [[ 9.78069195e-01 2.05233713e-01 3.54932802e-02 1.82394829e+02] [-2.05116121e-01 9.78712880e-01 -6.96242949e-03 -2.30093624e+01] [-3.61666557e-02 -4.70506153e-04 9.99345662e-01 -7.40709431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88587156 meters 0.014936099768843587 Centerline is valid? [True, True] Translation: X:182.45, Y:-23.02, Z:-7.41 [[ 9.78990073e-01 2.00688686e-01 3.60900000e-02 1.82452901e+02] [-2.00564102e-01 9.79655019e-01 -7.07711361e-03 -2.30217692e+01] [-3.67760462e-02 -3.09934460e-04 9.99323484e-01 -7.40788263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94587156 meters 0.023974227058953572 Centerline is valid? [True, True] Translation: X:182.51, Y:-23.04, Z:-7.41 [[ 9.80429487e-01 1.93412674e-01 3.67363413e-02 1.82508054e+02] [-1.93278520e-01 9.81117494e-01 -7.20261986e-03 -2.30420078e+01] [-3.74357450e-02 -3.86847642e-05 9.99299036e-01 -7.40819558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00587156 meters 0.013339618438819862 Centerline is valid? [True, True] Translation: X:182.56, Y:-23.06, Z:-7.41 [[ 9.81860832e-01 1.85919772e-01 3.71906685e-02 1.82563978e+02] [-1.85776984e-01 9.82564897e-01 -7.28939918e-03 -2.30639755e+01] [-3.78974888e-02 2.48005301e-04 9.99281601e-01 -7.41126764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06587156 meters 0.02232775278296621 Centerline is valid? [True, True] Translation: X:182.62, Y:-23.08, Z:-7.41 [[ 9.82691721e-01 1.81584926e-01 3.66591853e-02 1.82621232e+02] [-1.81443242e-01 9.83375182e-01 -7.18342276e-03 -2.30829381e+01] [-3.73541343e-02 4.07528676e-04 9.99302008e-01 -7.41419450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12587156 meters 0.024143162054233662 Centerline is valid? [True, True] Translation: X:182.68, Y:-23.11, Z:-7.42 [[ 9.83759389e-01 1.75836253e-01 3.60427097e-02 1.82678247e+02] [-1.75695472e-01 9.84419237e-01 -7.06161580e-03 -2.31058995e+01] [-3.67228249e-02 6.14389931e-04 9.99325301e-01 -7.41959735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18587156 meters 0.02582489505513874 Centerline is valid? [True, True] Translation: X:182.74, Y:-23.12, Z:-7.42 [[ 9.84384966e-01 1.72310063e-01 3.59927955e-02 1.82738233e+02] [-1.72167308e-01 9.85042480e-01 -7.05204352e-03 -2.31223340e+01] [-3.66695706e-02 7.45142937e-04 9.99327167e-01 -7.42061654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24587156 meters 0.026370427180475598 Centerline is valid? [True, True] Translation: X:182.80, Y:-23.14, Z:-7.42 [[ 9.84548854e-01 1.71380663e-01 3.59474807e-02 1.82798326e+02] [-1.71237610e-01 9.85204578e-01 -7.04420099e-03 -2.31377177e+01] [-3.66228624e-02 7.79799334e-04 9.99328854e-01 -7.42292703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.30587156 meters 0.026169403757155384 Centerline is valid? [True, True] Translation: X:182.86, Y:-23.15, Z:-7.43 [[ 9.84288243e-01 1.72929764e-01 3.56644359e-02 1.82857506e+02] [-1.72789748e-01 9.84933894e-01 -6.99488140e-03 -2.31532971e+01] [-3.63367349e-02 7.22530623e-04 9.99339342e-01 -7.42671204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.36587156000002 meters 0.025937871591037148 Centerline is valid? [True, True] Translation: X:182.92, Y:-23.17, Z:-7.43 [[ 9.83734460e-01 1.75948971e-01 3.61728144e-02 1.82916036e+02] [-1.75806740e-01 9.84399090e-01 -7.10087609e-03 -2.31678905e+01] [-3.68578775e-02 6.25951928e-04 9.99320322e-01 -7.42946844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.42587156000002 meters 0.026497238751244642 Centerline is valid? [True, True] Translation: X:182.98, Y:-23.18, Z:-7.43 [[ 9.83472130e-01 1.77448452e-01 3.59807730e-02 1.82977869e+02] [-1.77308659e-01 9.84129932e-01 -7.06511662e-03 -2.31769545e+01] [-3.66634497e-02 5.68642695e-04 9.99327508e-01 -7.43034181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48587156 meters 0.021449736047484888 Centerline is valid? [True, True] Translation: X:183.04, Y:-23.20, Z:-7.44 [[ 9.83397899e-01 1.78252669e-01 3.39787790e-02 1.83036492e+02] [-1.78128303e-01 9.83984615e-01 -6.67726377e-03 -2.31966418e+01] [-3.46248358e-02 5.13824941e-04 9.99400249e-01 -7.43812116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54587156 meters 0.02056318123981329 Centerline is valid? [True, True] Translation: X:183.10, Y:-23.22, Z:-7.44 [[ 9.83189210e-01 1.79331189e-01 3.43409686e-02 1.83096474e+02] [-1.79204593e-01 9.83788640e-01 -6.75473445e-03 -2.32154257e+01] [-3.49955893e-02 4.87122741e-04 9.99387348e-01 -7.43951993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60587156 meters 0.024479364090704763 Centerline is valid? [True, True] Translation: X:183.16, Y:-23.23, Z:-7.44 [[ 9.82742576e-01 1.81650284e-01 3.49314136e-02 1.83157125e+02] [-1.81520550e-01 9.83363107e-01 -6.87675709e-03 -2.32299334e+01] [-3.55994283e-02 4.17312564e-04 9.99366052e-01 -7.44000257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66587156 meters 0.01355417631800323 Centerline is valid? [True, True] Translation: X:183.22, Y:-23.24, Z:-7.44 [[ 9.81648516e-01 1.87446035e-01 3.50738447e-02 1.83216267e+02] [-1.87318706e-01 9.82274879e-01 -6.91118527e-03 -2.32409571e+01] [-3.57476309e-02 2.14367569e-04 9.99360826e-01 -7.44343377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72587156 meters 0.021733405904533685 Centerline is valid? [True, True] Translation: X:183.28, Y:-23.25, Z:-7.45 [[ 9.80840825e-01 1.91717973e-01 3.45759390e-02 1.83275956e+02] [-1.91596788e-01 9.81450057e-01 -6.81584136e-03 -2.32498289e+01] [-3.52412766e-02 6.06166113e-05 9.99378831e-01 -7.44593526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78587156 meters 0.012081115016868834 Centerline is valid? [True, True] Translation: X:183.34, Y:-23.26, Z:-7.45 [[ 9.79810973e-01 1.97044937e-01 3.38193637e-02 1.83335110e+02] [-1.96932164e-01 9.80394449e-01 -6.66679302e-03 -2.32592603e+01] [-3.44699743e-02 -1.27923535e-04 9.99405726e-01 -7.45054969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84587156 meters 0.014094229444339792 Centerline is valid? [True, True] Translation: X:183.39, Y:-23.27, Z:-7.45 [[ 9.79235237e-01 1.99937224e-01 3.35180139e-02 1.83392442e+02] [-1.99828153e-01 9.79808683e-01 -6.60718137e-03 -2.32724245e+01] [-3.41622626e-02 -2.27858000e-04 9.99416274e-01 -7.45415160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90587156 meters 0.013585254943121947 Centerline is valid? [True, True] Translation: X:183.45, Y:-23.29, Z:-7.46 [[ 9.79287124e-01 1.99773597e-01 3.29732887e-02 1.83451809e+02] [-1.99668007e-01 9.79842059e-01 -6.49813215e-03 -2.32893716e+01] [-3.36067704e-02 -2.20173681e-04 9.99435109e-01 -7.45683568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96587156 meters 0.013299410395792275 Centerline is valid? [True, True] Translation: X:183.51, Y:-23.31, Z:-7.46 [[ 9.79336362e-01 1.99433317e-01 3.35654829e-02 1.83510546e+02] [-1.99323670e-01 9.79911377e-01 -6.61568451e-03 -2.33069045e+01] [-3.42105865e-02 -2.11414839e-04 9.99414624e-01 -7.45861860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02587156 meters 0.013842364744583738 Centerline is valid? [True, True] Translation: X:183.57, Y:-23.32, Z:-7.46 [[ 9.79144108e-01 2.00378802e-01 3.35432806e-02 1.83569907e+02] [-2.00269827e-01 9.79718468e-01 -6.61212340e-03 -2.33248172e+01] [-3.41879008e-02 -2.43485321e-04 9.99415393e-01 -7.46021283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.08587156000002 meters 0.014230668814586523 Centerline is valid? [True, True] Translation: X:183.63, Y:-23.34, Z:-7.46 [[ 9.78919648e-01 2.01335236e-01 3.43576154e-02 1.83630222e+02] [-2.01221462e-01 9.79522354e-01 -6.77351294e-03 -2.33382405e+01] [-3.50177991e-02 -2.82764693e-04 9.99386649e-01 -7.46124432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.14587156000002 meters 0.016167405370466768 Centerline is valid? [True, True] Translation: X:183.69, Y:-23.35, Z:-7.47 [[ 9.78653465e-01 2.02655076e-01 3.41806281e-02 1.83689390e+02] [-2.02543254e-01 9.79250128e-01 -6.73924101e-03 -2.33503144e+01] [-3.48371258e-02 -3.27674067e-04 9.99392949e-01 -7.46567148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20587156000002 meters 0.015352846761982616 Centerline is valid? [True, True] Translation: X:183.75, Y:-23.37, Z:-7.47 [[ 9.78650247e-01 2.02850180e-01 3.30983199e-02 1.83749187e+02] [-2.02745417e-01 9.79209732e-01 -6.52655139e-03 -2.33679048e+01] [-3.37341090e-02 -3.23321535e-04 9.99430791e-01 -7.46831048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26587156 meters 0.014293757529519491 Centerline is valid? [True, True] Translation: X:183.81, Y:-23.39, Z:-7.47 [[ 9.78973662e-01 2.01327858e-01 3.28277849e-02 1.83807601e+02] [-2.01223752e-01 9.79523876e-01 -6.47898727e-03 -2.33857952e+01] [-3.34599998e-02 -2.62972155e-04 9.99440023e-01 -7.47184240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32587156 meters 0.011454823502125244 Centerline is valid? [True, True] Translation: X:183.87, Y:-23.41, Z:-7.47 [[ 9.79984893e-01 1.96350132e-01 3.28060106e-02 1.83866425e+02] [-1.96243168e-01 9.80533843e-01 -6.48079760e-03 -2.34109105e+01] [-3.34399091e-02 -8.68717167e-05 9.99440726e-01 -7.47377482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38587156 meters 0.011160314076893657 Centerline is valid? [True, True] Translation: X:183.92, Y:-23.44, Z:-7.47 [[ 9.80898548e-01 1.91461894e-01 3.43566865e-02 1.83923608e+02] [-1.91341504e-01 9.81500044e-01 -6.78918798e-03 -2.34360373e+01] [-3.50209601e-02 8.56445511e-05 9.99386574e-01 -7.47418095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44587156 meters 0.011462424109143212 Centerline is valid? [True, True] Translation: X:183.98, Y:-23.45, Z:-7.48 [[ 9.81017406e-01 1.90707782e-01 3.51481413e-02 1.83982756e+02] [-1.90581184e-01 9.81646845e-01 -6.94869915e-03 -2.34538949e+01] [-3.58282330e-02 1.18220442e-04 9.99357956e-01 -7.47599114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50587156 meters 0.010608440778437632 Centerline is valid? [True, True] Translation: X:184.04, Y:-23.47, Z:-7.48 [[ 9.80600090e-01 1.92726541e-01 3.57763051e-02 1.84043225e+02] [-1.92596469e-01 9.81252505e-01 -7.07971493e-03 -2.34673063e+01] [-3.64700379e-02 5.19790490e-05 9.99334746e-01 -7.47667071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56587156 meters 0.02447303032941355 Centerline is valid? [True, True] Translation: X:184.11, Y:-23.48, Z:-7.48 [[ 9.79831137e-01 1.96608720e-01 3.57205062e-02 1.84105833e+02] [-1.96481412e-01 9.80482026e-01 -7.07467327e-03 -2.34768856e+01] [-3.64142568e-02 -8.64303462e-05 9.99336777e-01 -7.47800492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62587156 meters 0.014633821019339834 Centerline is valid? [True, True] Translation: X:184.17, Y:-23.48, Z:-7.48 [[ 9.78441649e-01 2.03578225e-01 3.47540831e-02 1.84166677e+02] [-2.03461850e-01 9.79058628e-01 -6.89041662e-03 -2.34818248e+01] [-3.54290238e-02 -3.29259444e-04 9.99372141e-01 -7.48372194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68587156 meters 0.018762234645898095 Centerline is valid? [True, True] Translation: X:184.23, Y:-23.49, Z:-7.49 [[ 9.77418617e-01 2.08597726e-01 3.37614631e-02 1.84228530e+02] [-2.08490680e-01 9.78001405e-01 -6.69984763e-03 -2.34904133e+01] [-3.44163313e-02 -4.90394591e-04 9.99407462e-01 -7.48812173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74587156 meters 0.02554515542575743 Centerline is valid? [True, True] Translation: X:184.29, Y:-23.50, Z:-7.49 [[ 9.77013623e-01 2.10611684e-01 3.29711786e-02 1.84288339e+02] [-2.10510716e-01 9.77569649e-01 -6.54368419e-03 -2.35027827e+01] [-3.36097999e-02 -5.47517820e-04 9.99434881e-01 -7.49263369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.80587156 meters 0.02233523919522806 Centerline is valid? [True, True] Translation: X:184.35, Y:-23.52, Z:-7.50 [[ 9.77027234e-01 2.10662965e-01 3.22319664e-02 1.84348319e+02] [-2.10566315e-01 9.77558608e-01 -6.40266010e-03 -2.35161224e+01] [-3.28574395e-02 -5.31393097e-04 9.99459907e-01 -7.49799759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.86587156000002 meters 0.021746814650823402 Centerline is valid? [True, True] Translation: X:184.41, Y:-23.53, Z:-7.50 [[ 9.77025466e-01 2.10784571e-01 3.14818039e-02 1.84408701e+02] [-2.10692367e-01 9.77532400e-01 -6.25565906e-03 -2.35326129e+01] [-3.20930797e-02 -5.21037558e-04 9.99484749e-01 -7.50105476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.92587156000002 meters 0.022919681313839455 Centerline is valid? [True, True] Translation: X:184.47, Y:-23.54, Z:-7.50 [[ 9.76817401e-01 2.11751716e-01 3.14479961e-02 1.84470200e+02] [-2.11660023e-01 9.77323341e-01 -6.25481630e-03 -2.35436231e+01] [-3.20593287e-02 -5.46470161e-04 9.99485818e-01 -7.50396777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98587156 meters 0.023891252142201946 Centerline is valid? [True, True] Translation: X:184.53, Y:-23.55, Z:-7.50 [[ 9.76174104e-01 2.14684083e-01 3.15414390e-02 1.84531982e+02] [-2.14593163e-01 9.76683335e-01 -6.27994238e-03 -2.35530755e+01] [-3.21542015e-02 -6.38260016e-04 9.99482716e-01 -7.50447443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04587156 meters 0.028060205050530914 Centerline is valid? [True, True] Translation: X:184.59, Y:-23.56, Z:-7.51 [[ 9.75574802e-01 2.17304614e-01 3.21327076e-02 1.84593512e+02] [-2.17211630e-01 9.76103561e-01 -6.39892755e-03 -2.35579493e+01] [-3.27553668e-02 -7.36965310e-04 9.99463127e-01 -7.50764395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10587156 meters 0.02834698439129956 Centerline is valid? [True, True] Translation: X:184.66, Y:-23.57, Z:-7.51 [[ 9.75450535e-01 2.17864488e-01 3.21141646e-02 1.84655160e+02] [-2.17771837e-01 9.75978738e-01 -6.39757210e-03 -2.35678449e+01] [-3.27365456e-02 -7.53045499e-04 9.99463732e-01 -7.50995581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16587156 meters 0.025234555659429937 Centerline is valid? [True, True] Translation: X:184.72, Y:-23.58, Z:-7.51 [[ 9.75808701e-01 2.16150724e-01 3.28061563e-02 1.84715418e+02] [-2.16052878e-01 9.76359753e-01 -6.54113578e-03 -2.35828294e+01] [-3.34444819e-02 -7.04967263e-04 9.99440328e-01 -7.50987541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22587156 meters 0.029296676758732765 Centerline is valid? [True, True] Translation: X:184.78, Y:-23.60, Z:-7.51 [[ 9.76451524e-01 2.13160910e-01 3.32392539e-02 1.84775833e+02] [-2.13058492e-01 9.77016920e-01 -6.63452584e-03 -2.35961658e+01] [-3.38895350e-02 -6.03612436e-04 9.99425402e-01 -7.51148562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28587156 meters 0.0202258447586922 Centerline is valid? [True, True] Translation: X:184.84, Y:-23.61, Z:-7.52 [[ 9.76987901e-01 2.10755799e-01 3.28121157e-02 1.84836463e+02] [-2.10654640e-01 9.77538608e-01 -6.54927503e-03 -2.36112773e+01] [-3.34554076e-02 -5.13461956e-04 9.99440079e-01 -7.51531583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34587156 meters 0.01735324495265613 Centerline is valid? [True, True] Translation: X:184.90, Y:-23.63, Z:-7.52 [[ 9.77638888e-01 2.07594319e-01 3.35678931e-02 1.84896265e+02] [-2.07486375e-01 9.78214921e-01 -6.70613826e-03 -2.36260266e+01] [-3.42287701e-02 -4.08698921e-04 9.99413940e-01 -7.51645650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40587156 meters 0.01573017570346158 Centerline is valid? [True, True] Translation: X:184.96, Y:-23.64, Z:-7.52 [[ 9.78057183e-01 2.05679770e-01 3.31659214e-02 1.84956470e+02] [-2.05573106e-01 9.78619294e-01 -6.63144688e-03 -2.36395514e+01] [-3.38207651e-02 -3.32087232e-04 9.99427859e-01 -7.51994045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46587156 meters 0.027872626404086293 Centerline is valid? [True, True] Translation: X:185.02, Y:-23.65, Z:-7.52 [[ 9.78122852e-01 2.05499448e-01 3.23367119e-02 1.85018073e+02] [-2.05397782e-01 9.78657182e-01 -6.47087490e-03 -2.36499481e+01] [-3.29763166e-02 -3.12578294e-04 9.99456084e-01 -7.52268342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52587156 meters 0.025874478412207167 Centerline is valid? [True, True] Translation: X:185.08, Y:-23.66, Z:-7.53 [[ 9.77895439e-01 2.06631022e-01 3.20020575e-02 1.85079598e+02] [-2.06531861e-01 9.78418880e-01 -6.40986951e-03 -2.36594250e+01] [-3.26358952e-02 -3.41262328e-04 9.99467249e-01 -7.52576129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.58587156000002 meters 0.01863124953467278 Centerline is valid? [True, True] Translation: X:185.14, Y:-23.66, Z:-7.53 [[ 9.77751161e-01 2.07260384e-01 3.23388453e-02 1.85141456e+02] [-2.07159286e-01 9.78285747e-01 -6.48283400e-03 -2.36645646e+01] [-3.29802661e-02 -3.60693629e-04 9.99455938e-01 -7.53112073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.64587156000002 meters 0.019729991063876906 Centerline is valid? [True, True] Translation: X:185.20, Y:-23.68, Z:-7.53 [[ 9.77887448e-01 2.06479535e-01 3.32015209e-02 1.85202349e+02] [-2.06372305e-01 9.78450861e-01 -6.66212832e-03 -2.36795285e+01] [-3.38616499e-02 -3.37062729e-04 9.99426473e-01 -7.52965890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70587156000002 meters 0.013243635625762782 Centerline is valid? [True, True] Translation: X:185.26, Y:-23.69, Z:-7.53 [[ 9.78666360e-01 2.02741459e-01 3.32874961e-02 1.85262012e+02] [-2.02631296e-01 9.79232281e-01 -6.68562670e-03 -2.36946478e+01] [-3.39516444e-02 -2.02090547e-04 9.99423456e-01 -7.53277384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76587156 meters 0.011550656300289711 Centerline is valid? [True, True] Translation: X:185.32, Y:-23.72, Z:-7.54 [[ 9.79906375e-01 1.96737249e-01 3.28321712e-02 1.85320043e+02] [-1.96626620e-01 9.80456248e-01 -6.59677858e-03 -2.37150120e+01] [-3.34883395e-02 8.54654863e-06 9.99439108e-01 -7.53657070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82587156 meters 0.01500807633401912 Centerline is valid? [True, True] Translation: X:185.38, Y:-23.74, Z:-7.54 [[ 9.81165953e-01 1.90542762e-01 3.17305469e-02 1.85378587e+02] [-1.90436045e-01 9.81678872e-01 -6.37999066e-03 -2.37396391e+01] [-3.23648686e-02 2.17189763e-04 9.99476097e-01 -7.54164412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88587156 meters 0.01787406813596472 Centerline is valid? [True, True] Translation: X:185.44, Y:-23.76, Z:-7.54 [[ 9.81748893e-01 1.87332145e-01 3.27990769e-02 1.85437300e+02] [-1.87216115e-01 9.82296570e-01 -6.60108636e-03 -2.37576106e+01] [-3.34550164e-02 3.40093461e-04 9.99440166e-01 -7.54209952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94587156 meters 0.01948870399945599 Centerline is valid? [True, True] Translation: X:185.50, Y:-23.78, Z:-7.54 [[ 9.82346255e-01 1.83913897e-01 3.42273767e-02 1.85497597e+02] [-1.83785374e-01 9.82942241e-01 -6.89109372e-03 -2.37757004e+01] [-3.49109022e-02 4.78948875e-04 9.99390314e-01 -7.54052631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00587156 meters 0.03403348292502186 Centerline is valid? [True, True] Translation: X:185.56, Y:-23.79, Z:-7.54 [[ 9.82441870e-01 1.83534100e-01 3.35142669e-02 1.85557070e+02] [-1.83410461e-01 9.83013223e-01 -6.75324687e-03 -2.37912837e+01] [-3.41844186e-02 4.87805330e-04 9.99415423e-01 -7.54443641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06587156 meters 0.021471854467037414 Centerline is valid? [True, True] Translation: X:185.62, Y:-23.81, Z:-7.55 [[ 9.82150275e-01 1.85388185e-01 3.18128788e-02 1.85615650e+02] [-1.85277603e-01 9.82665282e-01 -6.41513145e-03 -2.38066619e+01] [-3.24507011e-02 4.06409185e-04 9.99473255e-01 -7.55271198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12587156 meters 0.015199835045113186 Centerline is valid? [True, True] Translation: X:185.68, Y:-23.81, Z:-7.55 [[ 9.81260335e-01 1.90112483e-01 3.13910726e-02 1.85677921e+02] [-1.90007081e-01 9.81762283e-01 -6.33469510e-03 -2.38110283e+01] [-3.20228757e-02 2.51458957e-04 9.99487105e-01 -7.55259471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18587156 meters 0.013246766559217771 Centerline is valid? [True, True] Translation: X:185.74, Y:-23.82, Z:-7.56 [[ 9.80543638e-01 1.93701950e-01 3.18391134e-02 1.85738413e+02] [-1.93595203e-01 9.81060413e-01 -6.43143377e-03 -2.38195298e+01] [-3.24818750e-02 1.42401850e-04 9.99472315e-01 -7.55574713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24587156 meters 0.012036276341116954 Centerline is valid? [True, True] Translation: X:185.80, Y:-23.83, Z:-7.56 [[ 9.79512116e-01 1.98834457e-01 3.19511175e-02 1.85799987e+02] [-1.98729601e-01 9.80033090e-01 -6.45657355e-03 -2.38256526e+01] [-3.25969417e-02 -2.53408161e-05 9.99468578e-01 -7.55869973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.30587156 meters 0.014979694300638358 Centerline is valid? [True, True] Translation: X:185.86, Y:-23.83, Z:-7.56 [[ 9.78530269e-01 2.03418990e-01 3.31545860e-02 1.85863028e+02] [-2.03308529e-01 9.79091764e-01 -6.70521142e-03 -2.38339408e+01] [-3.38253494e-02 -1.79357761e-04 9.99427743e-01 -7.55677897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36587156000002 meters 0.014172658530988959 Centerline is valid? [True, True] Translation: X:185.92, Y:-23.84, Z:-7.56 [[ 9.77995787e-01 2.05961147e-01 3.32302028e-02 1.85924355e+02] [-2.05851414e-01 9.78560135e-01 -6.72737727e-03 -2.38428446e+01] [-3.39033300e-02 -2.61137608e-04 9.99425083e-01 -7.55990627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42587156000002 meters 0.01635387520344788 Centerline is valid? [True, True] Translation: X:185.99, Y:-23.85, Z:-7.56 [[ 9.77400444e-01 2.08763706e-01 3.32578796e-02 1.85986231e+02] [-2.08655215e-01 9.77966048e-01 -6.73875258e-03 -2.38517065e+01] [-3.39318841e-02 -3.52970269e-04 9.99424085e-01 -7.56194303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48587156 meters 0.01994170653506429 Centerline is valid? [True, True] Translation: X:186.05, Y:-23.86, Z:-7.56 [[ 9.76841389e-01 2.11301229e-01 3.36554659e-02 1.86048032e+02] [-2.11191433e-01 9.77420890e-01 -6.82514138e-03 -2.38606246e+01] [-3.43377162e-02 -4.40665473e-04 9.99410190e-01 -7.56360711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54587156 meters 0.018613095341661116 Centerline is valid? [True, True] Translation: X:186.11, Y:-23.87, Z:-7.57 [[ 9.76601262e-01 2.12540518e-01 3.28101187e-02 1.86109399e+02] [-2.12436687e-01 9.77152143e-01 -6.65910155e-03 -2.38707167e+01] [-3.34758067e-02 -4.66785961e-04 9.99439419e-01 -7.56753825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60587156 meters 0.018186993504860905 Centerline is valid? [True, True] Translation: X:186.17, Y:-23.88, Z:-7.57 [[ 9.77054161e-01 2.10485199e-01 3.25752540e-02 1.86169681e+02] [-2.10381518e-01 9.77596967e-01 -6.61714748e-03 -2.38827996e+01] [-3.32382812e-02 -3.87919906e-04 9.99447380e-01 -7.57228373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66587156 meters 0.015695603472411113 Centerline is valid? [True, True] Translation: X:186.23, Y:-23.90, Z:-7.57 [[ 9.77403241e-01 2.08867932e-01 3.25129449e-02 1.86229812e+02] [-2.08763563e-01 9.77943802e-01 -6.61017905e-03 -2.38984714e+01] [-3.31764874e-02 -3.26707790e-04 9.99449455e-01 -7.57355539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72587156 meters 0.015457595984723217 Centerline is valid? [True, True] Translation: X:186.29, Y:-23.91, Z:-7.58 [[ 9.77613679e-01 2.07704738e-01 3.36190007e-02 1.86289905e+02] [-2.07592228e-01 9.78191524e-01 -6.84174068e-03 -2.39102511e+01] [-3.43068835e-02 -2.90463981e-04 9.99411303e-01 -7.57567343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78587156 meters 0.014071499850190274 Centerline is valid? [True, True] Translation: X:186.35, Y:-23.92, Z:-7.58 [[ 9.77662872e-01 2.07309078e-01 3.46158243e-02 1.86350494e+02] [-2.07189440e-01 9.78275455e-01 -7.04764773e-03 -2.39239255e+01] [-3.53248526e-02 -2.81809711e-04 9.99375843e-01 -7.57511650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84587156 meters 0.033423544176772825 Centerline is valid? [True, True] Translation: X:186.41, Y:-23.94, Z:-7.58 [[ 9.77742481e-01 2.07012716e-01 3.41376176e-02 1.86411626e+02] [-2.06895967e-01 9.78338217e-01 -6.95640514e-03 -2.39354710e+01] [-3.48382002e-02 -2.61362581e-04 9.99392931e-01 -7.57878832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90587156 meters 0.013235764700827862 Centerline is valid? [True, True] Translation: X:186.47, Y:-23.95, Z:-7.58 [[ 9.78007672e-01 2.05934097e-01 3.30475567e-02 1.86472913e+02] [-2.05823963e-01 9.78565840e-01 -6.73748535e-03 -2.39487010e+01] [-3.37266880e-02 -2.12666724e-04 9.99431071e-01 -7.58459298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96587156 meters 0.012796894127530798 Centerline is valid? [True, True] Translation: X:186.53, Y:-23.96, Z:-7.59 [[ 9.78327284e-01 2.04578548e-01 3.19897413e-02 1.86533887e+02] [-2.04474430e-01 9.78850139e-01 -6.52788958e-03 -2.39626136e+01] [-3.26486289e-02 -1.54671644e-04 9.99466879e-01 -7.58923559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02587156 meters 0.016738415059523906 Centerline is valid? [True, True] Translation: X:186.60, Y:-23.98, Z:-7.59 [[ 9.78421881e-01 2.04189966e-01 3.15765658e-02 1.86595125e+02] [-2.04088126e-01 9.78931274e-01 -6.44958711e-03 -2.39762776e+01] [-3.22282288e-02 -1.33984991e-04 9.99480527e-01 -7.59153615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.08587156000002 meters 0.012280754831071007 Centerline is valid? [True, True] Translation: X:186.66, Y:-23.99, Z:-7.59 [[ 9.78450945e-01 2.03944416e-01 3.22555928e-02 1.86655162e+02] [-2.03837784e-01 9.78982462e-01 -6.59524176e-03 -2.39887587e+01] [-3.29227223e-02 -1.21788022e-04 9.99457893e-01 -7.59383009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.14587156000002 meters 0.02743002729190167 Centerline is valid? [True, True] Translation: X:186.72, Y:-24.00, Z:-7.59 [[ 9.78251924e-01 2.04726573e-01 3.33197067e-02 1.86716595e+02] [-2.04613056e-01 9.78819191e-01 -6.81827351e-03 -2.40005365e+01] [-3.40098501e-02 -1.47657830e-04 9.99421487e-01 -7.59303491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20587156000002 meters 0.012343874887061361 Centerline is valid? [True, True] Translation: X:186.78, Y:-24.01, Z:-7.60 [[ 9.78012691e-01 2.05783511e-01 3.38278439e-02 1.86778490e+02] [-2.05666939e-01 9.78597524e-01 -6.92794466e-03 -2.40110786e+01] [-3.45295011e-02 -1.81651307e-04 9.99403662e-01 -7.59526501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26587156 meters 0.021213880931374527 Centerline is valid? [True, True] Translation: X:186.84, Y:-24.02, Z:-7.60 [[ 9.77711112e-01 2.07295929e-01 3.33073393e-02 1.86838905e+02] [-2.07183543e-01 9.78278257e-01 -6.82876135e-03 -2.40212167e+01] [-3.39994202e-02 -2.24176712e-04 9.99421827e-01 -7.59881320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32587156 meters 0.02947499825596655 Centerline is valid? [True, True] Translation: X:186.90, Y:-24.04, Z:-7.60 [[ 9.78033405e-01 2.05868944e-01 3.26900006e-02 1.86900198e+02] [-2.05759818e-01 9.78579557e-01 -6.70432749e-03 -2.40371759e+01] [-3.33699792e-02 -1.69232326e-04 9.99443053e-01 -7.60305783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38587156 meters 0.011414137165352018 Centerline is valid? [True, True] Translation: X:186.96, Y:-24.05, Z:-7.60 [[ 9.78473423e-01 2.03703815e-01 3.30834799e-02 1.86960604e+02] [-2.03590580e-01 9.79032557e-01 -6.79175271e-03 -2.40532658e+01] [-3.37733099e-02 -8.99353536e-05 9.99429515e-01 -7.60475002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44587156 meters 0.011317619604156785 Centerline is valid? [True, True] Translation: X:187.02, Y:-24.07, Z:-7.61 [[ 9.78663460e-01 2.02704956e-01 3.35936433e-02 1.87020407e+02] [-2.02587383e-01 9.79239857e-01 -6.90319487e-03 -2.40676706e+01] [-3.42955463e-02 -4.97436972e-05 9.99411733e-01 -7.60731572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50587156 meters 0.011583889638072782 Centerline is valid? [True, True] Translation: X:187.08, Y:-24.08, Z:-7.61 [[ 9.78125582e-01 2.05220416e-01 3.39842190e-02 1.87083247e+02] [-2.05101516e-01 9.78715772e-01 -6.98613540e-03 -2.40759812e+01] [-3.46945887e-02 -1.36897088e-04 9.99397952e-01 -7.60830756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56587156 meters 0.013623202472800853 Centerline is valid? [True, True] Translation: X:187.14, Y:-24.08, Z:-7.61 [[ 9.77542428e-01 2.08019574e-01 3.37440085e-02 1.87144215e+02] [-2.07903773e-01 9.78124637e-01 -6.94378752e-03 -2.40825658e+01] [-3.44502898e-02 -2.27659777e-04 9.99406387e-01 -7.61295746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62587156 meters 0.014999160587367015 Centerline is valid? [True, True] Translation: X:187.21, Y:-24.09, Z:-7.62 [[ 9.76975176e-01 2.10778464e-01 3.30445999e-02 1.87206480e+02] [-2.10668820e-01 9.77533806e-01 -6.80492914e-03 -2.40898424e+01] [-3.37365460e-02 -3.13220047e-04 9.99430712e-01 -7.61635348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68587156 meters 0.016525740299133198 Centerline is valid? [True, True] Translation: X:187.27, Y:-24.10, Z:-7.62 [[ 9.76847849e-01 2.11296312e-01 3.34984832e-02 1.87268059e+02] [-2.11183737e-01 9.77421997e-01 -6.90430191e-03 -2.40984998e+01] [-3.42010079e-02 -3.29882416e-04 9.99414920e-01 -7.62009823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74587156 meters 0.01494871024876773 Centerline is valid? [True, True] Translation: X:187.33, Y:-24.11, Z:-7.62 [[ 9.76874227e-01 2.10910870e-01 3.51190808e-02 1.87329300e+02] [-2.10786635e-01 9.77505243e-01 -7.24535634e-03 -2.41102432e+01] [-3.58572100e-02 -3.24830978e-04 9.99356871e-01 -7.61893186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.80587156 meters 0.015268065473132596 Centerline is valid? [True, True] Translation: X:187.39, Y:-24.12, Z:-7.62 [[ 9.76964377e-01 2.10645402e-01 3.41924202e-02 1.87390173e+02] [-2.10527274e-01 9.77562491e-01 -7.05996536e-03 -2.41194081e+01] [-3.49123767e-02 -3.01102339e-04 9.99390332e-01 -7.62418143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86587156000002 meters 0.01579266591491486 Centerline is valid? [True, True] Translation: X:187.45, Y:-24.12, Z:-7.63 [[ 9.76800600e-01 2.11609939e-01 3.28910528e-02 1.87451223e+02] [-2.11500971e-01 9.77354150e-01 -6.79746886e-03 -2.41235750e+01] [-3.35846189e-02 -3.16717945e-04 9.99435827e-01 -7.62926985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.92587156000002 meters 0.016335043477702812 Centerline is valid? [True, True] Translation: X:187.51, Y:-24.13, Z:-7.63 [[ 9.76674266e-01 2.12169073e-01 3.30403101e-02 1.87511602e+02] [-2.12059417e-01 9.77232915e-01 -6.82882857e-03 -2.41295040e+01] [-3.37369448e-02 -3.36967770e-04 9.99430690e-01 -7.63192766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98587156 meters 0.02781387819131538 Centerline is valid? [True, True] Translation: X:187.57, Y:-24.14, Z:-7.63 [[ 9.76834336e-01 2.11228998e-01 3.43073011e-02 1.87571747e+02] [-2.11110179e-01 9.77436551e-01 -7.09095963e-03 -2.41361463e+01] [-3.50310263e-02 -3.15927645e-04 9.99386175e-01 -7.63138013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04587156 meters 0.013435562587252613 Centerline is valid? [True, True] Translation: X:187.63, Y:-24.15, Z:-7.63 [[ 9.77308927e-01 2.08880920e-01 3.51571174e-02 1.87631044e+02] [-2.08754674e-01 9.77941054e-01 -7.26510338e-03 -2.41462838e+01] [-3.58991299e-02 -2.38962190e-04 9.99355390e-01 -7.63355203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10587156 meters 0.010652178919358206 Centerline is valid? [True, True] Translation: X:187.69, Y:-24.16, Z:-7.63 [[ 9.78605277e-01 2.02431489e-01 3.67859289e-02 1.87691690e+02] [-2.02288761e-01 9.79296427e-01 -7.60032348e-03 -2.41604211e+01] [-3.75628736e-02 -3.66334482e-06 9.99294266e-01 -7.63358943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16587156 meters 0.014583019125199886 Centerline is valid? [True, True] Translation: X:187.75, Y:-24.18, Z:-7.64 [[ 9.80304868e-01 1.93988912e-01 3.70225408e-02 1.87750017e+02] [-1.93838060e-01 9.81003667e-01 -7.65589788e-03 -2.41807252e+01] [-3.78044076e-02 3.28736483e-04 9.99285104e-01 -7.63639732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22587156 meters 0.020627194735956565 Centerline is valid? [True, True] Translation: X:187.81, Y:-24.20, Z:-7.64 [[ 9.81486659e-01 1.87844145e-01 3.73967255e-02 1.87808284e+02] [-1.87685505e-01 9.82198678e-01 -7.74002144e-03 -2.41988296e+01] [-3.81849321e-02 5.77904461e-04 9.99270522e-01 -7.63884334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28587156 meters 0.02319082727560893 Centerline is valid? [True, True] Translation: X:187.87, Y:-24.21, Z:-7.64 [[ 9.82060103e-01 1.84674221e-01 3.81233046e-02 1.87868897e+02] [-1.84506932e-01 9.82799532e-01 -7.89126450e-03 -2.42126047e+01] [-3.89248791e-02 7.15682042e-04 9.99241883e-01 -7.63965854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34587156 meters 0.030052529321351565 Centerline is valid? [True, True] Translation: X:187.93, Y:-24.23, Z:-7.64 [[ 9.82351282e-01 1.83052884e-01 3.84395774e-02 1.87928889e+02] [-1.82881504e-01 9.83102752e-01 -7.95830904e-03 -2.42270849e+01] [-3.92468458e-02 7.87967358e-04 9.99229235e-01 -7.64104723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40587156 meters 0.031707635069049805 Centerline is valid? [True, True] Translation: X:187.99, Y:-24.25, Z:-7.65 [[ 9.83464817e-01 1.77018738e-01 3.82272102e-02 1.87986079e+02] [-1.76844433e-01 9.84206943e-01 -7.92087970e-03 -2.42486923e+01] [-3.90256298e-02 1.02963719e-03 9.99237679e-01 -7.64511739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46587156 meters 0.03810407953712636 Centerline is valid? [True, True] Translation: X:188.04, Y:-24.27, Z:-7.65 [[ 9.84578065e-01 1.70952350e-01 3.71662151e-02 1.88042576e+02] [-1.70783233e-01 9.85278522e-01 -7.70198110e-03 -2.42717860e+01] [-3.79357453e-02 1.23583526e-03 9.99279416e-01 -7.64989512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52587156 meters 0.040961770658101734 Centerline is valid? [True, True] Translation: X:188.10, Y:-24.29, Z:-7.65 [[ 9.84973291e-01 1.68840517e-01 3.63386252e-02 1.88101586e+02] [-1.68677416e-01 9.85642542e-01 -7.53046171e-03 -2.42893368e+01] [-3.70883420e-02 1.28779826e-03 9.99311161e-01 -7.65409077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.58587156000002 meters 0.04043801505614299 Centerline is valid? [True, True] Translation: X:188.16, Y:-24.30, Z:-7.65 [[ 9.84702250e-01 1.70372656e-01 3.65326905e-02 1.88162285e+02] [-1.70208854e-01 9.85378926e-01 -7.57083518e-03 -2.43039350e+01] [-3.72884066e-02 1.23683105e-03 9.99303780e-01 -7.65468426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.64587156000002 meters 0.03937055702894169 Centerline is valid? [True, True] Translation: X:188.22, Y:-24.31, Z:-7.65 [[ 9.83923361e-01 1.74539049e-01 3.78277547e-02 1.88222040e+02] [-1.74366214e-01 9.84649611e-01 -7.84650869e-03 -2.43145058e+01] [-3.86166061e-02 1.12448084e-03 9.99253468e-01 -7.65473798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70587156000002 meters 0.022995681519803 Centerline is valid? [True, True] Translation: X:188.28, Y:-24.31, Z:-7.66 [[ 9.82104121e-01 1.84442552e-01 3.81109079e-02 1.88284310e+02] [-1.84274535e-01 9.82843017e-01 -7.90570829e-03 -2.43136511e+01] [-3.89151887e-02 7.41358841e-04 9.99242242e-01 -7.65735191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76587156 meters 0.013825779672740686 Centerline is valid? [True, True] Translation: X:188.35, Y:-24.31, Z:-7.66 [[ 9.79922538e-01 1.95812638e-01 3.75397021e-02 1.88345284e+02] [-1.95657924e-01 9.80641284e-01 -7.78770270e-03 -2.43129041e+01] [-3.83379123e-02 2.86405226e-04 9.99264791e-01 -7.66157331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82587156 meters 0.010677361335976751 Centerline is valid? [True, True] Translation: X:188.41, Y:-24.31, Z:-7.66 [[ 9.78527386e-01 2.02782204e-01 3.69260283e-02 1.88407929e+02] [-2.02637492e-01 9.79223865e-01 -7.65959040e-03 -2.43145683e+01] [-3.77120768e-02 1.25211968e-05 9.99288647e-01 -7.66498864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88587156 meters 0.014211208076863024 Centerline is valid? [True, True] Translation: X:188.47, Y:-24.31, Z:-7.67 [[ 9.76756853e-01 2.11229198e-01 3.64455235e-02 1.88469773e+02] [-2.11093824e-01 9.77436512e-01 -7.56721053e-03 -2.43119466e+01] [-3.72216012e-02 -3.02100202e-04 9.99306990e-01 -7.66826624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94587156 meters 0.01939779134580021 Centerline is valid? [True, True] Translation: X:188.53, Y:-24.31, Z:-7.67 [[ 9.75511742e-01 2.17052850e-01 3.55654640e-02 1.88530843e+02] [-2.16927814e-01 9.76159720e-01 -7.38412100e-03 -2.43107260e+01] [-3.63203179e-02 -5.11841625e-04 9.99340069e-01 -7.67351365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00587156 meters 0.021824270798315445 Centerline is valid? [True, True] Translation: X:188.59, Y:-24.32, Z:-7.68 [[ 9.75201607e-01 2.18618995e-01 3.44610114e-02 1.88588796e+02] [-2.18502603e-01 9.75810140e-01 -7.15424247e-03 -2.43158195e+01] [-3.51914577e-02 -5.52991951e-04 9.99380436e-01 -7.67921527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06587156 meters 0.019709959708220145 Centerline is valid? [True, True] Translation: X:188.65, Y:-24.33, Z:-7.68 [[ 9.75574950e-01 2.16923304e-01 3.46092141e-02 1.88646738e+02] [-2.16804920e-01 9.76188524e-01 -7.18279153e-03 -2.43252360e+01] [-3.53432325e-02 -4.96096412e-04 9.99375110e-01 -7.68139873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12587156 meters 0.01599089799998052 Centerline is valid? [True, True] Translation: X:188.70, Y:-24.34, Z:-7.68 [[ 9.76475644e-01 2.12706925e-01 3.53706278e-02 1.88704342e+02] [-2.12580573e-01 9.77115981e-01 -7.33894422e-03 -2.43401682e+01] [-3.61222500e-02 -3.52808063e-04 9.99347316e-01 -7.68249617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18587156 meters 0.010879186391353391 Centerline is valid? [True, True] Translation: X:188.76, Y:-24.36, Z:-7.68 [[ 9.78615789e-01 2.02516580e-01 3.60301658e-02 1.88760875e+02] [-2.02378609e-01 9.79278834e-01 -7.47423689e-03 -2.43642156e+01] [-3.67972356e-02 2.26714036e-05 9.99322752e-01 -7.68380563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24587156 meters 0.02174615685252091 Centerline is valid? [True, True] Translation: X:188.82, Y:-24.40, Z:-7.69 [[ 9.81268079e-01 1.89138277e-01 3.66015043e-02 1.88815262e+02] [-1.88986566e-01 9.81950318e-01 -7.59275756e-03 -2.43957007e+01] [-3.73769399e-02 5.33337999e-04 9.99301096e-01 -7.68585719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.30587156 meters 0.028503944240049102 Centerline is valid? [True, True] Translation: X:188.87, Y:-24.42, Z:-7.69 [[ 9.83008043e-01 1.79928323e-01 3.63453623e-02 1.88871876e+02] [-1.79772428e-01 9.83679332e-01 -7.53960133e-03 -2.44206196e+01] [-3.71087695e-02 8.77594735e-04 9.99310847e-01 -7.68915225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.36587156000002 meters 0.041166100649390025 Centerline is valid? [True, True] Translation: X:188.93, Y:-24.45, Z:-7.69 [[ 9.85404976e-01 1.66512512e-01 3.53640705e-02 1.88927041e+02] [-1.66356271e-01 9.86038423e-01 -7.33617199e-03 -2.44529990e+01] [-3.60918967e-02 1.34606547e-03 9.99347569e-01 -7.69266599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42587156000002 meters 0.051347465392884206 Centerline is valid? [True, True] Translation: X:188.98, Y:-24.48, Z:-7.70 [[ 9.86457779e-01 1.60044853e-01 3.58705330e-02 1.88982301e+02] [-1.59879825e-01 9.87108437e-01 -7.44141914e-03 -2.44815833e+01] [-3.65990666e-02 1.60567128e-03 9.99328740e-01 -7.69529208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48587156 meters 0.05670923041240634 Centerline is valid? [True, True] Translation: X:189.04, Y:-24.51, Z:-7.70 [[ 9.87277739e-01 1.54707326e-01 3.67193327e-02 1.89038723e+02] [-1.54530698e-01 9.87958619e-01 -7.61771680e-03 -2.45077488e+01] [-3.74556978e-02 1.84653809e-03 9.99296583e-01 -7.69591589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54587156 meters 0.059366389960391175 Centerline is valid? [True, True] Translation: X:189.10, Y:-24.53, Z:-7.70 [[ 9.87372699e-01 1.54146864e-01 3.65225556e-02 1.89096163e+02] [-1.53971720e-01 9.88046199e-01 -7.57752369e-03 -2.45307500e+01] [-3.72540238e-02 1.85839931e-03 9.99304100e-01 -7.69940168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60587156 meters 0.05850946690798364 Centerline is valid? [True, True] Translation: X:189.16, Y:-24.55, Z:-7.70 [[ 9.87219347e-01 1.55065892e-01 3.67767701e-02 1.89155604e+02] [-1.54888829e-01 9.87902417e-01 -7.63312961e-03 -2.45487638e+01] [-3.75154981e-02 1.83926239e-03 9.99294353e-01 -7.70140011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66587156 meters 0.05354881546216349 Centerline is valid? [True, True] Translation: X:189.21, Y:-24.57, Z:-7.71 [[ 9.86698356e-01 1.58554881e-01 3.58706643e-02 1.89214158e+02] [-1.58388495e-01 9.87348752e-01 -7.45166919e-03 -2.45651256e+01] [-3.65983541e-02 1.67104920e-03 9.99328659e-01 -7.70512795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72587156 meters 0.04557622831970626 Centerline is valid? [True, True] Translation: X:189.27, Y:-24.58, Z:-7.71 [[ 9.85675697e-01 1.65015545e-01 3.48323255e-02 1.89273514e+02] [-1.64862664e-01 9.86289986e-01 -7.23635072e-03 -2.45758939e+01] [-3.55488842e-02 1.39014506e-03 9.99366972e-01 -7.70860394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78587156 meters 0.0410891595105109 Centerline is valid? [True, True] Translation: X:189.33, Y:-24.59, Z:-7.71 [[ 9.84585121e-01 1.71435215e-01 3.46714128e-02 1.89331581e+02] [-1.71287712e-01 9.85194720e-01 -7.20296068e-03 -2.45886121e+01] [-3.53929340e-02 1.15314094e-03 9.99372809e-01 -7.71213520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84587156 meters 0.02587132081263791 Centerline is valid? [True, True] Translation: X:189.39, Y:-24.59, Z:-7.71 [[ 9.82711433e-01 1.81903086e-01 3.44892337e-02 1.89393079e+02] [-1.81763574e-01 9.83316161e-01 -7.16459974e-03 -2.45903685e+01] [-3.52170836e-02 7.71847697e-04 9.99379388e-01 -7.71302007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90587156 meters 0.020320901462394413 Centerline is valid? [True, True] Translation: X:189.45, Y:-24.60, Z:-7.72 [[ 9.81358675e-01 1.89092836e-01 3.43373011e-02 1.89451893e+02] [-1.88958945e-01 9.81959081e-01 -7.13298591e-03 -2.46004823e+01] [-3.50666212e-02 5.11677412e-04 9.99384846e-01 -7.71686309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96587156 meters 0.012830217275293203 Centerline is valid? [True, True] Translation: X:189.51, Y:-24.61, Z:-7.72 [[ 9.79565361e-01 1.98112390e-01 3.46869483e-02 1.89512520e+02] [-1.97981405e-01 9.80179292e-01 -7.20545459e-03 -2.46078140e+01] [-3.54269182e-02 1.90842969e-04 9.99372251e-01 -7.72002698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02587156 meters 0.010719406918972975 Centerline is valid? [True, True] Translation: X:189.57, Y:-24.62, Z:-7.72 [[ 9.78238613e-01 2.04532159e-01 3.48684857e-02 1.89574132e+02] [-2.04403875e-01 9.78859844e-01 -7.24302946e-03 -2.46188306e+01] [-3.56127930e-02 -4.18425258e-05 9.99365662e-01 -7.72149692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.08587156000002 meters 0.014396682053200138 Centerline is valid? [True, True] Translation: X:189.64, Y:-24.63, Z:-7.73 [[ 9.77506642e-01 2.08115882e-01 3.41839680e-02 1.89635340e+02] [-2.07994574e-01 9.78104163e-01 -7.10664536e-03 -2.46300811e+01] [-3.49144872e-02 -1.63286805e-04 9.99390290e-01 -7.72548777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14587156000002 meters 0.02571432750274037 Centerline is valid? [True, True] Translation: X:189.70, Y:-24.64, Z:-7.73 [[ 9.76198637e-01 2.14326091e-01 3.31744927e-02 1.89696036e+02] [-2.14215236e-01 9.76762095e-01 -6.90230067e-03 -2.46401700e+01] [-3.38829301e-02 -3.68465286e-04 9.99425741e-01 -7.72913920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20587156000002 meters 0.02273590400733402 Centerline is valid? [True, True] Translation: X:189.76, Y:-24.64, Z:-7.73 [[ 9.74759325e-01 2.20777784e-01 3.31877630e-02 1.89757336e+02] [-2.20670349e-01 9.75323960e-01 -6.91164088e-03 -2.46431428e+01] [-3.38947572e-02 -5.86368849e-04 9.99425236e-01 -7.73263247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26587156 meters 0.023904234839105407 Centerline is valid? [True, True] Translation: X:189.82, Y:-24.65, Z:-7.73 [[ 9.74316292e-01 2.22725295e-01 3.31844277e-02 1.89818495e+02] [-2.22619041e-01 9.74881026e-01 -6.91001508e-03 -2.46548901e+01] [-3.38899041e-02 -6.54945221e-04 9.99425358e-01 -7.73490746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32587156 meters 0.027344824605335133 Centerline is valid? [True, True] Translation: X:189.88, Y:-24.67, Z:-7.74 [[ 9.73654289e-01 2.25604051e-01 3.31683324e-02 1.89878805e+02] [-2.25499370e-01 9.74218790e-01 -6.91254425e-03 -2.46650822e+01] [-3.38727107e-02 -7.49009705e-04 9.99425874e-01 -7.73847361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38587156 meters 0.02789401747938919 Centerline is valid? [True, True] Translation: X:189.94, Y:-24.68, Z:-7.74 [[ 9.73734868e-01 2.25318640e-01 3.27401508e-02 1.89938397e+02] [-2.25216311e-01 9.74284858e-01 -6.82845474e-03 -2.46775103e+01] [-3.34368113e-02 -7.24511512e-04 9.99440571e-01 -7.74270291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44587156 meters 0.025093788191802427 Centerline is valid? [True, True] Translation: X:190.00, Y:-24.69, Z:-7.75 [[ 9.74331644e-01 2.22728966e-01 3.27055768e-02 1.89998109e+02] [-2.22625188e-01 9.74880204e-01 -6.82740129e-03 -2.46936300e+01] [-3.34046794e-02 -6.28932054e-04 9.99441710e-01 -7.74561140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50587156 meters 0.02028912032402746 Centerline is valid? [True, True] Translation: X:190.06, Y:-24.71, Z:-7.75 [[ 9.75084719e-01 2.19337489e-01 3.31791662e-02 1.90056505e+02] [-2.19228675e-01 9.75648911e-01 -6.92756565e-03 -2.47134415e+01] [-3.38906923e-02 -5.18861268e-04 9.99425411e-01 -7.74660630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56587156 meters 0.02023811449747487 Centerline is valid? [True, True] Translation: X:190.12, Y:-24.73, Z:-7.75 [[ 9.75485447e-01 2.17549703e-01 3.31703105e-02 1.90116316e+02] [-2.17439924e-01 9.76049137e-01 -6.92542738e-03 -2.47258547e+01] [-3.38824776e-02 -4.56896173e-04 9.99425720e-01 -7.75068198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62587156 meters 0.017227725031618304 Centerline is valid? [True, True] Translation: X:190.18, Y:-24.74, Z:-7.75 [[ 9.75867677e-01 2.15830169e-01 3.31604331e-02 1.90176640e+02] [-2.15719287e-01 9.76430839e-01 -6.92855064e-03 -2.47409819e+01] [-3.38742598e-02 -3.91996382e-04 9.99426026e-01 -7.75282115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68587156 meters 0.017290192470106117 Centerline is valid? [True, True] Translation: X:190.24, Y:-24.76, Z:-7.75 [[ 9.76284697e-01 2.13834883e-01 3.38058240e-02 1.90237353e+02] [-2.13718213e-01 9.76869765e-01 -7.07013124e-03 -2.47572334e+01] [-3.45357281e-02 -3.22459356e-04 9.99403412e-01 -7.75308648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74587156 meters 0.013252274107965003 Centerline is valid? [True, True] Translation: X:190.30, Y:-24.77, Z:-7.75 [[ 9.76625409e-01 2.12180862e-01 3.43815765e-02 1.90297171e+02] [-2.12059111e-01 9.77230377e-01 -7.19185380e-03 -2.47737378e+01] [-3.51246947e-02 -2.67179398e-04 9.99382902e-01 -7.75391348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80587156 meters 0.01278093600889356 Centerline is valid? [True, True] Translation: X:190.36, Y:-24.79, Z:-7.76 [[ 9.76879703e-01 2.10885017e-01 3.51219988e-02 1.90357340e+02] [-2.10756893e-01 9.77510850e-01 -7.35325258e-03 -2.47860752e+01] [-3.58828257e-02 -2.18960152e-04 9.99355980e-01 -7.75623608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.86587156000002 meters 0.0319784657965101 Centerline is valid? [True, True] Translation: X:190.42, Y:-24.80, Z:-7.76 [[ 9.77135101e-01 2.09772196e-01 3.46788289e-02 1.90418279e+02] [-2.09646396e-01 9.77750273e-01 -7.26580826e-03 -2.48013602e+01] [-3.54313990e-02 -1.70615208e-04 9.99372096e-01 -7.75786251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.92587156000002 meters 0.010467732997659742 Centerline is valid? [True, True] Translation: X:190.48, Y:-24.82, Z:-7.76 [[ 9.77885387e-01 2.06087179e-01 3.56124283e-02 1.90476726e+02] [-2.05951772e-01 9.78533634e-01 -7.46955021e-03 -2.48193872e+01] [-3.63873374e-02 -3.00786996e-05 9.99337761e-01 -7.76060855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98587156 meters 0.010841223349525933 Centerline is valid? [True, True] Translation: X:190.54, Y:-24.84, Z:-7.76 [[ 9.78485010e-01 2.03294733e-01 3.51900036e-02 1.90537922e+02] [-2.03160610e-01 9.79117585e-01 -7.38382004e-03 -2.48364136e+01] [-3.59562430e-02 7.57346398e-05 9.99353362e-01 -7.76391415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04587156 meters 0.013546797434209218 Centerline is valid? [True, True] Translation: X:190.60, Y:-24.86, Z:-7.77 [[ 9.79368683e-01 1.99052137e-01 3.48601272e-02 1.90595734e+02] [-1.98917570e-01 9.79988873e-01 -7.32186906e-03 -2.48568001e+01] [-3.56199705e-02 2.36517478e-04 9.99365380e-01 -7.76851324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10587156 meters 0.015348407527275796 Centerline is valid? [True, True] Translation: X:190.65, Y:-24.88, Z:-7.77 [[ 9.79884494e-01 1.96503603e-01 3.48240338e-02 1.90654804e+02] [-1.96367502e-01 9.80503045e-01 -7.31998036e-03 -2.48755505e+01] [-3.55834737e-02 3.34426741e-04 9.99366652e-01 -7.77007653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16587156 meters 0.01593941921772791 Centerline is valid? [True, True] Translation: X:190.72, Y:-24.89, Z:-7.77 [[ 9.79966114e-01 1.96089414e-01 3.48619665e-02 1.90716052e+02] [-1.95952561e-01 9.80585955e-01 -7.33335899e-03 -2.48910056e+01] [-3.56231488e-02 3.55151695e-04 9.99365231e-01 -7.77226358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22587156 meters 0.015674476212331027 Centerline is valid? [True, True] Translation: X:190.78, Y:-24.90, Z:-7.77 [[ 9.79795706e-01 1.96744670e-01 3.59431332e-02 1.90775709e+02] [-1.96599355e-01 9.80454697e-01 -7.56841260e-03 -2.49046484e+01] [-3.67296586e-02 3.49101365e-04 9.99325177e-01 -7.77358474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28587156 meters 0.020232581048331734 Centerline is valid? [True, True] Translation: X:190.84, Y:-24.92, Z:-7.78 [[ 9.79529601e-01 1.98271028e-01 3.47902375e-02 1.90837329e+02] [-1.98135668e-01 9.80147191e-01 -7.33077066e-03 -2.49183550e+01] [-3.55530331e-02 2.87519897e-04 9.99367750e-01 -7.77805707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34587156 meters 0.01811492151225066 Centerline is valid? [True, True] Translation: X:190.90, Y:-24.93, Z:-7.78 [[ 9.79329924e-01 1.99392516e-01 3.39930084e-02 1.90898293e+02] [-1.99263740e-01 9.79919672e-01 -7.16927185e-03 -2.49318598e+01] [-3.47399168e-02 2.47508468e-04 9.99396356e-01 -7.78308504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40587156 meters 0.02079738812801204 Centerline is valid? [True, True] Translation: X:190.96, Y:-24.94, Z:-7.79 [[ 9.79002351e-01 2.01044032e-01 3.37000545e-02 1.90957910e+02] [-2.00918209e-01 9.79582186e-01 -7.11430857e-03 -2.49448673e+01] [-3.44422624e-02 1.93970210e-04 9.99406670e-01 -7.78590024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46587156 meters 0.01107395279508932 Centerline is valid? [True, True] Translation: X:191.02, Y:-24.96, Z:-7.78 [[ 9.78399390e-01 2.03573224e-01 3.59524138e-02 1.91019527e+02] [-2.03431500e-01 9.79059716e-01 -7.59581396e-03 -2.49552566e+01] [-3.67458644e-02 1.17886287e-04 9.99324636e-01 -7.78455881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52587156 meters 0.010177803462824805 Centerline is valid? [True, True] Translation: X:191.08, Y:-24.96, Z:-7.79 [[ 9.77628616e-01 2.07051011e-01 3.70427782e-02 1.91080573e+02] [-2.06902793e-01 9.78330148e-01 -7.83298382e-03 -2.49635276e+01] [-3.78618939e-02 -6.50511935e-06 9.99282981e-01 -7.78577378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.58587156000002 meters 0.012613761475290997 Centerline is valid? [True, True] Translation: X:191.14, Y:-24.97, Z:-7.79 [[ 9.76183174e-01 2.13871951e-01 3.64032936e-02 1.91143205e+02] [-2.13733330e-01 9.76861669e-01 -7.70343178e-03 -2.49662781e+01] [-3.72085302e-02 -2.60636688e-04 9.99307489e-01 -7.78989327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.64587156000002 meters 0.017068223831096966 Centerline is valid? [True, True] Translation: X:191.20, Y:-24.97, Z:-7.80 [[ 9.75227593e-01 2.18308657e-01 3.56717153e-02 1.91204598e+02] [-2.18178289e-01 9.75879684e-01 -7.55489782e-03 -2.49702502e+01] [-3.64606018e-02 -4.15048978e-04 9.99335005e-01 -7.79541780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70587156000002 meters 0.020265105353410882 Centerline is valid? [True, True] Translation: X:191.27, Y:-24.98, Z:-7.80 [[ 9.74376749e-01 2.22249813e-01 3.45683722e-02 1.91266003e+02] [-2.22129670e-01 9.74989605e-01 -7.32668136e-03 -2.49776514e+01] [-3.53321571e-02 -5.39713158e-04 9.99375479e-01 -7.79971729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76587156 meters 0.02061745847595363 Centerline is valid? [True, True] Translation: X:191.33, Y:-24.99, Z:-7.80 [[ 9.74123065e-01 2.23067169e-01 3.64045694e-02 1.91328627e+02] [-2.22934268e-01 9.74802896e-01 -7.72181837e-03 -2.49883135e+01] [-3.72097638e-02 -5.93824655e-04 9.99307301e-01 -7.79851328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82587156 meters 0.021543963047193224 Centerline is valid? [True, True] Translation: X:191.39, Y:-25.00, Z:-7.80 [[ 9.73912101e-01 2.23817061e-01 3.74318345e-02 1.91389471e+02] [-2.23676799e-01 9.74630968e-01 -7.94770810e-03 -2.49978679e+01] [-3.82610578e-02 -6.32263836e-04 9.99267578e-01 -7.79891475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88587156 meters 0.02323796156138827 Centerline is valid? [True, True] Translation: X:191.45, Y:-25.00, Z:-7.80 [[ 9.73352143e-01 2.26176716e-01 3.78113644e-02 1.91452235e+02] [-2.26035244e-01 9.74086013e-01 -8.03160796e-03 -2.50024109e+01] [-3.86480839e-02 -7.29118175e-04 9.99252618e-01 -7.80131728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94587156 meters 0.0246766165724978 Centerline is valid? [True, True] Translation: X:191.51, Y:-25.01, Z:-7.81 [[ 9.72975025e-01 2.27893473e-01 3.72043841e-02 1.91514104e+02] [-2.27757522e-01 9.73685760e-01 -7.90898785e-03 -2.50087788e+01] [-3.80277857e-02 -7.78330683e-04 9.99276379e-01 -7.80572760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00587156 meters 0.03354898645396793 Centerline is valid? [True, True] Translation: X:191.58, Y:-25.01, Z:-7.81 [[ 9.72794270e-01 2.28934219e-01 3.55025603e-02 1.91575404e+02] [-2.28810886e-01 9.73441586e-01 -7.55355011e-03 -2.50130584e+01] [-3.62889347e-02 -7.75322020e-04 9.99341039e-01 -7.81007610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06587156 meters 0.025367864529308802 Centerline is valid? [True, True] Translation: X:191.64, Y:-25.02, Z:-7.81 [[ 9.73092999e-01 2.27513102e-01 3.64390372e-02 1.91636900e+02] [-2.27382040e-01 9.73774740e-01 -7.75652828e-03 -2.50206379e+01] [-3.72481258e-02 -7.37759256e-04 9.99305775e-01 -7.81338981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12587156 meters 0.023730870641351584 Centerline is valid? [True, True] Translation: X:191.70, Y:-25.03, Z:-7.82 [[ 9.73464400e-01 2.25864797e-01 3.67716500e-02 1.91696968e+02] [-2.25730103e-01 9.74158422e-01 -7.82872851e-03 -2.50314769e+01] [-3.75896468e-02 -6.79479853e-04 9.99293028e-01 -7.81549530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18587156 meters 0.022890259340367963 Centerline is valid? [True, True] Translation: X:191.76, Y:-25.04, Z:-7.82 [[ 9.73678561e-01 2.24915027e-01 3.69227538e-02 1.91757541e+02] [-2.24778507e-01 9.74378168e-01 -7.86179274e-03 -2.50408357e+01] [-3.77449605e-02 -6.44582410e-04 9.99287197e-01 -7.81780975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24587156 meters 0.02246565433380711 Centerline is valid? [True, True] Translation: X:191.82, Y:-25.05, Z:-7.82 [[ 9.73824802e-01 2.24180208e-01 3.75298493e-02 1.91816559e+02] [-2.24038574e-01 9.74547507e-01 -7.99211713e-03 -2.50473424e+01] [-3.83662956e-02 -6.25212037e-04 9.99263547e-01 -7.81928442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30587156 meters 0.0218155124533269 Centerline is valid? [True, True] Translation: X:191.88, Y:-25.05, Z:-7.82 [[ 9.74085790e-01 2.23118003e-01 3.70840958e-02 1.91876133e+02] [-2.22978958e-01 9.74791272e-01 -7.89685836e-03 -2.50501724e+01] [-3.79111842e-02 -5.76755502e-04 9.99280946e-01 -7.82348069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.36587156000002 meters 0.020887430727194768 Centerline is valid? [True, True] Translation: X:191.94, Y:-25.06, Z:-7.83 [[ 9.74388390e-01 2.21904582e-01 3.64090905e-02 1.91935000e+02] [-2.21769751e-01 9.75068246e-01 -7.75192169e-03 -2.50577369e+01] [-3.72215350e-02 -5.21052449e-04 9.99306903e-01 -7.82772790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.42587156000002 meters 0.017586485140998236 Centerline is valid? [True, True] Translation: X:191.99, Y:-25.07, Z:-7.83 [[ 9.75145008e-01 2.18590349e-01 3.62004493e-02 1.91993915e+02] [-2.18454842e-01 9.75816635e-01 -7.70570171e-03 -2.50663366e+01] [-3.70093926e-02 -3.93986872e-04 9.99314840e-01 -7.83124331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48587156 meters 0.019500484079258446 Centerline is valid? [True, True] Translation: X:192.05, Y:-25.08, Z:-7.83 [[ 9.75912964e-01 2.15280489e-01 3.53298320e-02 1.92052416e+02] [-2.15149287e-01 9.76552222e-01 -7.51944500e-03 -2.50799691e+01] [-3.61202157e-02 -2.62864310e-04 9.99347418e-01 -7.83276658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54587156 meters 0.011202524099493712 Centerline is valid? [True, True] Translation: X:192.11, Y:-25.09, Z:-7.84 [[ 9.76834585e-01 2.11047762e-01 3.53982458e-02 1.92112238e+02] [-2.10913277e-01 9.77475744e-01 -7.53385275e-03 -2.50913472e+01] [-3.61909295e-02 -1.06632100e-04 9.99344888e-01 -7.83657118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60587156 meters 0.010675790984795819 Centerline is valid? [True, True] Translation: X:192.17, Y:-25.10, Z:-7.84 [[ 9.77583446e-01 2.07473908e-01 3.58494668e-02 1.92172323e+02] [-2.07333531e-01 9.78240552e-01 -7.63088092e-03 -2.51006071e+01] [-3.66526109e-02 2.70263269e-05 9.99328067e-01 -7.83886958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66587156 meters 0.011615939255005443 Centerline is valid? [True, True] Translation: X:192.23, Y:-25.11, Z:-7.84 [[ 9.78282871e-01 2.04158808e-01 3.58022996e-02 1.92231735e+02] [-2.04016565e-01 9.78937770e-01 -7.62122062e-03 -2.51136098e+01] [-3.66041627e-02 1.51447399e-04 9.99329832e-01 -7.84128869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72587156 meters 0.02767334474727719 Centerline is valid? [True, True] Translation: X:192.29, Y:-25.13, Z:-7.84 [[ 9.79351628e-01 1.99108762e-01 3.50155650e-02 1.92291951e+02] [-1.98969477e-01 9.79977342e-01 -7.45365191e-03 -2.51297001e+01] [-3.57985477e-02 3.32717467e-04 9.99358971e-01 -7.84422620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78587156 meters 0.020390254280820752 Centerline is valid? [True, True] Translation: X:192.35, Y:-25.15, Z:-7.85 [[ 9.80360032e-01 1.93888276e-01 3.60769264e-02 1.92349829e+02] [-1.93736611e-01 9.81023465e-01 -7.68684218e-03 -2.51482720e+01] [-3.68826999e-02 5.46451372e-04 9.99319452e-01 -7.84712363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84587156 meters 0.02415422059093662 Centerline is valid? [True, True] Translation: X:192.41, Y:-25.17, Z:-7.85 [[ 9.80991310e-01 1.90478910e-01 3.70652690e-02 1.92409149e+02] [-1.90316371e-01 9.81691043e-01 -7.89779038e-03 -2.51658048e+01] [-3.78910051e-02 6.93536266e-04 9.99281637e-01 -7.84763482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90587156 meters 0.0286828408931836 Centerline is valid? [True, True] Translation: X:192.47, Y:-25.19, Z:-7.85 [[ 9.81739711e-01 1.86426160e-01 3.78474091e-02 1.92467453e+02] [-1.86253422e-01 9.82468586e-01 -8.07097116e-03 -2.51859754e+01] [-3.86885306e-02 8.74383457e-04 9.99250936e-01 -7.84904104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96587156 meters 0.0305319156568164 Centerline is valid? [True, True] Translation: X:192.53, Y:-25.20, Z:-7.85 [[ 9.81942189e-01 1.85381957e-01 3.77235653e-02 1.92527308e+02] [-1.85209564e-01 9.82666117e-01 -8.04493435e-03 -2.52033467e+01] [-3.85610550e-02 9.12895382e-04 9.99255829e-01 -7.85208409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02587156 meters 0.02853305290591375 Centerline is valid? [True, True] Translation: X:192.59, Y:-25.22, Z:-7.86 [[ 9.81732955e-01 1.86711758e-01 3.65940412e-02 1.92587833e+02] [-1.86550243e-01 9.82414379e-01 -7.80987607e-03 -2.52174303e+01] [-3.74087080e-02 8.40585449e-04 9.99299696e-01 -7.85621104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.08587156000002 meters 0.02364727427078471 Centerline is valid? [True, True] Translation: X:192.65, Y:-25.23, Z:-7.86 [[ 9.81009777e-01 1.90534873e-01 3.62805531e-02 1.92649398e+02] [-1.90378475e-01 9.81680181e-01 -7.74971416e-03 -2.52253063e+01] [-3.70924908e-02 6.95509001e-04 9.99311595e-01 -7.85860082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.14587156000002 meters 0.015426379912340409 Centerline is valid? [True, True] Translation: X:192.71, Y:-25.23, Z:-7.86 [[ 9.79052968e-01 2.00405354e-01 3.59580286e-02 1.92710264e+02] [-2.00258308e-01 9.79713015e-01 -7.68234493e-03 -2.52281005e+01] [-3.67681316e-02 3.20528638e-04 9.99323772e-01 -7.86213460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20587156000002 meters 0.01760831049355996 Centerline is valid? [True, True] Translation: X:192.77, Y:-25.23, Z:-7.86 [[ 9.77561103e-01 2.07518908e-01 3.61965992e-02 1.92772382e+02] [-2.07374774e-01 9.78231006e-01 -7.73324850e-03 -2.52294614e+01] [-3.70134309e-02 5.34613665e-05 9.99314767e-01 -7.86258859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26587156 meters 0.014036966529444838 Centerline is valid? [True, True] Translation: X:192.83, Y:-25.23, Z:-7.87 [[ 9.75459881e-01 2.17042416e-01 3.70217456e-02 1.92832023e+02] [-2.16898454e-01 9.76162123e-01 -7.91009006e-03 -2.52287236e+01] [-3.78560509e-02 -3.13983867e-04 9.99283153e-01 -7.86521891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32587156 meters 0.023457471492999715 Centerline is valid? [True, True] Translation: X:192.89, Y:-25.23, Z:-7.87 [[ 9.73626937e-01 2.25227137e-01 3.63775296e-02 1.92892375e+02] [-2.25093840e-01 9.74306087e-01 -7.77249962e-03 -2.52259519e+01] [-3.71934263e-02 -6.20842825e-04 9.99307892e-01 -7.86967164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38587156 meters 0.026506532781762505 Centerline is valid? [True, True] Translation: X:192.95, Y:-25.23, Z:-7.87 [[ 9.72585238e-01 2.29639897e-01 3.66534184e-02 1.92952313e+02] [-2.29507751e-01 9.73275338e-01 -7.83003390e-03 -2.52314825e+01] [-3.74719564e-02 -7.96868232e-04 9.99297362e-01 -7.87075421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44587156 meters 0.03330732487349459 Centerline is valid? [True, True] Translation: X:193.01, Y:-25.23, Z:-7.88 [[ 9.71315296e-01 2.35067752e-01 3.59130541e-02 1.93013152e+02] [-2.34944628e-01 9.71978487e-01 -7.67093982e-03 -2.52307443e+01] [-3.67099066e-02 -9.86677957e-04 9.99325477e-01 -7.87516862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50587156 meters 0.04043952629880422 Centerline is valid? [True, True] Translation: X:193.07, Y:-25.24, Z:-7.88 [[ 9.70654150e-01 2.37872961e-01 3.53125393e-02 1.93073361e+02] [-2.37755786e-01 9.71295681e-01 -7.54232462e-03 -2.52353123e+01] [-3.60930320e-02 -1.07477185e-03 9.99347856e-01 -7.87636727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56587156 meters 0.038383762671452396 Centerline is valid? [True, True] Translation: X:193.13, Y:-25.24, Z:-7.88 [[ 9.70177821e-01 2.39775007e-01 3.55379017e-02 1.93133977e+02] [-2.39657638e-01 9.70827799e-01 -7.58957905e-03 -2.52359095e+01] [-3.63209743e-02 -1.15368831e-03 9.99339510e-01 -7.88101950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62587156 meters 0.03721021985165787 Centerline is valid? [True, True] Translation: X:193.19, Y:-25.24, Z:-7.89 [[ 9.71076168e-01 2.36229688e-01 3.47362871e-02 1.93192384e+02] [-2.36115314e-01 9.71696731e-01 -7.41764117e-03 -2.52415860e+01] [-3.55054037e-02 -9.98674747e-04 9.99368985e-01 -7.88710632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68587156 meters 0.03158916123205806 Centerline is valid? [True, True] Translation: X:193.25, Y:-25.26, Z:-7.89 [[ 9.72309457e-01 2.31100779e-01 3.47383112e-02 1.93249277e+02] [-2.30983162e-01 9.72929478e-01 -7.41680959e-03 -2.52556437e+01] [-3.55119574e-02 -8.12530862e-04 9.99368921e-01 -7.89015495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74587156 meters 0.019830187770475054 Centerline is valid? [True, True] Translation: X:193.31, Y:-25.28, Z:-7.89 [[ 9.74653810e-01 2.20971142e-01 3.49528908e-02 1.93306180e+02] [-2.20845594e-01 9.75280244e-01 -7.46118341e-03 -2.52770434e+01] [-3.57375701e-02 -4.47121083e-04 9.99361109e-01 -7.89240723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80587156 meters 0.011162741983118979 Centerline is valid? [True, True] Translation: X:193.36, Y:-25.30, Z:-7.89 [[ 9.76942086e-01 2.10541090e-01 3.54487021e-02 1.93360867e+02] [-2.10405070e-01 9.77585007e-01 -7.56712949e-03 -2.53015935e+01] [-3.62473114e-02 -6.59393701e-05 9.99342848e-01 -7.89379621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.86587156000002 meters 0.011832240133770502 Centerline is valid? [True, True] Translation: X:193.42, Y:-25.32, Z:-7.90 [[ 9.78122993e-01 2.04922585e-01 3.58070509e-02 1.93417093e+02] [-2.04780076e-01 9.78778174e-01 -7.64243217e-03 -2.53193620e+01] [-3.66132668e-02 1.42668046e-04 9.99329499e-01 -7.89545477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.92587156000002 meters 0.014549849152177299 Centerline is valid? [True, True] Translation: X:193.47, Y:-25.33, Z:-7.89 [[ 9.79305668e-01 1.99091689e-01 3.63718016e-02 1.93474878e+02] [-1.98940689e-01 9.79980799e-01 -7.76117831e-03 -2.53335741e+01] [-3.71888533e-02 3.64734643e-04 9.99308189e-01 -7.89476450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98587156 meters 0.02910954596653508 Centerline is valid? [True, True] Translation: X:193.53, Y:-25.35, Z:-7.90 [[ 9.79958415e-01 1.95957621e-01 3.58066552e-02 1.93531647e+02] [-1.95809217e-01 9.80612250e-01 -7.63975744e-03 -2.53480541e+01] [-3.66095134e-02 4.75371492e-04 9.99329534e-01 -7.89724384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04587156 meters 0.01934453948572719 Centerline is valid? [True, True] Translation: X:193.59, Y:-25.36, Z:-7.90 [[ 9.80208069e-01 1.94719927e-01 3.57252177e-02 1.93588934e+02] [-1.94571427e-01 9.80858746e-01 -7.62097431e-03 -2.53616083e+01] [-3.65253479e-02 5.19033916e-04 9.99332592e-01 -7.90177727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10587156 meters 0.01884971053458309 Centerline is valid? [True, True] Translation: X:193.65, Y:-25.37, Z:-7.90 [[ 9.80147533e-01 1.95184681e-01 3.48389610e-02 1.93647457e+02] [-1.95043782e-01 9.80766385e-01 -7.43111025e-03 -2.53710969e+01] [-3.56193207e-02 4.88461671e-04 9.99365311e-01 -7.90473185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16587156 meters 0.01641686743688416 Centerline is valid? [True, True] Translation: X:193.71, Y:-25.38, Z:-7.91 [[ 9.79565368e-01 1.98112588e-01 3.46856213e-02 1.93705936e+02] [-1.97974817e-01 9.80179197e-01 -7.39679678e-03 -2.53751110e+01] [-3.54635230e-02 3.78766409e-04 9.99370900e-01 -7.90747324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22587156 meters 0.015886317981920743 Centerline is valid? [True, True] Translation: X:193.76, Y:-25.38, Z:-7.91 [[ 9.78993442e-01 2.01023704e-01 3.40780026e-02 1.93763760e+02] [-2.00892555e-01 9.79586341e-01 -7.26511192e-03 -2.53829576e+01] [-3.48428056e-02 2.66479914e-04 9.99392770e-01 -7.91302044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28587156 meters 0.011606619660390257 Centerline is valid? [True, True] Translation: X:193.82, Y:-25.38, Z:-7.91 [[ 9.78069018e-01 2.05544079e-01 3.36545455e-02 1.93824219e+02] [-2.05418897e-01 9.78647853e-01 -7.17326199e-03 -2.53814223e+01] [-3.44103702e-02 1.02665690e-04 9.99407783e-01 -7.91345198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34587156 meters 0.01794864325251927 Centerline is valid? [True, True] Translation: X:193.88, Y:-25.39, Z:-7.92 [[ 9.77616490e-01 2.07739124e-01 3.33234927e-02 1.93881012e+02] [-2.07617713e-01 9.78184265e-01 -7.10138458e-03 -2.53879651e+01] [-3.40717516e-02 2.38833404e-05 9.99419389e-01 -7.91720451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40587156 meters 0.01116251821696199 Centerline is valid? [True, True] Translation: X:193.94, Y:-25.39, Z:-7.92 [[ 9.77372699e-01 2.08895749e-01 3.32441539e-02 1.93938823e+02] [-2.08775682e-01 9.77937915e-01 -7.08158967e-03 -2.53949133e+01] [-3.39900325e-02 -1.92184822e-05 9.99422172e-01 -7.91702045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46587156 meters 0.011577477908077116 Centerline is valid? [True, True] Translation: X:194.00, Y:-25.40, Z:-7.92 [[ 9.77155857e-01 2.09827964e-01 3.37439894e-02 1.93995565e+02] [-2.09704900e-01 9.77738320e-01 -7.18556737e-03 -2.54007530e+01] [-3.45005245e-02 -5.48606697e-05 9.99404678e-01 -7.91859946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52587156 meters 0.01620890127429369 Centerline is valid? [True, True] Translation: X:194.05, Y:-25.41, Z:-7.92 [[ 9.77245155e-01 2.09381962e-01 3.39278686e-02 1.94052097e+02] [-2.09257391e-01 9.77833929e-01 -7.22164113e-03 -2.54120122e+01] [-3.46879025e-02 -4.23434697e-05 9.99398193e-01 -7.92049229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.58587156000002 meters 0.01179765643021251 Centerline is valid? [True, True] Translation: X:194.11, Y:-25.43, Z:-7.92 [[ 9.77952884e-01 2.06226092e-01 3.28474639e-02 1.94108925e+02] [-2.06107631e-01 9.78504366e-01 -6.98923073e-03 -2.54257186e+01] [-3.35827486e-02 6.50253620e-05 9.99435938e-01 -7.92437123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.64587156000002 meters 0.013198739497688582 Centerline is valid? [True, True] Translation: X:194.17, Y:-25.44, Z:-7.93 [[ 9.78632771e-01 2.03083365e-01 3.21721226e-02 1.94165623e+02] [-2.02968078e-01 9.79161436e-01 -6.84402805e-03 -2.54431595e+01] [-3.28916100e-02 1.67876255e-04 9.99458911e-01 -7.92819325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70587156000002 meters 0.015260466565392124 Centerline is valid? [True, True] Translation: X:194.22, Y:-25.46, Z:-7.93 [[ 9.79301774e-01 1.99946514e-01 3.14551660e-02 1.94222058e+02] [-1.99834738e-01 9.79806777e-01 -6.69005167e-03 -2.54599382e+01] [-3.21576373e-02 2.65744626e-04 9.99482774e-01 -7.93010907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76587156 meters 0.016078484286006004 Centerline is valid? [True, True] Translation: X:194.28, Y:-25.47, Z:-7.93 [[ 9.79105938e-01 2.00889158e-01 3.15453325e-02 1.94280921e+02] [-2.00777277e-01 9.79613950e-01 -6.70772839e-03 -2.54686492e+01] [-3.22497576e-02 2.33990751e-04 9.99479814e-01 -7.92907597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82587156 meters 0.012626119211828485 Centerline is valid? [True, True] Translation: X:194.34, Y:-25.48, Z:-7.93 [[ 9.78580326e-01 2.03324827e-01 3.22421992e-02 1.94338487e+02] [-2.03209320e-01 9.79111327e-01 -6.85434406e-03 -2.54761724e+01] [-3.29623608e-02 1.55610874e-04 9.99456582e-01 -7.93031727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88587156 meters 0.011494130280625079 Centerline is valid? [True, True] Translation: X:194.40, Y:-25.48, Z:-7.93 [[ 9.77791289e-01 2.06985349e-01 3.28825324e-02 1.94396750e+02] [-2.06867345e-01 9.78344042e-01 -6.98836246e-03 -2.54808911e+01] [-3.36169183e-02 3.08377573e-05 9.99434791e-01 -7.93084416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94587156 meters 0.021686998758009664 Centerline is valid? [True, True] Translation: X:194.45, Y:-25.49, Z:-7.93 [[ 9.77373985e-01 2.09026822e-01 3.23709805e-02 1.94453775e+02] [-2.08913642e-01 9.77909907e-01 -6.87777601e-03 -2.54878001e+01] [-3.30935421e-02 -4.05800858e-05 9.99452258e-01 -7.93449275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00587156 meters 0.01833490905786448 Centerline is valid? [True, True] Translation: X:194.51, Y:-25.50, Z:-7.94 [[ 9.77325772e-01 2.09433012e-01 3.11793127e-02 1.94511681e+02] [-2.09328298e-01 9.77822996e-01 -6.62215318e-03 -2.54987060e+01] [-3.18747465e-02 -5.47115093e-05 9.99491870e-01 -7.93876405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06587156 meters 0.012469168578846428 Centerline is valid? [True, True] Translation: X:194.57, Y:-25.51, Z:-7.94 [[ 9.77659845e-01 2.08110216e-01 2.95188826e-02 1.94569541e+02] [-2.08015798e-01 9.78105382e-01 -6.26816642e-03 -2.55108288e+01] [-3.01770474e-02 -1.22593238e-05 9.99544569e-01 -7.94327235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12587156 meters 0.017542801928641757 Centerline is valid? [True, True] Translation: X:194.62, Y:-25.53, Z:-7.95 [[ 9.78518069e-01 2.04096551e-01 2.91030358e-02 1.94624735e+02] [-2.04003036e-01 9.78950758e-01 -6.17859316e-03 -2.55294372e+01] [-2.97514685e-02 1.08757383e-04 9.99557321e-01 -7.94763124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18587156 meters 0.028180187803997073 Centerline is valid? [True, True] Translation: X:194.68, Y:-25.54, Z:-7.95 [[ 9.78978393e-01 2.01757494e-01 2.99202256e-02 1.94680893e+02] [-2.01657616e-01 9.79435490e-01 -6.35027628e-03 -2.55447981e+01] [-3.05861467e-02 1.83141895e-04 9.99532118e-01 -7.94679368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24587156 meters 0.014437149557075042 Centerline is valid? [True, True] Translation: X:194.74, Y:-25.56, Z:-7.95 [[ 9.79165668e-01 2.00574290e-01 3.16946061e-02 1.94738750e+02] [-2.00461683e-01 9.79678468e-01 -6.72402497e-03 -2.55580786e+01] [-3.23991897e-02 2.30380333e-04 9.99474982e-01 -7.94672016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30587156 meters 0.026154437564733606 Centerline is valid? [True, True] Translation: X:194.80, Y:-25.57, Z:-7.95 [[ 9.79135828e-01 2.00817180e-01 3.10723381e-02 1.94795189e+02] [-2.00709102e-01 9.79628712e-01 -6.59115027e-03 -2.55697919e+01] [-3.17629707e-02 2.17130299e-04 9.99495406e-01 -7.95109463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.36587156000002 meters 0.014635658917792602 Centerline is valid? [True, True] Translation: X:194.85, Y:-25.58, Z:-7.96 [[ 9.79055657e-01 2.01500587e-01 2.91124463e-02 1.94853023e+02] [-2.01406070e-01 9.79488377e-01 -6.17367350e-03 -2.55794844e+01] [-2.97593016e-02 1.80946558e-04 9.99557078e-01 -7.95647046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42587156000002 meters 0.01480942484771826 Centerline is valid? [True, True] Translation: X:194.91, Y:-25.59, Z:-7.96 [[ 9.79075827e-01 2.01430569e-01 2.89179956e-02 1.94908272e+02] [-2.01337296e-01 9.79502778e-01 -6.13192462e-03 -2.55911008e+01] [-2.95604141e-02 1.81348152e-04 9.99562979e-01 -7.95945095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48587156 meters 0.01334393612763134 Centerline is valid? [True, True] Translation: X:194.97, Y:-25.60, Z:-7.96 [[ 9.78919935e-01 2.02027040e-01 3.00139287e-02 1.94966653e+02] [-2.01926979e-01 9.79379930e-01 -6.35981997e-03 -2.55995042e+01] [-3.06798950e-02 1.65132587e-04 9.99529248e-01 -7.95640991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54587156 meters 0.013766887718226161 Centerline is valid? [True, True] Translation: X:195.02, Y:-25.61, Z:-7.96 [[ 9.78738014e-01 2.02847733e-01 3.04088440e-02 1.95023482e+02] [-2.02745462e-01 9.79210283e-01 -6.44205579e-03 -2.56115349e+01] [-3.10834091e-02 1.39829778e-04 9.99516784e-01 -7.96131754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60587156 meters 0.012499900978283365 Centerline is valid? [True, True] Translation: X:195.08, Y:-25.62, Z:-7.96 [[ 9.78451437e-01 2.04158665e-01 3.08549057e-02 1.95081965e+02] [-2.04054090e-01 9.78937807e-01 -6.53441127e-03 -2.56206646e+01] [-3.15390904e-02 9.75344032e-05 9.99502514e-01 -7.96068655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66587156 meters 0.01236733936616076 Centerline is valid? [True, True] Translation: X:195.14, Y:-25.63, Z:-7.96 [[ 9.78224090e-01 2.05260618e-01 3.07523770e-02 1.95138639e+02] [-2.05157317e-01 9.78707349e-01 -6.51153963e-03 -2.56288273e+01] [-3.14341400e-02 6.06697731e-05 9.99505823e-01 -7.96398929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72587156 meters 0.012510003081444997 Centerline is valid? [True, True] Translation: X:195.20, Y:-25.64, Z:-7.97 [[ 9.78164051e-01 2.05659230e-01 2.99894974e-02 1.95196322e+02] [-2.05561271e-01 9.78623666e-01 -6.34703820e-03 -2.56398663e+01] [-3.06537589e-02 4.37653919e-05 9.99530062e-01 -7.96723972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78587156 meters 0.01285718191073721 Centerline is valid? [True, True] Translation: X:195.25, Y:-25.65, Z:-7.97 [[ 9.77902237e-01 2.06854772e-01 3.03037670e-02 1.95253052e+02] [-2.06755365e-01 9.78371659e-01 -6.41215497e-03 -2.56489657e+01] [-3.09747316e-02 4.99430293e-06 9.99520168e-01 -7.97117701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84587156 meters 0.02952441983660521 Centerline is valid? [True, True] Translation: X:195.31, Y:-25.66, Z:-7.97 [[ 9.77752934e-01 2.07319926e-01 3.19006016e-02 1.95311076e+02] [-2.07210084e-01 9.78273197e-01 -6.74780827e-03 -2.56598059e+01] [-3.26064587e-02 -1.24370015e-05 9.99468268e-01 -7.96707445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90587156 meters 0.011975771710549006 Centerline is valid? [True, True] Translation: X:195.37, Y:-25.67, Z:-7.97 [[ 9.77877332e-01 2.06697111e-01 3.21282998e-02 1.95366614e+02] [-2.06585401e-01 9.78404980e-01 -6.79469135e-03 -2.56719255e+01] [-3.28389316e-02 7.13694905e-06 9.99460657e-01 -7.97053689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96587156 meters 0.011969965100657521 Centerline is valid? [True, True] Translation: X:195.42, Y:-25.69, Z:-7.97 [[ 9.78093283e-01 2.05640779e-01 3.23326441e-02 1.95422425e+02] [-2.05527164e-01 9.78627543e-01 -6.83495072e-03 -2.56867323e+01] [-3.30471607e-02 3.99827337e-05 9.99453793e-01 -7.97316695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02587156 meters 0.012170862440548966 Centerline is valid? [True, True] Translation: X:195.48, Y:-25.70, Z:-7.98 [[ 9.78352651e-01 2.04398050e-01 3.23655273e-02 1.95479477e+02] [-2.04283610e-01 9.78887854e-01 -6.83931392e-03 -2.57004604e+01] [-3.30801640e-02 7.95141717e-05 9.99452698e-01 -7.97550587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.08587156000002 meters 0.024221819803670032 Centerline is valid? [True, True] Translation: X:195.54, Y:-25.72, Z:-7.98 [[ 9.78948100e-01 2.01752117e-01 3.09305725e-02 1.95536281e+02] [-2.01646325e-01 9.79436602e-01 -6.53468655e-03 -2.57169985e+01] [-3.16129216e-02 1.60082737e-04 9.99500174e-01 -7.97959204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14587156000002 meters 0.014984634397655655 Centerline is valid? [True, True] Translation: X:195.59, Y:-25.73, Z:-7.98 [[ 9.79412565e-01 1.99493889e-01 3.08742082e-02 1.95591324e+02] [-1.99387403e-01 9.79899043e-01 -6.52139108e-03 -2.57340451e+01] [-3.15545848e-02 2.31204161e-04 9.99502003e-01 -7.98384958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20587156 meters 0.019108266299982073 Centerline is valid? [True, True] Translation: X:195.65, Y:-25.75, Z:-7.98 [[ 9.79674705e-01 1.98039656e-01 3.19024692e-02 1.95646870e+02] [-1.97925247e-01 9.80193967e-01 -6.73670588e-03 -2.57504723e+01] [-3.26047428e-02 2.85476229e-04 9.99468283e-01 -7.98186468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26587156 meters 0.020025319307049722 Centerline is valid? [True, True] Translation: X:195.70, Y:-25.76, Z:-7.98 [[ 9.79496379e-01 1.98855913e-01 3.22981299e-02 1.95704989e+02] [-1.98739179e-01 9.80028703e-01 -6.81760269e-03 -2.57615327e+01] [-3.30088149e-02 2.58913323e-04 9.99455027e-01 -7.98272450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32587156 meters 0.013457041834882092 Centerline is valid? [True, True] Translation: X:195.76, Y:-25.77, Z:-7.99 [[ 9.79158998e-01 2.00565385e-01 3.19559397e-02 1.95762189e+02] [-2.00452074e-01 9.79680298e-01 -6.74378834e-03 -2.57728484e+01] [-3.26591751e-02 1.97606636e-04 9.99466527e-01 -7.98671450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38587156 meters 0.028632872426625808 Centerline is valid? [True, True] Translation: X:195.82, Y:-25.78, Z:-7.99 [[ 9.78437604e-01 2.04247632e-01 3.07043894e-02 1.95818564e+02] [-2.04144869e-01 9.78919251e-01 -6.47860624e-03 -2.57789955e+01] [-3.13803579e-02 7.07683978e-05 9.99507513e-01 -7.99138663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44587156 meters 0.012644999083340528 Centerline is valid? [True, True] Translation: X:195.87, Y:-25.79, Z:-8.00 [[ 9.78299662e-01 2.04952542e-01 3.04010918e-02 1.95874934e+02] [-2.04852230e-01 9.78771911e-01 -6.41174297e-03 -2.57899782e+01] [-3.10698377e-02 4.48745442e-05 9.99517215e-01 -7.99670520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50587156 meters 0.024870792125007764 Centerline is valid? [True, True] Translation: X:195.93, Y:-25.80, Z:-8.00 [[ 9.78386365e-01 2.04509111e-01 3.05964848e-02 1.95931072e+02] [-2.04407343e-01 9.78864659e-01 -6.45119814e-03 -2.58027097e+01] [-3.12691465e-02 5.76181199e-05 9.99510999e-01 -7.99708446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56587156 meters 0.028327764793812535 Centerline is valid? [True, True] Translation: X:195.99, Y:-25.82, Z:-8.00 [[ 9.78396144e-01 2.04252277e-01 3.19686126e-02 1.95987923e+02] [-2.04141125e-01 9.78918282e-01 -6.73779740e-03 -2.58162906e+01] [-3.26708698e-02 6.61264689e-05 9.99466162e-01 -7.99764393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62587156 meters 0.011842336153260828 Centerline is valid? [True, True] Translation: X:196.05, Y:-25.83, Z:-8.00 [[ 9.78162669e-01 2.05193880e-01 3.30645522e-02 1.96045930e+02] [-2.05075568e-01 9.78721345e-01 -6.96712596e-03 -2.58258378e+01] [-3.37905946e-02 3.42506988e-05 9.99428934e-01 -7.99911496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68587156 meters 0.011948055321943997 Centerline is valid? [True, True] Translation: X:196.10, Y:-25.84, Z:-8.00 [[ 9.78036717e-01 2.05714347e-01 3.35527466e-02 1.96103059e+02] [-2.05592878e-01 9.78612082e-01 -7.06831153e-03 -2.58372055e+01] [-3.42891763e-02 1.48624613e-05 9.99411953e-01 -8.00235293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74587156 meters 0.011784734414580665 Centerline is valid? [True, True] Translation: X:196.16, Y:-25.85, Z:-8.00 [[ 9.77975673e-01 2.06032121e-01 3.33818554e-02 1.96159414e+02] [-2.05912121e-01 9.78545229e-01 -7.03090112e-03 -2.58487656e+01] [-3.41142468e-02 2.32162321e-06 9.99417940e-01 -8.00390771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80587156 meters 0.011874795754277972 Centerline is valid? [True, True] Translation: X:196.22, Y:-25.86, Z:-8.01 [[ 9.78023793e-01 2.05793108e-01 3.34463207e-02 1.96215554e+02] [-2.05672586e-01 9.78595523e-01 -7.04205563e-03 -2.58612426e+01] [-3.41796262e-02 8.30666542e-06 9.99415706e-01 -8.00609612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.86587156000002 meters 0.011734909656345724 Centerline is valid? [True, True] Translation: X:196.27, Y:-25.88, Z:-8.01 [[ 9.78173546e-01 2.04994241e-01 3.39687282e-02 1.96272628e+02] [-2.04869536e-01 9.78763179e-01 -7.14935702e-03 -2.58767352e+01] [-3.47129174e-02 3.41543334e-05 9.99397324e-01 -8.00769003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92587156000002 meters 0.011580276207293917 Centerline is valid? [True, True] Translation: X:196.33, Y:-25.89, Z:-8.01 [[ 9.78326793e-01 2.04135979e-01 3.47158053e-02 1.96329334e+02] [-2.04005248e-01 9.78942541e-01 -7.30487553e-03 -2.58907020e+01] [-3.54759665e-02 6.43490055e-05 9.99370528e-01 -8.00959602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98587156 meters 0.012760036004507943 Centerline is valid? [True, True] Translation: X:196.38, Y:-25.91, Z:-8.01 [[ 9.78949504e-01 2.01190777e-01 3.43531626e-02 1.96384095e+02] [-2.01061005e-01 9.79552062e-01 -7.22697034e-03 -2.59099946e+01] [-3.51047111e-02 1.67757617e-04 9.99383626e-01 -8.01349818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04587156 meters 0.027797142958536917 Centerline is valid? [True, True] Translation: X:196.44, Y:-25.93, Z:-8.02 [[ 9.79931594e-01 1.96588312e-01 3.29712966e-02 1.96439252e+02] [-1.96466235e-01 9.80486071e-01 -6.93424567e-03 -2.59335082e+01] [-3.36910887e-02 3.17339905e-04 9.99432244e-01 -8.01817981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10587156 meters 0.018922973052866356 Centerline is valid? [True, True] Translation: X:196.49, Y:-25.95, Z:-8.02 [[ 9.80484200e-01 1.93805072e-01 3.30200946e-02 1.96493787e+02] [-1.93681103e-01 9.81039971e-01 -6.94308350e-03 -2.59540563e+01] [-3.37396375e-02 4.12215335e-04 9.99430571e-01 -8.02128489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16587156 meters 0.020651696679321926 Centerline is valid? [True, True] Translation: X:196.55, Y:-25.98, Z:-8.02 [[ 9.80839611e-01 1.91972358e-01 3.31703417e-02 1.96549546e+02] [-1.91846292e-01 9.81400218e-01 -6.97223102e-03 -2.59753057e+01] [-3.38918562e-02 4.75033297e-04 9.99425393e-01 -8.02304675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22587156 meters 0.02080932816043199 Centerline is valid? [True, True] Translation: X:196.61, Y:-25.99, Z:-8.02 [[ 9.80768008e-01 1.92131512e-01 3.43452596e-02 1.96605018e+02] [-1.91996509e-01 9.81369068e-01 -7.21757752e-03 -2.59918349e+01] [-3.50920995e-02 4.84599180e-04 9.99383965e-01 -8.02367799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28587156 meters 0.020701920793128253 Centerline is valid? [True, True] Translation: X:196.66, Y:-26.01, Z:-8.03 [[ 9.80391291e-01 1.93972731e-01 3.47490328e-02 1.96660914e+02] [-1.93835762e-01 9.81006831e-01 -7.30036346e-03 -2.60076693e+01] [-3.55051100e-02 4.21607487e-04 9.99369406e-01 -8.02547778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34587156 meters 0.01483472003020158 Centerline is valid? [True, True] Translation: X:196.72, Y:-26.02, Z:-8.03 [[ 9.79897974e-01 1.96398013e-01 3.50397139e-02 1.96720026e+02] [-1.96260373e-01 9.80524201e-01 -7.35918049e-03 -2.60171216e+01] [-3.58026159e-02 3.34338740e-04 9.99358825e-01 -8.02554178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40587156 meters 0.012837271726482087 Centerline is valid? [True, True] Translation: X:196.78, Y:-26.03, Z:-8.03 [[ 9.78830129e-01 2.01733987e-01 3.45684336e-02 1.96776054e+02] [-2.01603370e-01 9.79440340e-01 -7.25958556e-03 -2.60291946e+01] [-3.53222235e-02 1.36788374e-04 9.99375966e-01 -8.03154505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46587156 meters 0.018502769338955744 Centerline is valid? [True, True] Translation: X:196.83, Y:-26.04, Z:-8.03 [[ 9.78083397e-01 2.05417802e-01 3.40057966e-02 1.96833798e+02] [-2.05293705e-01 9.78674372e-01 -7.13920183e-03 -2.60408929e+01] [-3.47471208e-02 1.55881628e-06 9.99396136e-01 -8.03262250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52587156 meters 0.011739829344572066 Centerline is valid? [True, True] Translation: X:196.89, Y:-26.06, Z:-8.04 [[ 9.77993178e-01 2.05872218e-01 3.38522300e-02 1.96891035e+02] [-2.05749569e-01 9.78578883e-01 -7.10529844e-03 -2.60560277e+01] [-3.45898610e-02 -1.61483292e-05 9.99401592e-01 -8.03656272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.58587156000002 meters 0.014144801312315247 Centerline is valid? [True, True] Translation: X:196.95, Y:-26.07, Z:-8.04 [[ 9.77900382e-01 2.06260452e-01 3.41682377e-02 1.96947371e+02] [-2.06135798e-01 9.78497126e-01 -7.16992646e-03 -2.60723071e+01] [-3.49123946e-02 -3.18231278e-05 9.99390376e-01 -8.03782491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64587156000002 meters 0.012727211462107263 Centerline is valid? [True, True] Translation: X:197.00, Y:-26.08, Z:-8.04 [[ 9.76999785e-01 2.10166839e-01 3.60738121e-02 1.97004641e+02] [-2.10030617e-01 9.77665519e-01 -7.56793134e-03 -2.60817810e+01] [-3.68586504e-02 -1.82737731e-04 9.99320472e-01 -8.03764315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70587156 meters 0.014647789713639375 Centerline is valid? [True, True] Translation: X:197.06, Y:-26.09, Z:-8.04 [[ 9.76235307e-01 2.13586250e-01 3.66816008e-02 1.97063265e+02] [-2.13447898e-01 9.76924159e-01 -7.69306456e-03 -2.60910094e+01] [-3.74782748e-02 -3.19369340e-04 9.99297392e-01 -8.03878548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76587156 meters 0.01871603243912877 Centerline is valid? [True, True] Translation: X:197.12, Y:-26.10, Z:-8.04 [[ 9.75415296e-01 2.17318186e-01 3.65760208e-02 1.97121242e+02] [-2.17183317e-01 9.76100708e-01 -7.66913381e-03 -2.60965994e+01] [-3.73685220e-02 -4.63111075e-04 9.99301446e-01 -8.04229700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82587156 meters 0.029050925500446034 Centerline is valid? [True, True] Translation: X:197.18, Y:-26.11, Z:-8.04 [[ 9.75232073e-01 2.18157633e-01 3.64643692e-02 1.97178855e+02] [-2.18024260e-01 9.75913419e-01 -7.64337723e-03 -2.61075508e+01] [-3.72535283e-02 -4.96050467e-04 9.99305723e-01 -8.04404353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88587156 meters 0.01935729190232184 Centerline is valid? [True, True] Translation: X:197.24, Y:-26.12, Z:-8.05 [[ 9.75339531e-01 2.17787053e-01 3.57994257e-02 1.97235443e+02] [-2.17658309e-01 9.75996196e-01 -7.50242348e-03 -2.61197545e+01] [-3.65740340e-02 -4.74632268e-04 9.99330833e-01 -8.04939179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94587156 meters 0.01821809542495852 Centerline is valid? [True, True] Translation: X:197.29, Y:-26.13, Z:-8.05 [[ 9.75591382e-01 2.16747843e-01 3.52395682e-02 1.97292669e+02] [-2.16622514e-01 9.76227528e-01 -7.38241312e-03 -2.61338474e+01] [-3.60019587e-02 -4.31465251e-04 9.99351626e-01 -8.05366225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00587156 meters 0.016480107757390436 Centerline is valid? [True, True] Translation: X:197.35, Y:-26.15, Z:-8.06 [[ 9.75985120e-01 2.14906881e-01 3.56100771e-02 1.97349842e+02] [-2.14777741e-01 9.76634474e-01 -7.45825835e-03 -2.61493215e+01] [-3.63808599e-02 -3.69102748e-04 9.99337929e-01 -8.05629764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06587156 meters 0.014799841350872542 Centerline is valid? [True, True] Translation: X:197.41, Y:-26.17, Z:-8.06 [[ 9.76585178e-01 2.12090089e-01 3.60441925e-02 1.97405387e+02] [-2.11955925e-01 9.77250082e-01 -7.54744634e-03 -2.61657119e+01] [-3.68249286e-02 -2.69055940e-04 9.99321696e-01 -8.05856749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12587156 meters 0.011338606673505185 Centerline is valid? [True, True] Translation: X:197.46, Y:-26.19, Z:-8.06 [[ 9.77924861e-01 2.05770501e-01 3.63519909e-02 1.97461364e+02] [-2.05629757e-01 9.78600276e-01 -7.60943196e-03 -2.61905364e+01] [-3.71398650e-02 -3.35983509e-05 9.99310077e-01 -8.06004438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18587156 meters 0.020455401105810973 Centerline is valid? [True, True] Translation: X:197.52, Y:-26.21, Z:-8.06 [[ 9.79002425e-01 2.00405556e-01 3.73077033e-02 1.97519778e+02] [-2.00253456e-01 9.79713011e-01 -7.80833732e-03 -2.62122421e+01] [-3.81156765e-02 1.73384629e-04 9.99273319e-01 -8.05914794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24587156 meters 0.013397360557126385 Centerline is valid? [True, True] Translation: X:197.58, Y:-26.23, Z:-8.06 [[ 9.79345469e-01 1.98709124e-01 3.73782985e-02 1.97577426e+02] [-1.98555174e-01 9.80058481e-01 -7.82411219e-03 -2.62290188e+01] [-3.81876409e-02 2.40854266e-04 9.99270557e-01 -8.06393038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30587156 meters 0.01462850736194349 Centerline is valid? [True, True] Translation: X:197.64, Y:-26.25, Z:-8.07 [[ 9.79682898e-01 1.97122736e-01 3.69330117e-02 1.97636454e+02] [-1.96971316e-01 9.80378773e-01 -7.73063568e-03 -2.62489181e+01] [-3.77322247e-02 2.98827632e-04 9.99287841e-01 -8.06712132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36587156000002 meters 0.030124264811795098 Centerline is valid? [True, True] Translation: X:197.70, Y:-26.26, Z:-8.07 [[ 9.79779628e-01 1.96883034e-01 3.56223441e-02 1.97696446e+02] [-1.96741802e-01 9.80426937e-01 -7.46217694e-03 -2.62644269e+01] [-3.63942818e-02 3.02884761e-04 9.99337463e-01 -8.07058136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42587156000002 meters 0.013803032139735667 Centerline is valid? [True, True] Translation: X:197.76, Y:-26.28, Z:-8.08 [[ 9.79395068e-01 1.98852864e-01 3.52539240e-02 1.97756444e+02] [-1.98715567e-01 9.80029328e-01 -7.39185474e-03 -2.62773548e+01] [-3.60197709e-02 2.34042579e-04 9.99351050e-01 -8.07521008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48587156 meters 0.011873306659758515 Centerline is valid? [True, True] Translation: X:197.82, Y:-26.29, Z:-8.08 [[ 9.78621154e-01 2.02558997e-01 3.56439363e-02 1.97815708e+02] [-2.02421063e-01 9.79270056e-01 -7.47465334e-03 -2.62892339e+01] [-3.64190978e-02 9.97703793e-05 9.99336600e-01 -8.07764113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54587156 meters 0.01142587635074083 Centerline is valid? [True, True] Translation: X:197.88, Y:-26.30, Z:-8.08 [[ 9.77923988e-01 2.05872224e-01 3.57952660e-02 1.97875598e+02] [-2.05735333e-01 9.78578881e-01 -7.50638767e-03 -2.62987973e+01] [-3.65738481e-02 -2.36743902e-05 9.99330953e-01 -8.07943849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60587156 meters 0.013926189197236925 Centerline is valid? [True, True] Translation: X:197.93, Y:-26.30, Z:-8.08 [[ 9.76624211e-01 2.11868317e-01 3.62900488e-02 1.97934411e+02] [-2.11731741e-01 9.77298191e-01 -7.61029121e-03 -2.63022546e+01] [-3.70785786e-02 -2.51360570e-04 9.99312321e-01 -8.08164629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66587156 meters 0.01957783440755105 Centerline is valid? [True, True] Translation: X:197.99, Y:-26.30, Z:-8.08 [[ 9.75217748e-01 2.18273302e-01 3.61539725e-02 1.97994902e+02] [-2.18142181e-01 9.75887556e-01 -7.58071940e-03 -2.63049095e+01] [-3.69368805e-02 -4.93854311e-04 9.99317479e-01 -8.08453541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72587156 meters 0.02394277828501644 Centerline is valid? [True, True] Translation: X:198.05, Y:-26.31, Z:-8.09 [[ 9.74446358e-01 2.21715213e-01 3.60091685e-02 1.98053427e+02] [-2.21587516e-01 9.75111264e-01 -7.54954517e-03 -2.63112161e+01] [-3.67867949e-02 -6.22555432e-04 9.99322943e-01 -8.08744862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78587156 meters 0.028121044463114035 Centerline is valid? [True, True] Translation: X:198.11, Y:-26.32, Z:-8.09 [[ 9.73602090e-01 2.25406159e-01 3.59309635e-02 1.98112702e+02] [-2.25281577e-01 9.74264586e-01 -7.53178945e-03 -2.63197150e+01] [-3.67039770e-02 -7.61618184e-04 9.99325892e-01 -8.08831135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84587156 meters 0.029035946428145352 Centerline is valid? [True, True] Translation: X:198.17, Y:-26.32, Z:-8.09 [[ 9.73090753e-01 2.27385338e-01 3.72866416e-02 1.98170609e+02] [-2.27252655e-01 9.73804474e-01 -7.81519652e-03 -2.63224974e+01] [-3.80869595e-02 -8.68592835e-04 9.99274051e-01 -8.08980184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90587156 meters 0.03006383178218454 Centerline is valid? [True, True] Translation: X:198.23, Y:-26.33, Z:-8.09 [[ 9.72834412e-01 2.28520055e-01 3.70377127e-02 1.98229205e+02] [-2.28390067e-01 9.73538780e-01 -7.76017718e-03 -2.63300992e+01] [-3.78310058e-02 -9.09678290e-04 9.99283737e-01 -8.09311902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96587156 meters 0.03047607937264826 Centerline is valid? [True, True] Translation: X:198.29, Y:-26.34, Z:-8.10 [[ 9.72765149e-01 2.28994553e-01 3.59090482e-02 1.98287206e+02] [-2.28872753e-01 9.73427287e-01 -7.52200272e-03 -2.63380716e+01] [-3.66773450e-02 -9.01460628e-04 9.99326753e-01 -8.09774702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02587156 meters 0.028381125289640905 Centerline is valid? [True, True] Translation: X:198.35, Y:-26.35, Z:-8.10 [[ 9.73269058e-01 2.27021520e-01 3.47644910e-02 1.98345030e+02] [-2.26906163e-01 9.73889412e-01 -7.28060570e-03 -2.63468704e+01] [-3.55096238e-02 -8.02289012e-04 9.99369012e-01 -8.10254711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.08587156000002 meters 0.022742018509542807 Centerline is valid? [True, True] Translation: X:198.40, Y:-26.36, Z:-8.10 [[ 9.74377960e-01 2.21948901e-01 3.64180661e-02 1.98403480e+02] [-2.21818839e-01 9.75058083e-01 -7.62483174e-03 -2.63617645e+01] [-3.72020527e-02 -6.48745148e-04 9.99307553e-01 -8.10214265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14587156000002 meters 0.018558155207685067 Centerline is valid? [True, True] Translation: X:198.46, Y:-26.38, Z:-8.10 [[ 9.75308892e-01 2.17658107e-01 3.73833268e-02 1.98460553e+02] [-2.17517916e-01 9.76024949e-01 -7.82660402e-03 -2.63775398e+01] [-3.81905834e-02 -4.98186836e-04 9.99270349e-01 -8.10346387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20587156 meters 0.013714879519500877 Centerline is valid? [True, True] Translation: X:198.52, Y:-26.39, Z:-8.11 [[ 9.76619401e-01 2.11710308e-01 3.73268206e-02 1.98517424e+02] [-2.11566265e-01 9.77332428e-01 -7.81290183e-03 -2.63934459e+01] [-3.81347840e-02 -2.66864487e-04 9.99272569e-01 -8.10591709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26587156 meters 0.011347783728352875 Centerline is valid? [True, True] Translation: X:198.57, Y:-26.41, Z:-8.11 [[ 9.77908771e-01 2.05826850e-01 3.64656546e-02 1.98572494e+02] [-2.05685348e-01 9.78588425e-01 -7.63093033e-03 -2.64096577e+01] [-3.72555179e-02 -3.80971844e-05 9.99305771e-01 -8.11081498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32587156 meters 0.025458989434216765 Centerline is valid? [True, True] Translation: X:198.63, Y:-26.43, Z:-8.12 [[ 9.79275888e-01 1.99586017e-01 3.44115688e-02 1.98629145e+02] [-1.99456235e-01 9.79880292e-01 -7.19883656e-03 -2.64279316e+01] [-3.51560052e-02 1.86045106e-04 9.99381819e-01 -8.11577543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38587156 meters 0.0153127072009737 Centerline is valid? [True, True] Translation: X:198.69, Y:-26.44, Z:-8.12 [[ 9.79950743e-01 1.96178879e-01 3.47906353e-02 1.98686726e+02] [-1.96044103e-01 9.80568076e-01 -7.27728074e-03 -2.64446267e+01] [-3.55422351e-02 3.10877760e-04 9.99368127e-01 -8.11907879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44587156 meters 0.01737850932039082 Centerline is valid? [True, True] Translation: X:198.75, Y:-26.46, Z:-8.12 [[ 9.80430029e-01 1.93494384e-01 3.62888740e-02 1.98745362e+02] [-1.93345946e-01 9.81101291e-01 -7.58960524e-03 -2.64595188e+01] [-3.70716071e-02 4.24770219e-04 9.99312521e-01 -8.11832777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50587156 meters 0.018107821074915462 Centerline is valid? [True, True] Translation: X:198.80, Y:-26.47, Z:-8.12 [[ 9.80402539e-01 1.93428475e-01 3.73669093e-02 1.98803076e+02] [-1.93271034e-01 9.81114280e-01 -7.81511946e-03 -2.64723576e+01] [-3.81728750e-02 4.40021764e-04 9.99271053e-01 -8.11932790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56587156 meters 0.01539118789804629 Centerline is valid? [True, True] Translation: X:198.86, Y:-26.48, Z:-8.12 [[ 9.79820263e-01 1.96413911e-01 3.70651733e-02 1.98862468e+02] [-1.96261152e-01 9.80521021e-01 -7.75161943e-03 -2.64779937e+01] [-3.78657074e-02 3.20740208e-04 9.99282785e-01 -8.12257138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62587156 meters 0.02097285966175623 Centerline is valid? [True, True] Translation: X:198.92, Y:-26.48, Z:-8.13 [[ 9.79344256e-01 1.98991414e-01 3.58782005e-02 1.98922286e+02] [-1.98850043e-01 9.80001210e-01 -7.50258017e-03 -2.64842555e+01] [-3.66536290e-02 2.13227093e-04 9.99328007e-01 -8.12579051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68587156 meters 0.011525607432472336 Centerline is valid? [True, True] Translation: X:198.98, Y:-26.49, Z:-8.13 [[ 9.78513907e-01 2.03114196e-01 3.54281967e-02 1.98981347e+02] [-2.02979074e-01 9.79155054e-01 -7.40779073e-03 -2.64886556e+01] [-3.61943253e-02 5.74436840e-05 9.99344769e-01 -8.12962773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74587156 meters 0.016287251002809065 Centerline is valid? [True, True] Translation: X:199.04, Y:-26.49, Z:-8.13 [[ 9.77785120e-01 2.06512547e-01 3.59002367e-02 1.99040504e+02] [-2.06376155e-01 9.78443950e-01 -7.50465731e-03 -2.64946851e+01] [-3.66761753e-02 -7.10105703e-05 9.99327200e-01 -8.13010083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80587156 meters 0.012895559157537144 Centerline is valid? [True, True] Translation: X:199.10, Y:-26.50, Z:-8.13 [[ 9.76950846e-01 2.10337553e-01 3.64027351e-02 1.99099384e+02] [-2.10200036e-01 9.77628798e-01 -7.60781917e-03 -2.64997653e+01] [-3.71885723e-02 -2.19390879e-04 9.99308242e-01 -8.13249911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.86587156000002 meters 0.025679203030756156 Centerline is valid? [True, True] Translation: X:199.16, Y:-26.50, Z:-8.13 [[ 9.75970227e-01 2.14754601e-01 3.69131025e-02 1.99158309e+02] [-2.14616426e-01 9.76667961e-01 -7.71261008e-03 -2.65025947e+01] [-3.77081630e-02 -3.94880327e-04 9.99288716e-01 -8.13348421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92587156000002 meters 0.02169545060940607 Centerline is valid? [True, True] Translation: X:199.22, Y:-26.50, Z:-8.14 [[ 9.74733784e-01 2.20255618e-01 3.71687207e-02 1.99218268e+02] [-2.20119607e-01 9.75441995e-01 -7.76358807e-03 -2.65019710e+01] [-3.79659050e-02 -6.14132615e-04 9.99278846e-01 -8.13750373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98587156 meters 0.024300506060620505 Centerline is valid? [True, True] Translation: X:199.28, Y:-26.51, Z:-8.14 [[ 9.74281256e-01 2.22340912e-01 3.66135707e-02 1.99276707e+02] [-2.22210475e-01 9.74968742e-01 -7.64575173e-03 -2.65054341e+01] [-3.73970504e-02 -6.86806362e-04 9.99300250e-01 -8.14127122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04587156 meters 0.022924427022228917 Centerline is valid? [True, True] Translation: X:199.33, Y:-26.52, Z:-8.14 [[ 9.74673129e-01 2.20667256e-01 3.63077536e-02 1.99334554e+02] [-2.20537914e-01 9.75348952e-01 -7.57961177e-03 -2.65156722e+01] [-3.70853016e-02 -6.19592321e-04 9.99311912e-01 -8.14451185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10587156 meters 0.019838962449420617 Centerline is valid? [True, True] Translation: X:199.39, Y:-26.53, Z:-8.15 [[ 9.75355138e-01 2.17597989e-01 3.65166973e-02 1.99391403e+02] [-2.17465069e-01 9.76038348e-01 -7.62143193e-03 -2.65296319e+01] [-3.73001052e-02 -5.07503310e-04 9.99303980e-01 -8.14667045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16587156 meters 0.01520237793340438 Centerline is valid? [True, True] Translation: X:199.45, Y:-26.55, Z:-8.15 [[ 9.76533378e-01 2.12235040e-01 3.65902933e-02 1.99447407e+02] [-2.12097883e-01 9.77218601e-01 -7.63499446e-03 -2.65465370e+01] [-3.73771286e-02 -3.04896823e-04 9.99301184e-01 -8.14971919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22587156 meters 0.012350189259037839 Centerline is valid? [True, True] Translation: X:199.50, Y:-26.56, Z:-8.15 [[ 9.77343438e-01 2.08447835e-01 3.67328747e-02 1.99503873e+02] [-2.08306997e-01 9.78033473e-01 -7.66297865e-03 -2.65630060e+01] [-3.75233123e-02 -1.62352906e-04 9.99295739e-01 -8.15163690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28587156 meters 0.02840361893619226 Centerline is valid? [True, True] Translation: X:199.56, Y:-26.58, Z:-8.15 [[ 9.78382424e-01 2.03567266e-01 3.64444884e-02 1.99559473e+02] [-2.03425310e-01 9.79060962e-01 -7.60104832e-03 -2.65796059e+01] [-3.72287005e-02 2.30007393e-05 9.99306771e-01 -8.15394747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34587156 meters 0.012591663979403126 Centerline is valid? [True, True] Translation: X:199.62, Y:-26.60, Z:-8.16 [[ 9.79293945e-01 1.99086268e-01 3.67155001e-02 1.99616147e+02] [-1.98939129e-01 9.79981949e-01 -7.65520765e-03 -2.65966893e+01] [-3.75045740e-02 1.92548885e-04 9.99296437e-01 -8.15638201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40587156 meters 0.014741864949743673 Centerline is valid? [True, True] Translation: X:199.67, Y:-26.61, Z:-8.16 [[ 9.79937372e-01 1.95858372e-01 3.69086037e-02 1.99671810e+02] [-1.95707457e-01 9.80632142e-01 -7.69371802e-03 -2.66138924e+01] [-3.77006422e-02 3.16072868e-04 9.99289028e-01 -8.15839551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46587156 meters 0.017530648141638284 Centerline is valid? [True, True] Translation: X:199.73, Y:-26.63, Z:-8.16 [[ 9.80703824e-01 1.91761958e-01 3.80441901e-02 1.99728938e+02] [-1.91598637e-01 9.81441346e-01 -7.92757595e-03 -2.66322681e+01] [-3.88583486e-02 4.85389085e-04 9.99244611e-01 -8.15931812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52587156 meters 0.018338119951946043 Centerline is valid? [True, True] Translation: X:199.79, Y:-26.65, Z:-8.16 [[ 9.80926306e-01 1.90611160e-01 3.80915714e-02 1.99786098e+02] [-1.90446601e-01 9.81665475e-01 -7.93651099e-03 -2.66488682e+01] [-3.89059681e-02 5.30722113e-04 9.99242735e-01 -8.16155567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.58587156000002 meters 0.014645847712175853 Centerline is valid? [True, True] Translation: X:199.84, Y:-26.66, Z:-8.17 [[ 9.79949900e-01 1.95725492e-01 3.72790123e-02 1.99844608e+02] [-1.95571609e-01 9.80658671e-01 -7.76636246e-03 -2.66552247e+01] [-3.80780618e-02 3.19929709e-04 9.99274716e-01 -8.16514521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.64587156000002 meters 0.01127655774072376 Centerline is valid? [True, True] Translation: X:199.90, Y:-26.66, Z:-8.17 [[ 9.78726319e-01 2.01927753e-01 3.63314672e-02 1.99904083e+02] [-2.01785907e-01 9.79400417e-01 -7.56773537e-03 -2.66574669e+01] [-3.71111900e-02 7.55636991e-05 9.99311140e-01 -8.16831802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70587156 meters 0.012726746130379829 Centerline is valid? [True, True] Translation: X:199.96, Y:-26.66, Z:-8.17 [[ 9.77340307e-01 2.08716595e-01 3.52605515e-02 1.99962774e+02] [-2.08587461e-01 9.77976151e-01 -7.34301774e-03 -2.66592562e+01] [-3.60165881e-02 -1.78281709e-04 9.99351176e-01 -8.17306664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76587156 meters 0.024271748759092184 Centerline is valid? [True, True] Translation: X:200.02, Y:-26.65, Z:-8.17 [[ 9.75068322e-01 2.18854161e-01 3.66691085e-02 2.00024214e+02] [-2.18721742e-01 9.75757410e-01 -7.63386744e-03 -2.66495288e+01] [-3.74508580e-02 -5.76788967e-04 9.99298304e-01 -8.17353713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82587156 meters 0.033635332061370364 Centerline is valid? [True, True] Translation: X:200.09, Y:-26.65, Z:-8.17 [[ 9.73299402e-01 2.26448729e-01 3.75399548e-02 2.00086680e+02] [-2.26315659e-01 9.74022679e-01 -7.81307116e-03 -2.66472271e+01] [-3.83340274e-02 -8.91422114e-04 9.99264583e-01 -8.17261214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88587156 meters 0.03295180517289564 Centerline is valid? [True, True] Translation: X:200.15, Y:-26.65, Z:-8.18 [[ 9.72588573e-01 2.29425053e-01 3.78894730e-02 2.00146950e+02] [-2.29291744e-01 9.73325798e-01 -7.88590289e-03 -2.66511496e+01] [-3.86880252e-02 -1.01800431e-03 9.99250820e-01 -8.17586502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94587156 meters 0.03274522483035469 Centerline is valid? [True, True] Translation: X:200.21, Y:-26.66, Z:-8.18 [[ 9.72228482e-01 2.30846612e-01 3.84918316e-02 2.00206027e+02] [-2.30710162e-01 9.72989542e-01 -8.01077014e-03 -2.66561601e+01] [-3.93014087e-02 -1.09215779e-03 9.99226804e-01 -8.17718486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00587156 meters 0.034590109400179585 Centerline is valid? [True, True] Translation: X:200.26, Y:-26.66, Z:-8.19 [[ 9.72545806e-01 2.29881573e-01 3.61817402e-02 2.00264512e+02] [-2.29760591e-01 9.73218100e-01 -7.52336395e-03 -2.66598381e+01] [-3.69422072e-02 -9.96321971e-04 9.99316907e-01 -8.18515669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06587156 meters 0.03289141997983446 Centerline is valid? [True, True] Translation: X:200.32, Y:-26.67, Z:-8.19 [[ 9.73177511e-01 2.27414484e-01 3.47589408e-02 2.00322328e+02] [-2.27301289e-01 9.73797669e-01 -7.22665278e-03 -2.66725490e+01] [-3.54916210e-02 -8.67936085e-04 9.99369597e-01 -8.18790487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12587156 meters 0.03044043620652027 Centerline is valid? [True, True] Translation: X:200.38, Y:-26.68, Z:-8.19 [[ 9.73672292e-01 2.25132516e-01 3.57437868e-02 2.00379740e+02] [-2.25011529e-01 9.74327813e-01 -7.42453421e-03 -2.66826595e+01] [-3.64976697e-02 -8.13700878e-04 9.99333407e-01 -8.18919507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18587156 meters 0.02453968520541556 Centerline is valid? [True, True] Translation: X:200.44, Y:-26.69, Z:-8.19 [[ 9.74281184e-01 2.22264226e-01 3.70781406e-02 2.00438415e+02] [-2.22132033e-01 9.74986192e-01 -7.69971782e-03 -2.66902832e+01] [-3.78620469e-02 -7.34552537e-04 9.99282706e-01 -8.18932161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24587156 meters 0.02423272418213789 Centerline is valid? [True, True] Translation: X:200.50, Y:-26.70, Z:-8.19 [[ 9.74695805e-01 2.20419476e-01 3.71933069e-02 2.00496191e+02] [-2.20285183e-01 9.75404947e-01 -7.72192935e-03 -2.66969142e+01] [-3.79805992e-02 -6.66602266e-04 9.99278254e-01 -8.19212363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30587156 meters 0.021759416786032475 Centerline is valid? [True, True] Translation: X:200.56, Y:-26.70, Z:-8.20 [[ 9.75335793e-01 2.17775293e-01 3.59723795e-02 2.00555118e+02] [-2.17647977e-01 9.75998782e-01 -7.46567961e-03 -2.67030874e+01] [-3.67348391e-02 -5.47771096e-04 9.99324898e-01 -8.19725427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.36587156000002 meters 0.017255973839887754 Centerline is valid? [True, True] Translation: X:200.61, Y:-26.72, Z:-8.20 [[ 9.76070157e-01 2.14603472e-01 3.51055188e-02 2.00612243e+02] [-2.14480369e-01 9.76701167e-01 -7.28017152e-03 -2.67177530e+01] [-3.58499513e-02 -4.23486468e-04 9.99357094e-01 -8.20049925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42587156000002 meters 0.01905208789100279 Centerline is valid? [True, True] Translation: X:200.67, Y:-26.73, Z:-8.20 [[ 9.77548558e-01 2.07819688e-01 3.47820903e-02 2.00668746e+02] [-2.07694788e-01 9.78167136e-01 -7.20624366e-03 -2.67307754e+01] [-3.55202970e-02 -1.79605770e-04 9.99368939e-01 -8.20312253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48587156 meters 0.018739521159972412 Centerline is valid? [True, True] Translation: X:200.72, Y:-26.75, Z:-8.20 [[ 9.79293080e-01 1.99245711e-01 3.58637579e-02 2.00724129e+02] [-1.99107247e-01 9.79949554e-01 -7.42801007e-03 -2.67500415e+01] [-3.66246727e-02 1.33464742e-04 9.99329083e-01 -8.20450891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54587156 meters 0.024951594719666178 Centerline is valid? [True, True] Translation: X:200.78, Y:-26.77, Z:-8.21 [[ 9.80939421e-01 1.90922106e-01 3.61469410e-02 2.00781237e+02] [-1.90775874e-01 9.81605089e-01 -7.48431084e-03 -2.67697102e+01] [-3.69109416e-02 4.45691279e-04 9.99318460e-01 -8.20519274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60587156 meters 0.02183890139099787 Centerline is valid? [True, True] Translation: X:200.84, Y:-26.79, Z:-8.21 [[ 9.81803919e-01 1.86511357e-01 3.57012313e-02 2.00836684e+02] [-1.86365820e-01 9.82452620e-01 -7.39129686e-03 -2.67876598e+01] [-3.64533290e-02 6.03314966e-04 9.99335174e-01 -8.20963333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66587156 meters 0.024217688345878067 Centerline is valid? [True, True] Translation: X:200.89, Y:-26.80, Z:-8.21 [[ 9.82379853e-01 1.83456079e-01 3.56888032e-02 2.00894717e+02] [-1.83308696e-01 9.83027648e-01 -7.38685264e-03 -2.68022206e+01] [-3.64382432e-02 7.14627242e-04 9.99335651e-01 -8.21114760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72587156 meters 0.025469189105300976 Centerline is valid? [True, True] Translation: X:200.95, Y:-26.81, Z:-8.21 [[ 9.82821860e-01 1.81041681e-01 3.58483223e-02 2.00951994e+02] [-1.80891398e-01 9.83475093e-01 -7.41913434e-03 -2.68146364e+01] [-3.65991046e-02 8.07034276e-04 9.99329702e-01 -8.21256322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78587156 meters 0.02919546395209795 Centerline is valid? [True, True] Translation: X:201.01, Y:-26.83, Z:-8.21 [[ 9.83357519e-01 1.77977314e-01 3.64974660e-02 2.01008067e+02] [-1.77819499e-01 9.84034146e-01 -7.55156004e-03 -2.68336444e+01] [-3.72587591e-02 9.35922247e-04 9.99305213e-01 -8.21462317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84587156 meters 0.03675323215772748 Centerline is valid? [True, True] Translation: X:201.06, Y:-26.85, Z:-8.22 [[ 9.83845393e-01 1.75258482e-01 3.65062637e-02 2.01064962e+02] [-1.75098773e-01 9.84521908e-01 -7.55197707e-03 -2.68519314e+01] [-3.72647644e-02 1.03777588e-03 9.99304889e-01 -8.21638809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90587156 meters 0.03655532641982061 Centerline is valid? [True, True] Translation: X:201.12, Y:-26.88, Z:-8.22 [[ 9.84511029e-01 1.71587964e-01 3.59945112e-02 2.01120009e+02] [-1.71430283e-01 9.85168121e-01 -7.44524648e-03 -2.68765905e+01] [-3.67381596e-02 1.15937804e-03 9.99324253e-01 -8.22093280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96587156 meters 0.03765322454742964 Centerline is valid? [True, True] Translation: X:201.17, Y:-26.90, Z:-8.23 [[ 9.84560748e-01 1.71590795e-01 3.45938281e-02 2.01174958e+02] [-1.71445173e-01 9.85167681e-01 -7.15497260e-03 -2.68950658e+01] [-3.53084488e-02 1.11356033e-03 9.99375842e-01 -8.22570414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02587156 meters 0.03410674855154121 Centerline is valid? [True, True] Translation: X:201.23, Y:-26.91, Z:-8.23 [[ 9.84081916e-01 1.74478218e-01 3.37658575e-02 2.01233989e+02] [-1.74341262e-01 9.84660543e-01 -6.98141743e-03 -2.69064929e+01] [-3.44660129e-02 9.83504422e-04 9.99405387e-01 -8.22930260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.08587156000002 meters 0.02564591398335973 Centerline is valid? [True, True] Translation: X:201.29, Y:-26.91, Z:-8.23 [[ 9.82820581e-01 1.81416544e-01 3.39373411e-02 2.01294544e+02] [-1.81282336e-01 9.83406063e-01 -7.01639643e-03 -2.69132089e+01] [-3.46470774e-02 7.43618328e-04 9.99399333e-01 -8.23128978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.14587156000002 meters 0.033195005843817973 Centerline is valid? [True, True] Translation: X:201.35, Y:-26.92, Z:-8.23 [[ 9.81408763e-01 1.88814168e-01 3.44390838e-02 2.01354762e+02] [-1.88680507e-01 9.82012714e-01 -7.12010993e-03 -2.69193658e+01] [-3.51639958e-02 4.89754473e-04 9.99381435e-01 -8.23129223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20587156 meters 0.014789707371057378 Centerline is valid? [True, True] Translation: X:201.41, Y:-26.93, Z:-8.23 [[ 9.80529823e-01 1.93351357e-01 3.43004252e-02 2.01413027e+02] [-1.93221549e-01 9.81129526e-01 -7.09129694e-03 -2.69285801e+01] [-3.50242718e-02 3.25646850e-04 9.99386409e-01 -8.23461905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26587156 meters 0.028022611026603025 Centerline is valid? [True, True] Translation: X:201.47, Y:-26.94, Z:-8.24 [[ 9.79103256e-01 2.00364073e-01 3.48001841e-02 2.01470030e+02] [-2.00234935e-01 9.79721508e-01 -7.19291846e-03 -2.69372909e+01] [-3.55356913e-02 7.43972593e-05 9.99368405e-01 -8.23599476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32587156 meters 0.011747331932143586 Centerline is valid? [True, True] Translation: X:201.53, Y:-26.94, Z:-8.24 [[ 9.78086258e-01 2.05292872e-01 3.46714354e-02 2.01528959e+02] [-2.05167860e-01 9.78700580e-01 -7.16407125e-03 -2.69444635e+01] [-3.54036867e-02 -1.06384553e-04 9.99373087e-01 -8.23869487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38587156 meters 0.019554376752117457 Centerline is valid? [True, True] Translation: X:201.59, Y:-26.94, Z:-8.24 [[ 9.76117465e-01 2.14622238e-01 3.36450449e-02 2.01588705e+02] [-2.14510102e-01 9.76697040e-01 -6.95041768e-03 -2.69426377e+01] [-3.43527299e-02 -4.32777927e-04 9.99409677e-01 -8.24425292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44587156 meters 0.028892217392530405 Centerline is valid? [True, True] Translation: X:201.65, Y:-26.94, Z:-8.25 [[ 9.74111699e-01 2.23646342e-01 3.29956402e-02 2.01649986e+02] [-2.23543735e-01 9.74670082e-01 -6.81395354e-03 -2.69426902e+01] [-3.36837791e-02 -7.38416803e-04 9.99432268e-01 -8.24813514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50587156 meters 0.031362228848045695 Centerline is valid? [True, True] Translation: X:201.71, Y:-26.95, Z:-8.25 [[ 9.73050476e-01 2.28181498e-01 3.32562092e-02 2.01708638e+02] [-2.28079908e-01 9.73618195e-01 -6.86776185e-03 -2.69505613e+01] [-3.39459466e-02 -9.02394199e-04 9.99423263e-01 -8.24851972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56587156 meters 0.03848442111881526 Centerline is valid? [True, True] Translation: X:201.77, Y:-26.95, Z:-8.25 [[ 9.72161311e-01 2.31825202e-01 3.40508713e-02 2.01768577e+02] [-2.31720974e-01 9.72756887e-01 -7.03054868e-03 -2.69495969e+01] [-3.47530780e-02 -1.05547365e-03 9.99395372e-01 -8.25101039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62587156 meters 0.03676909930321648 Centerline is valid? [True, True] Translation: X:201.83, Y:-26.96, Z:-8.25 [[ 9.72525465e-01 2.30388944e-01 3.33939368e-02 2.01825862e+02] [-2.30287859e-01 9.73098127e-01 -6.89474926e-03 -2.69612448e+01] [-3.40840513e-02 -9.84898983e-04 9.99418485e-01 -8.25499678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68587156 meters 0.030799369417271166 Centerline is valid? [True, True] Translation: X:201.88, Y:-26.98, Z:-8.26 [[ 9.73892248e-01 2.24466644e-01 3.38912072e-02 2.01883502e+02] [-2.24359184e-01 9.74481448e-01 -6.99032994e-03 -2.69794192e+01] [-3.45954486e-02 -7.95975445e-04 9.99401081e-01 -8.25555091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74587156 meters 0.022676561767524778 Centerline is valid? [True, True] Translation: X:201.94, Y:-27.00, Z:-8.26 [[ 9.74954625e-01 2.19832629e-01 3.37208222e-02 2.01940432e+02] [-2.19723477e-01 9.75537401e-01 -6.95509029e-03 -2.69990599e+01] [-3.44248790e-02 -6.28358854e-04 9.99407091e-01 -8.25763221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80587156 meters 0.019389939983934113 Centerline is valid? [True, True] Translation: X:202.00, Y:-27.01, Z:-8.26 [[ 9.76204491e-01 2.14236822e-01 3.35764190e-02 2.01997842e+02] [-2.14125320e-01 9.76781654e-01 -6.92444018e-03 -2.70117948e+01] [-3.42803002e-02 -4.29891873e-04 9.99412165e-01 -8.26206976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.86587156000002 meters 0.017602296697087606 Centerline is valid? [True, True] Translation: X:202.06, Y:-27.03, Z:-8.26 [[ 9.76855219e-01 2.11175282e-01 3.40423561e-02 2.02055189e+02] [-2.11058796e-01 9.77448154e-01 -7.02076499e-03 -2.70262340e+01] [-3.47572502e-02 -3.26667772e-04 9.99395731e-01 -8.26188088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92587156000002 meters 0.022305294250710216 Centerline is valid? [True, True] Translation: X:202.11, Y:-27.04, Z:-8.27 [[ 9.77727456e-01 2.07122660e-01 3.39002301e-02 2.02111963e+02] [-2.07004942e-01 9.78314964e-01 -6.98467304e-03 -2.70378600e+01] [-3.46117865e-02 -1.88408572e-04 9.99400815e-01 -8.26505445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98587156 meters 0.02168628907531624 Centerline is valid? [True, True] Translation: X:202.17, Y:-27.05, Z:-8.27 [[ 9.78238552e-01 2.04640315e-01 3.42297657e-02 2.02169042e+02] [-2.04518851e-01 9.78837234e-01 -7.05042413e-03 -2.70486972e+01] [-3.49481702e-02 -1.03635671e-04 9.99389121e-01 -8.26744361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04587156 meters 0.011750546666752843 Centerline is valid? [True, True] Translation: X:202.22, Y:-27.06, Z:-8.27 [[ 9.79303338e-01 1.99512860e-01 3.40527788e-02 2.02224849e+02] [-1.99389615e-01 9.79895205e-01 -7.01203081e-03 -2.70628419e+01] [-3.47671450e-02 7.71347033e-05 9.99395437e-01 -8.27029281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10587156 meters 0.014478327299732438 Centerline is valid? [True, True] Translation: X:202.28, Y:-27.08, Z:-8.28 [[ 9.80414596e-01 1.94168992e-01 3.29487770e-02 2.02281116e+02] [-1.94050677e-01 9.80968061e-01 -6.78213801e-03 -2.70790979e+01] [-3.36385788e-02 2.55574607e-04 9.99434030e-01 -8.27516458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16587156 meters 0.01588847671586298 Centerline is valid? [True, True] Translation: X:202.34, Y:-27.09, Z:-8.28 [[ 9.80859161e-01 1.91949427e-01 3.27219149e-02 2.02338750e+02] [-1.91831554e-01 9.81404764e-01 -6.73386322e-03 -2.70907232e+01] [-3.34060043e-02 3.27875646e-04 9.99441810e-01 -8.27738280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22587156 meters 0.016361923152160382 Centerline is valid? [True, True] Translation: X:202.40, Y:-27.10, Z:-8.28 [[ 9.80947739e-01 1.91481352e-01 3.28089303e-02 2.02396326e+02] [-1.91362641e-01 9.81496191e-01 -6.75024127e-03 -2.70989161e+01] [-3.34943854e-02 3.43230362e-04 9.99438847e-01 -8.28011561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28587156 meters 0.01633988808320264 Centerline is valid? [True, True] Translation: X:202.45, Y:-27.11, Z:-8.28 [[ 9.80954852e-01 1.91531676e-01 3.22985470e-02 2.02454647e+02] [-1.91416725e-01 9.81486376e-01 -6.64318783e-03 -2.71061746e+01] [-3.29729647e-02 3.34185257e-04 9.99456188e-01 -8.28363884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34587156 meters 0.017199181634425194 Centerline is valid? [True, True] Translation: X:202.51, Y:-27.11, Z:-8.29 [[ 9.81161088e-01 1.90461725e-01 3.23612562e-02 2.02512901e+02] [-1.90345798e-01 9.81694553e-01 -6.65449608e-03 -2.71139907e+01] [-3.30362957e-02 3.69303481e-04 9.99454084e-01 -8.28589828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40587156 meters 0.018520440714960635 Centerline is valid? [True, True] Translation: X:202.57, Y:-27.12, Z:-8.29 [[ 9.81406261e-01 1.89173317e-01 3.24839579e-02 2.02569386e+02] [-1.89055853e-01 9.81943627e-01 -6.67824007e-03 -2.71249070e+01] [-3.31607602e-02 4.12784260e-04 9.99449946e-01 -8.28900800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46587156 meters 0.02284205328173655 Centerline is valid? [True, True] Translation: X:202.63, Y:-27.14, Z:-8.29 [[ 9.81991484e-01 1.86084071e-01 3.26411386e-02 2.02625063e+02] [-1.85963826e-01 9.82533689e-01 -6.70856696e-03 -2.71413938e+01] [-3.33193758e-02 5.17684596e-04 9.99444621e-01 -8.29239351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52587156 meters 0.02284652622821549 Centerline is valid? [True, True] Translation: X:202.68, Y:-27.15, Z:-8.29 [[ 9.82664062e-01 1.82248435e-01 3.40124978e-02 2.02683194e+02] [-1.82115649e-01 9.83252285e-01 -6.98820739e-03 -2.71534009e+01] [-3.47164560e-02 6.72852143e-04 9.99396976e-01 -8.28994480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.58587156000002 meters 0.028188680006985704 Centerline is valid? [True, True] Translation: X:202.74, Y:-27.17, Z:-8.29 [[ 9.82923407e-01 1.80831188e-01 3.40831034e-02 2.02739081e+02] [-1.80697055e-01 9.83513883e-01 -7.00109486e-03 -2.71689374e+01] [-3.47872217e-02 7.22823586e-04 9.99394480e-01 -8.29203398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.64587156000002 meters 0.0337303886417434 Centerline is valid? [True, True] Translation: X:202.80, Y:-27.18, Z:-8.29 [[ 9.83316935e-01 1.78668572e-01 3.41371814e-02 2.02796276e+02] [-1.78532787e-01 9.83908992e-01 -7.00997749e-03 -2.71813172e+01] [-3.48403424e-02 7.98423427e-04 9.99392572e-01 -8.29313401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70587156 meters 0.028318566753373797 Centerline is valid? [True, True] Translation: X:202.85, Y:-27.19, Z:-8.30 [[ 9.83488091e-01 1.77792778e-01 3.37772526e-02 2.02853266e+02] [-1.77659383e-01 9.84067608e-01 -6.93443616e-03 -2.71942610e+01] [-3.44719928e-02 8.19089510e-04 9.99405329e-01 -8.29789610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76587156 meters 0.026570419958132155 Centerline is valid? [True, True] Translation: X:202.91, Y:-27.20, Z:-8.30 [[ 9.83298328e-01 1.78871691e-01 3.36052918e-02 2.02911124e+02] [-1.78740336e-01 9.83872104e-01 -6.89752776e-03 -2.72033219e+01] [-3.42970816e-02 7.75706369e-04 9.99411381e-01 -8.30046765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82587156 meters 0.025534677544658775 Centerline is valid? [True, True] Translation: X:202.97, Y:-27.21, Z:-8.30 [[ 9.83244110e-01 1.79238793e-01 3.32336628e-02 2.02969437e+02] [-1.79110595e-01 9.83805310e-01 -6.81954228e-03 -2.72138627e+01] [-3.39177805e-02 7.52773646e-04 9.99424343e-01 -8.30335329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88587156 meters 0.030240418081403313 Centerline is valid? [True, True] Translation: X:203.02, Y:-27.23, Z:-8.31 [[ 9.83553580e-01 1.77543993e-01 3.31735835e-02 2.03024385e+02] [-1.77415331e-01 9.84112532e-01 -6.80617275e-03 -2.72329923e+01] [-3.38549344e-02 8.08733280e-04 9.99426430e-01 -8.30749103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94587156 meters 0.031659879581836005 Centerline is valid? [True, True] Translation: X:203.08, Y:-27.25, Z:-8.31 [[ 9.84024511e-01 1.74842118e-01 3.35558623e-02 2.03081968e+02] [-1.74708984e-01 9.84596062e-01 -6.88219293e-03 -2.72508170e+01] [-3.42422670e-02 9.09735912e-04 9.99413148e-01 -8.30912245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00587156 meters 0.03229519665248898 Centerline is valid? [True, True] Translation: X:203.14, Y:-27.27, Z:-8.31 [[ 9.84352090e-01 1.73043100e-01 3.32723313e-02 2.03138889e+02] [-1.72911201e-01 9.84913782e-01 -6.82344713e-03 -2.72666676e+01] [-3.39511281e-02 9.63515696e-04 9.99423030e-01 -8.31165664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06587156 meters 0.04260726973288886 Centerline is valid? [True, True] Translation: X:203.19, Y:-27.28, Z:-8.31 [[ 9.84608395e-01 1.71681090e-01 3.27400674e-02 2.03194123e+02] [-1.71552676e-01 9.85152078e-01 -6.71281983e-03 -2.72840420e+01] [-3.34064097e-02 9.92852596e-04 9.99441357e-01 -8.31383313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12587156 meters 0.037735578209021375 Centerline is valid? [True, True] Translation: X:203.25, Y:-27.31, Z:-8.32 [[ 9.84991937e-01 1.69373644e-01 3.32182720e-02 2.03250080e+02] [-1.69240214e-01 9.85551314e-01 -6.80861765e-03 -2.73055735e+01] [-3.38915120e-02 1.08456602e-03 9.99424929e-01 -8.31735625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18587156 meters 0.03837226341549799 Centerline is valid? [True, True] Translation: X:203.31, Y:-27.32, Z:-8.32 [[ 9.85129431e-01 1.68419851e-01 3.39817218e-02 2.03307052e+02] [-1.68279689e-01 9.85714690e-01 -6.96393999e-03 -2.73224989e+01] [-3.46691481e-02 1.14194866e-03 9.99398192e-01 -8.31776247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24587156 meters 0.0383340396435719 Centerline is valid? [True, True] Translation: X:203.36, Y:-27.34, Z:-8.32 [[ 9.85049271e-01 1.68775911e-01 3.45344062e-02 2.03363721e+02] [-1.68631429e-01 9.85653782e-01 -7.07552167e-03 -2.73401350e+01] [-3.52331457e-02 1.14615119e-03 9.99378463e-01 -8.31877131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30587156 meters 0.031887688755312976 Centerline is valid? [True, True] Translation: X:203.42, Y:-27.35, Z:-8.32 [[ 9.84251210e-01 1.73262438e-01 3.50668266e-02 2.03422487e+02] [-1.73116373e-01 9.84875185e-01 -7.18276535e-03 -2.73499810e+01] [-3.57809507e-02 9.99003674e-04 9.99359157e-01 -8.31948172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.36587156000002 meters 0.03050534233764623 Centerline is valid? [True, True] Translation: X:203.48, Y:-27.36, Z:-8.32 [[ 9.83529393e-01 1.77237874e-01 3.54495279e-02 2.03479726e+02] [-1.77091211e-01 9.84167664e-01 -7.26027835e-03 -2.73647539e+01] [-3.61750753e-02 8.62897336e-04 9.99345095e-01 -8.32194110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42587156000002 meters 0.027423326371132605 Centerline is valid? [True, True] Translation: X:203.54, Y:-27.38, Z:-8.32 [[ 9.82982657e-01 1.80206510e-01 3.56470280e-02 2.03537051e+02] [-1.80060186e-01 9.83628507e-01 -7.29992061e-03 -2.73793578e+01] [-3.63789261e-02 7.57084885e-04 9.99337781e-01 -8.32438575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48587156 meters 0.02526954754950664 Centerline is valid? [True, True] Translation: X:203.59, Y:-27.40, Z:-8.33 [[ 9.83166391e-01 1.79312891e-01 3.50818224e-02 2.03593923e+02] [-1.79170643e-01 9.83791789e-01 -7.18307407e-03 -2.73962012e+01] [-3.58012266e-02 7.76524341e-04 9.99358629e-01 -8.32756640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54587156 meters 0.0384993829318845 Centerline is valid? [True, True] Translation: X:203.65, Y:-27.42, Z:-8.33 [[ 9.83284056e-01 1.78655445e-01 3.51382572e-02 2.03649333e+02] [-1.78512385e-01 9.83911374e-01 -7.19279234e-03 -2.74171688e+01] [-3.58579625e-02 7.99943929e-04 9.99356576e-01 -8.32921991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60587156 meters 0.028393330975185527 Centerline is valid? [True, True] Translation: X:203.71, Y:-27.44, Z:-8.33 [[ 9.83458613e-01 1.77687120e-01 3.51631022e-02 2.03706131e+02] [-1.77543289e-01 9.84086679e-01 -7.19649433e-03 -2.74389492e+01] [-3.58822648e-02 8.34481511e-04 9.99355676e-01 -8.33282695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66587156 meters 0.02801011077045231 Centerline is valid? [True, True] Translation: X:203.76, Y:-27.46, Z:-8.34 [[ 9.83449286e-01 1.77794895e-01 3.48780311e-02 2.03763932e+02] [-1.77653485e-01 9.84067222e-01 -7.13731402e-03 -2.74562059e+01] [-3.55913052e-02 8.22982597e-04 9.99366090e-01 -8.33560606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72587156 meters 0.02672484254704113 Centerline is valid? [True, True] Translation: X:203.82, Y:-27.48, Z:-8.34 [[ 9.83194093e-01 1.79134768e-01 3.52151896e-02 2.03821249e+02] [-1.78991499e-01 9.83824235e-01 -7.20544367e-03 -2.74753118e+01] [-3.59363025e-02 7.81130077e-04 9.99353777e-01 -8.33716706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78587156 meters 0.024270894797971163 Centerline is valid? [True, True] Translation: X:203.88, Y:-27.49, Z:-8.34 [[ 9.82612097e-01 1.82319733e-01 3.51138406e-02 2.03877899e+02] [-1.82179353e-01 9.83239074e-01 -7.18377670e-03 -2.74938602e+01] [-3.58350444e-02 6.61849133e-04 9.99357499e-01 -8.34029645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84587156 meters 0.020883748713415123 Centerline is valid? [True, True] Translation: X:203.93, Y:-27.51, Z:-8.35 [[ 9.81891162e-01 1.86386291e-01 3.39101076e-02 2.03934361e+02] [-1.86257803e-01 9.82476414e-01 -6.93729850e-03 -2.75093356e+01] [-3.46088983e-02 4.95649941e-04 9.99400810e-01 -8.34539021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90587156 meters 0.017739350375029807 Centerline is valid? [True, True] Translation: X:203.99, Y:-27.52, Z:-8.35 [[ 9.81291696e-01 1.89570783e-01 3.36084163e-02 2.03992433e+02] [-1.89446481e-01 9.81866984e-01 -6.87429155e-03 -2.75227244e+01] [-3.43021592e-02 3.78689017e-04 9.99411436e-01 -8.34774369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96587156 meters 0.013406981942764589 Centerline is valid? [True, True] Translation: X:204.05, Y:-27.53, Z:-8.35 [[ 9.80088436e-01 1.95561564e-01 3.43850508e-02 2.04050650e+02] [-1.95435151e-01 9.80691412e-01 -7.03256250e-03 -2.75334572e+01] [-3.50964229e-02 1.72485595e-04 9.99383916e-01 -8.34905503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02587156 meters 0.017295866326896413 Centerline is valid? [True, True] Translation: X:204.11, Y:-27.54, Z:-8.35 [[ 9.78478829e-01 2.03478570e-01 3.42877840e-02 2.04109560e+02] [-2.03357801e-01 9.79079393e-01 -7.01042640e-03 -2.75407308e+01] [-3.49969343e-02 -1.13134535e-04 9.99387413e-01 -8.35040774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08587156000002 meters 0.01706235543283307 Centerline is valid? [True, True] Translation: X:204.17, Y:-27.55, Z:-8.36 [[ 9.77182694e-01 2.09668820e-01 3.39553893e-02 2.04168439e+02] [-2.09554168e-01 9.77772404e-01 -6.94086842e-03 -2.75451285e+01] [-3.46559263e-02 -3.32996853e-04 9.99399247e-01 -8.35527049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.14587156000002 meters 0.027465145744421018 Centerline is valid? [True, True] Translation: X:204.23, Y:-27.54, Z:-8.36 [[ 9.75073071e-01 2.19340383e-01 3.35007918e-02 2.04228580e+02] [-2.19234535e-01 9.75648169e-01 -6.84616735e-03 -2.75447622e+01] [-3.41866272e-02 -6.69017076e-04 9.99415242e-01 -8.35784677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20587156 meters 0.033461378420423626 Centerline is valid? [True, True] Translation: X:204.29, Y:-27.55, Z:-8.36 [[ 9.73461909e-01 2.26308429e-01 3.40059839e-02 2.04289294e+02] [-2.26203637e-01 9.74055252e-01 -6.94847105e-03 -2.75483636e+01] [-3.46962048e-02 -9.28205361e-04 9.99397474e-01 -8.35846806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26587156 meters 0.03624752306346184 Centerline is valid? [True, True] Translation: X:204.35, Y:-27.55, Z:-8.36 [[ 9.72947180e-01 2.28365033e-01 3.49742345e-02 2.04346532e+02] [-2.28255511e-01 9.73575036e-01 -7.14641280e-03 -2.75546045e+01] [-3.56820324e-02 -1.02997959e-03 9.99362663e-01 -8.35923946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32587156 meters 0.03939603378089715 Centerline is valid? [True, True] Translation: X:204.40, Y:-27.57, Z:-8.36 [[ 9.73027850e-01 2.27926794e-01 3.55834073e-02 2.04403924e+02] [-2.27813229e-01 9.73677722e-01 -7.26812287e-03 -2.75663696e+01] [-3.63033710e-02 -1.03428496e-03 9.99340280e-01 -8.35858004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38587156 meters 0.030386766196863292 Centerline is valid? [True, True] Translation: X:204.46, Y:-27.58, Z:-8.36 [[ 9.73717022e-01 2.24959992e-01 3.56112660e-02 2.04461009e+02] [-2.24844335e-01 9.74367561e-01 -7.27193146e-03 -2.75849500e+01] [-3.63343560e-02 -9.26187971e-04 9.99339260e-01 -8.36215585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44587156 meters 0.03763143782937126 Centerline is valid? [True, True] Translation: X:204.52, Y:-27.60, Z:-8.36 [[ 9.74771883e-01 2.20293872e-01 3.59219432e-02 2.04518346e+02] [-2.20173052e-01 9.75433254e-01 -7.33446005e-03 -2.75992930e+01] [-3.66551946e-02 -7.59618446e-04 9.99327684e-01 -8.36346754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50587156 meters 0.02079976645307863 Centerline is valid? [True, True] Translation: X:204.57, Y:-27.62, Z:-8.37 [[ 9.76114009e-01 2.14286812e-01 3.58134479e-02 2.04574193e+02] [-2.14162707e-01 9.76770637e-01 -7.31141580e-03 -2.76224693e+01] [-3.65482643e-02 -5.33129560e-04 9.99331747e-01 -8.36746806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56587156 meters 0.012703360989950088 Centerline is valid? [True, True] Translation: X:204.63, Y:-27.65, Z:-8.37 [[ 9.78319392e-01 2.04157161e-01 3.47997383e-02 2.04629780e+02] [-2.04033593e-01 9.78938114e-01 -7.10364239e-03 -2.76494965e+01] [-3.55170496e-02 -1.50684556e-04 9.99369059e-01 -8.37084162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62587156 meters 0.0177714270459978 Centerline is valid? [True, True] Translation: X:204.69, Y:-27.68, Z:-8.37 [[ 9.80361635e-01 1.94028277e-01 3.52716958e-02 2.04686476e+02] [-1.93894810e-01 9.80995912e-01 -7.19879768e-03 -2.76775094e+01] [-3.59981597e-02 2.18426314e-04 9.99351832e-01 -8.37159181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68587156 meters 0.019599456418538278 Centerline is valid? [True, True] Translation: X:204.74, Y:-27.70, Z:-8.38 [[ 9.81526801e-01 1.88115507e-01 3.48954902e-02 2.04743670e+02] [-1.87981135e-01 9.82146817e-01 -7.12197978e-03 -2.77014189e+01] [-3.56122494e-02 4.30720199e-04 9.99365590e-01 -8.37729915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74587156 meters 0.024537256416201175 Centerline is valid? [True, True] Translation: X:204.80, Y:-27.72, Z:-8.38 [[ 9.82908525e-01 1.80618775e-01 3.56046200e-02 2.04801761e+02] [-1.80473712e-01 9.83552914e-01 -7.27356228e-03 -2.77230257e+01] [-3.63327697e-02 7.23548444e-04 9.99339485e-01 -8.37691407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80587156 meters 0.029859258273761395 Centerline is valid? [True, True] Translation: X:204.86, Y:-27.75, Z:-8.38 [[ 9.83835938e-01 1.75500919e-01 3.55847458e-02 2.04858862e+02] [-1.75352657e-01 9.84478844e-01 -7.26984184e-03 -2.77461618e+01] [-3.63082934e-02 9.12451930e-04 9.99340220e-01 -8.37906137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.86587156000002 meters 0.03496841462636762 Centerline is valid? [True, True] Translation: X:204.92, Y:-27.77, Z:-8.38 [[ 9.84163167e-01 1.73772936e-01 3.50118114e-02 2.04917965e+02] [-1.73628312e-01 9.84785278e-01 -7.15299838e-03 -2.77652761e+01] [-3.57221139e-02 9.60675810e-04 9.99361300e-01 -8.38090013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92587156000002 meters 0.03496276817315876 Centerline is valid? [True, True] Translation: X:204.98, Y:-27.79, Z:-8.39 [[ 9.84473309e-01 1.72125435e-01 3.44258548e-02 2.04975691e+02] [-1.71984417e-01 9.85074524e-01 -7.03867972e-03 -2.77863057e+01] [-3.51235684e-02 1.00868174e-03 9.99382468e-01 -8.38607849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98587156 meters 0.03467930640115298 Centerline is valid? [True, True] Translation: X:205.04, Y:-27.80, Z:-8.39 [[ 9.84370235e-01 1.72800777e-01 3.39872308e-02 2.05035259e+02] [-1.72663552e-01 9.84956312e-01 -6.95421476e-03 -2.78048575e+01] [-3.46776312e-02 9.77166019e-04 9.99398072e-01 -8.38848524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04587156 meters 0.03262798868726434 Centerline is valid? [True, True] Translation: X:205.09, Y:-27.82, Z:-8.39 [[ 9.83884968e-01 1.75571874e-01 3.38361871e-02 2.05093856e+02] [-1.75437266e-01 9.84466220e-01 -6.93017753e-03 -2.78190574e+01] [-3.45273275e-02 8.82369339e-04 9.99403365e-01 -8.39138679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10587156 meters 0.022373989076384722 Centerline is valid? [True, True] Translation: X:205.15, Y:-27.82, Z:-8.39 [[ 9.82486397e-01 1.83294164e-01 3.35220552e-02 2.05154655e+02] [-1.83166515e-01 9.83057924e-01 -6.86626006e-03 -2.78232635e+01] [-3.42126674e-02 6.05889082e-04 9.99414392e-01 -8.39262117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16587156 meters 0.014075028294582634 Centerline is valid? [True, True] Translation: X:205.22, Y:-27.82, Z:-8.40 [[ 9.80296845e-01 1.94612441e-01 3.38244359e-02 2.05215018e+02] [-1.94489181e-01 9.80880193e-01 -6.92866975e-03 -2.78239949e+01] [-3.45261245e-02 2.13666270e-04 9.99403773e-01 -8.39509781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22587156 meters 0.012320967064536061 Centerline is valid? [True, True] Translation: X:205.28, Y:-27.83, Z:-8.40 [[ 9.78612766e-01 2.02775882e-01 3.46265243e-02 2.05275653e+02] [-2.02651820e-01 9.79225171e-01 -7.09252244e-03 -2.78253087e+01] [-3.53453567e-02 -7.62951903e-05 9.99375155e-01 -8.39623258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28587156 meters 0.01802542820036161 Centerline is valid? [True, True] Translation: X:205.34, Y:-27.82, Z:-8.40 [[ 9.76654424e-01 2.11940640e-01 3.50328477e-02 2.05336534e+02] [-2.11819544e-01 9.77282454e-01 -7.17539008e-03 -2.78248623e+01] [-3.57577441e-02 -4.12765347e-04 9.99360402e-01 -8.39783966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34587156 meters 0.022066225037972086 Centerline is valid? [True, True] Translation: X:205.40, Y:-27.83, Z:-8.40 [[ 9.75737023e-01 2.16212114e-01 3.44903295e-02 2.05396287e+02] [-2.16097434e-01 9.76346254e-01 -7.06344554e-03 -2.78304905e+01] [-3.52017065e-02 -5.61206379e-04 9.99380070e-01 -8.40131947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40587156 meters 0.021822894494193636 Centerline is valid? [True, True] Translation: X:205.45, Y:-27.84, Z:-8.40 [[ 9.75657401e-01 2.16528888e-01 3.47545330e-02 2.05454267e+02] [-2.16412669e-01 9.76276040e-01 -7.11686566e-03 -2.78418048e+01] [-3.54710249e-02 -5.77698587e-04 9.99370538e-01 -8.40275659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46587156 meters 0.020696325867176714 Centerline is valid? [True, True] Translation: X:205.51, Y:-27.85, Z:-8.41 [[ 9.75972635e-01 2.15081366e-01 3.48915807e-02 2.05511569e+02] [-2.14963366e-01 9.76595989e-01 -7.14317850e-03 -2.78541189e+01] [-3.56113424e-02 -5.28864881e-04 9.99365575e-01 -8.40508780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52587156 meters 0.017506124323950104 Centerline is valid? [True, True] Translation: X:205.57, Y:-27.87, Z:-8.41 [[ 9.76825188e-01 2.11280519e-01 3.42504677e-02 2.05569046e+02] [-2.11164543e-01 9.77425391e-01 -7.01009337e-03 -2.78706166e+01] [-3.49583729e-02 -3.84848589e-04 9.99388695e-01 -8.40996245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58587156000002 meters 0.015255346464785794 Centerline is valid? [True, True] Translation: X:205.63, Y:-27.89, Z:-8.41 [[ 9.77322819e-01 2.09005104e-01 3.40143242e-02 2.05627379e+02] [-2.08889369e-01 9.77914503e-01 -6.96103733e-03 -2.78854214e+01] [-3.47179933e-02 -3.02050102e-04 9.99397103e-01 -8.41190741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.64587156000002 meters 0.01647846608689433 Centerline is valid? [True, True] Translation: X:205.69, Y:-27.90, Z:-8.41 [[ 9.77583832e-01 2.07631292e-01 3.49155946e-02 2.05685818e+02] [-2.07508517e-01 9.78207124e-01 -7.14402145e-03 -2.78967995e+01] [-3.56380057e-02 -2.61403380e-04 9.99364730e-01 -8.41156286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70587156 meters 0.013666928304306467 Centerline is valid? [True, True] Translation: X:205.74, Y:-27.91, Z:-8.42 [[ 9.77972820e-01 2.05848602e-01 3.45762478e-02 2.05743976e+02] [-2.05727117e-01 9.78583831e-01 -7.07380340e-03 -2.79051074e+01] [-3.52918895e-02 -1.95284306e-04 9.99377028e-01 -8.41721304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76587156 meters 0.012225479710916252 Centerline is valid? [True, True] Translation: X:205.80, Y:-27.92, Z:-8.42 [[ 9.78736644e-01 2.02260655e-01 3.41351512e-02 2.05802487e+02] [-2.02140121e-01 9.79331723e-01 -6.98201420e-03 -2.79203874e+01] [-3.48418232e-02 -6.65304346e-05 9.99392837e-01 -8.42090215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82587156 meters 0.014123072261956358 Centerline is valid? [True, True] Translation: X:205.86, Y:-27.94, Z:-8.42 [[ 9.80324070e-01 1.94471517e-01 3.38459356e-02 2.05861340e+02] [-1.94348414e-01 9.80908144e-01 -6.92153971e-03 -2.79433639e+01] [-3.45457962e-02 2.07448070e-04 9.99403094e-01 -8.42392278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88587156 meters 0.01783047471006426 Centerline is valid? [True, True] Translation: X:205.92, Y:-27.96, Z:-8.43 [[ 9.81390548e-01 1.89178471e-01 3.29256616e-02 2.05920992e+02] [-1.89058774e-01 9.81942643e-01 -6.73986132e-03 -2.79628084e+01] [-3.36061478e-02 3.89550983e-04 9.99435078e-01 -8.42841089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94587156 meters 0.020767602869120234 Centerline is valid? [True, True] Translation: X:205.98, Y:-27.98, Z:-8.43 [[ 9.81980734e-01 1.86269249e-01 3.18999138e-02 2.05981285e+02] [-1.86155347e-01 9.82498622e-01 -6.53029805e-03 -2.79776594e+01] [-3.25580151e-02 4.74287346e-04 9.99469735e-01 -8.43280557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00587156 meters 0.01959248264713846 Centerline is valid? [True, True] Translation: X:206.04, Y:-27.99, Z:-8.44 [[ 9.81570509e-01 1.88341033e-01 3.23572543e-02 2.06042241e+02] [-1.88224779e-01 9.82103600e-01 -6.62954263e-03 -2.79856167e+01] [-3.30267909e-02 4.16926483e-04 9.99454380e-01 -8.43532170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06587156 meters 0.018937574366115352 Centerline is valid? [True, True] Translation: X:206.10, Y:-28.00, Z:-8.44 [[ 9.81414667e-01 1.88942952e-01 3.35531369e-02 2.06103012e+02] [-1.88818106e-01 9.81987977e-01 -6.88008223e-03 -2.79969163e+01] [-3.42487201e-02 4.16773842e-04 9.99413254e-01 -8.43568006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12587156 meters 0.024680215556055707 Centerline is valid? [True, True] Translation: X:206.16, Y:-28.01, Z:-8.44 [[ 9.81677244e-01 1.87631636e-01 3.32288617e-02 2.06163253e+02] [-1.87508252e-01 9.82239357e-01 -6.81918440e-03 -2.80107148e+01] [-3.39181904e-02 4.63552384e-04 9.99424505e-01 -8.43759849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18587156 meters 0.020955005994058355 Centerline is valid? [True, True] Translation: X:206.22, Y:-28.02, Z:-8.44 [[ 9.81942662e-01 1.86206554e-01 3.34025008e-02 2.06223507e+02] [-1.86080860e-01 9.82510482e-01 -6.86044175e-03 -2.80247915e+01] [-3.40957664e-02 5.20994364e-04 9.99418435e-01 -8.44182299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24587156 meters 0.022946692481621428 Centerline is valid? [True, True] Translation: X:206.28, Y:-28.04, Z:-8.44 [[ 9.82259085e-01 1.84567034e-01 3.31978970e-02 2.06282291e+02] [-1.84441721e-01 9.82819756e-01 -6.82486056e-03 -2.80426106e+01] [-3.38871933e-02 5.80704036e-04 9.99425495e-01 -8.44398654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30587156 meters 0.024295246496860753 Centerline is valid? [True, True] Translation: X:206.34, Y:-28.06, Z:-8.44 [[ 9.82298623e-01 1.84102026e-01 3.45811880e-02 2.06342662e+02] [-1.83965664e-01 9.82906941e-01 -7.11195885e-03 -2.80583092e+01] [-3.52994157e-02 6.24316167e-04 9.99376586e-01 -8.44437953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.36587156000002 meters 0.023382440343083167 Centerline is valid? [True, True] Translation: X:206.40, Y:-28.07, Z:-8.45 [[ 9.82052607e-01 1.85262508e-01 3.53621290e-02 2.06403183e+02] [-1.85120423e-01 9.82688883e-01 -7.27934431e-03 -2.80708210e+01] [-3.60985606e-02 6.02446777e-04 9.99348053e-01 -8.44536267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42587156000002 meters 0.021502523804391688 Centerline is valid? [True, True] Translation: X:206.46, Y:-28.08, Z:-8.45 [[ 9.81735480e-01 1.86887714e-01 3.56150266e-02 2.06464417e+02] [-1.86744439e-01 9.82381126e-01 -7.33739707e-03 -2.80823233e+01] [-3.63587993e-02 5.52474867e-04 9.99338648e-01 -8.44792003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48587156 meters 0.020027138684433777 Centerline is valid? [True, True] Translation: X:206.52, Y:-28.09, Z:-8.45 [[ 9.81261648e-01 1.89465628e-01 3.50478861e-02 2.06524380e+02] [-1.89328313e-01 9.81887248e-01 -7.22644854e-03 -2.80939464e+01] [-3.57822361e-02 4.55479634e-04 9.99359507e-01 -8.45217938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54587156 meters 0.014850720271548063 Centerline is valid? [True, True] Translation: X:206.59, Y:-28.10, Z:-8.45 [[ 9.80259136e-01 1.94697859e-01 3.44205032e-02 2.06587446e+02] [-1.94568431e-01 9.80863229e-01 -7.10297549e-03 -2.80985380e+01] [-3.51447401e-02 2.65613289e-04 9.99382198e-01 -8.45487747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60587156 meters 0.012485522108147967 Centerline is valid? [True, True] Translation: X:206.65, Y:-28.10, Z:-8.46 [[ 9.79231131e-01 1.99963450e-01 3.34815079e-02 2.06647772e+02] [-1.99843982e-01 9.79803354e-01 -6.91159540e-03 -2.81047734e+01] [-3.41873602e-02 7.69715164e-05 9.99415438e-01 -8.46010151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66587156 meters 0.02201285268353143 Centerline is valid? [True, True] Translation: X:206.71, Y:-28.12, Z:-8.46 [[ 9.78778253e-01 2.02276270e-01 3.28244042e-02 2.06707018e+02] [-2.02162730e-01 9.79328500e-01 -6.77644543e-03 -2.81154270e+01] [-3.35165886e-02 -3.23372193e-06 9.99438161e-01 -8.46061854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72587156 meters 0.025105063738495397 Centerline is valid? [True, True] Translation: X:206.77, Y:-28.13, Z:-8.46 [[ 9.78241071e-01 2.04771604e-01 3.33616099e-02 2.06765366e+02] [-2.04655769e-01 9.78809778e-01 -6.88724054e-03 -2.81253294e+01] [-3.40649813e-02 -9.02643596e-05 9.99419616e-01 -8.46386537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78587156 meters 0.03006789477697866 Centerline is valid? [True, True] Translation: X:206.82, Y:-28.13, Z:-8.46 [[ 9.77763475e-01 2.06862252e-01 3.44470044e-02 2.06824013e+02] [-2.06740020e-01 9.78370063e-01 -7.11221333e-03 -2.81340251e+01] [-3.51731663e-02 -1.67511948e-04 9.99381219e-01 -8.46411408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84587156 meters 0.02827814649802484 Centerline is valid? [True, True] Translation: X:206.88, Y:-28.15, Z:-8.47 [[ 9.77521197e-01 2.08089474e-01 3.39275751e-02 2.06881528e+02] [-2.07971694e-01 9.78109772e-01 -7.00340952e-03 -2.81454491e+01] [-3.46422285e-02 -2.09994016e-04 9.99399756e-01 -8.46760962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90587156 meters 0.02481658802652304 Centerline is valid? [True, True] Translation: X:206.94, Y:-28.16, Z:-8.47 [[ 9.77327016e-01 2.09055372e-01 3.35820665e-02 2.06940167e+02] [-2.08940609e-01 9.77903774e-01 -6.93035963e-03 -2.81575207e+01] [-3.42888585e-02 -2.43429723e-04 9.99411935e-01 -8.46974610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96587156 meters 0.02798170309101359 Centerline is valid? [True, True] Translation: X:207.00, Y:-28.17, Z:-8.47 [[ 9.77191589e-01 2.09820476e-01 3.27409076e-02 2.06997913e+02] [-2.09711845e-01 9.77739893e-01 -6.75603576e-03 -2.81667214e+01] [-3.34296461e-02 -2.64214819e-04 9.99441038e-01 -8.47407443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02587156 meters 0.01579830174410334 Centerline is valid? [True, True] Translation: X:207.06, Y:-28.18, Z:-8.48 [[ 9.77120232e-01 2.10156719e-01 3.27140088e-02 2.07056005e+02] [-2.10048485e-01 9.77667672e-01 -6.74958442e-03 -2.81776654e+01] [-3.34018993e-02 -2.76372502e-04 9.99441963e-01 -8.47906939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08587156000002 meters 0.015408272327188426 Centerline is valid? [True, True] Translation: X:207.11, Y:-28.19, Z:-8.48 [[ 9.77018487e-01 2.10426649e-01 3.39926767e-02 2.07114032e+02] [-2.10310010e-01 9.77609603e-01 -7.01166003e-03 -2.81874738e+01] [-3.47070073e-02 -2.98478699e-04 9.99397486e-01 -8.47809466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.14587156000002 meters 0.015399589762157408 Centerline is valid? [True, True] Translation: X:207.17, Y:-28.20, Z:-8.48 [[ 9.77074615e-01 2.10145674e-01 3.41173307e-02 2.07170844e+02] [-2.10028063e-01 9.77670042e-01 -7.03573806e-03 -2.81958372e+01] [-3.48340221e-02 -2.91155833e-04 9.99393069e-01 -8.48059548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20587156 meters 0.020945557974487154 Centerline is valid? [True, True] Translation: X:207.23, Y:-28.20, Z:-8.49 [[ 9.77103735e-01 2.10056803e-01 3.38294437e-02 2.07228154e+02] [-2.09941189e-01 9.77689141e-01 -6.97427257e-03 -2.82023780e+01] [-3.45396732e-02 -2.87605857e-04 9.99403286e-01 -8.48510898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26587156 meters 0.017047569957081406 Centerline is valid? [True, True] Translation: X:207.29, Y:-28.22, Z:-8.48 [[ 9.77143327e-01 2.09573268e-01 3.56365550e-02 2.07285882e+02] [-2.09444734e-01 9.77792904e-01 -7.34443768e-03 -2.82155009e+01] [-3.63843685e-02 -2.87320512e-04 9.99337828e-01 -8.48098654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32587156 meters 0.015117339698282837 Centerline is valid? [True, True] Translation: X:207.34, Y:-28.22, Z:-8.48 [[ 9.77158329e-01 2.09515393e-01 3.55654419e-02 2.07343855e+02] [-2.09387396e-01 9.77805307e-01 -7.32804859e-03 -2.82242838e+01] [-3.63114168e-02 -2.86291537e-04 9.99340482e-01 -8.48419682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38587156 meters 0.022676672246868153 Centerline is valid? [True, True] Translation: X:207.40, Y:-28.23, Z:-8.48 [[ 9.77004320e-01 2.10190745e-01 3.58107452e-02 2.07402268e+02] [-2.10061493e-01 9.77660346e-01 -7.37684683e-03 -2.82309642e+01] [-3.65612905e-02 -3.15247375e-04 9.99331363e-01 -8.48465891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44587156 meters 0.01825597816157813 Centerline is valid? [True, True] Translation: X:207.46, Y:-28.23, Z:-8.49 [[ 9.76516219e-01 2.12531752e-01 3.53033727e-02 2.07460913e+02] [-2.12407723e-01 9.77154080e-01 -7.27073024e-03 -2.82335438e+01] [-3.60420957e-02 -3.98723015e-04 9.99350193e-01 -8.48988287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50587156 meters 0.02623433202885252 Centerline is valid? [True, True] Translation: X:207.52, Y:-28.23, Z:-8.49 [[ 9.75867292e-01 2.15763994e-01 3.35995167e-02 2.07520852e+02] [-2.15653637e-01 9.76445418e-01 -6.91775593e-03 -2.82315082e+01] [-3.43006968e-02 -4.95046228e-04 9.99411435e-01 -8.49395498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56587156 meters 0.02448401964566684 Centerline is valid? [True, True] Translation: X:207.58, Y:-28.23, Z:-8.50 [[ 9.75448930e-01 2.17664756e-01 3.34879069e-02 2.07580174e+02] [-2.17556286e-01 9.76023432e-01 -6.89369483e-03 -2.82334019e+01] [-3.41854962e-02 -5.61057426e-04 9.99415348e-01 -8.49885485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62587156 meters 0.02304203558825167 Centerline is valid? [True, True] Translation: X:207.64, Y:-28.24, Z:-8.50 [[ 9.75869965e-01 2.15820609e-01 3.31553474e-02 2.07638627e+02] [-2.15713260e-01 9.76432907e-01 -6.82402133e-03 -2.82371300e+01] [-3.38467367e-02 -4.92690630e-04 9.99426914e-01 -8.50306826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68587156 meters 0.01762889630406901 Centerline is valid? [True, True] Translation: X:207.70, Y:-28.25, Z:-8.51 [[ 9.77051163e-01 2.10482158e-01 3.26846316e-02 2.07695333e+02] [-2.10374948e-01 9.77597651e-01 -6.72412449e-03 -2.82532713e+01] [-3.33677274e-02 -3.06214033e-04 9.99443095e-01 -8.50793505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74587156 meters 0.013196248962910244 Centerline is valid? [True, True] Translation: X:207.75, Y:-28.28, Z:-8.51 [[ 9.79439905e-01 1.99157993e-01 3.21491259e-02 2.07749124e+02] [-1.99048199e-01 9.79967391e-01 -6.61261929e-03 -2.82789514e+01] [-3.28220510e-02 7.74376027e-05 9.99461208e-01 -8.51141227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80587156 meters 0.02019092379264494 Centerline is valid? [True, True] Translation: X:207.81, Y:-28.30, Z:-8.51 [[ 9.81734442e-01 1.87343223e-01 3.31662806e-02 2.07805280e+02] [-1.87219689e-01 9.82294396e-01 -6.81960621e-03 -2.83032793e+01] [-3.38566586e-02 4.85661551e-04 9.99426581e-01 -8.50998475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86587156000002 meters 0.028524031284761102 Centerline is valid? [True, True] Translation: X:207.86, Y:-28.32, Z:-8.51 [[ 9.83524682e-01 1.77755397e-01 3.28970785e-02 2.07862940e+02] [-1.77628527e-01 9.84074370e-01 -6.76321711e-03 -2.83249334e+01] [-3.35753701e-02 8.08331369e-04 9.99435861e-01 -8.51221919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92587156000002 meters 0.0421197230982947 Centerline is valid? [True, True] Translation: X:207.92, Y:-28.35, Z:-8.52 [[ 9.84353877e-01 1.73154939e-01 3.26314494e-02 2.07918189e+02] [-1.73027593e-01 9.84894132e-01 -6.70827299e-03 -2.83530728e+01] [-3.33000936e-02 9.57173384e-04 9.99444940e-01 -8.51835909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98587156 meters 0.04140236074558535 Centerline is valid? [True, True] Translation: X:207.98, Y:-28.37, Z:-8.52 [[ 9.85102254e-01 1.68671569e-01 3.35179286e-02 2.07978315e+02] [-1.68534545e-01 9.85671649e-01 -6.89252014e-03 -2.83654210e+01] [-3.42002442e-02 1.14090827e-03 9.99414349e-01 -8.51728145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04587156 meters 0.04444657670786746 Centerline is valid? [True, True] Translation: X:208.04, Y:-28.38, Z:-8.52 [[ 9.85901082e-01 1.63805483e-01 3.41587606e-02 2.08036321e+02] [-1.63660232e-01 9.86491754e-01 -7.02478024e-03 -2.83844414e+01] [-3.48480331e-02 1.33530775e-03 9.99391731e-01 -8.51763809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10587156 meters 0.05162514960240861 Centerline is valid? [True, True] Translation: X:208.09, Y:-28.41, Z:-8.52 [[ 9.86323381e-01 1.61210985e-01 3.43104469e-02 2.08092497e+02] [-1.61062884e-01 9.86918925e-01 -7.05567608e-03 -2.84084813e+01] [-3.49990818e-02 1.43303877e-03 9.99386317e-01 -8.52136825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16587156 meters 0.04776400325113561 Centerline is valid? [True, True] Translation: X:208.15, Y:-28.42, Z:-8.52 [[ 9.86319322e-01 1.61201800e-01 3.44699190e-02 2.08153084e+02] [-1.61052281e-01 9.86920414e-01 -7.08939586e-03 -2.84243956e+01] [-3.51618901e-02 1.44094904e-03 9.99380591e-01 -8.52277414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22587156 meters 0.04305557197178144 Centerline is valid? [True, True] Translation: X:208.21, Y:-28.44, Z:-8.53 [[ 9.85441422e-01 1.66606601e-01 3.38739517e-02 2.08212398e+02] [-1.66465124e-01 9.86022676e-01 -6.97462011e-03 -2.84359798e+01] [-3.45625022e-02 1.23424800e-03 9.99401776e-01 -8.52628629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28587156 meters 0.03990345333226573 Centerline is valid? [True, True] Translation: X:208.27, Y:-28.45, Z:-8.53 [[ 9.85030591e-01 1.69058755e-01 3.36730133e-02 2.08273205e+02] [-1.68920392e-01 9.85605314e-01 -6.93296512e-03 -2.84467323e+01] [-3.43603793e-02 1.14112411e-03 9.99408856e-01 -8.52929967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34587156 meters 0.032508794146070844 Centerline is valid? [True, True] Translation: X:208.33, Y:-28.46, Z:-8.53 [[ 9.83569809e-01 1.77316375e-01 3.39018202e-02 2.08331660e+02] [-1.77180961e-01 9.84153526e-01 -6.98167079e-03 -2.84561801e+01] [-3.46025604e-02 8.60203519e-04 9.99400782e-01 -8.53238069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40587156 meters 0.024904754566868206 Centerline is valid? [True, True] Translation: X:208.39, Y:-28.46, Z:-8.53 [[ 9.82406698e-01 1.83522008e-01 3.45941200e-02 2.08392829e+02] [-1.83384867e-01 9.83015384e-01 -7.12361863e-03 -2.84630249e+01] [-3.53138929e-02 6.54252552e-04 9.99376056e-01 -8.53320298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46587156 meters 0.016275991674389804 Centerline is valid? [True, True] Translation: X:208.45, Y:-28.47, Z:-8.54 [[ 9.80840256e-01 1.91834201e-01 3.39415818e-02 2.08453388e+02] [-1.91707139e-01 9.81427286e-01 -6.98963879e-03 -2.84695711e+01] [-3.46520463e-02 3.48875538e-04 9.99399377e-01 -8.53645261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52587156 meters 0.013409800702161993 Centerline is valid? [True, True] Translation: X:208.51, Y:-28.48, Z:-8.54 [[ 9.80029189e-01 1.95890101e-01 3.42031653e-02 2.08512690e+02] [-1.95763522e-01 9.80625833e-01 -7.04402158e-03 -2.84807775e+01] [-3.49203615e-02 2.07614653e-04 9.99390077e-01 -8.53918503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58587156000002 meters 0.011876661723024621 Centerline is valid? [True, True] Translation: X:208.57, Y:-28.50, Z:-8.54 [[ 9.79155907e-01 2.00271765e-01 3.38367987e-02 2.08570784e+02] [-2.00150494e-01 9.79740383e-01 -6.96866272e-03 -2.84951492e+01] [-3.45469045e-02 5.09552920e-05 9.99403076e-01 -8.54318199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.64587156000002 meters 0.012566036736568028 Centerline is valid? [True, True] Translation: X:208.63, Y:-28.51, Z:-8.55 [[ 9.78207795e-01 2.04975212e-01 3.30858210e-02 2.08629274e+02] [-2.04861962e-01 9.78767158e-01 -6.81371020e-03 -2.85069886e+01] [-3.37799567e-02 -1.12801771e-04 9.99429288e-01 -8.54655647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70587156 meters 0.016966352874063735 Centerline is valid? [True, True] Translation: X:208.69, Y:-28.51, Z:-8.55 [[ 9.76838716e-01 2.11338879e-01 3.34962869e-02 2.08687790e+02] [-2.11226558e-01 9.77412791e-01 -6.89760694e-03 -2.85146008e+01] [-3.41974318e-02 -3.37455880e-04 9.99415040e-01 -8.54808102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76587156 meters 0.021694706076229565 Centerline is valid? [True, True] Translation: X:208.75, Y:-28.52, Z:-8.55 [[ 9.75815628e-01 2.15949328e-01 3.39079480e-02 2.08746473e+02] [-2.15837065e-01 9.76404440e-01 -6.98070294e-03 -2.85224609e+01] [-3.46153491e-02 -5.06712954e-04 9.99400581e-01 -8.54944516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82587156 meters 0.028709824775294563 Centerline is valid? [True, True] Translation: X:208.81, Y:-28.53, Z:-8.55 [[ 9.74523453e-01 2.21724697e-01 3.37964289e-02 2.08805492e+02] [-2.21616696e-01 9.75109047e-01 -6.95606205e-03 -2.85276132e+01] [-3.44975343e-02 -7.11007284e-04 9.99404530e-01 -8.55245421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88587156 meters 0.03426141356499806 Centerline is valid? [True, True] Translation: X:208.87, Y:-28.53, Z:-8.56 [[ 9.73578699e-01 2.25968195e-01 3.29073169e-02 2.08865826e+02] [-2.25868251e-01 9.74134318e-01 -6.77222359e-03 -2.85333723e+01] [-3.35864538e-02 -8.39425462e-04 9.99435463e-01 -8.55619367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94587156 meters 0.037110399107286626 Centerline is valid? [True, True] Translation: X:208.92, Y:-28.54, Z:-8.56 [[ 9.73110091e-01 2.27882737e-01 3.35590337e-02 2.08923569e+02] [-2.27779934e-01 9.73688146e-01 -6.90626960e-03 -2.85416592e+01] [-3.42498529e-02 -9.23513826e-04 9.99412875e-01 -8.55782171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00587156 meters 0.03983887274542749 Centerline is valid? [True, True] Translation: X:208.98, Y:-28.55, Z:-8.56 [[ 9.72655497e-01 2.29647219e-01 3.46906277e-02 2.08981419e+02] [-2.29538558e-01 9.73273401e-01 -7.13707370e-03 -2.85486073e+01] [-3.54024744e-02 -1.02092270e-03 9.99372614e-01 -8.55805358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06587156 meters 0.04147851057941059 Centerline is valid? [True, True] Translation: X:209.04, Y:-28.56, Z:-8.56 [[ 9.72502032e-01 2.30324965e-01 3.44994056e-02 2.09038692e+02] [-2.30217993e-01 9.73113213e-01 -7.09578388e-03 -2.85552317e+01] [-3.52061636e-02 -1.04171967e-03 9.99379528e-01 -8.56067817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12587156 meters 0.04241855844007117 Centerline is valid? [True, True] Translation: X:209.10, Y:-28.56, Z:-8.56 [[ 9.72458645e-01 2.30486197e-01 3.46453025e-02 2.09096878e+02] [-2.30378492e-01 9.73075024e-01 -7.12377188e-03 -2.85632389e+01] [-3.53544097e-02 -1.05395902e-03 9.99374282e-01 -8.56311459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18587156 meters 0.044506484417307396 Centerline is valid? [True, True] Translation: X:209.15, Y:-28.57, Z:-8.56 [[ 9.72603149e-01 2.29860935e-01 3.47428496e-02 2.09154039e+02] [-2.29752277e-01 9.73222933e-01 -7.14235898e-03 -2.85712208e+01] [-3.54542873e-02 -1.03556795e-03 9.99370763e-01 -8.56378308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24587156 meters 0.03628279315860172 Centerline is valid? [True, True] Translation: X:209.21, Y:-28.58, Z:-8.57 [[ 9.73135180e-01 2.27641315e-01 3.44579992e-02 2.09211035e+02] [-2.27533109e-01 9.73744593e-01 -7.08186229e-03 -2.85845493e+01] [-3.51654148e-02 -9.48726344e-04 9.99381055e-01 -8.56747031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30587156 meters 0.03565855774045561 Centerline is valid? [True, True] Translation: X:209.27, Y:-28.59, Z:-8.57 [[ 9.73874451e-01 2.24394186e-01 3.48683766e-02 2.09269330e+02] [-2.24281369e-01 9.74498096e-01 -7.16442057e-03 -2.85940768e+01] [-3.55868210e-02 -8.43081110e-04 9.99366233e-01 -8.57060564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.36587156000002 meters 0.031571579413888946 Centerline is valid? [True, True] Translation: X:209.33, Y:-28.61, Z:-8.57 [[ 9.75195195e-01 2.18506154e-01 3.53467419e-02 2.09326928e+02] [-2.18386380e-01 9.75835362e-01 -7.26187902e-03 -2.86101642e+01] [-3.60793660e-02 -6.37497482e-04 9.99348724e-01 -8.57076292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42587156000002 meters 0.01932044714474509 Centerline is valid? [True, True] Translation: X:209.38, Y:-28.63, Z:-8.57 [[ 9.76254215e-01 2.13810687e-01 3.48238152e-02 2.09382492e+02] [-2.13691463e-01 9.76875008e-01 -7.15387850e-03 -2.86300121e+01] [-3.55480904e-02 -4.57547985e-04 9.99367862e-01 -8.57404657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48587156 meters 0.01720591594193096 Centerline is valid? [True, True] Translation: X:209.44, Y:-28.64, Z:-8.58 [[ 9.76649989e-01 2.12054108e-01 3.44652659e-02 2.09440542e+02] [-2.11936291e-01 9.77257848e-01 -7.07858800e-03 -2.86394130e+01] [-3.51824952e-02 -3.91137718e-04 9.99380828e-01 -8.57698426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54587156 meters 0.015380711945078373 Centerline is valid? [True, True] Translation: X:209.50, Y:-28.65, Z:-8.58 [[ 9.77403346e-01 2.08631086e-01 3.39965996e-02 2.09497735e+02] [-2.08514435e-01 9.77994376e-01 -6.98076763e-03 -2.86487067e+01] [-3.47048884e-02 -2.65756132e-04 9.99397569e-01 -8.58210547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60587156 meters 0.01237442873033697 Centerline is valid? [True, True] Translation: X:209.55, Y:-28.66, Z:-8.58 [[ 9.78439044e-01 2.03719367e-01 3.39919991e-02 2.09554790e+02] [-2.03599858e-01 9.79029321e-01 -6.97762800e-03 -2.86619342e+01] [-3.47006417e-02 -9.35825003e-05 9.99397747e-01 -8.58467864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66587156 meters 0.01175760781973785 Centerline is valid? [True, True] Translation: X:209.61, Y:-28.68, Z:-8.59 [[ 9.79474305e-01 1.98683658e-01 3.39836864e-02 2.09612110e+02] [-1.98561227e-01 9.80063670e-01 -6.97437337e-03 -2.86757081e+01] [-3.46918705e-02 8.33770306e-05 9.99398052e-01 -8.58562861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72587156 meters 0.018979001936523587 Centerline is valid? [True, True] Translation: X:209.67, Y:-28.69, Z:-8.59 [[ 9.79960269e-01 1.96387137e-01 3.33161195e-02 2.09669817e+02] [-1.96268203e-01 9.80526423e-01 -6.83561709e-03 -2.86877027e+01] [-3.40097628e-02 1.59738263e-04 9.99421488e-01 -8.58856732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78587156 meters 0.016921039451798615 Centerline is valid? [True, True] Translation: X:209.73, Y:-28.69, Z:-8.59 [[ 9.79946175e-01 1.96477253e-01 3.31991373e-02 2.09728830e+02] [-1.96359243e-01 9.80508371e-01 -6.81047842e-03 -2.86928371e+01] [-3.38901361e-02 1.54944794e-04 9.99425552e-01 -8.59031073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84587156 meters 0.014915521416093645 Centerline is valid? [True, True] Translation: X:209.79, Y:-28.70, Z:-8.60 [[ 9.79709994e-01 1.97677987e-01 3.30414898e-02 2.09786739e+02] [-1.97561832e-01 9.80267005e-01 -6.77656738e-03 -2.86987622e+01] [-3.37290605e-02 1.11333549e-04 9.99431007e-01 -8.59537067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90587156 meters 0.02830403145514557 Centerline is valid? [True, True] Translation: X:209.85, Y:-28.70, Z:-8.60 [[ 9.79325113e-01 1.99587947e-01 3.29692888e-02 2.09846136e+02] [-1.99473453e-01 9.79879916e-01 -6.75957450e-03 -2.87000397e+01] [-3.36550736e-02 4.33231749e-05 9.99433507e-01 -8.59605742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96587156 meters 0.011679255723282576 Centerline is valid? [True, True] Translation: X:209.90, Y:-28.71, Z:-8.60 [[ 9.79146088e-01 2.00408051e-01 3.33099226e-02 2.09904959e+02] [-2.00291709e-01 9.79712515e-01 -6.82777403e-03 -2.87052793e+01] [-3.40024889e-02 1.36869195e-05 9.99421748e-01 -8.59975581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02587156 meters 0.025750909897101534 Centerline is valid? [True, True] Translation: X:209.96, Y:-28.71, Z:-8.60 [[ 9.79090292e-01 2.00718237e-01 3.30815725e-02 2.09964322e+02] [-2.00603717e-01 9.79649013e-01 -6.77934252e-03 -2.87077274e+01] [-3.37690675e-02 1.30204336e-06 9.99429662e-01 -8.60148174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08587156000002 meters 0.012085841874305527 Centerline is valid? [True, True] Translation: X:210.02, Y:-28.72, Z:-8.61 [[ 9.79492292e-01 1.98827103e-01 3.25980691e-02 2.10021799e+02] [-1.98714908e-01 9.80034581e-01 -6.67878674e-03 -2.87154746e+01] [-3.32751588e-02 6.40978195e-05 9.99446227e-01 -8.60758414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.14587156000002 meters 0.013202610047161575 Centerline is valid? [True, True] Translation: X:210.08, Y:-28.73, Z:-8.61 [[ 9.80112725e-01 1.95670315e-01 3.30480440e-02 2.10079381e+02] [-1.95553278e-01 9.80669719e-01 -6.76882082e-03 -2.87258120e+01] [-3.37336733e-02 1.71554072e-04 9.99430843e-01 -8.60982276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20587156 meters 0.0199379831255195 Centerline is valid? [True, True] Translation: X:210.14, Y:-28.74, Z:-8.61 [[ 9.80339694e-01 1.94523724e-01 3.30848288e-02 2.10135669e+02] [-1.94405824e-01 9.80897791e-01 -6.77487794e-03 -2.87369294e+01] [-3.37707100e-02 2.09798354e-04 9.99429585e-01 -8.61084290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26587156 meters 0.028253788595631334 Centerline is valid? [True, True] Translation: X:210.19, Y:-28.75, Z:-8.61 [[ 9.81076011e-01 1.90778229e-01 3.30685393e-02 2.10193048e+02] [-1.90658381e-01 9.81633106e-01 -6.76961955e-03 -2.87472124e+01] [-3.37526689e-02 3.36717191e-04 9.99430160e-01 -8.61280608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32587156 meters 0.018278779284814018 Centerline is valid? [True, True] Translation: X:210.25, Y:-28.76, Z:-8.62 [[ 9.81688892e-01 1.87671426e-01 3.26550995e-02 2.10250391e+02] [-1.87552907e-01 9.82231768e-01 -6.68290281e-03 -2.87616318e+01] [-3.33290660e-02 4.35972612e-04 9.99444337e-01 -8.61718495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38587156 meters 0.022347051564911794 Centerline is valid? [True, True] Translation: X:210.31, Y:-28.78, Z:-8.62 [[ 9.82480790e-01 1.83342668e-01 3.34209906e-02 2.10307244e+02] [-1.83216079e-01 9.83048886e-01 -6.83782811e-03 -2.87771055e+01] [-3.41081333e-02 5.94771892e-04 9.99417971e-01 -8.61853957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44587156 meters 0.025730234577698515 Centerline is valid? [True, True] Translation: X:210.36, Y:-28.79, Z:-8.62 [[ 9.82909428e-01 1.80908230e-01 3.40773794e-02 2.10363009e+02] [-1.80775195e-01 9.83499738e-01 -6.97100976e-03 -2.87913620e+01] [-3.47762067e-02 6.91526333e-04 9.99394886e-01 -8.62017786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50587156 meters 0.02702100679167353 Centerline is valid? [True, True] Translation: X:210.42, Y:-28.80, Z:-8.62 [[ 9.83154563e-01 1.79401087e-01 3.49622065e-02 2.10420637e+02] [-1.79260178e-01 9.83775721e-01 -7.14976055e-03 -2.88038494e+01] [-3.56776447e-02 7.61988344e-04 9.99363060e-01 -8.62155548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56587156 meters 0.02969785764749574 Centerline is valid? [True, True] Translation: X:210.48, Y:-28.81, Z:-8.62 [[ 9.82973972e-01 1.80525292e-01 3.42460221e-02 2.10478560e+02] [-1.80390836e-01 9.83570090e-01 -7.00171018e-03 -2.88121415e+01] [-3.49473489e-02 7.04830284e-04 9.99388906e-01 -8.62351968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62587156 meters 0.02151550880870269 Centerline is valid? [True, True] Translation: X:210.54, Y:-28.82, Z:-8.63 [[ 9.82392528e-01 1.83815157e-01 3.34201828e-02 2.10537215e+02] [-1.83689065e-01 9.82960661e-01 -6.83128378e-03 -2.88172863e+01] [-3.41064184e-02 5.72080011e-04 9.99418043e-01 -8.62863525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68587156 meters 0.019242427345104618 Centerline is valid? [True, True] Translation: X:210.59, Y:-28.82, Z:-8.63 [[ 9.81742603e-01 1.87158179e-01 3.39599367e-02 2.10594800e+02] [-1.87030034e-01 9.82329681e-01 -6.93999538e-03 -2.88243624e+01] [-3.46587307e-02 4.61761028e-04 9.99399099e-01 -8.63074864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74587156 meters 0.014536805584242878 Centerline is valid? [True, True] Translation: X:210.65, Y:-28.83, Z:-8.63 [[ 9.80727623e-01 1.92459431e-01 3.36555594e-02 2.10654266e+02] [-1.92336764e-01 9.81304894e-01 -6.87565390e-03 -2.88259633e+01] [-3.43496496e-02 2.69942331e-04 9.99409840e-01 -8.63315649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80587156 meters 0.012069377874957913 Centerline is valid? [True, True] Translation: X:210.71, Y:-28.83, Z:-8.64 [[ 9.79850035e-01 1.96988974e-01 3.30038213e-02 2.10713545e+02] [-1.96873632e-01 9.80405698e-01 -6.74095665e-03 -2.88290461e+01] [-3.36850286e-02 1.07544454e-04 9.99432493e-01 -8.63719018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.86587156000002 meters 0.023286601395937183 Centerline is valid? [True, True] Translation: X:210.77, Y:-28.84, Z:-8.64 [[ 9.79654061e-01 1.98002789e-01 3.27538912e-02 2.10770239e+02] [-1.97889797e-01 9.80201454e-01 -6.68861472e-03 -2.88378653e+01] [-3.34297761e-02 7.08676841e-05 9.99441066e-01 -8.63936909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92587156000002 meters 0.012133295866499059 Centerline is valid? [True, True] Translation: X:210.83, Y:-28.85, Z:-8.64 [[ 9.79872496e-01 1.96813663e-01 3.33807502e-02 2.10827061e+02] [-1.96695719e-01 9.80440906e-01 -6.81353762e-03 -2.88503876e+01] [-3.40688502e-02 1.10547453e-04 9.99419482e-01 -8.64213587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98587156 meters 0.0135100483577192 Centerline is valid? [True, True] Translation: X:210.88, Y:-28.87, Z:-8.64 [[ 9.80444541e-01 1.93907924e-01 3.35889597e-02 2.10883918e+02] [-1.93786889e-01 9.81019711e-01 -6.85337955e-03 -2.88664700e+01] [-3.42803562e-02 2.10258572e-04 9.99412234e-01 -8.64400278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04587156 meters 0.01464485455083329 Centerline is valid? [True, True] Translation: X:210.94, Y:-28.88, Z:-8.65 [[ 9.80744343e-01 1.92444531e-01 3.32511084e-02 2.10940737e+02] [-1.92325132e-01 9.81307819e-01 -6.78286189e-03 -2.88817948e+01] [-3.39348973e-02 2.57229633e-04 9.99424012e-01 -8.64725083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10587156 meters 0.016575516100820628 Centerline is valid? [True, True] Translation: X:211.00, Y:-28.90, Z:-8.65 [[ 9.81204973e-01 1.90063568e-01 3.33562737e-02 2.10995960e+02] [-1.89942088e-01 9.81771728e-01 -6.80280835e-03 -2.88992535e+01] [-3.40412125e-02 3.39189097e-04 9.99420372e-01 -8.64988099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16587156 meters 0.019181443876429626 Centerline is valid? [True, True] Translation: X:211.05, Y:-28.92, Z:-8.65 [[ 9.81697294e-01 1.87552342e-01 3.30838543e-02 2.11051527e+02] [-1.87431478e-01 9.82254520e-01 -6.74531110e-03 -2.89188000e+01] [-3.37618643e-02 4.20897968e-04 9.99429817e-01 -8.65269322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22587156 meters 0.020435376622881085 Centerline is valid? [True, True] Translation: X:211.11, Y:-28.94, Z:-8.66 [[ 9.81896685e-01 1.86542168e-01 3.28773382e-02 2.11107953e+02] [-1.86422310e-01 9.82446852e-01 -6.70119201e-03 -2.89354273e+01] [-3.35502923e-02 4.50808881e-04 9.99436929e-01 -8.65582676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28587156 meters 0.020833203041428817 Centerline is valid? [True, True] Translation: X:211.16, Y:-28.95, Z:-8.66 [[ 9.81909771e-01 1.86567246e-01 3.23398098e-02 2.11163341e+02] [-1.86451336e-01 9.82442094e-01 -6.59026426e-03 -2.89548031e+01] [-3.30015180e-02 4.41244136e-04 9.99455204e-01 -8.65972458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34587156 meters 0.02007826504143254 Centerline is valid? [True, True] Translation: X:211.22, Y:-28.97, Z:-8.66 [[ 9.81812819e-01 1.87130905e-01 3.20251812e-02 2.11220300e+02] [-1.87017601e-01 9.82334898e-01 -6.52425544e-03 -2.89691986e+01] [-3.26803429e-02 4.16325090e-04 9.99465768e-01 -8.65985635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40587156 meters 0.029009772654095444 Centerline is valid? [True, True] Translation: X:211.28, Y:-28.98, Z:-8.66 [[ 9.81541480e-01 1.88512384e-01 3.22397820e-02 2.11278034e+02] [-1.88398356e-01 9.82070743e-01 -6.56626357e-03 -2.89827371e+01] [-3.28995687e-02 3.71138122e-04 9.99458594e-01 -8.66136157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46587156 meters 0.01535032746549058 Centerline is valid? [True, True] Translation: X:211.33, Y:-29.00, Z:-8.67 [[ 9.80804427e-01 1.92227465e-01 3.27303897e-02 2.11334439e+02] [-1.92112040e-01 9.81350365e-01 -6.66517377e-03 -2.89959189e+01] [-3.34012093e-02 2.49330000e-04 9.99441993e-01 -8.66526215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52587156 meters 0.01301390202163044 Centerline is valid? [True, True] Translation: X:211.39, Y:-29.00, Z:-8.67 [[ 9.80177536e-01 1.95496171e-01 3.21441189e-02 2.11393020e+02] [-1.95386667e-01 9.80704456e-01 -6.54377117e-03 -2.90049572e+01] [-3.28031628e-02 1.33525236e-04 9.99461823e-01 -8.66747418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58587156000002 meters 0.012205136341041676 Centerline is valid? [True, True] Translation: X:211.45, Y:-29.01, Z:-8.67 [[ 9.78992618e-01 2.01318202e-01 3.23177361e-02 2.11452008e+02] [-2.01210731e-01 9.79525894e-01 -6.57756670e-03 -2.90104785e+01] [-3.29802433e-02 -6.32860566e-05 9.99456002e-01 -8.66800738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64587156000002 meters 0.021672003725000694 Centerline is valid? [True, True] Translation: X:211.51, Y:-29.02, Z:-8.67 [[ 9.77904868e-01 2.06498419e-01 3.25648946e-02 2.11510460e+02] [-2.06392220e-01 9.78446904e-01 -6.62624273e-03 -2.90177663e+01] [-3.32313290e-02 -2.41305853e-04 9.99447658e-01 -8.66839418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70587156 meters 0.026294966802867446 Centerline is valid? [True, True] Translation: X:211.57, Y:-29.02, Z:-8.67 [[ 9.77171811e-01 2.09778567e-01 3.35887508e-02 2.11568510e+02] [-2.09667576e-01 9.77748853e-01 -6.83289892e-03 -2.90240964e+01] [-3.42747583e-02 -3.65555739e-04 9.99412381e-01 -8.66943471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76587156 meters 0.0176632843846455 Centerline is valid? [True, True] Translation: X:211.63, Y:-29.03, Z:-8.67 [[ 9.77017226e-01 2.10550947e-01 3.32511317e-02 2.11626687e+02] [-2.10442698e-01 9.77582808e-01 -6.76203145e-03 -2.90348176e+01] [-3.39294868e-02 -3.90836642e-04 9.99424153e-01 -8.67316589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82587156 meters 0.017550782695407437 Centerline is valid? [True, True] Translation: X:211.68, Y:-29.04, Z:-8.68 [[ 9.77164047e-01 2.09870422e-01 3.32389997e-02 2.11683357e+02] [-2.09761912e-01 9.77729139e-01 -6.75799872e-03 -2.90445930e+01] [-3.39170426e-02 -3.68602741e-04 9.99424584e-01 -8.67585223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88587156 meters 0.014698330511875177 Centerline is valid? [True, True] Translation: X:211.74, Y:-29.06, Z:-8.68 [[ 9.77999497e-01 2.05970411e-01 3.30631886e-02 2.11738437e+02] [-2.05860885e-01 9.78558192e-01 -6.72019971e-03 -2.90619478e+01] [-3.37384164e-02 -2.34065342e-04 9.99430670e-01 -8.67754091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94587156 meters 0.02293821881528283 Centerline is valid? [True, True] Translation: X:211.79, Y:-29.08, Z:-8.68 [[ 9.79108577e-01 2.00728838e-01 3.24704114e-02 2.11794560e+02] [-2.00620389e-01 9.79646840e-01 -6.59766551e-03 -2.90830500e+01] [-3.31338776e-02 -5.43956648e-05 9.99450921e-01 -8.67978536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00587156 meters 0.02035101026043481 Centerline is valid? [True, True] Translation: X:211.85, Y:-29.10, Z:-8.68 [[ 9.79829777e-01 1.97283405e-01 3.18255663e-02 2.11850355e+02] [-1.97177448e-01 9.80346497e-01 -6.46524426e-03 -2.91003709e+01] [-3.24755678e-02 5.95548873e-05 9.99472528e-01 -8.68354477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06587156 meters 0.013860803723179415 Centerline is valid? [True, True] Translation: X:211.91, Y:-29.12, Z:-8.69 [[ 9.80601949e-01 1.93632245e-01 3.04363528e-02 2.11906497e+02] [-1.93533636e-01 9.81074169e-01 -6.18120892e-03 -2.91177989e+01] [-3.10572009e-02 1.70847499e-04 9.99517594e-01 -8.68769557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12587156 meters 0.014514308098700286 Centerline is valid? [True, True] Translation: X:211.96, Y:-29.13, Z:-8.69 [[ 9.80675298e-01 1.93255948e-01 3.04647002e-02 2.11962561e+02] [-1.93157017e-01 9.81148361e-01 -6.18555725e-03 -2.91310486e+01] [-3.10857864e-02 1.81552576e-04 9.99516704e-01 -8.69140140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18587156 meters 0.014331314510943372 Centerline is valid? [True, True] Translation: X:212.02, Y:-29.14, Z:-8.69 [[ 9.80659164e-01 1.93425101e-01 2.99054277e-02 2.12019906e+02] [-1.93329909e-01 9.81115030e-01 -6.07002440e-03 -2.91445017e+01] [-3.05147597e-02 1.71011441e-04 9.99534302e-01 -8.69371900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24587156 meters 0.013899153118125899 Centerline is valid? [True, True] Translation: X:212.08, Y:-29.15, Z:-8.70 [[ 9.80295152e-01 1.95386248e-01 2.90797069e-02 2.12078089e+02] [-1.95297145e-01 9.80726365e-01 -5.90104501e-03 -2.91547502e+01] [-2.96722182e-02 1.05582090e-04 9.99559677e-01 -8.69761341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30587156 meters 0.017472180635112584 Centerline is valid? [True, True] Translation: X:212.14, Y:-29.17, Z:-8.70 [[ 9.80028601e-01 1.96775265e-01 2.86955881e-02 2.12135228e+02] [-1.96689127e-01 9.80448617e-01 -5.82203464e-03 -2.91659008e+01] [-2.92801821e-02 6.16502766e-05 9.99571242e-01 -8.69991046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.36587156000002 meters 0.01330203542120318 Centerline is valid? [True, True] Translation: X:212.19, Y:-29.18, Z:-8.70 [[ 9.79882646e-01 1.97506512e-01 2.86561875e-02 2.12191622e+02] [-1.97420983e-01 9.80301574e-01 -5.81198590e-03 -2.91779250e+01] [-2.92396108e-02 3.77314276e-05 9.99572430e-01 -8.70160485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42587156000002 meters 0.012932926994139032 Centerline is valid? [True, True] Translation: X:212.25, Y:-29.19, Z:-8.70 [[ 9.79308028e-01 2.00005530e-01 3.08800043e-02 2.12248511e+02] [-1.99907534e-01 9.79794767e-01 -6.26031858e-03 -2.91872174e+01] [-3.15081650e-02 -4.23652673e-05 9.99503494e-01 -8.70044527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48587156 meters 0.014020785863595888 Centerline is valid? [True, True] Translation: X:212.30, Y:-29.19, Z:-8.70 [[ 9.78629026e-01 2.03146206e-01 3.18880624e-02 2.12304819e+02] [-2.03043432e-01 9.79148404e-01 -6.46283041e-03 -2.91948263e+01] [-3.25360448e-02 -1.49948182e-04 9.99470551e-01 -8.70069184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54587156 meters 0.01418821258396668 Centerline is valid? [True, True] Translation: X:212.36, Y:-29.21, Z:-8.70 [[ 9.78316697e-01 2.04696134e-01 3.15584247e-02 2.12362475e+02] [-2.04596374e-01 9.78825547e-01 -6.39310583e-03 -2.92057372e+01] [-3.21988364e-02 -2.02257088e-04 9.99481463e-01 -8.70148662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60587156 meters 0.015053265843628056 Centerline is valid? [True, True] Translation: X:212.42, Y:-29.22, Z:-8.71 [[ 9.78311487e-01 2.04863498e-01 3.06199630e-02 2.12418345e+02] [-2.04769710e-01 9.78790532e-01 -6.20163136e-03 -2.92181371e+01] [-3.12410178e-02 -2.02913725e-04 9.99511860e-01 -8.70693168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66587156 meters 0.014336251150205181 Centerline is valid? [True, True] Translation: X:212.48, Y:-29.23, Z:-8.71 [[ 9.78614430e-01 2.03579088e-01 2.94847950e-02 2.12475182e+02] [-2.03491600e-01 9.79058492e-01 -5.96979927e-03 -2.92337016e+01] [-3.00826652e-02 -1.57776403e-04 9.99547402e-01 -8.71058454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72587156 meters 0.013495968695157744 Centerline is valid? [True, True] Translation: X:212.53, Y:-29.25, Z:-8.71 [[ 9.79120853e-01 2.01157324e-01 2.92931129e-02 2.12531566e+02] [-2.01069930e-01 9.79558944e-01 -5.92952101e-03 -2.92536635e+01] [-2.98870973e-02 -8.42464978e-05 9.99553277e-01 -8.71334622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78587156 meters 0.014752127152952788 Centerline is valid? [True, True] Translation: X:212.59, Y:-29.27, Z:-8.72 [[ 9.79435344e-01 1.99600698e-01 2.94273466e-02 2.12587735e+02] [-1.99511839e-01 9.79877319e-01 -5.95533562e-03 -2.92678042e+01] [-3.00238786e-02 -3.82378538e-05 9.99549181e-01 -8.72118296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84587156 meters 0.01324912649313234 Centerline is valid? [True, True] Translation: X:212.65, Y:-29.28, Z:-8.72 [[ 9.79437783e-01 1.99490406e-01 3.00866797e-02 2.12645670e+02] [-1.99397537e-01 9.79899779e-01 -6.08651684e-03 -2.92817989e+01] [-3.06961325e-02 -3.78452702e-05 9.99528762e-01 -8.71726811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90587156 meters 0.013324069225197683 Centerline is valid? [True, True] Translation: X:212.70, Y:-29.30, Z:-8.72 [[ 9.79220097e-01 2.00513905e-01 3.03673406e-02 2.12702774e+02] [-2.00419817e-01 9.79690854e-01 -6.14230824e-03 -2.92951524e+01] [-3.09822240e-02 -7.15451760e-05 9.99519933e-01 -8.71898954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96587156 meters 0.01319939052816399 Centerline is valid? [True, True] Translation: X:212.76, Y:-29.31, Z:-8.72 [[ 9.79082004e-01 2.01157121e-01 3.05653691e-02 2.12760767e+02] [-2.01062163e-01 9.79558984e-01 -6.18085812e-03 -2.93077594e+01] [-3.11839056e-02 -9.39722738e-05 9.99513659e-01 -8.71987762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02587156 meters 0.013844933915877699 Centerline is valid? [True, True] Translation: X:212.82, Y:-29.32, Z:-8.73 [[ 9.79024702e-01 2.01506582e-01 3.00953471e-02 2.12817450e+02] [-2.01414730e-01 9.79487155e-01 -6.08444698e-03 -2.93199776e+01] [-3.07040620e-02 -1.04822299e-04 9.99528514e-01 -8.72519851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08587156000002 meters 0.013927328795503138 Centerline is valid? [True, True] Translation: X:212.87, Y:-29.33, Z:-8.73 [[ 9.78968499e-01 2.01848142e-01 2.96311756e-02 2.12874662e+02] [-2.01759317e-01 9.79416824e-01 -5.98863153e-03 -2.93343191e+01] [-3.02300661e-02 -1.15684146e-04 9.99542960e-01 -8.72743951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.14587156000002 meters 0.014396105001041009 Centerline is valid? [True, True] Translation: X:212.93, Y:-29.35, Z:-8.73 [[ 9.78609798e-01 2.03429300e-01 3.06493596e-02 2.12932837e+02] [-2.03335089e-01 9.79089623e-01 -6.19282631e-03 -2.93450409e+01] [-3.12682722e-02 -1.71729762e-04 9.99511013e-01 -8.72764871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20587156 meters 0.01600392271299702 Centerline is valid? [True, True] Translation: X:212.99, Y:-29.35, Z:-8.73 [[ 9.77999236e-01 2.06256229e-01 3.12388083e-02 2.12991296e+02] [-2.06159849e-01 9.78497980e-01 -6.31035158e-03 -2.93522433e+01] [-3.18686601e-02 -2.68668986e-04 9.99492029e-01 -8.72926282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26587156 meters 0.01682215041678649 Centerline is valid? [True, True] Translation: X:213.05, Y:-29.36, Z:-8.73 [[ 9.77672327e-01 2.07820824e-01 3.11018623e-02 2.13049090e+02] [-2.07726127e-01 9.78166858e-01 -6.28117058e-03 -2.93616218e+01] [-3.17281690e-02 -3.19742744e-04 9.99496484e-01 -8.73121461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32587156 meters 0.019447604087243133 Centerline is valid? [True, True] Translation: X:213.11, Y:-29.37, Z:-8.74 [[ 9.77220956e-01 2.09995369e-01 3.06781266e-02 2.13107078e+02] [-2.09904345e-01 9.77702304e-01 -6.19435165e-03 -2.93676750e+01] [-3.12948602e-02 -3.86221823e-04 9.99510121e-01 -8.73537166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38587156 meters 0.032775740407171204 Centerline is valid? [True, True] Translation: X:213.17, Y:-29.37, Z:-8.74 [[ 9.77018050e-01 2.11132389e-01 2.93060331e-02 2.13165061e+02] [-2.11049907e-01 9.77457390e-01 -5.91499539e-03 -2.93749582e+01] [-2.98942458e-02 -4.05978296e-04 9.99552985e-01 -8.73825812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44587156 meters 0.020228056617351095 Centerline is valid? [True, True] Translation: X:213.22, Y:-29.38, Z:-8.74 [[ 9.77156341e-01 2.10470117e-01 2.94587034e-02 2.13223546e+02] [-2.10386532e-01 9.77600214e-01 -5.94382730e-03 -2.93840821e+01] [-3.00498328e-02 -3.89665931e-04 9.99548326e-01 -8.74276369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50587156 meters 0.018421970249435066 Centerline is valid? [True, True] Translation: X:213.28, Y:-29.40, Z:-8.74 [[ 9.77552018e-01 2.08505582e-01 3.02898441e-02 2.13280722e+02] [-2.08416318e-01 9.78021118e-01 -6.10996753e-03 -2.93960097e+01] [-3.08980695e-02 -3.40086696e-04 9.99522483e-01 -8.74427831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56587156 meters 0.015453025864598739 Centerline is valid? [True, True] Translation: X:213.34, Y:-29.41, Z:-8.74 [[ 9.78258910e-01 2.04867533e-01 3.22304093e-02 2.13336873e+02] [-2.04764540e-01 9.78789679e-01 -6.49980355e-03 -2.94106864e+01] [-3.28783907e-02 -2.41154177e-04 9.99459330e-01 -8.74372143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62587156 meters 0.012881707853302934 Centerline is valid? [True, True] Translation: X:213.39, Y:-29.43, Z:-8.75 [[ 9.79286406e-01 1.99949953e-01 3.19084913e-02 2.13393484e+02] [-1.99846461e-01 9.79806109e-01 -6.43285425e-03 -2.94281978e+01] [-3.25503835e-02 -7.71923256e-05 9.99470093e-01 -8.74638317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68587156 meters 0.015275432408630578 Centerline is valid? [True, True] Translation: X:213.45, Y:-29.45, Z:-8.75 [[ 9.80390422e-01 1.94626581e-01 3.09049178e-02 2.13449683e+02] [-1.94526897e-01 9.80877406e-01 -6.22905266e-03 -2.94470232e+01] [-3.15262748e-02 9.50657946e-05 9.99502919e-01 -8.74998728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74587156 meters 0.014765548438507263 Centerline is valid? [True, True] Translation: X:213.51, Y:-29.47, Z:-8.75 [[ 9.81107318e-01 1.90896044e-01 3.14186404e-02 2.13505473e+02] [-1.90791160e-01 9.81610235e-01 -6.33084922e-03 -2.94657096e+01] [-3.20493931e-02 2.16843641e-04 9.99486263e-01 -8.75279743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80587156 meters 0.016205082459484904 Centerline is valid? [True, True] Translation: X:213.56, Y:-29.48, Z:-8.75 [[ 9.81657879e-01 1.88013205e-01 3.16044689e-02 2.13563577e+02] [-1.87905633e-01 9.82166451e-01 -6.36673967e-03 -2.94832959e+01] [-3.22378802e-02 3.11302434e-04 9.99480176e-01 -8.75375012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.86587156000002 meters 0.016060604457031624 Centerline is valid? [True, True] Translation: X:213.62, Y:-29.50, Z:-8.76 [[ 9.81577841e-01 1.88309634e-01 3.23175568e-02 2.13621174e+02] [-1.88197317e-01 9.82109661e-01 -6.51025528e-03 -2.94965326e+01] [-3.29653286e-02 3.08244848e-04 9.99456448e-01 -8.75552896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92587156000002 meters 0.013516123466941456 Centerline is valid? [True, True] Translation: X:213.68, Y:-29.50, Z:-8.76 [[ 9.80925232e-01 1.91652630e-01 3.24801339e-02 2.13680605e+02] [-1.91540981e-01 9.81462801e-01 -6.54385703e-03 -2.95049764e+01] [-3.31321906e-02 1.97757758e-04 9.99450959e-01 -8.75697951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98587156 meters 0.012881750006286611 Centerline is valid? [True, True] Translation: X:213.74, Y:-29.51, Z:-8.76 [[ 9.80290385e-01 1.94984445e-01 3.18092404e-02 2.13738921e+02] [-1.94879141e-01 9.80806331e-01 -6.40787647e-03 -2.95124151e+01] [-3.24481406e-02 8.26222329e-05 9.99473417e-01 -8.76224916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04587156 meters 0.012688597770495524 Centerline is valid? [True, True] Translation: X:213.80, Y:-29.52, Z:-8.77 [[ 9.79683630e-01 1.98090114e-01 3.13096227e-02 2.13797437e+02] [-1.97989693e-01 9.80183813e-01 -6.30674473e-03 -2.95186551e+01] [-3.19384892e-02 -2.03680175e-05 9.99489836e-01 -8.76560889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10587156 meters 0.013732259342327411 Centerline is valid? [True, True] Translation: X:213.86, Y:-29.52, Z:-8.77 [[ 9.78764090e-01 2.02421601e-01 3.23473507e-02 2.13856141e+02] [-2.02316828e-01 9.79298457e-01 -6.51412687e-03 -2.95227636e+01] [-3.29963106e-02 -1.68619949e-04 9.99455459e-01 -8.76650988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16587156 meters 0.01650467516792864 Centerline is valid? [True, True] Translation: X:213.91, Y:-29.53, Z:-8.77 [[ 9.77925716e-01 2.06404239e-01 3.25358991e-02 2.13914908e+02] [-2.06300493e-01 9.78466758e-01 -6.55058766e-03 -2.95262966e+01] [-3.31873648e-02 -3.06183903e-04 9.99449101e-01 -8.76861643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22587156 meters 0.01677914624114882 Centerline is valid? [True, True] Translation: X:213.97, Y:-29.53, Z:-8.77 [[ 9.77667210e-01 2.07537499e-01 3.30909755e-02 2.13972847e+02] [-2.07430904e-01 9.78226999e-01 -6.66018102e-03 -2.95345760e+01] [-3.37527230e-02 -3.52650356e-04 9.99430152e-01 -8.76970754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28587156 meters 0.016049225759130807 Centerline is valid? [True, True] Translation: X:214.03, Y:-29.54, Z:-8.77 [[ 9.77847795e-01 2.06646580e-01 3.33298929e-02 2.14030579e+02] [-2.06537980e-01 9.78415599e-01 -6.70656795e-03 -2.95443084e+01] [-3.39963765e-02 -3.25886059e-04 9.99421903e-01 -8.77206007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34587156 meters 0.014796346201087399 Centerline is valid? [True, True] Translation: X:214.09, Y:-29.55, Z:-8.77 [[ 9.78165722e-01 2.04950765e-01 3.44529389e-02 2.14087389e+02] [-2.04833728e-01 9.78772245e-01 -6.93087346e-03 -2.95546561e+01] [-3.51420681e-02 -2.77581079e-04 9.99382288e-01 -8.77248201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40587156 meters 0.02403863511834809 Centerline is valid? [True, True] Translation: X:214.15, Y:-29.56, Z:-8.77 [[ 9.78325891e-01 2.04177784e-01 3.44946839e-02 2.14145819e+02] [-2.04060073e-01 9.78933792e-01 -6.93670632e-03 -2.95646069e+01] [-3.51843331e-02 -2.52628324e-04 9.99380808e-01 -8.77279069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46587156 meters 0.013948718650223558 Centerline is valid? [True, True] Translation: X:214.20, Y:-29.57, Z:-8.78 [[ 9.78451410e-01 2.03534555e-01 3.47350569e-02 2.14204192e+02] [-2.03414853e-01 9.79067736e-01 -6.98331123e-03 -2.95735402e+01] [-3.54293187e-02 -2.32795783e-04 9.99372157e-01 -8.77731083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52587156 meters 0.012945127175670154 Centerline is valid? [True, True] Translation: X:214.26, Y:-29.58, Z:-8.78 [[ 9.78880410e-01 2.01549075e-01 3.42215444e-02 2.14260464e+02] [-2.01431729e-01 9.79478405e-01 -6.87849873e-03 -2.95845860e+01] [-3.49056188e-02 -1.60077199e-04 9.99390600e-01 -8.78185431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58587156000002 meters 0.011630342837239531 Centerline is valid? [True, True] Translation: X:214.32, Y:-29.60, Z:-8.78 [[ 9.79733607e-01 1.97311188e-01 3.45015051e-02 2.14317462e+02] [-1.97189363e-01 9.80340908e-01 -6.93255761e-03 -2.96011442e+01] [-3.51911080e-02 -1.12701135e-05 9.99380601e-01 -8.78353701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.64587156000002 meters 0.011649799801798125 Centerline is valid? [True, True] Translation: X:214.37, Y:-29.62, Z:-8.78 [[ 9.80259821e-01 1.94655026e-01 3.46425163e-02 2.14374976e+02] [-1.94530603e-01 9.80871762e-01 -6.95920217e-03 -2.96150885e+01] [-3.53345097e-02 8.27966634e-05 9.99375538e-01 -8.78476960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70587156 meters 0.012306437141087196 Centerline is valid? [True, True] Translation: X:214.43, Y:-29.63, Z:-8.79 [[ 9.80531633e-01 1.93269147e-01 3.47095484e-02 2.14431452e+02] [-1.93143434e-01 9.81145769e-01 -6.97095839e-03 -2.96272708e+01] [-3.54023978e-02 1.31323834e-04 9.99373130e-01 -8.78774034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76587156 meters 0.011778864252649804 Centerline is valid? [True, True] Translation: X:214.49, Y:-29.63, Z:-8.79 [[ 9.80139922e-01 1.95109652e-01 3.54676831e-02 2.14488622e+02] [-1.94979674e-01 9.80781433e-01 -7.12088521e-03 -2.96343671e+01] [-3.61753985e-02 6.39865739e-05 9.99345454e-01 -8.78933828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82587156 meters 0.011109049637321726 Centerline is valid? [True, True] Translation: X:214.55, Y:-29.64, Z:-8.79 [[ 9.79812060e-01 1.96568638e-01 3.64567969e-02 2.14547196e+02] [-1.96432402e-01 9.80490066e-01 -7.31717123e-03 -2.96416847e+01] [-3.71838536e-02 8.15643373e-06 9.99308441e-01 -8.78920013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88587156 meters 0.011900685208481645 Centerline is valid? [True, True] Translation: X:214.61, Y:-29.65, Z:-8.79 [[ 9.79249025e-01 1.99536798e-01 3.54459166e-02 2.14605230e+02] [-1.99410018e-01 9.79890328e-01 -7.11261480e-03 -2.96472647e+01] [-3.61523392e-02 -1.03249745e-04 9.99346285e-01 -8.79415802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94587156 meters 0.01311975973403778 Centerline is valid? [True, True] Translation: X:214.66, Y:-29.65, Z:-8.80 [[ 9.78776212e-01 2.02021788e-01 3.44140110e-02 2.14664626e+02] [-2.01903895e-01 9.79381009e-01 -6.90339343e-03 -2.96505833e+01] [-3.50990647e-02 -1.91445572e-04 9.99383820e-01 -8.79921663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00587156 meters 0.015018119894722919 Centerline is valid? [True, True] Translation: X:214.72, Y:-29.65, Z:-8.80 [[ 9.78334688e-01 2.04277180e-01 3.36462722e-02 2.14722256e+02] [-2.04165868e-01 9.78913051e-01 -6.74806880e-03 -2.96545263e+01] [-3.43152515e-02 -2.67550578e-04 9.99411023e-01 -8.80345675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06587156 meters 0.014872682106127789 Centerline is valid? [True, True] Translation: X:214.78, Y:-29.66, Z:-8.80 [[ 9.78263512e-01 2.04479794e-01 3.44748464e-02 2.14780621e+02] [-2.04363176e-01 9.78870744e-01 -6.91082491e-03 -2.96630259e+01] [-3.51595426e-02 -2.84781251e-04 9.99381672e-01 -8.80489653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12587156 meters 0.012956728334335857 Centerline is valid? [True, True] Translation: X:214.84, Y:-29.67, Z:-8.80 [[ 9.78679902e-01 2.02085019e-01 3.67055184e-02 2.14838625e+02] [-2.01951204e-01 9.79367959e-01 -7.35603839e-03 -2.96744687e+01] [-3.74347538e-02 -2.13516717e-04 9.99299051e-01 -8.80319876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18587156 meters 0.01092952742458905 Centerline is valid? [True, True] Translation: X:214.89, Y:-29.69, Z:-8.80 [[ 9.79617066e-01 1.97329874e-01 3.75676101e-02 2.14894864e+02] [-1.97186272e-01 9.80337146e-01 -7.52692431e-03 -2.96916281e+01] [-3.83142107e-02 -3.43134805e-05 9.99265740e-01 -8.80456331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24587156 meters 0.01175050047706205 Centerline is valid? [True, True] Translation: X:214.95, Y:-29.71, Z:-8.81 [[ 9.80627219e-01 1.92319166e-01 3.71967089e-02 2.14951014e+02] [-1.92174849e-01 9.81332417e-01 -7.45077903e-03 -2.97096957e+01] [-3.79352639e-02 1.58164809e-04 9.99280186e-01 -8.80767734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30587156 meters 0.014440227927103394 Centerline is valid? [True, True] Translation: X:215.01, Y:-29.73, Z:-8.81 [[ 9.81329548e-01 1.88909264e-01 3.61332158e-02 2.15006529e+02] [-1.88770834e-01 9.81994507e-01 -7.23606040e-03 -2.97280386e+01] [-3.68495783e-02 2.80062592e-04 9.99320784e-01 -8.81299522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.36587156000002 meters 0.01735543546085551 Centerline is valid? [True, True] Translation: X:215.06, Y:-29.75, Z:-8.82 [[ 9.82173224e-01 1.84744949e-01 3.47140138e-02 2.15063106e+02] [-1.84614660e-01 9.82786411e-01 -6.94963265e-03 -2.97467118e+01] [-3.54003706e-02 4.17027252e-04 9.99373123e-01 -8.81763363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42587156000002 meters 0.019107359129004138 Centerline is valid? [True, True] Translation: X:215.12, Y:-29.76, Z:-8.82 [[ 9.82454143e-01 1.83084811e-01 3.55500998e-02 2.15119398e+02] [-1.82947130e-01 9.83097002e-01 -7.11566184e-03 -2.97644848e+01] [-3.62519662e-02 4.87022697e-04 9.99342563e-01 -8.81875688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48587156 meters 0.018726810475153365 Centerline is valid? [True, True] Translation: X:215.18, Y:-29.78, Z:-8.82 [[ 9.82227203e-01 1.84258683e-01 3.57555568e-02 2.15176143e+02] [-1.84120231e-01 9.82877683e-01 -7.15546923e-03 -2.97780850e+01] [-3.64617962e-02 4.44975123e-04 9.99334949e-01 -8.82181460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54587156 meters 0.016652600485858746 Centerline is valid? [True, True] Translation: X:215.23, Y:-29.79, Z:-8.82 [[ 9.82017069e-01 1.85445874e-01 3.53878994e-02 2.15234521e+02] [-1.85311074e-01 9.82654401e-01 -7.08057893e-03 -2.97884865e+01] [-3.60871392e-02 3.95479741e-04 9.99348569e-01 -8.82459609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60587156 meters 0.015208966120675077 Centerline is valid? [True, True] Translation: X:215.29, Y:-29.80, Z:-8.83 [[ 9.81496358e-01 1.88354540e-01 3.44596227e-02 2.15291032e+02] [-1.88228532e-01 9.82101058e-01 -6.89428789e-03 -2.98001200e+01] [-3.51414024e-02 2.80434269e-04 9.99382311e-01 -8.82991100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66587156 meters 0.012799104771130079 Centerline is valid? [True, True] Translation: X:215.35, Y:-29.81, Z:-8.83 [[ 9.80859818e-01 1.91656157e-01 3.43792697e-02 2.15349336e+02] [-1.91532838e-01 9.81462119e-01 -6.87605857e-03 -2.98097372e+01] [-3.50597898e-02 1.59690481e-04 9.99385204e-01 -8.83225838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72587156 meters 0.021367303822465867 Centerline is valid? [True, True] Translation: X:215.41, Y:-29.82, Z:-8.83 [[ 9.80243587e-01 1.94728137e-01 3.46909643e-02 2.15408098e+02] [-1.94604549e-01 9.80857253e-01 -6.93678315e-03 -2.98175511e+01] [-3.53776708e-02 4.87177344e-05 9.99374013e-01 -8.83076108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78587156 meters 0.012579117888048849 Centerline is valid? [True, True] Translation: X:215.47, Y:-29.82, Z:-8.83 [[ 9.79096497e-01 2.00321851e-01 3.52307543e-02 2.15465413e+02] [-2.00198064e-01 9.79730132e-01 -7.04301098e-03 -2.98228319e+01] [-3.59275006e-02 -1.57341440e-04 9.99354387e-01 -8.83470454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84587156 meters 0.015925800490987733 Centerline is valid? [True, True] Translation: X:215.52, Y:-29.83, Z:-8.84 [[ 9.78030328e-01 2.05462338e-01 3.52406819e-02 2.15524383e+02] [-2.05341895e-01 9.78664961e-01 -7.04274040e-03 -2.98289814e+01] [-3.59358385e-02 -3.48374698e-04 9.99354038e-01 -8.83688702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90587156 meters 0.029669610688924614 Centerline is valid? [True, True] Translation: X:215.58, Y:-29.84, Z:-8.84 [[ 9.77791136e-01 2.06645685e-01 3.49578955e-02 2.15582367e+02] [-2.06527983e-01 9.78415765e-01 -6.98452957e-03 -2.98388935e+01] [-3.56466790e-02 -3.90372561e-04 9.99364379e-01 -8.83806391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96587156 meters 0.022320538362181678 Centerline is valid? [True, True] Translation: X:215.64, Y:-29.85, Z:-8.84 [[ 9.77125785e-01 2.09823862e-01 3.46286992e-02 2.15640024e+02] [-2.09710410e-01 9.77739073e-01 -6.91735926e-03 -2.98452308e+01] [-3.53092592e-02 -5.02868599e-04 9.99376307e-01 -8.84481882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02587156 meters 0.022936567175403606 Centerline is valid? [True, True] Translation: X:215.70, Y:-29.86, Z:-8.85 [[ 9.76684248e-01 2.11927076e-01 3.42752816e-02 2.15698210e+02] [-2.11817337e-01 9.77285313e-01 -6.84348305e-03 -2.98556558e+01] [-3.49470487e-02 -5.76176783e-04 9.99388999e-01 -8.84714284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08587156000002 meters 0.02380469495649821 Centerline is valid? [True, True] Translation: X:215.76, Y:-29.86, Z:-8.85 [[ 9.76427419e-01 2.13113937e-01 3.42336854e-02 2.15755963e+02] [-2.13005241e-01 9.77027157e-01 -6.83380661e-03 -2.98643688e+01] [-3.49036197e-02 -6.19238257e-04 9.99390491e-01 -8.84937501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.14587156000002 meters 0.03389607633155804 Centerline is valid? [True, True] Translation: X:215.81, Y:-29.87, Z:-8.85 [[ 9.76474638e-01 2.12837236e-01 3.46062394e-02 2.15813462e+02] [-2.12726106e-01 9.77087472e-01 -6.90480399e-03 -2.98748944e+01] [-3.52829224e-02 -6.19284579e-04 9.99377172e-01 -8.85011877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20587156 meters 0.020509903887379027 Centerline is valid? [True, True] Translation: X:215.87, Y:-29.89, Z:-8.85 [[ 9.77117636e-01 2.09741968e-01 3.53472973e-02 2.15870227e+02] [-2.09624065e-01 9.77756634e-01 -7.05088815e-03 -2.98910778e+01] [-3.60399217e-02 -5.20096997e-04 9.99350216e-01 -8.85335146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26587156 meters 0.015575199760439556 Centerline is valid? [True, True] Translation: X:215.93, Y:-29.91, Z:-8.86 [[ 9.78335421e-01 2.04113090e-01 3.46070945e-02 2.15925200e+02] [-2.03996604e-01 9.78947267e-01 -6.90171806e-03 -2.99097918e+01] [-3.52872515e-02 -3.07534490e-04 9.99377164e-01 -8.85697662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32587156 meters 0.022515388204539542 Centerline is valid? [True, True] Translation: X:215.98, Y:-29.93, Z:-8.86 [[ 9.79280054e-01 1.99652619e-01 3.39029104e-02 2.15981600e+02] [-1.99538232e-01 9.79866731e-01 -6.75895480e-03 -2.99270974e+01] [-3.45697771e-02 -1.46017203e-04 9.99402276e-01 -8.85836237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38587156 meters 0.011346990540965168 Centerline is valid? [True, True] Translation: X:216.04, Y:-29.95, Z:-8.86 [[ 9.80335175e-01 1.94192647e-01 3.51021556e-02 2.16036080e+02] [-1.94066579e-01 9.80963411e-01 -6.99636175e-03 -2.99499457e+01] [-3.57925723e-02 4.66242652e-05 9.99359240e-01 -8.86128207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44587156 meters 0.01245589829938828 Centerline is valid? [True, True] Translation: X:216.09, Y:-29.97, Z:-8.86 [[ 9.80988159e-01 1.90680749e-01 3.60982477e-02 2.16092734e+02] [-1.90545127e-01 9.81652087e-01 -7.19262235e-03 -2.99681157e+01] [-3.68074148e-02 1.77532157e-04 9.99322362e-01 -8.86100939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50587156 meters 0.013608274110758382 Centerline is valid? [True, True] Translation: X:216.15, Y:-29.98, Z:-8.86 [[ 9.81296273e-01 1.89054643e-01 3.62762655e-02 2.16149295e+02] [-1.88916633e-01 9.81966540e-01 -7.22637880e-03 -2.99830415e+01] [-3.69882593e-02 2.38028651e-04 9.99315672e-01 -8.86331866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56587156 meters 0.015794553861522034 Centerline is valid? [True, True] Translation: X:216.21, Y:-30.00, Z:-8.87 [[ 9.81758566e-01 1.86846571e-01 3.51919907e-02 2.16205253e+02] [-1.86715330e-01 9.82389059e-01 -7.00874162e-03 -3.00019745e+01] [-3.58817860e-02 3.10007947e-04 9.99355993e-01 -8.86937002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62587156 meters 0.025729497912263314 Centerline is valid? [True, True] Translation: X:216.26, Y:-30.02, Z:-8.87 [[ 9.81995678e-01 1.85914781e-01 3.34691439e-02 2.16263555e+02] [-1.85795582e-01 9.82565819e-01 -6.66436591e-03 -3.00161752e+01] [-3.41246409e-02 3.25959455e-04 9.99417532e-01 -8.87132615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68587156 meters 0.016569719117708114 Centerline is valid? [True, True] Translation: X:216.32, Y:-30.03, Z:-8.88 [[ 9.81846775e-01 1.86639880e-01 3.38003876e-02 2.16321879e+02] [-1.86518753e-01 9.82428350e-01 -6.72990333e-03 -3.00288480e+01] [-3.44625273e-02 3.03327720e-04 9.99405945e-01 -8.87659655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74587156 meters 0.013542645503584869 Centerline is valid? [True, True] Translation: X:216.38, Y:-30.04, Z:-8.87 [[ 9.81455601e-01 1.88380375e-01 3.54646081e-02 2.16381501e+02] [-1.88248172e-01 9.82096110e-01 -7.06088116e-03 -3.00379333e+01] [-3.61597851e-02 2.53793720e-04 9.99345989e-01 -8.87370954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80587156 meters 0.012351450269994594 Centerline is valid? [True, True] Translation: X:216.44, Y:-30.05, Z:-8.88 [[ 9.80913508e-01 1.91117777e-01 3.58146060e-02 2.16439528e+02] [-1.90984803e-01 9.81567100e-01 -7.12974860e-03 -3.00485286e+01] [-3.65170607e-02 1.53621232e-04 9.99333018e-01 -8.87683080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.86587156000002 meters 0.01158441064481229 Centerline is valid? [True, True] Translation: X:216.50, Y:-30.06, Z:-8.88 [[ 9.80606582e-01 1.92706076e-01 3.57085431e-02 2.16497734e+02] [-1.92574986e-01 9.81256521e-01 -7.10740205e-03 -3.00568777e+01] [-3.64088803e-02 9.29930554e-05 9.99336973e-01 -8.87941964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92587156000002 meters 0.011819431275247828 Centerline is valid? [True, True] Translation: X:216.55, Y:-30.07, Z:-8.88 [[ 9.80596564e-01 1.92923041e-01 3.48005670e-02 2.16554285e+02] [-1.92798726e-01 9.81213888e-01 -6.92513448e-03 -3.00709049e+01] [-3.54828177e-02 8.12580680e-05 9.99370283e-01 -8.88464544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98587156 meters 0.012498282115350368 Centerline is valid? [True, True] Translation: X:216.61, Y:-30.09, Z:-8.89 [[ 9.80831662e-01 1.91828361e-01 3.42217957e-02 2.16609630e+02] [-1.91707531e-01 9.81428483e-01 -6.80854428e-03 -3.00882325e+01] [-3.48923169e-02 1.17459844e-04 9.99391071e-01 -8.88834052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04587156 meters 0.018672868041776796 Centerline is valid? [True, True] Translation: X:216.67, Y:-30.10, Z:-8.89 [[ 9.80940579e-01 1.91208426e-01 3.45676021e-02 2.16667435e+02] [-1.91084838e-01 9.81549448e-01 -6.87502952e-03 -3.01038724e+01] [-3.52443743e-02 1.38650792e-04 9.99378714e-01 -8.88785407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10587156 meters 0.012567864176026603 Centerline is valid? [True, True] Translation: X:216.73, Y:-30.12, Z:-8.89 [[ 9.81062947e-01 1.90579386e-01 3.45686447e-02 2.16725528e+02] [-1.90455435e-01 9.81671774e-01 -6.87423012e-03 -3.01193677e+01] [-3.52451493e-02 1.60266193e-04 9.99378684e-01 -8.89183919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16587156 meters 0.01231152224327357 Centerline is valid? [True, True] Translation: X:216.78, Y:-30.14, Z:-8.89 [[ 9.80988415e-01 1.90911551e-01 3.48498182e-02 2.16784853e+02] [-1.90785791e-01 9.81607232e-01 -6.92997894e-03 -3.01365927e+01] [-3.55318466e-02 1.49378930e-04 9.99368533e-01 -8.89335303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22587156 meters 0.023085441076049543 Centerline is valid? [True, True] Translation: X:216.84, Y:-30.15, Z:-8.90 [[ 9.80684170e-01 1.92539347e-01 3.44551794e-02 2.16844666e+02] [-1.92417395e-01 9.81289250e-01 -6.85233904e-03 -3.01500471e+01] [-3.51298421e-02 9.02045497e-05 9.99382753e-01 -8.89502883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28587156 meters 0.02023224295005507 Centerline is valid? [True, True] Translation: X:216.90, Y:-30.16, Z:-8.90 [[ 9.80149718e-01 1.95349584e-01 3.38388855e-02 2.16903269e+02] [-1.95233596e-01 9.80733674e-01 -6.73077434e-03 -3.01627427e+01] [-3.45017885e-02 -9.32071035e-06 9.99404636e-01 -8.89884036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34587156 meters 0.011948193424209674 Centerline is valid? [True, True] Translation: X:216.96, Y:-30.17, Z:-8.90 [[ 9.79716936e-01 1.97545644e-01 3.36220700e-02 2.16962904e+02] [-1.97432430e-01 9.80293686e-01 -6.68764833e-03 -3.01729183e+01] [-3.42806187e-02 -8.60846438e-05 9.99412243e-01 -8.90356897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40587156 meters 0.012183101650007707 Centerline is valid? [True, True] Translation: X:217.02, Y:-30.19, Z:-8.91 [[ 9.79492996e-01 1.98553935e-01 3.42024380e-02 2.17021148e+02] [-1.98437391e-01 9.80089955e-01 -6.80308731e-03 -3.01884928e+01] [-3.48722457e-02 -1.23466207e-04 9.99391771e-01 -8.90576175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46587156 meters 0.012050229384753067 Centerline is valid? [True, True] Translation: X:217.08, Y:-30.20, Z:-8.91 [[ 9.79561262e-01 1.98222934e-01 3.41672729e-02 2.17079337e+02] [-1.98106443e-01 9.80156955e-01 -6.79566630e-03 -3.02036676e+01] [-3.48363471e-02 -1.11985459e-04 9.99393024e-01 -8.90837147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52587156 meters 0.012598631481330717 Centerline is valid? [True, True] Translation: X:217.14, Y:-30.22, Z:-8.91 [[ 9.79264206e-01 1.99671836e-01 3.42457538e-02 2.17139508e+02] [-1.99555618e-01 9.79862813e-01 -6.81349743e-03 -3.02171659e+01] [-3.49166042e-02 -1.61718407e-04 9.99390216e-01 -8.91032167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58587156000002 meters 0.01462568333006416 Centerline is valid? [True, True] Translation: X:217.20, Y:-30.23, Z:-8.91 [[ 9.78596989e-01 2.03054614e-01 3.34179056e-02 2.17198886e+02] [-2.02945884e-01 9.79167375e-01 -6.64981061e-03 -3.02264958e+01] [-3.40719976e-02 -2.74541744e-04 9.99419343e-01 -8.91370932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.64587156000002 meters 0.016283031786483174 Centerline is valid? [True, True] Translation: X:217.26, Y:-30.24, Z:-8.92 [[ 9.78149539e-01 2.05221325e-01 3.32819176e-02 2.17257799e+02] [-2.05114724e-01 9.78715529e-01 -6.62295950e-03 -3.02360098e+01] [-3.39327022e-02 -3.48366578e-04 9.99424059e-01 -8.91686431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70587156 meters 0.018359448541024264 Centerline is valid? [True, True] Translation: X:217.32, Y:-30.24, Z:-8.92 [[ 9.77690845e-01 2.07274039e-01 3.40306446e-02 2.17316306e+02] [-2.07163857e-01 9.78282826e-01 -6.77115936e-03 -3.02427141e+01] [-3.46950807e-02 -4.29819066e-04 9.99397852e-01 -8.91833234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76587156 meters 0.018444977769465028 Centerline is valid? [True, True] Translation: X:217.37, Y:-30.25, Z:-8.92 [[ 9.77444465e-01 2.08338133e-01 3.46055095e-02 2.17374980e+02] [-2.08224911e-01 9.78056744e-01 -6.88414110e-03 -3.02539723e+01] [-3.52803811e-02 -4.76863518e-04 9.99377340e-01 -8.91932889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82587156 meters 0.0186433609707407 Centerline is valid? [True, True] Translation: X:217.43, Y:-30.27, Z:-8.92 [[ 9.77418706e-01 2.08544269e-01 3.40875475e-02 2.17433011e+02] [-2.08434566e-01 9.78012812e-01 -6.78025763e-03 -3.02651299e+01] [-3.47520420e-02 -4.77872538e-04 9.99395851e-01 -8.92267102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88587156 meters 0.019359698348603988 Centerline is valid? [True, True] Translation: X:217.49, Y:-30.27, Z:-8.93 [[ 9.77384268e-01 2.08810697e-01 3.34377925e-02 2.17491605e+02] [-2.08705321e-01 9.77955962e-01 -6.65022655e-03 -3.02722130e+01] [-3.40893269e-02 -4.78818405e-04 9.99418675e-01 -8.92610145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94587156 meters 0.018875957316905 Centerline is valid? [True, True] Translation: X:217.55, Y:-30.28, Z:-8.93 [[ 9.77377549e-01 2.08763916e-01 3.39227615e-02 2.17550685e+02] [-2.08655481e-01 9.77965946e-01 -6.74528328e-03 -3.02810921e+01] [-3.45834773e-02 -4.85481664e-04 9.99401695e-01 -8.92744717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00587156 meters 0.02333411092279837 Centerline is valid? [True, True] Translation: X:217.61, Y:-30.29, Z:-8.93 [[ 9.77339546e-01 2.08718730e-01 3.52690316e-02 2.17608727e+02] [-2.08601509e-01 9.77975582e-01 -7.01229342e-03 -3.02860535e+01] [-3.59558487e-02 -5.03781563e-04 9.99353252e-01 -8.92698406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06587156 meters 0.019257355098707206 Centerline is valid? [True, True] Translation: X:217.67, Y:-30.29, Z:-8.93 [[ 9.77422757e-01 2.08059427e-01 3.68243073e-02 2.17666759e+02] [-2.07931271e-01 9.78116057e-01 -7.31882097e-03 -3.02948923e+01] [-3.75411960e-02 -5.03342858e-04 9.99294954e-01 -8.92775947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12587156 meters 0.016283124185696538 Centerline is valid? [True, True] Translation: X:217.73, Y:-30.31, Z:-8.93 [[ 9.77842642e-01 2.06079877e-01 3.68083019e-02 2.17725669e+02] [-2.05950502e-01 9.78535079e-01 -7.31372447e-03 -3.03066706e+01] [-3.75254261e-02 -4.29016601e-04 9.99295581e-01 -8.92907640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18587156 meters 0.02072407504444489 Centerline is valid? [True, True] Translation: X:217.78, Y:-30.31, Z:-8.93 [[ 9.78348019e-01 2.03871318e-01 3.56600611e-02 2.17783682e+02] [-2.03748454e-01 9.78997637e-01 -7.08475273e-03 -3.03149154e+01] [-3.63554935e-02 -3.34328528e-04 9.99338865e-01 -8.93287147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24587156 meters 0.015306183474307258 Centerline is valid? [True, True] Translation: X:217.84, Y:-30.32, Z:-8.94 [[ 9.78689408e-01 2.02368614e-01 3.48423133e-02 2.17841257e+02] [-2.02250409e-01 9.79309384e-01 -6.92117131e-03 -3.03203149e+01] [-3.55220322e-02 -2.73195057e-04 9.99368856e-01 -8.93992965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30587156 meters 0.014595670349761065 Centerline is valid? [True, True] Translation: X:217.90, Y:-30.33, Z:-8.94 [[ 9.78790965e-01 2.01994035e-01 3.41563613e-02 2.17899306e+02] [-2.01880294e-01 9.79386718e-01 -6.78255041e-03 -3.03291666e+01] [-3.48223213e-02 -2.56797184e-04 9.99393486e-01 -8.94263429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36587156000002 meters 0.014400799169239805 Centerline is valid? [True, True] Translation: X:217.96, Y:-30.33, Z:-8.95 [[ 9.78891299e-01 2.01550054e-01 3.39027971e-02 2.17958518e+02] [-2.01437787e-01 9.79478186e-01 -6.73054222e-03 -3.03327147e+01] [-3.45635914e-02 -2.40835226e-04 9.99402472e-01 -8.94537036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42587156000002 meters 0.014513609253077939 Centerline is valid? [True, True] Translation: X:218.02, Y:-30.33, Z:-8.95 [[ 9.78811954e-01 2.01815599e-01 3.46066791e-02 2.18018150e+02] [-2.01698849e-01 9.79423503e-01 -6.86852721e-03 -3.03345159e+01] [-3.52807708e-02 -2.57130781e-04 9.99377407e-01 -8.94664574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48587156 meters 0.015321650734376548 Centerline is valid? [True, True] Translation: X:218.08, Y:-30.34, Z:-8.95 [[ 9.78661682e-01 2.02568355e-01 3.44582841e-02 2.18077780e+02] [-2.02453130e-01 9.79268084e-01 -6.83738743e-03 -3.03352339e+01] [-3.51289362e-02 -2.84698381e-04 9.99382748e-01 -8.94961221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54587156 meters 0.015545186868850008 Centerline is valid? [True, True] Translation: X:218.14, Y:-30.34, Z:-8.95 [[ 9.78739634e-01 2.02436553e-01 3.29874403e-02 2.18137134e+02] [-2.02330934e-01 9.79295343e-01 -6.54401029e-03 -3.03369998e+01] [-3.36291936e-02 -2.69497362e-04 9.99434342e-01 -8.95484155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60587156 meters 0.014574015831151494 Centerline is valid? [True, True] Translation: X:218.20, Y:-30.34, Z:-8.96 [[ 9.78997360e-01 2.01070954e-01 3.36844295e-02 2.18197238e+02] [-2.00960075e-01 9.79576653e-01 -6.68051013e-03 -3.03386186e+01] [-3.43397372e-02 -2.29023685e-04 9.99410191e-01 -8.95682857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66587156 meters 0.01279409252657223 Centerline is valid? [True, True] Translation: X:218.26, Y:-30.35, Z:-8.96 [[ 9.79499554e-01 1.98516678e-01 3.42308782e-02 2.18255268e+02] [-1.98400652e-01 9.80097499e-01 -6.78772270e-03 -3.03466083e+01] [-3.48970743e-02 -1.42857207e-04 9.99390901e-01 -8.95752446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72587156 meters 0.026148680732118193 Centerline is valid? [True, True] Translation: X:218.31, Y:-30.36, Z:-8.96 [[ 9.80916182e-01 1.91329134e-01 3.45919900e-02 2.18312716e+02] [-1.91206232e-01 9.81525929e-01 -6.85760987e-03 -3.03593787e+01] [-3.52649957e-02 1.12536422e-04 9.99377990e-01 -8.95732620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78587156 meters 0.026803517797555413 Centerline is valid? [True, True] Translation: X:218.37, Y:-30.38, Z:-8.96 [[ 9.82384842e-01 1.83521592e-01 3.52114666e-02 2.18368494e+02] [-1.83389286e-01 9.83015598e-01 -6.97879042e-03 -3.03760453e+01] [-3.58941796e-02 3.98452217e-04 9.99355517e-01 -8.95972191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84587156 meters 0.021483575021722275 Centerline is valid? [True, True] Translation: X:218.43, Y:-30.39, Z:-8.96 [[ 9.83209621e-01 1.79019112e-01 3.53694549e-02 2.18427663e+02] [-1.78882805e-01 9.83845435e-01 -7.00722892e-03 -3.03861932e+01] [-3.60525046e-02 5.62587601e-04 9.99349739e-01 -8.96107137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90587156 meters 0.027411333943509378 Centerline is valid? [True, True] Translation: X:218.48, Y:-30.40, Z:-8.96 [[ 9.84253845e-01 1.73110096e-01 3.57388085e-02 2.18484589e+02] [-1.72967067e-01 9.84902166e-01 -7.07935529e-03 -3.04030287e+01] [-3.64247378e-02 7.86245780e-04 9.99336090e-01 -8.96463240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96587156 meters 0.03431661252055129 Centerline is valid? [True, True] Translation: X:218.54, Y:-30.42, Z:-8.97 [[ 9.85648972e-01 1.65017260e-01 3.55725631e-02 2.18541683e+02] [-1.64870285e-01 9.86290087e-01 -7.04645523e-03 -3.04235506e+01] [-3.62476531e-02 1.08047274e-03 9.99342254e-01 -8.96821643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02587156 meters 0.03803372353878469 Centerline is valid? [True, True] Translation: X:218.60, Y:-30.44, Z:-8.97 [[ 9.86545043e-01 1.59859086e-01 3.42629736e-02 2.18600276e+02] [-1.59719644e-01 9.87139087e-01 -6.78660869e-03 -3.04404489e+01] [-3.49072215e-02 1.22282521e-03 9.99389809e-01 -8.97189925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08587156000002 meters 0.0444067697317188 Centerline is valid? [True, True] Translation: X:218.66, Y:-30.46, Z:-8.98 [[ 9.87420012e-01 1.54617796e-01 3.30916386e-02 2.18656375e+02] [-1.54484782e-01 9.87973424e-01 -6.55477376e-03 -3.04623449e+01] [-3.37071441e-02 1.36016023e-03 9.99430827e-01 -8.97771579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.14587156000002 meters 0.05204184802983896 Centerline is valid? [True, True] Translation: X:218.71, Y:-30.48, Z:-8.98 [[ 9.87435285e-01 1.54544846e-01 3.29764847e-02 2.18714614e+02] [-1.54412775e-01 9.87984844e-01 -6.53020225e-03 -3.04811179e+01] [-3.35894762e-02 1.35616161e-03 9.99434794e-01 -8.97825631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20587156 meters 0.04348985585732635 Centerline is valid? [True, True] Translation: X:218.77, Y:-30.50, Z:-8.98 [[ 9.86781719e-01 1.58414161e-01 3.41583524e-02 2.18773957e+02] [-1.58274529e-01 9.87371930e-01 -6.77092315e-03 -3.04952646e+01] [-3.47996085e-02 1.27502603e-03 9.99393497e-01 -8.97931869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26587156 meters 0.035949586166311075 Centerline is valid? [True, True] Translation: X:218.83, Y:-30.50, Z:-8.98 [[ 9.85638224e-01 1.65534866e-01 3.33990980e-02 2.18834081e+02] [-1.65405445e-01 9.86203430e-01 -6.62062938e-03 -3.05013733e+01] [-3.40342500e-02 1.00115271e-03 9.99420166e-01 -8.98311103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32587156 meters 0.026254821066295415 Centerline is valid? [True, True] Translation: X:218.90, Y:-30.50, Z:-8.98 [[ 9.84611065e-01 1.71551889e-01 3.33316645e-02 2.18895376e+02] [-1.71426421e-01 9.85174767e-01 -6.60756601e-03 -3.05036021e+01] [-3.39710552e-02 7.91954658e-04 9.99422503e-01 -8.98413618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38587156 meters 0.020009480459396062 Centerline is valid? [True, True] Translation: X:218.95, Y:-30.51, Z:-8.99 [[ 9.83225858e-01 1.79286812e-01 3.35134611e-02 2.18953982e+02] [-1.79164453e-01 9.83796707e-01 -6.64366769e-03 -3.05087583e+01] [-3.41615547e-02 5.27804947e-04 9.99416184e-01 -8.98713333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44587156 meters 0.016104598148257914 Centerline is valid? [True, True] Translation: X:219.01, Y:-30.52, Z:-8.99 [[ 9.82214925e-01 1.84916145e-01 3.25554889e-02 2.19010731e+02] [-1.84803804e-01 9.82754250e-01 -6.45274469e-03 -3.05178511e+01] [-3.31872617e-02 3.21603948e-04 9.99449099e-01 -8.99188114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50587156 meters 0.013898219160504308 Centerline is valid? [True, True] Translation: X:219.07, Y:-30.53, Z:-8.99 [[ 9.81701595e-01 1.87589410e-01 3.27443265e-02 2.19068970e+02] [-1.87477312e-01 9.82247505e-01 -6.48824711e-03 -3.05278082e+01] [-3.33801594e-02 2.30704236e-04 9.99442701e-01 -8.99369590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56587156 meters 0.012734544294452194 Centerline is valid? [True, True] Translation: X:219.13, Y:-30.54, Z:-9.00 [[ 9.80983614e-01 1.91373171e-01 3.23644541e-02 2.19126006e+02] [-1.91265767e-01 9.81517346e-01 -6.41146854e-03 -3.05385521e+01] [-3.29932561e-02 9.93334521e-05 9.99455569e-01 -8.99745974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62587156 meters 0.016668934581073998 Centerline is valid? [True, True] Translation: X:219.18, Y:-30.55, Z:-9.00 [[ 9.80335840e-01 1.94603788e-01 3.27262300e-02 2.19183762e+02] [-1.94495840e-01 9.80881933e-01 -6.48093915e-03 -3.05476365e+01] [-3.33617831e-02 -1.16186777e-05 9.99443341e-01 -8.99725825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68587156 meters 0.01458812975989676 Centerline is valid? [True, True] Translation: X:219.24, Y:-30.56, Z:-9.00 [[ 9.80206734e-01 1.95239121e-01 3.28092148e-02 2.19239416e+02] [-1.95131025e-01 9.80755670e-01 -6.49606016e-03 -3.05601676e+01] [-3.34461085e-02 -3.46137927e-05 9.99440522e-01 -9.00086252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74587156 meters 0.012267222253980302 Centerline is valid? [True, True] Translation: X:219.30, Y:-30.57, Z:-9.00 [[ 9.80199120e-01 1.95325582e-01 3.25208001e-02 2.19297080e+02] [-1.95219529e-01 9.80738454e-01 -6.43585729e-03 -3.05722768e+01] [-3.31514868e-02 -4.02736319e-05 9.99450338e-01 -9.00350959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80587156 meters 0.027610544381035825 Centerline is valid? [True, True] Translation: X:219.35, Y:-30.58, Z:-9.01 [[ 9.79910477e-01 1.96835667e-01 3.21119464e-02 2.19353474e+02] [-1.96733119e-01 9.80436490e-01 -6.35358116e-03 -3.05831837e+01] [-3.27343354e-02 -9.15426222e-05 9.99464084e-01 -9.00505966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86587156000002 meters 0.013505333165209106 Centerline is valid? [True, True] Translation: X:219.41, Y:-30.59, Z:-9.01 [[ 9.79558877e-01 1.98583816e-01 3.20760829e-02 2.19410315e+02] [-1.98482516e-01 9.80083897e-01 -6.34397813e-03 -3.05923482e+01] [-3.26970637e-02 -1.52241547e-04 9.99465296e-01 -9.00959234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.92587156000002 meters 0.01616486030545291 Centerline is valid? [True, True] Translation: X:219.47, Y:-30.60, Z:-9.01 [[ 9.78789724e-01 2.02366864e-01 3.19112615e-02 2.19468923e+02] [-2.02268675e-01 9.79309744e-01 -6.30941980e-03 -3.05961365e+01] [-3.25278268e-02 -2.79053323e-04 9.99470791e-01 -9.01237637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98587156 meters 0.019833865529416364 Centerline is valid? [True, True] Translation: X:219.53, Y:-30.60, Z:-9.01 [[ 9.77883680e-01 2.06633999e-01 3.23403662e-02 2.19528144e+02] [-2.06535551e-01 9.78418217e-01 -6.39214258e-03 -3.05980269e+01] [-3.29632374e-02 -4.28663453e-04 9.99456473e-01 -9.01377839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04587156 meters 0.021678528942373237 Centerline is valid? [True, True] Translation: X:219.59, Y:-30.60, Z:-9.02 [[ 9.77503377e-01 2.08441719e-01 3.22365866e-02 2.19586341e+02] [-2.08344932e-01 9.78034667e-01 -6.37016706e-03 -3.06044841e+01] [-3.28563078e-02 -4.89469627e-04 9.99459966e-01 -9.01607024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10587156 meters 0.023257367046343652 Centerline is valid? [True, True] Translation: X:219.64, Y:-30.61, Z:-9.02 [[ 9.77268635e-01 2.09504533e-01 3.24633082e-02 2.19644687e+02] [-2.09407032e-01 9.77807532e-01 -6.41296549e-03 -3.06093153e+01] [-3.30864126e-02 -5.30855006e-04 9.99452354e-01 -9.01907293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16587156 meters 0.023415784773699835 Centerline is valid? [True, True] Translation: X:219.70, Y:-30.61, Z:-9.02 [[ 9.77403389e-01 2.09004791e-01 3.16166577e-02 2.19701215e+02] [-2.08912101e-01 9.77914488e-01 -6.24410030e-03 -3.06147294e+01] [-3.22234345e-02 -5.02097605e-04 9.99480564e-01 -9.02315512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22587156 meters 0.021115740350177443 Centerline is valid? [True, True] Translation: X:219.76, Y:-30.63, Z:-9.03 [[ 9.78001398e-01 2.06354439e-01 3.05141235e-02 2.19758899e+02] [-2.06266900e-01 9.78477227e-01 -6.02352047e-03 -3.06265490e+01] [-3.11003551e-02 -4.03042247e-04 9.99516186e-01 -9.02789914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28587156 meters 0.020633306246317786 Centerline is valid? [True, True] Translation: X:219.82, Y:-30.64, Z:-9.03 [[ 9.78595469e-01 2.03525032e-01 3.04707837e-02 2.19816168e+02] [-2.03436413e-01 9.79069693e-01 -6.01356030e-03 -3.06422427e+01] [-3.10569308e-02 -3.14024066e-04 9.99517568e-01 -9.02658703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34587156 meters 0.023341214404935216 Centerline is valid? [True, True] Translation: X:219.87, Y:-30.66, Z:-9.03 [[ 9.79602714e-01 1.98473786e-01 3.14114641e-02 2.19872311e+02] [-1.98377053e-01 9.80106183e-01 -6.19790089e-03 -3.06575888e+01] [-3.20166910e-02 -1.59833139e-04 9.99487322e-01 -9.02943545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40587156 meters 0.012608619100261051 Centerline is valid? [True, True] Translation: X:219.93, Y:-30.68, Z:-9.03 [[ 9.80815919e-01 1.92254950e-01 3.22205932e-02 2.19927531e+02] [-1.92149914e-01 9.81345012e-01 -6.35439270e-03 -3.06816786e+01] [-3.28411819e-02 4.13053092e-05 9.99460582e-01 -9.03034467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46587156 meters 0.014328179894084015 Centerline is valid? [True, True] Translation: X:219.98, Y:-30.70, Z:-9.03 [[ 9.81692077e-01 1.87824145e-01 3.16663263e-02 2.19982340e+02] [-1.87720431e-01 9.82202655e-01 -6.24367380e-03 -3.07004010e+01] [-3.22754625e-02 1.84948677e-04 9.99478994e-01 -9.03407061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52587156 meters 0.015722615477515967 Centerline is valid? [True, True] Translation: X:220.04, Y:-30.72, Z:-9.04 [[ 9.82227503e-01 1.85079552e-01 3.12200573e-02 2.20038551e+02] [-1.84977417e-01 9.82723505e-01 -6.15371577e-03 -3.07185626e+01] [-3.18196111e-02 2.69343293e-04 9.99493592e-01 -9.03584063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58587156000002 meters 0.021147381198650735 Centerline is valid? [True, True] Translation: X:220.10, Y:-30.73, Z:-9.04 [[ 9.82396735e-01 1.84130560e-01 3.15054317e-02 2.20095658e+02] [-1.84026112e-01 9.82901748e-01 -6.20839007e-03 -3.07330937e+01] [-3.21098983e-02 3.01280015e-04 9.99484299e-01 -9.03562783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.64587156000002 meters 0.015371780678765962 Centerline is valid? [True, True] Translation: X:220.15, Y:-30.75, Z:-9.04 [[ 9.82169675e-01 1.85407578e-01 3.10927585e-02 2.20151658e+02] [-1.85306534e-01 9.82661674e-01 -6.12564657e-03 -3.07483728e+01] [-3.16894034e-02 2.54732985e-04 9.99497732e-01 -9.04025247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70587156 meters 0.013259777973141304 Centerline is valid? [True, True] Translation: X:220.21, Y:-30.75, Z:-9.04 [[ 9.81262679e-01 1.90087034e-01 3.14717940e-02 2.20208918e+02] [-1.89985978e-01 9.81767238e-01 -6.19832114e-03 -3.07549100e+01] [-3.20761967e-02 1.02981644e-04 9.99485421e-01 -9.04242599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76587156 meters 0.01298588141196901 Centerline is valid? [True, True] Translation: X:220.27, Y:-30.76, Z:-9.05 [[ 9.80342272e-01 1.94867668e-01 3.09131347e-02 2.20267575e+02] [-1.94772606e-01 9.80829541e-01 -6.08628998e-03 -3.07613362e+01] [-3.15065368e-02 -5.43844664e-05 9.99503544e-01 -9.04560072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82587156 meters 0.013030867991148151 Centerline is valid? [True, True] Translation: X:220.32, Y:-30.77, Z:-9.05 [[ 9.80025137e-01 1.96361661e-01 3.15091890e-02 2.20324450e+02] [-1.96263711e-01 9.80531533e-01 -6.20232634e-03 -3.07733615e+01] [-3.21136525e-02 -1.05674651e-04 9.99484218e-01 -9.04603080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88587156 meters 0.013143370229569167 Centerline is valid? [True, True] Translation: X:220.38, Y:-30.78, Z:-9.05 [[ 9.80036295e-01 1.96211838e-01 3.20900948e-02 2.20380886e+02] [-1.96110249e-01 9.80561525e-01 -6.31401237e-03 -3.07843223e+01] [-3.27051963e-02 -1.05235200e-04 9.99465036e-01 -9.04863300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94587156 meters 0.01301097003739033 Centerline is valid? [True, True] Translation: X:220.44, Y:-30.80, Z:-9.05 [[ 9.80391868e-01 1.94590446e-01 3.10860774e-02 2.20437184e+02] [-1.94494365e-01 9.80884578e-01 -6.11442040e-03 -3.08001286e+01] [-3.16816618e-02 -5.15388637e-05 9.99498009e-01 -9.05336160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00587156 meters 0.01283723966073519 Centerline is valid? [True, True] Translation: X:220.49, Y:-30.81, Z:-9.06 [[ 9.80634863e-01 1.93344155e-01 3.11978147e-02 2.20494071e+02] [-1.93246800e-01 9.81130999e-01 -6.13485993e-03 -3.08149984e+01] [-3.17952825e-02 -1.28203503e-05 9.99494402e-01 -9.05561967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06587156 meters 0.02367408517114646 Centerline is valid? [True, True] Translation: X:220.55, Y:-30.83, Z:-9.06 [[ 9.80740007e-01 1.92840708e-01 3.10080712e-02 2.20550109e+02] [-1.92744325e-01 9.81230076e-01 -6.09620495e-03 -3.08293078e+01] [-3.16016485e-02 2.16233119e-06 9.99500543e-01 -9.05597516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12587156 meters 0.01288044316486769 Centerline is valid? [True, True] Translation: X:220.61, Y:-30.84, Z:-9.06 [[ 9.80644594e-01 1.93294402e-01 3.12002267e-02 2.20607786e+02] [-1.93197122e-01 9.81140802e-01 -6.13172562e-03 -3.08414427e+01] [-3.17970437e-02 -1.47504075e-05 9.99494346e-01 -9.05919288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18587156 meters 0.012946671600285637 Centerline is valid? [True, True] Translation: X:220.67, Y:-30.85, Z:-9.06 [[ 9.80373733e-01 1.94552192e-01 3.18871152e-02 2.20665081e+02] [-1.94451294e-01 9.80892166e-01 -6.26521757e-03 -3.08511774e+01] [-3.24967333e-02 -5.82360808e-05 9.99471840e-01 -9.06101529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24587156 meters 0.01415146540005074 Centerline is valid? [True, True] Translation: X:220.72, Y:-30.86, Z:-9.06 [[ 9.79730546e-01 1.97550117e-01 3.31965293e-02 2.20721324e+02] [-1.97442545e-01 9.80292775e-01 -6.52055934e-03 -3.08593646e+01] [-3.38304551e-02 -1.66016067e-04 9.99427573e-01 -9.06142402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30587156 meters 0.016156744459878924 Centerline is valid? [True, True] Translation: X:220.78, Y:-30.86, Z:-9.06 [[ 9.78976089e-01 2.01237921e-01 3.33034036e-02 2.20780605e+02] [-2.01131891e-01 9.79542348e-01 -6.53846151e-03 -3.08647580e+01] [-3.39378806e-02 -2.97379083e-04 9.99423900e-01 -9.06258797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36587156000002 meters 0.018080106721924102 Centerline is valid? [True, True] Translation: X:220.84, Y:-30.87, Z:-9.07 [[ 9.78570989e-01 2.03303739e-01 3.26559346e-02 2.20839289e+02] [-2.03202994e-01 9.79115651e-01 -6.40979047e-03 -3.08716975e+01] [-3.32770710e-02 -3.63348688e-04 9.99446099e-01 -9.06583461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42587156000002 meters 0.0188916491813016 Centerline is valid? [True, True] Translation: X:220.90, Y:-30.88, Z:-9.07 [[ 9.78333515e-01 2.04530682e-01 3.21050508e-02 2.20897502e+02] [-2.04434019e-01 9.78860072e-01 -6.30014404e-03 -3.08820497e+01] [-3.27149251e-02 -3.99722489e-04 9.99464644e-01 -9.06881686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48587156 meters 0.020183505400608093 Centerline is valid? [True, True] Translation: X:220.96, Y:-30.89, Z:-9.07 [[ 9.77990681e-01 2.06219980e-01 3.17418854e-02 2.20956238e+02] [-2.06126430e-01 9.78505552e-01 -6.22733030e-03 -3.08899977e+01] [-3.23438110e-02 -4.52570526e-04 9.99476700e-01 -9.07052315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54587156 meters 0.021047579955626124 Centerline is valid? [True, True] Translation: X:221.01, Y:-30.90, Z:-9.07 [[ 9.77746743e-01 2.07312060e-01 3.21405783e-02 2.21014333e+02] [-2.07216789e-01 9.78274738e-01 -6.30390379e-03 -3.08972500e+01] [-3.27491911e-02 -4.96446033e-04 9.99463478e-01 -9.07181762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60587156 meters 0.022604158770799517 Centerline is valid? [True, True] Translation: X:221.07, Y:-30.90, Z:-9.07 [[ 9.77626742e-01 2.07821469e-01 3.24990742e-02 2.21071971e+02] [-2.07724385e-01 9.78166635e-01 -6.37291117e-03 -3.09037009e+01] [-3.31139378e-02 -5.20521803e-04 9.99451448e-01 -9.07472663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66587156 meters 0.022399795993174227 Centerline is valid? [True, True] Translation: X:221.13, Y:-30.91, Z:-9.08 [[ 9.77590183e-01 2.07959522e-01 3.27150045e-02 2.21129676e+02] [-2.07861324e-01 9.78137288e-01 -6.41214659e-03 -3.09096298e+01] [-3.33332327e-02 -5.31732596e-04 9.99444152e-01 -9.07607177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72587156 meters 0.021828596244403975 Centerline is valid? [True, True] Translation: X:221.19, Y:-30.92, Z:-9.08 [[ 9.77792829e-01 2.06974072e-01 3.29077125e-02 2.21187017e+02] [-2.06874241e-01 9.78346299e-01 -6.44734388e-03 -3.09176217e+01] [-3.35295718e-02 -5.03591453e-04 9.99437599e-01 -9.07869787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78587156 meters 0.01825754252197341 Centerline is valid? [True, True] Translation: X:221.24, Y:-30.93, Z:-9.08 [[ 9.78613666e-01 2.03197904e-01 3.20297505e-02 2.21244848e+02] [-2.03101376e-01 9.79137619e-01 -6.27321600e-03 -3.09305939e+01] [-3.26362380e-02 -3.66231494e-04 9.99467229e-01 -9.08212269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84587156 meters 0.014131384884901406 Centerline is valid? [True, True] Translation: X:221.30, Y:-30.95, Z:-9.08 [[ 9.79683305e-01 1.98032202e-01 3.16838913e-02 2.21301749e+02] [-1.97935078e-01 9.80195496e-01 -6.20446338e-03 -3.09452044e+01] [-3.22850911e-02 -1.92944309e-04 9.99478682e-01 -9.08394521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90587156 meters 0.023617611448039758 Centerline is valid? [True, True] Translation: X:221.36, Y:-30.96, Z:-9.08 [[ 9.80431976e-01 1.94277580e-01 3.17704566e-02 2.21358094e+02] [-1.94178000e-01 9.80946592e-01 -6.21992403e-03 -3.09585067e+01] [-3.23735129e-02 -7.09113259e-05 9.99475838e-01 -9.08493322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96587156 meters 0.023984142628993812 Centerline is valid? [True, True] Translation: X:221.41, Y:-30.98, Z:-9.09 [[ 9.81715135e-01 1.87470777e-01 3.30166708e-02 2.21414005e+02] [-1.87359453e-01 9.82270168e-01 -6.46163328e-03 -3.09768003e+01] [-3.36426582e-02 1.57497821e-04 9.99433913e-01 -9.08527541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02587156 meters 0.022121043267020676 Centerline is valid? [True, True] Translation: X:221.47, Y:-30.99, Z:-9.09 [[ 9.82763759e-01 1.82108771e-01 3.18086319e-02 2.21470520e+02] [-1.82002683e-01 9.83278337e-01 -6.22371875e-03 -3.09949362e+01] [-3.24101324e-02 3.27188887e-04 9.99474600e-01 -9.08969864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08587156000002 meters 0.019458881682755638 Centerline is valid? [True, True] Translation: X:221.53, Y:-31.01, Z:-9.09 [[ 9.83056233e-01 1.80403522e-01 3.24809586e-02 2.21526529e+02] [-1.80292019e-01 9.83592607e-01 -6.35380766e-03 -3.10082595e+01] [-3.30942800e-02 3.90092626e-04 9.99452158e-01 -9.09314362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.14587156000002 meters 0.01793141315224545 Centerline is valid? [True, True] Translation: X:221.58, Y:-31.02, Z:-9.09 [[ 9.82985022e-01 1.80710617e-01 3.29259776e-02 2.21584610e+02] [-1.80596289e-01 9.83536235e-01 -6.43847119e-03 -3.10176525e+01] [-3.35473922e-02 3.82611377e-04 9.99437055e-01 -9.09308061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20587156 meters 0.01428431415259159 Centerline is valid? [True, True] Translation: X:221.64, Y:-31.02, Z:-9.09 [[ 9.82307733e-01 1.84213955e-01 3.37155209e-02 2.21644204e+02] [-1.84096197e-01 9.82886131e-01 -6.59112819e-03 -3.10227932e+01] [-3.43526957e-02 2.67616996e-04 9.99409736e-01 -9.09243025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26587156 meters 0.012899296109851093 Centerline is valid? [True, True] Translation: X:221.70, Y:-31.03, Z:-9.10 [[ 9.81530007e-01 1.88431096e-01 3.30540085e-02 2.21702115e+02] [-1.88320337e-01 9.82086406e-01 -6.46079966e-03 -3.10289071e+01] [-3.36793080e-02 1.16726703e-04 9.99432684e-01 -9.09804965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32587156 meters 0.0127278890631819 Centerline is valid? [True, True] Translation: X:221.76, Y:-31.03, Z:-9.10 [[ 9.80855301e-01 1.92029966e-01 3.23630944e-02 2.21759141e+02] [-1.91925798e-01 9.81389063e-01 -6.32424928e-03 -3.10330678e+01] [-3.29752322e-02 -8.13927461e-06 9.99456169e-01 -9.10334601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38587156 meters 0.020931250968199165 Centerline is valid? [True, True] Translation: X:221.82, Y:-31.04, Z:-9.10 [[ 9.80326916e-01 1.94794402e-01 3.18477368e-02 2.21818157e+02] [-1.94695120e-01 9.80844091e-01 -6.21932862e-03 -3.10400521e+01] [-3.24491548e-02 -1.03623674e-04 9.99473382e-01 -9.10180073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44587156 meters 0.026059484170757756 Centerline is valid? [True, True] Translation: X:221.88, Y:-31.04, Z:-9.11 [[ 9.79493225e-01 1.99029107e-01 3.13119410e-02 2.21876568e+02] [-1.98935333e-01 9.79993549e-01 -6.11362923e-03 -3.10421451e+01] [-3.19022903e-02 -2.40793001e-04 9.99490963e-01 -9.10902497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50587156 meters 0.017997017886513603 Centerline is valid? [True, True] Translation: X:221.94, Y:-31.05, Z:-9.11 [[ 9.78751842e-01 2.02574558e-01 3.17549882e-02 2.21935015e+02] [-2.02480080e-01 9.79266774e-01 -6.19691841e-03 -3.10474565e+01] [-3.23519429e-02 -3.64507235e-04 9.99476472e-01 -9.10880276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56587156 meters 0.023753955284029557 Centerline is valid? [True, True] Translation: X:221.99, Y:-31.05, Z:-9.11 [[ 9.78374098e-01 2.04307640e-01 3.22879621e-02 2.21994044e+02] [-2.04210973e-01 9.78906636e-01 -6.29888567e-03 -3.10472636e+01] [-3.28938108e-02 -4.30889563e-04 9.99458759e-01 -9.11475494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62587156 meters 0.019281748753022847 Centerline is valid? [True, True] Translation: X:222.05, Y:-31.06, Z:-9.11 [[ 9.78537010e-01 2.03520568e-01 3.23218047e-02 2.22051242e+02] [-2.03423304e-01 9.79070587e-01 -6.30441242e-03 -3.10644078e+01] [-3.29284059e-02 -4.05907409e-04 9.99457631e-01 -9.11314968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68587156 meters 0.016781113424678838 Centerline is valid? [True, True] Translation: X:222.11, Y:-31.08, Z:-9.11 [[ 9.79068464e-01 2.00868362e-01 3.28153051e-02 2.22109282e+02] [-2.00766829e-01 9.79618188e-01 -6.39428128e-03 -3.10770121e+01] [-3.34308785e-02 -3.27785571e-04 9.99440978e-01 -9.11411981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74587156 meters 0.015190072130729433 Centerline is valid? [True, True] Translation: X:222.17, Y:-31.09, Z:-9.12 [[ 9.79538904e-01 1.98569549e-01 3.27669096e-02 2.22166858e+02] [-1.98467065e-01 9.80086767e-01 -6.38375185e-03 -3.10879777e+01] [-3.33820332e-02 -2.50019111e-04 9.99442633e-01 -9.11699980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80587156 meters 0.013265222036624032 Centerline is valid? [True, True] Translation: X:222.22, Y:-31.10, Z:-9.12 [[ 9.80177173e-01 1.95496780e-01 3.21515010e-02 2.22223774e+02] [-1.95396506e-01 9.80704333e-01 -6.26234816e-03 -3.11032466e+01] [-3.27553852e-02 -1.44080237e-04 9.99463388e-01 -9.12040668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86587156000002 meters 0.012546439572857617 Centerline is valid? [True, True] Translation: X:222.28, Y:-31.12, Z:-9.12 [[ 9.81547145e-01 1.88454824e-01 3.24034171e-02 2.22278187e+02] [-1.88349181e-01 9.82081856e-01 -6.30988941e-03 -3.11237602e+01] [-3.30119371e-02 9.02968566e-05 9.99454953e-01 -9.12295414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92587156000002 meters 0.013895837360066877 Centerline is valid? [True, True] Translation: X:222.33, Y:-31.14, Z:-9.12 [[ 9.82218597e-01 1.84919409e-01 3.24259087e-02 2.22334961e+02] [-1.84811762e-01 9.82753667e-01 -6.31215734e-03 -3.11399714e+01] [-3.30339210e-02 2.07229018e-04 9.99454210e-01 -9.12466453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98587156 meters 0.016249034152870934 Centerline is valid? [True, True] Translation: X:222.39, Y:-31.16, Z:-9.13 [[ 9.82871096e-01 1.81579450e-01 3.15168679e-02 2.22390491e+02] [-1.81476079e-01 9.83376229e-01 -6.13393321e-03 -3.11594248e+01] [-3.21067349e-02 3.09308058e-04 9.99484398e-01 -9.12950668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04587156 meters 0.01647974596302552 Centerline is valid? [True, True] Translation: X:222.45, Y:-31.17, Z:-9.13 [[ 9.82822041e-01 1.81841063e-01 3.15382856e-02 2.22446369e+02] [-1.81737761e-01 9.83327890e-01 -6.13574881e-03 -3.11725986e+01] [-3.21282069e-02 2.98651752e-04 9.99483711e-01 -9.13199539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10587156 meters 0.014254144575274082 Centerline is valid? [True, True] Translation: X:222.51, Y:-31.18, Z:-9.13 [[ 9.82280630e-01 1.84744756e-01 3.15299726e-02 2.22505030e+02] [-1.84643068e-01 9.82786515e-01 -6.13211198e-03 -3.11808407e+01] [-3.21201074e-02 2.01663943e-04 9.99483996e-01 -9.13461400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16587156 meters 0.026814811525049158 Centerline is valid? [True, True] Translation: X:222.56, Y:-31.19, Z:-9.14 [[ 9.81845035e-01 1.87188564e-01 3.06719625e-02 2.22561827e+02] [-1.87093569e-01 9.82323993e-01 -5.96394736e-03 -3.11896890e+01] [-3.12461874e-02 1.17145182e-04 9.99511712e-01 -9.13805806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22587156 meters 0.012656928020079651 Centerline is valid? [True, True] Translation: X:222.62, Y:-31.20, Z:-9.14 [[ 9.81293363e-01 1.90096074e-01 3.04437060e-02 2.22620806e+02] [-1.90003945e-01 9.81765493e-01 -5.91764475e-03 -3.11960874e+01] [-3.10135010e-02 2.25212714e-05 9.99518965e-01 -9.14239397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28587156 meters 0.02077820144885166 Centerline is valid? [True, True] Translation: X:222.68, Y:-31.20, Z:-9.14 [[ 9.80864178e-01 1.92325792e-01 3.02696930e-02 2.22678953e+02] [-1.92235820e-01 9.81331130e-01 -5.88236120e-03 -3.12049195e+01] [-3.08359219e-02 -4.91218765e-05 9.99524459e-01 -9.14288387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34587156 meters 0.012936543103535151 Centerline is valid? [True, True] Translation: X:222.74, Y:-31.21, Z:-9.15 [[ 9.80518612e-01 1.94005071e-01 3.07454810e-02 2.22736566e+02] [-1.93913113e-01 9.81000521e-01 -5.97356059e-03 -3.12142677e+01] [-3.13202340e-02 -1.04764591e-04 9.99509396e-01 -9.14605891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40587156 meters 0.013683689379831148 Centerline is valid? [True, True] Translation: X:222.79, Y:-31.22, Z:-9.15 [[ 9.80247360e-01 1.95294493e-01 3.12277668e-02 2.22793085e+02] [-1.95200341e-01 9.80744635e-01 -6.06537193e-03 -3.12224675e+01] [-3.18109985e-02 -1.50105891e-04 9.99493891e-01 -9.14852460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46587156 meters 0.03233107372215931 Centerline is valid? [True, True] Translation: X:222.85, Y:-31.23, Z:-9.15 [[ 9.80220052e-01 1.95453857e-01 3.10876042e-02 2.22850991e+02] [-1.95360777e-01 9.80712886e-01 -6.03342973e-03 -3.12340786e+01] [-3.16672712e-02 -1.59209727e-04 9.99498454e-01 -9.14857988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52587156 meters 0.01318439656865325 Centerline is valid? [True, True] Translation: X:222.91, Y:-31.25, Z:-9.15 [[ 9.80313244e-01 1.94857614e-01 3.18818856e-02 2.22908201e+02] [-1.94759454e-01 9.80831529e-01 -6.18593544e-03 -3.12471251e+01] [-3.24761353e-02 -1.45144223e-04 9.99472501e-01 -9.15281446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58587156000002 meters 0.012566000775707683 Centerline is valid? [True, True] Translation: X:222.97, Y:-31.26, Z:-9.15 [[ 9.80624007e-01 1.93240118e-01 3.21685332e-02 2.22965131e+02] [-1.93139368e-01 9.81151491e-01 -6.23993585e-03 -3.12629244e+01] [-3.27680103e-02 -9.39792716e-05 9.99462980e-01 -9.15464189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.64587156000002 meters 0.020421774361435448 Centerline is valid? [True, True] Translation: X:223.02, Y:-31.28, Z:-9.15 [[ 9.80805127e-01 1.92384636e-01 3.17719079e-02 2.23021588e+02] [-1.92285956e-01 9.81319595e-01 -6.16146833e-03 -3.12784522e+01] [-3.23637677e-02 -6.60919453e-05 9.99476154e-01 -9.15493805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70587156 meters 0.012579145510207522 Centerline is valid? [True, True] Translation: X:223.08, Y:-31.29, Z:-9.16 [[ 9.80560930e-01 1.93537198e-01 3.23050255e-02 2.23077216e+02] [-1.93435847e-01 9.81092932e-01 -6.26352515e-03 -3.12888104e+01] [-3.29064573e-02 -1.07181915e-04 9.99458430e-01 -9.15882659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76587156 meters 0.014341150646954202 Centerline is valid? [True, True] Translation: X:223.14, Y:-31.30, Z:-9.16 [[ 9.79855426e-01 1.97022263e-01 3.26431020e-02 2.23135571e+02] [-1.96920819e-01 9.80398988e-01 -6.32582843e-03 -3.12958728e+01] [-3.32495932e-02 -2.29709066e-04 9.99447053e-01 -9.16071283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82587156 meters 0.019068661711738443 Centerline is valid? [True, True] Translation: X:223.19, Y:-31.30, Z:-9.16 [[ 9.78790356e-01 2.02303433e-01 3.22918032e-02 2.23193729e+02] [-2.02207076e-01 9.79322805e-01 -6.25638257e-03 -3.12960332e+01] [-3.28897870e-02 -4.05944175e-04 9.99458902e-01 -9.16493370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88587156 meters 0.022294382989442585 Centerline is valid? [True, True] Translation: X:223.25, Y:-31.30, Z:-9.17 [[ 9.78219145e-01 2.05181832e-01 3.14280216e-02 2.23252436e+02] [-2.05092126e-01 9.78723747e-01 -6.08653921e-03 -3.13013057e+01] [-3.20081984e-02 -4.91670591e-04 9.99487485e-01 -9.16934134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94587156 meters 0.023389520365107448 Centerline is valid? [True, True] Translation: X:223.31, Y:-31.31, Z:-9.17 [[ 9.77896383e-01 2.06724690e-01 3.13618620e-02 2.23311413e+02] [-2.06636202e-01 9.78399003e-01 -6.07221548e-03 -3.13081611e+01] [-3.19396914e-02 -5.42498500e-04 9.99489651e-01 -9.17155349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00587156 meters 0.022287080285491187 Centerline is valid? [True, True] Translation: X:223.37, Y:-31.32, Z:-9.17 [[ 9.78153561e-01 2.05206607e-01 3.32544809e-02 2.23368115e+02] [-2.05106294e-01 9.78718536e-01 -6.43699004e-03 -3.13189888e+01] [-3.38676898e-02 -5.24338602e-04 9.99426188e-01 -9.17160092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06587156 meters 0.01869553837248524 Centerline is valid? [True, True] Translation: X:223.43, Y:-31.33, Z:-9.17 [[ 9.78558462e-01 2.03281691e-01 3.31646042e-02 2.23425741e+02] [-2.03180889e-01 9.79120189e-01 -6.41738352e-03 -3.13337559e+01] [-3.37766701e-02 -4.58628799e-04 9.99429300e-01 -9.17253978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12587156 meters 0.025119865528685805 Centerline is valid? [True, True] Translation: X:223.48, Y:-31.35, Z:-9.18 [[ 9.79290637e-01 1.99962027e-01 3.17023103e-02 2.23482177e+02] [-1.99868208e-01 9.79803592e-01 -6.13352466e-03 -3.13480712e+01] [-3.22885095e-02 -3.29780699e-04 9.99478536e-01 -9.17617523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18587156 meters 0.02165014552089511 Centerline is valid? [True, True] Translation: X:223.54, Y:-31.36, Z:-9.18 [[ 9.80245214e-01 1.95356850e-01 3.09034153e-02 2.23537886e+02] [-1.95265471e-01 9.80732211e-01 -5.97706590e-03 -3.13646342e+01] [-3.14756356e-02 -1.75379691e-04 9.99504504e-01 -9.18108769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24587156 meters 0.012363918186542797 Centerline is valid? [True, True] Translation: X:223.59, Y:-31.38, Z:-9.18 [[ 9.80824615e-01 1.92223519e-01 3.21433259e-02 2.23594678e+02] [-1.92123049e-01 9.81351167e-01 -6.21463712e-03 -3.13801507e+01] [-3.27384898e-02 -8.00047109e-05 9.99463949e-01 -9.18289461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30587156 meters 0.011735154273698964 Centerline is valid? [True, True] Translation: X:223.65, Y:-31.39, Z:-9.18 [[ 9.81024310e-01 1.91074085e-01 3.28937311e-02 2.23651374e+02] [-1.90968277e-01 9.81575617e-01 -6.35807273e-03 -3.13946964e+01] [-3.35025474e-02 -4.42352277e-05 9.99438631e-01 -9.18427616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36587156000002 meters 0.021608477576475826 Centerline is valid? [True, True] Translation: X:223.71, Y:-31.41, Z:-9.19 [[ 9.81058662e-01 1.91012107e-01 3.22223062e-02 2.23709066e+02] [-1.90910594e-01 9.81587680e-01 -6.22671381e-03 -3.14057431e+01] [-3.28183965e-02 -4.28080829e-05 9.99461330e-01 -9.18577959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42587156 meters 0.011989243348199511 Centerline is valid? [True, True] Translation: X:223.77, Y:-31.42, Z:-9.19 [[ 9.81131843e-01 1.90681003e-01 3.19540440e-02 2.23766131e+02] [-1.90581050e-01 9.81652053e-01 -6.17329683e-03 -3.14177654e+01] [-3.25448833e-02 -3.30171391e-05 9.99470274e-01 -9.19068886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48587156 meters 0.01226552352677071 Centerline is valid? [True, True] Translation: X:223.82, Y:-31.43, Z:-9.19 [[ 9.81236895e-01 1.90189333e-01 3.16571222e-02 2.23822334e+02] [-1.90091019e-01 9.81747431e-01 -6.11449078e-03 -3.14288632e+01] [-3.22422093e-02 -1.79706824e-05 9.99480085e-01 -9.19442468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54587156 meters 0.020089571411509907 Centerline is valid? [True, True] Translation: X:223.88, Y:-31.44, Z:-9.19 [[ 9.81098975e-01 1.90660958e-01 3.30635906e-02 2.23879836e+02] [-1.90554056e-01 9.81655947e-01 -6.38387794e-03 -3.14400012e+01] [-3.36742266e-02 -3.71851938e-05 9.99432862e-01 -9.19143776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60587156 meters 0.012205250483809965 Centerline is valid? [True, True] Translation: X:223.94, Y:-31.45, Z:-9.19 [[ 9.80627258e-01 1.92799376e-01 3.46205451e-02 2.23937183e+02] [-1.92683555e-01 9.81238191e-01 -6.68288035e-03 -3.14473081e+01] [-3.52594562e-02 -1.17395057e-04 9.99378185e-01 -9.19298685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66587156 meters 0.028149563175120018 Centerline is valid? [True, True] Translation: X:224.00, Y:-31.45, Z:-9.19 [[ 9.80100352e-01 1.95502406e-01 3.43818160e-02 2.23996096e+02] [-1.95389950e-01 9.80703198e-01 -6.63363688e-03 -3.14521544e+01] [-3.50152489e-02 -2.16231466e-04 9.99386755e-01 -9.19373727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72587156 meters 0.015464520131373118 Centerline is valid? [True, True] Translation: X:224.05, Y:-31.46, Z:-9.20 [[ 9.79528936e-01 1.98438366e-01 3.38419603e-02 2.24054925e+02] [-1.98331220e-01 9.80113317e-01 -6.52787878e-03 -3.14571538e+01] [-3.44643376e-02 -3.17671135e-04 9.99405878e-01 -9.19872988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78587156 meters 0.03017561949815587 Centerline is valid? [True, True] Translation: X:224.11, Y:-31.46, Z:-9.20 [[ 9.79335646e-01 1.99544635e-01 3.29185492e-02 2.24112375e+02] [-1.99443924e-01 9.79888676e-01 -6.34852741e-03 -3.14627222e+01] [-3.35233281e-02 -3.48065405e-04 9.99437875e-01 -9.20291966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84587156 meters 0.01683251436572161 Centerline is valid? [True, True] Translation: X:224.17, Y:-31.47, Z:-9.21 [[ 9.79354932e-01 1.99393463e-01 3.32590451e-02 2.24169693e+02] [-1.99290689e-01 9.79919448e-01 -6.41067722e-03 -3.14737274e+01] [-3.38694323e-02 -3.49889665e-04 9.99426205e-01 -9.20577937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90587156 meters 0.015489229314024255 Centerline is valid? [True, True] Translation: X:224.23, Y:-31.48, Z:-9.21 [[ 9.79664283e-01 1.97604429e-01 3.47905385e-02 2.24226946e+02] [-1.97490903e-01 9.80281795e-01 -6.70412639e-03 -3.14836009e+01] [-3.54292966e-02 -3.03021715e-04 9.99372139e-01 -9.20544127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96587156 meters 0.014142451120760756 Centerline is valid? [True, True] Translation: X:224.28, Y:-31.50, Z:-9.21 [[ 9.80043578e-01 1.95760518e-01 3.45312288e-02 2.24284726e+02] [-1.95647612e-01 9.80651703e-01 -6.65196080e-03 -3.14960246e+01] [-3.51652997e-02 -2.36740982e-04 9.99381482e-01 -9.20873367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02587156 meters 0.013677176262535513 Centerline is valid? [True, True] Translation: X:224.34, Y:-31.50, Z:-9.21 [[ 9.80135069e-01 1.95337758e-01 3.43279374e-02 2.24342347e+02] [-1.95225969e-01 9.80736005e-01 -6.61133432e-03 -3.15047041e+01] [-3.49580874e-02 -2.21704213e-04 9.99388755e-01 -9.21096019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08587156000002 meters 0.01399571450664605 Centerline is valid? [True, True] Translation: X:224.40, Y:-31.51, Z:-9.22 [[ 9.80127664e-01 1.95575837e-01 3.31640463e-02 2.24400867e+02] [-1.95471725e-01 9.80688555e-01 -6.38459939e-03 -3.15136075e+01] [-3.37722740e-02 -2.24910864e-04 9.99429529e-01 -9.21531825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14587156000002 meters 0.014419035212649438 Centerline is valid? [True, True] Translation: X:224.46, Y:-31.52, Z:-9.22 [[ 9.80198855e-01 1.95335431e-01 3.24695858e-02 2.24458496e+02] [-1.95235552e-01 9.80736470e-01 -6.24943194e-03 -3.15209065e+01] [-3.30648425e-02 -2.13531472e-04 9.99453186e-01 -9.22048076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20587156 meters 0.013406625636594916 Centerline is valid? [True, True] Translation: X:224.52, Y:-31.53, Z:-9.22 [[ 9.80377864e-01 1.94272062e-01 3.34306742e-02 2.24516369e+02] [-1.94165640e-01 9.80947670e-01 -6.43216687e-03 -3.15296831e+01] [-3.40433323e-02 -1.85134238e-04 9.99420341e-01 -9.22078126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26587156 meters 0.02359456474850996 Centerline is valid? [True, True] Translation: X:224.57, Y:-31.54, Z:-9.22 [[ 9.80485836e-01 1.93662898e-01 3.37965643e-02 2.24574411e+02] [-1.93553829e-01 9.81068119e-01 -6.50088832e-03 -3.15366698e+01] [-3.44157126e-02 -1.67425501e-04 9.99407590e-01 -9.22172075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32587156 meters 0.014316215643490454 Centerline is valid? [True, True] Translation: X:224.63, Y:-31.54, Z:-9.23 [[ 9.80191428e-01 1.95152269e-01 3.37691739e-02 2.24632429e+02] [-1.95044312e-01 9.80772931e-01 -6.49408487e-03 -3.15396149e+01] [-3.43872270e-02 -2.21038979e-04 9.99408560e-01 -9.22627826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38587156 meters 0.015750045302398593 Centerline is valid? [True, True] Translation: X:224.69, Y:-31.54, Z:-9.23 [[ 9.79842263e-01 1.96948545e-01 3.34725376e-02 2.24691286e+02] [-1.96843562e-01 9.80413785e-01 -6.43593538e-03 -3.15430536e+01] [-3.40844854e-02 -2.82652044e-04 9.99418915e-01 -9.22885160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44587156 meters 0.036790444008608196 Centerline is valid? [True, True] Translation: X:224.75, Y:-31.55, Z:-9.23 [[ 9.79490170e-01 1.98748546e-01 3.31364083e-02 2.24750778e+02] [-1.98646874e-01 9.80050455e-01 -6.36587087e-03 -3.15457038e+01] [-3.37405596e-02 -3.47135996e-04 9.99430565e-01 -9.23076294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50587156 meters 0.01820937415238421 Centerline is valid? [True, True] Translation: X:224.81, Y:-31.55, Z:-9.24 [[ 9.79505473e-01 1.98768203e-01 3.25611604e-02 2.24809816e+02] [-1.98670217e-01 9.80046469e-01 -6.25009683e-03 -3.15489466e+01] [-3.31537708e-02 -3.46928746e-04 9.99450202e-01 -9.23696160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56587156 meters 0.019402871427144013 Centerline is valid? [True, True] Translation: X:224.87, Y:-31.56, Z:-9.24 [[ 9.79729574e-01 1.97769616e-01 3.18926417e-02 2.24868479e+02] [-1.97675287e-01 9.80248479e-01 -6.11553938e-03 -3.15572106e+01] [-3.24721814e-02 -3.12812307e-04 9.99472591e-01 -9.23990959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62587156 meters 0.014438433529159016 Centerline is valid? [True, True] Translation: X:224.93, Y:-31.57, Z:-9.24 [[ 9.80280609e-01 1.94965671e-01 3.22228828e-02 2.24926840e+02] [-1.94867873e-01 9.80810042e-01 -6.17853457e-03 -3.15659843e+01] [-3.28091292e-02 -2.22507005e-04 9.99461611e-01 -9.24108910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68587156 meters 0.012171643974352398 Centerline is valid? [True, True] Translation: X:224.99, Y:-31.58, Z:-9.24 [[ 9.80969578e-01 1.91189744e-01 3.38403445e-02 2.24985332e+02] [-1.91079849e-01 9.81553091e-01 -6.48236105e-03 -3.15758097e+01] [-3.44554557e-02 -1.07208938e-04 9.99406229e-01 -9.24085173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74587156 meters 0.011449682203541011 Centerline is valid? [True, True] Translation: X:225.04, Y:-31.59, Z:-9.24 [[ 9.81541573e-01 1.88138700e-01 3.43506893e-02 2.25043642e+02] [-1.88023819e-01 9.82142469e-01 -6.57372366e-03 -3.15864098e+01] [-3.49740426e-02 -6.36472872e-06 9.99388221e-01 -9.24193788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80587156 meters 0.02889176814362759 Centerline is valid? [True, True] Translation: X:225.10, Y:-31.60, Z:-9.24 [[ 9.82772060e-01 1.81592546e-01 3.43980557e-02 2.25099850e+02] [-1.81473384e-01 9.83373833e-01 -6.58139171e-03 -3.15998088e+01] [-3.50212796e-02 2.25676325e-04 9.99386541e-01 -9.24293939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86587156000002 meters 0.020421296314000692 Centerline is valid? [True, True] Translation: X:225.16, Y:-31.62, Z:-9.25 [[ 9.84293498e-01 1.73189351e-01 3.42309656e-02 2.25156363e+02] [-1.73066381e-01 9.84888410e-01 -6.54585219e-03 -3.16211649e+01] [-3.48473532e-02 5.18810416e-04 9.99392512e-01 -9.24819983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92587156 meters 0.02893678395971671 Centerline is valid? [True, True] Translation: X:225.21, Y:-31.64, Z:-9.25 [[ 9.85697165e-01 1.65194896e-01 3.33428446e-02 2.25213349e+02] [-1.65073681e-01 9.86260634e-01 -6.37510102e-03 -3.16435701e+01] [-3.39378692e-02 7.79892926e-04 9.99423640e-01 -9.25310576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98587156 meters 0.029749670377631297 Centerline is valid? [True, True] Translation: X:225.27, Y:-31.66, Z:-9.26 [[ 9.86351666e-01 1.61403149e-01 3.25486458e-02 2.25271493e+02] [-1.61285577e-01 9.86888157e-01 -6.22326082e-03 -3.16563937e+01] [-3.31263270e-02 8.88696558e-04 9.99450778e-01 -9.25531660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04587156 meters 0.03580915411554602 Centerline is valid? [True, True] Translation: X:225.33, Y:-31.67, Z:-9.26 [[ 9.86677387e-01 1.59543519e-01 3.18370950e-02 2.25329507e+02] [-1.59430090e-01 9.87190459e-01 -6.08644789e-03 -3.16703925e+01] [-3.24003297e-02 9.29569577e-04 9.99474539e-01 -9.25701869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10587156 meters 0.03396290696628095 Centerline is valid? [True, True] Translation: X:225.39, Y:-31.68, Z:-9.26 [[ 9.86471573e-01 1.60900321e-01 3.13834752e-02 2.25385520e+02] [-1.60790797e-01 9.86970276e-01 -5.99944477e-03 -3.16844119e+01] [-3.19398697e-02 8.72107733e-04 9.99489412e-01 -9.26272437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16587156 meters 0.035956884837560835 Centerline is valid? [True, True] Translation: X:225.45, Y:-31.69, Z:-9.26 [[ 9.85958230e-01 1.63883826e-01 3.20696100e-02 2.25445302e+02] [-1.63771126e-01 9.86479330e-01 -6.12782986e-03 -3.16905297e+01] [-3.26402596e-02 7.89708128e-04 9.99466853e-01 -9.26200468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22587156 meters 0.024349339744775045 Centerline is valid? [True, True] Translation: X:225.50, Y:-31.70, Z:-9.26 [[ 9.85540433e-01 1.66196036e-01 3.29989676e-02 2.25504403e+02] [-1.66078022e-01 9.86092460e-01 -6.30481267e-03 -3.16960429e+01] [-3.35878680e-02 7.33244553e-04 9.99435499e-01 -9.26203946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28587156 meters 0.03247883498813003 Centerline is valid? [True, True] Translation: X:225.56, Y:-31.70, Z:-9.26 [[ 9.84612624e-01 1.71647566e-01 3.27886215e-02 2.25562899e+02] [-1.71534133e-01 9.85158271e-01 -6.26275578e-03 -3.17039572e+01] [-3.33769685e-02 5.42020644e-04 9.99442687e-01 -9.26477043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34587156 meters 0.017017328316570497 Centerline is valid? [True, True] Translation: X:225.62, Y:-31.71, Z:-9.27 [[ 9.83663400e-01 1.77215208e-01 3.16399450e-02 2.25620766e+02] [-1.77112474e-01 9.84172065e-01 -6.04294246e-03 -3.17087195e+01] [-3.22100513e-02 3.40392375e-04 9.99481064e-01 -9.27097983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40587156 meters 0.02641428657662352 Centerline is valid? [True, True] Translation: X:225.68, Y:-31.71, Z:-9.27 [[ 9.82633062e-01 1.82918798e-01 3.11926061e-02 2.25680477e+02] [-1.82821881e-01 9.83128014e-01 -5.95557323e-03 -3.17102752e+01] [-3.17557111e-02 1.49452250e-04 9.99495649e-01 -9.27184058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46587156 meters 0.012245587464509601 Centerline is valid? [True, True] Translation: X:225.74, Y:-31.72, Z:-9.28 [[ 9.82102263e-01 1.85732714e-01 3.12810469e-02 2.25738816e+02] [-1.85636721e-01 9.82600303e-01 -5.97095598e-03 -3.17174263e+01] [-3.18457680e-02 5.71783996e-05 9.99492793e-01 -9.27597159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52587156 meters 0.011891785056705908 Centerline is valid? [True, True] Translation: X:225.80, Y:-31.73, Z:-9.28 [[ 9.81770353e-01 1.87461108e-01 3.13896038e-02 2.25795876e+02] [-1.87365370e-01 9.82272026e-01 -5.99043408e-03 -3.17270394e+01] [-3.19561031e-02 -9.41460824e-08 9.99489273e-01 -9.27652048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58587156000002 meters 0.011924986274054998 Centerline is valid? [True, True] Translation: X:225.85, Y:-31.74, Z:-9.28 [[ 9.81697050e-01 1.87678744e-01 3.23665103e-02 2.25852730e+02] [-1.87577159e-01 9.82230466e-01 -6.17415373e-03 -3.17373474e+01] [-3.29501299e-02 -1.00695451e-05 9.99456997e-01 -9.27907774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64587156000002 meters 0.011671155509580835 Centerline is valid? [True, True] Translation: X:225.91, Y:-31.75, Z:-9.28 [[ 9.81736851e-01 1.87327420e-01 3.31842139e-02 2.25910486e+02] [-1.87220514e-01 9.82297530e-01 -6.32783700e-03 -3.17492360e+01] [-3.37821487e-02 -4.94802827e-07 9.99429220e-01 -9.27977289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70587156 meters 0.012153122878727345 Centerline is valid? [True, True] Translation: X:225.97, Y:-31.76, Z:-9.29 [[ 9.81827280e-01 1.87093883e-01 3.17973312e-02 2.25966414e+02] [-1.86995650e-01 9.82342038e-01 -6.06200878e-03 -3.17613163e+01] [-3.23700199e-02 5.88296613e-06 9.99475954e-01 -9.28506693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76587156 meters 0.012359828456153516 Centerline is valid? [True, True] Translation: X:226.02, Y:-31.77, Z:-9.29 [[ 9.82027992e-01 1.86119119e-01 3.13160699e-02 2.26023803e+02] [-1.86023406e-01 9.82527186e-01 -5.96826073e-03 -3.17737071e+01] [-3.18796974e-02 3.54771125e-05 9.99491713e-01 -9.28885249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82587156 meters 0.012402215392419973 Centerline is valid? [True, True] Translation: X:226.08, Y:-31.79, Z:-9.29 [[ 9.82246085e-01 1.85063283e-01 3.07279860e-02 2.26081496e+02] [-1.84970659e-01 9.82726603e-01 -5.85478873e-03 -3.17869510e+01] [-3.12807157e-02 6.70675056e-05 9.99510636e-01 -9.29054065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88587156 meters 0.012667447629728374 Centerline is valid? [True, True] Translation: X:226.14, Y:-31.80, Z:-9.29 [[ 9.82326556e-01 1.84686652e-01 3.04200341e-02 2.26137664e+02] [-1.84595737e-01 9.82797454e-01 -5.79475746e-03 -3.17990186e+01] [-3.09669464e-02 7.69355342e-05 9.99520406e-01 -9.29482557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94587156 meters 0.012841780786545147 Centerline is valid? [True, True] Translation: X:226.20, Y:-31.81, Z:-9.30 [[ 9.82363238e-01 1.84555797e-01 3.00271051e-02 2.26195603e+02] [-1.84467214e-01 9.82822035e-01 -5.71795632e-03 -3.18111224e+01] [-3.05665825e-02 7.80936614e-05 9.99532730e-01 -9.29827444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00587156 meters 0.0124442292521855 Centerline is valid? [True, True] Translation: X:226.25, Y:-31.82, Z:-9.30 [[ 9.82417898e-01 1.84199530e-01 3.04237837e-02 2.26253464e+02] [-1.84108466e-01 9.82888867e-01 -5.79202341e-03 -3.18230967e+01] [-3.09700863e-02 8.89113215e-05 9.99520308e-01 -9.29806215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06587156 meters 0.012469869264205458 Centerline is valid? [True, True] Translation: X:226.31, Y:-31.83, Z:-9.30 [[ 9.82370656e-01 1.84451695e-01 3.04214653e-02 2.26309729e+02] [-1.84360801e-01 9.82841577e-01 -5.79045180e-03 -3.18324603e+01] [-3.09675396e-02 7.98442275e-05 9.99520388e-01 -9.30052530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12587156 meters 0.012345655716992966 Centerline is valid? [True, True] Translation: X:226.37, Y:-31.84, Z:-9.30 [[ 9.82383590e-01 1.84247269e-01 3.12318008e-02 2.26367562e+02] [-1.84151466e-01 9.82879920e-01 -5.94146380e-03 -3.18448810e+01] [-3.17918083e-02 8.54146459e-05 9.99494509e-01 -9.30245941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18587156 meters 0.012714637833910539 Centerline is valid? [True, True] Translation: X:226.42, Y:-31.86, Z:-9.31 [[ 9.82589474e-01 1.83175285e-01 3.10602884e-02 2.26424306e+02] [-1.83080044e-01 9.83080262e-01 -5.90730944e-03 -3.18584831e+01] [-3.16168296e-02 1.17941093e-04 9.99500056e-01 -9.30516950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24587156 meters 0.012897095522216871 Centerline is valid? [True, True] Translation: X:226.48, Y:-31.87, Z:-9.31 [[ 9.82729118e-01 1.82428510e-01 3.10373746e-02 2.26481358e+02] [-1.82333086e-01 9.83219110e-01 -5.90140796e-03 -3.18708092e+01] [-3.15931249e-02 1.40345148e-04 9.99500803e-01 -9.30715808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30587156 meters 0.01328840114657163 Centerline is valid? [True, True] Translation: X:226.54, Y:-31.88, Z:-9.31 [[ 9.82902770e-01 1.81430430e-01 3.13869880e-02 2.26538100e+02] [-1.81332378e-01 9.83403767e-01 -5.96654001e-03 -3.18841907e+01] [-3.19485942e-02 1.73051538e-04 9.99489498e-01 -9.30896713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36587156000002 meters 0.021013404799255557 Centerline is valid? [True, True] Translation: X:226.60, Y:-31.89, Z:-9.31 [[ 9.82920977e-01 1.81353414e-01 3.12616681e-02 2.26595292e+02] [-1.81256177e-01 9.83417973e-01 -5.94042073e-03 -3.18945300e+01] [-3.18206019e-02 1.72593684e-04 9.99493582e-01 -9.30961550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42587156 meters 0.013593757480323253 Centerline is valid? [True, True] Translation: X:226.65, Y:-31.90, Z:-9.31 [[ 9.82872229e-01 1.81643874e-01 3.11076398e-02 2.26650928e+02] [-1.81547792e-01 9.83364367e-01 -5.90948063e-03 -3.19047343e+01] [-3.16635655e-02 1.60741072e-04 9.99498571e-01 -9.31499198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48587156 meters 0.012631294314022443 Centerline is valid? [True, True] Translation: X:226.71, Y:-31.91, Z:-9.32 [[ 9.82617725e-01 1.82885796e-01 3.18620692e-02 2.26708709e+02] [-1.82785819e-01 9.83134157e-01 -6.04753556e-03 -3.19136018e+01] [-3.24306969e-02 1.18481222e-04 9.99473980e-01 -9.31597856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54587156 meters 0.012163532286657104 Centerline is valid? [True, True] Translation: X:226.77, Y:-31.92, Z:-9.32 [[ 9.82422655e-01 1.83889792e-01 3.20978356e-02 2.26767186e+02] [-1.83788916e-01 9.82946864e-01 -6.09073867e-03 -3.19221451e+01] [-3.26704915e-02 8.44532418e-05 9.99466173e-01 -9.31746167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60587156 meters 0.011991407921152423 Centerline is valid? [True, True] Translation: X:226.82, Y:-31.93, Z:-9.32 [[ 9.82279404e-01 1.84584440e-01 3.24924011e-02 2.26824863e+02] [-1.84481499e-01 9.82816657e-01 -6.16407985e-03 -3.19284923e+01] [-3.30718662e-02 6.06018287e-05 9.99452974e-01 -9.31949215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66587156 meters 0.013238097735925545 Centerline is valid? [True, True] Translation: X:226.88, Y:-31.94, Z:-9.32 [[ 9.82961276e-01 1.80865361e-01 3.27849133e-02 2.26881377e+02] [-1.80758560e-01 9.83507848e-01 -6.21742644e-03 -3.19441554e+01] [-3.33687366e-02 1.85335709e-04 9.99443091e-01 -9.32222136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72587156 meters 0.019275037153596453 Centerline is valid? [True, True] Translation: X:226.94, Y:-31.97, Z:-9.33 [[ 9.84328890e-01 1.73288725e-01 3.26749855e-02 2.26936243e+02] [-1.73178511e-01 9.84870969e-01 -6.19504063e-03 -3.19672795e+01] [-3.32541753e-02 4.39352147e-04 9.99446830e-01 -9.32576785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78587156 meters 0.024268296969223335 Centerline is valid? [True, True] Translation: X:226.99, Y:-31.99, Z:-9.33 [[ 9.85229255e-01 1.68263245e-01 3.17929964e-02 2.26992629e+02] [-1.68156344e-01 9.85741919e-01 -6.02601992e-03 -3.19879342e+01] [-3.23536469e-02 5.90817091e-04 9.99476309e-01 -9.33061116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84587156 meters 0.02953460479925443 Centerline is valid? [True, True] Translation: X:227.05, Y:-32.01, Z:-9.33 [[ 9.86059708e-01 1.63433202e-01 3.12384631e-02 2.27049146e+02] [-1.63327616e-01 9.86554128e-01 -5.91959399e-03 -3.20099621e+01] [-3.17858929e-02 7.34969435e-04 9.99494431e-01 -9.33454496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90587156 meters 0.031452463303102474 Centerline is valid? [True, True] Translation: X:227.11, Y:-32.03, Z:-9.34 [[ 9.86247812e-01 1.62314900e-01 3.11307954e-02 2.27105181e+02] [-1.62209482e-01 9.86738710e-01 -5.89925470e-03 -3.20255767e+01] [-3.16754978e-02 7.68416845e-04 9.99497910e-01 -9.33803967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96587156 meters 0.031026475136716063 Centerline is valid? [True, True] Translation: X:227.16, Y:-32.04, Z:-9.34 [[ 9.86171200e-01 1.62688258e-01 3.16053007e-02 2.27162379e+02] [-1.62579857e-01 9.86677224e-01 -5.98718320e-03 -3.20415090e+01] [-3.21582747e-02 7.66002385e-04 9.99482495e-01 -9.33988927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02587156 meters 0.025434389346819564 Centerline is valid? [True, True] Translation: X:227.22, Y:-32.05, Z:-9.34 [[ 9.85937545e-01 1.64218653e-01 3.09740582e-02 2.27220990e+02] [-1.64115337e-01 9.86423714e-01 -5.86625503e-03 -3.20489532e+01] [-3.15168940e-02 7.00443100e-04 9.99502974e-01 -9.34015722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08587156000002 meters 0.024567668972845028 Centerline is valid? [True, True] Translation: X:227.28, Y:-32.06, Z:-9.34 [[ 9.85384954e-01 1.67452052e-01 3.12458272e-02 2.27276785e+02] [-1.67348584e-01 9.85880038e-01 -5.91627059e-03 -3.20646287e+01] [-3.17953289e-02 6.00859095e-04 9.99494220e-01 -9.34361965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14587156000002 meters 0.020344146229200034 Centerline is valid? [True, True] Translation: X:227.34, Y:-32.07, Z:-9.35 [[ 9.84770378e-01 1.71094443e-01 3.08867949e-02 2.27335035e+02] [-1.70995192e-01 9.85254518e-01 -5.84627769e-03 -3.20727975e+01] [-3.14316198e-02 4.75747649e-04 9.99505791e-01 -9.34563967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20587156 meters 0.014748059667437498 Centerline is valid? [True, True] Translation: X:227.39, Y:-32.08, Z:-9.35 [[ 9.83491596e-01 1.78296536e-01 3.08970144e-02 2.27394647e+02] [-1.78200823e-01 9.83976771e-01 -5.84643780e-03 -3.20769336e+01] [-3.14443441e-02 2.44049043e-04 9.99505475e-01 -9.34843793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26587156 meters 0.012390055315478144 Centerline is valid? [True, True] Translation: X:227.45, Y:-32.08, Z:-9.35 [[ 9.82189471e-01 1.85338138e-01 3.08806866e-02 2.27453181e+02] [-1.85246004e-01 9.82674806e-01 -5.84325725e-03 -3.20782943e+01] [-3.14286511e-02 1.86619611e-05 9.99505998e-01 -9.35249578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32587156 meters 0.01360728038972533 Centerline is valid? [True, True] Translation: X:227.51, Y:-32.08, Z:-9.36 [[ 9.81321950e-01 1.90022004e-01 2.99811281e-02 2.27512448e+02] [-1.89937434e-01 9.81779823e-01 -5.67011089e-03 -3.20821285e+01] [-3.05123125e-02 -1.30334264e-04 9.99534383e-01 -9.35660132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38587156 meters 0.014585018162344416 Centerline is valid? [True, True] Translation: X:227.57, Y:-32.09, Z:-9.36 [[ 9.81168519e-01 1.90936831e-01 2.91798565e-02 2.27569290e+02] [-1.90857163e-01 9.81602314e-01 -5.51734545e-03 -3.20924000e+01] [-2.96964792e-02 -1.55738972e-04 9.99558950e-01 -9.36137671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44587156 meters 0.013850170019068745 Centerline is valid? [True, True] Translation: X:227.63, Y:-32.11, Z:-9.36 [[ 9.81529803e-01 1.89035179e-01 2.94099843e-02 2.27625084e+02] [-1.88953450e-01 9.81970311e-01 -5.55903244e-03 -3.21071021e+01] [-2.99305841e-02 -1.00761968e-04 9.99551975e-01 -9.36430949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50587156 meters 0.012529919958798364 Centerline is valid? [True, True] Translation: X:227.68, Y:-32.13, Z:-9.36 [[ 9.82259809e-01 1.84999560e-01 3.06729717e-02 2.27681847e+02] [-1.84908754e-01 9.82738603e-01 -5.79573254e-03 -3.21262833e+01] [-3.12157214e-02 2.12141617e-05 9.99512670e-01 -9.36314196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56587156 meters 0.022271686011399627 Centerline is valid? [True, True] Translation: X:227.74, Y:-32.14, Z:-9.36 [[ 9.82774902e-01 1.81938484e-01 3.24327076e-02 2.27738614e+02] [-1.81835345e-01 9.83309907e-01 -6.12655214e-03 -3.21440410e+01] [-3.30060583e-02 1.23609107e-04 9.99455144e-01 -9.36083462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62587156 meters 0.012821410010285155 Centerline is valid? [True, True] Translation: X:227.80, Y:-32.16, Z:-9.36 [[ 9.83038963e-01 1.80499605e-01 3.24698313e-02 2.27796006e+02] [-1.80395497e-01 9.83575042e-01 -6.13200550e-03 -3.21585338e+01] [-3.30433403e-02 1.70588984e-04 9.99453905e-01 -9.36367553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68587156 meters 0.012744071795366537 Centerline is valid? [True, True] Translation: X:227.85, Y:-32.17, Z:-9.37 [[ 9.82998702e-01 1.80694418e-01 3.26048931e-02 2.27851797e+02] [-1.80589585e-01 9.83539272e-01 -6.15640245e-03 -3.21700037e+01] [-3.31806204e-02 1.63631501e-04 9.99449358e-01 -9.36621031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74587156 meters 0.012849497382772976 Centerline is valid? [True, True] Translation: X:227.91, Y:-32.18, Z:-9.37 [[ 9.82866623e-01 1.81434455e-01 3.24767457e-02 2.27908598e+02] [-1.81330980e-01 9.83403031e-01 -6.12824563e-03 -3.21820407e+01] [-3.30496051e-02 1.34207962e-04 9.99453704e-01 -9.37013300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80587156 meters 0.013230519609387906 Centerline is valid? [True, True] Translation: X:227.97, Y:-32.19, Z:-9.37 [[ 9.82886630e-01 1.81556927e-01 3.11601437e-02 2.27966359e+02] [-1.81461815e-01 9.83380429e-01 -5.87729908e-03 -3.21946874e+01] [-3.17093398e-02 1.22342470e-04 9.99497125e-01 -9.37495752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86587156000002 meters 0.013452962346676913 Centerline is valid? [True, True] Translation: X:228.02, Y:-32.20, Z:-9.38 [[ 9.82912196e-01 1.81527091e-01 3.05209640e-02 2.28023029e+02] [-1.81435867e-01 9.83385937e-01 -5.75545475e-03 -3.22047559e+01] [-3.10586578e-02 1.19509089e-04 9.99517556e-01 -9.37889809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92587156 meters 0.013257100798177395 Centerline is valid? [True, True] Translation: X:228.08, Y:-32.22, Z:-9.38 [[ 9.83059890e-01 1.80691911e-01 3.07194872e-02 2.28079863e+02] [-1.80599140e-01 9.83539736e-01 -5.79123489e-03 -3.22179629e+01] [-3.12602657e-02 1.45217751e-04 9.99511268e-01 -9.37963537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98587156 meters 0.013502082967801858 Centerline is valid? [True, True] Translation: X:228.14, Y:-32.23, Z:-9.38 [[ 9.83262337e-01 1.79309662e-01 3.22989533e-02 2.28137319e+02] [-1.79206448e-01 9.83792665e-01 -6.08623347e-03 -3.22299902e+01] [-3.28667938e-02 1.96183456e-04 9.99459722e-01 -9.37837836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04587156 meters 0.01575255010756838 Centerline is valid? [True, True] Translation: X:228.19, Y:-32.25, Z:-9.38 [[ 9.83840338e-01 1.75795955e-01 3.39701599e-02 2.28192721e+02] [-1.75679743e-01 9.84426572e-01 -6.39945686e-03 -3.22496178e+01] [-3.45661266e-02 3.28174827e-04 9.99402359e-01 -9.37929312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10587156 meters 0.01738933720315991 Centerline is valid? [True, True] Translation: X:228.25, Y:-32.27, Z:-9.38 [[ 9.84252566e-01 1.73492820e-01 3.38692686e-02 2.28249743e+02] [-1.73376009e-01 9.84835051e-01 -6.37829272e-03 -3.22654137e+01] [-3.44622308e-02 4.05732360e-04 9.99405919e-01 -9.38139438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16587156 meters 0.02084119624962983 Centerline is valid? [True, True] Translation: X:228.30, Y:-32.28, Z:-9.39 [[ 9.84661889e-01 1.71444710e-01 3.23678361e-02 2.28304696e+02] [-1.71336968e-01 9.85193638e-01 -6.09415637e-03 -3.22833990e+01] [-3.29333971e-02 4.54876617e-04 9.99457445e-01 -9.38767590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22587156 meters 0.020527812013219945 Centerline is valid? [True, True] Translation: X:228.36, Y:-32.29, Z:-9.39 [[ 9.84740134e-01 1.71116784e-01 3.17161644e-02 2.28362280e+02] [-1.71013233e-01 9.85250648e-01 -5.96946858e-03 -3.22943300e+01] [-3.22698478e-02 4.54491467e-04 9.99479090e-01 -9.39025710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28587156 meters 0.020778152005770115 Centerline is valid? [True, True] Translation: X:228.42, Y:-32.31, Z:-9.39 [[ 9.84832167e-01 1.70626991e-01 3.14965571e-02 2.28419100e+02] [-1.70524666e-01 9.85335584e-01 -5.92666297e-03 -3.23112859e+01] [-3.20459272e-02 4.65828439e-04 9.99486289e-01 -9.39317404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34587156 meters 0.020668697409626267 Centerline is valid? [True, True] Translation: X:228.47, Y:-32.33, Z:-9.39 [[ 9.84757390e-01 1.71063935e-01 3.14644708e-02 2.28474688e+02] [-1.70962085e-01 9.85259828e-01 -5.91924264e-03 -3.23264126e+01] [-3.20132481e-02 4.49786382e-04 9.99487343e-01 -9.39492445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40587156 meters 0.01815089943696824 Centerline is valid? [True, True] Translation: X:228.53, Y:-32.34, Z:-9.39 [[ 9.84528892e-01 1.71983528e-01 3.35339734e-02 2.28532507e+02] [-1.71868445e-01 9.85099725e-01 -6.30633440e-03 -3.23391637e+01] [-3.41188936e-02 4.45336559e-04 9.99417682e-01 -9.39254900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46587156 meters 0.018858002335877477 Centerline is valid? [True, True] Translation: X:228.59, Y:-32.35, Z:-9.39 [[ 9.84291888e-01 1.73178260e-01 3.43332050e-02 2.28588154e+02] [-1.73058408e-01 9.84890411e-01 -6.45497558e-03 -3.23543349e+01] [-3.49323058e-02 4.11930295e-04 9.99389596e-01 -9.39495744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52587156 meters 0.015729073021202016 Centerline is valid? [True, True] Translation: X:228.65, Y:-32.36, Z:-9.40 [[ 9.83721586e-01 1.76463838e-01 3.39463467e-02 2.28645927e+02] [-1.76348703e-01 9.84307081e-01 -6.38006530e-03 -3.23648439e+01] [-3.45394803e-02 2.89813752e-04 9.99403292e-01 -9.39778823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58587156000002 meters 0.012635016144794642 Centerline is valid? [True, True] Translation: X:228.70, Y:-32.37, Z:-9.40 [[ 9.82969514e-01 1.80852776e-01 3.26068675e-02 2.28704363e+02] [-1.80749009e-01 9.83510171e-01 -6.12692181e-03 -3.23730090e+01] [-3.31772567e-02 1.28918378e-04 9.99449475e-01 -9.40167573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64587156000002 meters 0.011877903551484487 Centerline is valid? [True, True] Translation: X:228.76, Y:-32.38, Z:-9.40 [[ 9.82376089e-01 1.84066809e-01 3.25058386e-02 2.28762019e+02] [-1.83965493e-01 9.82913735e-01 -6.10637996e-03 -3.23826257e+01] [-3.30744171e-02 1.88090547e-05 9.99452892e-01 -9.40393589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70587156 meters 0.014524729746318044 Centerline is valid? [True, True] Translation: X:228.82, Y:-32.39, Z:-9.41 [[ 9.81208662e-01 1.90138517e-01 3.28162569e-02 2.28819878e+02] [-1.90038697e-01 9.81757255e-01 -6.16319732e-03 -3.23868431e+01] [-3.33894595e-02 -1.88976117e-04 9.99442399e-01 -9.40733575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76587156 meters 0.02057022154206539 Centerline is valid? [True, True] Translation: X:228.88, Y:-32.39, Z:-9.41 [[ 9.79982264e-01 1.96274463e-01 3.33331273e-02 2.28879647e+02] [-1.96175097e-01 9.80548912e-01 -6.25792296e-03 -3.23903237e+01] [-3.39130322e-02 -4.06475958e-04 9.99424705e-01 -9.40862075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82587156 meters 0.024689100291665208 Centerline is valid? [True, True] Translation: X:228.94, Y:-32.40, Z:-9.41 [[ 9.78945660e-01 2.01398746e-01 3.32255800e-02 2.28938696e+02] [-2.01302992e-01 9.79509166e-01 -6.23700165e-03 -3.23982131e+01] [-3.38008845e-02 -5.82722960e-04 9.99428417e-01 -9.40986260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88587156 meters 0.03033215841185513 Centerline is valid? [True, True] Translation: X:229.00, Y:-32.40, Z:-9.41 [[ 9.77989403e-01 2.06102845e-01 3.25322227e-02 2.28998226e+02] [-2.06013666e-01 9.78530063e-01 -6.10620109e-03 -3.24016069e+01] [-3.30922634e-02 -7.30282504e-04 9.99452034e-01 -9.41383509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94587156 meters 0.0335633992056717 Centerline is valid? [True, True] Translation: X:229.06, Y:-32.41, Z:-9.42 [[ 9.77553561e-01 2.08277522e-01 3.17727808e-02 2.29055973e+02] [-2.08193636e-01 9.78069454e-01 -5.96269533e-03 -3.24081470e+01] [-3.23178817e-02 -7.86036716e-04 9.99477332e-01 -9.41821052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00587156 meters 0.03688438055791493 Centerline is valid? [True, True] Translation: X:229.12, Y:-32.41, Z:-9.42 [[ 9.77107714e-01 2.10413465e-01 3.14116188e-02 2.29115199e+02] [-2.10332628e-01 9.77612118e-01 -5.89336012e-03 -3.24136929e+01] [-3.19484215e-02 -8.48440712e-04 9.99489159e-01 -9.42100790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06587156 meters 0.034607528322552296 Centerline is valid? [True, True] Translation: X:229.17, Y:-32.42, Z:-9.42 [[ 9.76742387e-01 2.11888281e-01 3.28278250e-02 2.29172964e+02] [-2.11800857e-01 9.77293444e-01 -6.15800049e-03 -3.24237875e+01] [-3.33872263e-02 -9.38181366e-04 9.99442051e-01 -9.41842813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12587156 meters 0.03743986127565097 Centerline is valid? [True, True] Translation: X:229.23, Y:-32.43, Z:-9.42 [[ 9.76770616e-01 2.11904273e-01 3.18707254e-02 2.29230731e+02] [-2.11821926e-01 9.77290001e-01 -5.97707650e-03 -3.24259999e+01] [-3.24135093e-02 -9.12685752e-04 9.99474127e-01 -9.42402459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18587156 meters 0.03474012113716903 Centerline is valid? [True, True] Translation: X:229.29, Y:-32.43, Z:-9.43 [[ 9.76918052e-01 2.11294244e-01 3.13984564e-02 2.29289180e+02] [-2.11214068e-01 9.77422102e-01 -5.88652258e-03 -3.24347817e+01] [-3.19333336e-02 -8.81145546e-04 9.99489613e-01 -9.42598237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24587156 meters 0.03129065834679251 Centerline is valid? [True, True] Translation: X:229.35, Y:-32.45, Z:-9.43 [[ 9.77305789e-01 2.09396322e-01 3.20402063e-02 2.29347288e+02] [-2.09311832e-01 9.77830497e-01 -6.00633928e-03 -3.24463278e+01] [-3.25875962e-02 -8.36364123e-04 9.99468533e-01 -9.42619959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30587156 meters 0.028239732988525654 Centerline is valid? [True, True] Translation: X:229.41, Y:-32.45, Z:-9.43 [[ 9.78221672e-01 2.04956799e-01 3.27882661e-02 2.29405515e+02] [-2.04866047e-01 9.78770762e-01 -6.13985785e-03 -3.24541653e+01] [-3.33506018e-02 -7.11060466e-04 9.99443461e-01 -9.42765822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36587156000002 meters 0.023453508959052394 Centerline is valid? [True, True] Translation: X:229.46, Y:-32.47, Z:-9.43 [[ 9.79705440e-01 1.97537876e-01 3.40005759e-02 2.29462452e+02] [-1.97435841e-01 9.80295140e-01 -6.36612423e-03 -3.24676393e+01] [-3.45881499e-02 -4.76005765e-04 9.99401538e-01 -9.43129194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42587156 meters 0.014794329131529982 Centerline is valid? [True, True] Translation: X:229.52, Y:-32.49, Z:-9.43 [[ 9.80826855e-01 1.92085115e-01 3.28935904e-02 2.29518834e+02] [-1.91986584e-01 9.81378231e-01 -6.15784670e-03 -3.24880952e+01] [-3.34638843e-02 -2.75346637e-04 9.99439889e-01 -9.43153311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48587156 meters 0.016412659617960144 Centerline is valid? [True, True] Translation: X:229.58, Y:-32.50, Z:-9.44 [[ 9.81166362e-01 1.90620982e-01 3.12443765e-02 2.29576871e+02] [-1.90531390e-01 9.81663687e-01 -5.84763004e-03 -3.24980267e+01] [-3.17861508e-02 -2.15536587e-04 9.99494669e-01 -9.43642812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54587156 meters 0.026024479364521215 Centerline is valid? [True, True] Translation: X:229.63, Y:-32.50, Z:-9.45 [[ 9.81341747e-01 1.89914103e-01 3.00168023e-02 2.29634396e+02] [-1.89831118e-01 9.81800692e-01 -5.61674355e-03 -3.25003783e+01] [-3.05372161e-02 -1.86178228e-04 9.99533613e-01 -9.44584390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60587156 meters 0.014017726102962745 Centerline is valid? [True, True] Translation: X:229.69, Y:-32.51, Z:-9.45 [[ 9.81951164e-01 1.86805147e-01 2.95930449e-02 2.29691913e+02] [-1.86723152e-01 9.82396981e-01 -5.53495257e-03 -3.25138094e+01] [-3.01060756e-02 -9.06534897e-05 9.99546705e-01 -9.44640218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66587156 meters 0.013513942548966245 Centerline is valid? [True, True] Translation: X:229.75, Y:-32.53, Z:-9.45 [[ 9.83095288e-01 1.80543814e-01 3.04562890e-02 2.29748844e+02] [-1.80454005e-01 9.83566938e-01 -5.69484079e-03 -3.25326368e+01] [-3.09839671e-02 1.02611820e-04 9.99519876e-01 -9.44567476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72587156 meters 0.016648765037511237 Centerline is valid? [True, True] Translation: X:229.80, Y:-32.55, Z:-9.45 [[ 9.83996906e-01 1.75496215e-01 3.08409908e-02 2.29804796e+02] [-1.75401669e-01 9.84480070e-01 -5.76592942e-03 -3.25490421e+01] [-3.13742396e-02 2.64095458e-04 9.99507672e-01 -9.44715262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78587156 meters 0.016574894012087116 Centerline is valid? [True, True] Translation: X:229.86, Y:-32.56, Z:-9.45 [[ 9.84295918e-01 1.73733509e-01 3.12763945e-02 2.29862512e+02] [-1.73635444e-01 9.84792650e-01 -5.84544662e-03 -3.25593294e+01] [-3.18163134e-02 3.22958607e-04 9.99493681e-01 -9.44626561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84587156 meters 0.017645689417245085 Centerline is valid? [True, True] Translation: X:229.92, Y:-32.57, Z:-9.45 [[ 9.84642129e-01 1.71918148e-01 3.03978198e-02 2.29920087e+02] [-1.71824694e-01 9.85111168e-01 -5.67983128e-03 -3.25719423e+01] [-3.09216978e-02 3.69505077e-04 9.99521742e-01 -9.44936377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90587156 meters 0.019016310655138806 Centerline is valid? [True, True] Translation: X:229.98, Y:-32.59, Z:-9.45 [[ 9.84799565e-01 1.70996678e-01 3.04951261e-02 2.29976357e+02] [-1.70902226e-01 9.85271525e-01 -5.69662370e-03 -3.25860152e+01] [-3.10200831e-02 3.98347604e-04 9.99518682e-01 -9.45181534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96587156 meters 0.01662021390638212 Centerline is valid? [True, True] Translation: X:230.03, Y:-32.59, Z:-9.45 [[ 9.84490991e-01 1.72656490e-01 3.11002540e-02 2.30034932e+02] [-1.72559145e-01 9.84982037e-01 -5.80760650e-03 -3.25948201e+01] [-3.16359125e-02 3.50903045e-04 9.99499398e-01 -9.45099740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02587156 meters 0.029608258578645335 Centerline is valid? [True, True] Translation: X:230.09, Y:-32.60, Z:-9.45 [[ 9.83672789e-01 1.77315415e-01 3.07748040e-02 2.30092489e+02] [-1.77222418e-01 9.84154055e-01 -5.74543530e-03 -3.26021764e+01] [-3.13059024e-02 1.97643173e-04 9.99509831e-01 -9.45455918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08587156000002 meters 0.012860355138815484 Centerline is valid? [True, True] Translation: X:230.15, Y:-32.61, Z:-9.46 [[ 9.82992415e-01 1.81114854e-01 3.03862113e-02 2.30150956e+02] [-1.81026067e-01 9.83461949e-01 -5.67087302e-03 -3.26072968e+01] [-3.09107620e-02 7.37288393e-05 9.99522146e-01 -9.45820962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14587156000002 meters 0.013076744261045941 Centerline is valid? [True, True] Translation: X:230.21, Y:-32.61, Z:-9.46 [[ 9.82270110e-01 1.85179945e-01 2.92201638e-02 2.30209328e+02] [-1.85099680e-01 9.82704628e-01 -5.45193119e-03 -3.26124666e+01] [-2.97243785e-02 -5.33739090e-05 9.99558132e-01 -9.46151402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20587156 meters 0.015609286445812321 Centerline is valid? [True, True] Translation: X:230.27, Y:-32.62, Z:-9.47 [[ 9.81351566e-01 1.90007411e-01 2.90910211e-02 2.30267305e+02] [-1.89930012e-01 9.81782636e-01 -5.42651334e-03 -3.26153598e+01] [-2.95921372e-02 -1.99940622e-04 9.99562037e-01 -9.46513458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26587156 meters 0.017522931219238 Centerline is valid? [True, True] Translation: X:230.33, Y:-32.62, Z:-9.47 [[ 9.80737581e-01 1.93208377e-01 2.87109841e-02 2.30325690e+02] [-1.93134414e-01 9.81157702e-01 -5.35368691e-03 -3.26216284e+01] [-2.92043803e-02 -2.94517133e-04 9.99573418e-01 -9.46674264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32587156 meters 0.021944934657618355 Centerline is valid? [True, True] Translation: X:230.38, Y:-32.62, Z:-9.47 [[ 9.79717161e-01 1.98161783e-01 2.97689846e-02 2.30384833e+02] [-1.98084582e-01 9.80169218e-01 -5.54992318e-03 -3.26230181e+01] [-3.02784250e-02 -4.59421911e-04 9.99541398e-01 -9.46742666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38587156 meters 0.025623536077257602 Centerline is valid? [True, True] Translation: X:230.44, Y:-32.62, Z:-9.47 [[ 9.79023428e-01 2.01362397e-01 3.10855691e-02 2.30443446e+02] [-2.01279935e-01 9.79516637e-01 -5.79194413e-03 -3.26249781e+01] [-3.16151118e-02 -5.86452321e-04 9.99499945e-01 -9.46801124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44587156 meters 0.025254156226320153 Centerline is valid? [True, True] Translation: X:230.50, Y:-32.63, Z:-9.47 [[ 9.79031824e-01 2.01220314e-01 3.17344068e-02 2.30501081e+02] [-2.01134320e-01 9.79545829e-01 -5.91217955e-03 -3.26334188e+01] [-3.22749564e-02 -5.94666393e-04 9.99478851e-01 -9.46892311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50587156 meters 0.02756246923169106 Centerline is valid? [True, True] Translation: X:230.56, Y:-32.64, Z:-9.48 [[ 9.79465434e-01 1.99269429e-01 3.06456938e-02 2.30559071e+02] [-1.99188499e-01 9.79944603e-01 -5.70233076e-03 -3.26382052e+01] [-3.11673824e-02 -5.19033868e-04 9.99514044e-01 -9.47649243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56587156 meters 0.022545546469603227 Centerline is valid? [True, True] Translation: X:230.62, Y:-32.65, Z:-9.48 [[ 9.79896681e-01 1.97200944e-01 3.02371060e-02 2.30615936e+02] [-1.97121229e-01 9.80362987e-01 -5.62450552e-03 -3.26548040e+01] [-3.07524973e-02 -4.48941200e-04 9.99526929e-01 -9.47587801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62587156 meters 0.032660394884260306 Centerline is valid? [True, True] Translation: X:230.67, Y:-32.67, Z:-9.48 [[ 9.80202488e-01 1.95780024e-01 2.95510404e-02 2.30673183e+02] [-1.95703428e-01 9.80647756e-01 -5.49064598e-03 -3.26650500e+01] [-3.00541203e-02 -4.01295060e-04 9.99548192e-01 -9.47784632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68587156 meters 0.019769066004618925 Centerline is valid? [True, True] Translation: X:230.73, Y:-32.67, Z:-9.48 [[ 9.80428809e-01 1.94416080e-01 3.10119058e-02 2.30731214e+02] [-1.94331065e-01 9.80919082e-01 -5.76126548e-03 -3.26748288e+01] [-3.15402528e-02 -3.78066032e-04 9.99502411e-01 -9.47845574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74587156 meters 0.018245183942315887 Centerline is valid? [True, True] Translation: X:230.79, Y:-32.69, Z:-9.48 [[ 9.80700581e-01 1.92969392e-01 3.14512923e-02 2.30789136e+02] [-1.92881424e-01 9.81204717e-01 -5.83609757e-03 -3.26871884e+01] [-3.19863446e-02 -3.42905775e-04 9.99488247e-01 -9.47908675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80587156 meters 0.017553918904490276 Centerline is valid? [True, True] Translation: X:230.85, Y:-32.70, Z:-9.48 [[ 9.81160773e-01 1.90687167e-01 3.10151926e-02 2.30845756e+02] [-1.90600526e-01 9.81650821e-01 -5.75377295e-03 -3.26977681e+01] [-3.15432600e-02 -2.66135730e-04 9.99502352e-01 -9.48291812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86587156000002 meters 0.016023235577761287 Centerline is valid? [True, True] Translation: X:230.90, Y:-32.71, Z:-9.48 [[ 9.81527224e-01 1.88813268e-01 3.08845963e-02 2.30902907e+02] [-1.88726492e-01 9.82012987e-01 -5.72749218e-03 -3.27125722e+01] [-3.14105012e-02 -2.07052022e-04 9.99506547e-01 -9.48454373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92587156 meters 0.014936569268612273 Centerline is valid? [True, True] Translation: X:230.96, Y:-32.73, Z:-9.49 [[ 9.82048316e-01 1.86041912e-01 3.11370026e-02 2.30959060e+02] [-1.85952354e-01 9.82541802e-01 -5.77315882e-03 -3.27275470e+01] [-3.16674561e-02 -1.20478036e-04 9.99498453e-01 -9.48624916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98587156 meters 0.01855403225273711 Centerline is valid? [True, True] Translation: X:231.02, Y:-32.74, Z:-9.49 [[ 9.82162505e-01 1.85510737e-01 3.07014846e-02 2.31016288e+02] [-1.85423509e-01 9.82642232e-01 -5.68918753e-03 -3.27402101e+01] [-3.12239807e-02 -1.05070331e-04 9.99512407e-01 -9.48734642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04587156 meters 0.01612428043232428 Centerline is valid? [True, True] Translation: X:231.07, Y:-32.75, Z:-9.49 [[ 9.81607283e-01 1.88315360e-01 3.13762107e-02 2.31074312e+02] [-1.88225734e-01 9.82108591e-01 -5.81273058e-03 -3.27460857e+01] [-3.19094726e-02 -1.99991635e-04 9.99490743e-01 -9.49032848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10587156 meters 0.017508391626564108 Centerline is valid? [True, True] Translation: X:231.13, Y:-32.75, Z:-9.49 [[ 9.81221347e-01 1.90285858e-01 3.15588366e-02 2.31132562e+02] [-1.90196271e-01 9.81728690e-01 -5.84447736e-03 -3.27538016e+01] [-3.20943367e-02 -2.67647091e-04 9.99484808e-01 -9.49338219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16587156 meters 0.020061075532340305 Centerline is valid? [True, True] Translation: X:231.19, Y:-32.76, Z:-9.50 [[ 9.80729563e-01 1.92730079e-01 3.20100079e-02 2.31189899e+02] [-1.92639260e-01 9.81251747e-01 -5.92654979e-03 -3.27595428e+01] [-3.25521006e-02 -3.54041651e-04 9.99469977e-01 -9.49557560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22587156 meters 0.02095335824279154 Centerline is valid? [True, True] Translation: X:231.25, Y:-32.77, Z:-9.50 [[ 9.80410222e-01 1.94210381e-01 3.28348067e-02 2.31248097e+02] [-1.94115687e-01 9.80959814e-01 -6.07815442e-03 -3.27672386e+01] [-3.33900666e-02 -4.14666348e-04 9.99442310e-01 -9.49537115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28587156 meters 0.021161392251840886 Centerline is valid? [True, True] Translation: X:231.31, Y:-32.78, Z:-9.50 [[ 9.80358768e-01 1.94402966e-01 3.32291056e-02 2.31305437e+02] [-1.94306316e-01 9.80921658e-01 -6.14460730e-03 -3.27765246e+01] [-3.37896793e-02 -4.32705451e-04 9.99428872e-01 -9.49678169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34587156 meters 0.021377569398118034 Centerline is valid? [True, True] Translation: X:231.36, Y:-32.78, Z:-9.50 [[ 9.80562473e-01 1.93525960e-01 3.23255325e-02 2.31362052e+02] [-1.93434075e-01 9.81095076e-01 -5.97582613e-03 -3.27848733e+01] [-3.28708983e-02 -3.93188650e-04 9.99459529e-01 -9.50168043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40587156 meters 0.02084923916610705 Centerline is valid? [True, True] Translation: X:231.42, Y:-32.80, Z:-9.51 [[ 9.80807005e-01 1.92366798e-01 3.18219105e-02 2.31418626e+02] [-1.92277256e-01 9.81323031e-01 -5.87924642e-03 -3.27952248e+01] [-3.23585455e-02 -3.52223568e-04 9.99476263e-01 -9.50517044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46587156 meters 0.018603665526986748 Centerline is valid? [True, True] Translation: X:231.48, Y:-32.81, Z:-9.51 [[ 9.81447518e-01 1.89266822e-01 3.06404919e-02 2.31475654e+02] [-1.89182514e-01 9.81925664e-01 -5.65399051e-03 -3.28093216e+01] [-3.11567982e-02 -2.47550332e-04 9.99514478e-01 -9.50881187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52587156 meters 0.02426800774733787 Centerline is valid? [True, True] Translation: X:231.53, Y:-32.83, Z:-9.51 [[ 9.82785197e-01 1.82289543e-01 3.00629203e-02 2.31531507e+02] [-1.82205159e-01 9.83244894e-01 -5.54600239e-03 -3.28304159e+01] [-3.05701912e-02 -2.70901339e-05 9.99532622e-01 -9.51205891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58587156000002 meters 0.01957768578126868 Centerline is valid? [True, True] Translation: X:231.58, Y:-32.86, Z:-9.51 [[ 9.84455138e-01 1.72791391e-01 3.14835867e-02 2.31584888e+02] [-1.72694020e-01 9.84958404e-01 -5.80675762e-03 -3.28582765e+01] [-3.20133811e-02 2.79465215e-04 9.99487401e-01 -9.51396661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64587156000002 meters 0.023728727426062673 Centerline is valid? [True, True] Translation: X:231.64, Y:-32.88, Z:-9.51 [[ 9.85687869e-01 1.65365630e-01 3.27663364e-02 2.31640855e+02] [-1.65256159e-01 9.86232183e-01 -6.04016722e-03 -3.28817822e+01] [-3.33140515e-02 5.38880646e-04 9.99444788e-01 -9.51275376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70587156 meters 0.025346319474410912 Centerline is valid? [True, True] Translation: X:231.70, Y:-32.90, Z:-9.51 [[ 9.86044711e-01 1.63150914e-01 3.31301667e-02 2.31697372e+02] [-1.63037799e-01 9.86600931e-01 -6.10573133e-03 -3.28978600e+01] [-3.36824089e-02 6.19054615e-04 9.99432395e-01 -9.51427877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76587156 meters 0.03047787500046562 Centerline is valid? [True, True] Translation: X:231.75, Y:-32.91, Z:-9.52 [[ 9.85942264e-01 1.63578575e-01 3.40573323e-02 2.31752911e+02] [-1.63459350e-01 9.86530114e-01 -6.27499239e-03 -3.29131395e+01] [-3.46250382e-02 6.19790820e-04 9.99400181e-01 -9.51529173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82587156 meters 0.021930887879122934 Centerline is valid? [True, True] Translation: X:231.81, Y:-32.92, Z:-9.52 [[ 9.85379660e-01 1.66997407e-01 3.37459977e-02 2.31811565e+02] [-1.66882430e-01 9.85957212e-01 -6.21543403e-03 -3.29208906e+01] [-3.43100712e-02 4.92948187e-04 9.99411115e-01 -9.51694420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88587156 meters 0.018904497069496776 Centerline is valid? [True, True] Translation: X:231.87, Y:-32.93, Z:-9.52 [[ 9.84570578e-01 1.71646130e-01 3.40350118e-02 2.31869324e+02] [-1.71532007e-01 9.85158614e-01 -6.26698863e-03 -3.29295357e+01] [-3.46055894e-02 3.32198754e-04 9.99400992e-01 -9.51993302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94587156 meters 0.021591144532900605 Centerline is valid? [True, True] Translation: X:231.93, Y:-32.93, Z:-9.52 [[ 9.83629862e-01 1.76808466e-01 3.48003163e-02 2.31928163e+02] [-1.76692439e-01 9.84245266e-01 -6.40616373e-03 -3.29344697e+01] [-3.53847105e-02 1.52341201e-04 9.99373753e-01 -9.52164953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00587156 meters 0.01536954834395264 Centerline is valid? [True, True] Translation: X:231.99, Y:-32.94, Z:-9.52 [[ 9.82551309e-01 1.82754086e-01 3.45524147e-02 2.31987015e+02] [-1.82643435e-01 9.83158655e-01 -6.35888845e-03 -3.29365995e+01] [-3.51326184e-02 -6.28375382e-05 9.99382657e-01 -9.52495747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06587156 meters 0.015949560177334447 Centerline is valid? [True, True] Translation: X:232.04, Y:-32.94, Z:-9.53 [[ 9.82225989e-01 1.84467026e-01 3.46990371e-02 2.32044172e+02] [-1.84356558e-01 9.82838695e-01 -6.38429020e-03 -3.29445370e+01] [-3.52812474e-02 -1.26179278e-04 9.99377415e-01 -9.52801849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12587156 meters 0.01706749888419586 Centerline is valid? [True, True] Translation: X:232.10, Y:-32.95, Z:-9.53 [[ 9.81588930e-01 1.87769805e-01 3.50096002e-02 2.32102290e+02] [-1.87659522e-01 9.82213031e-01 -6.43935825e-03 -3.29509072e+01] [-3.55960026e-02 -2.49082085e-04 9.99366230e-01 -9.52917191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18587156 meters 0.018713715661447246 Centerline is valid? [True, True] Translation: X:232.16, Y:-32.96, Z:-9.53 [[ 9.81288965e-01 1.89163372e-01 3.59052342e-02 2.32159384e+02] [-1.89048384e-01 9.81945580e-01 -6.60195144e-03 -3.29577184e+01] [-3.65058334e-02 -3.09404408e-04 9.99333392e-01 -9.53156402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24587156 meters 0.017937881263072556 Centerline is valid? [True, True] Translation: X:232.22, Y:-32.97, Z:-9.53 [[ 9.81242425e-01 1.89273699e-01 3.65892089e-02 2.32216150e+02] [-1.89154491e-01 9.81924316e-01 -6.72427066e-03 -3.29682333e+01] [-3.72005615e-02 -3.22873530e-04 9.99307767e-01 -9.53232914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30587156 meters 0.017767675895614107 Centerline is valid? [True, True] Translation: X:232.27, Y:-32.98, Z:-9.54 [[ 9.81466217e-01 1.88228725e-01 3.59723874e-02 2.32273190e+02] [-1.88112901e-01 9.82125179e-01 -6.60821304e-03 -3.29793313e+01] [-3.65732430e-02 -2.81132292e-04 9.99330936e-01 -9.53662725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36587156000002 meters 0.01756054802182118 Centerline is valid? [True, True] Translation: X:232.33, Y:-32.99, Z:-9.54 [[ 9.81676656e-01 1.87282179e-01 3.51614739e-02 2.32330329e+02] [-1.87170985e-01 9.82306127e-01 -6.45722164e-03 -3.29913030e+01] [-3.57486538e-02 -2.42303946e-04 9.99360783e-01 -9.54055984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42587156 meters 0.01690682913522591 Centerline is valid? [True, True] Translation: X:232.39, Y:-33.00, Z:-9.54 [[ 9.81825398e-01 1.86322010e-01 3.60970344e-02 2.32387975e+02] [-1.86204274e-01 9.82488708e-01 -6.62619441e-03 -3.30031893e+01] [-3.66995346e-02 -2.15656107e-04 9.99326322e-01 -9.53991635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48587156 meters 0.016361349495570953 Centerline is valid? [True, True] Translation: X:232.45, Y:-33.01, Z:-9.54 [[ 9.82100353e-01 1.84878070e-01 3.60415988e-02 2.32445643e+02] [-1.84759787e-01 9.82761453e-01 -6.61425048e-03 -3.30148324e+01] [-3.66431238e-02 -1.63180389e-04 9.99328402e-01 -9.54222324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54587156 meters 0.015925957994877896 Centerline is valid? [True, True] Translation: X:232.50, Y:-33.03, Z:-9.55 [[ 9.82517198e-01 1.82678324e-01 3.58968704e-02 2.32502406e+02] [-1.82559585e-01 9.83172733e-01 -6.58597025e-03 -3.30277449e+01] [-3.64959382e-02 -8.24887147e-05 9.99333798e-01 -9.54504410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60587156 meters 0.015773332426812833 Centerline is valid? [True, True] Translation: X:232.56, Y:-33.05, Z:-9.55 [[ 9.83436029e-01 1.77701607e-01 3.57171747e-02 2.32558620e+02] [-1.77580851e-01 9.84084411e-01 -6.55074668e-03 -3.30453473e+01] [-3.63127931e-02 9.95540006e-05 9.99340468e-01 -9.54774162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66587156 meters 0.01622774071667128 Centerline is valid? [True, True] Translation: X:232.62, Y:-33.06, Z:-9.55 [[ 9.83836905e-01 1.75366287e-01 3.62161461e-02 2.32616606e+02] [-1.75240618e-01 9.84503241e-01 -6.64042216e-03 -3.30577930e+01] [-3.68194193e-02 1.86552575e-04 9.99321918e-01 -9.54894786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72587156 meters 0.021266346803078772 Centerline is valid? [True, True] Translation: X:232.67, Y:-33.06, Z:-9.55 [[ 9.83582863e-01 1.76975607e-01 3.52758530e-02 2.32674209e+02] [-1.76857474e-01 9.84215230e-01 -6.46636936e-03 -3.30648863e+01] [-3.58634215e-02 1.21411823e-04 9.99356693e-01 -9.55399818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78587156 meters 0.01522581385450791 Centerline is valid? [True, True] Translation: X:232.73, Y:-33.07, Z:-9.56 [[ 9.83026432e-01 1.79967577e-01 3.56469605e-02 2.32733192e+02] [-1.79848995e-01 9.83672543e-01 -6.53206060e-03 -3.30686572e+01] [-3.62404954e-02 1.01182088e-05 9.99343097e-01 -9.55632810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84587156 meters 0.015326852642507806 Centerline is valid? [True, True] Translation: X:232.79, Y:-33.07, Z:-9.56 [[ 9.82823701e-01 1.81049981e-01 3.57557892e-02 2.32790489e+02] [-1.80931446e-01 9.83473896e-01 -6.55044535e-03 -3.30743678e+01] [-3.63508433e-02 -3.14137101e-05 9.99339089e-01 -9.55859576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90587156 meters 0.015096243867377616 Centerline is valid? [True, True] Translation: X:232.85, Y:-33.08, Z:-9.56 [[ 9.83058155e-01 1.79644785e-01 3.63925233e-02 2.32848457e+02] [-1.79521151e-01 9.83731544e-01 -6.66372788e-03 -3.30831219e+01] [-3.69975771e-02 1.76043451e-05 9.99315355e-01 -9.56022921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96587156 meters 0.0255180445636594 Centerline is valid? [True, True] Translation: X:232.91, Y:-33.10, Z:-9.56 [[ 9.83447175e-01 1.77625697e-01 3.57877821e-02 2.32906349e+02] [-1.77504863e-01 9.84098117e-01 -6.55131621e-03 -3.30952105e+01] [-3.63823711e-02 9.03680475e-05 9.99337938e-01 -9.56431979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02587156 meters 0.028681220954263387 Centerline is valid? [True, True] Translation: X:232.96, Y:-33.10, Z:-9.57 [[ 9.83707666e-01 1.76088901e-01 3.62205391e-02 2.32963151e+02] [-1.75964147e-01 9.84374257e-01 -6.62886564e-03 -3.31043835e+01] [-3.68218359e-02 1.47349674e-04 9.99321835e-01 -9.56602446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08587156000002 meters 0.029348930802252687 Centerline is valid? [True, True] Translation: X:233.02, Y:-33.11, Z:-9.57 [[ 9.83699318e-01 1.76154552e-01 3.61278933e-02 2.33021058e+02] [-1.76030576e-01 9.84362511e-01 -6.60928373e-03 -3.31116880e+01] [-3.67271992e-02 1.41934014e-04 9.99325319e-01 -9.56861988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14587156000002 meters 0.02548937256132806 Centerline is valid? [True, True] Translation: X:233.08, Y:-33.12, Z:-9.57 [[ 9.83663714e-01 1.76233215e-01 3.67090167e-02 2.33079109e+02] [-1.76105380e-01 9.84348432e-01 -6.71271256e-03 -3.31193382e+01] [-3.73174660e-02 1.38396428e-04 9.99303451e-01 -9.56959397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20587156 meters 0.03318972821001112 Centerline is valid? [True, True] Translation: X:233.14, Y:-33.13, Z:-9.57 [[ 9.83991613e-01 1.74342083e-01 3.69505556e-02 2.33135721e+02] [-1.74211295e-01 9.84685124e-01 -6.75502509e-03 -3.31320447e+01] [-3.75623476e-02 2.09683868e-04 9.99294264e-01 -9.57252327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26587156 meters 0.02279256996489961 Centerline is valid? [True, True] Translation: X:233.19, Y:-33.14, Z:-9.58 [[ 9.84351021e-01 1.72312500e-01 3.68981002e-02 2.33193398e+02] [-1.72180747e-01 9.85042294e-01 -6.74305270e-03 -3.31444850e+01] [-3.75081016e-02 2.84388333e-04 9.99296283e-01 -9.57514382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32587156 meters 0.019109070752700016 Centerline is valid? [True, True] Translation: X:233.25, Y:-33.16, Z:-9.58 [[ 9.84781583e-01 1.69899176e-01 3.65992452e-02 2.33249348e+02] [-1.69767947e-01 9.85461380e-01 -6.68671935e-03 -3.31587590e+01] [-3.72032108e-02 3.71579346e-04 9.99307652e-01 -9.57765851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38587156 meters 0.024384274246624493 Centerline is valid? [True, True] Translation: X:233.31, Y:-33.18, Z:-9.58 [[ 9.85341496e-01 1.66531166e-01 3.70068642e-02 2.33306211e+02] [-1.66394709e-01 9.86036064e-01 -6.75885828e-03 -3.31752149e+01] [-3.76156632e-02 5.02037141e-04 9.99292154e-01 -9.57926669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44587156 meters 0.023588377577545876 Centerline is valid? [True, True] Translation: X:233.36, Y:-33.19, Z:-9.58 [[ 9.85805055e-01 1.63933213e-01 3.62532116e-02 2.33363190e+02] [-1.63800567e-01 9.86471265e-01 -6.61946417e-03 -3.31898282e+01] [-3.68479015e-02 5.87204632e-04 9.99320713e-01 -9.58247341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50587156 meters 0.026595204923405346 Centerline is valid? [True, True] Translation: X:233.42, Y:-33.21, Z:-9.59 [[ 9.86318811e-01 1.60966572e-01 3.55663479e-02 2.33419568e+02] [-1.60837042e-01 9.86959622e-01 -6.49228583e-03 -3.32086441e+01] [-3.61475903e-02 6.83077468e-04 9.99346229e-01 -9.58549987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56587156 meters 0.026279646610469175 Centerline is valid? [True, True] Translation: X:233.48, Y:-33.22, Z:-9.59 [[ 9.86431408e-01 1.60166646e-01 3.60516666e-02 2.33476734e+02] [-1.60033067e-01 9.87089725e-01 -6.57963805e-03 -3.32210477e+01] [-3.66400683e-02 7.20902832e-04 9.99328267e-01 -9.58656658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62587156 meters 0.025171352733114636 Centerline is valid? [True, True] Translation: X:233.53, Y:-33.23, Z:-9.59 [[ 9.86119358e-01 1.62190871e-01 3.55349596e-02 2.33533757e+02] [-1.62062468e-01 9.86759200e-01 -6.48368763e-03 -3.32317279e+01] [-3.61160433e-02 6.34806634e-04 9.99347401e-01 -9.59081173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68587156 meters 0.024369835593872707 Centerline is valid? [True, True] Translation: X:233.59, Y:-33.24, Z:-9.60 [[ 9.85843605e-01 1.64077168e-01 3.45118587e-02 2.33589816e+02] [-1.63957280e-01 9.86447354e-01 -6.29501088e-03 -3.32445475e+01] [-3.50769993e-02 5.47425742e-04 9.99384463e-01 -9.59716971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74587156 meters 0.02918128120893767 Centerline is valid? [True, True] Translation: X:233.65, Y:-33.26, Z:-9.60 [[ 9.85866124e-01 1.63863779e-01 3.48804814e-02 2.33646665e+02] [-1.63741259e-01 9.86482818e-01 -6.36006123e-03 -3.32580678e+01] [-3.54511792e-02 5.58794964e-04 9.99371253e-01 -9.59990106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80587156 meters 0.024015657269702916 Centerline is valid? [True, True] Translation: X:233.70, Y:-33.27, Z:-9.60 [[ 9.85965108e-01 1.63267711e-01 3.48777859e-02 2.33703673e+02] [-1.63144894e-01 9.86581634e-01 -6.35797649e-03 -3.32705196e+01] [-3.54478353e-02 5.78610291e-04 9.99371360e-01 -9.60104836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86587156000002 meters 0.029486955161400402 Centerline is valid? [True, True] Translation: X:233.76, Y:-33.28, Z:-9.61 [[ 9.86009522e-01 1.63259234e-01 3.36399327e-02 2.33761310e+02] [-1.63145055e-01 9.86583049e-01 -6.13009180e-03 -3.32844555e+01] [-3.41893814e-02 5.56140229e-04 9.99415217e-01 -9.60534574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92587156 meters 0.029309383316287598 Centerline is valid? [True, True] Translation: X:233.82, Y:-33.30, Z:-9.61 [[ 9.85823349e-01 1.64254930e-01 3.42438577e-02 2.33818379e+02] [-1.64137240e-01 9.86417780e-01 -6.23934416e-03 -3.32978056e+01] [-3.48035931e-02 5.30198868e-04 9.99394031e-01 -9.60763312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98587156 meters 0.028572273272834417 Centerline is valid? [True, True] Translation: X:233.88, Y:-33.31, Z:-9.61 [[ 9.85619289e-01 1.65365091e-01 3.47707221e-02 2.33875741e+02] [-1.65244485e-01 9.86232295e-01 -6.33409073e-03 -3.33094398e+01] [-3.53394465e-02 4.97331929e-04 9.99375243e-01 -9.60890829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04587156 meters 0.02263699124738364 Centerline is valid? [True, True] Translation: X:233.93, Y:-33.32, Z:-9.61 [[ 9.85414463e-01 1.66348042e-01 3.58701169e-02 2.33933686e+02] [-1.66220409e-01 9.86066987e-01 -6.53238730e-03 -3.33234459e+01] [-3.64569880e-02 4.74763420e-04 9.99335110e-01 -9.60969784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10587156 meters 0.022588339905641356 Centerline is valid? [True, True] Translation: X:233.99, Y:-33.34, Z:-9.61 [[ 9.85395049e-01 1.66443970e-01 3.59583369e-02 2.33989214e+02] [-1.66315802e-01 9.86050801e-01 -6.54763082e-03 -3.33429171e+01] [-3.65465605e-02 4.71563359e-04 9.99331840e-01 -9.61261273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16587156 meters 0.02018574336119905 Centerline is valid? [True, True] Translation: X:234.05, Y:-33.36, Z:-9.61 [[ 9.85020023e-01 1.68579512e-01 3.62836523e-02 2.34047290e+02] [-1.68450513e-01 9.85687979e-01 -6.60546569e-03 -3.33560124e+01] [-3.68779061e-02 3.94516132e-04 9.99319701e-01 -9.61411370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22587156 meters 0.01700875541032915 Centerline is valid? [True, True] Translation: X:234.11, Y:-33.36, Z:-9.62 [[ 9.84086244e-01 1.74052361e-01 3.57776539e-02 2.34105892e+02] [-1.73930574e-01 9.84736381e-01 -6.51264537e-03 -3.33621724e+01] [-3.63650987e-02 1.86176858e-04 9.99338554e-01 -9.61657876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28587156 meters 0.016005528924391985 Centerline is valid? [True, True] Translation: X:234.16, Y:-33.37, Z:-9.62 [[ 9.83204423e-01 1.78775024e-01 3.67226508e-02 2.34164258e+02] [-1.78650073e-01 9.83889979e-01 -6.68285201e-03 -3.33682474e+01] [-3.73257752e-02 1.01053947e-05 9.99303150e-01 -9.61764222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34587156 meters 0.018458986583835553 Centerline is valid? [True, True] Translation: X:234.22, Y:-33.37, Z:-9.62 [[ 9.81821296e-01 1.86245723e-01 3.65988041e-02 2.34223354e+02] [-1.86126858e-01 9.82503158e-01 -6.65863274e-03 -3.33690646e+01] [-3.71985825e-02 -2.74432986e-04 9.99307856e-01 -9.62051088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40587156 meters 0.022184378682025507 Centerline is valid? [True, True] Translation: X:234.28, Y:-33.37, Z:-9.62 [[ 9.80662137e-01 1.92509833e-01 3.52382984e-02 2.34282988e+02] [-1.92403760e-01 9.81294920e-01 -6.40888068e-03 -3.33726427e+01] [-3.58129357e-02 -4.95034498e-04 9.99358388e-01 -9.62427631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46587156 meters 0.02978807079399934 Centerline is valid? [True, True] Translation: X:234.34, Y:-33.37, Z:-9.63 [[ 9.79581884e-01 1.97980546e-01 3.49719358e-02 2.34342346e+02] [-1.97879577e-01 9.80205706e-01 -6.35972700e-03 -3.33697948e+01] [-3.55387933e-02 -6.90358524e-04 9.99368059e-01 -9.62728287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52587156 meters 0.02971175637338813 Centerline is valid? [True, True] Translation: X:234.40, Y:-33.38, Z:-9.63 [[ 9.78864276e-01 2.01342805e-01 3.58581124e-02 2.34401513e+02] [-2.01238976e-01 9.79520484e-01 -6.51895241e-03 -3.33762296e+01] [-3.64362997e-02 -8.34880172e-04 9.99335629e-01 -9.62644074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58587156000002 meters 0.0341043361773558 Centerline is valid? [True, True] Translation: X:234.46, Y:-33.38, Z:-9.63 [[ 9.78904395e-01 2.01186632e-01 3.56388147e-02 2.34458964e+02] [-2.01084004e-01 9.79552581e-01 -6.47803634e-03 -3.33789570e+01] [-3.62133873e-02 -8.25017327e-04 9.99343740e-01 -9.63174581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64587156000002 meters 0.02947692578103087 Centerline is valid? [True, True] Translation: X:234.52, Y:-33.39, Z:-9.64 [[ 9.79455609e-01 1.98658493e-01 3.46628526e-02 2.34516203e+02] [-1.98559941e-01 9.80068514e-01 -6.29742959e-03 -3.33932499e+01] [-3.52230083e-02 -7.14601215e-04 9.99379222e-01 -9.63576578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70587156 meters 0.02301240378965655 Centerline is valid? [True, True] Translation: X:234.57, Y:-33.41, Z:-9.64 [[ 9.80636335e-01 1.92544135e-01 3.57649924e-02 2.34574065e+02] [-1.92435217e-01 9.81288181e-01 -6.49567070e-03 -3.34107007e+01] [-3.63464676e-02 -5.12553376e-04 9.99339117e-01 -9.63602670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76587156 meters 0.023896467917267402 Centerline is valid? [True, True] Translation: X:234.63, Y:-33.43, Z:-9.64 [[ 9.81697711e-01 1.87097403e-01 3.55551117e-02 2.34630837e+02] [-1.86986193e-01 9.82341319e-01 -6.45734047e-03 -3.34252837e+01] [-3.61354070e-02 -3.09158624e-04 9.99346855e-01 -9.63938723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82587156 meters 0.01659417597435036 Centerline is valid? [True, True] Translation: X:234.69, Y:-33.44, Z:-9.64 [[ 9.82712117e-01 1.81536532e-01 3.63508262e-02 2.34687541e+02] [-1.81416548e-01 9.83384195e-01 -6.60002643e-03 -3.34407940e+01] [-3.69449739e-02 -1.08715460e-04 9.99317296e-01 -9.64097239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88587156 meters 0.017345572030566928 Centerline is valid? [True, True] Translation: X:234.74, Y:-33.46, Z:-9.65 [[ 9.84186728e-01 1.73494824e-01 3.57215619e-02 2.34743643e+02] [-1.73373719e-01 9.84834763e-01 -6.48405025e-03 -3.34592368e+01] [-3.63047851e-02 1.88336165e-04 9.99340746e-01 -9.64500108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94587156 meters 0.020109639131718413 Centerline is valid? [True, True] Translation: X:234.80, Y:-33.48, Z:-9.65 [[ 9.85208842e-01 1.67693391e-01 3.52485925e-02 2.34801308e+02] [-1.67571824e-01 9.85839120e-01 -6.39635061e-03 -3.34768130e+01] [-3.58220672e-02 3.95070237e-04 9.99358106e-01 -9.64803016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00587156 meters 0.025964460485447094 Centerline is valid? [True, True] Translation: X:234.86, Y:-33.50, Z:-9.65 [[ 9.86542208e-01 1.59613873e-01 3.54666524e-02 2.34859052e+02] [-1.59485609e-01 9.87179281e-01 -6.43488533e-03 -3.34970886e+01] [-3.60390414e-02 6.91865328e-04 9.99350143e-01 -9.64963537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06587156 meters 0.0379097281845181 Centerline is valid? [True, True] Translation: X:234.92, Y:-33.52, Z:-9.65 [[ 9.87418291e-01 1.53720417e-01 3.70830471e-02 2.34917770e+02] [-1.53576038e-01 9.88113928e-01 -6.72804151e-03 -3.35174716e+01] [-3.76765127e-02 9.48323805e-04 9.99289538e-01 -9.64964545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12587156 meters 0.03889342441701804 Centerline is valid? [True, True] Translation: X:234.98, Y:-33.53, Z:-9.65 [[ 9.87707599e-01 1.52005217e-01 3.64432775e-02 2.34977039e+02] [-1.51864591e-01 9.88379189e-01 -6.61252090e-03 -3.35346330e+01] [-3.70249148e-02 9.96793694e-04 9.99313846e-01 -9.65330461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18587156 meters 0.033878348482846925 Centerline is valid? [True, True] Translation: X:235.04, Y:-33.55, Z:-9.66 [[ 9.88010056e-01 1.50242576e-01 3.55429062e-02 2.35038177e+02] [-1.50107558e-01 9.88648617e-01 -6.45242952e-03 -3.35466977e+01] [-3.61088747e-02 1.03980639e-03 9.99347321e-01 -9.65715524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24587156 meters 0.036631188712231755 Centerline is valid? [True, True] Translation: X:235.10, Y:-33.57, Z:-9.66 [[ 9.87973873e-01 1.50536021e-01 3.53062770e-02 2.35097157e+02] [-1.50402951e-01 9.88603995e-01 -6.41035354e-03 -3.35662493e+01] [-3.58689156e-02 1.02309359e-03 9.99355980e-01 -9.66119505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30587156 meters 0.029314804735125405 Centerline is valid? [True, True] Translation: X:235.16, Y:-33.57, Z:-9.66 [[ 9.87209028e-01 1.55286545e-01 3.61167988e-02 2.35158388e+02] [-1.55150179e-01 9.87869080e-01 -6.56532784e-03 -3.35691950e+01] [-3.66981759e-02 8.77823104e-04 9.99326010e-01 -9.66079543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36587156000002 meters 0.034923348386829416 Centerline is valid? [True, True] Translation: X:235.22, Y:-33.57, Z:-9.67 [[ 9.86046704e-01 1.62595840e-01 3.56999919e-02 2.35219464e+02] [-1.62467371e-01 9.86692573e-01 -6.48997775e-03 -3.35748428e+01] [-3.62801602e-02 5.99337341e-04 9.99341479e-01 -9.66501486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42587156 meters 0.025865556056400785 Centerline is valid? [True, True] Translation: X:235.28, Y:-33.58, Z:-9.67 [[ 9.84974982e-01 1.69090523e-01 3.51095431e-02 2.35278447e+02] [-1.68970364e-01 9.85600461e-01 -6.38334446e-03 -3.35787621e+01] [-3.56833449e-02 3.54962313e-04 9.99363084e-01 -9.66982167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48587156 meters 0.017931498269794427 Centerline is valid? [True, True] Translation: X:235.34, Y:-33.59, Z:-9.67 [[ 9.84389809e-01 1.72563187e-01 3.46215277e-02 2.35337433e+02] [-1.72448492e-01 9.84998424e-01 -6.29460767e-03 -3.35853390e+01] [-3.51883677e-02 2.25917397e-04 9.99380672e-01 -9.67246761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54587156 meters 0.024103723368189736 Centerline is valid? [True, True] Translation: X:235.40, Y:-33.60, Z:-9.68 [[ 9.84285926e-01 1.73298794e-01 3.38931226e-02 2.35395775e+02] [-1.73189350e-01 9.84869276e-01 -6.16107747e-03 -3.35954940e+01] [-3.44480024e-02 1.94333966e-04 9.99406473e-01 -9.67609812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60587156 meters 0.01754209997645614 Centerline is valid? [True, True] Translation: X:235.45, Y:-33.61, Z:-9.68 [[ 9.84235966e-01 1.73328454e-01 3.51683195e-02 2.35453553e+02] [-1.73210702e-01 9.84864055e-01 -6.39101335e-03 -3.36097836e+01] [-3.57437582e-02 1.98735876e-04 9.99360968e-01 -9.67561289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66587156 meters 0.017596135205584843 Centerline is valid? [True, True] Translation: X:235.51, Y:-33.62, Z:-9.68 [[ 9.84239580e-01 1.73353131e-01 3.49448153e-02 2.35510291e+02] [-1.73236936e-01 9.84859713e-01 -6.34905080e-03 -3.36234147e+01] [-3.55163686e-02 1.95254375e-04 9.99369076e-01 -9.67853156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72587156 meters 0.017289228252622302 Centerline is valid? [True, True] Translation: X:235.57, Y:-33.63, Z:-9.68 [[ 9.84140056e-01 1.73818151e-01 3.54344473e-02 2.35568242e+02] [-1.73699003e-01 9.84777751e-01 -6.43727346e-03 -3.36338722e+01] [-3.60139703e-02 1.80250496e-04 9.99351270e-01 -9.68010747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78587156 meters 0.01700279257354017 Centerline is valid? [True, True] Translation: X:235.63, Y:-33.65, Z:-9.68 [[ 9.84040871e-01 1.74386745e-01 3.53952961e-02 2.35626400e+02] [-1.74268294e-01 9.84677225e-01 -6.42832337e-03 -3.36485549e+01] [-3.59739564e-02 1.57455048e-04 9.99352715e-01 -9.68286251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84587156 meters 0.017098598728197426 Centerline is valid? [True, True] Translation: X:235.68, Y:-33.66, Z:-9.69 [[ 9.84034299e-01 1.74542369e-01 3.48060183e-02 2.35682837e+02] [-1.74427954e-01 9.84649653e-01 -6.32057470e-03 -3.36635612e+01] [-3.53749419e-02 1.48519748e-04 9.99374100e-01 -9.68690921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90587156 meters 0.01707239894013954 Centerline is valid? [True, True] Translation: X:235.74, Y:-33.68, Z:-9.69 [[ 9.84025004e-01 1.74633194e-01 3.46126909e-02 2.35740902e+02] [-1.74520148e-01 9.84633550e-01 -6.28417446e-03 -3.36755156e+01] [-3.51782422e-02 1.43172857e-04 9.99381044e-01 -9.68990367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96587156 meters 0.01675316006253395 Centerline is valid? [True, True] Translation: X:235.80, Y:-33.69, Z:-9.69 [[ 9.83740098e-01 1.76346430e-01 3.40199324e-02 2.35797359e+02] [-1.76238265e-01 9.84328162e-01 -6.17604162e-03 -3.36868510e+01] [-3.45759004e-02 8.00059270e-05 9.99402072e-01 -9.69416810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02587156 meters 0.018809334668979636 Centerline is valid? [True, True] Translation: X:235.86, Y:-33.69, Z:-9.70 [[ 9.83018390e-01 1.80414161e-01 3.35495952e-02 2.35855497e+02] [-1.80311402e-01 9.83590731e-01 -6.08864770e-03 -3.36944617e+01] [-3.40975492e-02 -6.41218970e-05 9.99418507e-01 -9.69759410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08587156000002 meters 0.019594249647042903 Centerline is valid? [True, True] Translation: X:235.91, Y:-33.70, Z:-9.70 [[ 9.81874040e-01 1.86293371e-01 3.49019855e-02 2.35914993e+02] [-1.86185927e-01 9.82494123e-01 -6.33242622e-03 -3.36967429e+01] [-3.54706847e-02 -2.80613594e-04 9.99370678e-01 -9.69806974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14587156000002 meters 0.023000037967288223 Centerline is valid? [True, True] Translation: X:235.97, Y:-33.70, Z:-9.70 [[ 9.81063221e-01 1.90346268e-01 3.58225370e-02 2.35974190e+02] [-1.90235839e-01 9.81716917e-01 -6.49776709e-03 -3.37022051e+01] [-3.64044163e-02 -4.40010084e-04 9.99337043e-01 -9.69851643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20587156 meters 0.036049262431293125 Centerline is valid? [True, True] Translation: X:236.03, Y:-33.71, Z:-9.70 [[ 9.80179707e-01 1.94964528e-01 3.51649752e-02 2.36033260e+02] [-1.94861142e-01 9.80810109e-01 -6.37686951e-03 -3.37065832e+01] [-3.57334266e-02 -6.01809161e-04 9.99361176e-01 -9.70226523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26587156 meters 0.03022831272626097 Centerline is valid? [True, True] Translation: X:236.09, Y:-33.71, Z:-9.71 [[ 9.79746574e-01 1.97258822e-01 3.44326556e-02 2.36091441e+02] [-1.97161152e-01 9.80351215e-01 -6.24299804e-03 -3.37134716e+01] [-3.49875822e-02 -6.72226089e-04 9.99387521e-01 -9.70722481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32587156 meters 0.032154945348790036 Centerline is valid? [True, True] Translation: X:236.15, Y:-33.72, Z:-9.71 [[ 9.79401806e-01 1.98971548e-01 3.43864104e-02 2.36149121e+02] [-1.98875249e-01 9.80004992e-01 -6.23305664e-03 -3.37235274e+01] [-3.49390548e-02 -7.33938989e-04 9.99389175e-01 -9.70979884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38587156 meters 0.030823600251341787 Centerline is valid? [True, True] Translation: X:236.21, Y:-33.74, Z:-9.71 [[ 9.79136765e-01 2.00169000e-01 3.49795355e-02 2.36207086e+02] [-2.00070169e-01 9.79761065e-01 -6.33897590e-03 -3.37361724e+01] [-3.55404534e-02 -7.91637214e-04 9.99367925e-01 -9.70946605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44587156 meters 0.035472661158182116 Centerline is valid? [True, True] Translation: X:236.27, Y:-33.74, Z:-9.71 [[ 9.78478200e-01 2.03370546e-01 3.49404344e-02 2.36266359e+02] [-2.03274036e-01 9.79101423e-01 -6.33013174e-03 -3.37369809e+01] [-3.54975914e-02 -9.08587237e-04 9.99369349e-01 -9.71219676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50587156 meters 0.041554979052702175 Centerline is valid? [True, True] Translation: X:236.33, Y:-33.73, Z:-9.72 [[ 9.77476176e-01 2.08255692e-01 3.42036983e-02 2.36326718e+02] [-2.08166239e-01 9.78073839e-01 -6.19537587e-03 -3.37335523e+01] [-3.47439648e-02 -1.06422292e-03 9.99395680e-01 -9.71561176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56587156 meters 0.05373881325435208 Centerline is valid? [True, True] Translation: X:236.39, Y:-33.72, Z:-9.72 [[ 9.76699106e-01 2.11878946e-01 3.41492199e-02 2.36388593e+02] [-2.11792019e-01 9.77295192e-01 -6.18460774e-03 -3.37226433e+01] [-3.46842566e-02 -1.19203137e-03 9.99397609e-01 -9.72018490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62587156 meters 0.0405532593222484 Centerline is valid? [True, True] Translation: X:236.45, Y:-33.74, Z:-9.72 [[ 9.77034407e-01 2.10185945e-01 3.50090983e-02 2.36445617e+02] [-2.10093493e-01 9.77660740e-01 -6.34048486e-03 -3.37416655e+01] [-3.55597018e-02 -1.16031190e-03 9.99366880e-01 -9.71715143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68587156 meters 0.04109751618284596 Centerline is valid? [True, True] Translation: X:236.50, Y:-33.75, Z:-9.72 [[ 9.78572949e-01 2.02818232e-01 3.54929245e-02 2.36503458e+02] [-2.02718479e-01 9.79215982e-01 -6.42478145e-03 -3.37529295e+01] [-3.60583018e-02 -9.07954345e-04 9.99349276e-01 -9.71988651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74587156 meters 0.02853514697133318 Centerline is valid? [True, True] Translation: X:236.56, Y:-33.77, Z:-9.72 [[ 9.79753475e-01 1.96690029e-01 3.73652382e-02 2.36561720e+02] [-1.96575040e-01 9.80465459e-01 -6.76299693e-03 -3.37680612e+01] [-3.79655395e-02 -7.19003472e-04 9.99278790e-01 -9.72003554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80587156 meters 0.020148752151051 Centerline is valid? [True, True] Translation: X:236.62, Y:-33.79, Z:-9.73 [[ 9.81599106e-01 1.87459371e-01 3.63617859e-02 2.36619115e+02] [-1.87344159e-01 9.82272294e-01 -6.58074244e-03 -3.37882637e+01] [-3.69507967e-02 -3.52517320e-04 9.99317024e-01 -9.72515580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86587156000002 meters 0.016608291512684607 Centerline is valid? [True, True] Translation: X:236.68, Y:-33.81, Z:-9.73 [[ 9.83201020e-01 1.79158923e-01 3.48974886e-02 2.36675914e+02] [-1.79047576e-01 9.83820146e-01 -6.31559175e-03 -3.38057456e+01] [-3.54643469e-02 -3.88144988e-05 9.99370941e-01 -9.73017950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92587156 meters 0.018322296052122353 Centerline is valid? [True, True] Translation: X:236.73, Y:-33.82, Z:-9.73 [[ 9.84613077e-01 1.71468591e-01 3.36988212e-02 2.36732708e+02] [-1.71360309e-01 9.85189561e-01 -6.09708250e-03 -3.38227546e+01] [-3.42451850e-02 2.28626750e-04 9.99413435e-01 -9.73485107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98587156 meters 0.02200179381523548 Centerline is valid? [True, True] Translation: X:236.79, Y:-33.84, Z:-9.74 [[ 9.85572452e-01 1.65584109e-01 3.50548803e-02 2.36789519e+02] [-1.65463276e-01 9.86195570e-01 -6.34058396e-03 -3.38385350e+01] [-3.56208676e-02 4.48809544e-04 9.99365275e-01 -9.73500202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04587156 meters 0.025967960144879166 Centerline is valid? [True, True] Translation: X:236.85, Y:-33.85, Z:-9.74 [[ 9.86259943e-01 1.61157933e-01 3.63241739e-02 2.36846632e+02] [-1.61025235e-01 9.86928429e-01 -6.56882248e-03 -3.38540839e+01] [-3.69079778e-02 6.29457848e-04 9.99318470e-01 -9.73510531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10587156 meters 0.03225556161891038 Centerline is valid? [True, True] Translation: X:236.91, Y:-33.87, Z:-9.74 [[ 9.86897877e-01 1.57422391e-01 3.53662535e-02 2.36905650e+02] [-1.57294259e-01 9.87531079e-01 -6.39403128e-03 -3.38725361e+01] [-3.59318382e-02 7.47347243e-04 9.99353964e-01 -9.74124053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16587156 meters 0.03191724939886611 Centerline is valid? [True, True] Translation: X:236.96, Y:-33.89, Z:-9.75 [[ 9.87135939e-01 1.56099833e-01 3.45757217e-02 2.36964545e+02] [-1.55976524e-01 9.87740976e-01 -6.25204294e-03 -3.38873662e+01] [-3.51278000e-02 7.78615379e-04 9.99382525e-01 -9.74546126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22587156 meters 0.03183307197373408 Centerline is valid? [True, True] Translation: X:237.02, Y:-33.90, Z:-9.75 [[ 9.87037571e-01 1.56855038e-01 3.39607145e-02 2.37023606e+02] [-1.56736525e-01 9.87621361e-01 -6.14083626e-03 -3.38994792e+01] [-3.45035482e-02 7.38351734e-04 9.99404303e-01 -9.75013081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28587156 meters 0.028532499034200246 Centerline is valid? [True, True] Translation: X:237.08, Y:-33.91, Z:-9.75 [[ 9.86512764e-01 1.59881631e-01 3.50775049e-02 2.37081656e+02] [-1.59757101e-01 9.87135977e-01 -6.34282723e-03 -3.39076910e+01] [-3.56403686e-02 6.53399510e-04 9.99364467e-01 -9.75066990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34587156 meters 0.0226282102841941 Centerline is valid? [True, True] Translation: X:237.14, Y:-33.91, Z:-9.75 [[ 9.85913620e-01 1.63201803e-01 3.65992409e-02 2.37142162e+02] [-1.63068525e-01 9.86592551e-01 -6.61771972e-03 -3.39125559e+01] [-3.71885622e-02 5.56315786e-04 9.99308111e-01 -9.74928374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40587156 meters 0.031505411537838895 Centerline is valid? [True, True] Translation: X:237.20, Y:-33.93, Z:-9.75 [[ 9.85664935e-01 1.64767926e-01 3.62790109e-02 2.37200248e+02] [-1.64638047e-01 9.86332240e-01 -6.55937417e-03 -3.39250531e+01] [-3.68639325e-02 4.92439613e-04 9.99320173e-01 -9.75377481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46587156 meters 0.02023823627260027 Centerline is valid? [True, True] Translation: X:237.26, Y:-33.94, Z:-9.76 [[ 9.85315924e-01 1.66933295e-01 3.58581195e-02 2.37259998e+02] [-1.66807864e-01 9.85968108e-01 -6.48277181e-03 -3.39364674e+01] [-3.64371527e-02 4.06161966e-04 9.99335864e-01 -9.75650375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52587156 meters 0.018806075423886858 Centerline is valid? [True, True] Translation: X:237.32, Y:-33.95, Z:-9.76 [[ 9.84841165e-01 1.69666116e-01 3.60733817e-02 2.37318457e+02] [-1.69541001e-01 9.85501555e-01 -6.52182739e-03 -3.39480800e+01] [-3.66569069e-02 3.07046844e-04 9.99327863e-01 -9.75830880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58587156000002 meters 0.01766814385199378 Centerline is valid? [True, True] Translation: X:237.38, Y:-33.96, Z:-9.76 [[ 9.84359133e-01 1.72534885e-01 3.56203837e-02 2.37376314e+02] [-1.72414799e-01 9.85003388e-01 -6.43913559e-03 -3.39587400e+01] [-3.61971742e-02 1.96940630e-04 9.99344648e-01 -9.76181905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64587156000002 meters 0.016804911896378533 Centerline is valid? [True, True] Translation: X:237.43, Y:-33.97, Z:-9.77 [[ 9.83677789e-01 1.76503955e-01 3.49908634e-02 2.37434341e+02] [-1.76390628e-01 9.84299930e-01 -6.32415882e-03 -3.39662926e+01] [-3.55577434e-02 4.88742164e-05 9.99367622e-01 -9.76533853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70587156 meters 0.01669476395486862 Centerline is valid? [True, True] Translation: X:237.49, Y:-33.97, Z:-9.77 [[ 9.83251738e-01 1.78788437e-01 3.53654415e-02 2.37492125e+02] [-1.78674207e-01 9.83887541e-01 -6.39014600e-03 -3.39745448e+01] [-3.59381014e-02 -3.57700605e-05 9.99354017e-01 -9.76702890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76587156 meters 0.017044757197219984 Centerline is valid? [True, True] Translation: X:237.55, Y:-33.98, Z:-9.77 [[ 9.82960229e-01 1.80513004e-01 3.47022163e-02 2.37550159e+02] [-1.80404154e-01 9.83572593e-01 -6.26863951e-03 -3.39846817e+01] [-3.52637198e-02 -9.86006275e-05 9.99378037e-01 -9.77172463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82587156 meters 0.02131864859196886 Centerline is valid? [True, True] Translation: X:237.61, Y:-33.99, Z:-9.78 [[ 9.82517732e-01 1.83138385e-01 3.34550173e-02 2.37607619e+02] [-1.83038790e-01 9.83087126e-01 -6.04191954e-03 -3.39927087e+01] [-3.39957042e-02 -1.87272790e-04 9.99421961e-01 -9.77655855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88587156 meters 0.019269878896204518 Centerline is valid? [True, True] Translation: X:237.66, Y:-34.00, Z:-9.78 [[ 9.82069507e-01 1.85485729e-01 3.36827455e-02 2.37664889e+02] [-1.85386235e-01 9.82646920e-01 -6.08062735e-03 -3.39999782e+01] [-3.42261157e-02 -2.72718660e-04 9.99414078e-01 -9.77852784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94587156 meters 0.020069197437490784 Centerline is valid? [True, True] Translation: X:237.72, Y:-34.01, Z:-9.78 [[ 9.81794312e-01 1.86862097e-01 3.40952378e-02 2.37722821e+02] [-1.86761056e-01 9.82386100e-01 -6.15289212e-03 -3.40097095e+01] [-3.46444300e-02 -3.26788115e-04 9.99399648e-01 -9.78040761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00587156 meters 0.019801533121279406 Centerline is valid? [True, True] Translation: X:237.78, Y:-34.02, Z:-9.78 [[ 9.81912695e-01 1.86184149e-01 3.43936362e-02 2.37778605e+02] [-1.86080971e-01 9.82514818e-01 -6.20515158e-03 -3.40233522e+01] [-3.49475581e-02 -3.07084115e-04 9.99389100e-01 -9.78323660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06587156 meters 0.019342412926979087 Centerline is valid? [True, True] Translation: X:237.84, Y:-34.04, Z:-9.78 [[ 9.82048388e-01 1.85393214e-01 3.47896501e-02 2.37836207e+02] [-1.85287226e-01 9.82664376e-01 -6.27440881e-03 -3.40361300e+01] [-3.53497827e-02 -2.84304716e-04 9.99374961e-01 -9.78475463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12587156 meters 0.019288221766876504 Centerline is valid? [True, True] Translation: X:237.89, Y:-34.05, Z:-9.79 [[ 9.82112644e-01 1.85084927e-01 3.46168249e-02 2.37893598e+02] [-1.84979857e-01 9.82722491e-01 -6.24160334e-03 -3.40492510e+01] [-3.51739591e-02 -2.73457774e-04 9.99381167e-01 -9.78792104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18587156 meters 0.020446700156804744 Centerline is valid? [True, True] Translation: X:237.95, Y:-34.06, Z:-9.79 [[ 9.81946659e-01 1.86159873e-01 3.35449105e-02 2.37950459e+02] [-1.86061886e-01 9.82519419e-01 -6.04690885e-03 -3.40596095e+01] [-3.40842178e-02 -3.03687378e-04 9.99418918e-01 -9.79249713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24587156 meters 0.023292688754604465 Centerline is valid? [True, True] Translation: X:238.01, Y:-34.06, Z:-9.79 [[ 9.81322903e-01 1.89377627e-01 3.37857005e-02 2.38009489e+02] [-1.89280204e-01 9.81904241e-01 -6.08824494e-03 -3.40638456e+01] [-3.43272999e-02 -4.20430073e-04 9.99410556e-01 -9.79420917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30587156 meters 0.023300303625174833 Centerline is valid? [True, True] Translation: X:238.07, Y:-34.07, Z:-9.80 [[ 9.80875992e-01 1.91641516e-01 3.39973106e-02 2.38067344e+02] [-1.91544280e-01 9.81464862e-01 -6.12484325e-03 -3.40736874e+01] [-3.45409400e-02 -5.04278688e-04 9.99403156e-01 -9.79514814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36587156000002 meters 0.027727133091700263 Centerline is valid? [True, True] Translation: X:238.13, Y:-34.08, Z:-9.80 [[ 9.80819485e-01 1.91792891e-01 3.47652871e-02 2.38125572e+02] [-1.91691369e-01 9.81435282e-01 -6.26142080e-03 -3.40827161e+01] [-3.53207754e-02 -5.22881964e-04 9.99375890e-01 -9.79662473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42587156 meters 0.02480098719102626 Centerline is valid? [True, True] Translation: X:238.18, Y:-34.09, Z:-9.80 [[ 9.80775825e-01 1.91863454e-01 3.55976869e-02 2.38183229e+02] [-1.91757120e-01 9.81421481e-01 -6.40961945e-03 -3.40902302e+01] [-3.61661063e-02 -5.39710118e-04 9.99345647e-01 -9.79812857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48587156 meters 0.025515505785888265 Centerline is valid? [True, True] Translation: X:238.24, Y:-34.10, Z:-9.80 [[ 9.80798600e-01 1.91731701e-01 3.56799935e-02 2.38239638e+02] [-1.91624861e-01 9.81447230e-01 -6.42239214e-03 -3.40978184e+01] [-3.62494070e-02 -5.38100599e-04 9.99342629e-01 -9.80063476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54587156 meters 0.02560651286991533 Centerline is valid? [True, True] Translation: X:238.30, Y:-34.11, Z:-9.80 [[ 9.80877557e-01 1.91359701e-01 3.55060984e-02 2.38297539e+02] [-1.91253769e-01 9.81519837e-01 -6.38796832e-03 -3.41060158e+01] [-3.60723396e-02 -5.24860403e-04 9.99349044e-01 -9.80348487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60587156 meters 0.0230091599125514 Centerline is valid? [True, True] Translation: X:238.35, Y:-34.12, Z:-9.81 [[ 9.81247026e-01 1.89597571e-01 3.47424180e-02 2.38354563e+02] [-1.89495100e-01 9.81861781e-01 -6.24902134e-03 -3.41186476e+01] [-3.52970517e-02 -4.51684370e-04 9.99376763e-01 -9.80539664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66587156 meters 0.02150601099192539 Centerline is valid? [True, True] Translation: X:238.41, Y:-34.13, Z:-9.81 [[ 9.81581690e-01 1.87786540e-01 3.51226525e-02 2.38412610e+02] [-1.87680719e-01 9.82209785e-01 -6.31558607e-03 -3.41309789e+01] [-3.56837950e-02 -3.92581025e-04 9.99363053e-01 -9.80687874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72587156 meters 0.019072085883364447 Centerline is valid? [True, True] Translation: X:238.47, Y:-34.14, Z:-9.81 [[ 9.82279373e-01 1.83902438e-01 3.61542090e-02 2.38468687e+02] [-1.83787722e-01 9.82944467e-01 -6.49981519e-03 -3.41449181e+01] [-3.67329116e-02 -2.60065327e-04 9.99325085e-01 -9.80713475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78587156 meters 0.01738972407107491 Centerline is valid? [True, True] Translation: X:238.52, Y:-34.16, Z:-9.81 [[ 9.83193240e-01 1.78989619e-01 3.59690009e-02 2.38524366e+02] [-1.78872864e-01 9.83850959e-01 -6.46439589e-03 -3.41637043e+01] [-3.65451958e-02 -7.81278466e-05 9.99331998e-01 -9.81002337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84587156 meters 0.017457106427280086 Centerline is valid? [True, True] Translation: X:238.58, Y:-34.19, Z:-9.81 [[ 9.84123096e-01 1.73696237e-01 3.64876578e-02 2.38581171e+02] [-1.73572538e-01 9.84799271e-01 -6.55521113e-03 -3.41850872e+01] [-3.70716343e-02 1.17879299e-04 9.99312604e-01 -9.81083399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90587156 meters 0.029668343803942683 Centerline is valid? [True, True] Translation: X:238.64, Y:-34.21, Z:-9.81 [[ 9.84926707e-01 1.69036098e-01 3.66903278e-02 2.38638028e+02] [-1.68907833e-01 9.85609817e-01 -6.59033540e-03 -3.42085882e+01] [-3.72763518e-02 2.93713595e-04 9.99304952e-01 -9.81326393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96587156 meters 0.020362418355710267 Centerline is valid? [True, True] Translation: X:238.70, Y:-34.23, Z:-9.81 [[ 9.85195847e-01 1.67355746e-01 3.71644745e-02 2.38697700e+02] [-1.67222895e-01 9.85896507e-01 -6.67690253e-03 -3.42292738e+01] [-3.77577436e-02 3.63305613e-04 9.99286856e-01 -9.81446261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02587156 meters 0.030803388279673643 Centerline is valid? [True, True] Translation: X:238.76, Y:-34.24, Z:-9.82 [[ 9.84878765e-01 1.69462766e-01 3.60026337e-02 2.38757291e+02] [-1.69339284e-01 9.85536551e-01 -6.47410229e-03 -3.42442870e+01] [-3.65790307e-02 2.79545637e-04 9.99330724e-01 -9.81916242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08587156000002 meters 0.018227954806540016 Centerline is valid? [True, True] Translation: X:238.82, Y:-34.26, Z:-9.82 [[ 9.84396707e-01 1.72297373e-01 3.57314877e-02 2.38817958e+02] [-1.72177384e-01 9.85044965e-01 -6.43157628e-03 -3.42556371e+01] [-3.63052657e-02 1.79068443e-04 9.99340730e-01 -9.82154580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14587156000002 meters 0.017328875975812473 Centerline is valid? [True, True] Translation: X:238.88, Y:-34.26, Z:-9.83 [[ 9.83424763e-01 1.77955229e-01 3.47515707e-02 2.38877841e+02] [-1.77845228e-01 9.84038584e-01 -6.25614869e-03 -3.42643757e+01] [-3.53102008e-02 -2.79494636e-05 9.99376400e-01 -9.82635254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20587156 meters 0.019641641984582025 Centerline is valid? [True, True] Translation: X:238.94, Y:-34.27, Z:-9.83 [[ 9.82251805e-01 1.84316813e-01 3.47664197e-02 2.38936933e+02] [-1.84210690e-01 9.82866851e-01 -6.25898312e-03 -3.42707589e+01] [-3.53243973e-02 -2.56448707e-04 9.99375866e-01 -9.82918501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26587156 meters 0.022657534827942204 Centerline is valid? [True, True] Translation: X:239.00, Y:-34.28, Z:-9.83 [[ 9.81072654e-01 1.90536542e-01 3.45293106e-02 2.38995715e+02] [-1.90435735e-01 9.81679987e-01 -6.21556287e-03 -3.42791758e+01] [-3.50810251e-02 -4.77695873e-04 9.99384357e-01 -9.82955690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32587156 meters 0.031684808555257474 Centerline is valid? [True, True] Translation: X:239.06, Y:-34.28, Z:-9.83 [[ 9.79821146e-01 1.96874627e-01 3.45094572e-02 2.39055530e+02] [-1.96777896e-01 9.80428419e-01 -6.21091662e-03 -3.42774606e+01] [-3.50568245e-02 -7.05110952e-04 9.99385072e-01 -9.83357190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38587156 meters 0.03773155023485925 Centerline is valid? [True, True] Translation: X:239.12, Y:-34.28, Z:-9.84 [[ 9.78828884e-01 2.01722187e-01 3.46723924e-02 2.39116113e+02] [-2.01627628e-01 9.79442381e-01 -6.23876489e-03 -3.42804430e+01] [-3.52181078e-02 -8.84228952e-04 9.99379259e-01 -9.83619605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44587156 meters 0.03726681294813596 Centerline is valid? [True, True] Translation: X:239.18, Y:-34.29, Z:-9.84 [[ 9.78375293e-01 2.04037890e-01 3.39164469e-02 2.39175184e+02] [-2.03948809e-01 9.78962534e-01 -6.10247112e-03 -3.42908130e+01] [-3.44480662e-02 -9.46711975e-04 9.99406041e-01 -9.83804333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50587156 meters 0.0400493410124733 Centerline is valid? [True, True] Translation: X:239.23, Y:-34.30, Z:-9.84 [[ 9.78294225e-01 2.04400024e-01 3.40740458e-02 2.39232844e+02] [-2.04310351e-01 9.78886970e-01 -6.13027909e-03 -3.42964417e+01] [-3.46076686e-02 -9.64463614e-04 9.99400510e-01 -9.83986253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56587156 meters 0.03746617246968061 Centerline is valid? [True, True] Translation: X:239.29, Y:-34.31, Z:-9.84 [[ 9.78571672e-01 2.03171733e-01 3.34474108e-02 2.39290523e+02] [-2.03084681e-01 9.79142699e-01 -6.01551894e-03 -3.43061048e+01] [-3.39719715e-02 -9.06040325e-04 9.99422375e-01 -9.84333081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62587156 meters 0.03331679840822213 Centerline is valid? [True, True] Translation: X:239.35, Y:-34.32, Z:-9.84 [[ 9.78786424e-01 2.02278877e-01 3.25636724e-02 2.39347304e+02] [-2.02195919e-01 9.79327590e-01 -5.85513670e-03 -3.43204109e+01] [-3.30748732e-02 -8.53313338e-04 9.99452512e-01 -9.84492015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68587156 meters 0.0349155234148323 Centerline is valid? [True, True] Translation: X:239.40, Y:-34.33, Z:-9.85 [[ 9.79073130e-01 2.01046343e-01 3.15622257e-02 2.39404957e+02] [-2.00967818e-01 9.79581414e-01 -5.67356089e-03 -3.43289931e+01] [-3.20584184e-02 -7.88160611e-04 9.99485686e-01 -9.84883770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74587156 meters 0.03864155204179551 Centerline is valid? [True, True] Translation: X:239.46, Y:-34.33, Z:-9.85 [[ 9.79514558e-01 1.98885445e-01 3.15564769e-02 2.39463202e+02] [-1.98805878e-01 9.80022481e-01 -5.67095587e-03 -3.43334873e+01] [-3.20539274e-02 -7.18829274e-04 9.99485882e-01 -9.85352050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80587156 meters 0.029723108501678988 Centerline is valid? [True, True] Translation: X:239.52, Y:-34.35, Z:-9.86 [[ 9.80097698e-01 1.96054485e-01 3.11631425e-02 2.39521163e+02] [-1.95975511e-01 9.80592808e-01 -5.59861592e-03 -3.43458447e+01] [-3.16559871e-02 -6.20022201e-04 9.99498631e-01 -9.85519026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86587156000002 meters 0.02748911143141037 Centerline is valid? [True, True] Translation: X:239.58, Y:-34.36, Z:-9.86 [[ 9.81029535e-01 1.91405626e-01 3.07398268e-02 2.39578073e+02] [-1.91326524e-01 9.81510912e-01 -5.52180310e-03 -3.43550335e+01] [-3.12283797e-02 -4.64292287e-04 9.99512167e-01 -9.86128924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92587156 meters 0.022218275775476557 Centerline is valid? [True, True] Translation: X:239.63, Y:-34.37, Z:-9.86 [[ 9.81827598e-01 1.87220797e-01 3.10312846e-02 2.39634783e+02] [-1.87138167e-01 9.82317800e-01 -5.57192702e-03 -3.43713999e+01] [-3.15257638e-02 -3.36465992e-04 9.99502883e-01 -9.86156410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98587156 meters 0.02067326941406165 Centerline is valid? [True, True] Translation: X:239.69, Y:-34.38, Z:-9.86 [[ 9.82223191e-01 1.85218747e-01 3.05224455e-02 2.39692432e+02] [-1.85137882e-01 9.82697280e-01 -5.47915174e-03 -3.43829824e+01] [-3.10091658e-02 -2.69111021e-04 9.99519064e-01 -9.86423271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04587156 meters 0.024209187683513777 Centerline is valid? [True, True] Translation: X:239.75, Y:-34.39, Z:-9.87 [[ 9.82595762e-01 1.83137553e-01 3.10838543e-02 2.39750592e+02] [-1.83052693e-01 9.83087276e-01 -5.57838384e-03 -3.43938901e+01] [-3.15797532e-02 -2.08686931e-04 9.99501213e-01 -9.86684463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10587156 meters 0.018076644097160973 Centerline is valid? [True, True] Translation: X:239.81, Y:-34.41, Z:-9.87 [[ 9.83032785e-01 1.80635868e-01 3.18939831e-02 2.39808153e+02] [-1.80545261e-01 9.83550032e-01 -5.72217857e-03 -3.44052616e+01] [-3.24029588e-02 -1.33218360e-04 9.99474877e-01 -9.86797617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16587156 meters 0.020968772575203732 Centerline is valid? [True, True] Translation: X:239.86, Y:-34.42, Z:-9.87 [[ 9.83786154e-01 1.76575437e-01 3.13993505e-02 2.39864758e+02] [-1.76485597e-01 9.84287110e-01 -5.63197421e-03 -3.44223792e+01] [-3.19004442e-02 -8.74851156e-07 9.99491051e-01 -9.87288540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22587156 meters 0.01776152974915989 Centerline is valid? [True, True] Translation: X:239.92, Y:-34.44, Z:-9.88 [[ 9.84424100e-01 1.72974596e-01 3.14480742e-02 2.39921374e+02] [-1.72882692e-01 9.84926280e-01 -5.63904330e-03 -3.44411289e+01] [-3.19494459e-02 1.14382408e-04 9.99489480e-01 -9.87585480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28587156 meters 0.01871649079168633 Centerline is valid? [True, True] Translation: X:239.98, Y:-34.46, Z:-9.88 [[ 9.84646067e-01 1.72031007e-01 2.96218716e-02 2.39979188e+02] [-1.71949068e-01 9.85091526e-01 -5.31073459e-03 -3.44571415e+01] [-3.00938657e-02 1.35740734e-04 9.99547068e-01 -9.88177874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34587156 meters 0.017637849580557956 Centerline is valid? [True, True] Translation: X:240.04, Y:-34.46, Z:-9.88 [[ 9.83977720e-01 1.75728680e-01 3.01210518e-02 2.40036588e+02] [-1.75645696e-01 9.84438637e-01 -5.39991357e-03 -3.44622573e+01] [-3.06012469e-02 2.27615284e-05 9.99531672e-01 -9.88367986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40587156 meters 0.02131053870309562 Centerline is valid? [True, True] Translation: X:240.10, Y:-34.47, Z:-9.89 [[ 9.83335200e-01 1.79231929e-01 3.04597961e-02 2.40095021e+02] [-1.79148804e-01 9.83806845e-01 -5.45876697e-03 -3.44679823e+01] [-3.09449412e-02 -8.90383490e-05 9.99521087e-01 -9.88573852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46587156 meters 0.02042354796708963 Centerline is valid? [True, True] Translation: X:240.15, Y:-34.47, Z:-9.89 [[ 9.82390724e-01 1.84197207e-01 3.13026119e-02 2.40154350e+02] [-1.84111982e-01 9.82889274e-01 -5.60834214e-03 -3.44721794e+01] [-3.18000425e-02 -2.53602625e-04 9.99494219e-01 -9.88704153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52587156 meters 0.02186213503734725 Centerline is valid? [True, True] Translation: X:240.21, Y:-34.48, Z:-9.89 [[ 9.81584109e-01 1.88392323e-01 3.16380978e-02 2.40213017e+02] [-1.88307482e-01 9.82093772e-01 -5.66705579e-03 -3.44806386e+01] [-3.21392086e-02 -3.94998633e-04 9.99483324e-01 -9.88641911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58587156000002 meters 0.036711146613315405 Centerline is valid? [True, True] Translation: X:240.27, Y:-34.48, Z:-9.89 [[ 9.80900013e-01 1.91910642e-01 3.17091536e-02 2.40271838e+02] [-1.91827299e-01 9.81412269e-01 -5.67845908e-03 -3.44808256e+01] [-3.22095091e-02 -5.12680695e-04 9.99481008e-01 -9.89162782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64587156000002 meters 0.03128562037462504 Centerline is valid? [True, True] Translation: X:240.33, Y:-34.49, Z:-9.89 [[ 9.80410189e-01 1.94322963e-01 3.21628127e-02 2.40331047e+02] [-1.94238602e-01 9.80937420e-01 -5.75703155e-03 -3.44858802e+01] [-3.26684299e-02 -6.03007364e-04 9.99466062e-01 -9.89408408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70587156 meters 0.026697656203788032 Centerline is valid? [True, True] Translation: X:240.39, Y:-34.50, Z:-9.89 [[ 9.80328809e-01 1.94874094e-01 3.12971727e-02 2.40387387e+02] [-1.94794533e-01 9.80828079e-01 -5.60083840e-03 -3.45027243e+01] [-3.17886041e-02 -6.05854911e-04 9.99494431e-01 -9.89486630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76587156 meters 0.026907098784834677 Centerline is valid? [True, True] Translation: X:240.44, Y:-34.51, Z:-9.90 [[ 9.80557298e-01 1.93677394e-01 3.15666442e-02 2.40443797e+02] [-1.93595885e-01 9.81065104e-01 -5.64758554e-03 -3.45129782e+01] [-3.20627427e-02 -5.73391202e-04 9.99485694e-01 -9.89738151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82587156 meters 0.025864852539919433 Centerline is valid? [True, True] Translation: X:240.50, Y:-34.52, Z:-9.90 [[ 9.80764569e-01 1.92656973e-01 3.13711840e-02 2.40501152e+02] [-1.92576014e-01 9.81266019e-01 -5.61054906e-03 -3.45239030e+01] [-3.18643883e-02 -5.38709844e-04 9.99492056e-01 -9.90008498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88587156 meters 0.02420944561725779 Centerline is valid? [True, True] Translation: X:240.56, Y:-34.54, Z:-9.90 [[ 9.81111106e-01 1.90757962e-01 3.21309322e-02 2.40558973e+02] [-1.90672068e-01 9.81636980e-01 -5.74483078e-03 -3.45354281e+01] [-3.26367835e-02 -4.90154000e-04 9.99467158e-01 -9.90248012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94587156 meters 0.02119945014346581 Centerline is valid? [True, True] Translation: X:240.62, Y:-34.55, Z:-9.90 [[ 9.81615410e-01 1.87995166e-01 3.30000536e-02 2.40616166e+02] [-1.87903054e-01 9.82169868e-01 -5.89860414e-03 -3.45493674e+01] [-3.35205673e-02 -4.10650128e-04 9.99437944e-01 -9.90291591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00587156 meters 0.01780493437525879 Centerline is valid? [True, True] Translation: X:240.67, Y:-34.57, Z:-9.91 [[ 9.82481684e-01 1.83324070e-01 3.34966704e-02 2.40672592e+02] [-1.83226507e-01 9.83052501e-01 -5.98560457e-03 -3.45675894e+01] [-3.40262910e-02 -2.56731076e-04 9.99420905e-01 -9.90506746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06587156 meters 0.015596578664872582 Centerline is valid? [True, True] Translation: X:240.73, Y:-34.59, Z:-9.91 [[ 9.83492517e-01 1.78020484e-01 3.24218434e-02 2.40729845e+02] [-1.77926244e-01 9.84026779e-01 -5.79218766e-03 -3.45881132e+01] [-3.29350902e-02 -7.21236069e-05 9.99457490e-01 -9.90999399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12587156 meters 0.02559983533251189 Centerline is valid? [True, True] Translation: X:240.79, Y:-34.61, Z:-9.91 [[ 9.83980480e-01 1.75472661e-01 3.14922254e-02 2.40786930e+02] [-1.75382456e-01 9.84484304e-01 -5.62574583e-03 -3.46054082e+01] [-3.19907662e-02 1.24402427e-05 9.99488164e-01 -9.91348952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18587156 meters 0.015462526357558546 Centerline is valid? [True, True] Translation: X:240.85, Y:-34.62, Z:-9.92 [[ 9.83945940e-01 1.75599046e-01 3.18647416e-02 2.40845717e+02] [-1.75506769e-01 9.84461769e-01 -5.69202187e-03 -3.46179324e+01] [-3.23691335e-02 8.16398747e-06 9.99475982e-01 -9.91607274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24587156 meters 0.01523092145465433 Centerline is valid? [True, True] Translation: X:240.90, Y:-34.63, Z:-9.92 [[ 9.83661602e-01 1.76990557e-01 3.29271126e-02 2.40904361e+02] [-1.76892829e-01 9.84212549e-01 -5.88099078e-03 -3.46284922e+01] [-3.34481572e-02 -3.96652723e-05 9.99440453e-01 -9.91687619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30587156 meters 0.015963913450805743 Centerline is valid? [True, True] Translation: X:240.96, Y:-34.64, Z:-9.92 [[ 9.83208086e-01 1.79506788e-01 3.28507583e-02 2.40962688e+02] [-1.79410937e-01 9.83756727e-01 -5.86669469e-03 -3.46372578e+01] [-3.33702660e-02 -1.25603692e-04 9.99443050e-01 -9.92067811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36587156000002 meters 0.017114395780751246 Centerline is valid? [True, True] Translation: X:241.02, Y:-34.65, Z:-9.93 [[ 9.82896933e-01 1.81370193e-01 3.19135104e-02 2.41021724e+02] [-1.81280756e-01 9.83414876e-01 -5.69813874e-03 -3.46459956e+01] [-3.24176934e-02 -1.84622184e-04 9.99474391e-01 -9.92554425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42587156 meters 0.03038442943630056 Centerline is valid? [True, True] Translation: X:241.08, Y:-34.65, Z:-9.93 [[ 9.81696605e-01 1.88118302e-01 2.97200251e-02 2.41081512e+02] [-1.88043840e-01 9.82146303e-01 -5.30601419e-03 -3.46458446e+01] [-3.01875712e-02 -3.79771544e-04 9.99544179e-01 -9.93218809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48587156 meters 0.026510611113853694 Centerline is valid? [True, True] Translation: X:241.14, Y:-34.65, Z:-9.93 [[ 9.80812614e-01 1.92489575e-01 3.08930495e-02 2.41141287e+02] [-1.92411323e-01 9.81298872e-01 -5.51420958e-03 -3.46491396e+01] [-3.13767425e-02 -5.35766209e-04 9.99507485e-01 -9.93278586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54587156 meters 0.025288029967581078 Centerline is valid? [True, True] Translation: X:241.20, Y:-34.66, Z:-9.93 [[ 9.80420666e-01 1.94337379e-01 3.17537601e-02 2.41199588e+02] [-1.94255689e-01 9.80934559e-01 -5.66734201e-03 -3.46597347e+01] [-3.22497370e-02 -6.11969312e-04 9.99479655e-01 -9.93141212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60587156 meters 0.03130739031804124 Centerline is valid? [True, True] Translation: X:241.26, Y:-34.66, Z:-9.93 [[ 9.79264776e-01 1.99822183e-01 3.33405700e-02 2.41259338e+02] [-1.99735359e-01 9.79831822e-01 -5.94865891e-03 -3.46588569e+01] [-3.38568255e-02 -8.33978609e-04 9.99426345e-01 -9.93188638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66587156 meters 0.03361476507881403 Centerline is valid? [True, True] Translation: X:241.32, Y:-34.66, Z:-9.94 [[ 9.79012995e-01 2.01157039e-01 3.27017084e-02 2.41316848e+02] [-2.01074287e-01 9.79558625e-01 -5.83370678e-03 -3.46648873e+01] [-3.32067316e-02 -8.64197943e-04 9.99448131e-01 -9.93697120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72587156 meters 0.03401839150625373 Centerline is valid? [True, True] Translation: X:241.38, Y:-34.67, Z:-9.94 [[ 9.78857120e-01 2.02106857e-01 3.14889973e-02 2.41375170e+02] [-2.02030683e-01 9.79363094e-01 -5.61544193e-03 -3.46720128e+01] [-3.19740811e-02 -8.65028306e-04 9.99488324e-01 -9.94187949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78587156 meters 0.03936470378444971 Centerline is valid? [True, True] Translation: X:241.43, Y:-34.68, Z:-9.94 [[ 9.78839702e-01 2.02282177e-01 3.08991732e-02 2.41433249e+02] [-2.02208953e-01 9.79326906e-01 -5.50913481e-03 -3.46779291e+01] [-3.13747914e-02 -8.55529574e-04 9.99507324e-01 -9.94494033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84587156 meters 0.0338376162881124 Centerline is valid? [True, True] Translation: X:241.49, Y:-34.68, Z:-9.94 [[ 9.79010019e-01 2.01049955e-01 3.34409812e-02 2.41491845e+02] [-2.00963578e-01 9.79580589e-01 -5.95905837e-03 -3.46836076e+01] [-3.39562045e-02 -8.86441380e-04 9.99422929e-01 -9.94457717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90587156 meters 0.029728513917195706 Centerline is valid? [True, True] Translation: X:241.55, Y:-34.70, Z:-9.95 [[ 9.79607124e-01 1.97955560e-01 3.44017304e-02 2.41550887e+02] [-1.97862304e-01 9.80210667e-01 -6.12846096e-03 -3.46950991e+01] [-3.49341061e-02 -8.03321610e-04 9.99389295e-01 -9.94523924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96587156 meters 0.033211320218996546 Centerline is valid? [True, True] Translation: X:241.61, Y:-34.70, Z:-9.95 [[ 9.80004727e-01 1.95971110e-01 3.44392053e-02 2.41608748e+02] [-1.95876463e-01 9.80609394e-01 -6.13406658e-03 -3.46978094e+01] [-3.49735081e-02 -7.34415467e-04 9.99387970e-01 -9.95010063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02587156 meters 0.025423874183468486 Centerline is valid? [True, True] Translation: X:241.67, Y:-34.71, Z:-9.95 [[ 9.80556473e-01 1.93286516e-01 3.39017219e-02 2.41666119e+02] [-1.93193272e-01 9.81142153e-01 -6.03613505e-03 -3.47131451e+01] [-3.44291119e-02 -6.30813288e-04 9.99406943e-01 -9.95139651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08587156000002 meters 0.02229476466212515 Centerline is valid? [True, True] Translation: X:241.72, Y:-34.72, Z:-9.96 [[ 9.81399783e-01 1.89098984e-01 3.31065060e-02 2.41723579e+02] [-1.89007717e-01 9.81957917e-01 -5.89347611e-03 -3.47225118e+01] [-3.36236460e-02 -4.73528943e-04 9.99434453e-01 -9.95659780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14587156000002 meters 0.0192986613350958 Centerline is valid? [True, True] Translation: X:241.78, Y:-34.74, Z:-9.96 [[ 9.82360520e-01 1.83984933e-01 3.34268470e-02 2.41780881e+02] [-1.83888984e-01 9.82929017e-01 -5.94886662e-03 -3.47361166e+01] [-3.39507197e-02 -3.02897218e-04 9.99423462e-01 -9.95778036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20587156 meters 0.01462108059435588 Centerline is valid? [True, True] Translation: X:241.84, Y:-34.75, Z:-9.96 [[ 9.83319487e-01 1.78896909e-01 3.28433005e-02 2.41837880e+02] [-1.78801493e-01 9.83867816e-01 -5.84347305e-03 -3.47515828e+01] [-3.33588456e-02 -1.26430248e-04 9.99443431e-01 -9.96303117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26587156 meters 0.014013460339104666 Centerline is valid? [True, True] Translation: X:241.89, Y:-34.76, Z:-9.97 [[ 9.84021948e-01 1.75127672e-01 3.21108228e-02 2.41894341e+02] [-1.75034502e-01 9.84545732e-01 -5.71178473e-03 -3.47639874e+01] [-3.26148652e-02 1.96411971e-08 9.99467994e-01 -9.96732772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32587156 meters 0.025783035849102003 Centerline is valid? [True, True] Translation: X:241.95, Y:-34.77, Z:-9.97 [[ 9.84368702e-01 1.73300563e-01 3.13874839e-02 2.41952332e+02] [-1.73210677e-01 9.84868982e-01 -5.58121638e-03 -3.47737875e+01] [-3.18797872e-02 5.73274100e-05 9.99491709e-01 -9.96993985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38587156 meters 0.013312240172845418 Centerline is valid? [True, True] Translation: X:242.01, Y:-34.78, Z:-9.97 [[ 9.84255102e-01 1.73696456e-01 3.27327872e-02 2.42011162e+02] [-1.73598968e-01 9.84799238e-01 -5.81887152e-03 -3.47807527e+01] [-3.32459412e-02 4.48759112e-05 9.99447200e-01 -9.96899065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44587156 meters 0.013468040081400432 Centerline is valid? [True, True] Translation: X:242.07, Y:-34.79, Z:-9.97 [[ 9.84059809e-01 1.74624543e-01 3.36535444e-02 2.42069186e+02] [-1.74522091e-01 9.84635094e-01 -5.98090339e-03 -3.47870232e+01] [-3.41808734e-02 1.22797139e-05 9.99415663e-01 -9.97162212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50587156 meters 0.01288434334828076 Centerline is valid? [True, True] Translation: X:242.13, Y:-34.80, Z:-9.97 [[ 9.84069825e-01 1.74476344e-01 3.41260230e-02 2.42127354e+02] [-1.74370983e-01 9.84661366e-01 -6.06262057e-03 -3.47954922e+01] [-3.46603603e-02 1.54538073e-05 9.99399149e-01 -9.97133856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56587156 meters 0.01336415082179348 Centerline is valid? [True, True] Translation: X:242.18, Y:-34.80, Z:-9.98 [[ 9.84100328e-01 1.74418717e-01 3.35358884e-02 2.42183908e+02] [-1.74316987e-01 9.84671575e-01 -5.95627675e-03 -3.48045245e+01] [-3.40607222e-02 1.56988943e-05 9.99419765e-01 -9.97791788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62587156 meters 0.01306471230681897 Centerline is valid? [True, True] Translation: X:242.24, Y:-34.81, Z:-9.98 [[ 9.83526515e-01 1.77464366e-01 3.43801224e-02 2.42243196e+02] [-1.77359395e-01 9.84127222e-01 -6.10368316e-03 -3.48088956e+01] [-3.49176006e-02 -9.45034803e-05 9.99390190e-01 -9.97658478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68587156 meters 0.014254819617498705 Centerline is valid? [True, True] Translation: X:242.30, Y:-34.81, Z:-9.98 [[ 9.83126954e-01 1.79732407e-01 3.40243199e-02 2.42301014e+02] [-1.79631010e-01 9.83715523e-01 -6.03896144e-03 -3.48130046e+01] [-3.45556488e-02 -1.74757197e-04 9.99402760e-01 -9.97986740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74587156 meters 0.015829039357763672 Centerline is valid? [True, True] Translation: X:242.36, Y:-34.82, Z:-9.98 [[ 9.82575735e-01 1.82736085e-01 3.39477293e-02 2.42359754e+02] [-1.82637009e-01 9.83161962e-01 -6.02322095e-03 -3.48165704e+01] [-3.44767760e-02 -2.81840976e-04 9.99405460e-01 -9.98259138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80587156 meters 0.01625134276820239 Centerline is valid? [True, True] Translation: X:242.42, Y:-34.82, Z:-9.98 [[ 9.82498165e-01 1.83146982e-01 3.39784954e-02 2.42418090e+02] [-1.83048030e-01 9.83085497e-01 -6.02699768e-03 -3.48222459e+01] [-3.45075925e-02 -2.98182468e-04 9.99404391e-01 -9.98496675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86587156000002 meters 0.015786876468941287 Centerline is valid? [True, True] Translation: X:242.48, Y:-34.83, Z:-9.99 [[ 9.82648704e-01 1.82361470e-01 3.38499290e-02 2.42475539e+02] [-1.82262854e-01 9.83231519e-01 -6.00262318e-03 -3.48309607e+01] [-3.43769643e-02 -2.71114774e-04 9.99408901e-01 -9.98805072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92587156 meters 0.01496885336271661 Centerline is valid? [True, True] Translation: X:242.53, Y:-34.84, Z:-9.99 [[ 9.82795151e-01 1.81456450e-01 3.44564746e-02 2.42533227e+02] [-1.81353789e-01 9.83398951e-01 -6.10794719e-03 -3.48402251e+01] [-3.49927874e-02 -2.45951342e-04 9.99387535e-01 -9.98891073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98587156 meters 0.013178072188061189 Centerline is valid? [True, True] Translation: X:242.59, Y:-34.85, Z:-9.99 [[ 9.83241380e-01 1.78910413e-01 3.50350246e-02 2.42591228e+02] [-1.78802720e-01 9.83865356e-01 -6.20878231e-03 -3.48502672e+01] [-3.55805627e-02 -1.59625986e-04 9.99366799e-01 -9.98983235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04587156 meters 0.014639932619297082 Centerline is valid? [True, True] Translation: X:242.65, Y:-34.86, Z:-9.99 [[ 9.83859451e-01 1.75438260e-01 3.52419753e-02 2.42647958e+02] [-1.75327124e-01 9.84490434e-01 -6.24373143e-03 -3.48647259e+01] [-3.57907769e-02 -3.59199755e-05 9.99359304e-01 -9.99186331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10587156 meters 0.013095377816515937 Centerline is valid? [True, True] Translation: X:242.70, Y:-34.88, Z:-10.00 [[ 9.84830245e-01 1.69954958e-01 3.49957375e-02 2.42703730e+02] [-1.69841965e-01 9.85451819e-01 -6.19841790e-03 -3.48840169e+01] [-3.55400650e-02 1.60644597e-04 9.99368239e-01 -9.99546573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16587156 meters 0.017142341312786167 Centerline is valid? [True, True] Translation: X:242.76, Y:-34.90, Z:-10.00 [[ 9.85836831e-01 1.64133560e-01 3.44371596e-02 2.42760219e+02] [-1.64020655e-01 9.86438058e-01 -6.09769234e-03 -3.49045760e+01] [-3.49709608e-02 3.62924201e-04 9.99388263e-01 -9.99987886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22587156 meters 0.02642604775739672 Centerline is valid? [True, True] Translation: X:242.82, Y:-34.92, Z:-10.00 [[ 9.86460914e-01 1.60513140e-01 3.36213701e-02 2.42817784e+02] [-1.60403446e-01 9.87033587e-01 -5.95246934e-03 -3.49231080e+01] [-3.41408711e-02 4.78894724e-04 9.99416916e-01 -1.00035333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28587156 meters 0.021797300464241748 Centerline is valid? [True, True] Translation: X:242.88, Y:-34.94, Z:-10.01 [[ 9.86579277e-01 1.59785604e-01 3.36138602e-02 2.42875459e+02] [-1.59675568e-01 9.87151613e-01 -5.95025894e-03 -3.49387280e+01] [-3.41327420e-02 5.03089961e-04 9.99417182e-01 -1.00066401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34587156 meters 0.022158292895325987 Centerline is valid? [True, True] Translation: X:242.93, Y:-34.95, Z:-10.01 [[ 9.86601242e-01 1.59730111e-01 3.32307255e-02 2.42932867e+02] [-1.59622550e-01 9.87160596e-01 -5.88205713e-03 -3.49540875e+01] [-3.37436044e-02 4.98871725e-04 9.99430398e-01 -1.00099444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40587156 meters 0.020975589664652634 Centerline is valid? [True, True] Translation: X:242.99, Y:-34.97, Z:-10.01 [[ 9.86319258e-01 1.61131668e-01 3.47980925e-02 2.42991159e+02] [-1.61014605e-01 9.86932806e-01 -6.15907039e-03 -3.49681495e+01] [-3.53358004e-02 4.71808628e-04 9.99375384e-01 -1.00102341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46587156 meters 0.019285587151196663 Centerline is valid? [True, True] Translation: X:243.05, Y:-34.98, Z:-10.01 [[ 9.86083495e-01 1.62629488e-01 3.45107391e-02 2.43050219e+02] [-1.62515278e-01 9.86687123e-01 -6.10790600e-03 -3.49785375e+01] [-3.50446275e-02 4.14382934e-04 9.99385662e-01 -1.00130288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52587156 meters 0.0176887220156264 Centerline is valid? [True, True] Translation: X:243.11, Y:-34.99, Z:-10.02 [[ 9.85784900e-01 1.64425753e-01 3.45297235e-02 2.43109219e+02] [-1.64312546e-01 9.86389400e-01 -6.11048361e-03 -3.49894151e+01] [-3.50644741e-02 3.49955700e-04 9.99384991e-01 -1.00160366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58587156000002 meters 0.015090639786576307 Centerline is valid? [True, True] Translation: X:243.17, Y:-35.00, Z:-10.02 [[ 9.85243890e-01 1.67874757e-01 3.33548196e-02 2.43166719e+02] [-1.67771121e-01 9.85808307e-01 -5.90194341e-03 -3.49985631e+01] [-3.38722456e-02 2.18878191e-04 9.99426147e-01 -1.00214272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64587156000002 meters 0.012252856854588668 Centerline is valid? [True, True] Translation: X:243.23, Y:-35.01, Z:-10.02 [[ 9.84471954e-01 1.72330633e-01 3.34234198e-02 2.43225921e+02] [-1.72229176e-01 9.85039161e-01 -5.91288700e-03 -3.50053577e+01] [-3.39423490e-02 6.45833623e-05 9.99423790e-01 -1.00219612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70587156 meters 0.01700424240079487 Centerline is valid? [True, True] Translation: X:243.28, Y:-35.01, Z:-10.03 [[ 9.83979352e-01 1.75095621e-01 3.35582978e-02 2.43283367e+02] [-1.74994974e-01 9.84551432e-01 -5.93602311e-03 -3.50136984e+01] [-3.40792419e-02 -3.16092961e-05 9.99419133e-01 -1.00268565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76587156 meters 0.01212429525554035 Centerline is valid? [True, True] Translation: X:243.34, Y:-35.03, Z:-10.03 [[ 9.83931123e-01 1.75108592e-01 3.48787327e-02 2.43339657e+02] [-1.74999917e-01 9.84549125e-01 -6.16839425e-03 -3.50290962e+01] [-3.54199646e-02 -3.45002322e-05 9.99372516e-01 -1.00280463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82587156 meters 0.011578220348638101 Centerline is valid? [True, True] Translation: X:243.40, Y:-35.05, Z:-10.03 [[ 9.84268711e-01 1.73015877e-01 3.57856354e-02 2.43397393e+02] [-1.72900171e-01 9.84919035e-01 -6.32661333e-03 -3.50466693e+01] [-3.63405580e-02 3.97450498e-05 9.99339463e-01 -1.00272133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88587156 meters 0.013491106412641946 Centerline is valid? [True, True] Translation: X:243.45, Y:-35.07, Z:-10.03 [[ 9.84870695e-01 1.69887434e-01 3.41756286e-02 2.43454759e+02] [-1.69780098e-01 9.85463464e-01 -6.03986585e-03 -3.50701221e+01] [-3.47049306e-02 1.46145324e-04 9.99397592e-01 -1.00346217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94587156 meters 0.014242143168402844 Centerline is valid? [True, True] Translation: X:243.51, Y:-35.09, Z:-10.04 [[ 9.85211501e-01 1.67832942e-01 3.45022022e-02 2.43513817e+02] [-1.67722100e-01 9.85815425e-01 -6.10283651e-03 -3.50908688e+01] [-3.50370601e-02 2.25802927e-04 9.99385988e-01 -1.00357308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00587156 meters 0.02330489065063103 Centerline is valid? [True, True] Translation: X:243.57, Y:-35.11, Z:-10.04 [[ 9.85258312e-01 1.67617143e-01 3.42133265e-02 2.43574220e+02] [-1.67507830e-01 9.85852138e-01 -6.05718979e-03 -3.51087154e+01] [-3.47445699e-02 2.36896513e-04 9.99396197e-01 -1.00381045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06587156 meters 0.014157468766156506 Centerline is valid? [True, True] Translation: X:243.63, Y:-35.12, Z:-10.04 [[ 9.85158088e-01 1.68096894e-01 3.47415499e-02 2.43633751e+02] [-1.67984226e-01 9.85770451e-01 -6.15779583e-03 -3.51233638e+01] [-3.52822996e-02 2.30369997e-04 9.99377359e-01 -1.00407537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12587156 meters 0.0207255684126067 Centerline is valid? [True, True] Translation: X:243.69, Y:-35.14, Z:-10.04 [[ 9.84742753e-01 1.70387944e-01 3.53505208e-02 2.43694953e+02] [-1.70272567e-01 9.85377047e-01 -6.27126675e-03 -3.51370670e+01] [-3.59021400e-02 1.56360566e-04 9.99355298e-01 -1.00412766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18587156 meters 0.011847697568364866 Centerline is valid? [True, True] Translation: X:243.76, Y:-35.14, Z:-10.05 [[ 9.83861569e-01 1.75628528e-01 3.42203574e-02 2.43756713e+02] [-1.75523388e-01 9.84456510e-01 -6.07627161e-03 -3.51446763e+01] [-3.47556202e-02 -2.82629360e-05 9.99395841e-01 -1.00459536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24587156 meters 0.014593394460761007 Centerline is valid? [True, True] Translation: X:243.82, Y:-35.15, Z:-10.05 [[ 9.82732425e-01 1.81837824e-01 3.42342908e-02 2.43817389e+02] [-1.81736119e-01 9.83328504e-01 -6.08568868e-03 -3.51465068e+01] [-3.47701623e-02 -2.41003542e-04 9.99395306e-01 -1.00491523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30587156 meters 0.01817261652842828 Centerline is valid? [True, True] Translation: X:243.88, Y:-35.15, Z:-10.05 [[ 9.81924462e-01 1.85939402e-01 3.53679278e-02 2.43876212e+02] [-1.85833497e-01 9.82561133e-01 -6.28743294e-03 -3.51506923e+01] [-3.59202327e-02 -3.98761494e-04 9.99354581e-01 -1.00495046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36587156000002 meters 0.018409267628526325 Centerline is valid? [True, True] Translation: X:243.93, Y:-35.16, Z:-10.05 [[ 9.81920156e-01 1.85872154e-01 3.58378357e-02 2.43934059e+02] [-1.85763416e-01 9.82573855e-01 -6.36969157e-03 -3.51601945e+01] [-3.63972686e-02 -4.02830244e-04 9.99337319e-01 -1.00515196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42587156 meters 0.016644925200262735 Centerline is valid? [True, True] Translation: X:243.99, Y:-35.17, Z:-10.06 [[ 9.82312175e-01 1.83842685e-01 3.55620275e-02 2.43992534e+02] [-1.83734332e-01 9.82955625e-01 -6.31937648e-03 -3.51729666e+01] [-3.61176661e-02 -3.26364911e-04 9.99347491e-01 -1.00552505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48587156 meters 0.015541153207480111 Centerline is valid? [True, True] Translation: X:244.05, Y:-35.19, Z:-10.06 [[ 9.82525657e-01 1.82668033e-01 3.57172685e-02 2.44050595e+02] [-1.82557986e-01 9.83174607e-01 -6.34614371e-03 -3.51861091e+01] [-3.62755491e-02 -2.85223594e-04 9.99341785e-01 -1.00571980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54587156 meters 0.01437168189284833 Centerline is valid? [True, True] Translation: X:244.11, Y:-35.20, Z:-10.06 [[ 9.82811878e-01 1.81141617e-01 3.56163857e-02 2.44109217e+02] [-1.81031218e-01 9.83456996e-01 -6.32740737e-03 -3.51962979e+01] [-3.61733405e-02 -2.29026543e-04 9.99345504e-01 -1.00604256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60587156 meters 0.012738568469192633 Centerline is valid? [True, True] Translation: X:244.17, Y:-35.21, Z:-10.06 [[ 9.83136397e-01 1.79632034e-01 3.42805769e-02 2.44169701e+02] [-1.79528922e-01 9.83733858e-01 -6.08788006e-03 -3.52097011e+01] [-3.48165425e-02 -1.69138564e-04 9.99393706e-01 -1.00637051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66587156 meters 0.012087969945540412 Centerline is valid? [True, True] Translation: X:244.23, Y:-35.22, Z:-10.07 [[ 9.83631566e-01 1.76973693e-01 3.39006547e-02 2.44229282e+02] [-1.76871069e-01 9.84215580e-01 -6.02640540e-03 -3.52238448e+01] [-3.44320677e-02 -6.82824639e-05 9.99407038e-01 -1.00683149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72587156 meters 0.01203904798476871 Centerline is valid? [True, True] Translation: X:244.29, Y:-35.24, Z:-10.07 [[ 9.84406439e-01 1.72388306e-01 3.50176407e-02 2.44290477e+02] [-1.72275704e-01 9.85029067e-01 -6.23056032e-03 -3.52406916e+01] [-3.55674696e-02 1.00714993e-04 9.99367272e-01 -1.00680769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78587156 meters 0.025989119434881056 Centerline is valid? [True, True] Translation: X:244.35, Y:-35.26, Z:-10.07 [[ 9.85431419e-01 1.66059014e-01 3.67331296e-02 2.44348669e+02] [-1.65930406e-01 9.86115753e-01 -6.54380758e-03 -3.52622076e+01] [-3.73097760e-02 3.53330471e-04 9.99303685e-01 -1.00682345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84587156 meters 0.024665684382394026 Centerline is valid? [True, True] Translation: X:244.41, Y:-35.28, Z:-10.07 [[ 9.86139082e-01 1.61959614e-01 3.60387984e-02 2.44407856e+02] [-1.61832877e-01 9.86797258e-01 -6.42580573e-03 -3.52813614e+01] [-3.66037085e-02 5.04475744e-04 9.99329732e-01 -1.00722605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90587156 meters 0.020442721115660988 Centerline is valid? [True, True] Translation: X:244.47, Y:-35.30, Z:-10.08 [[ 9.86396420e-01 1.60671050e-01 3.47407071e-02 2.44468646e+02] [-1.60552304e-01 9.87007865e-01 -6.19942195e-03 -3.52951969e+01] [-3.52854188e-02 5.37387036e-04 9.99377131e-01 -1.00771937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96587156 meters 0.01973899322883183 Centerline is valid? [True, True] Translation: X:244.53, Y:-35.31, Z:-10.08 [[ 9.86313545e-01 1.61155161e-01 3.48511716e-02 2.44530233e+02] [-1.61035752e-01 9.86928942e-01 -6.22501359e-03 -3.53079925e+01] [-3.53988230e-02 5.27530607e-04 9.99373126e-01 -1.00793499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02587156 meters 0.01971716627675558 Centerline is valid? [True, True] Translation: X:244.59, Y:-35.32, Z:-10.08 [[ 9.86056537e-01 1.62740176e-01 3.47583337e-02 2.44590235e+02] [-1.62622131e-01 9.86668844e-01 -6.21566903e-03 -3.53218433e+01] [-3.53065040e-02 4.76526780e-04 9.99376417e-01 -1.00827755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08587156000002 meters 0.01416888970525584 Centerline is valid? [True, True] Translation: X:244.65, Y:-35.33, Z:-10.08 [[ 9.84989026e-01 1.68999089e-01 3.51557591e-02 2.44651572e+02] [-1.68882070e-01 9.85616172e-01 -6.29340333e-03 -3.53274262e+01] [-3.57136641e-02 2.61755833e-04 9.99362029e-01 -1.00841309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14587156000002 meters 0.011609575645303035 Centerline is valid? [True, True] Translation: X:244.71, Y:-35.33, Z:-10.09 [[ 9.83961956e-01 1.74803098e-01 3.55351510e-02 2.44713503e+02] [-1.74687320e-01 9.84603410e-01 -6.36128252e-03 -3.53324758e+01] [-3.61000027e-02 5.17197011e-05 9.99348181e-01 -1.00856816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20587156 meters 0.026316724059900043 Centerline is valid? [True, True] Translation: X:244.78, Y:-35.33, Z:-10.09 [[ 9.82334530e-01 1.83862728e-01 3.48334271e-02 2.44776126e+02] [-1.83756935e-01 9.82951893e-01 -6.24212649e-03 -3.53304857e+01] [-3.53872776e-02 -2.69027399e-04 9.99373638e-01 -1.00894851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26587156 meters 0.020532101042935527 Centerline is valid? [True, True] Translation: X:244.84, Y:-35.33, Z:-10.09 [[ 9.81042493e-01 1.90757385e-01 3.41650113e-02 2.44837372e+02] [-1.90659657e-01 9.81637085e-01 -6.12610356e-03 -3.53301761e+01] [-3.47062415e-02 -5.03921406e-04 9.99397430e-01 -1.00948949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32587156 meters 0.03152249426579426 Centerline is valid? [True, True] Translation: X:244.90, Y:-35.33, Z:-10.10 [[ 9.80277932e-01 1.94511433e-01 3.49353572e-02 2.44896996e+02] [-1.94411619e-01 9.80900035e-01 -6.26445969e-03 -3.53316720e+01] [-3.54866022e-02 -6.50927781e-04 9.99369940e-01 -1.00955177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38587156 meters 0.02702433322209261 Centerline is valid? [True, True] Translation: X:244.96, Y:-35.34, Z:-10.10 [[ 9.79964277e-01 1.96007078e-01 3.53729022e-02 2.44955926e+02] [-1.95905761e-01 9.80602220e-01 -6.34180684e-03 -3.53379008e+01] [-3.59297855e-02 -7.15011188e-04 9.99354061e-01 -1.00983966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44587156 meters 0.025762813280646838 Centerline is valid? [True, True] Translation: X:245.01, Y:-35.35, Z:-10.10 [[ 9.79945687e-01 1.96002376e-01 3.59098840e-02 2.45014186e+02] [-1.95898018e-01 9.80603151e-01 -6.43636002e-03 -3.53475502e+01] [-3.64748873e-02 -7.27391880e-04 9.99334305e-01 -1.00992608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50587156 meters 0.02262162666602205 Centerline is valid? [True, True] Translation: X:245.07, Y:-35.36, Z:-10.10 [[ 9.80400459e-01 1.93719399e-01 3.58850156e-02 2.45072549e+02] [-1.93613726e-01 9.81056767e-01 -6.43002214e-03 -3.53593227e+01] [-3.64508574e-02 -6.43834919e-04 9.99335239e-01 -1.01014606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56587156 meters 0.018700902559414704 Centerline is valid? [True, True] Translation: X:245.13, Y:-35.37, Z:-10.10 [[ 9.81328679e-01 1.88925673e-01 3.60709479e-02 2.45130969e+02] [-1.88815701e-01 9.81991278e-01 -6.46229390e-03 -3.53729980e+01] [-3.66422495e-02 -4.69126971e-04 9.99328337e-01 -1.01048006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62587156 meters 0.02886806019082478 Centerline is valid? [True, True] Translation: X:245.19, Y:-35.39, Z:-10.11 [[ 9.82320194e-01 1.83837760e-01 3.53654469e-02 2.45189951e+02] [-1.83728749e-01 9.82956562e-01 -6.33589981e-03 -3.53877584e+01] [-3.59274758e-02 -2.73767003e-04 9.99354362e-01 -1.01074460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68587156 meters 0.012612216536583613 Centerline is valid? [True, True] Translation: X:245.25, Y:-35.40, Z:-10.11 [[ 9.82921533e-01 1.80622785e-01 3.52231482e-02 2.45250137e+02] [-1.80512591e-01 9.83552431e-01 -6.31024869e-03 -3.54006907e+01] [-3.57835877e-02 -1.55742432e-04 9.99359550e-01 -1.01112692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74587156 meters 0.01172871536248101 Centerline is valid? [True, True] Translation: X:245.31, Y:-35.41, Z:-10.11 [[ 9.83387325e-01 1.78070527e-01 3.52172875e-02 2.45310483e+02] [-1.77958702e-01 9.84017725e-01 -6.31005407e-03 -3.54126850e+01] [-3.57780698e-02 -6.19955741e-05 9.99359758e-01 -1.01145985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80587156 meters 0.020085572288267246 Centerline is valid? [True, True] Translation: X:245.37, Y:-35.42, Z:-10.12 [[ 9.83664710e-01 1.76531960e-01 3.52165501e-02 2.45372076e+02] [-1.76419158e-01 9.84294909e-01 -6.30980257e-03 -3.54218051e+01] [-3.57773528e-02 -6.14400355e-06 9.99359786e-01 -1.01150779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86587156000002 meters 0.011828309971851464 Centerline is valid? [True, True] Translation: X:245.43, Y:-35.43, Z:-10.12 [[ 9.83493119e-01 1.77374242e-01 3.57723768e-02 2.45432528e+02] [-1.77258138e-01 9.84143474e-01 -6.41678489e-03 -3.54284199e+01] [-3.63433235e-02 -3.00811248e-05 9.99339363e-01 -1.01198739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92587156 meters 0.018680603068697503 Centerline is valid? [True, True] Translation: X:245.49, Y:-35.43, Z:-10.12 [[ 9.82942014e-01 1.80281141e-01 3.63827935e-02 2.45494222e+02] [-1.80163010e-01 9.83615113e-01 -6.52680736e-03 -3.54304094e+01] [-3.69633258e-02 -1.39360409e-04 9.99316613e-01 -1.01183641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98587156 meters 0.013749754115393776 Centerline is valid? [True, True] Translation: X:245.55, Y:-35.43, Z:-10.12 [[ 9.82361506e-01 1.83261307e-01 3.71640204e-02 2.45554703e+02] [-1.83140173e-01 9.83064203e-01 -6.66706551e-03 -3.54321982e+01] [-3.77564333e-02 -2.56756597e-04 9.99286939e-01 -1.01213334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04587156 meters 0.01694933503061783 Centerline is valid? [True, True] Translation: X:245.62, Y:-35.43, Z:-10.13 [[ 9.81640628e-01 1.87217029e-01 3.64892043e-02 2.45615401e+02] [-1.87103015e-01 9.82318493e-01 -6.54519017e-03 -3.54283873e+01] [-3.70693912e-02 -4.02215535e-04 9.99312613e-01 -1.01252801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10587156 meters 0.01701534963286584 Centerline is valid? [True, True] Translation: X:245.67, Y:-35.43, Z:-10.13 [[ 9.81542481e-01 1.87786756e-01 3.62007230e-02 2.45674530e+02] [-1.87674971e-01 9.82209732e-01 -6.49219280e-03 -3.54304023e+01] [-3.67758502e-02 -4.21606601e-04 9.99323451e-01 -1.01279890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16587156 meters 0.01771656621526842 Centerline is valid? [True, True] Translation: X:245.73, Y:-35.43, Z:-10.13 [[ 9.81632711e-01 1.87339597e-01 3.60707055e-02 2.45732673e+02] [-1.87228377e-01 9.82295124e-01 -6.46712111e-03 -3.54340498e+01] [-3.66436260e-02 -4.05121992e-04 9.99328315e-01 -1.01315205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22587156 meters 0.014139080155824994 Centerline is valid? [True, True] Translation: X:245.79, Y:-35.44, Z:-10.13 [[ 9.82413498e-01 1.83356401e-01 3.52725083e-02 2.45790561e+02] [-1.83247561e-01 9.83046472e-01 -6.32178404e-03 -3.54438180e+01] [-3.58336544e-02 -2.52995167e-04 9.99357736e-01 -1.01349986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28587156 meters 0.012599615013134398 Centerline is valid? [True, True] Translation: X:245.85, Y:-35.45, Z:-10.14 [[ 9.82978948e-01 1.80378634e-01 3.48702870e-02 2.45848511e+02] [-1.80270450e-01 9.83597239e-01 -6.24798536e-03 -3.54541861e+01] [-3.54253211e-02 -1.44444242e-04 9.99372316e-01 -1.01386206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34587156 meters 0.011537394608228967 Centerline is valid? [True, True] Translation: X:245.91, Y:-35.47, Z:-10.14 [[ 9.83941297e-01 1.74875757e-01 3.57490471e-02 2.45905895e+02] [-1.74758480e-01 9.84590507e-01 -6.40363775e-03 -3.54675191e+01] [-3.63180135e-02 5.33544771e-05 9.99340282e-01 -1.01393487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40587156 meters 0.013070848454576503 Centerline is valid? [True, True] Translation: X:245.96, Y:-35.48, Z:-10.14 [[ 9.84751608e-01 1.70080111e-01 3.65653811e-02 2.45963961e+02] [-1.69954188e-01 9.85430211e-01 -6.54769951e-03 -3.54838515e+01] [-3.71462646e-02 2.33417961e-04 9.99309812e-01 -1.01404298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46587156 meters 0.02416175392673626 Centerline is valid? [True, True] Translation: X:246.02, Y:-35.50, Z:-10.14 [[ 9.85350651e-01 1.66817317e-01 3.54411675e-02 2.46021231e+02] [-1.66696894e-01 9.85987760e-01 -6.34684943e-03 -3.54990512e+01] [-3.60033217e-02 3.45939674e-04 9.99351610e-01 -1.01445867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52587156 meters 0.01753275625245263 Centerline is valid? [True, True] Translation: X:246.08, Y:-35.51, Z:-10.15 [[ 9.85803166e-01 1.64258841e-01 3.48016017e-02 2.46079761e+02] [-1.64141151e-01 9.86417177e-01 -6.23180632e-03 -3.55127957e+01] [-3.53525270e-02 4.30959451e-04 9.99374811e-01 -1.01485487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58587156000002 meters 0.03300516141312291 Centerline is valid? [True, True] Translation: X:246.14, Y:-35.53, Z:-10.15 [[ 9.85927291e-01 1.63578607e-01 3.44879239e-02 2.46137674e+02] [-1.63462610e-01 9.86530200e-01 -6.17572518e-03 -3.55268708e+01] [-3.50335950e-02 4.51329950e-04 9.99386033e-01 -1.01502188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64587156000002 meters 0.017107690689976553 Centerline is valid? [True, True] Translation: X:246.20, Y:-35.54, Z:-10.15 [[ 9.85706529e-01 1.64691495e-01 3.54873201e-02 2.46197188e+02] [-1.64569415e-01 9.86345037e-01 -6.35416219e-03 -3.55368830e+01] [-3.60492185e-02 4.23211639e-04 9.99349926e-01 -1.01522801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70587156 meters 0.015669573847878624 Centerline is valid? [True, True] Translation: X:246.26, Y:-35.55, Z:-10.15 [[ 9.85333238e-01 1.66726082e-01 3.63431419e-02 2.46256491e+02] [-1.66599421e-01 9.86003188e-01 -6.50746673e-03 -3.55452369e+01] [-3.69194182e-02 3.57276860e-04 9.99318182e-01 -1.01528527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76587156 meters 0.014041615597079487 Centerline is valid? [True, True] Translation: X:246.31, Y:-35.55, Z:-10.16 [[ 9.84909668e-01 1.69143677e-01 3.66519017e-02 2.46314543e+02] [-1.69016542e-01 9.85591368e-01 -6.56233583e-03 -3.55533627e+01] [-3.72337755e-02 2.68530335e-04 9.99306546e-01 -1.01559036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82587156 meters 0.01334468526261207 Centerline is valid? [True, True] Translation: X:246.37, Y:-35.56, Z:-10.16 [[ 9.84749437e-01 1.70177881e-01 3.61667576e-02 2.46373721e+02] [-1.70054812e-01 9.85413334e-01 -6.47478646e-03 -3.55616975e+01] [-3.67410706e-02 2.25711160e-04 9.99324793e-01 -1.01591385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88587156 meters 0.013805288658721427 Centerline is valid? [True, True] Translation: X:246.43, Y:-35.57, Z:-10.16 [[ 9.84865630e-01 1.69666600e-01 3.53968248e-02 2.46432725e+02] [-1.69548420e-01 9.85501490e-01 -6.33604046e-03 -3.55716894e+01] [-3.59586380e-02 2.38672744e-04 9.99353251e-01 -1.01637118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94587156 meters 0.014572338165581407 Centerline is valid? [True, True] Translation: X:246.49, Y:-35.58, Z:-10.17 [[ 9.85100846e-01 1.68531517e-01 3.42556587e-02 2.46491993e+02] [-1.68420168e-01 9.85696228e-01 -6.13128488e-03 -3.55843168e+01] [-3.47989884e-02 2.70590132e-04 9.99394295e-01 -1.01683619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00587156 meters 0.016009806539944268 Centerline is valid? [True, True] Translation: X:246.55, Y:-35.60, Z:-10.17 [[ 9.85387555e-01 1.67113019e-01 3.29333554e-02 2.46550351e+02] [-1.67009307e-01 9.85937698e-01 -5.89471701e-03 -3.55972652e+01] [-3.34553205e-02 3.08403915e-04 9.99440167e-01 -1.01732250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06587156 meters 0.016094645482400468 Centerline is valid? [True, True] Translation: X:246.61, Y:-35.61, Z:-10.18 [[ 9.85387454e-01 1.67050464e-01 3.32521737e-02 2.46608443e+02] [-1.66944708e-01 9.85948297e-01 -5.95147484e-03 -3.56089757e+01] [-3.37791206e-02 3.13234218e-04 9.99429274e-01 -1.01756543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12587156 meters 0.01623116581313094 Centerline is valid? [True, True] Translation: X:246.67, Y:-35.62, Z:-10.18 [[ 9.85343095e-01 1.67336843e-01 3.31265064e-02 2.46665919e+02] [-1.67232071e-01 9.85899736e-01 -5.92829468e-03 -3.56190471e+01] [-3.36514360e-02 3.01589973e-04 9.99433585e-01 -1.01794526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18587156 meters 0.025338606848375467 Centerline is valid? [True, True] Translation: X:246.72, Y:-35.63, Z:-10.18 [[ 9.85303436e-01 1.67488285e-01 3.35382290e-02 2.46724057e+02] [-1.67381023e-01 9.85874021e-01 -6.00067193e-03 -3.56303804e+01] [-3.40695109e-02 2.98819600e-04 9.99419421e-01 -1.01797481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24587156 meters 0.018071966898265703 Centerline is valid? [True, True] Translation: X:246.78, Y:-35.64, Z:-10.18 [[ 9.85357212e-01 1.67061683e-01 3.40816357e-02 2.46782698e+02] [-1.66950690e-01 9.85946395e-01 -6.09707912e-03 -3.56428322e+01] [-3.46212542e-02 3.17848301e-04 9.99400454e-01 -1.01820850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30587156 meters 0.016817378972697007 Centerline is valid? [True, True] Translation: X:246.84, Y:-35.66, Z:-10.19 [[ 9.85395721e-01 1.66763442e-01 3.44271269e-02 2.46840964e+02] [-1.66650036e-01 9.85996879e-01 -6.15797533e-03 -3.56557597e+01] [-3.49719648e-02 3.30760600e-04 9.99388239e-01 -1.01850496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36587156000002 meters 0.01619916406480637 Centerline is valid? [True, True] Translation: X:246.90, Y:-35.67, Z:-10.19 [[ 9.85460471e-01 1.66444093e-01 3.41177910e-02 2.46900257e+02] [-1.66332541e-01 9.86050835e-01 -6.10215991e-03 -3.56704831e+01] [-3.46575448e-02 3.38538501e-04 9.99399190e-01 -1.01865805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42587156 meters 0.016197107394845534 Centerline is valid? [True, True] Translation: X:246.96, Y:-35.68, Z:-10.19 [[ 9.85412528e-01 1.66670414e-01 3.43965556e-02 2.46959652e+02] [-1.66557169e-01 9.86012607e-01 -6.15201853e-03 -3.56841061e+01] [-3.49407969e-02 3.33283191e-04 9.99389328e-01 -1.01891811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48587156 meters 0.0149155276237949 Centerline is valid? [True, True] Translation: X:247.02, Y:-35.70, Z:-10.19 [[ 9.85128642e-01 1.68146498e-01 3.53314804e-02 2.47018782e+02] [-1.68027960e-01 9.85761975e-01 -6.31923511e-03 -3.56971358e+01] [-3.58909871e-02 2.88582920e-04 9.99355669e-01 -1.01895975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54587156 meters 0.012859773876624517 Centerline is valid? [True, True] Translation: X:247.08, Y:-35.71, Z:-10.19 [[ 9.84682871e-01 1.70632682e-01 3.58347898e-02 2.47079541e+02] [-1.70512392e-01 9.85334688e-01 -6.40911149e-03 -3.57079356e+01] [-3.64028653e-02 2.00666592e-04 9.99337176e-01 -1.01903708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60587156 meters 0.012152761031749927 Centerline is valid? [True, True] Translation: X:247.14, Y:-35.72, Z:-10.19 [[ 9.84440595e-01 1.72061611e-01 3.56583371e-02 2.47139546e+02] [-1.71943409e-01 9.85086179e-01 -6.37841412e-03 -3.57204992e+01] [-3.62240152e-02 1.47953770e-04 9.99343684e-01 -1.01926809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66587156 meters 0.012726623048113903 Centerline is valid? [True, True] Translation: X:247.20, Y:-35.74, Z:-10.20 [[ 9.84554008e-01 1.71466993e-01 3.53903252e-02 2.47198219e+02] [-1.71350162e-01 9.85189851e-01 -6.33090544e-03 -3.57383588e+01] [-3.59517305e-02 1.68980378e-04 9.99353513e-01 -1.01964627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72587156 meters 0.013849673643533 Centerline is valid? [True, True] Translation: X:247.26, Y:-35.75, Z:-10.20 [[ 9.84854076e-01 1.70090927e-01 3.36381453e-02 2.47258336e+02] [-1.69984494e-01 9.85428350e-01 -6.01992438e-03 -3.57548450e+01] [-3.41719165e-02 2.10783956e-04 9.99415947e-01 -1.02028113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78587156 meters 0.013586426763954933 Centerline is valid? [True, True] Translation: X:247.32, Y:-35.77, Z:-10.21 [[ 9.84799713e-01 1.70451870e-01 3.34018900e-02 2.47318075e+02] [-1.70346902e-01 9.85365982e-01 -5.98452410e-03 -3.57678905e+01] [-3.39331594e-02 2.03649151e-04 9.99424084e-01 -1.02051136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84587156 meters 0.014938068475572639 Centerline is valid? [True, True] Translation: X:247.38, Y:-35.78, Z:-10.21 [[ 9.84417982e-01 1.72530686e-01 3.39764594e-02 2.47377654e+02] [-1.72423278e-01 9.85004134e-01 -6.08841649e-03 -3.57773992e+01] [-3.45173917e-02 1.35214142e-04 9.99404088e-01 -1.02071011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90587156 meters 0.012678601593569075 Centerline is valid? [True, True] Translation: X:247.44, Y:-35.79, Z:-10.21 [[ 9.84305494e-01 1.73260485e-01 3.35186325e-02 2.47437466e+02] [-1.73156363e-01 9.84876029e-01 -6.00677750e-03 -3.57873337e+01] [-3.40524348e-02 1.08539608e-04 9.99420042e-01 -1.02116265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96587156 meters 0.013276385176330925 Centerline is valid? [True, True] Translation: X:247.50, Y:-35.80, Z:-10.21 [[ 9.84673123e-01 1.71201302e-01 3.33009683e-02 2.47497852e+02] [-1.71097383e-01 9.85236054e-01 -5.96682043e-03 -3.58011802e+01] [-3.38308420e-02 1.77659173e-04 9.99427557e-01 -1.02136624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02587156 meters 0.01471266972555306 Centerline is valid? [True, True] Translation: X:247.56, Y:-35.82, Z:-10.22 [[ 9.85020783e-01 1.69179252e-01 3.33532433e-02 2.47556704e+02] [-1.69073627e-01 9.85585266e-01 -5.98266670e-03 -3.58165004e+01] [-3.38846082e-02 2.53897223e-04 9.99425720e-01 -1.02164266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08587156000002 meters 0.015488196725950308 Centerline is valid? [True, True] Translation: X:247.62, Y:-35.83, Z:-10.22 [[ 9.85275855e-01 1.67524807e-01 3.41603285e-02 2.47617673e+02] [-1.67412932e-01 9.85867809e-01 -6.12975305e-03 -3.58293956e+01] [-3.47044539e-02 3.20616911e-04 9.99397568e-01 -1.02162729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14587156000002 meters 0.016290942789981198 Centerline is valid? [True, True] Translation: X:247.68, Y:-35.84, Z:-10.22 [[ 9.85486543e-01 1.66148672e-01 3.47978713e-02 2.47678229e+02] [-1.66031504e-01 9.86100640e-01 -6.25035690e-03 -3.58430263e+01] [-3.53526917e-02 3.82099724e-04 9.99374825e-01 -1.02171209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20587156 meters 0.018216867240132176 Centerline is valid? [True, True] Translation: X:247.74, Y:-35.86, Z:-10.22 [[ 9.85634293e-01 1.65109625e-01 3.55507003e-02 2.47737137e+02] [-1.64986417e-01 9.86275125e-01 -6.39216264e-03 -3.58588109e+01] [-3.61181790e-02 4.34952041e-04 9.99347431e-01 -1.02190667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26587156 meters 0.02112173867426349 Centerline is valid? [True, True] Translation: X:247.80, Y:-35.88, Z:-10.22 [[ 9.86111072e-01 1.62437091e-01 3.46286667e-02 2.47796921e+02] [-1.62318353e-01 9.86718763e-01 -6.23183038e-03 -3.58752220e+01] [-3.51810356e-02 5.24408781e-04 9.99380818e-01 -1.02239496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32587156 meters 0.021719016182968606 Centerline is valid? [True, True] Translation: X:247.86, Y:-35.89, Z:-10.23 [[ 9.86156539e-01 1.62327815e-01 3.38372772e-02 2.47857552e+02] [-1.62214190e-01 9.86736747e-01 -6.09494172e-03 -3.58887668e+01] [-3.43778634e-02 5.21680130e-04 9.99408770e-01 -1.02284339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38587156 meters 0.020733941290272066 Centerline is valid? [True, True] Translation: X:247.92, Y:-35.90, Z:-10.23 [[ 9.85919669e-01 1.63917309e-01 3.30684356e-02 2.47917292e+02] [-1.63809500e-01 9.86473975e-01 -5.96192142e-03 -3.59004032e+01] [-3.35984132e-02 4.61051706e-04 9.99435308e-01 -1.02331789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44587156 meters 0.01824415528949657 Centerline is valid? [True, True] Translation: X:247.98, Y:-35.91, Z:-10.24 [[ 9.85426636e-01 1.67001896e-01 3.23219875e-02 2.47978726e+02] [-1.66900404e-01 9.85956511e-01 -5.83205214e-03 -3.59079040e+01] [-3.28420378e-02 3.52506762e-04 9.99460493e-01 -1.02370113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50587156 meters 0.01617348028869939 Centerline is valid? [True, True] Translation: X:248.04, Y:-35.92, Z:-10.24 [[ 9.85116706e-01 1.68787310e-01 3.24949235e-02 2.48040082e+02] [-1.68685525e-01 9.85652451e-01 -5.86854428e-03 -3.59188853e+01] [-3.30192368e-02 2.99777792e-04 9.99454671e-01 -1.02385361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56587156 meters 0.01675007755909805 Centerline is valid? [True, True] Translation: X:248.10, Y:-35.93, Z:-10.24 [[ 9.84879468e-01 1.69982039e-01 3.34445653e-02 2.48102110e+02] [-1.69874674e-01 9.85447123e-01 -6.04681569e-03 -3.59283526e+01] [-3.39857007e-02 2.74000008e-04 9.99422282e-01 -1.02375912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62587156 meters 0.014868329198269236 Centerline is valid? [True, True] Translation: X:248.16, Y:-35.94, Z:-10.24 [[ 9.84859097e-01 1.70075049e-01 3.35713577e-02 2.48162488e+02] [-1.69966883e-01 9.85431075e-01 -6.07087110e-03 -3.59419208e+01] [-3.41147628e-02 2.72933611e-04 9.99417885e-01 -1.02413144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68587156 meters 0.016658097613252626 Centerline is valid? [True, True] Translation: X:248.22, Y:-35.96, Z:-10.24 [[ 9.85119652e-01 1.68439350e-01 3.41680508e-02 2.48221309e+02] [-1.68326085e-01 9.85711960e-01 -6.18553161e-03 -3.59609516e+01] [-3.47217432e-02 3.42114528e-04 9.99396960e-01 -1.02440189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74587156 meters 0.018744968337992295 Centerline is valid? [True, True] Translation: X:248.28, Y:-35.98, Z:-10.25 [[ 9.85667753e-01 1.65301918e-01 3.36802024e-02 2.48280748e+02] [-1.65189857e-01 9.86242907e-01 -6.10237905e-03 -3.59811281e+01] [-3.42255957e-02 4.51290437e-04 9.99414031e-01 -1.02464151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80587156 meters 0.022563005061569514 Centerline is valid? [True, True] Translation: X:248.34, Y:-36.00, Z:-10.25 [[ 9.85999065e-01 1.63347262e-01 3.35188717e-02 2.48339111e+02] [-1.63234942e-01 9.86568497e-01 -6.07905440e-03 -3.60029660e+01] [-3.40616598e-02 5.22490880e-04 9.99419597e-01 -1.02503774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86587156000002 meters 0.028980001953318416 Centerline is valid? [True, True] Translation: X:248.40, Y:-36.02, Z:-10.25 [[ 9.85908765e-01 1.64059351e-01 3.26869551e-02 2.48400076e+02] [-1.63952771e-01 9.86450348e-01 -5.93292700e-03 -3.60187672e+01] [-3.32174104e-02 4.90207846e-04 9.99448029e-01 -1.02528812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92587156 meters 0.01943923656361494 Centerline is valid? [True, True] Translation: X:248.46, Y:-36.04, Z:-10.26 [[ 9.85565860e-01 1.66329097e-01 3.15367651e-02 2.48460109e+02] [-1.66230853e-01 9.86070214e-01 -5.73028425e-03 -3.60358690e+01] [-3.20505778e-02 4.05189143e-04 9.99486166e-01 -1.02586179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98587156 meters 0.01616294473356946 Centerline is valid? [True, True] Translation: X:248.52, Y:-36.04, Z:-10.26 [[ 9.84681289e-01 1.71444627e-01 3.17726151e-02 2.48521106e+02] [-1.71347392e-01 9.85193727e-01 -5.77857891e-03 -3.60447343e+01] [-3.22928874e-02 2.45903804e-04 9.99478418e-01 -1.02617719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04587155999997 meters 0.011818993598307043 Centerline is valid? [True, True] Translation: X:248.58, Y:-36.05, Z:-10.26 [[ 9.83484218e-01 1.77909712e-01 3.32705106e-02 2.48583491e+02] [-1.77806585e-01 9.84046814e-01 -6.05687041e-03 -3.60494033e+01] [-3.38173161e-02 4.11205935e-05 9.99428030e-01 -1.02594124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10587155999997 meters 0.01280280063229713 Centerline is valid? [True, True] Translation: X:248.65, Y:-36.06, Z:-10.26 [[ 9.82417908e-01 1.83747698e-01 3.30429794e-02 2.48645465e+02] [-1.83649084e-01 9.82973428e-01 -6.02110329e-03 -3.60556731e+01] [-3.35867346e-02 -1.53073215e-04 9.99435795e-01 -1.02622220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16587155999997 meters 0.01485722363733409 Centerline is valid? [True, True] Translation: X:248.71, Y:-36.06, Z:-10.27 [[ 9.81745658e-01 1.87311057e-01 3.30156145e-02 2.48707163e+02] [-1.87214431e-01 9.82300614e-01 -6.02174007e-03 -3.60631337e+01] [-3.35591969e-02 -2.69182322e-04 9.99436695e-01 -1.02653444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.22587156 meters 0.017634734627802046 Centerline is valid? [True, True] Translation: X:248.77, Y:-36.07, Z:-10.27 [[ 9.81296760e-01 1.89739396e-01 3.24904780e-02 2.48767572e+02] [-1.89646948e-01 9.81834429e-01 -5.93207983e-03 -3.60717792e+01] [-3.30258192e-02 -3.40589286e-04 9.99454441e-01 -1.02695068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28587156 meters 0.017778626073101184 Centerline is valid? [True, True] Translation: X:248.83, Y:-36.08, Z:-10.27 [[ 9.80965902e-01 1.91451802e-01 3.24361809e-02 2.48828809e+02] [-1.91360520e-01 9.81501936e-01 -5.92454080e-03 -3.60846229e+01] [-3.29704384e-02 -3.95231928e-04 9.99456249e-01 -1.02703195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.34587156 meters 0.019539745343788117 Centerline is valid? [True, True] Translation: X:248.89, Y:-36.10, Z:-10.27 [[ 9.80904649e-01 1.91782514e-01 3.23347751e-02 2.48889996e+02] [-1.91691802e-01 9.81437368e-01 -5.91147442e-03 -3.60953175e+01] [-3.28682740e-02 -3.99718577e-04 9.99459612e-01 -1.02747363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.40587156 meters 0.017466994387901932 Centerline is valid? [True, True] Translation: X:248.95, Y:-36.11, Z:-10.28 [[ 9.80985908e-01 1.91263431e-01 3.29385424e-02 2.48951149e+02] [-1.91168765e-01 9.81538666e-01 -6.02908621e-03 -3.61095530e+01] [-3.34835967e-02 -3.82371851e-04 9.99439194e-01 -1.02751200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.46587156 meters 0.017558665667715086 Centerline is valid? [True, True] Translation: X:249.01, Y:-36.12, Z:-10.28 [[ 9.80991490e-01 1.91294055e-01 3.25926499e-02 2.49013076e+02] [-1.91201358e-01 9.81532700e-01 -5.96653680e-03 -3.61218136e+01] [-3.31321147e-02 -3.78637112e-04 9.99450909e-01 -1.02785812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.52587156 meters 0.017480067822451043 Centerline is valid? [True, True] Translation: X:249.08, Y:-36.13, Z:-10.28 [[ 9.80928646e-01 1.91660934e-01 3.23276516e-02 2.49075445e+02] [-1.91569734e-01 9.81461125e-01 -5.92424183e-03 -3.61331598e+01] [-3.28637790e-02 -3.81741077e-04 9.99459767e-01 -1.02806350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.58587156 meters 0.02033955392519346 Centerline is valid? [True, True] Translation: X:249.14, Y:-36.14, Z:-10.29 [[ 9.80800644e-01 1.92312242e-01 3.23434426e-02 2.49137171e+02] [-1.92221091e-01 9.81333707e-01 -5.93365653e-03 -3.61397527e+01] [-3.28808252e-02 -3.97357700e-04 9.99459200e-01 -1.02864831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64587156 meters 0.01747546256220583 Centerline is valid? [True, True] Translation: X:249.20, Y:-36.16, Z:-10.29 [[ 9.80904053e-01 1.91930524e-01 3.14628879e-02 2.49197811e+02] [-1.91843901e-01 9.81408446e-01 -5.77752533e-03 -3.61563981e+01] [-3.19868274e-02 -3.68765130e-04 9.99488222e-01 -1.02876759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70587156 meters 0.017027481548100024 Centerline is valid? [True, True] Translation: X:249.26, Y:-36.17, Z:-10.29 [[ 9.81092314e-01 1.91106039e-01 3.05999062e-02 2.49259457e+02] [-1.91023520e-01 9.81569343e-01 -5.62491860e-03 -3.61695649e+01] [-3.11108857e-02 -3.26737378e-04 9.99515886e-01 -1.02927783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76587156 meters 0.016739649963657798 Centerline is valid? [True, True] Translation: X:249.32, Y:-36.18, Z:-10.30 [[ 9.81192999e-01 1.90581259e-01 3.06444372e-02 2.49319285e+02] [-1.90498042e-01 9.81671376e-01 -5.63957828e-03 -3.61819399e+01] [-3.11575648e-02 -3.04190562e-04 9.99514439e-01 -1.02952182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82587156 meters 0.01724739770023877 Centerline is valid? [True, True] Translation: X:249.38, Y:-36.19, Z:-10.30 [[ 9.80943208e-01 1.91724458e-01 3.14984982e-02 2.49381944e+02] [-1.91636972e-01 9.81448732e-01 -5.80153053e-03 -3.61908609e+01] [-3.20264564e-02 -3.45304858e-04 9.99486962e-01 -1.02958262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88587156 meters 0.02755425635176849 Centerline is valid? [True, True] Translation: X:249.44, Y:-36.20, Z:-10.30 [[ 9.80470420e-01 1.94069909e-01 3.18531856e-02 2.49442998e+02] [-1.93981418e-01 9.80987612e-01 -5.87489341e-03 -3.61962452e+01] [-3.23877206e-02 -4.18766906e-04 9.99475292e-01 -1.02969269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94587156 meters 0.021059782847315512 Centerline is valid? [True, True] Translation: X:249.50, Y:-36.20, Z:-10.30 [[ 9.80126582e-01 1.95811776e-01 3.17747101e-02 2.49503058e+02] [-1.95724606e-01 9.80641384e-01 -5.86132270e-03 -3.62009760e+01] [-3.23073117e-02 -4.74254431e-04 9.99477870e-01 -1.03007105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00587156 meters 0.020796474356333975 Centerline is valid? [True, True] Translation: X:249.56, Y:-36.21, Z:-10.30 [[ 9.80116210e-01 1.95922057e-01 3.14127809e-02 2.49563145e+02] [-1.95836902e-01 9.80619358e-01 -5.79506015e-03 -3.62077407e+01] [-3.19393612e-02 -4.71949321e-04 9.99489697e-01 -1.03039291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06587155999995 meters 0.021489882120002402 Centerline is valid? [True, True] Translation: X:249.62, Y:-36.22, Z:-10.30 [[ 9.80633104e-01 1.93033062e-01 3.31202582e-02 2.49622221e+02] [-1.92936752e-01 9.81192172e-01 -6.10995383e-03 -3.62192859e+01] [-3.36767612e-02 -3.98492054e-04 9.99432698e-01 -1.03031569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12587155999995 meters 0.014015048514340728 Centerline is valid? [True, True] Translation: X:249.68, Y:-36.24, Z:-10.31 [[ 9.81660888e-01 1.87594121e-01 3.39167712e-02 2.49682006e+02] [-1.87489868e-01 9.82246608e-01 -6.25702657e-03 -3.62359943e+01] [-3.44884149e-02 -2.16772704e-04 9.99405074e-01 -1.03056124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18587155999995 meters 0.01199558361355391 Centerline is valid? [True, True] Translation: X:249.74, Y:-36.25, Z:-10.31 [[ 9.82555909e-01 1.82982730e-01 3.31844390e-02 2.49742285e+02] [-1.82880282e-01 9.83116126e-01 -6.12247941e-03 -3.62524796e+01] [-3.37444651e-02 -5.31012538e-05 9.99430492e-01 -1.03091972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24587155999996 meters 0.012548744631851252 Centerline is valid? [True, True] Translation: X:249.80, Y:-36.27, Z:-10.31 [[ 9.83027676e-01 1.80574460e-01 3.23952574e-02 2.49803044e+02] [-1.80475345e-01 9.83561316e-01 -5.98218520e-03 -3.62661535e+01] [-3.29429519e-02 3.41083527e-05 9.99457233e-01 -1.03137611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30587155999996 meters 0.01233086881455526 Centerline is valid? [True, True] Translation: X:249.86, Y:-36.28, Z:-10.32 [[ 9.82842494e-01 1.81575689e-01 3.24176051e-02 2.49864233e+02] [-1.81476785e-01 9.83376972e-01 -5.99229942e-03 -3.62750832e+01] [-3.29667822e-02 6.44378040e-06 9.99456448e-01 -1.03167272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36587155999996 meters 0.013293582533457122 Centerline is valid? [True, True] Translation: X:249.93, Y:-36.28, Z:-10.32 [[ 9.82006327e-01 1.85931957e-01 3.30587543e-02 2.49925742e+02] [-1.85831316e-01 9.82562613e-01 -6.11824486e-03 -3.62762848e+01] [-3.36198733e-02 -1.35196672e-04 9.99434683e-01 -1.03177298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42587155999996 meters 0.017069976245956756 Centerline is valid? [True, True] Translation: X:249.99, Y:-36.27, Z:-10.32 [[ 9.81039130e-01 1.90912267e-01 3.33875943e-02 2.49985370e+02] [-1.90812467e-01 9.81607055e-01 -6.17988320e-03 -3.62748939e+01] [-3.39533136e-02 -3.08062004e-04 9.99423373e-01 -1.03196541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48587155999996 meters 0.019005680910569565 Centerline is valid? [True, True] Translation: X:250.05, Y:-36.28, Z:-10.32 [[ 9.80387513e-01 1.94342744e-01 3.27295414e-02 2.50045653e+02] [-1.94248790e-01 9.80933597e-01 -6.05688302e-03 -3.62780467e+01] [-3.32826180e-02 -4.19581343e-04 9.99445892e-01 -1.03216524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54587155999997 meters 0.023619969024973823 Centerline is valid? [True, True] Translation: X:250.11, Y:-36.28, Z:-10.32 [[ 9.79915041e-01 1.96611281e-01 3.33244071e-02 2.50105377e+02] [-1.96515215e-01 9.80481386e-01 -6.16623204e-03 -3.62764118e+01] [-3.38863116e-02 -5.06369508e-04 9.99425566e-01 -1.03244750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60587155999997 meters 0.021825232016542594 Centerline is valid? [True, True] Translation: X:250.16, Y:-36.28, Z:-10.32 [[ 9.79581087e-01 1.98126615e-01 3.41575530e-02 2.50163798e+02] [-1.98026645e-01 9.80176267e-01 -6.31921955e-03 -3.62828317e+01] [-3.47324284e-02 -5.73917672e-04 9.99396482e-01 -1.03239723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66587155999997 meters 0.02554488476355305 Centerline is valid? [True, True] Translation: X:250.22, Y:-36.28, Z:-10.33 [[ 9.79709665e-01 1.97567815e-01 3.37035670e-02 2.50222938e+02] [-1.97470209e-01 9.80289069e-01 -6.23367536e-03 -3.62814767e+01] [-3.42708119e-02 -5.48258411e-04 9.99412433e-01 -1.03294342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.72587156 meters 0.023959396787580946 Centerline is valid? [True, True] Translation: X:250.28, Y:-36.29, Z:-10.33 [[ 9.80072823e-01 1.95826255e-01 3.33067401e-02 2.50281139e+02] [-1.95730003e-01 9.80638488e-01 -6.15810740e-03 -3.62907611e+01] [-3.38677904e-02 -4.83734624e-04 9.99426205e-01 -1.03334992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78587156 meters 0.016954113067262504 Centerline is valid? [True, True] Translation: X:250.34, Y:-36.30, Z:-10.33 [[ 9.80833187e-01 1.91871321e-01 3.39360548e-02 2.50339059e+02] [-1.91769075e-01 9.81420027e-01 -6.27309982e-03 -3.63046998e+01] [-3.45091517e-02 -3.55021339e-04 9.99404319e-01 -1.03316286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.84587156 meters 0.014340005559883745 Centerline is valid? [True, True] Translation: X:250.40, Y:-36.32, Z:-10.34 [[ 9.81926429e-01 1.86309439e-01 3.33058604e-02 2.50395096e+02] [-1.86207826e-01 9.82491103e-01 -6.15450390e-03 -3.63169525e+01] [-3.38693537e-02 -1.58541803e-04 9.99426256e-01 -1.03384650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.90587156 meters 0.02666501155236735 Centerline is valid? [True, True] Translation: X:250.45, Y:-36.34, Z:-10.34 [[ 9.83065241e-01 1.80150894e-01 3.35914656e-02 2.50451669e+02] [-1.80044006e-01 9.83638985e-01 -6.20508888e-03 -3.63356038e+01] [-3.41597274e-02 5.20651507e-05 9.99416385e-01 -1.03392430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.96587156 meters 0.01649825100092963 Centerline is valid? [True, True] Translation: X:250.51, Y:-36.35, Z:-10.34 [[ 9.84021766e-01 1.74736961e-01 3.41783325e-02 2.50510539e+02] [-1.74623101e-01 9.84615120e-01 -6.31165874e-03 -3.63512749e+01] [-3.47553830e-02 2.42483171e-04 9.99395820e-01 -1.03382800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.02587156 meters 0.017163134255024092 Centerline is valid? [True, True] Translation: X:250.57, Y:-36.37, Z:-10.34 [[ 9.84744729e-01 1.70731909e-01 3.35921794e-02 2.50569997e+02] [-1.70619615e-01 9.85317448e-01 -6.20268869e-03 -3.63684301e+01] [-3.41579574e-02 3.76580262e-04 9.99416376e-01 -1.03420375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.08587156 meters 0.019211384131898823 Centerline is valid? [True, True] Translation: X:250.63, Y:-36.38, Z:-10.35 [[ 9.84868085e-01 1.70159483e-01 3.28725635e-02 2.50629528e+02] [-1.70051537e-01 9.85416459e-01 -6.07266904e-03 -3.63823358e+01] [-3.34264874e-02 3.90747980e-04 9.99441102e-01 -1.03469882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14587156 meters 0.018647789080557056 Centerline is valid? [True, True] Translation: X:250.69, Y:-36.39, Z:-10.35 [[ 9.84771835e-01 1.70848062e-01 3.21772236e-02 2.50689938e+02] [-1.70744879e-01 9.85297319e-01 -5.94799626e-03 -3.63898999e+01] [-3.27203358e-02 3.63323052e-04 9.99464480e-01 -1.03505696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20587156 meters 0.027569518852528504 Centerline is valid? [True, True] Translation: X:250.75, Y:-36.39, Z:-10.35 [[ 9.83928966e-01 1.75561977e-01 3.25850033e-02 2.50750848e+02] [-1.75458739e-01 9.84468358e-01 -6.02347926e-03 -3.63910245e+01] [-3.31363986e-02 2.09352128e-04 9.99450817e-01 -1.03505902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26587156 meters 0.012009065892697224 Centerline is valid? [True, True] Translation: X:250.81, Y:-36.39, Z:-10.35 [[ 9.83018346e-01 1.80362707e-01 3.38264122e-02 2.50811342e+02] [-1.80254297e-01 9.83600169e-01 -6.25274046e-03 -3.63899893e+01] [-3.43994259e-02 4.92024206e-05 9.99408163e-01 -1.03513551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32587156 meters 0.011820771054773851 Centerline is valid? [True, True] Translation: X:250.87, Y:-36.39, Z:-10.35 [[ 9.82620994e-01 1.82378439e-01 3.45555713e-02 2.50869153e+02] [-1.82266588e-01 9.83228409e-01 -6.38642469e-03 -3.63940258e+01] [-3.51407655e-02 -2.28911182e-05 9.99382372e-01 -1.03530688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38587156 meters 0.014640830327477301 Centerline is valid? [True, True] Translation: X:250.93, Y:-36.40, Z:-10.36 [[ 9.82724190e-01 1.82155807e-01 3.27479385e-02 2.50926109e+02] [-1.82055292e-01 9.83269679e-01 -6.05053596e-03 -3.64017196e+01] [-3.33021953e-02 -1.59274622e-05 9.99445328e-01 -1.03590883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44587156 meters 0.012907813884148337 Centerline is valid? [True, True] Translation: X:250.98, Y:-36.41, Z:-10.37 [[ 9.82783610e-01 1.82024068e-01 3.16798679e-02 2.50982898e+02] [-1.81929993e-01 9.83294075e-01 -5.85143220e-03 -3.64109028e+01] [-3.22157279e-02 -1.28264887e-05 9.99480939e-01 -1.03654815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50587156 meters 0.027393058163758914 Centerline is valid? [True, True] Translation: X:251.04, Y:-36.42, Z:-10.37 [[ 9.82507532e-01 1.83530529e-01 3.15514476e-02 2.51042220e+02] [-1.83438053e-01 9.83014008e-01 -5.82578393e-03 -3.64151741e+01] [-3.20847242e-02 -6.38595397e-05 9.99485151e-01 -1.03664506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56587155999995 meters 0.013617343067429726 Centerline is valid? [True, True] Translation: X:251.10, Y:-36.42, Z:-10.37 [[ 9.82321742e-01 1.84565725e-01 3.12967707e-02 2.51100373e+02] [-1.84475303e-01 9.82820169e-01 -5.77745824e-03 -3.64198223e+01] [-3.18254183e-02 -9.81584088e-05 9.99493438e-01 -1.03713740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62587155999995 meters 0.014253151273260836 Centerline is valid? [True, True] Translation: X:251.16, Y:-36.42, Z:-10.37 [[ 9.82152507e-01 1.85495625e-01 3.11099151e-02 2.51158647e+02] [-1.85406802e-01 9.82645082e-01 -5.74120589e-03 -3.64234256e+01] [-3.16349736e-02 -1.29250109e-04 9.99499481e-01 -1.03743802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68587155999995 meters 0.017327575928980214 Centerline is valid? [True, True] Translation: X:251.22, Y:-36.43, Z:-10.37 [[ 9.82217515e-01 1.85100381e-01 3.14102244e-02 2.51216804e+02] [-1.85009691e-01 9.82719612e-01 -5.79477145e-03 -3.64305692e+01] [-3.19400580e-02 -1.19469904e-04 9.99489779e-01 -1.03731195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74587155999996 meters 0.013313259866551522 Centerline is valid? [True, True] Translation: X:251.27, Y:-36.44, Z:-10.38 [[ 9.82535969e-01 1.83390144e-01 3.14821257e-02 2.51273554e+02] [-1.83298207e-01 9.83040208e-01 -5.80661168e-03 -3.64382913e+01] [-3.20130708e-02 -6.54123603e-05 9.99487448e-01 -1.03794351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80587155999996 meters 0.025874475815505317 Centerline is valid? [True, True] Translation: X:251.33, Y:-36.45, Z:-10.38 [[ 9.82864888e-01 1.81540829e-01 3.19302360e-02 2.51332363e+02] [-1.81445346e-01 9.83383408e-01 -5.88719115e-03 -3.64457732e+01] [-3.24684299e-02 -7.27924719e-06 9.99472762e-01 -1.03763758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86587155999996 meters 0.011797001980959202 Centerline is valid? [True, True] Translation: X:251.39, Y:-36.45, Z:-10.38 [[ 9.83090753e-01 1.80100836e-01 3.31098234e-02 2.51390699e+02] [-1.79997405e-01 9.83648152e-01 -6.10301890e-03 -3.64532533e+01] [-3.36675754e-02 4.01391450e-05 9.99433086e-01 -1.03775535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92587155999996 meters 0.02165230761905856 Centerline is valid? [True, True] Translation: X:251.45, Y:-36.46, Z:-10.38 [[ 9.83309315e-01 1.78915227e-01 3.30474316e-02 2.51447975e+02] [-1.78811567e-01 9.83864490e-01 -6.09000294e-03 -3.64610519e+01] [-3.36037887e-02 7.90935762e-05 9.99435230e-01 -1.03800866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98587155999996 meters 0.012350834343356654 Centerline is valid? [True, True] Translation: X:251.51, Y:-36.47, Z:-10.38 [[ 9.83457889e-01 1.78185789e-01 3.25638582e-02 2.51506277e+02] [-1.78084810e-01 9.83996857e-01 -5.99882918e-03 -3.64667102e+01] [-3.31116402e-02 1.00467375e-04 9.99451654e-01 -1.03840198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04587155999997 meters 0.012174923043799335 Centerline is valid? [True, True] Translation: X:251.56, Y:-36.47, Z:-10.39 [[ 9.83446070e-01 1.78219743e-01 3.27345447e-02 2.51564244e+02] [-1.78117766e-01 9.83990708e-01 -6.02892085e-03 -3.64730729e+01] [-3.32849605e-02 9.85145517e-05 9.99445897e-01 -1.03850237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10587155999997 meters 0.012256022539464695 Centerline is valid? [True, True] Translation: X:251.62, Y:-36.48, Z:-10.39 [[ 9.83388130e-01 1.78470201e-01 3.31085168e-02 2.51621972e+02] [-1.78366108e-01 9.83945313e-01 -6.09526443e-03 -3.64787459e+01] [-3.36647930e-02 8.85734140e-05 9.99433176e-01 -1.03880339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16587155999997 meters 0.020450358593162625 Centerline is valid? [True, True] Translation: X:251.68, Y:-36.49, Z:-10.39 [[ 9.83425238e-01 1.78286373e-01 3.29965238e-02 2.51679806e+02] [-1.78182940e-01 9.83978638e-01 -6.07281298e-03 -3.64862599e+01] [-3.35505744e-02 9.27399085e-05 9.99437017e-01 -1.03875927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.22587156 meters 0.012142201598489744 Centerline is valid? [True, True] Translation: X:251.74, Y:-36.49, Z:-10.39 [[ 9.83456822e-01 1.78206615e-01 3.24820169e-02 2.51737482e+02] [-1.78106423e-01 9.83993086e-01 -5.97562686e-03 -3.64931609e+01] [-3.30269763e-02 9.15151459e-05 9.99454456e-01 -1.03926785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28587156 meters 0.012646234698652737 Centerline is valid? [True, True] Translation: X:251.80, Y:-36.50, Z:-10.40 [[ 9.83689608e-01 1.77095242e-01 3.14965027e-02 2.51795722e+02] [-1.77000532e-01 9.84193711e-01 -5.79234843e-03 -3.65026959e+01] [-3.20244572e-02 1.22975220e-04 9.99487078e-01 -1.03963693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.34587156 meters 0.012290742460755582 Centerline is valid? [True, True] Translation: X:251.85, Y:-36.51, Z:-10.40 [[ 9.83554211e-01 1.77776228e-01 3.18861613e-02 2.51854178e+02] [-1.77679570e-01 9.84070934e-01 -5.86241461e-03 -3.65081948e+01] [-3.24204425e-02 1.00483152e-04 9.99474314e-01 -1.03970828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.40587156 meters 0.011654467614134734 Centerline is valid? [True, True] Translation: X:251.91, Y:-36.51, Z:-10.40 [[ 9.83250955e-01 1.79220404e-01 3.31301436e-02 2.51913454e+02] [-1.79116935e-01 9.83808947e-01 -6.08931955e-03 -3.65142390e+01] [-3.36850620e-02 5.31595051e-05 9.99432496e-01 -1.03976054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.46587156 meters 0.01161157457310662 Centerline is valid? [True, True] Translation: X:251.97, Y:-36.52, Z:-10.40 [[ 9.83160868e-01 1.79736151e-01 3.30094435e-02 2.51970146e+02] [-1.79633755e-01 9.83714854e-01 -6.06624014e-03 -3.65234342e+01] [-3.35622026e-02 3.44796308e-05 9.99436630e-01 -1.04010875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.52587156 meters 0.011622021297295315 Centerline is valid? [True, True] Translation: X:252.03, Y:-36.53, Z:-10.40 [[ 9.83124272e-01 1.80043121e-01 3.24212870e-02 2.52028380e+02] [-1.79944592e-01 9.83658718e-01 -5.95563062e-03 -3.65306108e+01] [-3.29637520e-02 2.10897439e-05 9.99456548e-01 -1.04041032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.58587156 meters 0.011879450447340874 Centerline is valid? [True, True] Translation: X:252.09, Y:-36.54, Z:-10.41 [[ 9.83416001e-01 1.78560752e-01 3.17651908e-02 2.52086659e+02] [-1.78465448e-01 9.83928886e-01 -5.83359272e-03 -3.65409120e+01] [-3.22963396e-02 6.78594107e-05 9.99478335e-01 -1.04071240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64587156 meters 0.013402413593677033 Centerline is valid? [True, True] Translation: X:252.14, Y:-36.56, Z:-10.41 [[ 9.84047784e-01 1.75074191e-01 3.16067621e-02 2.52142768e+02] [-1.74978083e-01 9.84555227e-01 -5.80303256e-03 -3.65563729e+01] [-3.21345641e-02 1.79970704e-04 9.99483535e-01 -1.04103496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70587156 meters 0.01658862013754817 Centerline is valid? [True, True] Translation: X:252.20, Y:-36.57, Z:-10.41 [[ 9.84939069e-01 1.69797261e-01 3.26177966e-02 2.52199157e+02] [-1.69692083e-01 9.85478949e-01 -5.98642169e-03 -3.65742289e+01] [-3.31606299e-02 3.61278741e-04 9.99449970e-01 -1.04105593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76587156 meters 0.022679597698846945 Centerline is valid? [True, True] Translation: X:252.26, Y:-36.60, Z:-10.41 [[ 9.86298157e-01 1.61819665e-01 3.20989245e-02 2.52255608e+02] [-1.61713640e-01 9.86820153e-01 -5.88931881e-03 -3.65995156e+01] [-3.26288732e-02 6.17790354e-04 9.99467346e-01 -1.04135939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82587156 meters 0.025978115217145537 Centerline is valid? [True, True] Translation: X:252.31, Y:-36.62, Z:-10.42 [[ 9.86638315e-01 1.59804744e-01 3.17376653e-02 2.52311316e+02] [-1.59700056e-01 9.87148411e-01 -5.82289011e-03 -3.66185331e+01] [-3.22603113e-02 6.76579555e-04 9.99479272e-01 -1.04179890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88587156 meters 0.024899891888975935 Centerline is valid? [True, True] Translation: X:252.37, Y:-36.63, Z:-10.42 [[ 9.86606623e-01 1.59943232e-01 3.20239555e-02 2.52369096e+02] [-1.59836758e-01 9.87125982e-01 -5.87421522e-03 -3.66323663e+01] [-3.25512194e-02 6.76934422e-04 9.99469839e-01 -1.04188047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94587156 meters 0.022839377773898314 Centerline is valid? [True, True] Translation: X:252.43, Y:-36.64, Z:-10.42 [[ 9.86106992e-01 1.62785229e-01 3.30752040e-02 2.52426569e+02] [-1.62673287e-01 9.86661344e-01 -6.06578114e-03 -3.66449174e+01] [-3.36214448e-02 6.01057048e-04 9.99434459e-01 -1.04194002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00587156 meters 0.018825823924294438 Centerline is valid? [True, True] Translation: X:252.49, Y:-36.65, Z:-10.42 [[ 9.85536791e-01 1.66135749e-01 3.34087924e-02 2.52485267e+02] [-1.66023498e-01 9.86102770e-01 -6.12583146e-03 -3.66522453e+01] [-3.39622223e-02 4.90587683e-04 9.99422997e-01 -1.04204464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06587155999995 meters 0.016582481532729985 Centerline is valid? [True, True] Translation: X:252.54, Y:-36.66, Z:-10.43 [[ 9.84901705e-01 1.70059914e-01 3.23768016e-02 2.52542435e+02] [-1.69956661e-01 9.85433665e-01 -5.93505929e-03 -3.66626853e+01] [-3.29145059e-02 3.42796908e-04 9.99458112e-01 -1.04261931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12587155999995 meters 0.027127474804914876 Centerline is valid? [True, True] Translation: X:252.60, Y:-36.67, Z:-10.43 [[ 9.84534535e-01 1.72321095e-01 3.15783050e-02 2.52600572e+02] [-1.72224085e-01 9.85040798e-01 -5.78719383e-03 -3.66739012e+01] [-3.21031744e-02 2.59147492e-04 9.99484527e-01 -1.04278970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18587155999995 meters 0.013477281646309567 Centerline is valid? [True, True] Translation: X:252.66, Y:-36.69, Z:-10.43 [[ 9.84136262e-01 1.74504026e-01 3.20025394e-02 2.52657240e+02] [-1.74405594e-01 9.84656442e-01 -5.86341762e-03 -3.66855090e+01] [-3.25346966e-02 1.88979989e-04 9.99470589e-01 -1.04316937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24587155999996 meters 0.01178952143119487 Centerline is valid? [True, True] Translation: X:252.72, Y:-36.69, Z:-10.43 [[ 9.83497653e-01 1.77994335e-01 3.24096071e-02 2.52715810e+02] [-1.77895347e-01 9.84031509e-01 -5.93583861e-03 -3.66914895e+01] [-3.29486202e-02 7.23650522e-05 9.99457044e-01 -1.04322513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30587155999996 meters 0.011471367216321832 Centerline is valid? [True, True] Translation: X:252.77, Y:-36.70, Z:-10.43 [[ 9.83101176e-01 1.80015126e-01 3.32660882e-02 2.52773028e+02] [-1.79912045e-01 9.83663842e-01 -6.09110786e-03 -3.66998862e+01] [-3.38191397e-02 3.20533914e-06 9.99427969e-01 -1.04341106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36587155999996 meters 0.020098596852300886 Centerline is valid? [True, True] Translation: X:252.83, Y:-36.71, Z:-10.43 [[ 9.82998891e-01 1.80308784e-01 3.46687643e-02 2.52831369e+02] [-1.80197091e-01 9.83610056e-01 -6.34555400e-03 -3.67112017e+01] [-3.52447043e-02 -9.53792598e-06 9.99378712e-01 -1.04336057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42587155999996 meters 0.011190470307034704 Centerline is valid? [True, True] Translation: X:252.89, Y:-36.73, Z:-10.44 [[ 9.83418295e-01 1.77942472e-01 3.49990514e-02 2.52888770e+02] [-1.77827184e-01 9.84040889e-01 -6.40480921e-03 -3.67256091e+01] [-3.55801853e-02 7.48238000e-05 9.99366822e-01 -1.04356166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48587155999996 meters 0.014229598664807764 Centerline is valid? [True, True] Translation: X:252.94, Y:-36.75, Z:-10.44 [[ 9.84437245e-01 1.72265379e-01 3.47555763e-02 2.52944888e+02] [-1.72148212e-01 9.85050538e-01 -6.35847358e-03 -3.67475891e+01] [-3.53313440e-02 2.76407886e-04 9.99375615e-01 -1.04387844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54587155999997 meters 0.016025834756602044 Centerline is valid? [True, True] Translation: X:253.00, Y:-36.76, Z:-10.44 [[ 9.84841436e-01 1.70204614e-01 3.34325516e-02 2.53001230e+02] [-1.70095049e-01 9.85408685e-01 -6.11537343e-03 -3.67647442e+01] [-3.39855915e-02 3.35961660e-04 9.99422266e-01 -1.04438545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60587155999997 meters 0.016401655153022228 Centerline is valid? [True, True] Translation: X:253.06, Y:-36.78, Z:-10.45 [[ 9.85071886e-01 1.69078422e-01 3.23398702e-02 2.53059239e+02] [-1.68975354e-01 9.85602535e-01 -5.91378986e-03 -3.67794048e+01] [-3.28741524e-02 3.60867110e-04 9.99459434e-01 -1.04474375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66587155999997 meters 0.016174230881722197 Centerline is valid? [True, True] Translation: X:253.12, Y:-36.79, Z:-10.45 [[ 9.84883287e-01 1.70155289e-01 3.24359191e-02 2.53116596e+02] [-1.70052214e-01 9.85417207e-01 -5.93065483e-03 -3.67938375e+01] [-3.29720451e-02 3.25202978e-04 9.99456221e-01 -1.04507996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72587156 meters 0.015193609726470603 Centerline is valid? [True, True] Translation: X:253.17, Y:-36.81, Z:-10.45 [[ 9.84646367e-01 1.71669638e-01 3.16396448e-02 2.53173868e+02] [-1.71572377e-01 9.85154538e-01 -5.78404416e-03 -3.68069762e+01] [-3.21628845e-02 2.66748987e-04 9.99482605e-01 -1.04549996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78587156 meters 0.013692438078270983 Centerline is valid? [True, True] Translation: X:253.23, Y:-36.82, Z:-10.46 [[ 9.84250320e-01 1.74074661e-01 3.08110382e-02 2.53231475e+02] [-1.73983652e-01 9.84732440e-01 -5.63114300e-03 -3.68161526e+01] [-3.13208681e-02 1.81837366e-04 9.99509365e-01 -1.04584409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.84587156 meters 0.012396930587763642 Centerline is valid? [True, True] Translation: X:253.29, Y:-36.82, Z:-10.46 [[ 9.83648144e-01 1.77404353e-01 3.10487381e-02 2.53289318e+02] [-1.77313639e-01 9.84138044e-01 -5.67304833e-03 -3.68241771e+01] [-3.15626679e-02 7.49187289e-05 9.99501772e-01 -1.04603585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.90587156 meters 0.012125417657632946 Centerline is valid? [True, True] Translation: X:253.35, Y:-36.83, Z:-10.46 [[ 9.83277789e-01 1.79458316e-01 3.09758403e-02 2.53347576e+02] [-1.79369094e-01 9.83765578e-01 -5.65821265e-03 -3.68338156e+01] [-3.14883788e-02 7.48641921e-06 9.99504118e-01 -1.04637833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.96587156 meters 0.012095160234574194 Centerline is valid? [True, True] Translation: X:253.41, Y:-36.85, Z:-10.47 [[ 9.83225683e-01 1.79693861e-01 3.12629579e-02 2.53405192e+02] [-1.79603145e-01 9.83722581e-01 -5.70910976e-03 -3.68456096e+01] [-3.17799696e-02 -1.58221649e-06 9.99494889e-01 -1.04661148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.02587156 meters 0.026420752102095386 Centerline is valid? [True, True] Translation: X:253.46, Y:-36.86, Z:-10.47 [[ 9.83717065e-01 1.76842599e-01 3.20535676e-02 2.53462382e+02] [-1.76745774e-01 9.84239141e-01 -5.85186274e-03 -3.68620529e+01] [-3.25832345e-02 9.12446171e-05 9.99469021e-01 -1.04661178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.08587156 meters 0.01425072167585909 Centerline is valid? [True, True] Translation: X:253.52, Y:-36.88, Z:-10.47 [[ 9.84432474e-01 1.72942855e-01 3.13603586e-02 2.53518751e+02] [-1.72848256e-01 9.84931837e-01 -5.72337883e-03 -3.68832416e+01] [-3.18776331e-02 2.13696679e-04 9.99491756e-01 -1.04712331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14587156 meters 0.014264946137159396 Centerline is valid? [True, True] Translation: X:253.58, Y:-36.90, Z:-10.47 [[ 9.84438901e-01 1.72890265e-01 3.14484686e-02 2.53576658e+02] [-1.72795116e-01 9.84941069e-01 -5.73918573e-03 -3.68952602e+01] [-3.19671376e-02 2.15735909e-04 9.99488897e-01 -1.04735550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20587156 meters 0.013396743586266314 Centerline is valid? [True, True] Translation: X:253.64, Y:-36.90, Z:-10.48 [[ 9.84216587e-01 1.74189955e-01 3.12340998e-02 2.53635899e+02] [-1.74096776e-01 9.84712055e-01 -5.69931905e-03 -3.69045339e+01] [-3.17493587e-02 1.71608267e-04 9.99495847e-01 -1.04762326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26587156 meters 0.013520632958314209 Centerline is valid? [True, True] Translation: X:253.69, Y:-36.92, Z:-10.48 [[ 9.84092539e-01 1.74985737e-01 3.06898423e-02 2.53693620e+02] [-1.74896188e-01 9.84570958e-01 -5.59926710e-03 -3.69167358e+01] [-3.11961194e-02 1.42660537e-04 9.99513272e-01 -1.04813455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32587156 meters 0.01261601599237681 Centerline is valid? [True, True] Translation: X:253.75, Y:-36.93, Z:-10.48 [[ 9.83801713e-01 1.76600171e-01 3.07663654e-02 2.53753010e+02] [-1.76510989e-01 9.84282668e-01 -5.61245172e-03 -3.69257322e+01] [-3.12739602e-02 9.09380251e-05 9.99510846e-01 -1.04820175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38587156 meters 0.01239564526411546 Centerline is valid? [True, True] Translation: X:253.81, Y:-36.93, Z:-10.49 [[ 9.83255664e-01 1.79570561e-01 3.10276254e-02 2.53810468e+02] [-1.79481348e-01 9.83745096e-01 -5.65971749e-03 -3.69303613e+01] [-3.15395930e-02 -3.93074631e-06 9.99502503e-01 -1.04855337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44587156 meters 0.015604423285880561 Centerline is valid? [True, True] Translation: X:253.87, Y:-36.93, Z:-10.49 [[ 9.82388263e-01 1.84167825e-01 3.15517575e-02 2.53870312e+02] [-1.84078007e-01 9.82894800e-01 -5.75320918e-03 -3.69322475e+01] [-3.20716144e-02 -1.56099458e-04 9.99485561e-01 -1.04864307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50587156 meters 0.013664529315089236 Centerline is valid? [True, True] Translation: X:253.93, Y:-36.94, Z:-10.49 [[ 9.82294833e-01 1.84410003e-01 3.30122873e-02 2.53928714e+02] [-1.84311870e-01 9.82849389e-01 -6.01779659e-03 -3.69369340e+01] [-3.35558482e-02 -1.73305878e-04 9.99436829e-01 -1.04885005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56587155999995 meters 0.0124915684409606 Centerline is valid? [True, True] Translation: X:253.99, Y:-36.95, Z:-10.49 [[ 9.82744044e-01 1.82132601e-01 3.22778418e-02 2.53986004e+02] [-1.82037609e-01 9.83273973e-01 -5.88237614e-03 -3.69482430e+01] [-3.28093342e-02 -9.49110194e-05 9.99461624e-01 -1.04916534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62587155999995 meters 0.01213271517172292 Centerline is valid? [True, True] Translation: X:254.04, Y:-36.96, Z:-10.50 [[ 9.83080566e-01 1.80426129e-01 3.16071616e-02 2.54043426e+02] [-1.80334210e-01 9.83588537e-01 -5.75865911e-03 -3.69601193e+01] [-3.21274544e-02 -3.86266737e-05 9.99483779e-01 -1.04951307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68587155999995 meters 0.012503936564707763 Centerline is valid? [True, True] Translation: X:254.10, Y:-36.97, Z:-10.50 [[ 9.83767340e-01 1.76694605e-01 3.13183139e-02 2.54100993e+02] [-1.76602515e-01 9.84265721e-01 -5.70451734e-03 -3.69727119e+01] [-3.18335002e-02 8.10248511e-05 9.99493182e-01 -1.04981698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74587155999996 meters 0.014695229821550486 Centerline is valid? [True, True] Translation: X:254.16, Y:-36.99, Z:-10.50 [[ 9.84640707e-01 1.71673262e-01 3.17957343e-02 2.54158277e+02] [-1.71575781e-01 9.85153912e-01 -5.78966901e-03 -3.69903200e+01] [-3.23176234e-02 2.45365832e-04 9.99477619e-01 -1.04997076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80587155999996 meters 0.0254270234212197 Centerline is valid? [True, True] Translation: X:254.22, Y:-37.01, Z:-10.50 [[ 9.85677639e-01 1.65395138e-01 3.29247795e-02 2.54216750e+02] [-1.65287147e-01 9.86227271e-01 -5.99398856e-03 -3.70138301e+01] [-3.34626920e-02 4.66097607e-04 9.99439859e-01 -1.04998655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86587155999996 meters 0.02652011439809954 Centerline is valid? [True, True] Translation: X:254.27, Y:-37.04, Z:-10.50 [[ 9.86180194e-01 1.62119598e-01 3.41447111e-02 2.54274605e+02] [-1.62001495e-01 9.86770935e-01 -6.21594953e-03 -3.70364915e+01] [-3.47007357e-02 5.98552089e-04 9.99397569e-01 -1.05030644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92587155999996 meters 0.02336189057391533 Centerline is valid? [True, True] Translation: X:254.34, Y:-37.04, Z:-10.50 [[ 9.86302914e-01 1.61369483e-01 3.41533553e-02 2.54336262e+02] [-1.61250687e-01 9.86893861e-01 -6.22279734e-03 -3.70449924e+01] [-3.47099062e-02 6.30311148e-04 9.99397231e-01 -1.05034541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98587155999996 meters 0.024503075593396817 Centerline is valid? [True, True] Translation: X:254.40, Y:-37.06, Z:-10.51 [[ 9.86620680e-01 1.59569271e-01 3.34257750e-02 2.54396323e+02] [-1.59454264e-01 9.87186497e-01 -6.09574081e-03 -3.70619270e+01] [-3.39701667e-02 6.84301571e-04 9.99422613e-01 -1.05067478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04587155999997 meters 0.02542581179519008 Centerline is valid? [True, True] Translation: X:254.46, Y:-37.08, Z:-10.51 [[ 9.86802465e-01 1.58566915e-01 3.28241949e-02 2.54456396e+02] [-1.58455273e-01 9.87347977e-01 -5.99158506e-03 -3.70785581e+01] [-3.33589696e-02 7.11344160e-04 9.99443182e-01 -1.05102997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10587155999997 meters 0.028117647468579 Centerline is valid? [True, True] Translation: X:254.51, Y:-37.10, Z:-10.51 [[ 9.87020007e-01 1.57297561e-01 3.23880044e-02 2.54514971e+02] [-1.57187997e-01 9.87550968e-01 -5.91763268e-03 -3.70977523e+01] [-3.29156343e-02 7.49816301e-04 9.99457852e-01 -1.05148979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16587155999997 meters 0.031643029258011185 Centerline is valid? [True, True] Translation: X:254.57, Y:-37.12, Z:-10.52 [[ 9.87389696e-01 1.54762566e-01 3.33186942e-02 2.54573575e+02] [-1.54644983e-01 9.87951316e-01 -6.09321545e-03 -3.71187784e+01] [-3.38602494e-02 8.63809239e-04 9.99426204e-01 -1.05165779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22587156 meters 0.03558153476560088 Centerline is valid? [True, True] Translation: X:254.63, Y:-37.14, Z:-10.52 [[ 9.87985449e-01 1.50958090e-01 3.31120342e-02 2.54631205e+02] [-1.50839611e-01 9.88539663e-01 -6.06181213e-03 -3.71417564e+01] [-3.36476387e-02 9.94375838e-04 9.99433263e-01 -1.05201560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28587156 meters 0.04057599986128544 Centerline is valid? [True, True] Translation: X:254.69, Y:-37.17, Z:-10.53 [[ 9.88308758e-01 1.49050050e-01 3.20917644e-02 2.54687944e+02] [-1.48937749e-01 9.88829120e-01 -5.87528824e-03 -3.71669922e+01] [-3.26089831e-02 1.02692368e-03 9.99467658e-01 -1.05257598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.34587156 meters 0.03537604811402558 Centerline is valid? [True, True] Translation: X:254.75, Y:-37.18, Z:-10.53 [[ 9.88053881e-01 1.50749410e-01 3.20022375e-02 2.54748826e+02] [-1.50638646e-01 9.88571535e-01 -5.85825004e-03 -3.71800091e+01] [-3.25196288e-02 9.67492956e-04 9.99470629e-01 -1.05273787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.40587156 meters 0.03199827305242983 Centerline is valid? [True, True] Translation: X:254.81, Y:-37.20, Z:-10.53 [[ 9.87442966e-01 1.54539908e-01 3.27689707e-02 2.54807309e+02] [-1.54425614e-01 9.87986164e-01 -6.00582098e-03 -3.71955327e+01] [-3.33034287e-02 8.70037249e-04 9.99444908e-01 -1.05281988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.46587156 meters 0.023973208637167186 Centerline is valid? [True, True] Translation: X:254.87, Y:-37.21, Z:-10.53 [[ 9.86219787e-01 1.62010041e-01 3.35153434e-02 2.54866805e+02] [-1.61894785e-01 9.86788907e-01 -6.14258974e-03 -3.72069631e+01] [-3.40677303e-02 6.31984224e-04 9.99419327e-01 -1.05290799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.52587156 meters 0.02437802211946951 Centerline is valid? [True, True] Translation: X:254.93, Y:-37.22, Z:-10.53 [[ 9.85179825e-01 1.68375013e-01 3.27195248e-02 2.54926941e+02] [-1.68268675e-01 9.85722929e-01 -5.99663558e-03 -3.72187871e+01] [-3.32620695e-02 4.02093287e-04 9.99446583e-01 -1.05320519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.58587156 meters 0.01450542763834509 Centerline is valid? [True, True] Translation: X:254.99, Y:-37.23, Z:-10.54 [[ 9.84269426e-01 1.73537057e-01 3.31449408e-02 2.54987919e+02] [-1.73430872e-01 9.84827313e-01 -6.07418582e-03 -3.72279947e+01] [-3.36961393e-02 2.30279395e-04 9.99432097e-01 -1.05358670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64587156 meters 0.012588462671177853 Centerline is valid? [True, True] Translation: X:255.05, Y:-37.23, Z:-10.54 [[ 9.82408564e-01 1.83901477e-01 3.24601373e-02 2.55049858e+02] [-1.83805100e-01 9.82944675e-01 -5.95414198e-03 -3.72333740e+01] [-3.30014946e-02 -1.16938725e-04 9.99455295e-01 -1.05396875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70587156 meters 0.014725117225023988 Centerline is valid? [True, True] Translation: X:255.11, Y:-37.24, Z:-10.54 [[ 9.81522728e-01 1.88554037e-01 3.25654589e-02 2.55111220e+02] [-1.88459410e-01 9.82062780e-01 -5.97895002e-03 -3.72429583e+01] [-3.31086803e-02 -2.68791829e-04 9.99451721e-01 -1.05416784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76587156 meters 0.01932357484452058 Centerline is valid? [True, True] Translation: X:255.17, Y:-37.25, Z:-10.54 [[ 9.80488106e-01 1.93809791e-01 3.28761026e-02 2.55171090e+02] [-1.93716060e-01 9.81039025e-01 -6.04315609e-03 -3.72521087e+01] [-3.34239625e-02 -4.43386380e-04 9.99441165e-01 -1.05439678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82587156 meters 0.02552455312367376 Centerline is valid? [True, True] Translation: X:255.23, Y:-37.26, Z:-10.55 [[ 9.79593728e-01 1.98181881e-01 3.34674432e-02 2.55231357e+02] [-1.98087263e-01 9.80165078e-01 -6.15281389e-03 -3.72593351e+01] [-3.40229953e-02 -6.02216306e-04 9.99420869e-01 -1.05471469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88587156 meters 0.02788338939342415 Centerline is valid? [True, True] Translation: X:255.29, Y:-37.27, Z:-10.55 [[ 9.78534879e-01 2.03235780e-01 3.41278112e-02 2.55291685e+02] [-2.03140450e-01 9.79129506e-01 -6.27444126e-03 -3.72690416e+01] [-3.46907379e-02 -7.92979317e-04 9.99397781e-01 -1.05465552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94587156 meters 0.03258271774945985 Centerline is valid? [True, True] Translation: X:255.35, Y:-37.27, Z:-10.55 [[ 9.77389606e-01 2.08712833e-01 3.38897002e-02 2.55352297e+02] [-2.08622068e-01 9.77976480e-01 -6.23200178e-03 -3.72738405e+01] [-3.44440285e-02 -9.79045582e-04 9.99406149e-01 -1.05495728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00587156 meters 0.03939713920874395 Centerline is valid? [True, True] Translation: X:255.41, Y:-37.28, Z:-10.55 [[ 9.76566096e-01 2.12709806e-01 3.27597003e-02 2.55412196e+02] [-2.12627189e-01 9.77114819e-01 -6.02567756e-03 -3.72752604e+01] [-3.32917093e-02 -1.08113058e-03 9.99445093e-01 -1.05547516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06587155999995 meters 0.038452848355359885 Centerline is valid? [True, True] Translation: X:255.47, Y:-37.28, Z:-10.56 [[ 9.76347632e-01 2.13619814e-01 3.33448100e-02 2.55471183e+02] [-2.13534778e-01 9.76916215e-01 -6.13245959e-03 -3.72837708e+01] [-3.38851005e-02 -1.13286420e-03 9.99425093e-01 -1.05558304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12587155999995 meters 0.03810933972953345 Centerline is valid? [True, True] Translation: X:255.53, Y:-37.29, Z:-10.56 [[ 9.76577279e-01 2.12470685e-01 3.39562286e-02 2.55528849e+02] [-2.12381833e-01 9.77166806e-01 -6.24414619e-03 -3.72922598e+01] [-3.45075975e-02 -1.11379477e-03 9.99403815e-01 -1.05575986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18587155999995 meters 0.035496706372731446 Centerline is valid? [True, True] Translation: X:255.59, Y:-37.30, Z:-10.56 [[ 9.77164087e-01 2.09988072e-01 3.24862550e-02 2.55587967e+02] [-2.09905421e-01 9.77703454e-01 -5.97249438e-03 -3.73021626e+01] [-3.30160763e-02 -9.82934016e-04 9.99454337e-01 -1.05632958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24587155999996 meters 0.03482666663846368 Centerline is valid? [True, True] Translation: X:255.65, Y:-37.31, Z:-10.57 [[ 9.77404030e-01 2.08883838e-01 3.23867937e-02 2.55646699e+02] [-2.08801089e-01 9.77940005e-01 -5.95415275e-03 -3.73064860e+01] [-3.29160674e-02 -9.42784885e-04 9.99457675e-01 -1.05655924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30587155999996 meters 0.03937740564198281 Centerline is valid? [True, True] Translation: X:255.70, Y:-37.31, Z:-10.57 [[ 9.77491923e-01 2.08501535e-01 3.21970515e-02 2.55704696e+02] [-2.08419592e-01 9.78021601e-01 -5.91782853e-03 -3.73102486e+01] [-3.27232882e-02 -9.25866767e-04 9.99464021e-01 -1.05675049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36587155999996 meters 0.035833322636990156 Centerline is valid? [True, True] Translation: X:255.76, Y:-37.31, Z:-10.57 [[ 9.77650433e-01 2.07558128e-01 3.34552676e-02 2.55763628e+02] [-2.07469178e-01 9.78222243e-01 -6.14688234e-03 -3.73124845e+01] [-3.40025223e-02 -9.31434705e-04 9.99421313e-01 -1.05689826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42587155999996 meters 0.02923268958172182 Centerline is valid? [True, True] Translation: X:255.82, Y:-37.32, Z:-10.57 [[ 9.78039409e-01 2.05619393e-01 3.40526038e-02 2.55821752e+02] [-2.05526123e-01 9.78631641e-01 -6.25492647e-03 -3.73238845e+01] [-3.46110897e-02 -8.81135043e-04 9.99400468e-01 -1.05687620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48587155999996 meters 0.03311869149772996 Centerline is valid? [True, True] Translation: X:255.88, Y:-37.33, Z:-10.57 [[ 9.78887100e-01 2.01360143e-01 3.51303078e-02 2.55881187e+02] [-2.01258183e-01 9.79516984e-01 -6.45142595e-03 -3.73290369e+01] [-3.57097933e-02 -7.55044299e-04 9.99361917e-01 -1.05688170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54587155999997 meters 0.021860817948656065 Centerline is valid? [True, True] Translation: X:255.94, Y:-37.34, Z:-10.57 [[ 9.79896607e-01 1.96530452e-01 3.43281435e-02 2.55939257e+02] [-1.96430161e-01 9.80497558e-01 -6.30328251e-03 -3.73415518e+01] [-3.48974478e-02 -5.66517599e-04 9.99390738e-01 -1.05735876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60587155999997 meters 0.018331958647985078 Centerline is valid? [True, True] Translation: X:256.00, Y:-37.35, Z:-10.58 [[ 9.80734305e-01 1.92584482e-01 3.27328611e-02 2.55997636e+02] [-1.92491124e-01 9.81280313e-01 -6.00960272e-03 -3.73524443e+01] [-3.32774684e-02 -4.06961683e-04 9.99446069e-01 -1.05785135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66587155999997 meters 0.01592162243340805 Centerline is valid? [True, True] Translation: X:256.06, Y:-37.36, Z:-10.58 [[ 9.81243156e-01 1.90028163e-01 3.24217021e-02 2.56056676e+02] [-1.89935203e-01 9.81778588e-01 -5.95169029e-03 -3.73616501e+01] [-3.29619217e-02 -3.17967205e-04 9.99456558e-01 -1.05818687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72587156 meters 0.01516123838632056 Centerline is valid? [True, True] Translation: X:256.11, Y:-37.37, Z:-10.58 [[ 9.81543764e-01 1.88499337e-01 3.22465261e-02 2.56114888e+02] [-1.88406581e-01 9.82073281e-01 -5.91869697e-03 -3.73682677e+01] [-3.27841222e-02 -2.65997642e-04 9.99462421e-01 -1.05849276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78587156 meters 0.015077391993983424 Centerline is valid? [True, True] Translation: X:256.17, Y:-37.38, Z:-10.59 [[ 9.81624063e-01 1.88077715e-01 3.22641135e-02 2.56171961e+02] [-1.87984641e-01 9.82154117e-01 -5.92158771e-03 -3.73776308e+01] [-3.28020506e-02 -2.52384812e-04 9.99461836e-01 -1.05874409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.84587156 meters 0.015509060543681369 Centerline is valid? [True, True] Translation: X:256.23, Y:-37.38, Z:-10.59 [[ 9.81512474e-01 1.88609771e-01 3.25517562e-02 2.56231291e+02] [-1.88515400e-01 9.82052075e-01 -5.97203748e-03 -3.73818664e+01] [-3.30939044e-02 -2.74878054e-04 9.99452209e-01 -1.05893770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.90587156 meters 0.023025572926578256 Centerline is valid? [True, True] Translation: X:256.29, Y:-37.39, Z:-10.59 [[ 9.81412435e-01 1.89169623e-01 3.23185208e-02 2.56289833e+02] [-1.89076955e-01 9.81944381e-01 -5.92765799e-03 -3.73861406e+01] [-3.28563227e-02 -2.93210251e-04 9.99460042e-01 -1.05909384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.96587156 meters 0.02234027274866822 Centerline is valid? [True, True] Translation: X:256.35, Y:-37.39, Z:-10.59 [[ 9.81593408e-01 1.88330255e-01 3.17190337e-02 2.56348691e+02] [-1.88240606e-01 9.82105721e-01 -5.81617157e-03 -3.73927777e+01] [-3.22468055e-02 -2.61694442e-04 9.99479902e-01 -1.05945247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.02587156 meters 0.014132662165150588 Centerline is valid? [True, True] Translation: X:256.41, Y:-37.40, Z:-10.60 [[ 9.81999086e-01 1.86221519e-01 3.16123556e-02 2.56406860e+02] [-1.86131428e-01 9.82507765e-01 -5.79508532e-03 -3.74022601e+01] [-3.21385545e-02 -1.93284396e-04 9.99483405e-01 -1.05974209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.08587156 meters 0.012660472042274608 Centerline is valid? [True, True] Translation: X:256.46, Y:-37.41, Z:-10.60 [[ 9.82448973e-01 1.83789200e-01 3.18676363e-02 2.56464753e+02] [-1.83696419e-01 9.82965674e-01 -5.84029704e-03 -3.74140397e+01] [-3.23981761e-02 -1.16176832e-04 9.99475035e-01 -1.05990818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14587156 meters 0.012429213854574357 Centerline is valid? [True, True] Translation: X:256.52, Y:-37.43, Z:-10.60 [[ 9.82762264e-01 1.82016679e-01 3.23768511e-02 2.56520999e+02] [-1.81919998e-01 9.83295441e-01 -5.93205616e-03 -3.74253825e+01] [-3.29157432e-02 -6.01957426e-05 9.99458128e-01 -1.06029258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20587156 meters 0.012614108291656915 Centerline is valid? [True, True] Translation: X:256.58, Y:-37.44, Z:-10.61 [[ 9.83295048e-01 1.79255933e-01 3.15936634e-02 2.56577789e+02] [-1.79162516e-01 9.83802475e-01 -5.78647480e-03 -3.74398467e+01] [-3.21191841e-02 2.94117968e-05 9.99484045e-01 -1.06070663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26587156 meters 0.012308083683743252 Centerline is valid? [True, True] Translation: X:256.64, Y:-37.45, Z:-10.61 [[ 9.83330422e-01 1.79091513e-01 3.14246868e-02 2.56636554e+02] [-1.78999062e-01 9.83832419e-01 -5.75384585e-03 -3.74514051e+01] [-3.19470906e-02 3.29421966e-05 9.99489561e-01 -1.06079637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32587156 meters 0.012222986506714634 Centerline is valid? [True, True] Translation: X:256.70, Y:-37.46, Z:-10.61 [[ 9.83060423e-01 1.80548372e-01 3.15355441e-02 2.56695196e+02] [-1.80456034e-01 9.83566106e-01 -5.77361198e-03 -3.74585034e+01] [-3.20597086e-02 -1.49697824e-05 9.99485955e-01 -1.06104606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38587156 meters 0.02219250204025873 Centerline is valid? [True, True] Translation: X:256.75, Y:-37.46, Z:-10.61 [[ 9.82474545e-01 1.83618565e-01 3.20623062e-02 2.56753597e+02] [-1.83524796e-01 9.82997563e-01 -5.86861727e-03 -3.74630254e+01] [-3.25947560e-02 -1.18461146e-04 9.99468643e-01 -1.06107568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44587156 meters 0.013492135337541707 Centerline is valid? [True, True] Translation: X:256.81, Y:-37.47, Z:-10.61 [[ 9.82139366e-01 1.85379577e-01 3.21974753e-02 2.56811826e+02] [-1.85286035e-01 9.82666973e-01 -5.89109782e-03 -3.74704057e+01] [-3.27314848e-02 -1.79863465e-04 9.99464165e-01 -1.06132763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50587156 meters 0.01578100998971132 Centerline is valid? [True, True] Translation: X:256.87, Y:-37.47, Z:-10.62 [[ 9.81668515e-01 1.87848232e-01 3.22485574e-02 2.56870197e+02] [-1.87755773e-01 9.82198031e-01 -5.89894427e-03 -3.74730999e+01] [-3.27825759e-02 -2.64044972e-04 9.99462472e-01 -1.06170172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56587155999995 meters 0.01848438595225263 Centerline is valid? [True, True] Translation: X:256.93, Y:-37.48, Z:-10.62 [[ 9.81143189e-01 1.90553014e-01 3.23665252e-02 2.56927998e+02] [-1.90461409e-01 9.81676841e-01 -5.91868587e-03 -3.74769797e+01] [-3.29012917e-02 -3.57495650e-04 9.99458542e-01 -1.06194430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62587155999995 meters 0.02191809487191879 Centerline is valid? [True, True] Translation: X:256.99, Y:-37.48, Z:-10.62 [[ 9.80872733e-01 1.92076123e-01 3.15506610e-02 2.56987459e+02] [-1.91989956e-01 9.81379948e-01 -5.76670065e-03 -3.74788322e+01] [-3.20708315e-02 -4.01010578e-04 9.99485518e-01 -1.06235234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68587155999995 meters 0.020731522651491717 Centerline is valid? [True, True] Translation: X:257.04, Y:-37.49, Z:-10.63 [[ 9.81297588e-01 1.90184502e-01 2.97472434e-02 2.57043138e+02] [-1.90107063e-01 9.81748314e-01 -5.43620837e-03 -3.74874597e+01] [-3.02381887e-02 -3.20622913e-04 9.99542670e-01 -1.06301401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74587155999996 meters 0.014898449446776174 Centerline is valid? [True, True] Translation: X:257.10, Y:-37.50, Z:-10.63 [[ 9.82335658e-01 1.84685495e-01 3.01317471e-02 2.57099499e+02] [-1.84603540e-01 9.82797662e-01 -5.50357511e-03 -3.75034084e+01] [-3.06298411e-02 -1.56069117e-04 9.99530784e-01 -1.06330560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80587155999996 meters 0.011878127943791433 Centerline is valid? [True, True] Translation: X:257.16, Y:-37.52, Z:-10.63 [[ 9.83257058e-01 1.79420570e-01 3.18404888e-02 2.57156255e+02] [-1.79326341e-01 9.83772463e-01 -5.81416709e-03 -3.75210132e+01] [-3.23669773e-02 6.98247712e-06 9.99476052e-01 -1.06292317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86587155999996 meters 0.01335393807576215 Centerline is valid? [True, True] Translation: X:257.21, Y:-37.54, Z:-10.63 [[ 9.83872640e-01 1.75972301e-01 3.20683327e-02 2.57212063e+02] [-1.75874934e-01 9.84395111e-01 -5.85430734e-03 -3.75365174e+01] [-3.25981059e-02 1.19876923e-04 9.99468533e-01 -1.06344651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92587155999996 meters 0.014432182548252777 Centerline is valid? [True, True] Translation: X:257.27, Y:-37.55, Z:-10.63 [[ 9.84644446e-01 1.71499405e-01 3.26078055e-02 2.57269549e+02] [-1.71396363e-01 9.85184186e-01 -5.95026138e-03 -3.75515134e+01] [-3.31451607e-02 2.70032546e-04 9.99450512e-01 -1.06327424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98587155999996 meters 0.016680866120670556 Centerline is valid? [True, True] Translation: X:257.33, Y:-37.57, Z:-10.64 [[ 9.85051189e-01 1.69236959e-01 3.21404235e-02 2.57326370e+02] [-1.69135685e-01 9.85575332e-01 -5.86378641e-03 -3.75652218e+01] [-3.26691780e-02 3.40037220e-04 9.99466162e-01 -1.06366321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04587155999997 meters 0.021651271565758252 Centerline is valid? [True, True] Translation: X:257.38, Y:-37.58, Z:-10.64 [[ 9.84938051e-01 1.70055120e-01 3.12776702e-02 2.57384897e+02] [-1.69959664e-01 9.85434505e-01 -5.70513142e-03 -3.75753949e+01] [-3.17922823e-02 3.03258699e-04 9.99494452e-01 -1.06392795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10587155999997 meters 0.014884493739313817 Centerline is valid? [True, True] Translation: X:257.44, Y:-37.58, Z:-10.64 [[ 9.84572415e-01 1.72279287e-01 3.06105739e-02 2.57442851e+02] [-1.72188948e-01 9.85048119e-01 -5.58300821e-03 -3.75845500e+01] [-3.11147250e-02 2.26073349e-04 9.99515794e-01 -1.06445848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16587155999997 meters 0.013363050089413539 Centerline is valid? [True, True] Translation: X:257.50, Y:-37.59, Z:-10.65 [[ 9.84072013e-01 1.75071593e-01 3.08579267e-02 2.57500436e+02] [-1.74981203e-01 9.84555696e-01 -5.62673713e-03 -3.75910693e+01] [-3.13664293e-02 1.37557406e-04 9.99507943e-01 -1.06477553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.22587156 meters 0.015145018541928939 Centerline is valid? [True, True] Translation: X:257.56, Y:-37.60, Z:-10.65 [[ 9.83931384e-01 1.75793456e-01 3.12360884e-02 2.57557718e+02] [-1.75701265e-01 9.84427066e-01 -5.69365167e-03 -3.76032657e+01] [-3.17505576e-02 1.13942312e-04 9.99495817e-01 -1.06477317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28587156 meters 0.027871374244978497 Centerline is valid? [True, True] Translation: X:257.61, Y:-37.62, Z:-10.65 [[ 9.84086378e-01 1.74873169e-01 3.15178565e-02 2.57614674e+02] [-1.74778884e-01 9.84590958e-01 -5.74346415e-03 -3.76185171e+01] [-3.20365743e-02 1.43409058e-04 9.99486687e-01 -1.06494266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.34587156 meters 0.02676732167582205 Centerline is valid? [True, True] Translation: X:257.67, Y:-37.63, Z:-10.65 [[ 9.84135411e-01 1.74705669e-01 3.09098998e-02 2.57671759e+02] [-1.74614959e-01 9.84620693e-01 -5.63095279e-03 -3.76341349e+01] [-3.14182863e-02 1.44289142e-04 9.99506313e-01 -1.06538739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.40587156 meters 0.012760624024453828 Centerline is valid? [True, True] Translation: X:257.73, Y:-37.64, Z:-10.66 [[ 9.83640489e-01 1.77569591e-01 3.03385567e-02 2.57729612e+02] [-1.77483581e-01 9.84108245e-01 -5.52636332e-03 -3.76441159e+01] [-3.08377379e-02 5.13590252e-05 9.99524403e-01 -1.06590538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.46587156 meters 0.012753818035235558 Centerline is valid? [True, True] Translation: X:257.79, Y:-37.65, Z:-10.66 [[ 9.83041087e-01 1.80820322e-01 3.05652246e-02 2.57788105e+02] [-1.80734637e-01 9.83516146e-01 -5.56617814e-03 -3.76516962e+01] [-3.10678700e-02 -5.24129855e-05 9.99517276e-01 -1.06607521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.52587156 meters 0.013049086313334724 Centerline is valid? [True, True] Translation: X:257.85, Y:-37.66, Z:-10.66 [[ 9.82607568e-01 1.82995560e-01 3.15434978e-02 2.57845510e+02] [-1.82905473e-01 9.83113732e-01 -5.74273120e-03 -3.76623394e+01] [-3.20617401e-02 -1.26627240e-04 9.99485882e-01 -1.06614035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.58587156 meters 0.013581777805541692 Centerline is valid? [True, True] Translation: X:257.90, Y:-37.67, Z:-10.66 [[ 9.82332644e-01 1.84337778e-01 3.22825142e-02 2.57903305e+02] [-1.84244198e-01 9.82862937e-01 -5.87563247e-03 -3.76718787e+01] [-3.28123877e-02 -1.76040347e-04 9.99461513e-01 -1.06622401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.64587156 meters 0.02597151081600562 Centerline is valid? [True, True] Translation: X:257.96, Y:-37.68, Z:-10.66 [[ 9.82182023e-01 1.85013737e-01 3.29907768e-02 2.57959706e+02] [-1.84916438e-01 9.82735913e-01 -6.00296806e-03 -3.76833482e+01] [-3.35318527e-02 -2.04529639e-04 9.99437628e-01 -1.06637563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.70587156 meters 0.02952091800702782 Centerline is valid? [True, True] Translation: X:258.02, Y:-37.69, Z:-10.67 [[ 9.82257587e-01 1.84712310e-01 3.24252398e-02 2.58017241e+02] [-1.84618223e-01 9.82792616e-01 -5.89799530e-03 -3.76948874e+01] [-3.29567186e-02 -1.92939528e-04 9.99456761e-01 -1.06668984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76587156 meters 0.012732899648611008 Centerline is valid? [True, True] Translation: X:258.07, Y:-37.71, Z:-10.67 [[ 9.82742109e-01 1.82279279e-01 3.14993913e-02 2.58074398e+02] [-1.82189284e-01 9.83246791e-01 -5.72820837e-03 -3.77110358e+01] [-3.20158091e-02 -1.09499973e-04 9.99487357e-01 -1.06717987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82587156 meters 0.01217108025041832 Centerline is valid? [True, True] Translation: X:258.13, Y:-37.73, Z:-10.67 [[ 9.83337874e-01 1.79041343e-01 3.14773436e-02 2.58130703e+02] [-1.78949873e-01 9.83841551e-01 -5.72236326e-03 -3.77271561e+01] [-3.19932582e-02 -5.85012673e-06 9.99488085e-01 -1.06744174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88587156 meters 0.012974767527645495 Centerline is valid? [True, True] Translation: X:258.19, Y:-37.75, Z:-10.68 [[ 9.84034192e-01 1.75322480e-01 3.06388040e-02 2.58187945e+02] [-1.75234047e-01 9.84511054e-01 -5.56895386e-03 -3.77484735e+01] [-3.11406040e-02 1.11079404e-04 9.99515008e-01 -1.06783732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94587156 meters 0.013491487090273622 Centerline is valid? [True, True] Translation: X:258.25, Y:-37.77, Z:-10.68 [[ 9.84317024e-01 1.73609918e-01 3.12984559e-02 2.58245975e+02] [-1.73516773e-01 9.84814484e-01 -5.68872373e-03 -3.77660011e+01] [-3.18107916e-02 1.68700532e-04 9.99493894e-01 -1.06799055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00587156 meters 0.013075677571389046 Centerline is valid? [True, True] Translation: X:258.30, Y:-37.78, Z:-10.68 [[ 9.84153814e-01 1.74385351e-01 3.21094846e-02 2.58304715e+02] [-1.74287714e-01 9.84677474e-01 -5.83654930e-03 -3.77818092e+01] [-3.26352949e-02 1.47773580e-04 9.99467316e-01 -1.06810422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06587155999995 meters 0.011997154345388545 Centerline is valid? [True, True] Translation: X:258.36, Y:-37.79, Z:-10.68 [[ 9.83207521e-01 1.79470351e-01 3.30660428e-02 2.58363899e+02] [-1.79369662e-01 9.83763382e-01 -6.01095209e-03 -3.77918880e+01] [-3.36079498e-02 -2.10316311e-05 9.99435093e-01 -1.06821221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12587155999995 meters 0.013167962809456289 Centerline is valid? [True, True] Translation: X:258.42, Y:-37.80, Z:-10.69 [[ 9.82562208e-01 1.83113350e-01 3.22646519e-02 2.58423377e+02] [-1.83019447e-01 9.83091797e-01 -5.86527023e-03 -3.78000612e+01] [-3.27931239e-02 -1.42065868e-04 9.99462151e-01 -1.06857510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18587155999995 meters 0.01665009867463024 Centerline is valid? [True, True] Translation: X:258.48, Y:-37.81, Z:-10.69 [[ 9.81528332e-01 1.88567811e-01 3.23158414e-02 2.58483299e+02] [-1.88476553e-01 9.82060118e-01 -5.87480591e-03 -3.78055418e+01] [-3.28438984e-02 -3.24489968e-04 9.99460441e-01 -1.06878637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24587155999996 meters 0.025041742439399276 Centerline is valid? [True, True] Translation: X:258.54, Y:-37.80, Z:-10.69 [[ 9.80056682e-01 1.96131697e-01 3.19571310e-02 2.58543637e+02] [-1.96046493e-01 9.80577396e-01 -5.80881752e-03 -3.78046392e+01] [-3.24757335e-02 -5.72113040e-04 9.99472361e-01 -1.06920670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30587155999996 meters 0.02983006605877542 Centerline is valid? [True, True] Translation: X:258.60, Y:-37.81, Z:-10.70 [[ 9.79196622e-01 2.00467005e-01 3.14158339e-02 2.58603301e+02] [-2.00386911e-01 9.79700201e-01 -5.70979654e-03 -3.78082714e+01] [-3.19227246e-02 -7.04308429e-04 9.99490092e-01 -1.06958814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36587155999996 meters 0.03275483162591605 Centerline is valid? [True, True] Translation: X:258.66, Y:-37.81, Z:-10.70 [[ 9.78321882e-01 2.04697482e-01 3.13884727e-02 2.58662861e+02] [-2.04619741e-01 9.78824923e-01 -5.70359561e-03 -3.78134373e+01] [-3.18913310e-02 -8.42748761e-04 9.99490987e-01 -1.06978773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42587155999996 meters 0.034158931287766425 Centerline is valid? [True, True] Translation: X:258.72, Y:-37.82, Z:-10.70 [[ 9.78469059e-01 2.03922773e-01 3.18402720e-02 2.58720553e+02] [-2.03842381e-01 9.78986626e-01 -5.78527224e-03 -3.78194522e+01] [-3.23509493e-02 -8.29686988e-04 9.99476227e-01 -1.07007394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48587155999996 meters 0.028980047154818514 Centerline is valid? [True, True] Translation: X:258.78, Y:-37.83, Z:-10.70 [[ 9.79046798e-01 2.01152401e-01 3.17029791e-02 2.58777374e+02] [-2.01071314e-01 9.79559681e-01 -5.75830808e-03 -3.78341939e+01] [-3.22132576e-02 -7.36906571e-04 9.99480747e-01 -1.07031290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54587155999997 meters 0.022247519815849194 Centerline is valid? [True, True] Translation: X:258.84, Y:-37.85, Z:-10.71 [[ 9.80099495e-01 1.96067484e-01 3.10245451e-02 2.58835631e+02] [-1.95987341e-01 9.80590245e-01 -5.63323019e-03 -3.78507448e+01] [-3.15268596e-02 -5.59292033e-04 9.99502749e-01 -1.07050837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60587155999997 meters 0.026349047693589044 Centerline is valid? [True, True] Translation: X:258.89, Y:-37.86, Z:-10.71 [[ 9.80830933e-01 1.92409431e-01 3.08105650e-02 2.58893441e+02] [-1.92328588e-01 9.81314638e-01 -5.59426117e-03 -3.78637277e+01] [-3.13112470e-02 -4.38728073e-04 9.99509586e-01 -1.07061105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66587155999997 meters 0.015920304495333472 Centerline is valid? [True, True] Translation: X:258.95, Y:-37.88, Z:-10.71 [[ 9.82101475e-01 1.85767577e-01 3.10982458e-02 2.58950048e+02] [-1.85681932e-01 9.82593687e-01 -5.64498860e-03 -3.78770045e+01] [-3.16055958e-02 -2.30430728e-04 9.99500392e-01 -1.07136543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.72587156 meters 0.01207066813012408 Centerline is valid? [True, True] Translation: X:259.01, Y:-37.90, Z:-10.71 [[ 9.83407146e-01 1.78637540e-01 3.16071906e-02 2.59007471e+02] [-1.78545394e-01 9.83914950e-01 -5.73698712e-03 -3.78985380e+01] [-3.21236286e-02 -1.52417247e-06 9.99483903e-01 -1.07128416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78587156 meters 0.01621138340564187 Centerline is valid? [True, True] Translation: X:259.07, Y:-37.92, Z:-10.71 [[ 9.84565558e-01 1.71881825e-01 3.29742379e-02 2.59066447e+02] [-1.71777788e-01 9.85117550e-01 -5.98371905e-03 -3.79191452e+01] [-3.35119930e-02 2.27122027e-04 9.99438290e-01 -1.07126922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.84587156 meters 0.019358495621835673 Centerline is valid? [True, True] Translation: X:259.13, Y:-37.94, Z:-10.72 [[ 9.85609300e-01 1.65726238e-01 3.33034920e-02 2.59125199e+02] [-1.65616392e-01 9.86171696e-01 -6.04949297e-03 -3.79391904e+01] [-3.38455209e-02 4.46832344e-04 9.99426976e-01 -1.07162314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.90587156 meters 0.023083843513835803 Centerline is valid? [True, True] Translation: X:259.18, Y:-37.96, Z:-10.72 [[ 9.86566406e-01 1.60142084e-01 3.22682311e-02 2.59183685e+02] [-1.60035866e-01 9.87093778e-01 -5.86477049e-03 -3.79593547e+01] [-3.27909667e-02 6.21911246e-04 9.99462038e-01 -1.07194686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.96587156 meters 0.030342714519256495 Centerline is valid? [True, True] Translation: X:259.24, Y:-37.98, Z:-10.72 [[ 9.87287712e-01 1.55700632e-01 3.19419272e-02 2.59240220e+02] [-1.55594197e-01 9.87803995e-01 -5.80638595e-03 -3.79845541e+01] [-3.24564213e-02 7.62594980e-04 9.99472861e-01 -1.07239637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.02587156 meters 0.03243533246987641 Centerline is valid? [True, True] Translation: X:259.30, Y:-38.00, Z:-10.73 [[ 9.87412693e-01 1.54829422e-01 3.23113613e-02 2.59299121e+02] [-1.54720074e-01 9.87940894e-01 -5.87263367e-03 -3.80015837e+01] [-3.28309716e-02 7.99496813e-04 9.99460599e-01 -1.07262816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.08587156 meters 0.030639454739024567 Centerline is valid? [True, True] Translation: X:259.36, Y:-38.02, Z:-10.73 [[ 9.87126972e-01 1.56497206e-01 3.29994737e-02 2.59359690e+02] [-1.56383910e-01 9.87678105e-01 -6.00278809e-03 -3.80173148e+01] [-3.35322772e-02 7.64927316e-04 9.99437342e-01 -1.07279755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.14587156 meters 0.02332119146504862 Centerline is valid? [True, True] Translation: X:259.42, Y:-38.02, Z:-10.73 [[ 9.86453595e-01 1.60626981e-01 3.32907979e-02 2.59421017e+02] [-1.60513797e-01 9.87014978e-01 -6.06246088e-03 -3.80242350e+01] [-3.38323110e-02 6.36703950e-04 9.99427321e-01 -1.07284497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.20587156 meters 0.027825848031438883 Centerline is valid? [True, True] Translation: X:259.48, Y:-38.03, Z:-10.73 [[ 9.85520028e-01 1.66509568e-01 3.20131024e-02 2.59481020e+02] [-1.66407982e-01 9.86039750e-01 -5.83055084e-03 -3.80347114e+01] [-3.25370340e-02 4.18888877e-04 9.99470443e-01 -1.07320901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26587156 meters 0.020039891447123676 Centerline is valid? [True, True] Translation: X:259.54, Y:-38.04, Z:-10.74 [[ 9.84431083e-01 1.73062004e-01 3.07406331e-02 2.59543345e+02] [-1.72971516e-01 9.84910912e-01 -5.59909436e-03 -3.80412508e+01] [-3.12457755e-02 1.94668611e-04 9.99511713e-01 -1.07359891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32587156 meters 0.01696171713524417 Centerline is valid? [True, True] Translation: X:259.60, Y:-38.05, Z:-10.74 [[ 9.83197064e-01 1.79873623e-01 3.11289617e-02 2.59604852e+02] [-1.79784213e-01 9.83689727e-01 -5.67076507e-03 -3.80453635e+01] [-3.16412609e-02 -2.10162933e-05 9.99499290e-01 -1.07395279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38587156 meters 0.02969063662823168 Centerline is valid? [True, True] Translation: X:259.67, Y:-38.05, Z:-10.74 [[ 9.82112838e-01 1.85631986e-01 3.15458161e-02 2.59666759e+02] [-1.85542918e-01 9.82619318e-01 -5.75333118e-03 -3.80481891e+01] [-3.20655306e-02 -2.02682366e-04 9.99485748e-01 -1.07392468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44587156 meters 0.01958226535131723 Centerline is valid? [True, True] Translation: X:259.73, Y:-38.05, Z:-10.74 [[ 9.81138472e-01 1.90371323e-01 3.35567822e-02 2.59727317e+02] [-1.90273267e-01 9.81712084e-01 -6.12113567e-03 -3.80471993e+01] [-3.41083873e-02 -3.79276884e-04 9.99418068e-01 -1.07426206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50587156 meters 0.025042890471932346 Centerline is valid? [True, True] Translation: X:259.79, Y:-38.05, Z:-10.75 [[ 9.80344258e-01 1.94535857e-01 3.28775917e-02 2.59786767e+02] [-1.94444048e-01 9.80895273e-01 -5.99790244e-03 -3.80466270e+01] [-3.34162814e-02 -5.12842794e-04 9.99441389e-01 -1.07466991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56587155999995 meters 0.028810057287778898 Centerline is valid? [True, True] Translation: X:259.85, Y:-38.05, Z:-10.75 [[ 9.79735430e-01 1.97553653e-01 3.30309153e-02 2.59847081e+02] [-1.97462743e-01 9.80291880e-01 -6.02454588e-03 -3.80462277e+01] [-3.35701091e-02 -6.19914095e-04 9.99436173e-01 -1.07487840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62587155999995 meters 0.025330581172303582 Centerline is valid? [True, True] Translation: X:259.90, Y:-38.06, Z:-10.75 [[ 9.79689299e-01 1.97757121e-01 3.31812856e-02 2.59904403e+02] [-1.97665547e-01 9.80250847e-01 -6.05052735e-03 -3.80594117e+01] [-3.37225182e-02 -6.31160065e-04 9.99431035e-01 -1.07485948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68587155999995 meters 0.02275204034500275 Centerline is valid? [True, True] Translation: X:259.96, Y:-38.06, Z:-10.75 [[ 9.80158812e-01 1.95420811e-01 3.31573415e-02 2.59963326e+02] [-1.95328085e-01 9.80719329e-01 -6.04458088e-03 -3.80644488e+01] [-3.36992826e-02 -5.51910818e-04 9.99431865e-01 -1.07514428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74587155999996 meters 0.02537262759339185 Centerline is valid? [True, True] Translation: X:260.02, Y:-38.07, Z:-10.76 [[ 9.80510313e-01 1.93723347e-01 3.27229326e-02 2.60021382e+02] [-1.93632139e-01 9.81056077e-01 -5.96393356e-03 -3.80670317e+01] [-3.32583851e-02 -4.88513087e-04 9.99446668e-01 -1.07577118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80587155999996 meters 0.0195002091809121 Centerline is valid? [True, True] Translation: X:260.08, Y:-38.08, Z:-10.76 [[ 9.81044383e-01 1.90969088e-01 3.29047905e-02 2.60079271e+02] [-1.90875384e-01 9.81595970e-01 -5.99496748e-03 -3.80777525e+01] [-3.34440632e-02 -3.99385351e-04 9.99440511e-01 -1.07569169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86587155999996 meters 0.0158167152839205 Centerline is valid? [True, True] Translation: X:260.14, Y:-38.09, Z:-10.76 [[ 9.81644519e-01 1.87811138e-01 3.31815469e-02 2.60138076e+02] [-1.87714099e-01 9.82205115e-01 -6.04384654e-03 -3.80851100e+01] [-3.37261868e-02 -2.95735357e-04 9.99431067e-01 -1.07576032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92587155999996 meters 0.02232206674281282 Centerline is valid? [True, True] Translation: X:260.20, Y:-38.09, Z:-10.76 [[ 9.81962344e-01 1.86215862e-01 3.27659556e-02 2.60195642e+02] [-1.86120400e-01 9.82508827e-01 -5.96667535e-03 -3.80909096e+01] [-3.33039302e-02 -2.39362260e-04 9.99445242e-01 -1.07602452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98587155999996 meters 0.026611279019322767 Centerline is valid? [True, True] Translation: X:260.25, Y:-38.10, Z:-10.76 [[ 9.82447160e-01 1.83777755e-01 3.19892828e-02 2.60253821e+02] [-1.83685539e-01 9.82967809e-01 -5.82325479e-03 -3.81000178e+01] [-3.25146199e-02 -1.54928509e-04 9.99471248e-01 -1.07618245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04587155999997 meters 0.028400293551170398 Centerline is valid? [True, True] Translation: X:260.31, Y:-38.11, Z:-10.76 [[ 9.82965392e-01 1.80873364e-01 3.26169365e-02 2.60311413e+02] [-1.80775947e-01 9.83506392e-01 -5.93587452e-03 -3.81097754e+01] [-3.31526071e-02 -6.15983545e-05 9.99450299e-01 -1.07620156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10587155999997 meters 0.011890937917255654 Centerline is valid? [True, True] Translation: X:260.37, Y:-38.12, Z:-10.77 [[ 9.83440175e-01 1.78125245e-01 3.34188451e-02 2.60368949e+02] [-1.78021445e-01 9.84007823e-01 -6.08018793e-03 -3.81182238e+01] [-3.39674400e-02 3.02299671e-05 9.99422940e-01 -1.07651758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16587155999997 meters 0.023134518736589955 Centerline is valid? [True, True] Translation: X:260.43, Y:-38.13, Z:-10.77 [[ 9.83627244e-01 1.77241779e-01 3.26005683e-02 2.60427558e+02] [-1.77142586e-01 9.84167338e-01 -5.92923354e-03 -3.81260048e+01] [-3.31353224e-02 5.72066811e-05 9.99450873e-01 -1.07670911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.22587156 meters 0.012670203909780953 Centerline is valid? [True, True] Translation: X:260.49, Y:-38.13, Z:-10.77 [[ 9.83765194e-01 1.76718332e-01 3.12517931e-02 2.60485949e+02] [-1.76626960e-01 9.84261462e-01 -5.68249322e-03 -3.81320689e+01] [-3.17641363e-02 7.03298268e-05 9.99495390e-01 -1.07737389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28587156 meters 0.025326041165928244 Centerline is valid? [True, True] Translation: X:260.54, Y:-38.14, Z:-10.78 [[ 9.83952886e-01 1.75721149e-01 3.09644391e-02 2.60542680e+02] [-1.75630998e-01 9.84439977e-01 -5.62892651e-03 -3.81404442e+01] [-3.14717532e-02 1.00283133e-04 9.99504637e-01 -1.07759257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.34587156 meters 0.013260430953900114 Centerline is valid? [True, True] Translation: X:260.60, Y:-38.15, Z:-10.78 [[ 9.84199610e-01 1.74197418e-01 3.17236145e-02 2.60600516e+02] [-1.74102075e-01 9.84710738e-01 -5.76461011e-03 -3.81487580e+01] [-3.22427641e-02 1.50379912e-04 9.99480056e-01 -1.07770576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.40587156 meters 0.02134520709067872 Centerline is valid? [True, True] Translation: X:260.66, Y:-38.15, Z:-10.78 [[ 9.84263155e-01 1.73657862e-01 3.26953780e-02 2.60658411e+02] [-1.73556341e-01 9.84806030e-01 -5.93961363e-03 -3.81545454e+01] [-3.32300660e-02 1.71652667e-04 9.99447714e-01 -1.07765817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.46587156 meters 0.013326899830942662 Centerline is valid? [True, True] Translation: X:260.72, Y:-38.16, Z:-10.78 [[ 9.84271793e-01 1.73423958e-01 3.36625507e-02 2.60717100e+02] [-1.73316280e-01 9.84847246e-01 -6.11308904e-03 -3.81605430e+01] [-3.42126264e-02 1.82673059e-04 9.99414560e-01 -1.07792384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.52587156 meters 0.03350278043134861 Centerline is valid? [True, True] Translation: X:260.78, Y:-38.17, Z:-10.78 [[ 9.84507452e-01 1.72521816e-01 3.13257209e-02 2.60775647e+02] [-1.72428160e-01 9.85005677e-01 -5.68736213e-03 -3.81676478e+01] [-3.18372070e-02 1.97813996e-04 9.99493048e-01 -1.07827041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.58587156 meters 0.016129209056885876 Centerline is valid? [True, True] Translation: X:260.83, Y:-38.18, Z:-10.79 [[ 9.85015214e-01 1.69676589e-01 3.09011826e-02 2.60831255e+02] [-1.69584100e-01 9.85499759e-01 -5.60882247e-03 -3.81807838e+01] [-3.14047938e-02 2.84426248e-04 9.99506707e-01 -1.07890059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.64587156 meters 0.016505880766504916 Centerline is valid? [True, True] Translation: X:260.89, Y:-38.19, Z:-10.79 [[ 9.85154342e-01 1.68627622e-01 3.21814897e-02 2.60888698e+02] [-1.68526814e-01 9.85679774e-01 -5.83917943e-03 -3.81921298e+01] [-3.27052904e-02 3.29049030e-04 9.99464985e-01 -1.07885057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.70587156 meters 0.022901376026481773 Centerline is valid? [True, True] Translation: X:260.95, Y:-38.20, Z:-10.79 [[ 9.85125124e-01 1.68874652e-01 3.17780041e-02 2.60946900e+02] [-1.68776535e-01 9.85637485e-01 -5.76443755e-03 -3.82010822e+01] [-3.22950594e-02 3.15310836e-04 9.99478329e-01 -1.07893359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76587156 meters 0.015150990157854517 Centerline is valid? [True, True] Translation: X:261.01, Y:-38.21, Z:-10.79 [[ 9.84820374e-01 1.70724025e-01 3.13390858e-02 2.61005398e+02] [-1.70629585e-01 9.85318855e-01 -5.68328030e-03 -3.82080970e+01] [-3.18492646e-02 2.49635026e-04 9.99492652e-01 -1.07947043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82587156 meters 0.013229392180920266 Centerline is valid? [True, True] Translation: X:261.07, Y:-38.21, Z:-10.80 [[ 9.84102830e-01 1.74710126e-01 3.19059860e-02 2.61065156e+02] [-1.74614387e-01 9.84619905e-01 -5.78435096e-03 -3.82108540e+01] [-3.24258536e-02 1.21151981e-04 9.99474136e-01 -1.07957866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88587156 meters 0.012769021992945054 Centerline is valid? [True, True] Translation: X:261.12, Y:-38.22, Z:-10.80 [[ 9.83336623e-01 1.78939994e-01 3.20868200e-02 2.61123009e+02] [-1.78845446e-01 9.83859989e-01 -5.81621800e-03 -3.82154457e+01] [-3.26096924e-02 -1.92814678e-05 9.99468162e-01 -1.07976027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94587156 meters 0.012855372836888064 Centerline is valid? [True, True] Translation: X:261.18, Y:-38.22, Z:-10.80 [[ 9.83092407e-01 1.80134815e-01 3.28750358e-02 2.61180244e+02] [-1.80036313e-01 9.83641929e-01 -5.95663251e-03 -3.82213931e+01] [-3.34102605e-02 -6.27800340e-05 9.99441719e-01 -1.07988518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00587156 meters 0.012455213108540322 Centerline is valid? [True, True] Translation: X:261.24, Y:-38.23, Z:-10.80 [[ 9.83466763e-01 1.77894031e-01 3.38650322e-02 2.61237194e+02] [-1.77788255e-01 9.84049650e-01 -6.13373522e-03 -3.82344262e+01] [-3.44160280e-02 1.15197496e-05 9.99407593e-01 -1.08000518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06587155999995 meters 0.012742661993940137 Centerline is valid? [True, True] Translation: X:261.29, Y:-38.25, Z:-10.80 [[ 9.83764018e-01 1.76283623e-01 3.36517546e-02 2.61293567e+02] [-1.76178289e-01 9.84339413e-01 -6.09346843e-03 -3.82500601e+01] [-3.41989271e-02 6.58264297e-05 9.99415043e-01 -1.08034595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12587155999995 meters 0.012726927359365882 Centerline is valid? [True, True] Translation: X:261.35, Y:-38.26, Z:-10.81 [[ 9.83542527e-01 1.77652236e-01 3.29208303e-02 2.61351541e+02] [-1.77552248e-01 9.84093330e-01 -5.95956154e-03 -3.82596259e+01] [-3.34558990e-02 1.63147872e-05 9.99440195e-01 -1.08064482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18587155999995 meters 0.013541205395565479 Centerline is valid? [True, True] Translation: X:261.41, Y:-38.26, Z:-10.81 [[ 9.82811870e-01 1.81593756e-01 3.32345656e-02 2.61408962e+02] [-1.81494156e-01 9.83373628e-01 -6.01482308e-03 -3.82646840e+01] [-3.37742497e-02 -1.20439931e-04 9.99429480e-01 -1.08089691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24587155999996 meters 0.015636212180535052 Centerline is valid? [True, True] Translation: X:261.47, Y:-38.27, Z:-10.81 [[ 9.81968286e-01 1.86123437e-01 3.31112041e-02 2.61468047e+02] [-1.86027217e-01 9.82526330e-01 -5.99043090e-03 -3.82688672e+01] [-3.36475894e-02 -2.77171981e-04 9.99433721e-01 -1.08110501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30587155999996 meters 0.018683832820882172 Centerline is valid? [True, True] Translation: X:261.53, Y:-38.27, Z:-10.81 [[ 9.81251001e-01 1.89774165e-01 3.36487623e-02 2.61526670e+02] [-1.89676995e-01 9.81827682e-01 -6.08605664e-03 -3.82717127e+01] [-3.41922626e-02 -4.10446932e-04 9.99415189e-01 -1.08127486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36587155999996 meters 0.02039466077362129 Centerline is valid? [True, True] Translation: X:261.59, Y:-38.28, Z:-10.81 [[ 9.80820225e-01 1.91940723e-01 3.39182096e-02 2.61585344e+02] [-1.91843361e-01 9.81406397e-01 -6.13255591e-03 -3.82792738e+01] [-3.44646351e-02 -4.92048454e-04 9.99405797e-01 -1.08149710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42587155999996 meters 0.02205916642413808 Centerline is valid? [True, True] Translation: X:261.64, Y:-38.29, Z:-10.82 [[ 9.80761601e-01 1.92270443e-01 3.37455081e-02 2.61642982e+02] [-1.92174320e-01 9.81341849e-01 -6.09974594e-03 -3.82853069e+01] [-3.42886801e-02 -5.02623464e-04 9.99411844e-01 -1.08186665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48587155999996 meters 0.02038936654511078 Centerline is valid? [True, True] Translation: X:261.70, Y:-38.30, Z:-10.82 [[ 9.80835321e-01 1.91868369e-01 3.38910215e-02 2.61700650e+02] [-1.91771250e-01 9.81420545e-01 -6.12385202e-03 -3.82957694e+01] [-3.44363182e-02 -4.92833201e-04 9.99406773e-01 -1.08202628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54587155999997 meters 0.02324778187246799 Centerline is valid? [True, True] Translation: X:261.76, Y:-38.30, Z:-10.83 [[ 9.80861525e-01 1.91738756e-01 3.38661904e-02 2.61757808e+02] [-1.91641751e-01 9.81445877e-01 -6.11795867e-03 -3.83014748e+01] [-3.44108828e-02 -4.89305766e-04 9.99407650e-01 -1.08251425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60587155999997 meters 0.02262443807619274 Centerline is valid? [True, True] Translation: X:261.82, Y:-38.31, Z:-10.83 [[ 9.80842864e-01 1.91891673e-01 3.35389734e-02 2.61815879e+02] [-1.91796732e-01 9.81415989e-01 -6.05563828e-03 -3.83099793e+01] [-3.40777113e-02 -4.93035906e-04 9.99419065e-01 -1.08280965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66587155999997 meters 0.0224668518839212 Centerline is valid? [True, True] Translation: X:261.87, Y:-38.32, Z:-10.83 [[ 9.80576516e-01 1.93176187e-01 3.39507993e-02 2.61874568e+02] [-1.93079724e-01 9.81163933e-01 -6.12840396e-03 -3.83162941e+01] [-3.44951615e-02 -5.45841944e-04 9.99404716e-01 -1.08293174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.72587156 meters 0.02679130758503241 Centerline is valid? [True, True] Translation: X:261.93, Y:-38.32, Z:-10.83 [[ 9.80274998e-01 1.94822533e-01 3.32431938e-02 2.61933379e+02] [-1.94731046e-01 9.80838330e-01 -5.99918745e-03 -3.83172621e+01] [-3.37749756e-02 -5.92628432e-04 9.99429287e-01 -1.08348452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78587156 meters 0.02333111584657771 Centerline is valid? [True, True] Translation: X:261.99, Y:-38.33, Z:-10.84 [[ 9.80274719e-01 1.94887620e-01 3.28677722e-02 2.61990813e+02] [-1.94798293e-01 9.80825401e-01 -5.92938926e-03 -3.83292291e+01] [-3.33931104e-02 -5.90155534e-04 9.99442120e-01 -1.08359142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.84587156 meters 0.02261686971219149 Centerline is valid? [True, True] Translation: X:262.05, Y:-38.34, Z:-10.84 [[ 9.80587789e-01 1.93286058e-01 3.29861725e-02 2.62048365e+02] [-1.93195233e-01 9.81142298e-01 -5.94917071e-03 -3.83367613e+01] [-3.35140209e-02 -5.39087130e-04 9.99438102e-01 -1.08391331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.90587156 meters 0.021785612749660222 Centerline is valid? [True, True] Translation: X:262.11, Y:-38.35, Z:-10.84 [[ 9.80971922e-01 1.91249881e-01 3.34300885e-02 2.62106209e+02] [-1.91155489e-01 9.81541265e-01 -6.02698162e-03 -3.83465396e+01] [-3.39656708e-02 -4.78045150e-04 9.99422886e-01 -1.08396484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.96587156 meters 0.018448672343471063 Centerline is valid? [True, True] Translation: X:262.16, Y:-38.36, Z:-10.84 [[ 9.81375178e-01 1.89039082e-01 3.41611739e-02 2.62164285e+02] [-1.88939236e-01 9.81969478e-01 -6.15704591e-03 -3.83561912e+01] [-3.47091524e-02 -4.12014074e-04 9.99397371e-01 -1.08422210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.02587156 meters 0.017210059228033793 Centerline is valid? [True, True] Translation: X:262.22, Y:-38.36, Z:-10.84 [[ 9.81609861e-01 1.87719106e-01 3.46931835e-02 2.62222657e+02] [-1.87615363e-01 9.82222683e-01 -6.25118750e-03 -3.83639401e+01] [-3.52498991e-02 -3.72746916e-04 9.99378460e-01 -1.08437462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.08587156 meters 0.014598388472045275 Centerline is valid? [True, True] Translation: X:262.28, Y:-38.38, Z:-10.85 [[ 9.82270358e-01 1.84224897e-01 3.47293882e-02 2.62280312e+02] [-1.84118814e-01 9.82884085e-01 -6.25598216e-03 -3.83769482e+01] [-3.52874707e-02 -2.49267923e-04 9.99377172e-01 -1.08459247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.14587156 meters 0.012470429358988542 Centerline is valid? [True, True] Translation: X:262.34, Y:-38.39, Z:-10.85 [[ 9.83478998e-01 1.77718237e-01 3.44280364e-02 2.62336324e+02] [-1.77610057e-01 9.84081413e-01 -6.19997864e-03 -3.83940620e+01] [-3.49818400e-02 -1.72167175e-05 9.99387948e-01 -1.08502590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.20587156 meters 0.015728054798759817 Centerline is valid? [True, True] Translation: X:262.39, Y:-38.42, Z:-10.85 [[ 9.85060976e-01 1.68691124e-01 3.46147153e-02 2.62390551e+02] [-1.68576244e-01 9.85668916e-01 -6.23195807e-03 -3.84193141e+01] [-3.51699249e-02 3.03639992e-04 9.99381301e-01 -1.08531323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26587156 meters 0.022694459443610565 Centerline is valid? [True, True] Translation: X:262.45, Y:-38.44, Z:-10.86 [[ 9.86437751e-01 1.60404818e-01 3.47973801e-02 2.62446454e+02] [-1.60283644e-01 9.87051130e-01 -6.26254116e-03 -3.84441962e+01] [-3.53513352e-02 6.00156127e-04 9.99374766e-01 -1.08563320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32587156 meters 0.0316527627285164 Centerline is valid? [True, True] Translation: X:262.50, Y:-38.47, Z:-10.86 [[ 9.87565890e-01 1.53461636e-01 3.41048206e-02 2.62501535e+02] [-1.53341142e-01 9.88154257e-01 -6.13661242e-03 -3.84709196e+01] [-3.46425582e-02 8.30636977e-04 9.99399421e-01 -1.08609654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38587156 meters 0.0323885381117714 Centerline is valid? [True, True] Translation: X:262.56, Y:-38.49, Z:-10.86 [[ 9.88084889e-01 1.49917625e-01 3.48275367e-02 2.62560103e+02] [-1.49789800e-01 9.88698011e-01 -6.26571782e-03 -3.84878944e+01] [-3.53732578e-02 9.74251320e-04 9.99373696e-01 -1.08609819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44587156 meters 0.03086498448571503 Centerline is valid? [True, True] Translation: X:262.62, Y:-38.50, Z:-10.86 [[ 9.87875676e-01 1.51226555e-01 3.51023775e-02 2.62618710e+02] [-1.51097529e-01 9.88498688e-01 -6.31516360e-03 -3.85035052e+01] [-3.56536745e-02 9.34713999e-04 9.99363769e-01 -1.08626587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50587156 meters 0.024162824258297428 Centerline is valid? [True, True] Translation: X:262.68, Y:-38.51, Z:-10.87 [[ 9.87051714e-01 1.56759664e-01 3.39900265e-02 2.62678501e+02] [-1.56641964e-01 9.87636523e-01 -6.11504386e-03 -3.85114047e+01] [-3.45283838e-02 7.11600016e-04 9.99403464e-01 -1.08669166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56587155999995 meters 0.019537395492305185 Centerline is valid? [True, True] Translation: X:262.74, Y:-38.52, Z:-10.87 [[ 9.85783099e-01 1.64573682e-01 3.38701164e-02 2.62736520e+02] [-1.64461405e-01 9.86364695e-01 -6.09376250e-03 -3.85188085e+01] [-3.44111600e-02 4.36801151e-04 9.99407665e-01 -1.08717368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62587155999995 meters 0.022764452344773624 Centerline is valid? [True, True] Translation: X:262.80, Y:-38.52, Z:-10.87 [[ 9.84506929e-01 1.72050937e-01 3.38316567e-02 2.62795182e+02] [-1.71943363e-01 9.85088039e-01 -6.08567784e-03 -3.85239158e+01] [-3.43742070e-02 1.74263186e-04 9.99409017e-01 -1.08718624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68587155999995 meters 0.012894651165459625 Centerline is valid? [True, True] Translation: X:262.85, Y:-38.53, Z:-10.88 [[ 9.83426561e-01 1.78088322e-01 3.40109957e-02 2.62852385e+02] [-1.77983264e-01 9.84014506e-01 -6.11634922e-03 -3.85298125e+01] [-3.45565635e-02 -3.84077306e-05 9.99402743e-01 -1.08778232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74587155999996 meters 0.014428664149178688 Centerline is valid? [True, True] Translation: X:262.91, Y:-38.54, Z:-10.88 [[ 9.82722988e-01 1.81871345e-01 3.43269897e-02 2.62909836e+02] [-1.81766704e-01 9.83322319e-01 -6.17105515e-03 -3.85374546e+01] [-3.48768332e-02 -1.75066016e-04 9.99391603e-01 -1.08809324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80587155999996 meters 0.026404795483415417 Centerline is valid? [True, True] Translation: X:262.97, Y:-38.55, Z:-10.88 [[ 9.82234020e-01 1.84512684e-01 3.42257163e-02 2.62967630e+02] [-1.84410335e-01 9.82830095e-01 -6.15075426e-03 -3.85490199e+01] [-3.47729562e-02 -2.70095745e-04 9.99395201e-01 -1.08807491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86587155999996 meters 0.01857241441516962 Centerline is valid? [True, True] Translation: X:263.02, Y:-38.56, Z:-10.88 [[ 9.81552684e-01 1.87985280e-01 3.48692333e-02 2.63024573e+02] [-1.87881292e-01 9.82171763e-01 -6.26477344e-03 -3.85554845e+01] [-3.54252615e-02 -4.02071413e-04 9.99372248e-01 -1.08845012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92587155999996 meters 0.0213997677536111 Centerline is valid? [True, True] Translation: X:263.08, Y:-38.56, Z:-10.88 [[ 9.81196422e-01 1.89636577e-01 3.59381397e-02 2.63082721e+02] [-1.89527312e-01 9.81854236e-01 -6.45429702e-03 -3.85642358e+01] [-3.65099855e-02 -4.78325868e-04 9.99333174e-01 -1.08833648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98587155999996 meters 0.019272733387839802 Centerline is valid? [True, True] Translation: X:263.14, Y:-38.58, Z:-10.89 [[ 9.81358715e-01 1.88753310e-01 3.61560457e-02 2.63139786e+02] [-1.88642182e-01 9.82024432e-01 -6.49166179e-03 -3.85769873e+01] [-3.67314429e-02 -4.49906479e-04 9.99325072e-01 -1.08871534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04587155999997 meters 0.019128052869391763 Centerline is valid? [True, True] Translation: X:263.20, Y:-38.59, Z:-10.89 [[ 9.81689701e-01 1.87054716e-01 3.59981244e-02 2.63196872e+02] [-1.86943478e-01 9.82349420e-01 -6.46159663e-03 -3.85912131e+01] [-3.65714087e-02 -3.86331706e-04 9.99330968e-01 -1.08884087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10587155999997 meters 0.01794862072347827 Centerline is valid? [True, True] Translation: X:263.25, Y:-38.60, Z:-10.89 [[ 9.81781946e-01 1.86595406e-01 3.58659413e-02 2.63254059e+02] [-1.86484741e-01 9.82436776e-01 -6.43611875e-03 -3.86018684e+01] [-3.64369700e-02 -3.69585585e-04 9.99335885e-01 -1.08931245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16587155999997 meters 0.03494970137735285 Centerline is valid? [True, True] Translation: X:263.31, Y:-38.61, Z:-10.89 [[ 9.81582320e-01 1.87753015e-01 3.52839177e-02 2.63311845e+02] [-1.87646719e-01 9.82216188e-01 -6.33006004e-03 -3.86077082e+01] [-3.58449230e-02 -4.07436357e-04 9.99357281e-01 -1.08932922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.22587156 meters 0.021176377459597093 Centerline is valid? [True, True] Translation: X:263.37, Y:-38.62, Z:-10.90 [[ 9.81171048e-01 1.89695983e-01 3.63153959e-02 2.63369938e+02] [-1.89584791e-01 9.81842752e-01 -6.51288788e-03 -3.86151242e+01] [-3.68914770e-02 -4.94589725e-04 9.99319155e-01 -1.08962570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28587156 meters 0.02418985523059754 Centerline is valid? [True, True] Translation: X:263.43, Y:-38.62, Z:-10.90 [[ 9.80722304e-01 1.92075598e-01 3.59267026e-02 2.63428720e+02] [-1.91968426e-01 9.81379962e-01 -6.44159496e-03 -3.86172204e+01] [-3.64950192e-02 -5.79376712e-04 9.99333667e-01 -1.08992623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.34587156 meters 0.024477576660462234 Centerline is valid? [True, True] Translation: X:263.49, Y:-38.62, Z:-10.90 [[ 9.80225279e-01 1.94592890e-01 3.59445401e-02 2.63487941e+02] [-1.94487380e-01 9.80883862e-01 -6.44268310e-03 -3.86217886e+01] [-3.65111197e-02 -6.75478589e-04 9.99333019e-01 -1.09005763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.40587156 meters 0.03101783140178567 Centerline is valid? [True, True] Translation: X:263.55, Y:-38.62, Z:-10.90 [[ 9.80170198e-01 1.94900652e-01 3.57787444e-02 2.63546253e+02] [-1.94796380e-01 9.80822750e-01 -6.41127676e-03 -3.86243285e+01] [-3.63421685e-02 -6.85427453e-04 9.99339170e-01 -1.09037783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.46587156 meters 0.028199547896808858 Centerline is valid? [True, True] Translation: X:263.61, Y:-38.63, Z:-10.91 [[ 9.80275366e-01 1.94392356e-01 3.56625663e-02 2.63605076e+02] [-1.94288506e-01 9.80923630e-01 -6.38819212e-03 -3.86287286e+01] [-3.62240697e-02 -6.66639334e-04 9.99343471e-01 -1.09078822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.52587156 meters 0.01915645423621746 Centerline is valid? [True, True] Translation: X:263.66, Y:-38.65, Z:-10.91 [[ 9.81188512e-01 1.89673625e-01 3.59585952e-02 2.63661834e+02] [-1.89564935e-01 9.81847069e-01 -6.43954692e-03 -3.86482813e+01] [-3.65272535e-02 -4.98079291e-04 9.99332533e-01 -1.09085176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.58587156 meters 0.013979660997962044 Centerline is valid? [True, True] Translation: X:263.72, Y:-38.66, Z:-10.91 [[ 9.82602473e-01 1.82143545e-01 3.62782067e-02 2.63718070e+02] [-1.82027824e-01 9.83271926e-01 -6.49547144e-03 -3.86638368e+01] [-3.68544504e-02 -2.21176713e-04 9.99320620e-01 -1.09108286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.64587156 meters 0.012358880753922823 Centerline is valid? [True, True] Translation: X:263.77, Y:-38.69, Z:-10.91 [[ 9.84270743e-01 1.72777977e-01 3.68629269e-02 2.63774388e+02] [-1.72651986e-01 9.84960788e-01 -6.59831988e-03 -3.86851630e+01] [-3.74485819e-02 1.30075670e-04 9.99298547e-01 -1.09117634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.70587156 meters 0.018254130331664245 Centerline is valid? [True, True] Translation: X:263.83, Y:-38.71, Z:-10.92 [[ 9.85768069e-01 1.64159667e-01 3.62342136e-02 2.63830261e+02] [-1.64032182e-01 9.86433679e-01 -6.48385678e-03 -3.87078684e+01] [-3.68070364e-02 4.48001857e-04 9.99322291e-01 -1.09158049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76587156 meters 0.029331319687889826 Centerline is valid? [True, True] Translation: X:263.89, Y:-38.73, Z:-10.92 [[ 9.86880394e-01 1.57514088e-01 3.54457294e-02 2.63889068e+02] [-1.57387843e-01 9.87516506e-01 -6.34167432e-03 -3.87259873e+01] [-3.60021459e-02 6.79747146e-04 9.99351481e-01 -1.09172003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82587156 meters 0.03436577645755616 Centerline is valid? [True, True] Translation: X:263.95, Y:-38.75, Z:-10.92 [[ 9.87617895e-01 1.52758900e-01 3.57157025e-02 2.63946245e+02] [-1.52627608e-01 9.88263112e-01 -6.39014817e-03 -3.87471990e+01] [-3.62726633e-02 8.59822443e-04 9.99341561e-01 -1.09186475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88587156 meters 0.03172209181076504 Centerline is valid? [True, True] Translation: X:264.00, Y:-38.77, Z:-10.92 [[ 9.87934413e-01 1.50524189e-01 3.64426219e-02 2.64004517e+02] [-1.50385888e-01 9.88605857e-01 -6.52259387e-03 -3.87660278e+01] [-3.70091976e-02 9.63438868e-04 9.99314461e-01 -1.09227827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94587156 meters 0.033745469499939854 Centerline is valid? [True, True] Translation: X:264.06, Y:-38.78, Z:-10.93 [[ 9.87896457e-01 1.50811674e-01 3.62826352e-02 2.64063549e+02] [-1.50674761e-01 9.88562056e-01 -6.49446836e-03 -3.87822022e+01] [-3.68470781e-02 9.48984900e-04 9.99320465e-01 -1.09261635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00587156 meters 0.03221293520144813 Centerline is valid? [True, True] Translation: X:264.12, Y:-38.79, Z:-10.93 [[ 9.87454567e-01 1.53778149e-01 3.58574836e-02 2.64124356e+02] [-1.53646246e-01 9.88105049e-01 -6.42204792e-03 -3.87897096e+01] [-3.64185312e-02 8.32112816e-04 9.99336279e-01 -1.09268404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06587155999995 meters 0.02589977984357119 Centerline is valid? [True, True] Translation: X:264.18, Y:-38.80, Z:-10.93 [[ 9.87114829e-01 1.56213079e-01 3.46668203e-02 2.64183839e+02] [-1.56091298e-01 9.87723119e-01 -6.20867729e-03 -3.88023128e+01] [-3.52110965e-02 7.17488453e-04 9.99379640e-01 -1.09335043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12587155999995 meters 0.021544261478246424 Centerline is valid? [True, True] Translation: X:264.24, Y:-38.82, Z:-10.94 [[ 9.86457237e-01 1.60504212e-01 3.37715409e-02 2.64244081e+02] [-1.60390939e-01 9.87034999e-01 -6.05457147e-03 -3.88160946e+01] [-3.43054771e-02 5.55926701e-04 9.99411239e-01 -1.09383664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18587155999995 meters 0.019988976778116375 Centerline is valid? [True, True] Translation: X:264.30, Y:-38.83, Z:-10.94 [[ 9.86217623e-01 1.61837492e-01 3.44009715e-02 2.64303946e+02] [-1.61720718e-01 9.86817286e-01 -6.16878790e-03 -3.88283485e+01] [-3.49458145e-02 5.20417517e-04 9.99389073e-01 -1.09397367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24587155999996 meters 0.01968527025607977 Centerline is valid? [True, True] Translation: X:264.36, Y:-38.85, Z:-10.94 [[ 9.85970518e-01 1.63326051e-01 3.44490709e-02 2.64362524e+02] [-1.63209828e-01 9.86572035e-01 -6.17827339e-03 -3.88455835e+01] [-3.49955630e-02 4.69168469e-04 9.99387358e-01 -1.09432295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30587155999996 meters 0.017654421574416955 Centerline is valid? [True, True] Translation: X:264.42, Y:-38.86, Z:-10.94 [[ 9.85741888e-01 1.64672378e-01 3.45823507e-02 2.64422040e+02] [-1.64556052e-01 9.86348229e-01 -6.20303303e-03 -3.88600492e+01] [-3.51317085e-02 4.23854402e-04 9.99382601e-01 -1.09447367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36587155999996 meters 0.01700929400170375 Centerline is valid? [True, True] Translation: X:264.48, Y:-38.88, Z:-10.95 [[ 9.85461809e-01 1.66451618e-01 3.40423502e-02 2.64480811e+02] [-1.66339929e-01 9.86049559e-01 -6.10701001e-03 -3.88764158e+01] [-3.45839661e-02 3.55623001e-04 9.99401732e-01 -1.09488546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42587155999996 meters 0.01761722845453423 Centerline is valid? [True, True] Translation: X:264.54, Y:-38.89, Z:-10.95 [[ 9.85103702e-01 1.68485861e-01 3.43978450e-02 2.64540144e+02] [-1.68373046e-01 9.85704029e-01 -6.17135418e-03 -3.88897771e+01] [-3.49458803e-02 2.87753916e-04 9.99389165e-01 -1.09500417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48587155999996 meters 0.024689526126476284 Centerline is valid? [True, True] Translation: X:264.60, Y:-38.90, Z:-10.95 [[ 9.84831517e-01 1.69973585e-01 3.48692484e-02 2.64599933e+02] [-1.69858496e-01 9.85448590e-01 -6.25850041e-03 -3.89046869e+01] [-3.54256314e-02 2.40730364e-04 9.99372286e-01 -1.09508855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54587155999997 meters 0.013284857333787805 Centerline is valid? [True, True] Translation: X:264.66, Y:-38.92, Z:-10.96 [[ 9.84550346e-01 1.71660723e-01 3.45429128e-02 2.64660932e+02] [-1.71548826e-01 9.85156112e-01 -6.19966110e-03 -3.89174883e+01] [-3.50944000e-02 1.78082320e-04 9.99383986e-01 -1.09554831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60587155999997 meters 0.012800140914637959 Centerline is valid? [True, True] Translation: X:264.72, Y:-38.93, Z:-10.96 [[ 9.84149682e-01 1.73934180e-01 3.45876245e-02 2.64721314e+02] [-1.73823177e-01 9.84757275e-01 -6.21390656e-03 -3.89289178e+01] [-3.51412256e-02 1.03283397e-04 9.99382351e-01 -1.09599591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66587155999997 meters 0.012146315692044522 Centerline is valid? [True, True] Translation: X:264.78, Y:-38.94, Z:-10.96 [[ 9.83739138e-01 1.76219522e-01 3.46985241e-02 2.64781869e+02] [-1.76108994e-01 9.84350892e-01 -6.24045545e-03 -3.89408765e+01] [-3.52552132e-02 2.82581149e-05 9.99378341e-01 -1.09613432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.72587156 meters 0.012100371637911892 Centerline is valid? [True, True] Translation: X:264.84, Y:-38.95, Z:-10.96 [[ 9.83479761e-01 1.77651433e-01 3.47495046e-02 2.64841335e+02] [-1.77541475e-01 9.84093475e-01 -6.24955051e-03 -3.89535771e+01] [-3.53070024e-02 -2.31718524e-05 9.99376513e-01 -1.09644909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78587156 meters 0.01208532095888164 Centerline is valid? [True, True] Translation: X:264.90, Y:-38.97, Z:-10.97 [[ 9.83521600e-01 1.77281036e-01 3.54499192e-02 2.64900669e+02] [-1.77166147e-01 9.84160269e-01 -6.38139249e-03 -3.89693579e+01] [-3.60197019e-02 -4.28824924e-06 9.99351080e-01 -1.09672652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.84587156 meters 0.018664924070670785 Centerline is valid? [True, True] Translation: X:264.96, Y:-38.99, Z:-10.97 [[ 9.83710065e-01 1.76452160e-01 3.43386530e-02 2.64961141e+02] [-1.76343677e-01 9.84309217e-01 -6.18655139e-03 -3.89865864e+01] [-3.48914830e-02 3.03685467e-05 9.99391106e-01 -1.09692685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.90587156 meters 0.012376610947721663 Centerline is valid? [True, True] Translation: X:265.02, Y:-39.00, Z:-10.97 [[ 9.83796375e-01 1.75979668e-01 3.42906581e-02 2.65021889e+02] [-1.75871004e-01 9.84393800e-01 -6.18352124e-03 -3.90016133e+01] [-3.48436853e-02 5.25932983e-05 9.99392773e-01 -1.09741794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.96587156 meters 0.012510527190253449 Centerline is valid? [True, True] Translation: X:265.08, Y:-39.02, Z:-10.98 [[ 9.83723224e-01 1.76469195e-01 3.38709528e-02 2.65082503e+02] [-1.76363237e-01 9.84306162e-01 -6.11450141e-03 -3.90170594e+01] [-3.44184087e-02 4.13861571e-05 9.99407510e-01 -1.09778336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.02587156 meters 0.012032116431778535 Centerline is valid? [True, True] Translation: X:265.14, Y:-39.03, Z:-10.98 [[ 9.83438230e-01 1.78013570e-01 3.40648930e-02 2.65144966e+02] [-1.77907108e-01 9.84028033e-01 -6.15563937e-03 -3.90286880e+01] [-3.46165970e-02 -6.69553343e-06 9.99400666e-01 -1.09782758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.08587156 meters 0.012867019081826424 Centerline is valid? [True, True] Translation: X:265.21, Y:-39.04, Z:-10.98 [[ 9.82690280e-01 1.81922263e-01 3.49871997e-02 2.65206084e+02] [-1.81812162e-01 9.83312906e-01 -6.32990342e-03 -3.90360300e+01] [-3.55549153e-02 -1.40763836e-04 9.99367714e-01 -1.09800916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.14587156 meters 0.01500892554692733 Centerline is valid? [True, True] Translation: X:265.27, Y:-39.04, Z:-10.98 [[ 9.82026832e-01 1.85414558e-01 3.52809052e-02 2.65265565e+02] [-1.85304601e-01 9.82660355e-01 -6.38999308e-03 -3.90411212e+01] [-3.58539445e-02 -2.62569390e-04 9.99357006e-01 -1.09829896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.20587156 meters 0.015026343387745226 Centerline is valid? [True, True] Translation: X:265.32, Y:-39.05, Z:-10.99 [[ 9.82199323e-01 1.84801541e-01 3.36582722e-02 2.65324852e+02] [-1.84701132e-01 9.82775833e-01 -6.09544680e-03 -3.90542190e+01] [-3.42049844e-02 -2.29777240e-04 9.99414812e-01 -1.09897581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26587156 meters 0.013018194538862644 Centerline is valid? [True, True] Translation: X:265.38, Y:-39.07, Z:-10.99 [[ 9.82936645e-01 1.80888314e-01 3.33911703e-02 2.65383849e+02] [-1.80787206e-01 9.83503640e-01 -6.04785154e-03 -3.90711106e+01] [-3.39343232e-02 -9.20414922e-05 9.99424061e-01 -1.09931689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32587156 meters 0.012572690486525063 Centerline is valid? [True, True] Translation: X:265.44, Y:-39.09, Z:-11.00 [[ 9.83510788e-01 1.77699746e-01 3.36055122e-02 2.65443041e+02] [-1.77595448e-01 9.84084752e-01 -6.08746306e-03 -3.90886340e+01] [-3.41524128e-02 1.88996020e-05 9.99416636e-01 -1.09955989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38587156 meters 0.013465735875944296 Centerline is valid? [True, True] Translation: X:265.50, Y:-39.11, Z:-11.00 [[ 9.84115725e-01 1.74106511e-01 3.46866273e-02 2.65503655e+02] [-1.73993169e-01 9.84726815e-01 -6.28300945e-03 -3.91078094e+01] [-3.52507649e-02 1.47972176e-04 9.99378488e-01 -1.09965809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44587156 meters 0.014738994120471723 Centerline is valid? [True, True] Translation: X:265.56, Y:-39.12, Z:-11.00 [[ 9.84409009e-01 1.72380780e-01 3.49824299e-02 2.65563209e+02] [-1.72264166e-01 9.85030365e-01 -6.34332764e-03 -3.91228548e+01] [-3.55522234e-02 2.18209752e-04 9.99367796e-01 -1.09986014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50587156 meters 0.016960725909473378 Centerline is valid? [True, True] Translation: X:265.62, Y:-39.14, Z:-11.00 [[ 9.84798461e-01 1.70152161e-01 3.49318267e-02 2.65622427e+02] [-1.70034299e-01 9.85417754e-01 -6.33932702e-03 -3.91386346e+01] [-3.55010924e-02 3.03350841e-04 9.99369591e-01 -1.10006550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56587155999995 meters 0.01757736722581743 Centerline is valid? [True, True] Translation: X:265.68, Y:-39.16, Z:-11.00 [[ 9.85233677e-01 1.67573405e-01 3.51248658e-02 2.65682153e+02] [-1.67452402e-01 9.85859519e-01 -6.37985520e-03 -3.91552333e+01] [-3.56972773e-02 4.03905059e-04 9.99362567e-01 -1.10009440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62587155999995 meters 0.02317177154505852 Centerline is valid? [True, True] Translation: X:265.74, Y:-39.18, Z:-11.01 [[ 9.85670287e-01 1.65146380e-01 3.43621826e-02 2.65739868e+02] [-1.65029010e-01 9.86268949e-01 -6.24390743e-03 -3.91778179e+01] [-3.49215125e-02 4.83677033e-04 9.99389941e-01 -1.10066514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68587155999995 meters 0.022876810980209092 Centerline is valid? [True, True] Translation: X:265.80, Y:-39.19, Z:-11.01 [[ 9.86019715e-01 1.62975180e-01 3.47017511e-02 2.65800032e+02] [-1.62853943e-01 9.86630004e-01 -6.31105893e-03 -3.91925533e+01] [-3.52663347e-02 5.71511549e-04 9.99377786e-01 -1.10069078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74587155999996 meters 0.02278526884596784 Centerline is valid? [True, True] Translation: X:265.86, Y:-39.21, Z:-11.01 [[ 9.85929751e-01 1.63508135e-01 3.47507648e-02 2.65859380e+02] [-1.63386675e-01 9.86541827e-01 -6.32591109e-03 -3.92079227e+01] [-3.53174209e-02 5.59092041e-04 9.99375989e-01 -1.10091002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80587155999996 meters 0.018950282074043152 Centerline is valid? [True, True] Translation: X:265.92, Y:-39.21, Z:-11.01 [[ 9.85247305e-01 1.67506603e-01 3.50611847e-02 2.65919464e+02] [-1.67385264e-01 9.85870862e-01 -6.38881396e-03 -3.92147955e+01] [-3.56359689e-02 4.25836083e-04 9.99364746e-01 -1.10111071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86587155999996 meters 0.015774396929181506 Centerline is valid? [True, True] Translation: X:265.98, Y:-39.22, Z:-11.02 [[ 9.84588003e-01 1.71594566e-01 3.37900836e-02 2.65981335e+02] [-1.71484301e-01 9.85167617e-01 -6.15637901e-03 -3.92195327e+01] [-3.43452974e-02 2.67028050e-04 9.99409991e-01 -1.10161649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92587155999996 meters 0.01542653225440999 Centerline is valid? [True, True] Translation: X:266.04, Y:-39.23, Z:-11.02 [[ 9.84456240e-01 1.72489687e-01 3.30638636e-02 2.66041943e+02] [-1.72384426e-01 9.85011295e-01 -6.02970618e-03 -3.92320304e+01] [-3.36083413e-02 2.36286710e-04 9.99435052e-01 -1.10211514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98587155999996 meters 0.028481320342898117 Centerline is valid? [True, True] Translation: X:266.10, Y:-39.25, Z:-11.02 [[ 9.84655087e-01 1.71294997e-01 3.33524082e-02 2.66102497e+02] [-1.71187086e-01 9.85219744e-01 -6.08586506e-03 -3.92463940e+01] [-3.39019293e-02 2.82976410e-04 9.99425124e-01 -1.10215007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04587155999997 meters 0.018158525326739026 Centerline is valid? [True, True] Translation: X:266.16, Y:-39.26, Z:-11.03 [[ 9.84903932e-01 1.69816371e-01 3.35655420e-02 2.66161121e+02] [-1.69706010e-01 9.85475663e-01 -6.13081818e-03 -3.92632369e+01] [-3.41191380e-02 3.41992732e-04 9.99417714e-01 -1.10259460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10587155999997 meters 0.018270359075433732 Centerline is valid? [True, True] Translation: X:266.22, Y:-39.28, Z:-11.02 [[ 9.85401638e-01 1.66770624e-01 3.42223621e-02 2.66220860e+02] [-1.66653980e-01 9.85995613e-01 -6.25317276e-03 -3.92807215e+01] [-3.47859444e-02 4.58593832e-04 9.99394681e-01 -1.10241774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16587155999997 meters 0.024519733283631932 Centerline is valid? [True, True] Translation: X:266.28, Y:-39.30, Z:-11.03 [[ 9.85768793e-01 1.64857422e-01 3.28925157e-02 2.66277851e+02] [-1.64748392e-01 9.86317276e-01 -6.01655120e-03 -3.93045724e+01] [-3.34343296e-02 5.11939341e-04 9.99440785e-01 -1.10321375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.22587156 meters 0.024002475671646047 Centerline is valid? [True, True] Translation: X:266.34, Y:-39.32, Z:-11.03 [[ 9.85615869e-01 1.65531973e-01 3.40664670e-02 2.66337072e+02] [-1.65415328e-01 9.86204292e-01 -6.23401454e-03 -3.93205254e+01] [-3.46284247e-02 5.09227859e-04 9.99400127e-01 -1.10321664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28587156 meters 0.021743380717445006 Centerline is valid? [True, True] Translation: X:266.40, Y:-39.33, Z:-11.03 [[ 9.85261400e-01 1.67469337e-01 3.48424314e-02 2.66398681e+02] [-1.67348321e-01 9.85877179e-01 -6.38176502e-03 -3.93320572e+01] [-3.54191079e-02 4.56884331e-04 9.99372442e-01 -1.10323927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.34587156 meters 0.017051011351227285 Centerline is valid? [True, True] Translation: X:266.46, Y:-39.34, Z:-11.04 [[ 9.84464814e-01 1.72051969e-01 3.50307134e-02 2.66459801e+02] [-1.71932493e-01 9.85087830e-01 -6.41753679e-03 -3.93393302e+01] [-3.56124793e-02 2.94921268e-04 9.99365631e-01 -1.10353995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.40587156 meters 0.013195899340248438 Centerline is valid? [True, True] Translation: X:266.52, Y:-39.34, Z:-11.04 [[ 9.83598006e-01 1.77145152e-01 3.39787961e-02 2.66522322e+02] [-1.77035590e-01 9.84184730e-01 -6.23035982e-03 -3.93449261e+01] [-3.45450903e-02 1.12713279e-04 9.99403134e-01 -1.10400583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.46587156 meters 0.029553435942611405 Centerline is valid? [True, True] Translation: X:266.59, Y:-39.35, Z:-11.04 [[ 9.82419318e-01 1.83756067e-01 3.29543700e-02 2.66585015e+02] [-1.83656660e-01 9.82971869e-01 -6.04455240e-03 -3.93450741e+01] [-3.35039418e-02 -1.14004474e-04 9.99438579e-01 -1.10434094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.52587156 meters 0.02046671232072706 Centerline is valid? [True, True] Translation: X:266.65, Y:-39.34, Z:-11.05 [[ 9.81064134e-01 1.90963484e-01 3.23436781e-02 2.66647155e+02] [-1.90871446e-01 9.81597080e-01 -5.93836940e-03 -3.93426952e+01] [-3.28824716e-02 -3.47563361e-04 9.99459165e-01 -1.10490825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.58587156 meters 0.022396485325056472 Centerline is valid? [True, True] Translation: X:266.71, Y:-39.35, Z:-11.05 [[ 9.80098974e-01 1.95953607e-01 3.17519378e-02 2.66708818e+02] [-1.95867518e-01 9.80613037e-01 -5.82982402e-03 -3.93484391e+01] [-3.22787392e-02 -5.05368723e-04 9.99478778e-01 -1.10499365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.64587156 meters 0.02456532851415925 Centerline is valid? [True, True] Translation: X:266.77, Y:-39.35, Z:-11.05 [[ 9.79656042e-01 1.98050186e-01 3.24062308e-02 2.66769647e+02] [-1.97961445e-01 9.80191710e-01 -5.95641520e-03 -3.93544872e+01] [-3.29439879e-02 -5.79946144e-04 9.99457031e-01 -1.10513080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.70587156 meters 0.02968270616099238 Centerline is valid? [True, True] Translation: X:266.83, Y:-39.36, Z:-11.06 [[ 9.79782497e-01 1.97406272e-01 3.25118825e-02 2.66830178e+02] [-1.97316584e-01 9.80321606e-01 -5.97622215e-03 -3.93551511e+01] [-3.30518446e-02 -5.59735734e-04 9.99453482e-01 -1.10581071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76587156 meters 0.022364203666059637 Centerline is valid? [True, True] Translation: X:266.89, Y:-39.37, Z:-11.06 [[ 9.80202262e-01 1.95164119e-01 3.33840239e-02 2.66889721e+02] [-1.95068246e-01 9.80770473e-01 -6.13675170e-03 -3.93741305e+01] [-3.39397386e-02 -4.96905065e-04 9.99423758e-01 -1.10558956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82587156 meters 0.019475847219885475 Centerline is valid? [True, True] Translation: X:266.95, Y:-39.39, Z:-11.06 [[ 9.80407728e-01 1.94018245e-01 3.40236439e-02 2.66950962e+02] [-1.93917966e-01 9.80997810e-01 -6.25450187e-03 -3.93853644e+01] [-3.45906076e-02 -4.65833839e-04 9.99401457e-01 -1.10565994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88587156 meters 0.019825157707608676 Centerline is valid? [True, True] Translation: X:267.01, Y:-39.39, Z:-11.06 [[ 9.80689115e-01 1.92649959e-01 3.36875894e-02 2.67011529e+02] [-1.92550633e-01 9.81267460e-01 -6.19889013e-03 -3.93913118e+01] [-3.42507512e-02 -4.07382594e-04 9.99413188e-01 -1.10619804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94587156 meters 0.014482819941758124 Centerline is valid? [True, True] Translation: X:267.07, Y:-39.41, Z:-11.06 [[ 9.81350752e-01 1.89187636e-01 3.40402688e-02 2.67072313e+02] [-1.89084014e-01 9.81940913e-01 -6.26728926e-03 -3.94073166e+01] [-3.46112263e-02 -2.86061646e-04 9.99400811e-01 -1.10610077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00587156 meters 0.014241122302818723 Centerline is valid? [True, True] Translation: X:267.13, Y:-39.43, Z:-11.06 [[ 9.82602192e-01 1.82554912e-01 3.41560696e-02 2.67132303e+02] [-1.82446527e-01 9.83195658e-01 -6.28993465e-03 -3.94256279e+01] [-3.47303578e-02 -5.11527109e-05 9.99396718e-01 -1.10631322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06587155999995 meters 0.014411256827456875 Centerline is valid? [True, True] Translation: X:267.19, Y:-39.45, Z:-11.07 [[ 9.84153701e-01 1.74007940e-01 3.40988216e-02 2.67189700e+02] [-1.73894551e-01 9.84744216e-01 -6.28605128e-03 -3.94505314e+01] [-3.46724401e-02 2.56841377e-04 9.99398697e-01 -1.10669038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12587155999995 meters 0.020838745975949362 Centerline is valid? [True, True] Translation: X:267.25, Y:-39.47, Z:-11.07 [[ 9.85368770e-01 1.66958308e-01 3.42536338e-02 2.67246966e+02] [-1.66839509e-01 9.85963824e-01 -6.31787418e-03 -3.94744974e+01] [-3.48276653e-02 5.10576465e-04 9.99393202e-01 -1.10698369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18587155999995 meters 0.023407250066768796 Centerline is valid? [True, True] Translation: X:267.31, Y:-39.49, Z:-11.07 [[ 9.85731989e-01 1.64806456e-01 3.42239235e-02 2.67306718e+02] [-1.64686485e-01 9.86325750e-01 -6.31472534e-03 -3.94935540e+01] [-3.47966445e-02 5.88409110e-04 9.99394240e-01 -1.10729485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24587155999996 meters 0.02254913200818927 Centerline is valid? [True, True] Translation: X:267.37, Y:-39.51, Z:-11.08 [[ 9.85689475e-01 1.65051724e-01 3.42664030e-02 2.67369071e+02] [-1.64931410e-01 9.86284738e-01 -6.32810215e-03 -3.95053405e+01] [-3.48408945e-02 5.85937517e-04 9.99392700e-01 -1.10751174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30587155999996 meters 0.01992166902777132 Centerline is valid? [True, True] Translation: X:267.43, Y:-39.52, Z:-11.08 [[ 9.85249071e-01 1.67659022e-01 3.42741978e-02 2.67429826e+02] [-1.67539988e-01 9.85844918e-01 -6.33646474e-03 -3.95166905e+01] [-3.48514092e-02 5.00697300e-04 9.99392380e-01 -1.10771450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36587155999996 meters 0.01557205398088244 Centerline is valid? [True, True] Translation: X:267.49, Y:-39.52, Z:-11.08 [[ 9.84404061e-01 1.72458317e-01 3.47386555e-02 2.67492060e+02] [-1.72338801e-01 9.85016757e-01 -6.42846534e-03 -3.95228475e+01] [-3.53268001e-02 3.41389131e-04 9.99375755e-01 -1.10782168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42587155999996 meters 0.011921701348886845 Centerline is valid? [True, True] Translation: X:267.55, Y:-39.53, Z:-11.08 [[ 9.83225343e-01 1.79036644e-01 3.48397167e-02 2.67554285e+02] [-1.78920336e-01 9.83842400e-01 -6.45335151e-03 -3.95291544e+01] [-3.54321769e-02 1.11564935e-04 9.99372077e-01 -1.10806688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48587155999996 meters 0.012266012724558323 Centerline is valid? [True, True] Translation: X:267.62, Y:-39.53, Z:-11.08 [[ 9.81884378e-01 1.86336106e-01 3.43791043e-02 2.67616440e+02] [-1.86227116e-01 9.82486048e-01 -6.37389387e-03 -3.95316482e+01] [-3.49646768e-02 -1.43894613e-04 9.99388538e-01 -1.10847231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54587155999997 meters 0.016809399177915144 Centerline is valid? [True, True] Translation: X:267.68, Y:-39.53, Z:-11.09 [[ 9.80479723e-01 1.93580995e-01 3.44370563e-02 2.67679226e+02] [-1.93475865e-01 9.81084217e-01 -6.39127395e-03 -3.95318717e+01] [-3.50228816e-02 -3.96224744e-04 9.99386432e-01 -1.10875424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60587155999997 meters 0.020373053355566415 Centerline is valid? [True, True] Translation: X:267.74, Y:-39.54, Z:-11.09 [[ 9.79716528e-01 1.97454457e-01 3.41652277e-02 2.67741226e+02] [-1.97353113e-01 9.80311921e-01 -6.34714007e-03 -3.95366998e+01] [-3.47458511e-02 -5.24215987e-04 9.99396043e-01 -1.10907240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66587155999997 meters 0.024295812523710034 Centerline is valid? [True, True] Translation: X:267.80, Y:-39.54, Z:-11.09 [[ 9.79081706e-01 2.00666942e-01 3.36420975e-02 2.67803102e+02] [-2.00570527e-01 9.79659321e-01 -6.25127781e-03 -3.95386481e+01] [-3.42122192e-02 -6.27101488e-04 9.99414394e-01 -1.10946120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.72587156 meters 0.02350564970120733 Centerline is valid? [True, True] Translation: X:267.86, Y:-39.55, Z:-11.10 [[ 9.79187766e-01 2.00085768e-01 3.40147797e-02 2.67863263e+02] [-1.99986734e-01 9.79778196e-01 -6.32399815e-03 -3.95488620e+01] [-3.45922816e-02 -6.10123107e-04 9.99401322e-01 -1.10964397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78587156 meters 0.019467368562151848 Centerline is valid? [True, True] Translation: X:267.92, Y:-39.56, Z:-11.10 [[ 9.79892783e-01 1.96651826e-01 3.37371182e-02 2.67923807e+02] [-1.96552380e-01 9.80473265e-01 -6.27201089e-03 -3.95638448e+01] [-3.43117448e-02 -4.85212663e-04 9.99411061e-01 -1.10998673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84587156 meters 0.01599249460563359 Centerline is valid? [True, True] Translation: X:267.98, Y:-39.58, Z:-11.10 [[ 9.80914950e-01 1.91482990e-01 3.37657583e-02 2.67982870e+02] [-1.91380071e-01 9.81495887e-01 -6.28429695e-03 -3.95791570e+01] [-3.43442889e-02 -2.97732405e-04 9.99410017e-01 -1.11032096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.90587156 meters 0.01229734370147507 Centerline is valid? [True, True] Translation: X:268.04, Y:-39.60, Z:-11.10 [[ 9.81877168e-01 1.86464156e-01 3.38872598e-02 2.68042375e+02] [-1.86357515e-01 9.82461757e-01 -6.30659452e-03 -3.95982062e+01] [-3.44688906e-02 -1.22844351e-04 9.99405764e-01 -1.11046048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.96587156 meters 0.011910899065040071 Centerline is valid? [True, True] Translation: X:268.10, Y:-39.62, Z:-11.11 [[ 9.82552895e-01 1.82912957e-01 3.36550063e-02 2.68102274e+02] [-1.82805495e-01 9.83129112e-01 -6.26903825e-03 -3.96151624e+01] [-3.42339048e-02 7.34158893e-06 9.99413848e-01 -1.11093180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.02587156 meters 0.012045843732196717 Centerline is valid? [True, True] Translation: X:268.16, Y:-39.63, Z:-11.11 [[ 9.82904440e-01 1.80926298e-01 3.41253094e-02 2.68163286e+02] [-1.80814397e-01 9.83496654e-01 -6.36289157e-03 -3.96306342e+01] [-3.47133420e-02 8.37671397e-05 9.99397307e-01 -1.11094511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.08587156 meters 0.01247108000797512 Centerline is valid? [True, True] Translation: X:268.22, Y:-39.64, Z:-11.11 [[ 9.82925363e-01 1.80797824e-01 3.42034802e-02 2.68224063e+02] [-1.80685091e-01 9.83520278e-01 -6.38437645e-03 -3.96426713e+01] [-3.47940978e-02 9.53066034e-05 9.99394498e-01 -1.11128630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.14587156 meters 0.011845265199453994 Centerline is valid? [True, True] Translation: X:268.29, Y:-39.65, Z:-11.12 [[ 9.82430000e-01 1.83455050e-01 3.42861500e-02 2.68286375e+02] [-1.83343167e-01 9.83028100e-01 -6.40612293e-03 -3.96500655e+01] [-3.48794845e-02 7.43601704e-06 9.99391526e-01 -1.11150969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.20587156 meters 0.012683910593692583 Centerline is valid? [True, True] Translation: X:268.35, Y:-39.65, Z:-11.11 [[ 9.81396919e-01 1.88884826e-01 3.43891003e-02 2.68349178e+02] [-1.88775375e-01 9.81999231e-01 -6.43176137e-03 -3.96517854e+01] [-3.49849322e-02 -1.79704515e-04 9.99387824e-01 -1.11148105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26587156 meters 0.016708716900060688 Centerline is valid? [True, True] Translation: X:268.41, Y:-39.65, Z:-11.12 [[ 9.80344965e-01 1.94170326e-01 3.49518855e-02 2.68411930e+02] [-1.94060374e-01 9.80967762e-01 -6.54385040e-03 -3.96505870e+01] [-3.55572945e-02 -3.67545179e-04 9.99367572e-01 -1.11176048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32587156 meters 0.021463717579103984 Centerline is valid? [True, True] Translation: X:268.47, Y:-39.65, Z:-11.12 [[ 9.79773880e-01 1.96992478e-01 3.51725572e-02 2.68472759e+02] [-1.96882812e-01 9.80404888e-01 -6.58897677e-03 -3.96486221e+01] [-3.57813258e-02 -4.69164637e-04 9.99359533e-01 -1.11207716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38587156 meters 0.022011834073337316 Centerline is valid? [True, True] Translation: X:268.53, Y:-39.66, Z:-11.12 [[ 9.79667507e-01 1.97551701e-01 3.49985911e-02 2.68532227e+02] [-1.97443460e-01 9.80292349e-01 -6.55679844e-03 -3.96550881e+01] [-3.56041578e-02 -4.86760524e-04 9.99365852e-01 -1.11209948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44587156 meters 0.01862474995703255 Centerline is valid? [True, True] Translation: X:268.59, Y:-39.66, Z:-11.13 [[ 9.79915444e-01 1.96455473e-01 3.42194264e-02 2.68591666e+02] [-1.96351364e-01 9.80512649e-01 -6.40986881e-03 -3.96645377e+01] [-3.48118343e-02 -4.37901601e-04 9.99393788e-01 -1.11254289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50587156 meters 0.014685269984133246 Centerline is valid? [True, True] Translation: X:268.65, Y:-39.68, Z:-11.13 [[ 9.80861494e-01 1.91865535e-01 3.31413024e-02 2.68651153e+02] [-1.91765270e-01 9.81421187e-01 -6.20770363e-03 -3.96791057e+01] [-3.37166207e-02 -2.66453338e-04 9.99431398e-01 -1.11300308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56587155999995 meters 0.01206005960355302 Centerline is valid? [True, True] Translation: X:268.71, Y:-39.70, Z:-11.13 [[ 9.82176307e-01 1.84985218e-01 3.33192252e-02 2.68710708e+02] [-1.84879924e-01 9.82741303e-01 -6.24062967e-03 -3.96956277e+01] [-3.38986031e-02 -3.06572419e-05 9.99425277e-01 -1.11333820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62587155999995 meters 0.014057938542856153 Centerline is valid? [True, True] Translation: X:268.77, Y:-39.71, Z:-11.13 [[ 9.83492531e-01 1.77844522e-01 3.33731540e-02 2.68770131e+02] [-1.77734551e-01 9.84058574e-01 -6.25724128e-03 -3.97136722e+01] [-3.39539544e-02 2.22387518e-04 9.99423374e-01 -1.11343274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68587155999995 meters 0.017563729280738294 Centerline is valid? [True, True] Translation: X:268.83, Y:-39.73, Z:-11.14 [[ 9.84233257e-01 1.73773611e-01 3.29792133e-02 2.68829377e+02] [-1.73663849e-01 9.84785561e-01 -6.18593083e-03 -3.97291224e+01] [-3.35524046e-02 3.61101727e-04 9.99436894e-01 -1.11385753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74587155999996 meters 0.01900581262086141 Centerline is valid? [True, True] Translation: X:268.89, Y:-39.74, Z:-11.14 [[ 9.84472622e-01 1.72336275e-01 3.33746036e-02 2.68890353e+02] [-1.72222852e-01 9.85038086e-01 -6.26559966e-03 -3.97420141e+01] [-3.39550458e-02 4.20441909e-04 9.99423273e-01 -1.11406994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80587155999996 meters 0.01975418684002592 Centerline is valid? [True, True] Translation: X:268.95, Y:-39.75, Z:-11.14 [[ 9.84598892e-01 1.71460539e-01 3.41512005e-02 2.68952483e+02] [-1.71341047e-01 9.85190878e-01 -6.41717185e-03 -3.97537330e+01] [-3.47457429e-02 4.66837855e-04 9.99396075e-01 -1.11414314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86587155999996 meters 0.01955485139246579 Centerline is valid? [True, True] Translation: X:269.01, Y:-39.77, Z:-11.14 [[ 9.84521317e-01 1.71978998e-01 3.37786923e-02 2.69014222e+02] [-1.71862180e-01 9.85100514e-01 -6.35367641e-03 -3.97651825e+01] [-3.43681060e-02 4.50050167e-04 9.99409141e-01 -1.11446241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92587155999996 meters 0.018605466069384385 Centerline is valid? [True, True] Translation: X:269.08, Y:-39.78, Z:-11.15 [[ 9.84279446e-01 1.73501242e-01 3.30347037e-02 2.69075522e+02] [-1.73390156e-01 9.84833571e-01 -6.22017914e-03 -3.97753242e+01] [-3.36128940e-02 3.94502055e-04 9.99434849e-01 -1.11484461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98587155999996 meters 0.01539114136976117 Centerline is valid? [True, True] Translation: X:269.14, Y:-39.78, Z:-11.15 [[ 9.83571732e-01 1.77488500e-01 3.29314581e-02 2.69137566e+02] [-1.77380155e-01 9.84122839e-01 -6.20626092e-03 -3.97803830e+01] [-3.35101400e-02 2.62915671e-04 9.99438343e-01 -1.11510686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04587155999997 meters 0.012490662983760836 Centerline is valid? [True, True] Translation: X:269.20, Y:-39.78, Z:-11.15 [[ 9.82587471e-01 1.82816052e-01 3.31685592e-02 2.69199913e+02] [-1.82708938e-01 9.83147132e-01 -6.25784457e-03 -3.97826095e+01] [-3.37536083e-02 8.86874484e-05 9.99430181e-01 -1.11531452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10587155999997 meters 0.012337789988512602 Centerline is valid? [True, True] Translation: X:269.26, Y:-39.78, Z:-11.16 [[ 9.81731600e-01 1.87428328e-01 3.27671682e-02 2.69260900e+02] [-1.87326325e-01 9.82278279e-01 -6.18311661e-03 -3.97837903e+01] [-3.33453688e-02 -6.79922288e-05 9.99443886e-01 -1.11564979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16587155999997 meters 0.012578984096906614 Centerline is valid? [True, True] Translation: X:269.32, Y:-39.79, Z:-11.16 [[ 9.81522516e-01 1.88527666e-01 3.27241542e-02 2.69321128e+02] [-1.88426541e-01 9.82067873e-01 -6.17499993e-03 -3.97926540e+01] [-3.33014989e-02 -1.05197720e-04 9.99445346e-01 -1.11582780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22587156 meters 0.013667371327719861 Centerline is valid? [True, True] Translation: X:269.38, Y:-39.80, Z:-11.16 [[ 9.81160698e-01 1.90410399e-01 3.26736165e-02 2.69379671e+02] [-1.90310618e-01 9.81704564e-01 -6.16579769e-03 -3.97984039e+01] [-3.32498704e-02 -1.68497784e-04 9.99447056e-01 -1.11622796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28587156 meters 0.012937240445194958 Centerline is valid? [True, True] Translation: X:269.44, Y:-39.81, Z:-11.16 [[ 9.81300699e-01 1.89555064e-01 3.34337653e-02 2.69438067e+02] [-1.89450136e-01 9.81870082e-01 -6.30785793e-03 -3.98095225e+01] [-3.40233003e-02 -1.44125983e-04 9.99421030e-01 -1.11627758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34587156 meters 0.011683788768894084 Centerline is valid? [True, True] Translation: X:269.50, Y:-39.82, Z:-11.16 [[ 9.81807338e-01 1.86736930e-01 3.44044930e-02 2.69496635e+02] [-1.86624125e-01 9.82409953e-01 -6.48994108e-03 -3.98238150e+01] [-3.50112281e-02 -4.88366329e-05 9.99386918e-01 -1.11624227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.40587156 meters 0.01223658328892269 Centerline is valid? [True, True] Translation: X:269.56, Y:-39.84, Z:-11.17 [[ 9.82587287e-01 1.82618718e-01 3.42436415e-02 2.69555615e+02] [-1.82504505e-01 9.83183805e-01 -6.45839850e-03 -3.98426808e+01] [-3.48472182e-02 9.63214024e-05 9.99392647e-01 -1.11667974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.46587156 meters 0.014997874749035 Centerline is valid? [True, True] Translation: X:269.61, Y:-39.86, Z:-11.17 [[ 9.83469163e-01 1.77887216e-01 3.38311147e-02 2.69614407e+02] [-1.77772754e-01 9.84050846e-01 -6.38594866e-03 -3.98644180e+01] [-3.44275157e-02 2.66133144e-04 9.99407162e-01 -1.11700254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.52587156 meters 0.017992042795911545 Centerline is valid? [True, True] Translation: X:269.67, Y:-39.88, Z:-11.17 [[ 9.84157575e-01 1.74108674e-01 3.34669653e-02 2.69673531e+02] [-1.73994287e-01 9.84726363e-01 -6.32282939e-03 -3.98846726e+01] [-3.40566625e-02 3.99599678e-04 9.99419824e-01 -1.11734491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.58587156 meters 0.01956465343040746 Centerline is valid? [True, True] Translation: X:269.73, Y:-39.90, Z:-11.18 [[ 9.84447888e-01 1.72532447e-01 3.30894228e-02 2.69733064e+02] [-1.72419547e-01 9.85003730e-01 -6.25712944e-03 -3.99026298e+01] [-3.36727627e-02 4.54554569e-04 9.99432808e-01 -1.11767012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.64587156 meters 0.020125386152202513 Centerline is valid? [True, True] Translation: X:269.79, Y:-39.92, Z:-11.18 [[ 9.84608488e-01 1.71679389e-01 3.27461800e-02 2.69793143e+02] [-1.71568164e-01 9.85152756e-01 -6.19775821e-03 -3.99208683e+01] [-3.33240168e-02 4.84163370e-04 9.99444483e-01 -1.11798533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.70587156 meters 0.021032524414384912 Centerline is valid? [True, True] Translation: X:269.85, Y:-39.94, Z:-11.18 [[ 9.84582850e-01 1.71900130e-01 3.23567076e-02 2.69851825e+02] [-1.71791475e-01 9.85114267e-01 -6.12950300e-03 -3.99414115e+01] [-3.29287166e-02 4.76397001e-04 9.99457589e-01 -1.11835767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76587156 meters 0.01892208042350774 Centerline is valid? [True, True] Translation: X:269.91, Y:-39.96, Z:-11.19 [[ 9.84155674e-01 1.74264984e-01 3.27005318e-02 2.69911930e+02] [-1.74155101e-01 9.84698710e-01 -6.20092842e-03 -3.99568056e+01] [-3.32807762e-02 4.07714461e-04 9.99445958e-01 -1.11853118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82587156 meters 0.015934596665048775 Centerline is valid? [True, True] Translation: X:269.97, Y:-39.97, Z:-11.19 [[ 9.83394642e-01 1.78267944e-01 3.39929035e-02 2.69972009e+02] [-1.78151380e-01 9.83981939e-01 -6.45206390e-03 -3.99703808e+01] [-3.45985993e-02 2.89042394e-04 9.99401247e-01 -1.11856493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88587156 meters 0.012523123837671275 Centerline is valid? [True, True] Translation: X:270.03, Y:-39.98, Z:-11.19 [[ 9.82496181e-01 1.83001456e-01 3.48097846e-02 2.70033418e+02] [-1.82881955e-01 9.83112633e-01 -6.61368308e-03 -3.99827158e+01] [-3.54322527e-02 1.31836907e-04 9.99372072e-01 -1.11862464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94587156 meters 0.012109309429762143 Centerline is valid? [True, True] Translation: X:270.09, Y:-39.99, Z:-11.19 [[ 9.81577197e-01 1.88094810e-01 3.35640961e-02 2.70093994e+02] [-1.87986590e-01 9.82150874e-01 -6.37979461e-03 -3.99935361e+01] [-3.41650126e-02 -4.73390518e-05 9.99416204e-01 -1.11918711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00587155999995 meters 0.01283579741824655 Centerline is valid? [True, True] Translation: X:270.15, Y:-40.01, Z:-11.19 [[ 9.80963695e-01 1.91449313e-01 3.25175401e-02 2.70154826e+02] [-1.91349472e-01 9.81502489e-01 -6.18413698e-03 -4.00051245e+01] [-3.30999953e-02 -1.55800258e-04 9.99452033e-01 -1.11943610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06587155999995 meters 0.017176346126355456 Centerline is valid? [True, True] Translation: X:270.22, Y:-40.01, Z:-11.20 [[ 9.80048565e-01 1.96229015e-01 3.16067053e-02 2.70215452e+02] [-1.96136991e-01 9.80558046e-01 -6.01653468e-03 -4.00137175e+01] [-3.21728278e-02 -3.02747890e-04 9.99482275e-01 -1.12012330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12587155999995 meters 0.02251552454261118 Centerline is valid? [True, True] Translation: X:270.28, Y:-40.02, Z:-11.20 [[ 9.79035794e-01 2.01059943e-01 3.26161382e-02 2.70275063e+02] [-2.00964388e-01 9.79578827e-01 -6.21575762e-03 -4.00202648e+01] [-3.31998183e-02 -4.69233057e-04 9.99448624e-01 -1.12016050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18587155999995 meters 0.022889797794719707 Centerline is valid? [True, True] Translation: X:270.34, Y:-40.03, Z:-11.20 [[ 9.78173274e-01 2.05039857e-01 3.37001974e-02 2.70336058e+02] [-2.04940210e-01 9.78753425e-01 -6.42209578e-03 -4.00335775e+01] [-3.43009693e-02 -6.24603077e-04 9.99411353e-01 -1.11992854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24587155999996 meters 0.024955613343236618 Centerline is valid? [True, True] Translation: X:270.40, Y:-40.04, Z:-11.20 [[ 9.77804449e-01 2.06945134e-01 3.27440252e-02 2.70397511e+02] [-2.06852113e-01 9.78352319e-01 -6.24036929e-03 -4.00438837e+01] [-3.33266071e-02 -6.71309962e-04 9.99444289e-01 -1.12034289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30587155999996 meters 0.027620513441744345 Centerline is valid? [True, True] Translation: X:270.46, Y:-40.05, Z:-11.21 [[ 9.77776913e-01 2.07144965e-01 3.22997328e-02 2.70458284e+02] [-2.07054377e-01 9.78310034e-01 -6.16131840e-03 -4.00528625e+01] [-3.28754388e-02 -6.63406158e-04 9.99459236e-01 -1.12088252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36587155999996 meters 0.025362726214546827 Centerline is valid? [True, True] Translation: X:270.52, Y:-40.07, Z:-11.21 [[ 9.77911176e-01 2.06510382e-01 3.22985165e-02 2.70518206e+02] [-2.06419245e-01 9.78444203e-01 -6.16745894e-03 -4.00681407e+01] [-3.28759405e-02 -6.35808364e-04 9.99459238e-01 -1.12100092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42587155999996 meters 0.02737013842552117 Centerline is valid? [True, True] Translation: X:270.58, Y:-40.08, Z:-11.21 [[ 9.78198929e-01 2.04968511e-01 3.33881000e-02 2.70578356e+02] [-2.04870205e-01 9.78768382e-01 -6.37600254e-03 -4.00762316e+01] [-3.39860964e-02 -6.03228040e-04 9.99422124e-01 -1.12128182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48587155999996 meters 0.02046728800689382 Centerline is valid? [True, True] Translation: X:270.64, Y:-40.10, Z:-11.21 [[ 9.78914623e-01 2.01321917e-01 3.45781241e-02 2.70637042e+02] [-2.01214105e-01 9.79525010e-01 -6.60599580e-03 -4.00980180e+01] [-3.52000690e-02 -4.90900387e-04 9.99380165e-01 -1.12110856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54587155999997 meters 0.015425353143778428 Centerline is valid? [True, True] Translation: X:270.70, Y:-40.12, Z:-11.21 [[ 9.80040909e-01 1.95843086e-01 3.41365288e-02 2.70696500e+02] [-1.95734694e-01 9.80635203e-01 -6.52135616e-03 -4.01184475e+01] [-3.47526443e-02 -2.90507209e-04 9.99395902e-01 -1.12145246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60587155999997 meters 0.0135011214696859 Centerline is valid? [True, True] Translation: X:270.76, Y:-40.14, Z:-11.22 [[ 9.80728954e-01 1.92429209e-01 3.37893152e-02 2.70755701e+02] [-1.92320792e-01 9.81310844e-01 -6.46062101e-03 -4.01363038e+01] [-3.44010336e-02 -1.62269763e-04 9.99408096e-01 -1.12183469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66587155999997 meters 0.012334040549534431 Centerline is valid? [True, True] Translation: X:270.82, Y:-40.16, Z:-11.22 [[ 9.81475602e-01 1.88673079e-01 3.32883255e-02 2.70815568e+02] [-1.88565517e-01 9.82039953e-01 -6.36999832e-03 -4.01569436e+01] [-3.38923128e-02 -2.50323858e-05 9.99425490e-01 -1.12211777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72587156 meters 0.013047205030084962 Centerline is valid? [True, True] Translation: X:270.88, Y:-40.17, Z:-11.23 [[ 9.81380893e-01 1.89317918e-01 3.24078366e-02 2.70875195e+02] [-1.89216086e-01 9.81915844e-01 -6.20874092e-03 -4.01671603e+01] [-3.29971941e-02 -3.89442864e-05 9.99455444e-01 -1.12269740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78587156 meters 0.013186922411952599 Centerline is valid? [True, True] Translation: X:270.94, Y:-40.17, Z:-11.23 [[ 9.80770411e-01 1.92452759e-01 3.24243140e-02 2.70938318e+02] [-1.92352478e-01 9.81306229e-01 -6.21360189e-03 -4.01746134e+01] [-3.30140062e-02 -1.42780275e-04 9.99454879e-01 -1.12271346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84587156 meters 0.015537081971567715 Centerline is valid? [True, True] Translation: X:271.00, Y:-40.18, Z:-11.23 [[ 9.79947962e-01 1.96552146e-01 3.26993161e-02 2.71000099e+02] [-1.96452198e-01 9.80493334e-01 -6.27343529e-03 -4.01790636e+01] [-3.32945187e-02 -2.76212413e-04 9.99445546e-01 -1.12291939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.90587156 meters 0.01861740765718679 Centerline is valid? [True, True] Translation: X:271.06, Y:-40.18, Z:-11.23 [[ 9.79057427e-01 2.00809777e-01 3.34960944e-02 2.71062525e+02] [-2.00707196e-01 9.79630161e-01 -6.43189399e-03 -4.01822007e+01] [-3.41053716e-02 -4.25713593e-04 9.99418152e-01 -1.12299461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.96587156 meters 0.02235151722825763 Centerline is valid? [True, True] Translation: X:271.12, Y:-40.19, Z:-11.23 [[ 9.78407864e-01 2.03988175e-01 3.32697509e-02 2.71124439e+02] [-2.03888595e-01 9.78973211e-01 -6.39480671e-03 -4.01850164e+01] [-3.38746598e-02 -5.26593586e-04 9.99425950e-01 -1.12331929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.02587156 meters 0.026026461590815113 Centerline is valid? [True, True] Translation: X:271.18, Y:-40.19, Z:-11.24 [[ 9.78289941e-01 2.04589514e-01 3.30442478e-02 2.71184764e+02] [-2.04491503e-01 9.78847710e-01 -6.35502304e-03 -4.01891521e+01] [-3.36454573e-02 -5.40212767e-04 9.99433685e-01 -1.12384997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.08587156 meters 0.022462874558242765 Centerline is valid? [True, True] Translation: X:271.25, Y:-40.20, Z:-11.24 [[ 9.78261908e-01 2.04795683e-01 3.25939909e-02 2.71245277e+02] [-2.04700431e-01 9.78804596e-01 -6.26869566e-03 -4.02002099e+01] [-3.31869499e-02 -5.39577802e-04 9.99449016e-01 -1.12399595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.14587156 meters 0.019937908442979314 Centerline is valid? [True, True] Translation: X:271.31, Y:-40.21, Z:-11.24 [[ 9.78739001e-01 2.02383899e-01 3.33275414e-02 2.71305641e+02] [-2.02282883e-01 9.79306152e-01 -6.41061146e-03 -4.02104234e+01] [-3.39352709e-02 -4.67275710e-04 9.99423924e-01 -1.12407283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.20587156 meters 0.01567376779912361 Centerline is valid? [True, True] Translation: X:271.36, Y:-40.23, Z:-11.24 [[ 9.79833892e-01 1.96841737e-01 3.43347573e-02 2.71364765e+02] [-1.96731086e-01 9.80435235e-01 -6.60522634e-03 -4.02252892e+01] [-3.49631901e-02 -2.82689464e-04 9.99388561e-01 -1.12414476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26587156 meters 0.012224543469965808 Centerline is valid? [True, True] Translation: X:271.42, Y:-40.24, Z:-11.24 [[ 9.81170966e-01 1.90047227e-01 3.44323591e-02 2.71424469e+02] [-1.89931767e-01 9.81774949e-01 -6.62375573e-03 -4.02441419e+01] [-3.50636540e-02 -4.07619837e-05 9.99385080e-01 -1.12427396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32587156 meters 0.014362097419558973 Centerline is valid? [True, True] Translation: X:271.48, Y:-40.27, Z:-11.25 [[ 9.82500384e-01 1.83007175e-01 3.46607644e-02 2.71481631e+02] [-1.82885570e-01 9.83111553e-01 -6.67397775e-03 -4.02681697e+01] [-3.52967837e-02 2.18232040e-04 9.99376851e-01 -1.12463295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38587156 meters 0.017727959315677104 Centerline is valid? [True, True] Translation: X:271.54, Y:-40.29, Z:-11.25 [[ 9.83435181e-01 1.78147759e-01 3.34457773e-02 2.71540953e+02] [-1.78031512e-01 9.84003673e-01 -6.44617346e-03 -4.02871357e+01] [-3.40591390e-02 3.84991470e-04 9.99419745e-01 -1.12505044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44587156 meters 0.03341337605019354 Centerline is valid? [True, True] Translation: X:271.60, Y:-40.30, Z:-11.25 [[ 9.83596145e-01 1.77568826e-01 3.17480022e-02 2.71600522e+02] [-1.77463770e-01 9.84108309e-01 -6.11935032e-03 -4.03013892e+01] [-3.23300786e-02 3.84849231e-04 9.99477172e-01 -1.12535733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50587155999995 meters 0.016709989277633133 Centerline is valid? [True, True] Translation: X:271.66, Y:-40.31, Z:-11.26 [[ 9.83119875e-01 1.80221789e-01 3.15502355e-02 2.71661644e+02] [-1.80119244e-01 9.83625954e-01 -6.08617763e-03 -4.03110975e+01] [-3.21304923e-02 3.00637640e-04 9.99483637e-01 -1.12581829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56587155999995 meters 0.013990641851309656 Centerline is valid? [True, True] Translation: X:271.72, Y:-40.32, Z:-11.26 [[ 9.82164391e-01 1.85338083e-01 3.16686688e-02 2.71722985e+02] [-1.85237237e-01 9.82674807e-01 -6.11477078e-03 -4.03177850e+01] [-3.22533028e-02 1.39493405e-04 9.99479717e-01 -1.12605971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62587155999995 meters 0.013135428415244252 Centerline is valid? [True, True] Translation: X:271.79, Y:-40.32, Z:-11.26 [[ 9.81457128e-01 1.89134090e-01 3.11480652e-02 2.71786152e+02] [-1.89038299e-01 9.81951269e-01 -6.01881811e-03 -4.03247731e+01] [-3.17242459e-02 1.90346768e-05 9.99496659e-01 -1.12644728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68587155999995 meters 0.014631958205699267 Centerline is valid? [True, True] Translation: X:271.85, Y:-40.33, Z:-11.27 [[ 9.80121218e-01 1.95918581e-01 3.12779070e-02 2.71849032e+02] [-1.95825232e-01 9.80620146e-01 -6.05036484e-03 -4.03252638e+01] [-3.18571246e-02 -1.94912441e-04 9.99492414e-01 -1.12667633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74587155999996 meters 0.017029237839968823 Centerline is valid? [True, True] Translation: X:271.91, Y:-40.33, Z:-11.27 [[ 9.79480365e-01 1.99101893e-01 3.12514077e-02 2.71909510e+02] [-1.99010094e-01 9.79978751e-01 -6.05236754e-03 -4.03311849e+01] [-3.18307533e-02 -2.91170406e-04 9.99493231e-01 -1.12701256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80587155999996 meters 0.018696517050882464 Centerline is valid? [True, True] Translation: X:271.97, Y:-40.34, Z:-11.27 [[ 9.78823313e-01 2.02362550e-01 3.08920839e-02 2.71970256e+02] [-2.02274461e-01 9.79310597e-01 -5.98314959e-03 -4.03373938e+01] [-3.14637105e-02 -3.92233309e-04 9.99504818e-01 -1.12710295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86587155999996 meters 0.01906718058916949 Centerline is valid? [True, True] Translation: X:272.03, Y:-40.35, Z:-11.27 [[ 9.78754416e-01 2.02459180e-01 3.24048335e-02 2.72029459e+02] [-2.02362282e-01 9.79290615e-01 -6.27680187e-03 -4.03450706e+01] [-3.30045454e-02 -4.14068484e-04 9.99455116e-01 -1.12719237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92587155999996 meters 0.01664063410322293 Centerline is valid? [True, True] Translation: X:272.09, Y:-40.36, Z:-11.28 [[ 9.79412837e-01 1.99237718e-01 3.24780794e-02 2.72088310e+02] [-1.99138634e-01 9.79951140e-01 -6.29024804e-03 -4.03607363e+01] [-3.30801856e-02 -3.06890664e-04 9.99452654e-01 -1.12755521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98587155999996 meters 0.014488981011547098 Centerline is valid? [True, True] Translation: X:272.15, Y:-40.38, Z:-11.28 [[ 9.80083500e-01 1.95977952e-01 3.20776542e-02 2.72147816e+02] [-1.95879569e-01 9.80608283e-01 -6.21207538e-03 -4.03796305e+01] [-3.26730432e-02 -1.95004512e-04 9.99466075e-01 -1.12790324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04587155999997 meters 0.02277659903550125 Centerline is valid? [True, True] Translation: X:272.21, Y:-40.40, Z:-11.28 [[ 9.80436439e-01 1.94318537e-01 3.13798484e-02 2.72208775e+02] [-1.94223382e-01 9.80938473e-01 -6.08188471e-03 -4.03950092e+01] [-3.19635236e-02 -1.31798889e-04 9.99489027e-01 -1.12810036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10587155999997 meters 0.013501222673703468 Centerline is valid? [True, True] Translation: X:272.27, Y:-40.41, Z:-11.29 [[ 9.80595828e-01 1.93547013e-01 3.11669114e-02 2.72269665e+02] [-1.93452563e-01 9.81090997e-01 -6.04665528e-03 -4.04094734e+01] [-3.17478882e-02 -9.99939544e-05 9.99495904e-01 -1.12862996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16587155999997 meters 0.026708520457996997 Centerline is valid? [True, True] Translation: X:272.33, Y:-40.43, Z:-11.28 [[ 9.80658851e-01 1.93174135e-01 3.14955884e-02 2.72331011e+02] [-1.93077290e-01 9.81164485e-01 -6.11663011e-03 -4.04253441e+01] [-3.20839275e-02 -8.27553961e-05 9.99485175e-01 -1.12847748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22587156 meters 0.012903358336318513 Centerline is valid? [True, True] Translation: X:272.39, Y:-40.44, Z:-11.29 [[ 9.80704432e-01 1.92829076e-01 3.21832850e-02 2.72391482e+02] [-1.92727550e-01 9.81232359e-01 -6.25688955e-03 -4.04407391e+01] [-3.27857909e-02 -6.64463362e-05 9.99462399e-01 -1.12881908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28587156 meters 0.01273286832734156 Centerline is valid? [True, True] Translation: X:272.45, Y:-40.46, Z:-11.29 [[ 9.80745516e-01 1.92647787e-01 3.20166116e-02 2.72452562e+02] [-1.92547043e-01 9.81267969e-01 -6.22967415e-03 -4.04574304e+01] [-3.26170084e-02 -5.49789201e-05 9.99467922e-01 -1.12901742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34587156 meters 0.012812632830072395 Centerline is valid? [True, True] Translation: X:272.51, Y:-40.47, Z:-11.29 [[ 9.80483537e-01 1.93911345e-01 3.24102484e-02 2.72514337e+02] [-1.93808581e-01 9.81019053e-01 -6.31285637e-03 -4.04711062e+01] [-3.30192057e-02 -9.17325228e-05 9.99454713e-01 -1.12927981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.40587156 meters 0.013731756896538242 Centerline is valid? [True, True] Translation: X:272.58, Y:-40.48, Z:-11.29 [[ 9.79929096e-01 1.96679056e-01 3.25010009e-02 2.72575625e+02] [-1.96577015e-01 9.80467907e-01 -6.33723543e-03 -4.04829878e+01] [-3.31125898e-02 -1.78908340e-04 9.99451612e-01 -1.12949539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.46587156 meters 0.02341495586156674 Centerline is valid? [True, True] Translation: X:272.64, Y:-40.49, Z:-11.30 [[ 9.79075345e-01 2.01073807e-01 3.13176162e-02 2.72637260e+02] [-2.00981141e-01 9.79576045e-01 -6.11172127e-03 -4.04904224e+01] [-3.19068937e-02 -3.10414620e-04 9.99490797e-01 -1.12980652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.52587156 meters 0.01965129155462999 Centerline is valid? [True, True] Translation: X:272.70, Y:-40.50, Z:-11.30 [[ 9.78405535e-01 2.04331882e-01 3.11623228e-02 2.72698406e+02] [-2.04241614e-01 9.78901586e-01 -6.08675649e-03 -4.04993593e+01] [-3.17485656e-02 -4.09326865e-04 9.99495803e-01 -1.13035342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.58587156 meters 0.021287491608547354 Centerline is valid? [True, True] Translation: X:272.76, Y:-40.51, Z:-11.30 [[ 9.77553213e-01 2.08175035e-01 3.24479775e-02 2.72759998e+02] [-2.08079088e-01 9.78091433e-01 -6.34359711e-03 -4.05102827e+01] [-3.30576674e-02 -5.50541839e-04 9.99453294e-01 -1.13022688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.64587156 meters 0.023356030567100932 Centerline is valid? [True, True] Translation: X:272.82, Y:-40.52, Z:-11.30 [[ 9.77152165e-01 2.10017450e-01 3.26545209e-02 2.72820394e+02] [-2.09921106e-01 9.77697447e-01 -6.39000156e-03 -4.05201844e+01] [-3.32682535e-02 -6.10869268e-04 9.99446272e-01 -1.13049026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.70587156 meters 0.02442687511724109 Centerline is valid? [True, True] Translation: X:272.88, Y:-40.53, Z:-11.31 [[ 9.77133466e-01 2.10185903e-01 3.21259229e-02 2.72879829e+02] [-2.10092575e-01 9.77661252e-01 -6.29172462e-03 -4.05320941e+01] [-3.27307019e-02 -6.01563185e-04 9.99464026e-01 -1.13099086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76587156 meters 0.022873331153014893 Centerline is valid? [True, True] Translation: X:272.94, Y:-40.55, Z:-11.31 [[ 9.77124717e-01 2.10131996e-01 3.27388529e-02 2.72940491e+02] [-2.10034867e-01 9.77672837e-01 -6.41699504e-03 -4.05483076e+01] [-3.33563031e-02 -6.06096150e-04 9.99443340e-01 -1.13104538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82587156 meters 0.023480786525182117 Centerline is valid? [True, True] Translation: X:273.00, Y:-40.56, Z:-11.31 [[ 9.76812917e-01 2.11444482e-01 3.35820797e-02 2.73001795e+02] [-2.11342850e-01 9.77389786e-01 -6.58835166e-03 -4.05604488e+01] [-3.42158523e-02 -6.61745446e-04 9.99414247e-01 -1.13108419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88587156 meters 0.02491592803449829 Centerline is valid? [True, True] Translation: X:273.06, Y:-40.57, Z:-11.31 [[ 9.76674000e-01 2.12002573e-01 3.40999521e-02 2.73062403e+02] [-2.11897911e-01 9.77268867e-01 -6.69603003e-03 -4.05713162e+01] [-3.47443971e-02 -6.85870177e-04 9.99395996e-01 -1.13135318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94587156 meters 0.02485903298513856 Centerline is valid? [True, True] Translation: X:273.12, Y:-40.58, Z:-11.32 [[ 9.76664332e-01 2.12029548e-01 3.42089560e-02 2.73122716e+02] [-2.11924002e-01 9.77263017e-01 -6.72400588e-03 -4.05843956e+01] [-3.48568354e-02 -6.82602145e-04 9.99392083e-01 -1.13160271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00587155999995 meters 0.024387771515893983 Centerline is valid? [True, True] Translation: X:273.18, Y:-40.60, Z:-11.32 [[ 9.76766564e-01 2.11524169e-01 3.44180910e-02 2.73183859e+02] [-2.11416807e-01 9.77372542e-01 -6.77104612e-03 -4.05975787e+01] [-3.50715370e-02 -6.62831458e-04 9.99384585e-01 -1.13177209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06587155999995 meters 0.024875856185487658 Centerline is valid? [True, True] Translation: X:273.24, Y:-40.61, Z:-11.32 [[ 9.76744224e-01 2.11640388e-01 3.43375319e-02 2.73243482e+02] [-2.11533393e-01 9.77347385e-01 -6.76111478e-03 -4.06098991e+01] [-3.49906220e-02 -6.59654828e-04 9.99387423e-01 -1.13210035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12587155999995 meters 0.02621388749486305 Centerline is valid? [True, True] Translation: X:273.30, Y:-40.62, Z:-11.32 [[ 9.76549685e-01 2.12575752e-01 3.40919605e-02 2.73304300e+02] [-2.12470634e-01 9.77144352e-01 -6.71903678e-03 -4.06187389e+01] [-3.47410709e-02 -6.82067190e-04 9.99396114e-01 -1.13246682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18587155999995 meters 0.027995386242541942 Centerline is valid? [True, True] Translation: X:273.36, Y:-40.62, Z:-11.33 [[ 9.76263514e-01 2.13878958e-01 3.41371069e-02 2.73364732e+02] [-2.13774322e-01 9.76859898e-01 -6.72892472e-03 -4.06249252e+01] [-3.47863462e-02 -7.28433198e-04 9.99394506e-01 -1.13274617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24587155999996 meters 0.02794239314659832 Centerline is valid? [True, True] Translation: X:273.42, Y:-40.63, Z:-11.33 [[ 9.76337755e-01 2.13590757e-01 3.38168066e-02 2.73424686e+02] [-2.13487903e-01 9.76922967e-01 -6.66578882e-03 -4.06345883e+01] [-3.44601659e-02 -7.11417827e-04 9.99405819e-01 -1.13317059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30587155999996 meters 0.025259301561841346 Centerline is valid? [True, True] Translation: X:273.48, Y:-40.65, Z:-11.33 [[ 9.76727982e-01 2.11875401e-01 3.33356063e-02 2.73484735e+02] [-2.11774462e-01 9.77296476e-01 -6.57073976e-03 -4.06480775e+01] [-3.39709487e-02 -6.41804710e-04 9.99422615e-01 -1.13349928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36587155999996 meters 0.025509077451701383 Centerline is valid? [True, True] Translation: X:273.54, Y:-40.66, Z:-11.34 [[ 9.77072185e-01 2.10424339e-01 3.24275025e-02 2.73544267e+02] [-2.10327998e-01 9.77609977e-01 -6.39260573e-03 -4.06574738e+01] [-3.30466098e-02 -5.74374431e-04 9.99453647e-01 -1.13407168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42587155999996 meters 0.023431649809911304 Centerline is valid? [True, True] Translation: X:273.60, Y:-40.67, Z:-11.34 [[ 9.77135154e-01 2.10219855e-01 3.18512749e-02 2.73604696e+02] [-2.10126791e-01 9.77653979e-01 -6.27926304e-03 -4.06687888e+01] [-3.24595514e-02 -5.57117546e-04 9.99472895e-01 -1.13429354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48587155999996 meters 0.024295474863936146 Centerline is valid? [True, True] Translation: X:273.66, Y:-40.68, Z:-11.34 [[ 9.76910409e-01 2.11126423e-01 3.27366241e-02 2.73664619e+02] [-2.11028580e-01 9.77458578e-01 -6.45505009e-03 -4.06753779e+01] [-3.33615257e-02 -6.02357672e-04 9.99443168e-01 -1.13434696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54587155999997 meters 0.024379625030637366 Centerline is valid? [True, True] Translation: X:273.72, Y:-40.68, Z:-11.34 [[ 9.76811440e-01 2.11383875e-01 3.40039396e-02 2.73724170e+02] [-2.11278494e-01 9.77402913e-01 -6.70407790e-03 -4.06815667e+01] [-3.46526835e-02 -6.35681143e-04 9.99399213e-01 -1.13435603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60587155999997 meters 0.027489470928334942 Centerline is valid? [True, True] Translation: X:273.78, Y:-40.69, Z:-11.34 [[ 9.76835051e-01 2.11094008e-01 3.51084384e-02 2.73783590e+02] [-2.10981512e-01 9.77465550e-01 -6.92095625e-03 -4.06907539e+01] [-3.57782614e-02 -6.46598771e-04 9.99359544e-01 -1.13425779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66587155999997 meters 0.0243437089937471 Centerline is valid? [True, True] Translation: X:273.84, Y:-40.70, Z:-11.35 [[ 9.76861415e-01 2.11075999e-01 3.44775057e-02 2.73841237e+02] [-2.10967527e-01 9.77469447e-01 -6.79583798e-03 -4.06991048e+01] [-3.51351467e-02 -6.35042190e-04 9.99382368e-01 -1.13473357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72587156 meters 0.023841624634390896 Centerline is valid? [True, True] Translation: X:273.90, Y:-40.71, Z:-11.35 [[ 9.76873780e-01 2.11134169e-01 3.37636058e-02 2.73900606e+02] [-2.11030222e-01 9.77456890e-01 -6.65383373e-03 -4.07062152e+01] [-3.44073208e-02 -6.25185534e-04 9.99407697e-01 -1.13516005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.78587156 meters 0.022894982352435835 Centerline is valid? [True, True] Translation: X:273.96, Y:-40.71, Z:-11.35 [[ 9.77043219e-01 2.10403575e-01 3.34198066e-02 2.73960252e+02] [-2.10301335e-01 9.77614435e-01 -6.58527045e-03 -4.07139529e+01] [-3.40572498e-02 -5.94136118e-04 9.99419707e-01 -1.13542471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.84587156 meters 0.02118423175029639 Centerline is valid? [True, True] Translation: X:274.02, Y:-40.72, Z:-11.36 [[ 9.77442563e-01 2.08380498e-01 3.44035493e-02 2.74019767e+02] [-2.08270925e-01 9.78047686e-01 -6.77829362e-03 -4.07232431e+01] [-3.50607760e-02 -5.39866338e-04 9.99385036e-01 -1.13551040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.90587156 meters 0.019368731956679416 Centerline is valid? [True, True] Translation: X:274.08, Y:-40.73, Z:-11.36 [[ 9.77935510e-01 2.05997673e-01 3.47432961e-02 2.74077410e+02] [-2.05884466e-01 9.78552373e-01 -6.84396513e-03 -4.07325242e+01] [-3.54079757e-02 -4.60148426e-04 9.99372835e-01 -1.13572716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.96587156 meters 0.016702911229195157 Centerline is valid? [True, True] Translation: X:274.14, Y:-40.74, Z:-11.36 [[ 9.78313775e-01 2.04119852e-01 3.51744788e-02 2.74137227e+02] [-2.04002633e-01 9.78945825e-01 -6.92806127e-03 -4.07436350e+01] [-3.58480640e-02 -3.97868521e-04 9.99357172e-01 -1.13579375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.02587156 meters 0.014450754231170171 Centerline is valid? [True, True] Translation: X:274.20, Y:-40.76, Z:-11.36 [[ 9.78951378e-01 2.01004638e-01 3.53742091e-02 2.74196082e+02] [-2.00884049e-01 9.79590248e-01 -6.96740070e-03 -4.07568567e+01] [-3.60527101e-02 -2.85367829e-04 9.99349849e-01 -1.13601588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.08587156 meters 0.01263334449216194 Centerline is valid? [True, True] Translation: X:274.25, Y:-40.77, Z:-11.36 [[ 9.79667770e-01 1.97478995e-01 3.53992526e-02 2.74254575e+02] [-1.97355936e-01 9.80307106e-01 -6.97225598e-03 -4.07716247e+01] [-3.60790129e-02 -1.55758141e-04 9.99348928e-01 -1.13641101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.14587156 meters 0.029186664743338843 Centerline is valid? [True, True] Translation: X:274.31, Y:-40.79, Z:-11.37 [[ 9.80855450e-01 1.91632930e-01 3.46324398e-02 2.74313960e+02] [-1.91511511e-01 9.81466666e-01 -6.82088100e-03 -4.07925634e+01] [-3.52976907e-02 5.77874188e-05 9.99376841e-01 -1.13662695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.20587156 meters 0.014043711373847596 Centerline is valid? [True, True] Translation: X:274.37, Y:-40.81, Z:-11.37 [[ 9.81762108e-01 1.87076847e-01 3.38440146e-02 2.74373389e+02] [-1.86958061e-01 9.82345257e-01 -6.66923786e-03 -4.08123052e+01] [-3.44941672e-02 2.20193676e-04 9.99404875e-01 -1.13719980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26587156 meters 0.01572560210160909 Centerline is valid? [True, True] Translation: X:274.43, Y:-40.83, Z:-11.38 [[ 9.82091460e-01 1.85358467e-01 3.37431837e-02 2.74432259e+02] [-1.85239165e-01 9.82670930e-01 -6.65541722e-03 -4.08299333e+01] [-3.43920836e-02 2.85669256e-04 9.99408376e-01 -1.13756633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32587156 meters 0.016552044056007863 Centerline is valid? [True, True] Translation: X:274.49, Y:-40.85, Z:-11.38 [[ 9.82152238e-01 1.85060269e-01 3.36106856e-02 2.74491533e+02] [-1.84941549e-01 9.82727127e-01 -6.63453221e-03 -4.08489731e+01] [-3.42579209e-02 3.00108412e-04 9.99412980e-01 -1.13786223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38587156 meters 0.015027697282560155 Centerline is valid? [True, True] Translation: X:274.55, Y:-40.86, Z:-11.38 [[ 9.81903343e-01 1.86413886e-01 3.34019227e-02 2.74552029e+02] [-1.86297214e-01 9.82471270e-01 -6.59934842e-03 -4.08613719e+01] [-3.40466396e-02 2.57237154e-04 9.99420212e-01 -1.13803823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44587156 meters 0.013118115916916171 Centerline is valid? [True, True] Translation: X:274.61, Y:-40.87, Z:-11.38 [[ 9.81339473e-01 1.89395987e-01 3.31963631e-02 2.74612791e+02] [-1.89282260e-01 9.81900777e-01 -6.56438070e-03 -4.08738238e+01] [-3.38388021e-02 1.58403262e-04 9.99427291e-01 -1.13828141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.50587155999995 meters 0.012024425647823658 Centerline is valid? [True, True] Translation: X:274.67, Y:-40.88, Z:-11.39 [[ 9.80346769e-01 1.94461364e-01 3.32413940e-02 2.74673385e+02] [-1.94350035e-01 9.80910178e-01 -6.57922383e-03 -4.08849254e+01] [-3.38862266e-02 -1.05452622e-05 9.99425697e-01 -1.13853603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.56587155999995 meters 0.01421759140800954 Centerline is valid? [True, True] Translation: X:274.73, Y:-40.89, Z:-11.39 [[ 9.78983006e-01 2.01079849e-01 3.40465668e-02 2.74734459e+02] [-2.00966837e-01 9.79574825e-01 -6.74485831e-03 -4.08905812e+01] [-3.47074148e-02 -2.39129183e-04 9.99397488e-01 -1.13866524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.62587155999995 meters 0.017719197240484215 Centerline is valid? [True, True] Translation: X:274.80, Y:-40.90, Z:-11.39 [[ 9.77979245e-01 2.05841994e-01 3.44335619e-02 2.74795818e+02] [-2.05729112e-01 9.78585157e-01 -6.82815270e-03 -4.08976471e+01] [-3.51016931e-02 -4.06194499e-04 9.99383663e-01 -1.13883071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.68587155999995 meters 0.02267687171959729 Centerline is valid? [True, True] Translation: X:274.86, Y:-40.90, Z:-11.39 [[ 9.76733899e-01 2.11766568e-01 3.38498268e-02 2.74855609e+02] [-2.11660996e-01 9.77320087e-01 -6.71349664e-03 -4.09033803e+01] [-3.45038098e-02 -6.07388282e-04 9.99404382e-01 -1.13916859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.74587155999996 meters 0.035126105905941465 Centerline is valid? [True, True] Translation: X:274.91, Y:-40.91, Z:-11.39 [[ 9.75843387e-01 2.15892818e-01 3.34660429e-02 2.74914801e+02] [-2.15792060e-01 9.76416784e-01 -6.63706513e-03 -4.09083555e+01] [-3.41097007e-02 -7.44970236e-04 9.99417817e-01 -1.13934820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80587155999996 meters 0.03394148986839218 Centerline is valid? [True, True] Translation: X:274.97, Y:-40.92, Z:-11.40 [[ 9.75624778e-01 2.16853631e-01 3.36272942e-02 2.74973521e+02] [-2.16752492e-01 9.76203816e-01 -6.66839785e-03 -4.09159750e+01] [-3.42731592e-02 -7.82945628e-04 9.99412196e-01 -1.13957712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86587155999996 meters 0.028119349337727886 Centerline is valid? [True, True] Translation: X:275.03, Y:-40.93, Z:-11.40 [[ 9.75799616e-01 2.16038448e-01 3.38008476e-02 2.75030799e+02] [-2.15935831e-01 9.76384561e-01 -6.70114809e-03 -4.09280141e+01] [-3.44503314e-02 -7.59836372e-04 9.99406122e-01 -1.13994846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92587155999996 meters 0.02596028504067615 Centerline is valid? [True, True] Translation: X:275.09, Y:-40.94, Z:-11.40 [[ 9.76307355e-01 2.13471226e-01 3.54116338e-02 2.75088559e+02] [-2.13356976e-01 9.76949099e-01 -7.01852903e-03 -4.09415829e+01] [-3.60936178e-02 -7.03077585e-04 9.99348166e-01 -1.13990595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98587155999996 meters 0.024249631730713275 Centerline is valid? [True, True] Translation: X:275.15, Y:-40.95, Z:-11.40 [[ 9.76713146e-01 2.11638845e-01 3.52197362e-02 2.75146902e+02] [-2.11524666e-01 9.77347737e-01 -6.97972866e-03 -4.09521184e+01] [-3.58991111e-02 -6.32650202e-04 9.99355219e-01 -1.14017714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04587155999997 meters 0.02228955563448864 Centerline is valid? [True, True] Translation: X:275.21, Y:-40.96, Z:-11.41 [[ 9.77203593e-01 2.09548918e-01 3.40938343e-02 2.75205108e+02] [-2.09440696e-01 9.77798016e-01 -6.75534270e-03 -4.09645305e+01] [-3.47524583e-02 -5.39291249e-04 9.99395805e-01 -1.14071202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10587155999997 meters 0.02130730150913332 Centerline is valid? [True, True] Translation: X:275.26, Y:-40.98, Z:-11.41 [[ 9.77518503e-01 2.08094149e-01 3.39764875e-02 2.75262486e+02] [-2.07985817e-01 9.78108679e-01 -6.73137596e-03 -4.09758832e+01] [-3.46334572e-02 -4.86582958e-04 9.99399963e-01 -1.14102122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16587155999997 meters 0.01807487387221073 Centerline is valid? [True, True] Translation: X:275.32, Y:-40.99, Z:-11.41 [[ 9.78243516e-01 2.04669203e-01 3.39137377e-02 2.75320626e+02] [-2.04559255e-01 9.78831131e-01 -6.71771328e-03 -4.09910735e+01] [-3.45707312e-02 -3.65809454e-04 9.99402187e-01 -1.14124245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22587156 meters 0.021884808925739133 Centerline is valid? [True, True] Translation: X:275.38, Y:-41.00, Z:-11.41 [[ 9.78701121e-01 2.02548165e-01 3.34418373e-02 2.75377579e+02] [-2.02440050e-01 9.79272259e-01 -6.62328080e-03 -4.10035250e+01] [-3.40901970e-02 -2.87754885e-04 9.99418719e-01 -1.14140677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.28587156 meters 0.015418826296339226 Centerline is valid? [True, True] Translation: X:275.44, Y:-41.02, Z:-11.42 [[ 9.78659249e-01 2.02775280e-01 3.32905407e-02 2.75436473e+02] [-2.02668322e-01 9.79225254e-01 -6.59188540e-03 -4.10164925e+01] [-3.39356096e-02 -2.95728400e-04 9.99423978e-01 -1.14170299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.34587156 meters 0.017602389279756225 Centerline is valid? [True, True] Translation: X:275.50, Y:-41.02, Z:-11.42 [[ 9.78306919e-01 2.04703918e-01 3.18100361e-02 2.75495367e+02] [-2.04607275e-01 9.78823879e-01 -6.29897107e-03 -4.10219198e+01] [-3.24258470e-02 -3.46237819e-04 9.99474084e-01 -1.14233425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.40587156 meters 0.03030568096561313 Centerline is valid? [True, True] Translation: X:275.55, Y:-41.02, Z:-11.43 [[ 9.78030673e-01 2.06175937e-01 3.07812671e-02 2.75553960e+02] [-2.06086188e-01 9.78514863e-01 -6.09478321e-03 -4.10249757e+01] [-3.13765250e-02 -3.82709091e-04 9.99507562e-01 -1.14285664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.46587156 meters 0.01907962196805349 Centerline is valid? [True, True] Translation: X:275.61, Y:-41.04, Z:-11.43 [[ 9.78035622e-01 2.06141872e-01 3.08520756e-02 2.75611387e+02] [-2.06051740e-01 9.78522039e-01 -6.10730389e-03 -4.10377563e+01] [-3.14484070e-02 -3.83963111e-04 9.99505303e-01 -1.14299918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.52587156 meters 0.019454103665670307 Centerline is valid? [True, True] Translation: X:275.67, Y:-41.04, Z:-11.43 [[ 9.77992831e-01 2.06317189e-01 3.10361119e-02 2.75670098e+02] [-2.06226116e-01 9.78485086e-01 -6.14219397e-03 -4.10442953e+01] [-3.16356128e-02 -3.93435136e-04 9.99499391e-01 -1.14322184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.58587156 meters 0.01906774509149879 Centerline is valid? [True, True] Translation: X:275.73, Y:-41.05, Z:-11.44 [[ 9.78243463e-01 2.05082397e-01 3.13199275e-02 2.75727620e+02] [-2.04989062e-01 9.78744646e-01 -6.19695197e-03 -4.10526905e+01] [-3.19250971e-02 -3.58114800e-04 9.99490200e-01 -1.14354841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.64587156 meters 0.017053711183753706 Centerline is valid? [True, True] Translation: X:275.78, Y:-41.07, Z:-11.44 [[ 9.78773579e-01 2.02601601e-01 3.09010262e-02 2.75784923e+02] [-2.02509573e-01 9.79261209e-01 -6.11205904e-03 -4.10657354e+01] [-3.14984892e-02 -2.75431711e-04 9.99503762e-01 -1.14393080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.70587156 meters 0.016113048166324775 Centerline is valid? [True, True] Translation: X:275.84, Y:-41.08, Z:-11.44 [[ 9.79058220e-01 2.01233846e-01 3.08211060e-02 2.75842445e+02] [-2.01141662e-01 9.79543202e-01 -6.09479199e-03 -4.10780079e+01] [-3.14170833e-02 -2.32252274e-04 9.99506335e-01 -1.14422147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76587156 meters 0.015529662200717522 Centerline is valid? [True, True] Translation: X:275.90, Y:-41.09, Z:-11.44 [[ 9.79269065e-01 2.00166551e-01 3.10716941e-02 2.75899266e+02] [-2.00072368e-01 9.79761865e-01 -6.14297909e-03 -4.10894312e+01] [-3.16724799e-02 -2.00958014e-04 9.99498281e-01 -1.14445785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82587156 meters 0.016140364700600065 Centerline is valid? [True, True] Translation: X:275.96, Y:-41.10, Z:-11.45 [[ 9.79292662e-01 2.00189943e-01 3.01640276e-02 2.75956339e+02] [-2.00101251e-01 9.79757086e-01 -5.96170286e-03 -4.11019946e+01] [-3.07468928e-02 -1.97607790e-04 9.99527183e-01 -1.14499441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88587156 meters 0.01677650981765307 Centerline is valid? [True, True] Translation: X:276.01, Y:-41.11, Z:-11.45 [[ 9.79197473e-01 2.00748861e-01 2.95331116e-02 2.76014322e+02] [-2.00664134e-01 9.79642715e-01 -5.83568852e-03 -4.11125988e+01] [-3.01034054e-02 -2.11944818e-04 9.99546767e-01 -1.14538972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94587156 meters 0.01857516481186628 Centerline is valid? [True, True] Translation: X:276.07, Y:-41.12, Z:-11.46 [[ 9.78841287e-01 2.02511726e-01 2.93041982e-02 2.76071568e+02] [-2.02429134e-01 9.79279802e-01 -5.78925519e-03 -4.11196545e+01] [-2.98694015e-02 -2.65261458e-04 9.99553775e-01 -1.14568414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.00587155999995 meters 0.01907198550356067 Centerline is valid? [True, True] Translation: X:276.13, Y:-41.13, Z:-11.45 [[ 9.78037689e-01 2.06257181e-01 3.00042459e-02 2.76130221e+02] [-2.06172410e-01 9.78497738e-01 -5.92572536e-03 -4.11271949e+01] [-3.05813101e-02 -3.90464960e-04 9.99532206e-01 -1.14536909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.06587155999995 meters 0.025705819992017674 Centerline is valid? [True, True] Translation: X:276.19, Y:-41.13, Z:-11.46 [[ 9.77356851e-01 2.09351796e-01 3.07475284e-02 2.76189079e+02] [-2.09264350e-01 9.77840260e-01 -6.07102636e-03 -4.11288471e+01] [-3.13371514e-02 -5.00802319e-04 9.99508745e-01 -1.14590177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.12587155999995 meters 0.025684337809470898 Centerline is valid? [True, True] Translation: X:276.25, Y:-41.14, Z:-11.46 [[ 9.76503808e-01 2.13143264e-01 3.17846121e-02 2.76248319e+02] [-2.13051899e-01 9.77020743e-01 -6.27345650e-03 -4.11354280e+01] [-3.23913703e-02 -6.45717803e-04 9.99475053e-01 -1.14559685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.18587155999995 meters 0.02847376323622656 Centerline is valid? [True, True] Translation: X:276.31, Y:-41.14, Z:-11.46 [[ 9.76030283e-01 2.15154185e-01 3.27652842e-02 2.76305953e+02] [-2.15058261e-01 9.76579815e-01 -6.46595842e-03 -4.11407737e+01] [-3.33890932e-02 -7.35473817e-04 9.99442158e-01 -1.14571316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.24587155999996 meters 0.03347907899954717 Centerline is valid? [True, True] Translation: X:276.37, Y:-41.14, Z:-11.46 [[ 9.76098536e-01 2.14945808e-01 3.20928151e-02 2.76365015e+02] [-2.14853732e-01 9.76625716e-01 -6.33132682e-03 -4.11411312e+01] [-3.27035607e-02 -7.15262251e-04 9.99464840e-01 -1.14639424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30587155999996 meters 0.02932922214345044 Centerline is valid? [True, True] Translation: X:276.42, Y:-41.15, Z:-11.46 [[ 9.76128104e-01 2.14893049e-01 3.15420637e-02 2.76422304e+02] [-2.14804143e-01 9.76637334e-01 -6.22070184e-03 -4.11528840e+01] [-3.21419426e-02 -7.03164074e-04 9.99483067e-01 -1.14646342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36587155999996 meters 0.035119712927856754 Centerline is valid? [True, True] Translation: X:276.48, Y:-41.15, Z:-11.47 [[ 9.76009184e-01 2.15391352e-01 3.18219738e-02 2.76481355e+02] [-2.15301172e-01 9.76527540e-01 -6.27447898e-03 -4.11524826e+01] [-3.24265023e-02 -7.27359139e-04 9.99473858e-01 -1.14695772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42587155999996 meters 0.02883995371997679 Centerline is valid? [True, True] Translation: X:276.54, Y:-41.17, Z:-11.47 [[ 9.76135537e-01 2.14771466e-01 3.21345734e-02 2.76539058e+02] [-2.14679236e-01 9.76664070e-01 -6.33408651e-03 -4.11665469e+01] [-3.27450643e-02 -7.15698731e-04 9.99463480e-01 -1.14679944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48587155999996 meters 0.027499603481297666 Centerline is valid? [True, True] Translation: X:276.60, Y:-41.17, Z:-11.47 [[ 9.76626541e-01 2.12377497e-01 3.31119073e-02 2.76596586e+02] [-2.12278241e-01 9.77187479e-01 -6.52531751e-03 -4.11737666e+01] [-3.37423718e-02 -6.56139177e-04 9.99430349e-01 -1.14694481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54587155999997 meters 0.030112968785897407 Centerline is valid? [True, True] Translation: X:276.65, Y:-41.18, Z:-11.47 [[ 9.77090515e-01 2.10199151e-01 3.33232917e-02 2.76654698e+02] [-2.10097453e-01 9.77658413e-01 -6.56418081e-03 -4.11779709e+01] [-3.39585817e-02 -5.87339898e-04 9.99423068e-01 -1.14749580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60587155999997 meters 0.025298665503149163 Centerline is valid? [True, True] Translation: X:276.71, Y:-41.19, Z:-11.48 [[ 9.77165357e-01 2.09886446e-01 3.30990119e-02 2.76712294e+02] [-2.09786001e-01 9.77725600e-01 -6.51799115e-03 -4.11920872e+01] [-3.37297893e-02 -5.74554199e-04 9.99430824e-01 -1.14753480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66587155999997 meters 0.022484884248566102 Centerline is valid? [True, True] Translation: X:276.77, Y:-41.20, Z:-11.48 [[ 9.77402493e-01 2.08888195e-01 3.24050664e-02 2.76769473e+02] [-2.08791417e-01 9.77939385e-01 -6.37989427e-03 -4.12034357e+01] [-3.30228753e-02 -5.30175174e-04 9.99454456e-01 -1.14787004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72587156 meters 0.020689851335189396 Centerline is valid? [True, True] Translation: X:276.83, Y:-41.21, Z:-11.48 [[ 9.77922140e-01 2.06495752e-01 3.20591877e-02 2.76827586e+02] [-2.06399795e-01 9.78447395e-01 -6.31023871e-03 -4.12129703e+01] [-3.26712662e-02 -4.46087633e-04 9.99466052e-01 -1.14818941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.78587156 meters 0.018450359619916926 Centerline is valid? [True, True] Translation: X:276.88, Y:-41.23, Z:-11.48 [[ 9.78212920e-01 2.05108477e-01 3.20935360e-02 2.76884677e+02] [-2.05011618e-01 9.78739164e-01 -6.31545430e-03 -4.12266360e+01] [-3.27065538e-02 -4.01688752e-04 9.99464917e-01 -1.14832792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.84587156 meters 0.016289454031516288 Centerline is valid? [True, True] Translation: X:276.94, Y:-41.24, Z:-11.49 [[ 9.78960291e-01 2.01500024e-01 3.21634830e-02 2.76940643e+02] [-2.01400845e-01 9.79488469e-01 -6.32769517e-03 -4.12392468e+01] [-3.27787914e-02 -2.83190334e-04 9.99462591e-01 -1.14864967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.90587156 meters 0.01550905615453307 Centerline is valid? [True, True] Translation: X:277.00, Y:-41.25, Z:-11.49 [[ 9.79082113e-01 2.00878215e-01 3.23443718e-02 2.76998634e+02] [-2.00777649e-01 9.79616186e-01 -6.36112786e-03 -4.12493425e+01] [-3.29628821e-02 -2.65960404e-04 9.99456541e-01 -1.14882650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.96587156 meters 0.015937253025414468 Centerline is valid? [True, True] Translation: X:277.06, Y:-41.26, Z:-11.49 [[ 9.78967107e-01 2.01359603e-01 3.28285429e-02 2.77055036e+02] [-2.01256318e-01 9.79517344e-01 -6.45500842e-03 -4.12563170e+01] [-3.34559051e-02 -2.87710739e-04 9.99440153e-01 -1.14896833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.02587156 meters 0.01621126356898715 Centerline is valid? [True, True] Translation: X:277.11, Y:-41.26, Z:-11.50 [[ 9.79036417e-01 2.01197191e-01 3.17393288e-02 2.77113622e+02] [-2.01100658e-01 9.79550721e-01 -6.23786744e-03 -4.12639776e+01] [-3.23453238e-02 -2.75700529e-04 9.99476715e-01 -1.14952173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.08587156 meters 0.014559751720540425 Centerline is valid? [True, True] Translation: X:277.17, Y:-41.28, Z:-11.50 [[ 9.79481196e-01 1.99103854e-01 3.12128623e-02 2.77170807e+02] [-1.99009482e-01 9.79978374e-01 -6.13292791e-03 -4.12770275e+01] [-3.18090197e-02 -2.04568004e-04 9.99493944e-01 -1.14980785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.14587156 meters 0.013776650890727814 Centerline is valid? [True, True] Translation: X:277.23, Y:-41.29, Z:-11.50 [[ 9.79842018e-01 1.97219189e-01 3.18466790e-02 2.77227341e+02] [-1.97119997e-01 9.80359409e-01 -6.25595101e-03 -4.12894996e+01] [-3.24549850e-02 -1.47773621e-04 9.99473187e-01 -1.15000297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.20587156 meters 0.012672997649648273 Centerline is valid? [True, True] Translation: X:277.28, Y:-41.30, Z:-11.50 [[ 9.80174142e-01 1.95440017e-01 3.25860429e-02 2.77284644e+02] [-1.95335254e-01 9.80715653e-01 -6.39902047e-03 -4.13033737e+01] [-3.32082670e-02 -9.30485660e-05 9.99448449e-01 -1.14999408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26587156 meters 0.01271436111929397 Centerline is valid? [True, True] Translation: X:277.34, Y:-41.31, Z:-11.50 [[ 9.80199309e-01 1.95281546e-01 3.27785505e-02 2.77342002e+02] [-1.95175500e-01 9.80747220e-01 -6.43540554e-03 -4.13137679e+01] [-3.34041882e-02 -8.95899151e-05 9.99441920e-01 -1.15023882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32587156 meters 0.01267067462498276 Centerline is valid? [True, True] Translation: X:277.40, Y:-41.32, Z:-11.50 [[ 9.80159460e-01 1.95495118e-01 3.26969602e-02 2.77398526e+02] [-1.95389797e-01 9.80704670e-01 -6.41701017e-03 -4.13242824e+01] [-3.33205557e-02 -9.89591832e-05 9.99444711e-01 -1.15049694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38587156 meters 0.013371986550290942 Centerline is valid? [True, True] Translation: X:277.46, Y:-41.34, Z:-11.51 [[ 9.79999077e-01 1.96351134e-01 3.23734756e-02 2.77455362e+02] [-1.96248436e-01 9.80533638e-01 -6.35104212e-03 -4.13356396e+01] [-3.29903161e-02 -1.29228547e-04 9.99455663e-01 -1.15084122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44587156 meters 0.014685297801389092 Centerline is valid? [True, True] Translation: X:277.51, Y:-41.34, Z:-11.51 [[ 9.79356835e-01 1.99310996e-01 3.36944594e-02 2.77514034e+02] [-1.99201571e-01 9.79936258e-01 -6.60794610e-03 -4.13431208e+01] [-3.43354588e-02 -2.40452075e-04 9.99410335e-01 -1.15075356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.50587155999995 meters 0.019596717786788228 Centerline is valid? [True, True] Translation: X:277.57, Y:-41.34, Z:-11.51 [[ 9.78128879e-01 2.05110424e-01 3.45486637e-02 2.77573394e+02] [-2.04999049e-01 9.78738732e-01 -6.77382753e-03 -4.13439094e+01] [-3.52034979e-02 -4.56766870e-04 9.99380060e-01 -1.15078851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.56587155999995 meters 0.027314623002494667 Centerline is valid? [True, True] Translation: X:277.63, Y:-41.34, Z:-11.51 [[ 9.76745591e-01 2.11701046e-01 3.39222200e-02 2.77634057e+02] [-2.11597719e-01 9.77334231e-01 -6.64874383e-03 -4.13390560e+01] [-3.45608929e-02 -6.83733151e-04 9.99402360e-01 -1.15127618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.62587155999995 meters 0.031309981168726825 Centerline is valid? [True, True] Translation: X:277.69, Y:-41.34, Z:-11.52 [[ 9.76052951e-01 2.14961805e-01 3.33475618e-02 2.77694245e+02] [-2.14863873e-01 9.76622140e-01 -6.53543276e-03 -4.13388326e+01] [-3.39728356e-02 -7.86257863e-04 9.99422447e-01 -1.15168137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.68587155999995 meters 0.031931324959414434 Centerline is valid? [True, True] Translation: X:277.75, Y:-41.34, Z:-11.52 [[ 9.76005465e-01 2.15210279e-01 3.31340900e-02 2.77753025e+02] [-2.15113743e-01 9.76567413e-01 -6.49352477e-03 -4.13443905e+01] [-3.37551458e-02 -7.89882443e-04 9.99429821e-01 -1.15202166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.74587155999996 meters 0.029848266807263855 Centerline is valid? [True, True] Translation: X:277.81, Y:-41.35, Z:-11.52 [[ 9.76631985e-01 2.12309621e-01 3.33854970e-02 2.77810868e+02] [-2.12210143e-01 9.77202197e-01 -6.53622803e-03 -4.13525603e+01] [-3.40120851e-02 -7.01251725e-04 9.99421176e-01 -1.15232760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80587155999996 meters 0.019433034563753337 Centerline is valid? [True, True] Translation: X:277.87, Y:-41.37, Z:-11.52 [[ 9.78175753e-01 2.05003376e-01 3.38498534e-02 2.77867917e+02] [-2.04896796e-01 9.78761160e-01 -6.62525878e-03 -4.13726075e+01] [-3.44891222e-02 -4.55059011e-04 9.99404970e-01 -1.15238818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86587155999996 meters 0.012239382849944478 Centerline is valid? [True, True] Translation: X:277.92, Y:-41.40, Z:-11.53 [[ 9.80282610e-01 1.94498840e-01 3.48741534e-02 2.77923516e+02] [-1.94379064e-01 9.80902744e-01 -6.82537459e-03 -4.13960510e+01] [-3.55356802e-02 -8.80092797e-05 9.99368404e-01 -1.15266558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92587155999996 meters 0.012463562847269046 Centerline is valid? [True, True] Translation: X:277.98, Y:-41.41, Z:-11.53 [[ 9.81505084e-01 1.88273677e-01 3.46524572e-02 2.77979770e+02] [-1.88151561e-01 9.82116594e-01 -6.78130656e-03 -4.14141300e+01] [-3.53094948e-02 1.35972950e-04 9.99376416e-01 -1.15274699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98587155999996 meters 0.016865964873638412 Centerline is valid? [True, True] Translation: X:278.04, Y:-41.43, Z:-11.53 [[ 9.82469736e-01 1.83272297e-01 3.41245181e-02 2.78035609e+02] [-1.83150909e-01 9.83062139e-01 -6.67647309e-03 -4.14310367e+01] [-3.47701343e-02 3.09496271e-04 9.99395288e-01 -1.15323763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04587155999997 meters 0.01991563543243634 Centerline is valid? [True, True] Translation: X:278.09, Y:-41.45, Z:-11.53 [[ 9.82979088e-01 1.80416904e-01 3.46677633e-02 2.78091242e+02] [-1.80289915e-01 9.83590142e-01 -6.78071239e-03 -4.14467740e+01] [-3.53222253e-02 4.15050375e-04 9.99375889e-01 -1.15349280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10587155999997 meters 0.023297888719139136 Centerline is valid? [True, True] Translation: X:278.15, Y:-41.46, Z:-11.54 [[ 9.83491470e-01 1.77633938e-01 3.45067048e-02 2.78148298e+02] [-1.77506498e-01 9.84096501e-01 -6.74679892e-03 -4.14630475e+01] [-3.51563879e-02 5.10254852e-04 9.99381693e-01 -1.15379725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16587155999997 meters 0.028470402727434747 Centerline is valid? [True, True] Translation: X:278.21, Y:-41.49, Z:-11.54 [[ 9.84621880e-01 1.71344742e-01 3.40695269e-02 2.78205186e+02] [-1.71216805e-01 9.85210868e-01 -6.65962277e-03 -4.14852691e+01] [-3.47067595e-02 7.23934769e-04 9.99397277e-01 -1.15408416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22587156 meters 0.03324389500355078 Centerline is valid? [True, True] Translation: X:278.26, Y:-41.51, Z:-11.54 [[ 9.85562956e-01 1.65874158e-01 3.39326239e-02 2.78261922e+02] [-1.65744018e-01 9.86146506e-01 -6.63247024e-03 -4.15090664e+01] [-3.45626939e-02 9.12587550e-04 9.99402115e-01 -1.15431399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.28587156 meters 0.03289869979083667 Centerline is valid? [True, True] Translation: X:278.32, Y:-41.53, Z:-11.54 [[ 9.85929789e-01 1.63673401e-01 3.39627680e-02 2.78321140e+02] [-1.63541747e-01 9.86514084e-01 -6.63771995e-03 -4.15272961e+01] [-3.45911672e-02 9.89995430e-04 9.99401056e-01 -1.15443751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.34587156 meters 0.032935420061307036 Centerline is valid? [True, True] Translation: X:278.38, Y:-41.55, Z:-11.55 [[ 9.85849375e-01 1.64112773e-01 3.41761197e-02 2.78380424e+02] [-1.63979693e-01 9.86441095e-01 -6.68026429e-03 -4.15451535e+01] [-3.48090456e-02 9.81544781e-04 9.99393500e-01 -1.15472095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.40587156 meters 0.02991573567723401 Centerline is valid? [True, True] Translation: X:278.44, Y:-41.56, Z:-11.55 [[ 9.85399707e-01 1.66845572e-01 3.39112527e-02 2.78439851e+02] [-1.66716142e-01 9.85982648e-01 -6.62909684e-03 -4.15635290e+01] [-3.45419422e-02 8.78756853e-04 9.99402863e-01 -1.15500194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.46587156 meters 0.03151799834214354 Centerline is valid? [True, True] Translation: X:278.50, Y:-41.58, Z:-11.55 [[ 9.84586737e-01 1.71617375e-01 3.37110405e-02 2.78497482e+02] [-1.71492184e-01 9.85163425e-01 -6.59222844e-03 -4.15781555e+01] [-3.43422251e-02 7.09440707e-04 9.99409880e-01 -1.15517778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.52587156 meters 0.03134562572325479 Centerline is valid? [True, True] Translation: X:278.56, Y:-41.59, Z:-11.55 [[ 9.83618348e-01 1.76988229e-01 3.42069131e-02 2.78556232e+02] [-1.76862588e-01 9.84212826e-01 -6.68867725e-03 -4.15908450e+01] [-3.48506997e-02 5.29182491e-04 9.99392390e-01 -1.15535982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.58587156 meters 0.018331667787210716 Centerline is valid? [True, True] Translation: X:278.62, Y:-41.60, Z:-11.56 [[ 9.83078036e-01 1.79862798e-01 3.47411704e-02 2.78615301e+02] [-1.79734993e-01 9.83691611e-01 -6.79314370e-03 -4.16043559e+01] [-3.53964317e-02 4.33986349e-04 9.99373256e-01 -1.15568906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.64587156 meters 0.016517601317584694 Centerline is valid? [True, True] Translation: X:278.67, Y:-41.62, Z:-11.56 [[ 9.82657666e-01 1.82059292e-01 3.51898584e-02 2.78674162e+02] [-1.81929571e-01 9.83287488e-01 -6.88087828e-03 -4.16198941e+01] [-3.58544753e-02 3.59471964e-04 9.99356957e-01 -1.15587691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.70587156 meters 0.024037352929662106 Centerline is valid? [True, True] Translation: X:278.73, Y:-41.64, Z:-11.56 [[ 9.82358815e-01 1.83669036e-01 3.51687787e-02 2.78733514e+02] [-1.83540506e-01 9.82988095e-01 -6.87659965e-03 -4.16359944e+01] [-3.58335092e-02 3.00392862e-04 9.99357728e-01 -1.15597099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76587156 meters 0.014589739878298957 Centerline is valid? [True, True] Translation: X:278.79, Y:-41.66, Z:-11.57 [[ 9.82095645e-01 1.85319594e-01 3.38347859e-02 2.78791589e+02] [-1.85201620e-01 9.82678276e-01 -6.61552179e-03 -4.16551838e+01] [-3.44746949e-02 2.30817958e-04 9.99405544e-01 -1.15674790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82587156 meters 0.0135792327765841 Centerline is valid? [True, True] Translation: X:278.85, Y:-41.67, Z:-11.57 [[ 9.81852977e-01 1.86743983e-01 3.30366041e-02 2.78851813e+02] [-1.86632152e-01 9.82408597e-01 -6.46433583e-03 -4.16725868e+01] [-3.36626197e-02 1.81334832e-04 9.99433237e-01 -1.15705677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88587156 meters 0.014438390806633698 Centerline is valid? [True, True] Translation: X:278.91, Y:-41.69, Z:-11.58 [[ 9.81696728e-01 1.87511605e-01 3.33306652e-02 2.78910086e+02] [-1.87398009e-01 9.82262374e-01 -6.52797503e-03 -4.16906014e+01] [-3.39635294e-02 1.62391431e-04 9.99423060e-01 -1.15760038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94587156 meters 0.012641363763349478 Centerline is valid? [True, True] Translation: X:278.97, Y:-41.70, Z:-11.58 [[ 9.81274419e-01 1.89706738e-01 3.33446871e-02 2.78971318e+02] [-1.89594130e-01 9.81840794e-01 -6.53608426e-03 -4.17037669e+01] [-3.39791133e-02 9.17353356e-05 9.99422539e-01 -1.15761243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.00587155999995 meters 0.012110994331753302 Centerline is valid? [True, True] Translation: X:279.03, Y:-41.72, Z:-11.58 [[ 9.80899151e-01 1.91488783e-01 3.41892102e-02 2.79031782e+02] [-1.91371265e-01 9.81494801e-01 -6.70778587e-03 -4.17163665e+01] [-3.48409978e-02 3.68290618e-05 9.99392867e-01 -1.15781839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.06587155999995 meters 0.012430477521493078 Centerline is valid? [True, True] Translation: X:279.09, Y:-41.74, Z:-11.58 [[ 9.81138356e-01 1.90202915e-01 3.45018517e-02 2.79091593e+02] [-1.90082235e-01 9.81744795e-01 -6.77501588e-03 -4.17360086e+01] [-3.51606411e-02 8.90388609e-05 9.99381670e-01 -1.15810718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.12587155999995 meters 0.013336687627114934 Centerline is valid? [True, True] Translation: X:279.15, Y:-41.76, Z:-11.58 [[ 9.81610213e-01 1.87574656e-01 3.54561323e-02 2.79152298e+02] [-1.87445229e-01 9.82250330e-01 -6.96961729e-03 -4.17559702e+01] [-3.61341212e-02 1.95364663e-04 9.99346930e-01 -1.15818983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.18587155999995 meters 0.015002918639717111 Centerline is valid? [True, True] Translation: X:279.21, Y:-41.77, Z:-11.59 [[ 9.82019091e-01 1.85524914e-01 3.49143270e-02 2.79210664e+02] [-1.85397848e-01 9.82639522e-01 -6.87073089e-03 -4.17735380e+01] [-3.55828894e-02 2.74147808e-04 9.99366691e-01 -1.15862951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.24587155999996 meters 0.01794794390554202 Centerline is valid? [True, True] Translation: X:279.27, Y:-41.80, Z:-11.59 [[ 9.82455502e-01 1.83364224e-01 3.40404008e-02 2.79268988e+02] [-1.83242052e-01 9.83044984e-01 -6.70140131e-03 -4.17953006e+01] [-3.46920425e-02 3.46195684e-04 9.99397990e-01 -1.15916779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30587155999996 meters 0.01795118762205373 Centerline is valid? [True, True] Translation: X:279.33, Y:-41.81, Z:-11.60 [[ 9.82495102e-01 1.83367174e-01 3.28611351e-02 2.79328359e+02] [-1.83253158e-01 9.83044437e-01 -6.47422361e-03 -4.18122663e+01] [-3.34911161e-02 3.38986223e-04 9.99438958e-01 -1.15961950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36587155999996 meters 0.015106594856251362 Centerline is valid? [True, True] Translation: X:279.39, Y:-41.82, Z:-11.60 [[ 9.81824678e-01 1.86987029e-01 3.24984898e-02 2.79390298e+02] [-1.86877315e-01 9.82362358e-01 -6.40827060e-03 -4.18215659e+01] [-3.31235565e-02 2.18567728e-04 9.99451241e-01 -1.15996496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42587155999996 meters 0.017428343473626928 Centerline is valid? [True, True] Translation: X:279.45, Y:-41.83, Z:-11.60 [[ 9.81048029e-01 1.90930962e-01 3.30171413e-02 2.79451865e+02] [-1.90819867e-01 9.81603464e-01 -6.51295484e-03 -4.18298759e+01] [-3.36532649e-02 8.91949961e-05 9.99433564e-01 -1.15994229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48587155999996 meters 0.01324979431399531 Centerline is valid? [True, True] Translation: X:279.51, Y:-41.83, Z:-11.60 [[ 9.79576698e-01 1.98206271e-01 3.38196316e-02 2.79514594e+02] [-1.98093831e-01 9.80160318e-01 -6.67720656e-03 -4.18331806e+01] [-3.44721251e-02 -1.58624438e-04 9.99405647e-01 -1.16018980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54587155999997 meters 0.01872396267233233 Centerline is valid? [True, True] Translation: X:279.58, Y:-41.83, Z:-11.61 [[ 9.78278395e-01 2.04629217e-01 3.31400903e-02 2.79576003e+02] [-2.04524697e-01 9.78839490e-01 -6.54996937e-03 -4.18318461e+01] [-3.37791442e-02 -3.70273404e-04 9.99429253e-01 -1.16068595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60587155999997 meters 0.02297658149320054 Centerline is valid? [True, True] Translation: X:279.64, Y:-41.84, Z:-11.61 [[ 9.77733842e-01 2.07279735e-01 3.27360050e-02 2.79635490e+02] [-2.07179209e-01 9.78281608e-01 -6.47081078e-03 -4.18383165e+01] [-3.33662995e-02 -4.55488937e-04 9.99443086e-01 -1.16100568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66587155999997 meters 0.0207523664534522 Centerline is valid? [True, True] Translation: X:279.69, Y:-41.85, Z:-11.61 [[ 9.77647691e-01 2.07661437e-01 3.28895161e-02 2.79694398e+02] [-2.07560207e-01 9.78200647e-01 -6.50039207e-03 -4.18475991e+01] [-3.35224267e-02 -4.71461483e-04 9.99437854e-01 -1.16121438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72587156 meters 0.017945637161121346 Centerline is valid? [True, True] Translation: X:279.75, Y:-41.86, Z:-11.62 [[ 9.78256171e-01 2.04799956e-01 3.27389984e-02 2.79753056e+02] [-2.04698082e-01 9.78803780e-01 -6.46963780e-03 -4.18616128e+01] [-3.33700369e-02 -3.72647070e-04 9.99442996e-01 -1.16152349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.78587156 meters 0.01580209656207535 Centerline is valid? [True, True] Translation: X:279.81, Y:-41.88, Z:-11.62 [[ 9.79175341e-01 2.00315233e-01 3.30069505e-02 2.79811558e+02] [-2.00209138e-01 9.79731473e-01 -6.52248417e-03 -4.18771034e+01] [-3.36445011e-02 -2.21637430e-04 9.99433839e-01 -1.16201805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.84587156 meters 0.012414397799341096 Centerline is valid? [True, True] Translation: X:279.87, Y:-41.90, Z:-11.62 [[ 9.80363254e-01 1.94368314e-01 3.32993803e-02 2.79870425e+02] [-1.94256928e-01 9.80928620e-01 -6.57933452e-03 -4.18999980e+01] [-3.39431293e-02 -1.84975163e-05 9.99423766e-01 -1.16194228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.90587156 meters 0.025153973910510528 Centerline is valid? [True, True] Translation: X:279.93, Y:-41.92, Z:-11.62 [[ 9.81066844e-01 1.90889858e-01 3.26941826e-02 2.79929828e+02] [-1.90780366e-01 9.81611456e-01 -6.46536764e-03 -4.19185670e+01] [-3.33271573e-02 1.05549723e-04 9.99444490e-01 -1.16216499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.96587156 meters 0.01489310503356671 Centerline is valid? [True, True] Translation: X:279.99, Y:-41.94, Z:-11.63 [[ 9.81606126e-01 1.88079870e-01 3.27929239e-02 2.79988625e+02] [-1.87967951e-01 9.82153715e-01 -6.49075574e-03 -4.19378564e+01] [-3.34284725e-02 2.07346898e-04 9.99441091e-01 -1.16271727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.02587156 meters 0.014807896046962568 Centerline is valid? [True, True] Translation: X:280.05, Y:-41.95, Z:-11.63 [[ 9.81613903e-01 1.88015617e-01 3.29283159e-02 2.80050067e+02] [-1.87902568e-01 9.82166015e-01 -6.52253724e-03 -4.19525809e+01] [-3.35674117e-02 2.15298129e-04 9.99436432e-01 -1.16289232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.08587156 meters 0.014680661634541153 Centerline is valid? [True, True] Translation: X:280.11, Y:-41.96, Z:-11.63 [[ 9.81473452e-01 1.88896686e-01 3.20609543e-02 2.80110725e+02] [-1.88789783e-01 9.81996949e-01 -6.35693178e-03 -4.19647093e+01] [-3.26845627e-02 1.86379156e-04 9.99465700e-01 -1.16339120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.14587156 meters 0.013622110470220954 Centerline is valid? [True, True] Translation: X:280.17, Y:-41.98, Z:-11.64 [[ 9.80950786e-01 1.91649221e-01 3.17195745e-02 2.80170658e+02] [-1.91545829e-01 9.81463482e-01 -6.29519804e-03 -4.19753011e+01] [-3.23380738e-02 9.95272954e-05 9.99476983e-01 -1.16378446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.20587156 meters 0.013834452025323097 Centerline is valid? [True, True] Translation: X:280.23, Y:-41.98, Z:-11.64 [[ 9.79630980e-01 1.98315389e-01 3.15301342e-02 2.80232033e+02] [-1.98216473e-01 9.80138252e-01 -6.26390508e-03 -4.19761133e+01] [-3.21461194e-02 -1.13476510e-04 9.99483174e-01 -1.16406770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26587156 meters 0.018389807864358784 Centerline is valid? [True, True] Translation: X:280.29, Y:-41.98, Z:-11.64 [[ 9.78323774e-01 2.04688042e-01 3.13910730e-02 2.80291825e+02] [-2.04593246e-01 9.78827208e-01 -6.23707477e-03 -4.19758042e+01] [-3.20030909e-02 -3.20522974e-04 9.99487719e-01 -1.16445562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32587156 meters 0.02053090261871586 Centerline is valid? [True, True] Translation: X:280.35, Y:-41.98, Z:-11.65 [[ 9.77871764e-01 2.06763687e-01 3.18683507e-02 2.80350555e+02] [-2.06667113e-01 9.78390833e-01 -6.33108255e-03 -4.19810076e+01] [-3.24887401e-02 -3.95153183e-04 9.99472023e-01 -1.16467161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38587156 meters 0.01833954307270414 Centerline is valid? [True, True] Translation: X:280.41, Y:-41.99, Z:-11.65 [[ 9.78244148e-01 2.04896299e-01 3.24945138e-02 2.80409135e+02] [-2.04794920e-01 9.78783628e-01 -6.45373074e-03 -4.19942614e+01] [-3.31274436e-02 -3.41387020e-04 9.99451077e-01 -1.16475231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44587156 meters 0.020434224193256002 Centerline is valid? [True, True] Translation: X:280.47, Y:-42.01, Z:-11.65 [[ 9.78669232e-01 2.02884016e-01 3.23204418e-02 2.80466831e+02] [-2.02782649e-01 9.79202738e-01 -6.41839617e-03 -4.20062564e+01] [-3.29504551e-02 -2.72537950e-04 9.99456949e-01 -1.16508713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.50587155999995 meters 0.014286000135323246 Centerline is valid? [True, True] Translation: X:280.53, Y:-42.02, Z:-11.65 [[ 9.79129590e-01 2.00819272e-01 3.12548414e-02 2.80526456e+02] [-2.00723515e-01 9.79628287e-01 -6.20406494e-03 -4.20232833e+01] [-3.18640225e-02 -1.98998045e-04 9.99492193e-01 -1.16531372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.56587155999995 meters 0.013918409428092048 Centerline is valid? [True, True] Translation: X:280.59, Y:-42.03, Z:-11.66 [[ 9.79314197e-01 1.99827657e-01 3.18215391e-02 2.80585962e+02] [-1.99727646e-01 9.79831047e-01 -6.32349742e-03 -4.20327156e+01] [-3.24433417e-02 -1.62950296e-04 9.99473563e-01 -1.16558536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.62587155999995 meters 0.01343457348792615 Centerline is valid? [True, True] Translation: X:280.65, Y:-42.04, Z:-11.66 [[ 9.79530769e-01 1.98693344e-01 3.22556629e-02 2.80646222e+02] [-1.98589884e-01 9.80061702e-01 -6.41234933e-03 -4.20447172e+01] [-3.28866310e-02 -1.24554882e-04 9.99459081e-01 -1.16576972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.68587155999995 meters 0.012709343387058184 Centerline is valid? [True, True] Translation: X:280.71, Y:-42.06, Z:-11.66 [[ 9.79858287e-01 1.96927608e-01 3.31248179e-02 2.80705673e+02] [-1.96817470e-01 9.80418030e-01 -6.58564923e-03 -4.20558902e+01] [-3.37730648e-02 -6.65398688e-05 9.99429525e-01 -1.16589089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.74587155999996 meters 0.012719977268105028 Centerline is valid? [True, True] Translation: X:280.77, Y:-42.06, Z:-11.66 [[ 9.79811712e-01 1.97088457e-01 3.35432287e-02 2.80767068e+02] [-1.96975526e-01 9.80385707e-01 -6.67137932e-03 -4.20629638e+01] [-3.42001539e-02 -7.04995098e-05 9.99415001e-01 -1.16619492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80587155999996 meters 0.012944301463000083 Centerline is valid? [True, True] Translation: X:280.83, Y:-42.07, Z:-11.66 [[ 9.79483636e-01 1.98619520e-01 3.40894984e-02 2.80827472e+02] [-1.98503769e-01 9.80076666e-01 -6.78105749e-03 -4.20680223e+01] [-3.47571723e-02 -1.24959078e-04 9.99395779e-01 -1.16630268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86587155999996 meters 0.014056035253905062 Centerline is valid? [True, True] Translation: X:280.89, Y:-42.07, Z:-11.67 [[ 9.79136599e-01 2.00471041e-01 3.32096857e-02 2.80887616e+02] [-2.00362247e-01 9.79699611e-01 -6.60625247e-03 -4.20729074e+01] [-3.38598785e-02 -1.85543690e-04 9.99426573e-01 -1.16671407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92587155999996 meters 0.016497393223316743 Centerline is valid? [True, True] Translation: X:280.95, Y:-42.07, Z:-11.67 [[ 9.78599926e-01 2.03400456e-01 3.11518682e-02 2.80948900e+02] [-2.03306236e-01 9.79095594e-01 -6.19619081e-03 -4.20713751e+01] [-3.17609650e-02 -2.69777208e-04 9.99495457e-01 -1.16744418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98587155999996 meters 0.0167060319564438 Centerline is valid? [True, True] Translation: X:281.01, Y:-42.07, Z:-11.68 [[ 9.78608560e-01 2.03444453e-01 3.05882354e-02 2.81007808e+02] [-2.03353648e-01 9.79086453e-01 -6.08361684e-03 -4.20737165e+01] [-3.11862050e-02 -2.66749748e-04 9.99513556e-01 -1.16790030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04587155999997 meters 0.015235826470883116 Centerline is valid? [True, True] Translation: X:281.07, Y:-42.08, Z:-11.68 [[ 9.79151718e-01 2.00854536e-01 3.03211033e-02 2.81066234e+02] [-2.00764114e-01 9.79621060e-01 -6.02900765e-03 -4.20816729e+01] [-3.09141449e-02 -1.84076237e-04 9.99522027e-01 -1.16827164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10587155999997 meters 0.014369804286461079 Centerline is valid? [True, True] Translation: X:281.12, Y:-42.09, Z:-11.69 [[ 9.79634741e-01 1.98434256e-01 3.06532296e-02 2.81123365e+02] [-1.98340701e-01 9.80114194e-01 -6.09364568e-03 -4.20906565e+01] [-3.12528535e-02 -1.10236029e-04 9.99511504e-01 -1.16858994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16587155999997 meters 0.013074342732738078 Centerline is valid? [True, True] Translation: X:281.18, Y:-42.10, Z:-11.69 [[ 9.80476108e-01 1.94082970e-01 3.15975058e-02 2.81180944e+02] [-1.93981367e-01 9.80985117e-01 -6.27925891e-03 -4.21029210e+01] [-3.22153801e-02 2.73359738e-05 9.99480950e-01 -1.16864776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22587156 meters 0.014239616255678687 Centerline is valid? [True, True] Translation: X:281.24, Y:-42.12, Z:-11.69 [[ 9.81336731e-01 1.89724978e-01 3.13473070e-02 2.81239438e+02] [-1.89622811e-01 9.81837260e-01 -6.22772973e-03 -4.21157614e+01] [-3.19595099e-02 1.67335452e-04 9.99489150e-01 -1.16889341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.28587156 meters 0.015829032964330778 Centerline is valid? [True, True] Translation: X:281.30, Y:-42.13, Z:-11.69 [[ 9.81818591e-01 1.87175752e-01 3.15830969e-02 2.81296762e+02] [-1.87070745e-01 9.82326409e-01 -6.27389223e-03 -4.21276415e+01] [-3.21992307e-02 2.51550574e-04 9.99481439e-01 -1.16921105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.34587156 meters 0.01821965950590486 Centerline is valid? [True, True] Translation: X:281.36, Y:-42.14, Z:-11.69 [[ 9.82429322e-01 1.83931733e-01 3.16503674e-02 2.81355078e+02] [-1.83824636e-01 9.82938955e-01 -6.28595277e-03 -4.21411892e+01] [-3.22665652e-02 3.57387050e-04 9.99479235e-01 -1.16946129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.40587156 meters 0.0203817124786057 Centerline is valid? [True, True] Translation: X:281.41, Y:-42.15, Z:-11.70 [[ 9.82826477e-01 1.81826006e-01 3.14868036e-02 2.81412533e+02] [-1.81718954e-01 9.83330628e-01 -6.25282494e-03 -4.21528900e+01] [-3.20988645e-02 4.23692896e-04 9.99484609e-01 -1.16985574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.46587156 meters 0.031442474104879325 Centerline is valid? [True, True] Translation: X:281.47, Y:-42.16, Z:-11.70 [[ 9.83061525e-01 1.80763052e-01 3.02449455e-02 2.81472765e+02] [-1.80663822e-01 9.83526576e-01 -6.00477088e-03 -4.21621385e+01] [-3.08321484e-02 4.38891775e-04 9.99524480e-01 -1.16991866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.52587156 meters 0.021569203760297834 Centerline is valid? [True, True] Translation: X:281.53, Y:-42.18, Z:-11.71 [[ 9.83241545e-01 1.79862506e-01 2.97580874e-02 2.81530740e+02] [-1.79766028e-01 9.83691653e-01 -5.90825877e-03 -4.21754724e+01] [-3.03354564e-02 4.59752303e-04 9.99539668e-01 -1.17065699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.58587156 meters 0.0223456283293213 Centerline is valid? [True, True] Translation: X:281.59, Y:-42.19, Z:-11.71 [[ 9.83265466e-01 1.79883543e-01 2.88259476e-02 2.81587892e+02] [-1.79793026e-01 9.83687813e-01 -5.72314870e-03 -4.21884448e+01] [-2.93852336e-02 4.44670114e-04 9.99568062e-01 -1.17112963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.64587156 meters 0.019862345247087198 Centerline is valid? [True, True] Translation: X:281.65, Y:-42.20, Z:-11.71 [[ 9.82987233e-01 1.81334738e-01 2.92200757e-02 2.81647022e+02] [-1.81242406e-01 9.83421348e-01 -5.80017617e-03 -4.21965977e+01] [-2.97874196e-02 4.05582315e-04 9.99556174e-01 -1.17120014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.70587156 meters 0.019386387817928286 Centerline is valid? [True, True] Translation: X:281.70, Y:-42.21, Z:-11.71 [[ 9.82569699e-01 1.83441817e-01 3.00979343e-02 2.81704671e+02] [-1.83344860e-01 9.83030506e-01 -5.97377716e-03 -4.22071951e+01] [-3.06830281e-02 3.51350873e-04 9.99529103e-01 -1.17142883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76587156 meters 0.016394869136615902 Centerline is valid? [True, True] Translation: X:281.76, Y:-42.22, Z:-11.72 [[ 9.82043857e-01 1.86285782e-01 2.97904463e-02 2.81762590e+02] [-1.86192133e-01 9.82495568e-01 -5.91178592e-03 -4.22157460e+01] [-3.03702631e-02 2.58886312e-04 9.99538684e-01 -1.17161744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82587156 meters 0.01587015205260038 Centerline is valid? [True, True] Translation: X:281.82, Y:-42.23, Z:-11.72 [[ 9.81625823e-01 1.88417977e-01 3.01564193e-02 2.81819249e+02] [-1.88323060e-01 9.82088911e-01 -5.98304164e-03 -4.22252674e+01] [-3.07435976e-02 1.93959006e-04 9.99527285e-01 -1.17197187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88587156 meters 0.01346228276055626 Centerline is valid? [True, True] Translation: X:281.88, Y:-42.23, Z:-11.72 [[ 9.80976903e-01 1.91529561e-01 3.16345159e-02 2.81878072e+02] [-1.91426802e-01 9.81486840e-01 -6.27391246e-03 -4.22337798e+01] [-3.22505008e-02 9.88689858e-05 9.99479812e-01 -1.17179801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94587156 meters 0.012789574537171285 Centerline is valid? [True, True] Translation: X:281.94, Y:-42.24, Z:-11.72 [[ 9.80321971e-01 1.94837422e-01 3.17365991e-02 2.81936089e+02] [-1.94735764e-01 9.80835551e-01 -6.29312912e-03 -4.22419311e+01] [-3.23545217e-02 -1.09581094e-05 9.99476455e-01 -1.17196173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.00587155999995 meters 0.014253812382597736 Centerline is valid? [True, True] Translation: X:281.99, Y:-42.25, Z:-11.73 [[ 9.79712763e-01 1.98045855e-01 3.06715133e-02 2.81992926e+02] [-1.97952520e-01 9.80192750e-01 -6.08057878e-03 -4.22520641e+01] [-3.12682284e-02 -1.14282742e-04 9.99511023e-01 -1.17262457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.06587155999995 meters 0.016513278996141183 Centerline is valid? [True, True] Translation: X:282.05, Y:-42.26, Z:-11.73 [[ 9.79089931e-01 2.01202823e-01 3.00055058e-02 2.82050369e+02] [-2.01115037e-01 9.79549580e-01 -5.94666888e-03 -4.22616102e+01] [-3.05883671e-02 -2.12234780e-04 9.99532044e-01 -1.17309178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.12587155999995 meters 0.01707422588915905 Centerline is valid? [True, True] Translation: X:282.11, Y:-42.28, Z:-11.73 [[ 9.78832192e-01 2.02504108e-01 2.96584792e-02 2.82107290e+02] [-2.02418994e-01 9.79281381e-01 -5.87605705e-03 -4.22752098e+01] [-3.02339221e-02 -2.51765712e-04 9.99542819e-01 -1.17326669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.18587155999995 meters 0.018999752758882434 Centerline is valid? [True, True] Translation: X:282.16, Y:-42.29, Z:-11.74 [[ 9.78575773e-01 2.03870359e-01 2.87460224e-02 2.82163327e+02] [-2.03791026e-01 9.78997852e-01 -5.69408244e-03 -4.22911754e+01] [-2.93031488e-02 -2.86090283e-04 9.99570530e-01 -1.17384817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.24587155999996 meters 0.02612622946072428 Centerline is valid? [True, True] Translation: X:282.22, Y:-42.31, Z:-11.74 [[ 9.78410438e-01 2.04872219e-01 2.72100959e-02 2.82219925e+02] [-2.04801573e-01 9.78788682e-01 -5.38816852e-03 -4.23065243e+01] [-2.77368199e-02 -3.00830119e-04 9.99615215e-01 -1.17399435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30587155999996 meters 0.01988408926245054 Centerline is valid? [True, True] Translation: X:282.28, Y:-42.32, Z:-11.74 [[ 9.78215367e-01 2.05766955e-01 2.74709925e-02 2.82276471e+02] [-2.05695337e-01 9.78600966e-01 -5.43850112e-03 -4.23228028e+01] [-2.80022037e-02 -3.30629695e-04 9.99607807e-01 -1.17440543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36587155999996 meters 0.022207435087135307 Centerline is valid? [True, True] Translation: X:282.33, Y:-42.34, Z:-11.75 [[ 9.77746797e-01 2.07950604e-01 2.77082444e-02 2.82333167e+02] [-2.07878654e-01 9.78139248e-01 -5.48424148e-03 -4.23358369e+01] [-2.82429727e-02 -3.97753020e-04 9.99601009e-01 -1.17460799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42587155999996 meters 0.024847592810185407 Centerline is valid? [True, True] Translation: X:282.39, Y:-42.35, Z:-11.75 [[ 9.77347404e-01 2.09853607e-01 2.74502307e-02 2.82389619e+02] [-2.09783786e-01 9.77732715e-01 -5.43158199e-03 -4.23452737e+01] [-2.79788256e-02 -4.50070751e-04 9.99608415e-01 -1.17501189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48587155999996 meters 0.025138496917933986 Centerline is valid? [True, True] Translation: X:282.45, Y:-42.36, Z:-11.75 [[ 9.76911277e-01 2.11936913e-01 2.69648375e-02 2.82446813e+02] [-2.11870375e-01 9.77283220e-01 -5.33399618e-03 -4.23561548e+01] [-2.74827539e-02 -5.02209196e-04 9.99622152e-01 -1.17514867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54587155999997 meters 0.026814333139704497 Centerline is valid? [True, True] Translation: X:282.50, Y:-42.37, Z:-11.76 [[ 9.76674026e-01 2.13112261e-01 2.62870981e-02 2.82504340e+02] [-2.13049516e-01 9.77027579e-01 -5.19750572e-03 -4.23665201e+01] [-2.67908720e-02 -5.24184686e-04 9.99640923e-01 -1.17559291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60587155999997 meters 0.027816978382537313 Centerline is valid? [True, True] Translation: X:282.56, Y:-42.38, Z:-11.76 [[ 9.76631368e-01 2.13446671e-01 2.51334271e-02 2.82560919e+02] [-2.13389449e-01 9.76954583e-01 -4.96843333e-03 -4.23784685e+01] [-2.56147124e-02 -5.10880324e-04 9.99671759e-01 -1.17604036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66587155999997 meters 0.025639044752068182 Centerline is valid? [True, True] Translation: X:282.62, Y:-42.39, Z:-11.76 [[ 9.76904230e-01 2.12126059e-01 2.57033179e-02 2.82617750e+02] [-2.12065803e-01 9.77242189e-01 -5.07927455e-03 -4.23935940e+01] [-2.61958132e-02 -4.88829954e-04 9.99656711e-01 -1.17606639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72587156 meters 0.026047154257771394 Centerline is valid? [True, True] Translation: X:282.68, Y:-42.40, Z:-11.76 [[ 9.77152245e-01 2.10908168e-01 2.62913449e-02 2.82675218e+02] [-2.10844719e-01 9.77505768e-01 -5.19410797e-03 -4.24028256e+01] [-2.67954211e-02 -4.67956977e-04 9.99640829e-01 -1.17642679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.78587156 meters 0.02497308742187571 Centerline is valid? [True, True] Translation: X:282.73, Y:-42.42, Z:-11.77 [[ 9.77252960e-01 2.10489813e-01 2.58976865e-02 2.82731322e+02] [-2.10428126e-01 9.77595947e-01 -5.11546396e-03 -4.24161424e+01] [-2.63942264e-02 -4.50499349e-04 9.99651510e-01 -1.17661750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.84587156 meters 0.024673264271311654 Centerline is valid? [True, True] Translation: X:282.79, Y:-42.43, Z:-11.77 [[ 9.77392406e-01 2.09932295e-01 2.51498654e-02 2.82788881e+02] [-2.09873991e-01 9.77715833e-01 -4.96558010e-03 -4.24293223e+01] [-2.56318572e-02 -4.24982340e-04 9.99671360e-01 -1.17699355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.90587156 meters 0.024722666611329124 Centerline is valid? [True, True] Translation: X:282.85, Y:-42.44, Z:-11.77 [[ 9.77532404e-01 2.09338755e-01 2.46512453e-02 2.82845609e+02] [-2.09282571e-01 9.77843098e-01 -4.86636385e-03 -4.24407149e+01] [-2.51237686e-02 -4.02047636e-04 9.99684267e-01 -1.17732030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.96587156 meters 0.024510216359151293 Centerline is valid? [True, True] Translation: X:282.90, Y:-42.45, Z:-11.78 [[ 9.77650468e-01 2.08848042e-01 2.41258718e-02 2.82903537e+02] [-2.08794130e-01 9.77948030e-01 -4.76053149e-03 -4.24510908e+01] [-2.45880765e-02 -3.83204573e-04 9.99697594e-01 -1.17764585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.02587156 meters 0.030388215994482007 Centerline is valid? [True, True] Translation: X:282.96, Y:-42.46, Z:-11.77 [[ 9.77557875e-01 2.09254702e-01 2.43530364e-02 2.82961351e+02] [-2.09199926e-01 9.77861090e-01 -4.80418127e-03 -4.24616760e+01] [-2.48191842e-02 -3.98288166e-04 9.99691877e-01 -1.17734504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.08587156 meters 0.02261504513772099 Centerline is valid? [True, True] Translation: X:283.02, Y:-42.47, Z:-11.78 [[ 9.77716810e-01 2.08493871e-01 2.44978779e-02 2.83019266e+02] [-2.08438239e-01 9.78023599e-01 -4.83129365e-03 -4.24740576e+01] [-2.49667979e-02 -3.82657520e-04 9.99688208e-01 -1.17776200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.14587156 meters 0.020582089777099355 Centerline is valid? [True, True] Translation: X:283.08, Y:-42.49, Z:-11.78 [[ 9.78573236e-01 2.04426064e-01 2.45846865e-02 2.83075713e+02] [-2.04368771e-01 9.78881967e-01 -4.84767705e-03 -4.24880235e+01] [-2.50564979e-02 -2.80535150e-04 9.99685997e-01 -1.17812362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.20587156 meters 0.01895278458945591 Centerline is valid? [True, True] Translation: X:283.13, Y:-42.51, Z:-11.78 [[ 9.79273779e-01 2.00934350e-01 2.54608192e-02 2.83132414e+02] [-2.00871754e-01 9.79604689e-01 -5.01908781e-03 -4.25068089e+01] [-2.59500450e-02 -1.99298323e-04 9.99663221e-01 -1.17800057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26587156 meters 0.01530976666464722 Centerline is valid? [True, True] Translation: X:283.19, Y:-42.52, Z:-11.78 [[ 9.80320989e-01 1.95682323e-01 2.60611987e-02 2.83187663e+02] [-1.95614913e-01 9.80667336e-01 -5.13627321e-03 -4.25249170e+01] [-2.65624442e-02 -6.27626959e-05 9.99647154e-01 -1.17836439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32587156 meters 0.015677408570498586 Centerline is valid? [True, True] Translation: X:283.24, Y:-42.55, Z:-11.79 [[ 9.81202214e-01 1.91387245e-01 2.47616003e-02 2.83244073e+02] [-1.91325074e-01 9.81514605e-01 -4.87811673e-03 -4.25459410e+01] [-2.52374816e-02 4.89039240e-05 9.99681483e-01 -1.17874928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38587156 meters 0.015720809160170265 Centerline is valid? [True, True] Translation: X:283.30, Y:-42.56, Z:-11.79 [[ 9.81355015e-01 1.90656063e-01 2.43433784e-02 2.83302589e+02] [-1.90595775e-01 9.81656896e-01 -4.79472087e-03 -4.25605649e+01] [-2.48109879e-02 6.55782967e-05 9.99692158e-01 -1.17893194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44587156 meters 0.01523727868955714 Centerline is valid? [True, True] Translation: X:283.36, Y:-42.57, Z:-11.79 [[ 9.81019038e-01 1.92386872e-01 2.42680555e-02 2.83362136e+02] [-1.92327485e-01 9.81319159e-01 -4.77988512e-03 -4.25704574e+01] [-2.47342950e-02 2.17442110e-05 9.99694060e-01 -1.17908175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.50587155999995 meters 0.01601894578250903 Centerline is valid? [True, True] Translation: X:283.42, Y:-42.58, Z:-11.80 [[ 9.80738114e-01 1.93890451e-01 2.36483462e-02 2.83419335e+02] [-1.93834480e-01 9.81023187e-01 -4.65850587e-03 -4.25805234e+01] [-2.41028157e-02 -1.50906172e-05 9.99709485e-01 -1.17960642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.56587155999995 meters 0.016574703280486023 Centerline is valid? [True, True] Translation: X:283.48, Y:-42.59, Z:-11.80 [[ 9.80340069e-01 1.96015289e-01 2.26131555e-02 2.83477553e+02] [-1.95964689e-01 9.80600837e-01 -4.45402140e-03 -4.25890361e+01] [-2.30475355e-02 -6.49243369e-05 9.99734368e-01 -1.17994883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.62587155999995 meters 0.020021736968924706 Centerline is valid? [True, True] Translation: X:283.54, Y:-42.60, Z:-11.80 [[ 9.79798704e-01 1.98787897e-01 2.18602945e-02 2.83536187e+02] [-1.98741323e-01 9.80042528e-01 -4.30470242e-03 -4.25977191e+01] [-2.22797410e-02 -1.26802002e-04 9.99751768e-01 -1.18012794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.68587155999995 meters 0.019071487952470097 Centerline is valid? [True, True] Translation: X:283.59, Y:-42.60, Z:-11.80 [[ 9.79273074e-01 2.01208007e-01 2.32289607e-02 2.83594102e+02] [-2.01156124e-01 9.79548518e-01 -4.57315139e-03 -4.26032301e+01] [-2.36740487e-02 -1.94283676e-04 9.99719712e-01 -1.18033015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.74587155999996 meters 0.018950634006171165 Centerline is valid? [True, True] Translation: X:283.65, Y:-42.61, Z:-11.81 [[ 9.79283252e-01 2.01094736e-01 2.37743342e-02 2.83651324e+02] [-2.01040396e-01 9.79571778e-01 -4.67877452e-03 -4.26145618e+01] [-2.42295437e-02 -1.97756032e-04 9.99706402e-01 -1.18053398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80587155999996 meters 0.02289454746504534 Centerline is valid? [True, True] Translation: X:283.71, Y:-42.63, Z:-11.81 [[ 9.79716029e-01 1.99106966e-01 2.26477007e-02 2.83706814e+02] [-1.99057140e-01 9.79977753e-01 -4.45635694e-03 -4.26300294e+01] [-2.30815345e-02 -1.42222190e-04 9.99733576e-01 -1.18099924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86587155999996 meters 0.017799788556248166 Centerline is valid? [True, True] Translation: X:283.76, Y:-42.64, Z:-11.81 [[ 9.80197348e-01 1.96788913e-01 2.20744654e-02 2.83763637e+02] [-1.96741028e-01 9.80445876e-01 -4.34186673e-03 -4.26447693e+01] [-2.24972498e-02 -8.70667578e-05 9.99746901e-01 -1.18141533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92587155999996 meters 0.01776747393739824 Centerline is valid? [True, True] Translation: X:283.82, Y:-42.66, Z:-11.82 [[ 9.80763762e-01 1.94021077e-01 2.14071319e-02 2.83819733e+02] [-1.93975401e-01 9.80997360e-01 -4.20987170e-03 -4.26603088e+01] [-2.18171438e-02 -2.35673880e-05 9.99761978e-01 -1.18181798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98587155999996 meters 0.016953157214363815 Centerline is valid? [True, True] Translation: X:283.88, Y:-42.68, Z:-11.82 [[ 9.81453968e-01 1.90492131e-01 2.14675914e-02 2.83876752e+02] [-1.90445394e-01 9.81688721e-01 -4.21980945e-03 -4.26778437e+01] [-2.18783328e-02 5.31448280e-05 9.99760639e-01 -1.18165795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04587155999997 meters 0.01714627662182198 Centerline is valid? [True, True] Translation: X:283.94, Y:-42.69, Z:-11.82 [[ 9.81808807e-01 1.88632392e-01 2.16630346e-02 2.83935129e+02] [-1.88584370e-01 9.82047764e-01 -4.25718034e-03 -4.26937416e+01] [-2.20771768e-02 9.44274151e-05 9.99756265e-01 -1.18177662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10587155999997 meters 0.02854581369818979 Centerline is valid? [True, True] Translation: X:283.99, Y:-42.71, Z:-11.82 [[ 9.82057280e-01 1.87139204e-01 2.32898602e-02 2.83993305e+02] [-1.87083278e-01 9.82333395e-01 -4.57688116e-03 -4.27094027e+01] [-2.37349213e-02 1.37616088e-04 9.99718278e-01 -1.18156518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16587155999997 meters 0.017339023542434263 Centerline is valid? [True, True] Translation: X:284.05, Y:-42.72, Z:-11.82 [[ 9.82232196e-01 1.86208608e-01 2.33723810e-02 2.84053491e+02] [-1.86152098e-01 9.82510218e-01 -4.58986691e-03 -4.27238481e+01] [-2.38182759e-02 1.57497282e-04 9.99716292e-01 -1.18174479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22587156 meters 0.016921462810894378 Centerline is valid? [True, True] Translation: X:284.11, Y:-42.74, Z:-11.82 [[ 9.82057621e-01 1.87085329e-01 2.37046055e-02 2.84113699e+02] [-1.87027291e-01 9.82343656e-01 -4.66192100e-03 -4.27379444e+01] [-2.41582459e-02 1.44866897e-04 9.99708136e-01 -1.18196484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.28587156 meters 0.02692977257384119 Centerline is valid? [True, True] Translation: X:284.17, Y:-42.75, Z:-11.82 [[ 9.81856337e-01 1.88210417e-01 2.31294845e-02 2.84174317e+02] [-1.88155449e-01 9.82128721e-01 -4.54988386e-03 -4.27487704e+01] [-2.35724666e-02 1.15393762e-04 9.99722124e-01 -1.18206626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.34587156 meters 0.01642375967331109 Centerline is valid? [True, True] Translation: X:284.23, Y:-42.76, Z:-11.83 [[ 9.81375642e-01 1.90593367e-01 2.40003834e-02 2.84232562e+02] [-1.90534861e-01 9.81669071e-01 -4.72250774e-03 -4.27588323e+01] [-2.44605127e-02 6.16443559e-05 9.99700795e-01 -1.18262083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.40587156 meters 0.015322723122221039 Centerline is valid? [True, True] Translation: X:284.29, Y:-42.77, Z:-11.83 [[ 9.81118004e-01 1.91898995e-01 2.41296139e-02 2.84292186e+02] [-1.91840265e-01 9.81414680e-01 -4.74741457e-03 -4.27686607e+01] [-2.45921814e-02 2.87423808e-05 9.99697566e-01 -1.18259529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.46587156 meters 0.015816547106403584 Centerline is valid? [True, True] Translation: X:284.35, Y:-42.78, Z:-11.83 [[ 9.80874778e-01 1.93234954e-01 2.33435917e-02 2.84350572e+02] [-1.93180361e-01 9.81152512e-01 -4.59299495e-03 -4.27777477e+01] [-2.37911508e-02 -4.37056620e-06 9.99716951e-01 -1.18298602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.52587156 meters 0.016387855807448077 Centerline is valid? [True, True] Translation: X:284.41, Y:-42.78, Z:-11.83 [[ 9.80227811e-01 1.96512521e-01 2.31574706e-02 2.84410732e+02] [-1.96459711e-01 9.80501312e-01 -4.55631796e-03 -4.27821210e+01] [-2.36013038e-02 -8.32803899e-05 9.99721447e-01 -1.18321092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.58587156 meters 0.01707524832293886 Centerline is valid? [True, True] Translation: X:284.47, Y:-42.79, Z:-11.83 [[ 9.79676543e-01 1.99051380e-01 2.47471089e-02 2.84468799e+02] [-1.98991880e-01 9.79989043e-01 -4.86901564e-03 -4.27854344e+01] [-2.52210799e-02 -1.54413308e-04 9.99681886e-01 -1.18320482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.64587156 meters 0.016532264406683674 Centerline is valid? [True, True] Translation: X:284.53, Y:-42.79, Z:-11.83 [[ 9.79693485e-01 1.99046695e-01 2.41057793e-02 2.84528093e+02] [-1.98990289e-01 9.79989995e-01 -4.74078283e-03 -4.27944715e+01] [-2.45670597e-02 -1.52301937e-04 9.99698173e-01 -1.18331641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.70587156 meters 0.016978493296077136 Centerline is valid? [True, True] Translation: X:284.59, Y:-42.80, Z:-11.84 [[ 9.80044934e-01 1.97379133e-01 2.35245740e-02 2.84585765e+02] [-1.97324942e-01 9.80327224e-01 -4.62613008e-03 -4.28039224e+01] [-2.39748819e-02 -1.08169853e-04 9.99712555e-01 -1.18392263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76587156 meters 0.015470746951032042 Centerline is valid? [True, True] Translation: X:284.64, Y:-42.82, Z:-11.84 [[ 9.80546060e-01 1.94884266e-01 2.34424325e-02 2.84644283e+02] [-1.94829766e-01 9.80826244e-01 -4.60887077e-03 -4.28168754e+01] [-2.38911494e-02 -4.80735669e-05 9.99714565e-01 -1.18386772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82587156 meters 0.015519100983396766 Centerline is valid? [True, True] Translation: X:284.70, Y:-42.83, Z:-11.84 [[ 9.81554140e-01 1.89561288e-01 2.48593568e-02 2.84701680e+02] [-1.89498314e-01 9.81868887e-01 -4.88652972e-03 -4.28344316e+01] [-2.53349258e-02 8.55872827e-05 9.99679016e-01 -1.18398432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88587156 meters 0.01783776428880933 Centerline is valid? [True, True] Translation: X:284.76, Y:-42.86, Z:-11.84 [[ 9.82724954e-01 1.83392183e-01 2.48791637e-02 2.84761105e+02] [-1.83327220e-01 9.83039800e-01 -4.88689465e-03 -4.28554832e+01] [-2.53534264e-02 2.41445407e-04 9.99678521e-01 -1.18403929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94587156 meters 0.020983642595648194 Centerline is valid? [True, True] Translation: X:284.82, Y:-42.88, Z:-11.85 [[ 9.83524592e-01 1.79257638e-01 2.33682531e-02 2.84820264e+02] [-1.79199014e-01 9.83802108e-01 -4.59620949e-03 -4.28754239e+01] [-2.38136423e-02 3.32917148e-04 9.99716360e-01 -1.18450708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.00587155999995 meters 0.021709203376633218 Centerline is valid? [True, True] Translation: X:284.88, Y:-42.89, Z:-11.85 [[ 9.83575150e-01 1.79033026e-01 2.29586730e-02 2.84880821e+02] [-1.78976407e-01 9.83843009e-01 -4.51443373e-03 -4.28891071e+01] [-2.33959626e-02 3.31224038e-04 9.99726222e-01 -1.18486798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.06587155999995 meters 0.022641428898514445 Centerline is valid? [True, True] Translation: X:284.94, Y:-42.91, Z:-11.85 [[ 9.83349747e-01 1.80312651e-01 2.25969720e-02 2.84939474e+02] [-1.80258016e-01 9.83609301e-01 -4.44868599e-03 -4.29055637e+01] [-2.30287462e-02 3.01328901e-04 9.99734758e-01 -1.18544561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.12587155999995 meters 0.018513463069002027 Centerline is valid? [True, True] Translation: X:285.00, Y:-42.91, Z:-11.85 [[ 9.82567562e-01 1.84347259e-01 2.40223686e-02 2.85000377e+02] [-1.84286613e-01 9.82861149e-01 -4.73355389e-03 -4.29118193e+01] [-2.44832705e-02 2.24035568e-04 9.99700215e-01 -1.18523775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.18587155999995 meters 0.014794305196310233 Centerline is valid? [True, True] Translation: X:285.06, Y:-42.91, Z:-11.85 [[ 9.80853188e-01 1.93159559e-01 2.48275621e-02 2.85060942e+02] [-1.93097572e-01 9.81167358e-01 -4.89317120e-03 -4.29121420e+01] [-2.53051563e-02 5.34062105e-06 9.99679773e-01 -1.18517780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.24587155999996 meters 0.017274571949967607 Centerline is valid? [True, True] Translation: X:285.12, Y:-42.91, Z:-11.85 [[ 9.79347866e-01 2.00592359e-01 2.53073494e-02 2.85119863e+02] [-2.00530431e-01 9.79674777e-01 -4.98767650e-03 -4.29114024e+01] [-2.57934617e-02 -1.90223355e-04 9.99667275e-01 -1.18544538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30587155999996 meters 0.02529830260011938 Centerline is valid? [True, True] Translation: X:285.18, Y:-42.91, Z:-11.86 [[ 9.77096818e-01 2.11286128e-01 2.52978353e-02 2.85181892e+02] [-2.11227882e-01 9.77424139e-01 -4.98341631e-03 -4.29060998e+01] [-2.57796416e-02 -4.74327955e-04 9.99667537e-01 -1.18559459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36587155999996 meters 0.0315971273748517 Centerline is valid? [True, True] Translation: X:285.24, Y:-42.90, Z:-11.86 [[ 9.75751412e-01 2.17339542e-01 2.59365465e-02 2.85242482e+02] [-2.17280464e-01 9.76095846e-01 -5.10880522e-03 -4.29020253e+01] [-2.64269006e-02 -6.50580939e-04 9.99650537e-01 -1.18586234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42587155999996 meters 0.03222019353288263 Centerline is valid? [True, True] Translation: X:285.30, Y:-42.91, Z:-11.86 [[ 9.75714887e-01 2.17631876e-01 2.48359694e-02 2.85301200e+02] [-2.17577786e-01 9.76030722e-01 -4.89257103e-03 -4.29060761e+01] [-2.53054486e-02 -6.30000862e-04 9.99679567e-01 -1.18625963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48587155999996 meters 0.026990988892305872 Centerline is valid? [True, True] Translation: X:285.36, Y:-42.92, Z:-11.86 [[ 9.76875250e-01 2.12339969e-01 2.50296699e-02 2.85359404e+02] [-2.12283342e-01 9.77195727e-01 -4.92888241e-03 -4.29231498e+01] [-2.55054852e-02 -4.98478729e-04 9.99674558e-01 -1.18615064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54587155999997 meters 0.021769182797461283 Centerline is valid? [True, True] Translation: X:285.42, Y:-42.94, Z:-11.87 [[ 9.78080696e-01 2.06564050e-01 2.62572960e-02 2.85416527e+02] [-2.06499652e-01 9.78433013e-01 -5.17045955e-03 -4.29376845e+01] [-2.67590363e-02 -3.64995811e-04 9.99641846e-01 -1.18657684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60587155999997 meters 0.016843185759910118 Centerline is valid? [True, True] Translation: X:285.47, Y:-42.96, Z:-11.87 [[ 9.80342230e-01 1.95715802e-01 2.49887586e-02 2.85472909e+02] [-1.95653965e-01 9.80660655e-01 -4.91987138e-03 -4.29626095e+01] [-2.54683889e-02 -6.59920237e-05 9.99675626e-01 -1.18678051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66587155999997 meters 0.01704725768655035 Centerline is valid? [True, True] Translation: X:285.53, Y:-42.99, Z:-11.87 [[ 9.82447728e-01 1.84708987e-01 2.60586359e-02 2.85528751e+02] [-1.84637877e-01 9.82793232e-01 -5.12996037e-03 -4.29901904e+01] [-2.65578008e-02 2.28506679e-04 9.99647253e-01 -1.18692021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72587156 meters 0.024637445747060976 Centerline is valid? [True, True] Translation: X:285.58, Y:-43.02, Z:-11.87 [[ 9.83976149e-01 1.76306833e-01 2.65864539e-02 2.85584007e+02] [-1.76229766e-01 9.84335149e-01 -5.23298414e-03 -4.30182360e+01] [-2.70925919e-02 4.63807033e-04 9.99632821e-01 -1.18720285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.78587156 meters 0.03088528108467235 Centerline is valid? [True, True] Translation: X:285.64, Y:-43.04, Z:-11.87 [[ 9.84574391e-01 1.72932247e-01 2.66027484e-02 2.85643299e+02] [-1.72853807e-01 9.84933564e-01 -5.23791580e-03 -4.30389558e+01] [-2.71077444e-02 5.58731420e-04 9.99632361e-01 -1.18722595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.84587156 meters 0.02651668955284788 Centerline is valid? [True, True] Translation: X:285.70, Y:-43.05, Z:-11.88 [[ 9.84485020e-01 1.73469699e-01 2.64103814e-02 2.85704157e+02] [-1.73392609e-01 9.84839059e-01 -5.19903921e-03 -4.30531147e+01] [-2.69118510e-02 5.39011275e-04 9.99637665e-01 -1.18753951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.90587156 meters 0.026319958499180368 Centerline is valid? [True, True] Translation: X:285.76, Y:-43.06, Z:-11.88 [[ 9.83644602e-01 1.78269484e-01 2.57543746e-02 2.85764613e+02] [-1.78197618e-01 9.83981619e-01 -5.07756514e-03 -4.30633173e+01] [-2.62470062e-02 4.05151316e-04 9.99655406e-01 -1.18768359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.96587156 meters 0.017289717228442972 Centerline is valid? [True, True] Translation: X:285.83, Y:-43.07, Z:-11.88 [[ 9.82220367e-01 1.85923660e-01 2.59912047e-02 2.85825119e+02] [-1.85853145e-01 9.82564172e-01 -5.12415421e-03 -4.30683411e+01] [-2.64907280e-02 2.02501499e-04 9.99649039e-01 -1.18824036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.02587156 meters 0.01433391218932796 Centerline is valid? [True, True] Translation: X:285.89, Y:-43.07, Z:-11.88 [[ 9.80754892e-01 1.93543970e-01 2.57016229e-02 2.85885984e+02] [-1.93477540e-01 9.81091602e-01 -5.07050208e-03 -4.30693599e+01] [-2.61970115e-02 2.32943555e-07 9.99656799e-01 -1.18833534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.08587156 meters 0.015436921151937814 Centerline is valid? [True, True] Translation: X:285.94, Y:-43.07, Z:-11.89 [[ 9.79812892e-01 1.98167181e-01 2.63906093e-02 2.85944946e+02] [-1.98098829e-01 9.80168227e-01 -5.20592087e-03 -4.30746852e+01] [-2.68988794e-02 -1.27120412e-04 9.99638152e-01 -1.18858328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.14587156 meters 0.017698753467711627 Centerline is valid? [True, True] Translation: X:286.00, Y:-43.08, Z:-11.88 [[ 9.78803889e-01 2.02946888e-01 2.74864932e-02 2.86004523e+02] [-2.02874649e-01 9.79189710e-01 -5.42116643e-03 -4.30790954e+01] [-2.80147002e-02 -2.70053883e-04 9.99607475e-01 -1.18846989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.20587156 meters 0.025346512949293794 Centerline is valid? [True, True] Translation: X:286.06, Y:-43.08, Z:-11.88 [[ 9.78224884e-01 2.05470408e-01 2.92914347e-02 2.86062654e+02] [-2.05389542e-01 9.78663260e-01 -5.77569716e-03 -4.30843850e+01] [-2.98531859e-02 -3.66223697e-04 9.99554227e-01 -1.18828580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26587156 meters 0.019886322242623544 Centerline is valid? [True, True] Translation: X:286.12, Y:-43.10, Z:-11.89 [[ 9.78147326e-01 2.05776252e-01 2.97311637e-02 2.86120552e+02] [-2.05693142e-01 9.78598992e-01 -5.86038408e-03 -4.30951894e+01] [-3.03008147e-02 -3.83177456e-04 9.99540751e-01 -1.18866177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32587156 meters 0.019858298553039676 Centerline is valid? [True, True] Translation: X:286.18, Y:-43.11, Z:-11.89 [[ 9.78253181e-01 2.05383326e-01 2.89551805e-02 2.86178090e+02] [-2.05304367e-01 9.78681541e-01 -5.70606829e-03 -4.31050932e+01] [-2.95098320e-02 -3.62645550e-04 9.99564424e-01 -1.18906885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38587156 meters 0.020139498346428638 Centerline is valid? [True, True] Translation: X:286.24, Y:-43.11, Z:-11.89 [[ 9.78324293e-01 2.05151105e-01 2.81886937e-02 2.86235791e+02] [-2.05076212e-01 9.78730251e-01 -5.55369966e-03 -4.31141584e+01] [-2.87284749e-02 -3.47511243e-04 9.99587192e-01 -1.18948781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44587156 meters 0.018573208482752162 Centerline is valid? [True, True] Translation: X:286.29, Y:-43.13, Z:-11.90 [[ 9.78468533e-01 2.04482022e-01 2.80434037e-02 2.86293767e+02] [-2.04407663e-01 9.78870265e-01 -5.52376207e-03 -4.31263043e+01] [-2.85803641e-02 -3.27459245e-04 9.99591444e-01 -1.18963510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.50587155999995 meters 0.0165592784100467 Centerline is valid? [True, True] Translation: X:286.35, Y:-43.14, Z:-11.90 [[ 9.79010202e-01 2.01894502e-01 2.78861096e-02 2.86351419e+02] [-2.01819969e-01 9.79407242e-01 -5.49121150e-03 -4.31401608e+01] [-2.84205031e-02 -2.52021699e-04 9.99596024e-01 -1.18982041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.56587155999995 meters 0.014515318518297923 Centerline is valid? [True, True] Translation: X:286.41, Y:-43.16, Z:-11.90 [[ 9.79961299e-01 1.97177225e-01 2.82311087e-02 2.86408650e+02] [-1.97098914e-01 9.80367854e-01 -5.55787119e-03 -4.31555328e+01] [-2.87727571e-02 -1.17822192e-04 9.99585972e-01 -1.19022444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.62587155999995 meters 0.013635042654637873 Centerline is valid? [True, True] Translation: X:286.47, Y:-43.17, Z:-11.90 [[ 9.80746385e-01 1.93265832e-01 2.80151164e-02 2.86466230e+02] [-1.93187138e-01 9.81146431e-01 -5.51464476e-03 -4.31726029e+01] [-2.85527239e-02 -3.69225311e-06 9.99592288e-01 -1.19048401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.68587155999995 meters 0.014395799470740706 Centerline is valid? [True, True] Translation: X:286.52, Y:-43.19, Z:-11.91 [[ 9.81636640e-01 1.88686307e-01 2.80532309e-02 2.86523954e+02] [-1.88605557e-01 9.82037403e-01 -5.52111435e-03 -4.31901806e+01] [-2.85910807e-02 1.28732885e-04 9.99591183e-01 -1.19064905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.74587155999996 meters 0.02911334828745361 Centerline is valid? [True, True] Translation: X:286.58, Y:-43.21, Z:-11.91 [[ 9.81977690e-01 1.86843947e-01 2.84456646e-02 2.86582647e+02] [-1.86760170e-01 9.82389590e-01 -5.59760671e-03 -4.32064249e+01] [-2.89906037e-02 1.84207738e-04 9.99579667e-01 -1.19057287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80587155999996 meters 0.014069162230358777 Centerline is valid? [True, True] Translation: X:286.64, Y:-43.21, Z:-11.91 [[ 9.81637718e-01 1.88344253e-01 3.02296600e-02 2.86642756e+02] [-1.88250270e-01 9.82103059e-01 -5.95116388e-03 -4.32142518e+01] [-3.08095091e-02 1.51145269e-04 9.99525263e-01 -1.19070361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86587155999996 meters 0.013478548837791 Centerline is valid? [True, True] Translation: X:286.70, Y:-43.23, Z:-11.91 [[ 9.81393977e-01 1.89587457e-01 3.03719883e-02 2.86701580e+02] [-1.89493182e-01 9.81863831e-01 -5.97918335e-03 -4.32260770e+01] [-3.09547350e-02 1.12649829e-04 9.99520781e-01 -1.19092573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92587155999996 meters 0.016430777011310595 Centerline is valid? [True, True] Translation: X:286.76, Y:-43.24, Z:-11.91 [[ 9.81372312e-01 1.89667074e-01 3.05742743e-02 2.86761456e+02] [-1.89571586e-01 9.81848455e-01 -6.01872720e-03 -4.32372412e+01] [-3.11608583e-02 1.10598561e-04 9.99514376e-01 -1.19091869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98587155999996 meters 0.013419101271648767 Centerline is valid? [True, True] Translation: X:286.82, Y:-43.25, Z:-11.92 [[ 9.81233387e-01 1.90573974e-01 2.93700739e-02 2.86821092e+02] [-1.90486257e-01 9.81672835e-01 -5.78200549e-03 -4.32477416e+01] [-2.99337035e-02 7.89013782e-05 9.99551883e-01 -1.19152105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04587155999997 meters 0.012634163479456563 Centerline is valid? [True, True] Translation: X:286.88, Y:-43.25, Z:-11.91 [[ 9.80580538e-01 1.93703185e-01 3.06738464e-02 2.86879803e+02] [-1.93608946e-01 9.81060180e-01 -6.04150960e-03 -4.32549217e+01] [-3.12631490e-02 -1.45443581e-05 9.99511188e-01 -1.19143278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10587155999997 meters 0.014490474490087982 Centerline is valid? [True, True] Translation: X:286.94, Y:-43.26, Z:-11.92 [[ 9.79431418e-01 1.99303321e-01 3.15005367e-02 2.86938910e+02] [-1.99206857e-01 9.79937828e-01 -6.20336266e-03 -4.32552773e+01] [-3.21049183e-02 -1.99354627e-04 9.99484484e-01 -1.19160686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16587155999997 meters 0.016654799133221897 Centerline is valid? [True, True] Translation: X:287.00, Y:-43.26, Z:-11.92 [[ 9.78810891e-01 2.02387980e-01 3.11182341e-02 2.86998099e+02] [-2.02295465e-01 9.79305374e-01 -6.12606439e-03 -4.32605162e+01] [-3.17140957e-02 -2.98819093e-04 9.99496937e-01 -1.19193215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22587156 meters 0.018674443377168164 Centerline is valid? [True, True] Translation: X:287.06, Y:-43.27, Z:-11.92 [[ 9.78333642e-01 2.04706075e-01 3.09630089e-02 2.87056042e+02] [-2.04615684e-01 9.78823418e-01 -6.09412159e-03 -4.32678776e+01] [-3.15548219e-02 -3.73433079e-04 9.99501953e-01 -1.19222998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.28587156 meters 0.01919117672173524 Centerline is valid? [True, True] Translation: X:287.11, Y:-43.28, Z:-11.93 [[ 9.78286652e-01 2.05015036e-01 3.03983815e-02 2.87114593e+02] [-2.04928123e-01 9.78758751e-01 -5.98102492e-03 -4.32760490e+01] [-3.09788819e-02 -3.78326423e-04 9.99519968e-01 -1.19256059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.34587156 meters 0.01846937878299669 Centerline is valid? [True, True] Translation: X:287.17, Y:-43.29, Z:-11.93 [[ 9.78473118e-01 2.04220551e-01 2.97375694e-02 2.87172411e+02] [-2.04137052e-01 9.78924842e-01 -5.84959295e-03 -4.32880292e+01] [-3.03054525e-02 -3.46870306e-04 9.99540624e-01 -1.19289860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.40587156 meters 0.01607417108440154 Centerline is valid? [True, True] Translation: X:287.23, Y:-43.30, Z:-11.93 [[ 9.78940166e-01 2.01849971e-01 3.05407898e-02 2.87230260e+02] [-2.01760799e-01 9.79416413e-01 -6.00588645e-03 -4.33009035e+01] [-3.11244388e-02 -2.82530673e-04 9.99515477e-01 -1.19298311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.46587156 meters 0.014712007409823414 Centerline is valid? [True, True] Translation: X:287.29, Y:-43.32, Z:-11.93 [[ 9.79413384e-01 1.99542766e-01 3.05304466e-02 2.87287716e+02] [-1.99452565e-01 9.79889096e-01 -6.00282835e-03 -4.33151688e+01] [-3.11142727e-02 -2.10125452e-04 9.99515812e-01 -1.19322102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.52587156 meters 0.01373134277350414 Centerline is valid? [True, True] Translation: X:287.34, Y:-43.33, Z:-11.94 [[ 9.79946847e-01 1.96979521e-01 3.00540358e-02 2.87344442e+02] [-1.96890953e-01 9.80407595e-01 -5.90767051e-03 -4.33296891e+01] [-3.06288951e-02 -1.28164675e-04 9.99530817e-01 -1.19357352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.58587156 meters 0.02418775282597517 Centerline is valid? [True, True] Translation: X:287.40, Y:-43.34, Z:-11.94 [[ 9.80132663e-01 1.96088151e-01 2.98228081e-02 2.87401118e+02] [-1.96000569e-01 9.80586267e-01 -5.86088473e-03 -4.33414479e+01] [-3.03930861e-02 -1.00842808e-04 9.99538018e-01 -1.19367743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.64587156 meters 0.01301537278623411 Centerline is valid? [True, True] Translation: X:287.46, Y:-43.35, Z:-11.94 [[ 9.80347244e-01 1.94853200e-01 3.08465718e-02 2.87457569e+02] [-1.94758952e-01 9.80832415e-01 -6.06008391e-03 -4.33539882e+01] [-3.14361442e-02 -6.66594404e-05 9.99505760e-01 -1.19393426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.70587156 meters 0.012820395069993435 Centerline is valid? [True, True] Translation: X:287.52, Y:-43.37, Z:-11.94 [[ 9.80564785e-01 1.93783282e-01 3.06715255e-02 2.87515266e+02] [-1.93689640e-01 9.81044361e-01 -6.02369776e-03 -4.33668476e+01] [-3.12574190e-02 -3.41308320e-05 9.99511367e-01 -1.19416964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76587156 meters 0.012884468742983973 Centerline is valid? [True, True] Translation: X:287.57, Y:-43.38, Z:-11.94 [[ 9.80644043e-01 1.93394631e-01 3.05904748e-02 2.87572803e+02] [-1.93301340e-01 9.81121051e-01 -6.00629655e-03 -4.33799218e+01] [-3.11745443e-02 -2.31408415e-05 9.99513956e-01 -1.19447109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82587156 meters 0.01278772631702058 Centerline is valid? [True, True] Translation: X:287.63, Y:-43.39, Z:-11.95 [[ 9.80617253e-01 1.93470189e-01 3.09691639e-02 2.87629273e+02] [-1.93374655e-01 9.81106154e-01 -6.07926370e-03 -4.33910971e+01] [-3.15601936e-02 -2.72205194e-05 9.99501853e-01 -1.19466724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88587156 meters 0.01247345734294927 Centerline is valid? [True, True] Translation: X:287.69, Y:-43.40, Z:-11.95 [[ 9.80512791e-01 1.93831552e-01 3.19999524e-02 2.87686613e+02] [-1.93729809e-01 9.81034825e-01 -6.27962242e-03 -4.34017401e+01] [-3.26102567e-02 -4.20945574e-05 9.99468143e-01 -1.19468324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94587156 meters 0.01238005996369579 Centerline is valid? [True, True] Translation: X:287.74, Y:-43.41, Z:-11.95 [[ 9.80542871e-01 1.93590202e-01 3.25347643e-02 2.87744190e+02] [-1.93484964e-01 9.81082480e-01 -6.38251215e-03 -4.34147908e+01] [-3.31548791e-02 -3.66609139e-05 9.99450225e-01 -1.19485583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.00587155999995 meters 0.012006962894597378 Centerline is valid? [True, True] Translation: X:287.80, Y:-43.43, Z:-11.95 [[ 9.80723122e-01 1.92528907e-01 3.33882989e-02 2.87802494e+02] [-1.92417519e-01 9.81291302e-01 -6.54816269e-03 -4.34294078e+01] [-3.40243579e-02 -2.55908193e-06 9.99421004e-01 -1.19492746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.06587155999995 meters 0.011863631768068967 Centerline is valid? [True, True] Translation: X:287.86, Y:-43.45, Z:-11.95 [[ 9.80972431e-01 1.91299123e-01 3.31320812e-02 2.87862011e+02] [-1.91188776e-01 9.81531785e-01 -6.49675352e-03 -4.34454528e+01] [-3.37630140e-02 3.86540553e-05 9.99429866e-01 -1.19510647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.12587155999995 meters 0.012622525946200393 Centerline is valid? [True, True] Translation: X:287.92, Y:-43.46, Z:-11.96 [[ 9.81393978e-01 1.89312009e-01 3.20440843e-02 2.87921016e+02] [-1.89207709e-01 9.81916978e-01 -6.28416208e-03 -4.34626822e+01] [-3.26542978e-02 1.04251061e-04 9.99466701e-01 -1.19557627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.18587155999995 meters 0.02010934952647671 Centerline is valid? [True, True] Translation: X:287.98, Y:-43.48, Z:-11.96 [[ 9.81714610e-01 1.87745086e-01 3.14357525e-02 2.87979451e+02] [-1.87643904e-01 9.82217776e-01 -6.16490842e-03 -4.34816212e+01] [-3.20341862e-02 1.53453341e-04 9.99486762e-01 -1.19612938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.24587155999996 meters 0.017318410909768465 Centerline is valid? [True, True] Translation: X:288.04, Y:-43.50, Z:-11.97 [[ 9.81879320e-01 1.86963647e-01 3.09450383e-02 2.88038315e+02] [-1.86865091e-01 9.82366817e-01 -6.07251631e-03 -4.34956705e+01] [-3.15347186e-02 1.79930794e-04 9.99502641e-01 -1.19656183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30587155999996 meters 0.014324685897606187 Centerline is valid? [True, True] Translation: X:288.10, Y:-43.51, Z:-11.96 [[ 9.81973537e-01 1.86319910e-01 3.18255353e-02 2.88098991e+02] [-1.86215380e-01 9.82489109e-01 -6.24363169e-03 -4.35117187e+01] [-3.24315548e-02 2.04676940e-04 9.99473938e-01 -1.19637314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36587155999996 meters 0.021985414412222282 Centerline is valid? [True, True] Translation: X:288.16, Y:-43.53, Z:-11.97 [[ 9.81905302e-01 1.86680802e-01 3.18159750e-02 2.88160163e+02] [-1.86576355e-01 9.82420602e-01 -6.24697812e-03 -4.35266825e+01] [-3.24228602e-02 1.97832288e-04 9.99474221e-01 -1.19659320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42587155999996 meters 0.014145031264615658 Centerline is valid? [True, True] Translation: X:288.22, Y:-43.54, Z:-11.97 [[ 9.81703661e-01 1.87907130e-01 3.08031266e-02 2.88220639e+02] [-1.87809647e-01 9.82186788e-01 -6.05399037e-03 -4.35407886e+01] [-3.13920119e-02 1.58100174e-04 9.99507137e-01 -1.19713255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48587155999996 meters 0.013271664967027618 Centerline is valid? [True, True] Translation: X:288.28, Y:-43.55, Z:-11.98 [[ 9.81173950e-01 1.90780089e-01 3.00106099e-02 2.88281220e+02] [-1.90688686e-01 9.81632799e-01 -5.90529095e-03 -4.35490459e+01] [-3.05860109e-02 7.14338837e-05 9.99532136e-01 -1.19760210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54587155999997 meters 0.013286573562694304 Centerline is valid? [True, True] Translation: X:288.34, Y:-43.56, Z:-11.98 [[ 9.80922253e-01 1.92150690e-01 2.94897524e-02 2.88339864e+02] [-1.92063022e-01 9.81365432e-01 -5.80378056e-03 -4.35601901e+01] [-3.00554240e-02 2.91665350e-05 9.99548233e-01 -1.19804253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60587155999997 meters 0.013245706844784683 Centerline is valid? [True, True] Translation: X:288.40, Y:-43.58, Z:-11.98 [[ 9.81119006e-01 1.91000431e-01 3.04028356e-02 2.88397909e+02] [-1.90906701e-01 9.81589951e-01 -5.98335099e-03 -4.35754058e+01] [-3.09859405e-02 6.62743327e-05 9.99519818e-01 -1.19811795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66587155999997 meters 0.013613141369282237 Centerline is valid? [True, True] Translation: X:288.46, Y:-43.60, Z:-11.98 [[ 9.81733575e-01 1.87440508e-01 3.26380762e-02 2.88457151e+02] [-1.87330551e-01 9.82275939e-01 -6.42221825e-03 -4.35960777e+01] [-3.32633808e-02 1.90798469e-04 9.99446602e-01 -1.19773279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72587156 meters 0.015190552137329585 Centerline is valid? [True, True] Translation: X:288.52, Y:-43.62, Z:-11.98 [[ 9.82147702e-01 1.85053936e-01 3.37776851e-02 2.88515908e+02] [-1.84934541e-01 9.82728324e-01 -6.65261241e-03 -4.36177084e+01] [-3.44253799e-02 2.87187309e-04 9.99407230e-01 -1.19776436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.78587156 meters 0.015561883964033019 Centerline is valid? [True, True] Translation: X:288.58, Y:-43.63, Z:-11.98 [[ 9.82179428e-01 1.85012537e-01 3.30746468e-02 2.88577054e+02] [-1.84897858e-01 9.82736118e-01 -6.51949212e-03 -4.36334296e+01] [-3.37098378e-02 2.87879699e-04 9.99431620e-01 -1.19815532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.84587156 meters 0.015362700561610649 Centerline is valid? [True, True] Translation: X:288.64, Y:-43.65, Z:-11.99 [[ 9.81990838e-01 1.86293764e-01 3.14424672e-02 2.88636550e+02] [-1.86190566e-01 9.82494059e-01 -6.20454848e-03 -4.36486237e+01] [-3.20479059e-02 2.38518999e-04 9.99486305e-01 -1.19866476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.90587156 meters 0.014322514812638553 Centerline is valid? [True, True] Translation: X:288.70, Y:-43.66, Z:-11.99 [[ 9.81628727e-01 1.88020552e-01 3.24548072e-02 2.88695615e+02] [-1.87911456e-01 9.82165076e-01 -6.40693696e-03 -4.36642300e+01] [-3.30806140e-02 1.90603303e-04 9.99452669e-01 -1.19882189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.96587156 meters 0.012904404646398356 Centerline is valid? [True, True] Translation: X:288.76, Y:-43.68, Z:-11.99 [[ 9.81295032e-01 1.89418282e-01 3.43624093e-02 2.88755976e+02] [-1.89296640e-01 9.81896476e-01 -6.78913575e-03 -4.36810615e+01] [-3.50263150e-02 1.57456562e-04 9.99386378e-01 -1.19858203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.02587156 meters 0.012091738662839309 Centerline is valid? [True, True] Translation: X:288.82, Y:-43.69, Z:-11.99 [[ 9.80934773e-01 1.91238791e-01 3.45643684e-02 2.88817213e+02] [-1.91116640e-01 9.81543537e-01 -6.83481253e-03 -4.36936324e+01] [-3.52335137e-02 9.86793168e-05 9.99379102e-01 -1.19882162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.08587156 meters 0.011569973720956821 Centerline is valid? [True, True] Translation: X:288.88, Y:-43.70, Z:-11.99 [[ 9.79978777e-01 1.96023523e-01 3.48765710e-02 2.88880021e+02] [-1.95901980e-01 9.80599191e-01 -6.90220493e-03 -4.37029540e+01] [-3.55529319e-02 -6.83749808e-05 9.99367792e-01 -1.19901855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.14587156 meters 0.014058298202251306 Centerline is valid? [True, True] Translation: X:288.94, Y:-43.71, Z:-12.00 [[ 9.79159194e-01 2.00370792e-01 3.31484456e-02 2.88941572e+02] [-2.00263281e-01 9.79720114e-01 -6.56629777e-03 -4.37113778e+01] [-3.37918932e-02 -2.08965632e-04 9.99428869e-01 -1.19961982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.20587156 meters 0.01829888328384476 Centerline is valid? [True, True] Translation: X:289.00, Y:-43.72, Z:-12.00 [[ 9.78327059e-01 2.04579314e-01 3.19917181e-02 2.89001962e+02] [-2.04481214e-01 9.78849933e-01 -6.34362819e-03 -4.37164145e+01] [-3.26128663e-02 -3.35562247e-04 9.99468003e-01 -1.20022873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26587156 meters 0.0179911081589078 Centerline is valid? [True, True] Translation: X:289.06, Y:-43.73, Z:-12.00 [[ 9.77792029e-01 2.07143077e-01 3.18511331e-02 2.89062571e+02] [-2.07047233e-01 9.78310569e-01 -6.31462161e-03 -4.37284542e+01] [-3.24683303e-02 -4.20302294e-04 9.99472676e-01 -1.20020952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32587156 meters 0.025390989120500907 Centerline is valid? [True, True] Translation: X:289.12, Y:-43.73, Z:-12.00 [[ 9.76803885e-01 2.11827560e-01 3.13569078e-02 2.89123932e+02] [-2.11736890e-01 9.77306896e-01 -6.22252026e-03 -4.37300441e+01] [-3.19634236e-02 -5.61232188e-04 9.99488882e-01 -1.20045458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38587156 meters 0.0267064745886431 Centerline is valid? [True, True] Translation: X:289.18, Y:-43.73, Z:-12.01 [[ 9.76126952e-01 2.14988796e-01 3.09191052e-02 2.89183407e+02] [-2.14902101e-01 9.76616298e-01 -6.13953478e-03 -4.37327132e+01] [-3.15160332e-02 -6.51615303e-04 9.99503034e-01 -1.20096849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44587156 meters 0.03279744393951339 Centerline is valid? [True, True] Translation: X:289.24, Y:-43.73, Z:-12.02 [[ 9.75957297e-01 2.15738988e-01 3.10490646e-02 2.89241799e+02] [-2.15651952e-01 9.76450832e-01 -6.16500277e-03 -4.37324442e+01] [-3.16479165e-02 -6.79011977e-04 9.99498849e-01 -1.20154317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.50587155999995 meters 0.024953398552145494 Centerline is valid? [True, True] Translation: X:289.30, Y:-43.75, Z:-12.01 [[ 9.76240579e-01 2.14354756e-01 3.17233257e-02 2.89299670e+02] [-2.14263252e-01 9.76755658e-01 -6.29632333e-03 -4.37466265e+01] [-3.23355847e-02 -6.50416579e-04 9.99476857e-01 -1.20118169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.56587155999995 meters 0.021525111066765145 Centerline is valid? [True, True] Translation: X:289.36, Y:-43.76, Z:-12.01 [[ 9.77188972e-01 2.09939706e-01 3.20473370e-02 2.89358168e+02] [-2.09843978e-01 9.77714201e-01 -6.35969576e-03 -4.37568403e+01] [-3.26682891e-02 -5.10316097e-04 9.99466119e-01 -1.20147002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.62587155999995 meters 0.016045648293131154 Centerline is valid? [True, True] Translation: X:289.42, Y:-43.77, Z:-12.02 [[ 9.78404640e-01 2.04156701e-01 3.23172160e-02 2.89416712e+02] [-2.04056213e-01 9.78938169e-01 -6.41273170e-03 -4.37716857e+01] [-3.29457584e-02 -3.20282253e-04 9.99457090e-01 -1.20156836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.68587155999995 meters 0.013530032228912699 Centerline is valid? [True, True] Translation: X:289.48, Y:-43.78, Z:-12.02 [[ 9.79205886e-01 2.00213323e-01 3.27178629e-02 2.89475699e+02] [-2.00108129e-01 9.79752310e-01 -6.49212375e-03 -4.37845086e+01] [-3.33552114e-02 -1.89984545e-04 9.99443542e-01 -1.20179557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.74587155999996 meters 0.011951782571689438 Centerline is valid? [True, True] Translation: X:289.54, Y:-43.80, Z:-12.02 [[ 9.80438963e-01 1.94096692e-01 3.26483438e-02 2.89535979e+02] [-1.93988583e-01 9.80982402e-01 -6.47731466e-03 -4.37989721e+01] [-3.32846761e-02 1.72056984e-05 9.99445912e-01 -1.20206666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80587155999996 meters 0.0148259136881531 Centerline is valid? [True, True] Translation: X:289.60, Y:-43.82, Z:-12.02 [[ 9.81847466e-01 1.86982637e-01 3.18284173e-02 2.89596020e+02] [-1.86875980e-01 9.82363185e-01 -6.31984755e-03 -4.38173508e+01] [-3.24487671e-02 2.57159617e-04 9.99473367e-01 -1.20239881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86587155999996 meters 0.02690103682222827 Centerline is valid? [True, True] Translation: X:289.65, Y:-43.84, Z:-12.03 [[ 9.83223485e-01 1.79779921e-01 3.08343801e-02 2.89654904e+02] [-1.79676062e-01 9.83706736e-01 -6.12937518e-03 -4.38356939e+01] [-3.14339260e-02 4.86345625e-04 9.99505714e-01 -1.20281932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92587155999996 meters 0.025286599975568282 Centerline is valid? [True, True] Translation: X:289.71, Y:-43.85, Z:-12.03 [[ 9.83988839e-01 1.75412585e-01 3.15656477e-02 2.89713043e+02] [-1.75301466e-01 9.84494801e-01 -6.27555748e-03 -4.38543943e+01] [-3.21770278e-02 6.41574200e-04 9.99481979e-01 -1.20305043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98587155999996 meters 0.030950481855190334 Centerline is valid? [True, True] Translation: X:289.77, Y:-43.87, Z:-12.03 [[ 9.83993579e-01 1.75338939e-01 3.18259952e-02 2.89774923e+02] [-1.75225970e-01 9.84507916e-01 -6.32639309e-03 -4.38652828e+01] [-3.24422072e-02 6.48389299e-04 9.99473403e-01 -1.20303492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04587155999997 meters 0.0228856369487101 Centerline is valid? [True, True] Translation: X:289.83, Y:-43.87, Z:-12.03 [[ 9.83395833e-01 1.78562783e-01 3.23723527e-02 2.89834453e+02] [-1.78447385e-01 9.83928361e-01 -6.44289409e-03 -4.38738879e+01] [-3.30025370e-02 5.59153524e-04 9.99455111e-01 -1.20338499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10587155999997 meters 0.02020569738162477 Centerline is valid? [True, True] Translation: X:289.89, Y:-43.88, Z:-12.04 [[ 9.82768832e-01 1.82060096e-01 3.19303049e-02 2.89894930e+02] [-1.81949604e-01 9.83287308e-01 -6.35704020e-03 -4.38816398e+01] [-3.25540269e-02 4.37794657e-04 9.99469881e-01 -1.20377383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16587155999997 meters 0.016455721217405708 Centerline is valid? [True, True] Translation: X:289.96, Y:-43.89, Z:-12.04 [[ 9.82031326e-01 1.85993893e-01 3.19491325e-02 2.89957180e+02] [-1.85885272e-01 9.82550851e-01 -6.36318228e-03 -4.38875769e+01] [-3.25751603e-02 3.09971159e-04 9.99469241e-01 -1.20401430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22587156 meters 0.013551424269069336 Centerline is valid? [True, True] Translation: X:290.02, Y:-43.89, Z:-12.04 [[ 9.81006026e-01 1.91352252e-01 3.18039593e-02 2.90017624e+02] [-1.91247201e-01 9.81521419e-01 -6.34125169e-03 -4.38916492e+01] [-3.24296800e-02 1.38387918e-04 9.99474010e-01 -1.20441166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.28587156 meters 0.012263718332126222 Centerline is valid? [True, True] Translation: X:290.08, Y:-43.89, Z:-12.04 [[ 9.79788544e-01 1.97430936e-01 3.21781591e-02 2.90078548e+02] [-1.97326647e-01 9.80316796e-01 -6.41660472e-03 -4.38911716e+01] [-3.28116261e-02 -6.26924491e-05 9.99461552e-01 -1.20439964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.34587156 meters 0.01370934793912537 Centerline is valid? [True, True] Translation: X:290.14, Y:-43.90, Z:-12.05 [[ 9.79025232e-01 2.01194498e-01 3.20993639e-02 2.90138806e+02] [-2.01092766e-01 9.79551294e-01 -6.40009900e-03 -4.38952845e+01] [-3.27306382e-02 -1.89091482e-04 9.99464191e-01 -1.20465461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.40587156 meters 0.016943102764143333 Centerline is valid? [True, True] Translation: X:290.20, Y:-43.90, Z:-12.05 [[ 9.78210138e-01 2.05200154e-01 3.15883212e-02 2.90197654e+02] [-2.05103736e-01 9.78719978e-01 -6.29779843e-03 -4.38955059e+01] [-3.22084302e-02 -3.18312402e-04 9.99481123e-01 -1.20508463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.46587156 meters 0.017498701805716357 Centerline is valid? [True, True] Translation: X:290.26, Y:-43.90, Z:-12.06 [[ 9.78162970e-01 2.05589615e-01 3.04977772e-02 2.90256327e+02] [-2.05499990e-01 9.78638241e-01 -6.07843236e-03 -4.39030955e+01] [-3.10959536e-02 -3.21595440e-04 9.99516352e-01 -1.20551529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.52587156 meters 0.015979422702728983 Centerline is valid? [True, True] Translation: X:290.31, Y:-43.91, Z:-12.06 [[ 9.78626174e-01 2.03341302e-01 3.07103563e-02 2.90313100e+02] [-2.03249359e-01 9.79107885e-01 -6.11942276e-03 -4.39149409e+01] [-3.13130834e-02 -2.53232928e-04 9.99509593e-01 -1.20580200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.58587156 meters 0.012658893331685024 Centerline is valid? [True, True] Translation: X:290.37, Y:-43.93, Z:-12.06 [[ 9.79760068e-01 1.97744273e-01 3.11032465e-02 2.90369213e+02] [-1.97647205e-01 9.80253639e-01 -6.19560878e-03 -4.39326151e+01] [-3.17142167e-02 -7.72596732e-05 9.99496975e-01 -1.20592064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.64587156 meters 0.01278007801756509 Centerline is valid? [True, True] Translation: X:290.43, Y:-43.95, Z:-12.06 [[ 9.80938758e-01 1.91655973e-01 3.20490480e-02 2.90426669e+02] [-1.91549719e-01 9.81462161e-01 -6.38213906e-03 -4.39509432e+01] [-3.26781029e-02 1.21501423e-04 9.99465921e-01 -1.20598764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.70587156 meters 0.014632359717195334 Centerline is valid? [True, True] Translation: X:290.49, Y:-43.97, Z:-12.06 [[ 9.81642658e-01 1.88045290e-01 3.18851091e-02 2.90485944e+02] [-1.87938256e-01 9.82160329e-01 -6.34824583e-03 -4.39688298e+01] [-3.25100470e-02 2.39277109e-04 9.99471380e-01 -1.20625723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76587156 meters 0.019353973360285635 Centerline is valid? [True, True] Translation: X:290.54, Y:-43.99, Z:-12.07 [[ 9.82599786e-01 1.83068273e-01 3.13634690e-02 2.90543546e+02] [-1.82962196e-01 9.83100122e-01 -6.24378974e-03 -4.39907801e+01] [-3.19764700e-02 3.96817290e-04 9.99488543e-01 -1.20668288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82587156 meters 0.022742199142140918 Centerline is valid? [True, True] Translation: X:290.60, Y:-44.01, Z:-12.07 [[ 9.83391125e-01 1.78928188e-01 3.04400789e-02 2.90603064e+02] [-1.78826102e-01 9.83861998e-01 -6.06576817e-03 -4.40095316e+01] [-3.10341737e-02 5.21541926e-04 9.99518188e-01 -1.20702154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88587156 meters 0.025744047223696418 Centerline is valid? [True, True] Translation: X:290.66, Y:-44.03, Z:-12.07 [[ 9.83506215e-01 1.78043869e-01 3.18732711e-02 2.90662179e+02] [-1.77931464e-01 9.84022383e-01 -6.35174167e-03 -4.40320360e+01] [-3.24949008e-02 5.75719617e-04 9.99471735e-01 -1.20716543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94587156 meters 0.022556341965869184 Centerline is valid? [True, True] Translation: X:290.72, Y:-44.04, Z:-12.07 [[ 9.83201220e-01 1.79730103e-01 3.18190361e-02 2.90722996e+02] [-1.79618773e-01 9.83715820e-01 -6.34681235e-03 -4.40427293e+01] [-3.24416025e-02 5.24897434e-04 9.99473495e-01 -1.20730881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.00587155999995 meters 0.017285198519425577 Centerline is valid? [True, True] Translation: X:290.78, Y:-44.05, Z:-12.08 [[ 9.82309298e-01 1.84634902e-01 3.12793104e-02 2.90784228e+02] [-1.84529588e-01 9.82807113e-01 -6.24580126e-03 -4.40492307e+01] [-3.18947216e-02 3.63350395e-04 9.99491168e-01 -1.20755573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.06587155999995 meters 0.015070797646175083 Centerline is valid? [True, True] Translation: X:290.84, Y:-44.06, Z:-12.08 [[ 9.81254353e-01 1.90267609e-01 3.06289231e-02 2.90844699e+02] [-1.90169394e-01 9.81732248e-01 -6.11519308e-03 -4.40590996e+01] [-3.12329247e-02 1.75876097e-04 9.99512118e-01 -1.20829096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.12587155999995 meters 0.01268425050486259 Centerline is valid? [True, True] Translation: X:290.91, Y:-44.06, Z:-12.08 [[ 9.80452328e-01 1.94436960e-01 3.01247523e-02 2.90905001e+02] [-1.94343715e-01 9.80915015e-01 -6.02113931e-03 -4.40647296e+01] [-3.07205538e-02 4.88837847e-05 9.99528011e-01 -1.20843979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.18587155999995 meters 0.013300172702506663 Centerline is valid? [True, True] Translation: X:290.97, Y:-44.07, Z:-12.09 [[ 9.79204284e-01 2.00621031e-01 3.01690591e-02 2.90965082e+02] [-2.00530433e-01 9.79668914e-01 -6.03028452e-03 -4.40679258e+01] [-3.07654913e-02 -1.44934068e-04 9.99526620e-01 -1.20850273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.24587155999996 meters 0.016238092865878198 Centerline is valid? [True, True] Translation: X:291.02, Y:-44.07, Z:-12.09 [[ 9.78213998e-01 2.05157958e-01 3.17424861e-02 2.91022937e+02] [-2.05060061e-01 9.78728829e-01 -6.34436068e-03 -4.40727988e+01] [-3.23688823e-02 -3.02973724e-04 9.99475945e-01 -1.20860092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30587155999996 meters 0.028437070235238508 Centerline is valid? [True, True] Translation: X:291.08, Y:-44.08, Z:-12.09 [[ 9.77418895e-01 2.08849801e-01 3.21568609e-02 2.91081789e+02] [-2.08751412e-01 9.77947633e-01 -6.42459087e-03 -4.40808724e+01] [-3.27895005e-02 -4.33273597e-04 9.99462186e-01 -1.20850078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36587155999996 meters 0.023461452055790716 Centerline is valid? [True, True] Translation: X:291.14, Y:-44.08, Z:-12.09 [[ 9.76897212e-01 2.11184174e-01 3.27579264e-02 2.91139487e+02] [-2.11083414e-01 9.77446148e-01 -6.54371824e-03 -4.40835623e+01] [-3.34010387e-02 -5.22114824e-04 9.99441893e-01 -1.20901429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42587155999996 meters 0.02669249404822097 Centerline is valid? [True, True] Translation: X:291.20, Y:-44.09, Z:-12.09 [[ 9.75948351e-01 2.15553100e-01 3.25833851e-02 2.91198864e+02] [-2.15455932e-01 9.76491890e-01 -6.50614430e-03 -4.40893573e+01] [-3.32198308e-02 -6.70622792e-04 9.99447844e-01 -1.20919968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48587155999996 meters 0.03271845165210128 Centerline is valid? [True, True] Translation: X:291.26, Y:-44.09, Z:-12.10 [[ 9.75462955e-01 2.17768285e-01 3.23882435e-02 2.91256445e+02] [-2.17673543e-01 9.76000216e-01 -6.46580326e-03 -4.40927350e+01] [-3.30189796e-02 -7.42912153e-04 9.99454449e-01 -1.20956781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54587155999997 meters 0.03177521996635556 Centerline is valid? [True, True] Translation: X:291.32, Y:-44.10, Z:-12.10 [[ 9.74851098e-01 2.20527001e-01 3.21430872e-02 2.91316013e+02] [-2.20435272e-01 9.75380515e-01 -6.41421429e-03 -4.40997656e+01] [-3.27662484e-02 -8.32566328e-04 9.99462696e-01 -1.20975789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60587155999997 meters 0.03207113599593756 Centerline is valid? [True, True] Translation: X:291.37, Y:-44.11, Z:-12.10 [[ 9.74706172e-01 2.21209471e-01 3.18472650e-02 2.91374636e+02] [-2.21119804e-01 9.75225948e-01 -6.35465494e-03 -4.41052897e+01] [-3.24639891e-02 -8.48139618e-04 9.99472546e-01 -1.21006445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66587155999997 meters 0.03153775674293982 Centerline is valid? [True, True] Translation: X:291.43, Y:-44.11, Z:-12.10 [[ 9.74933270e-01 2.20220577e-01 3.17492684e-02 2.91431564e+02] [-2.20130984e-01 9.75449760e-01 -6.33365309e-03 -4.41130380e+01] [-3.23646170e-02 -8.14108588e-04 9.99475797e-01 -1.21032613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72587156 meters 0.02803383833010531 Centerline is valid? [True, True] Translation: X:291.49, Y:-44.12, Z:-12.11 [[ 9.75634383e-01 2.17123982e-01 3.15392922e-02 2.91489713e+02] [-2.17034018e-01 9.76143777e-01 -6.28972722e-03 -4.41232520e+01] [-3.21525345e-02 -7.08625193e-04 9.99482722e-01 -1.21060472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.78587156 meters 0.02438491302118968 Centerline is valid? [True, True] Translation: X:291.55, Y:-44.13, Z:-12.11 [[ 9.76438523e-01 2.13384897e-01 3.21667011e-02 2.91548796e+02] [-2.13289353e-01 9.76968028e-01 -6.41287321e-03 -4.41338678e+01] [-3.27942488e-02 -5.99038415e-04 9.99461944e-01 -1.21076367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.84587156 meters 0.01951296835960484 Centerline is valid? [True, True] Translation: X:291.61, Y:-44.15, Z:-12.11 [[ 9.77600142e-01 2.08128162e-01 3.13150055e-02 2.91606765e+02] [-2.08034917e-01 9.78101477e-01 -6.24295398e-03 -4.41453887e+01] [-3.19285877e-02 -4.11501881e-04 9.99490068e-01 -1.21118035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.90587156 meters 0.016124419977407482 Centerline is valid? [True, True] Translation: X:291.66, Y:-44.16, Z:-12.12 [[ 9.78434598e-01 2.04300766e-01 3.04455978e-02 2.91663983e+02] [-2.04210802e-01 9.78908126e-01 -6.06870279e-03 -4.41580425e+01] [-3.10432837e-02 -2.79491170e-04 9.99518002e-01 -1.21161639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.96587156 meters 0.012765000515334947 Centerline is valid? [True, True] Translation: X:291.72, Y:-44.17, Z:-12.12 [[ 9.79734624e-01 1.97891450e-01 3.09683766e-02 2.91720208e+02] [-1.97795211e-01 9.80223938e-01 -6.17144342e-03 -4.41717551e+01] [-3.15772199e-02 -7.90197642e-05 9.99501312e-01 -1.21182645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.02587156 meters 0.012345491031417744 Centerline is valid? [True, True] Translation: X:291.78, Y:-44.18, Z:-12.12 [[ 9.80089507e-01 1.96128072e-01 3.09570408e-02 2.91778377e+02] [-1.96031089e-01 9.80578288e-01 -6.16713543e-03 -4.41831535e+01] [-3.15653504e-02 -2.41976820e-05 9.99501690e-01 -1.21201889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.08587156 meters 0.01297501588955005 Centerline is valid? [True, True] Translation: X:291.84, Y:-44.19, Z:-12.12 [[ 9.80950452e-01 1.91898744e-01 3.01841332e-02 2.91836493e+02] [-1.91804585e-01 9.81414724e-01 -6.01173380e-03 -4.41942839e+01] [-3.07767970e-02 1.07757841e-04 9.99526276e-01 -1.21240010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.14587156 meters 0.014515734062428157 Centerline is valid? [True, True] Translation: X:291.89, Y:-44.21, Z:-12.12 [[ 9.81701990e-01 1.87950137e-01 3.05932882e-02 2.91894108e+02] [-1.87851536e-01 9.82178544e-01 -6.09170275e-03 -4.42053480e+01] [-3.11930077e-02 2.33240510e-04 9.99513353e-01 -1.21246614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.20587156 meters 0.017672383867046663 Centerline is valid? [True, True] Translation: X:291.95, Y:-44.22, Z:-12.13 [[ 9.82182035e-01 1.85507056e-01 3.00928871e-02 2.91950177e+02] [-1.85410547e-01 9.82642885e-01 -5.99080853e-03 -4.42179871e+01] [-3.06818987e-02 3.04525866e-04 9.99529153e-01 -1.21309070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26587156 meters 0.018877298568512106 Centerline is valid? [True, True] Translation: X:292.01, Y:-44.23, Z:-12.13 [[ 9.82680996e-01 1.82797670e-01 3.03821038e-02 2.92008418e+02] [-1.82698076e-01 9.83150477e-01 -6.04595327e-03 -4.42289143e+01] [-3.09753660e-02 3.90491470e-04 9.99520072e-01 -1.21313779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32587156 meters 0.019393965222446803 Centerline is valid? [True, True] Translation: X:292.07, Y:-44.24, Z:-12.13 [[ 9.82967967e-01 1.81101791e-01 3.12428800e-02 2.92066042e+02] [-1.80995666e-01 9.83464252e-01 -6.21568282e-03 -4.42407442e+01] [-3.18519268e-02 4.54991240e-04 9.99492495e-01 -1.21317947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38587156 meters 0.019495284075262968 Centerline is valid? [True, True] Translation: X:292.12, Y:-44.25, Z:-12.13 [[ 9.82952974e-01 1.81144393e-01 3.14668013e-02 2.92124414e+02] [-1.81036813e-01 9.83456406e-01 -6.25864648e-03 -4.42500559e+01] [-3.20799461e-02 4.55305726e-04 9.99485202e-01 -1.21338226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44587156 meters 0.017621251970295636 Centerline is valid? [True, True] Translation: X:292.18, Y:-44.26, Z:-12.14 [[ 9.82723742e-01 1.82335626e-01 3.17453198e-02 2.92182848e+02] [-1.82226805e-01 9.83236261e-01 -6.31247141e-03 -4.42571698e+01] [-3.23641380e-02 4.18567318e-04 9.99476056e-01 -1.21350185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.50587155999995 meters 0.016387639542400977 Centerline is valid? [True, True] Translation: X:292.24, Y:-44.26, Z:-12.14 [[ 9.81968984e-01 1.86317156e-01 3.19817369e-02 2.92240105e+02] [-1.86208868e-01 9.82489610e-01 -6.35792249e-03 -4.42640019e+01] [-3.26063142e-02 2.87999688e-04 9.99468231e-01 -1.21392591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.56587155999995 meters 0.013306737575773619 Centerline is valid? [True, True] Translation: X:292.30, Y:-44.27, Z:-12.14 [[ 9.81185610e-01 1.90614513e-01 3.06742044e-02 2.92300193e+02] [-1.90517061e-01 9.81664957e-01 -6.09594702e-03 -4.42655752e+01] [-3.12737675e-02 1.37296214e-04 9.99510847e-01 -1.21428756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.62587155999995 meters 0.017113605166339838 Centerline is valid? [True, True] Translation: X:292.36, Y:-44.27, Z:-12.15 [[ 9.80934452e-01 1.92025325e-01 2.98977550e-02 2.92358847e+02] [-1.91933428e-01 9.81389967e-01 -5.94075167e-03 -4.42722214e+01] [-3.04821315e-02 8.91093791e-05 9.99535308e-01 -1.21460806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.68587155999995 meters 0.01253178033431048 Centerline is valid? [True, True] Translation: X:292.42, Y:-44.28, Z:-12.15 [[ 9.80841235e-01 1.92342847e-01 3.08982425e-02 2.92417645e+02] [-1.92244903e-01 9.81327786e-01 -6.13794641e-03 -4.42796901e+01] [-3.15018940e-02 8.03213015e-05 9.99503689e-01 -1.21475582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.74587155999996 meters 0.02081916448174644 Centerline is valid? [True, True] Translation: X:292.48, Y:-44.29, Z:-12.15 [[ 9.81157931e-01 1.90574270e-01 3.17893424e-02 2.92475079e+02] [-1.90469719e-01 9.81672770e-01 -6.31333585e-03 -4.42929618e+01] [-3.24098912e-02 1.39472419e-04 9.99474652e-01 -1.21474019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80587155999996 meters 0.019682834594362777 Centerline is valid? [True, True] Translation: X:292.53, Y:-44.31, Z:-12.15 [[ 9.81524965e-01 1.88688926e-01 3.17053987e-02 2.92532675e+02] [-1.88583992e-01 9.82036888e-01 -6.29512825e-03 -4.43051055e+01] [-3.23236921e-02 1.99694865e-04 9.99477433e-01 -1.21499186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86587155999996 meters 0.016418625020828834 Centerline is valid? [True, True] Translation: X:292.59, Y:-44.32, Z:-12.15 [[ 9.82256668e-01 1.84764262e-01 3.21559488e-02 2.92589719e+02] [-1.84654272e-01 9.82782813e-01 -6.38300072e-03 -4.43205142e+01] [-3.27816642e-02 3.32011711e-04 9.99462482e-01 -1.21526851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92587155999996 meters 0.020618139233441406 Centerline is valid? [True, True] Translation: X:292.65, Y:-44.34, Z:-12.16 [[ 9.83181313e-01 1.79754859e-01 3.22908032e-02 2.92646321e+02] [-1.79641300e-01 9.83711310e-01 -6.40797460e-03 -4.43403239e+01] [-3.29166929e-02 4.99439024e-04 9.99457974e-01 -1.21550783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98587155999996 meters 0.02574905867622577 Centerline is valid? [True, True] Translation: X:292.70, Y:-44.36, Z:-12.16 [[ 9.83975156e-01 1.75454892e-01 3.17564547e-02 2.92701650e+02] [-1.75342838e-01 9.84487268e-01 -6.30141322e-03 -4.43603822e+01] [-3.23694391e-02 6.32167160e-04 9.99475772e-01 -1.21583896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04587155999997 meters 0.026263991495560683 Centerline is valid? [True, True] Translation: X:292.76, Y:-44.37, Z:-12.16 [[ 9.84277140e-01 1.73778039e-01 3.16181207e-02 2.92759736e+02] [-1.73666151e-01 9.84784610e-01 -6.27220418e-03 -4.43743172e+01] [-3.22270100e-02 6.82589855e-04 9.99480342e-01 -1.21602173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10587155999997 meters 0.02487524572009897 Centerline is valid? [True, True] Translation: X:292.82, Y:-44.39, Z:-12.16 [[ 9.84275846e-01 1.73680042e-01 3.21916320e-02 2.92818645e+02] [-1.73564031e-01 9.84801887e-01 -6.38517952e-03 -4.43863708e+01] [-3.28113582e-02 6.97468564e-04 9.99461319e-01 -1.21608377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16587155999997 meters 0.0286048867284361 Centerline is valid? [True, True] Translation: X:292.88, Y:-44.40, Z:-12.16 [[ 9.83998427e-01 1.75315409e-01 3.18056904e-02 2.92875306e+02] [-1.75203040e-01 9.84512115e-01 -6.30796122e-03 -4.44003616e+01] [-3.24189703e-02 6.34570287e-04 9.99474166e-01 -1.21642044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22587156 meters 0.02295351092040302 Centerline is valid? [True, True] Translation: X:292.93, Y:-44.41, Z:-12.17 [[ 9.83626845e-01 1.77519541e-01 3.10651259e-02 2.92933169e+02] [-1.77413478e-01 9.84117123e-01 -6.15996496e-03 -4.44108392e+01] [-3.16652365e-02 5.47734858e-04 9.99498381e-01 -1.21694131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.28587156 meters 0.02226127456514203 Centerline is valid? [True, True] Translation: X:292.99, Y:-44.42, Z:-12.17 [[ 9.83265300e-01 1.79570850e-01 3.07190600e-02 2.92989489e+02] [-1.79468164e-01 9.83744928e-01 -6.09050071e-03 -4.44231132e+01] [-3.13133959e-02 4.75484686e-04 9.99509502e-01 -1.21738431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.34587156 meters 0.016399937566892467 Centerline is valid? [True, True] Translation: X:293.05, Y:-44.43, Z:-12.17 [[ 9.82397466e-01 1.84290940e-01 3.05297843e-02 2.93049207e+02] [-1.84191853e-01 9.82871683e-01 -6.05105815e-03 -4.44253469e+01] [-3.11220157e-02 3.21206661e-04 9.99515541e-01 -1.21744560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.40587156 meters 0.013825013900920302 Centerline is valid? [True, True] Translation: X:293.11, Y:-44.43, Z:-12.18 [[ 9.81688585e-01 1.87936446e-01 3.11032840e-02 2.93107745e+02] [-1.87835478e-01 9.82181169e-01 -6.16313836e-03 -4.44328242e+01] [-3.17073381e-02 2.07982360e-04 9.99497174e-01 -1.21764394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.46587156 meters 0.012293094187787472 Centerline is valid? [True, True] Translation: X:293.17, Y:-44.44, Z:-12.18 [[ 9.80837213e-01 1.92336261e-01 3.10664653e-02 2.93165120e+02] [-1.92237781e-01 9.81329078e-01 -6.15440973e-03 -4.44392733e+01] [-3.16701419e-02 6.43257354e-05 9.99498373e-01 -1.21793787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.52587156 meters 0.024374337695664616 Centerline is valid? [True, True] Translation: X:293.22, Y:-44.45, Z:-12.18 [[ 9.80474144e-01 1.94089690e-01 3.16171738e-02 2.93222933e+02] [-1.93988666e-01 9.80983788e-01 -6.26139367e-03 -4.44482365e+01] [-3.22312069e-02 5.76122230e-06 9.99480440e-01 -1.21786533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.58587156 meters 0.012202153960650716 Centerline is valid? [True, True] Translation: X:293.28, Y:-44.46, Z:-12.18 [[ 9.80798117e-01 1.92551179e-01 3.09692862e-02 2.93278650e+02] [-1.92453530e-01 9.81286931e-01 -6.13174335e-03 -4.44616046e+01] [-3.15704302e-02 5.38538962e-05 9.99501528e-01 -1.21849671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.64587156 meters 0.012685059812127036 Centerline is valid? [True, True] Translation: X:293.33, Y:-44.48, Z:-12.19 [[ 9.81069595e-01 1.91136925e-01 3.11307772e-02 2.93334230e+02] [-1.91037608e-01 9.81563379e-01 -6.16166678e-03 -4.44755351e+01] [-3.17345529e-02 9.78747215e-05 9.99496327e-01 -1.21877226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.70587156 meters 0.013694801581573131 Centerline is valid? [True, True] Translation: X:293.39, Y:-44.49, Z:-12.19 [[ 9.81556350e-01 1.88641138e-01 3.10105120e-02 2.93391302e+02] [-1.88541437e-01 9.82046073e-01 -6.13484091e-03 -4.44915105e+01] [-3.16110349e-02 1.74925577e-04 9.99500231e-01 -1.21892011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76587156 meters 0.014595789537794328 Centerline is valid? [True, True] Translation: X:293.45, Y:-44.51, Z:-12.19 [[ 9.81904246e-01 1.86736152e-01 3.15223864e-02 2.93448239e+02] [-1.86632200e-01 9.82410074e-01 -6.23453164e-03 -4.45057428e+01] [-3.21321224e-02 2.38620776e-04 9.99483602e-01 -1.21908982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82587156 meters 0.015565137158193887 Centerline is valid? [True, True] Translation: X:293.51, Y:-44.52, Z:-12.19 [[ 9.82270406e-01 1.84955022e-01 3.06021285e-02 2.93505767e+02] [-1.84856232e-01 9.82746945e-01 -6.05109101e-03 -4.45199279e+01] [-3.11933280e-02 2.86813435e-04 9.99513329e-01 -1.21937735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88587156 meters 0.016247732883458772 Centerline is valid? [True, True] Translation: X:293.56, Y:-44.53, Z:-12.20 [[ 9.82404885e-01 1.84239164e-01 3.06034653e-02 2.93561770e+02] [-1.84140061e-01 9.82881394e-01 -6.05000626e-03 -4.45326223e+01] [-3.11942247e-02 3.08231739e-04 9.99513294e-01 -1.21967836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94587156 meters 0.01914937530188374 Centerline is valid? [True, True] Translation: X:293.62, Y:-44.55, Z:-12.20 [[ 9.82895080e-01 1.81662242e-01 3.02670205e-02 2.93617757e+02] [-1.81564160e-01 9.83360912e-01 -5.98104573e-03 -4.45503533e+01] [-3.08499351e-02 3.83334268e-04 9.99523954e-01 -1.22008167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.00587155999995 meters 0.020272646223032043 Centerline is valid? [True, True] Translation: X:293.68, Y:-44.57, Z:-12.20 [[ 9.83402038e-01 1.78787792e-01 3.09088655e-02 2.93675331e+02] [-1.78684118e-01 9.83887541e-01 -6.10683896e-03 -4.45659755e+01] [-3.15026759e-02 4.82554513e-04 9.99503551e-01 -1.22006893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.06587155999995 meters 0.02123604266130535 Centerline is valid? [True, True] Translation: X:293.73, Y:-44.58, Z:-12.20 [[ 9.83715736e-01 1.77071154e-01 3.08083935e-02 2.93733925e+02] [-1.76967344e-01 9.84197907e-01 -6.08594921e-03 -4.45798726e+01] [-3.13992024e-02 5.34764434e-04 9.99506780e-01 -1.22024515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.12587155999995 meters 0.02400850497785585 Centerline is valid? [True, True] Translation: X:293.79, Y:-44.60, Z:-12.21 [[ 9.84170100e-01 1.74495203e-01 3.09941703e-02 2.93791680e+02] [-1.74388859e-01 9.84657828e-01 -6.12264792e-03 -4.45989420e+01] [-3.15870251e-02 6.20689008e-04 9.99500813e-01 -1.22052098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.18587155999995 meters 0.026660340147005857 Centerline is valid? [True, True] Translation: X:293.85, Y:-44.62, Z:-12.21 [[ 9.84356505e-01 1.73429638e-01 3.10552975e-02 2.93849445e+02] [-1.73322363e-01 9.84846044e-01 -6.13415662e-03 -4.46184711e+01] [-3.16485315e-02 6.55619440e-04 9.99498845e-01 -1.22083704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.24587155999996 meters 0.02572497863406321 Centerline is valid? [True, True] Translation: X:293.91, Y:-44.63, Z:-12.21 [[ 9.84226990e-01 1.74205584e-01 3.08163205e-02 2.93909497e+02] [-1.74100272e-01 9.84709104e-01 -6.08891289e-03 -4.46324866e+01] [-3.14058340e-02 6.27742607e-04 9.99506518e-01 -1.22104692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30587155999996 meters 0.026055606288326816 Centerline is valid? [True, True] Translation: X:293.97, Y:-44.65, Z:-12.21 [[ 9.84150359e-01 1.74653215e-01 3.07298905e-02 2.93967947e+02] [-1.74548684e-01 9.84629818e-01 -6.07272246e-03 -4.46468675e+01] [-3.13181870e-02 6.12610051e-04 9.99509278e-01 -1.22136660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36587155999996 meters 0.02525459076429329 Centerline is valid? [True, True] Translation: X:294.03, Y:-44.66, Z:-12.21 [[ 9.83914787e-01 1.75781359e-01 3.18214563e-02 2.94026218e+02] [-1.75669843e-01 9.84429051e-01 -6.28884257e-03 -4.46640505e+01] [-3.24314273e-02 5.97614959e-04 9.99473784e-01 -1.22147785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42587155999996 meters 0.02108300290353823 Centerline is valid? [True, True] Translation: X:294.09, Y:-44.67, Z:-12.22 [[ 9.83366757e-01 1.78763092e-01 3.21493046e-02 2.94087173e+02] [-1.78650848e-01 9.83892018e-01 -6.35390333e-03 -4.46731088e+01] [-3.27672876e-02 5.04716765e-04 9.99462881e-01 -1.22153240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48587155999996 meters 0.017463801578665093 Centerline is valid? [True, True] Translation: X:294.15, Y:-44.68, Z:-12.22 [[ 9.82389186e-01 1.84197502e-01 3.13491194e-02 2.94145861e+02] [-1.84093505e-01 9.82889200e-01 -6.19690618e-03 -4.46833911e+01] [-3.19541655e-02 3.16604367e-04 9.99489285e-01 -1.22200626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54587155999997 meters 0.014782980156443921 Centerline is valid? [True, True] Translation: X:294.20, Y:-44.69, Z:-12.22 [[ 9.81528323e-01 1.88780059e-01 3.10522134e-02 2.94204881e+02] [-1.88680321e-01 9.82019380e-01 -6.13796252e-03 -4.46895400e+01] [-3.16526003e-02 1.65642476e-04 9.99498917e-01 -1.22230843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60587155999997 meters 0.015840961595124332 Centerline is valid? [True, True] Translation: X:294.26, Y:-44.70, Z:-12.22 [[ 9.80816535e-01 1.92374201e-01 3.14816174e-02 2.94263455e+02] [-1.92273552e-01 9.81321642e-01 -6.22230098e-03 -4.46964297e+01] [-3.20906026e-02 4.98533029e-05 9.99484963e-01 -1.22246079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66587155999997 meters 0.013591586860014448 Centerline is valid? [True, True] Translation: X:294.32, Y:-44.70, Z:-12.23 [[ 9.80029819e-01 1.96296746e-01 3.17669916e-02 2.94322530e+02] [-1.96196376e-01 9.80544533e-01 -6.27701977e-03 -4.47033356e+01] [-3.23811085e-02 -8.09020751e-05 9.99475591e-01 -1.22267353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72587156 meters 0.014480149709770329 Centerline is valid? [True, True] Translation: X:294.38, Y:-44.71, Z:-12.23 [[ 9.79629037e-01 1.98396807e-01 3.10750062e-02 2.94379716e+02] [-1.98301847e-01 9.80121771e-01 -6.13940240e-03 -4.47129721e+01] [-3.16753279e-02 -1.47894273e-04 9.99498200e-01 -1.22306460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.78587156 meters 0.015464743344085322 Centerline is valid? [True, True] Translation: X:294.44, Y:-44.72, Z:-12.23 [[ 9.79273301e-01 2.00223645e-01 3.05662237e-02 2.94437935e+02] [-2.00132722e-01 9.79750198e-01 -6.03688138e-03 -4.47211590e+01] [-3.11559901e-02 -2.05544791e-04 9.99514513e-01 -1.22337483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.84587156 meters 0.017250160365205665 Centerline is valid? [True, True] Translation: X:294.50, Y:-44.73, Z:-12.24 [[ 9.79036249e-01 2.01310268e-01 3.10193398e-02 2.94495593e+02] [-2.01217221e-01 9.79527496e-01 -6.12488153e-03 -4.47288703e+01] [-3.16172978e-02 -2.45144305e-04 9.99500018e-01 -1.22382768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.90587156 meters 0.016468527341571247 Centerline is valid? [True, True] Translation: X:294.55, Y:-44.74, Z:-12.24 [[ 9.79102134e-01 2.01047977e-01 3.06385852e-02 2.94552946e+02] [-2.00957136e-01 9.79581367e-01 -6.04765002e-03 -4.47424079e+01] [-3.12288550e-02 -2.35775298e-04 9.99512233e-01 -1.22402729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.96587156 meters 0.01551296908487873 Centerline is valid? [True, True] Translation: X:294.61, Y:-44.76, Z:-12.24 [[ 9.79449093e-01 1.99275599e-01 3.11240897e-02 2.94609388e+02] [-1.99181011e-01 9.79943469e-01 -6.14191752e-03 -4.47580096e+01] [-3.17237827e-02 -1.83632098e-04 9.99496657e-01 -1.22417977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.02587156 meters 0.014512770172971146 Centerline is valid? [True, True] Translation: X:294.67, Y:-44.77, Z:-12.24 [[ 9.79744948e-01 1.97757224e-01 3.14947272e-02 2.94666868e+02] [-1.97659635e-01 9.80251020e-01 -6.21347267e-03 -4.47714160e+01] [-3.21014975e-02 -1.37617819e-04 9.99484605e-01 -1.22427047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.08587156 meters 0.014146956541291271 Centerline is valid? [True, True] Translation: X:294.72, Y:-44.78, Z:-12.24 [[ 9.79844126e-01 1.97158257e-01 3.21575935e-02 2.94724053e+02] [-1.97056248e-01 9.80371668e-01 -6.34259228e-03 -4.47842195e+01] [-3.27768880e-02 -1.22102932e-04 9.99462686e-01 -1.22436840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.14587156 meters 0.014405121309745507 Centerline is valid? [True, True] Translation: X:294.78, Y:-44.80, Z:-12.25 [[ 9.79954203e-01 1.96659410e-01 3.18564959e-02 2.94781291e+02] [-1.96559095e-01 9.80471858e-01 -6.28147355e-03 -4.47975508e+01] [-3.24697087e-02 -1.06127614e-04 9.99472714e-01 -1.22481029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.20587156 meters 0.014640716391259181 Centerline is valid? [True, True] Translation: X:294.84, Y:-44.81, Z:-12.25 [[ 9.79912026e-01 1.96940014e-01 3.14173886e-02 2.94838787e+02] [-1.96842624e-01 9.80415533e-01 -6.19382271e-03 -4.48082353e+01] [-3.20219073e-02 -1.14879854e-04 9.99487161e-01 -1.22519436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26587156 meters 0.015103956551105491 Centerline is valid? [True, True] Translation: X:294.90, Y:-44.82, Z:-12.26 [[ 9.79908338e-01 1.97111556e-01 3.04414746e-02 2.94895379e+02] [-1.97020247e-01 9.80381059e-01 -6.00014751e-03 -4.48194860e+01] [-3.10269435e-02 -1.17992262e-04 9.99518542e-01 -1.22573638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32587156 meters 0.015378375275385712 Centerline is valid? [True, True] Translation: X:294.95, Y:-44.83, Z:-12.26 [[ 9.79739928e-01 1.97903206e-01 3.07245124e-02 2.94952881e+02] [-1.97810641e-01 9.80221556e-01 -6.05395501e-03 -4.48306748e+01] [-3.13149264e-02 -1.46334050e-04 9.99509557e-01 -1.22596469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38587156 meters 0.015766108809202 Centerline is valid? [True, True] Translation: X:295.01, Y:-44.84, Z:-12.26 [[ 9.79302732e-01 1.99962375e-01 3.13242242e-02 2.95011245e+02] [-1.99867263e-01 9.79803552e-01 -6.17058056e-03 -4.48390642e+01] [-3.19254701e-02 -2.17820565e-04 9.99490229e-01 -1.22589051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44587156 meters 0.01742659617311825 Centerline is valid? [True, True] Translation: X:295.07, Y:-44.85, Z:-12.26 [[ 9.79018396e-01 2.01342532e-01 3.13713885e-02 2.95068427e+02] [-2.01247889e-01 9.79520860e-01 -6.17839543e-03 -4.48462188e+01] [-3.19729032e-02 -2.64662928e-04 9.99488701e-01 -1.22633459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.50587155999995 meters 0.01949677446201753 Centerline is valid? [True, True] Translation: X:295.13, Y:-44.85, Z:-12.27 [[ 9.78661735e-01 2.03207031e-01 3.04649174e-02 2.95126398e+02] [-2.03118736e-01 9.79135742e-01 -5.99811861e-03 -4.48517687e+01] [-3.10481493e-02 -3.17866352e-04 9.99517839e-01 -1.22676101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.56587155999995 meters 0.01934147043393122 Centerline is valid? [True, True] Translation: X:295.18, Y:-44.86, Z:-12.27 [[ 9.78539525e-01 2.03857481e-01 3.00420765e-02 2.95184830e+02] [-2.03772000e-01 9.79000518e-01 -5.91248868e-03 -4.48603794e+01] [-3.06165135e-02 -3.36130157e-04 9.99531148e-01 -1.22695271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.62587155999995 meters 0.01907622872489823 Centerline is valid? [True, True] Translation: X:295.24, Y:-44.87, Z:-12.27 [[ 9.78678665e-01 2.03213889e-01 2.98694867e-02 2.95241585e+02] [-2.03129128e-01 9.79134320e-01 -5.87720045e-03 -4.48705952e+01] [-3.04405683e-02 -3.15472098e-04 9.99536529e-01 -1.22724146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.68587155999995 meters 0.016979487026622518 Centerline is valid? [True, True] Translation: X:295.30, Y:-44.88, Z:-12.27 [[ 9.79035801e-01 2.01424354e-01 3.02841609e-02 2.95299215e+02] [-2.01336429e-01 9.79504037e-01 -5.95678863e-03 -4.48818875e+01] [-3.08633002e-02 -2.65395489e-04 9.99523580e-01 -1.22727736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.74587155999996 meters 0.030204904486664776 Centerline is valid? [True, True] Translation: X:295.36, Y:-44.89, Z:-12.27 [[ 9.79694980e-01 1.98207100e-01 3.01942432e-02 2.95356082e+02] [-1.98118210e-01 9.80160149e-01 -5.93772614e-03 -4.48943083e+01] [-3.07720934e-02 -1.64868931e-04 9.99526413e-01 -1.22746899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80587155999996 meters 0.014945652013389314 Centerline is valid? [True, True] Translation: X:295.41, Y:-44.91, Z:-12.28 [[ 9.79934857e-01 1.97030657e-01 3.01097402e-02 2.95413068e+02] [-1.96941770e-01 9.80397319e-01 -5.91909491e-03 -4.49074655e+01] [-3.06857517e-02 -1.29538098e-04 9.99529073e-01 -1.22785253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86587155999996 meters 0.023177240056792375 Centerline is valid? [True, True] Translation: X:295.47, Y:-44.92, Z:-12.28 [[ 9.80639591e-01 1.93551324e-01 2.97300860e-02 2.95470224e+02] [-1.93463109e-01 9.81090151e-01 -5.84303601e-03 -4.49208132e+01] [-3.02988220e-02 -2.17624394e-05 9.99540885e-01 -1.22791673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92587155999996 meters 0.014008768063828805 Centerline is valid? [True, True] Translation: X:295.53, Y:-44.93, Z:-12.28 [[ 9.80917235e-01 1.92139145e-01 2.97309228e-02 2.95526265e+02] [-1.92050318e-01 9.81367693e-01 -5.84181744e-03 -4.49334488e+01] [-3.02994089e-02 2.05062192e-05 9.99540867e-01 -1.22833885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98587155999996 meters 0.014570406870363945 Centerline is valid? [True, True] Translation: X:295.58, Y:-44.95, Z:-12.29 [[ 9.81510172e-01 1.89094842e-01 2.96803419e-02 2.95582845e+02] [-1.89004986e-01 9.81958822e-01 -5.82984737e-03 -4.49479319e+01] [-3.02472677e-02 1.12321884e-04 9.99542440e-01 -1.22862854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04587155999997 meters 0.015534927051660593 Centerline is valid? [True, True] Translation: X:295.64, Y:-44.96, Z:-12.29 [[ 9.81816690e-01 1.87604234e-01 2.89937545e-02 2.95639831e+02] [-1.87517888e-01 9.82244688e-01 -5.69330778e-03 -4.49632157e+01] [-2.95470500e-02 1.52936983e-04 9.99563379e-01 -1.22911903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10587155999997 meters 0.01574584924396179 Centerline is valid? [True, True] Translation: X:295.70, Y:-44.97, Z:-12.29 [[ 9.81792826e-01 1.87630675e-01 2.96239260e-02 2.95696322e+02] [-1.87540559e-01 9.82239638e-01 -5.81660144e-03 -4.49743890e+01] [-3.01891672e-02 1.55009909e-04 9.99544191e-01 -1.22934677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16587155999997 meters 0.018618737886017662 Centerline is valid? [True, True] Translation: X:295.75, Y:-44.98, Z:-12.29 [[ 9.81500820e-01 1.89183428e-01 2.94239814e-02 2.95754562e+02] [-1.89095280e-01 9.81941760e-01 -5.77544508e-03 -4.49832123e+01] [-2.99852546e-02 1.04668092e-04 9.99550336e-01 -1.22941217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22587156 meters 0.014662825738327256 Centerline is valid? [True, True] Translation: X:295.81, Y:-45.00, Z:-12.30 [[ 9.81365622e-01 1.89919055e-01 2.91936432e-02 2.95811757e+02] [-1.89832649e-01 9.81799748e-01 -5.72882505e-03 -4.49952712e+01] [-2.97503246e-02 8.01653419e-05 9.99557358e-01 -1.22971122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.28587156 meters 0.01469623939442827 Centerline is valid? [True, True] Translation: X:295.87, Y:-45.01, Z:-12.30 [[ 9.81351094e-01 1.90040789e-01 2.88882121e-02 2.95869029e+02] [-1.89956275e-01 9.81776193e-01 -5.66749678e-03 -4.50067357e+01] [-2.94388145e-02 7.43069991e-05 9.99566581e-01 -1.23007389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.34587156 meters 0.015289236241299157 Centerline is valid? [True, True] Translation: X:295.92, Y:-45.02, Z:-12.31 [[ 9.81431328e-01 1.89713960e-01 2.83048211e-02 2.95924602e+02] [-1.89632724e-01 9.81839400e-01 -5.55185158e-03 -4.50215325e+01] [-2.88440523e-02 8.12407472e-05 9.99583920e-01 -1.23052417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.40587156 meters 0.015265583622134572 Centerline is valid? [True, True] Translation: X:295.98, Y:-45.04, Z:-12.31 [[ 9.81407552e-01 1.89831854e-01 2.83387529e-02 2.95981860e+02] [-1.89750527e-01 9.81816613e-01 -5.55663073e-03 -4.50357255e+01] [-2.88782839e-02 7.60260546e-05 9.99582932e-01 -1.23068149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.46587156 meters 0.014804711097218457 Centerline is valid? [True, True] Translation: X:296.04, Y:-45.05, Z:-12.31 [[ 9.81232185e-01 1.90621877e-01 2.90981054e-02 2.96039520e+02] [-1.90536523e-01 9.81663536e-01 -5.70404926e-03 -4.50465522e+01] [-2.96518656e-02 5.27449036e-05 9.99560285e-01 -1.23076482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.52587156 meters 0.014779034260990212 Centerline is valid? [True, True] Translation: X:296.10, Y:-45.05, Z:-12.31 [[ 9.80665919e-01 1.93600593e-01 2.85160675e-02 2.96098309e+02] [-1.93519917e-01 9.81080429e-01 -5.58863338e-03 -4.50540812e+01] [-2.90585185e-02 -3.78447313e-05 9.99577711e-01 -1.23102553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.58587156 meters 0.01587677956281756 Centerline is valid? [True, True] Translation: X:296.16, Y:-45.06, Z:-12.32 [[ 9.80109833e-01 1.96458043e-01 2.80883147e-02 2.96155370e+02] [-1.96380977e-01 9.80512225e-01 -5.50358813e-03 -4.50610615e+01] [-2.86221601e-02 -1.21889848e-04 9.99590295e-01 -1.23150212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.64587156 meters 0.01625440724319639 Centerline is valid? [True, True] Translation: X:296.21, Y:-45.07, Z:-12.32 [[ 9.79805919e-01 1.98065720e-01 2.73921717e-02 2.96213539e+02] [-1.97993106e-01 9.80188728e-01 -5.36537668e-03 -4.50705677e+01] [-2.79121951e-02 -1.66433325e-04 9.99610365e-01 -1.23178779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.70587156 meters 0.0177385246967317 Centerline is valid? [True, True] Translation: X:296.27, Y:-45.08, Z:-12.32 [[ 9.79617751e-01 1.99062808e-01 2.68897814e-02 2.96270219e+02] [-1.98993241e-01 9.79986715e-01 -5.26581274e-03 -4.50808276e+01] [-2.73998560e-02 -1.92401108e-04 9.99624535e-01 -1.23231540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76587156 meters 0.017126683258176827 Centerline is valid? [True, True] Translation: X:296.33, Y:-45.09, Z:-12.32 [[ 9.79727345e-01 1.98399424e-01 2.77848528e-02 2.96327584e+02] [-1.98324939e-01 9.80121235e-01 -5.43904946e-03 -4.50945356e+01] [-2.83116285e-02 -1.81643749e-04 9.99599129e-01 -1.23245259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82587156 meters 0.015151762488401083 Centerline is valid? [True, True] Translation: X:296.38, Y:-45.11, Z:-12.32 [[ 9.80204794e-01 1.95834126e-01 2.91128352e-02 2.96384186e+02] [-1.95751260e-01 9.80637029e-01 -5.69752645e-03 -4.51123010e+01] [-2.96648943e-02 -1.14131439e-04 9.99559894e-01 -1.23226419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88587156 meters 0.015036201716303436 Centerline is valid? [True, True] Translation: X:296.44, Y:-45.13, Z:-12.33 [[ 9.80430499e-01 1.94655810e-01 2.94134548e-02 2.96440573e+02] [-1.94570735e-01 9.80871607e-01 -5.75499418e-03 -4.51268069e+01] [-2.99710658e-02 -8.06257221e-05 9.99550763e-01 -1.23251374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94587156 meters 0.015052234177133134 Centerline is valid? [True, True] Translation: X:296.50, Y:-45.14, Z:-12.33 [[ 9.80508202e-01 1.94338020e-01 2.89205888e-02 2.96498017e+02] [-1.94255692e-01 9.80934620e-01 -5.65663223e-03 -4.51408751e+01] [-2.94685055e-02 -7.16146776e-05 9.99565707e-01 -1.23285059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.00587155999995 meters 0.016035750529449097 Centerline is valid? [True, True] Translation: X:296.56, Y:-45.15, Z:-12.33 [[ 9.80199092e-01 1.95971974e-01 2.83676760e-02 2.96555751e+02] [-1.95893487e-01 9.80609490e-01 -5.54714372e-03 -4.51530034e+01] [-2.89046970e-02 -1.19737738e-04 9.99582165e-01 -1.23313292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.06587155999995 meters 0.017421606602006152 Centerline is valid? [True, True] Translation: X:296.61, Y:-45.16, Z:-12.33 [[ 9.79658752e-01 1.98698752e-01 2.80630820e-02 2.96613621e+02] [-1.98623097e-01 9.80060593e-01 -5.48624696e-03 -4.51617002e+01] [-2.85936312e-02 -1.99326418e-04 9.99591099e-01 -1.23342748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.12587155999995 meters 0.017647119612218116 Centerline is valid? [True, True] Translation: X:296.67, Y:-45.17, Z:-12.33 [[ 9.79321129e-01 2.00450332e-01 2.73823208e-02 2.96671540e+02] [-2.00379023e-01 9.79703835e-01 -5.35193204e-03 -4.51732470e+01] [-2.78993613e-02 -2.45582574e-04 9.99610707e-01 -1.23348268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.18587155999995 meters 0.01936604240367506 Centerline is valid? [True, True] Translation: X:296.73, Y:-45.18, Z:-12.34 [[ 9.78879160e-01 2.02661626e-01 2.69045830e-02 2.96729913e+02] [-2.02593655e-01 9.79248780e-01 -5.25719372e-03 -4.51826395e+01] [-2.74117115e-02 -3.04540449e-04 9.99624182e-01 -1.23374473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.24587155999996 meters 0.021617683304381026 Centerline is valid? [True, True] Translation: X:296.79, Y:-45.19, Z:-12.34 [[ 9.78564468e-01 2.04183557e-01 2.68450723e-02 2.96786896e+02] [-2.04116487e-01 9.78932559e-01 -5.24455370e-03 -4.51897257e+01] [-2.73503669e-02 -3.47387929e-04 9.99625848e-01 -1.23409316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30587155999996 meters 0.021875376500403845 Centerline is valid? [True, True] Translation: X:296.84, Y:-45.20, Z:-12.34 [[ 9.78259709e-01 2.05684871e-01 2.64891526e-02 2.96844809e+02] [-2.05620182e-01 9.78618202e-01 -5.17264653e-03 -4.52001853e+01] [-2.69867020e-02 -3.86512703e-04 9.99635718e-01 -1.23421005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36587155999996 meters 0.02185127858392052 Centerline is valid? [True, True] Translation: X:296.90, Y:-45.21, Z:-12.34 [[ 9.78242689e-01 2.05830918e-01 2.59783332e-02 2.96902163e+02] [-2.05768786e-01 9.78587495e-01 -5.07162263e-03 -4.52108667e+01] [-2.64659688e-02 -3.84252324e-04 9.99649641e-01 -1.23447223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42587155999996 meters 0.022932045383140687 Centerline is valid? [True, True] Translation: X:296.96, Y:-45.22, Z:-12.35 [[ 9.78188006e-01 2.05976961e-01 2.68647678e-02 2.96959621e+02] [-2.05910604e-01 9.78556758e-01 -5.24348281e-03 -4.52194470e+01] [-2.73687367e-02 -4.02628551e-04 9.99625325e-01 -1.23463320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48587155999996 meters 0.021378258452117358 Centerline is valid? [True, True] Translation: X:297.02, Y:-45.23, Z:-12.35 [[ 9.78247400e-01 2.05683506e-01 2.69503343e-02 2.97017159e+02] [-2.05616670e-01 9.78618484e-01 -5.25811827e-03 -4.52312470e+01] [-2.74556035e-02 -3.97697480e-04 9.99622945e-01 -1.23465330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54587155999997 meters 0.02140710514067848 Centerline is valid? [True, True] Translation: X:297.07, Y:-45.24, Z:-12.35 [[ 9.78351378e-01 2.05138933e-01 2.73239763e-02 2.97074167e+02] [-2.05070053e-01 9.78732786e-01 -5.32975962e-03 -4.52395658e+01] [-2.78362127e-02 -3.88951606e-04 9.99612422e-01 -1.23489024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60587155999997 meters 0.0223673753711338 Centerline is valid? [True, True] Translation: X:297.13, Y:-45.25, Z:-12.35 [[ 9.78391140e-01 2.05024938e-01 2.67497876e-02 2.97131637e+02] [-2.04958926e-01 9.78756676e-01 -5.21609844e-03 -4.52480281e+01] [-2.72509634e-02 -3.79223234e-04 9.99628552e-01 -1.23537209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66587155999997 meters 0.021872810220384044 Centerline is valid? [True, True] Translation: X:297.19, Y:-45.26, Z:-12.36 [[ 9.78725362e-01 2.03341633e-01 2.73650683e-02 2.97188439e+02] [-2.03271939e-01 9.79107790e-01 -5.33436072e-03 -4.52571650e+01] [-2.78780492e-02 -3.41676359e-04 9.99611273e-01 -1.23565011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72587156 meters 0.019126339876488003 Centerline is valid? [True, True] Translation: X:297.25, Y:-45.27, Z:-12.36 [[ 9.78913620e-01 2.02345792e-01 2.80054457e-02 2.97246045e+02] [-2.02272451e-01 9.79314085e-01 -5.45702903e-03 -4.52708343e+01] [-2.85303342e-02 -3.22770086e-04 9.99592875e-01 -1.23552784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.78587156 meters 0.017904662515940712 Centerline is valid? [True, True] Translation: X:297.30, Y:-45.28, Z:-12.36 [[ 9.79479189e-01 1.99628086e-01 2.77334757e-02 2.97302696e+02] [-1.99555108e-01 9.79871710e-01 -5.40281018e-03 -4.52816034e+01] [-2.82538009e-02 -2.42416614e-04 9.99600752e-01 -1.23587558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.84587156 meters 0.017155886777167104 Centerline is valid? [True, True] Translation: X:297.36, Y:-45.29, Z:-12.36 [[ 9.79803961e-01 1.98054502e-01 2.75429259e-02 2.97360346e+02] [-1.97981956e-01 9.80190989e-01 -5.36376793e-03 -4.52920393e+01] [-2.80596462e-02 -1.97561271e-04 9.99606231e-01 -1.23612805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.90587156 meters 0.01665216463186632 Centerline is valid? [True, True] Translation: X:297.42, Y:-45.30, Z:-12.36 [[ 9.80141192e-01 1.96457494e-01 2.69758508e-02 2.97418423e+02] [-1.96387336e-01 9.80512331e-01 -5.25203605e-03 -4.53036695e+01] [-2.74819562e-02 -1.49978587e-04 9.99622288e-01 -1.23639592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.96587156 meters 0.015393352467348343 Centerline is valid? [True, True] Translation: X:297.48, Y:-45.32, Z:-12.36 [[ 9.80773828e-01 1.93170607e-01 2.77094685e-02 2.97475842e+02] [-1.93095308e-01 9.81165181e-01 -5.39344124e-03 -4.53184655e+01] [-2.82294200e-02 -6.08223419e-05 9.99601469e-01 -1.23645144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.02587156 meters 0.015001129625915469 Centerline is valid? [True, True] Translation: X:297.53, Y:-45.34, Z:-12.36 [[ 9.81652265e-01 1.88623872e-01 2.79260736e-02 2.97533322e+02] [-1.88545598e-01 9.82049403e-01 -5.43388171e-03 -4.53354656e+01] [-2.84497437e-02 6.88440387e-05 9.99595222e-01 -1.23645611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.08587156 meters 0.016168659800154587 Centerline is valid? [True, True] Translation: X:297.59, Y:-45.35, Z:-12.37 [[ 9.82227637e-01 1.85690102e-01 2.73505869e-02 2.97590910e+02] [-1.85613903e-01 9.82608347e-01 -5.32121918e-03 -4.53528123e+01] [-2.78630127e-02 1.49999350e-04 9.99611740e-01 -1.23670811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.14587156 meters 0.0351368297092307 Centerline is valid? [True, True] Translation: X:297.65, Y:-45.37, Z:-12.37 [[ 9.82313400e-01 1.85240022e-01 2.73225017e-02 2.97647847e+02] [-1.85163820e-01 9.82693293e-01 -5.31523963e-03 -4.53659789e+01] [-2.78342343e-02 1.62092308e-04 9.99612540e-01 -1.23720262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.20587156 meters 0.02416396869856423 Centerline is valid? [True, True] Translation: X:297.71, Y:-45.38, Z:-12.37 [[ 9.82163326e-01 1.85919427e-01 2.80921406e-02 2.97706791e+02] [-1.85839185e-01 9.82564983e-01 -5.46370100e-03 -4.53756197e+01] [-2.86181618e-02 1.45626239e-04 9.99590406e-01 -1.23697078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26587156 meters 0.015607546914776666 Centerline is valid? [True, True] Translation: X:297.76, Y:-45.38, Z:-12.37 [[ 9.81708099e-01 1.88400216e-01 2.74693698e-02 2.97764382e+02] [-1.88324477e-01 9.82092335e-01 -5.34207978e-03 -4.53848655e+01] [-2.79839065e-02 7.12082888e-05 9.99608371e-01 -1.23734724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32587156 meters 0.015451057097320118 Centerline is valid? [True, True] Translation: X:297.82, Y:-45.40, Z:-12.38 [[ 9.81559789e-01 1.89354497e-01 2.61773984e-02 2.97822786e+02] [-1.89286084e-01 9.81908791e-01 -5.08974036e-03 -4.53963668e+01] [-2.66675828e-02 4.08672362e-05 9.99644356e-01 -1.23756604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38587156 meters 0.01641486102195892 Centerline is valid? [True, True] Translation: X:297.88, Y:-45.41, Z:-12.38 [[ 9.81600285e-01 1.89134332e-01 2.62504301e-02 2.97880317e+02] [-1.89065471e-01 9.81951222e-01 -5.10345361e-03 -4.54091996e+01] [-2.67418802e-02 4.65015928e-05 9.99642371e-01 -1.23822723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44587156 meters 0.01574469230943227 Centerline is valid? [True, True] Translation: X:297.94, Y:-45.42, Z:-12.38 [[ 9.81671562e-01 1.88643418e-01 2.71036000e-02 2.97937306e+02] [-1.88569846e-01 9.82045649e-01 -5.26839872e-03 -4.54243306e+01] [-2.76108212e-02 6.09155371e-05 9.99618747e-01 -1.23799784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.50587155999995 meters 0.015404119235533253 Centerline is valid? [True, True] Translation: X:298.00, Y:-45.44, Z:-12.38 [[ 9.81773917e-01 1.87945436e-01 2.82221382e-02 2.97995056e+02] [-1.87865428e-01 9.82179467e-01 -5.48402411e-03 -4.54385942e+01] [-2.87499020e-02 8.21077486e-05 9.99586633e-01 -1.23788299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.56587155999995 meters 0.015053500499667557 Centerline is valid? [True, True] Translation: X:298.05, Y:-45.45, Z:-12.38 [[ 9.81596018e-01 1.88769331e-01 2.89032278e-02 2.98053774e+02] [-1.88685793e-01 9.82021454e-01 -5.61562325e-03 -4.54512784e+01] [-2.94436473e-02 5.86449512e-05 9.99566440e-01 -1.23799482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.62587155999995 meters 0.014975169199862916 Centerline is valid? [True, True] Translation: X:298.11, Y:-45.46, Z:-12.38 [[ 9.80954149e-01 1.91996839e-01 2.94308010e-02 2.98111559e+02] [-1.91911697e-01 9.81395543e-01 -5.71735193e-03 -4.54599718e+01] [-2.99809705e-02 -3.96548757e-05 9.99550469e-01 -1.23811327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.68587155999995 meters 0.016855967827113433 Centerline is valid? [True, True] Translation: X:298.17, Y:-45.47, Z:-12.39 [[ 9.80092289e-01 1.96475469e-01 2.85743817e-02 2.98170708e+02] [-1.96397122e-01 9.80508725e-01 -5.55067080e-03 -4.54655487e+01] [-2.91080012e-02 -1.71756658e-04 9.99576258e-01 -1.23852245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.74587155999996 meters 0.022365973430385155 Centerline is valid? [True, True] Translation: X:298.23, Y:-45.47, Z:-12.39 [[ 9.78888813e-01 2.02343662e-01 2.88744675e-02 2.98229325e+02] [-2.02266243e-01 9.79314515e-01 -5.60782871e-03 -4.54664334e+01] [-2.94118938e-02 -3.50889261e-04 9.99567315e-01 -1.23890278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80587155999996 meters 0.036944712768188254 Centerline is valid? [True, True] Translation: X:298.29, Y:-45.47, Z:-12.39 [[ 9.77879287e-01 2.07081021e-01 2.94881610e-02 2.98289285e+02] [-2.07002510e-01 9.78323665e-01 -5.72422988e-03 -4.54728959e+01] [-3.00343452e-02 -5.06517514e-04 9.99548739e-01 -1.23880167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86587155999996 meters 0.028231384957907307 Centerline is valid? [True, True] Translation: X:298.35, Y:-45.48, Z:-12.39 [[ 9.76770464e-01 2.12190181e-01 2.99130177e-02 2.98349646e+02] [-2.12111805e-01 9.77228158e-01 -5.80595219e-03 -4.54754399e+01] [-3.04638092e-02 -6.73821563e-04 9.99535643e-01 -1.23885460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92587155999996 meters 0.030444763749645366 Centerline is valid? [True, True] Translation: X:298.41, Y:-45.48, Z:-12.39 [[ 9.76244463e-01 2.14492226e-01 3.06566892e-02 2.98408241e+02] [-2.14411054e-01 9.76725396e-01 -5.94976767e-03 -4.54804792e+01] [-3.12193458e-02 -7.64705308e-04 9.99512265e-01 -1.23902404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98587155999996 meters 0.03294791574884087 Centerline is valid? [True, True] Translation: X:298.47, Y:-45.49, Z:-12.39 [[ 9.76098153e-01 2.15125507e-01 3.08773640e-02 2.98465811e+02] [-2.15043524e-01 9.76586089e-01 -5.99115698e-03 -4.54862428e+01] [-3.14432548e-02 -7.92019881e-04 9.99505225e-01 -1.23935910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04587155999997 meters 0.03275038696218658 Centerline is valid? [True, True] Translation: X:298.52, Y:-45.49, Z:-12.39 [[ 9.75895796e-01 2.15896696e-01 3.18749504e-02 2.98524932e+02] [-2.15809811e-01 9.76415845e-01 -6.18254635e-03 -4.54913153e+01] [-3.24579979e-02 -8.45406018e-04 9.99472743e-01 -1.23942080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10587155999997 meters 0.03517043840495156 Centerline is valid? [True, True] Translation: X:298.58, Y:-45.49, Z:-12.40 [[ 9.75817865e-01 2.16292024e-01 3.15793289e-02 2.98582907e+02] [-2.16206995e-01 9.76328344e-01 -6.12378309e-03 -4.54948456e+01] [-3.21563193e-02 -8.51974857e-04 9.99482489e-01 -1.23988222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16587155999997 meters 0.03137559687478491 Centerline is valid? [True, True] Translation: X:298.64, Y:-45.50, Z:-12.40 [[ 9.76120309e-01 2.14873021e-01 3.19174979e-02 2.98640994e+02] [-2.14785470e-01 9.76641654e-01 -6.18727802e-03 -4.55045444e+01] [-3.25014370e-02 -8.15887063e-04 9.99471356e-01 -1.23992745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22587156 meters 0.03227524439519722 Centerline is valid? [True, True] Translation: X:298.70, Y:-45.51, Z:-12.40 [[ 9.76683983e-01 2.12106159e-01 3.31568320e-02 2.98699284e+02] [-2.12010138e-01 9.77246340e-01 -6.42587649e-03 -4.55085056e+01] [-3.37653607e-02 -7.53533884e-04 9.99429504e-01 -1.24019322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.28587156 meters 0.03966296893017832 Centerline is valid? [True, True] Translation: X:298.76, Y:-45.52, Z:-12.41 [[ 9.77332969e-01 2.09233515e-01 3.22738795e-02 2.98757330e+02] [-2.09141041e-01 9.77865496e-01 -6.25274311e-03 -4.55182484e+01] [-3.28677966e-02 -6.38780769e-04 9.99459504e-01 -1.24060243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.34587156 meters 0.026091846827465796 Centerline is valid? [True, True] Translation: X:298.82, Y:-45.54, Z:-12.41 [[ 9.78476972e-01 2.03558779e-01 3.38620389e-02 2.98815469e+02] [-2.03453644e-01 9.79062613e-01 -6.55850895e-03 -4.55357516e+01] [-3.44880984e-02 -4.72005230e-04 9.99404997e-01 -1.24060650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.40587156 meters 0.026847332461790784 Centerline is valid? [True, True] Translation: X:298.87, Y:-45.55, Z:-12.41 [[ 9.79982722e-01 1.96174174e-01 3.39051346e-02 2.98871677e+02] [-1.96064348e-01 9.80569043e-01 -6.56681002e-03 -4.55504604e+01] [-3.45345639e-02 -2.12227750e-04 9.99403482e-01 -1.24097577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.46587156 meters 0.03371288013306465 Centerline is valid? [True, True] Translation: X:298.93, Y:-45.57, Z:-12.41 [[ 9.80863136e-01 1.91697264e-01 3.40539048e-02 2.98928962e+02] [-1.91583849e-01 9.81454103e-01 -6.59341420e-03 -4.55655247e+01] [-3.46862841e-02 -5.69412259e-05 9.99398248e-01 -1.24112767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.52587156 meters 0.03472290234665905 Centerline is valid? [True, True] Translation: X:298.99, Y:-45.58, Z:-12.41 [[ 9.81659378e-01 1.87181625e-01 3.61649657e-02 2.98986136e+02] [-1.87050711e-01 9.82325317e-01 -7.00026368e-03 -4.55794196e+01] [-3.68360821e-02 1.07191929e-04 9.99321315e-01 -1.24105057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.58587156 meters 0.04001687116464183 Centerline is valid? [True, True] Translation: X:299.04, Y:-45.59, Z:-12.41 [[ 9.81888551e-01 1.85861032e-01 3.67498232e-02 2.99042693e+02] [-1.85724989e-01 9.82576029e-01 -7.11171502e-03 -4.55895436e+01] [-3.74312861e-02 1.57551042e-04 9.99299191e-01 -1.24125498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.64587156 meters 0.041940964119176714 Centerline is valid? [True, True] Translation: X:299.10, Y:-45.60, Z:-12.42 [[ 9.81888527e-01 1.85884629e-01 3.66309366e-02 2.99100148e+02] [-1.85749562e-01 9.82571565e-01 -7.08653499e-03 -4.55992742e+01] [-3.73097946e-02 1.54006960e-04 9.99303735e-01 -1.24152616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.70587156 meters 0.04972059502226752 Centerline is valid? [True, True] Translation: X:299.15, Y:-45.63, Z:-12.44 [[ 9.82375505e-01 1.81864140e-01 4.31717800e-02 2.99152612e+02] [-1.83323382e-01 9.82510807e-01 3.26351340e-02 -4.56277902e+01] [-3.64815798e-02 -3.99743529e-02 9.98534499e-01 -1.24405663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76587156 meters 0.05701298513525527 Centerline is valid? [True, True] Translation: X:299.22, Y:-45.60, Z:-12.43 [[ 9.81772626e-01 1.87906576e-01 2.85241774e-02 2.99217320e+02] [-1.87623430e-01 9.82163741e-01 -1.23221023e-02 -4.56019411e+01] [-3.03308168e-02 6.74569872e-03 9.99517152e-01 -1.24323406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82587156 meters 0.06494157033412787 Centerline is valid? [True, True] Translation: X:299.28, Y:-45.62, Z:-12.44 [[ 9.81670817e-01 1.86885646e-01 3.73652468e-02 2.99277329e+02] [-1.87123881e-01 9.82331887e-01 2.95255990e-03 -4.56157530e+01] [-3.61532823e-02 -9.89037187e-03 9.99297313e-01 -1.24396727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88587156 meters 0.07093027866569711 Centerline is valid? [True, True] Translation: X:299.33, Y:-45.62, Z:-12.44 [[ 9.81025974e-01 1.90186228e-01 3.76462015e-02 2.99332852e+02] [-1.90293317e-01 9.81726994e-01 -7.50852920e-04 -4.56176922e+01] [-3.71010941e-02 -6.42721433e-03 9.99290848e-01 -1.24433192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94587156 meters 0.08151680637313846 Centerline is valid? [True, True] Translation: X:299.40, Y:-45.61, Z:-12.43 [[ 9.81664659e-01 1.89570512e-01 1.99378744e-02 2.99397209e+02] [-1.88916039e-01 9.81511212e-01 -3.07647582e-02 -4.56089009e+01] [-2.54013382e-02 2.64340916e-02 9.99327779e-01 -1.24340896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.00587155999995 meters 0.09017354329862341 Centerline is valid? [True, True] Translation: X:299.45, Y:-45.64, Z:-12.44 [[ 9.82095219e-01 1.87093092e-01 2.20262592e-02 2.99447686e+02] [-1.86918014e-01 9.82326892e-01 -9.77417234e-03 -4.56381396e+01] [-2.34656669e-02 5.48206330e-03 9.99709613e-01 -1.24355410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.06587155999995 meters 0.09753865069143937 Centerline is valid? [True, True] Translation: X:299.51, Y:-45.64, Z:-12.43 [[ 9.82954684e-01 1.83819746e-01 3.22326854e-03 2.99509741e+02] [-1.83657880e-01 9.82584382e-01 -2.82438648e-02 -4.56413174e+01] [-8.35891339e-03 2.71704606e-02 9.99595866e-01 -1.24269179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.12587155999995 meters 0.10268762633402707 Centerline is valid? [True, False] Translation: X:299.53, Y:-45.65, Z:-12.42 [[ 9.84840126e-01 1.73460714e-01 1.14317711e-03 2.99525460e+02] [-1.73433445e-01 9.84767198e-01 -1.24260404e-02 -4.56473115e+01] [-3.28119316e-03 1.20393980e-02 9.99922140e-01 -1.24241900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.18587155999995 meters 0.605879336901501 Centerline is valid? [False, False] Translation: X:299.53, Y:-45.65, Z:-12.43 [[ 9.86950508e-01 1.60990528e-01 3.27791424e-03 2.99525771e+02] [-1.60968295e-01 9.86940184e-01 -6.18718351e-03 -4.56470439e+01] [-4.23118322e-03 5.57880364e-03 9.99975487e-01 -1.24254712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.24587155999996 meters 0.642156054631643 Centerline is valid? [False, False] Translation: X:299.53, Y:-45.65, Z:-12.43 [[ 9.89110711e-01 1.47019863e-01 6.72028378e-03 2.99525132e+02] [-1.47008337e-01 9.89132849e-01 -2.18070304e-03 -4.56459150e+01] [-6.96786010e-03 1.16901899e-03 9.99975041e-01 -1.24272180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30587155999996 meters 0.6382477445138236 Centerline is valid? [False, False] Translation: X:299.53, Y:-45.64, Z:-12.43 [[ 9.91198936e-01 1.32065516e-01 9.13069563e-03 2.99526928e+02] [-1.32075840e-01 9.91239470e-01 5.34514483e-04 -4.56423289e+01] [-8.98011497e-03 -1.73575449e-03 9.99958171e-01 -1.24302221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36587155999996 meters 0.648050687382006 Centerline is valid? [False, False] Translation: X:299.57, Y:-45.64, Z:-12.43 [[ 9.91804519e-01 1.27367775e-01 1.00620935e-02 2.99567398e+02] [-1.27322765e-01 9.91848753e-01 -4.99653288e-03 -4.56424831e+01] [-1.06164721e-02 3.67445033e-03 9.99936892e-01 -1.24285663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42587155999996 meters 0.6488881803030755 Centerline is valid? [False, False] Translation: X:299.57, Y:-45.64, Z:-12.43 [[ 9.93115928e-01 1.16538721e-01 1.18102011e-02 2.99569389e+02] [-1.16570203e-01 9.93180419e-01 2.01086540e-03 -4.56418018e+01] [-1.14953168e-02 -3.37374000e-03 9.99928235e-01 -1.24307448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48587155999996 meters 0.7119940438190242 Centerline is valid? [False, False] Translation: X:299.57, Y:-45.63, Z:-12.43 [[ 9.93642063e-01 1.12033749e-01 1.11305939e-02 2.99570952e+02] [-1.11997379e-01 9.93701080e-01 -3.84077544e-03 -4.56332420e+01] [-1.14907797e-02 2.56975868e-03 9.99930677e-01 -1.24320227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54587155999997 meters 0.6976035294238988 Centerline is valid? [False, False] Translation: X:299.57, Y:-45.63, Z:-12.43 [[ 9.94900815e-01 1.00081727e-01 1.24906285e-02 2.99572721e+02] [-1.00112162e-01 9.94974468e-01 1.83406236e-03 -4.56294701e+01] [-1.22443003e-02 -3.07517396e-03 9.99920307e-01 -1.24339032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60587155999997 meters 0.677467786917254 Centerline is valid? [False, False] Translation: X:299.57, Y:-45.62, Z:-12.43 [[ 9.95387673e-01 9.51685165e-02 1.20968897e-02 2.99573187e+02] [-9.51278360e-02 9.95457440e-01 -3.89625124e-03 -4.56227205e+01] [-1.24127393e-02 2.72752952e-03 9.99919239e-01 -1.24345911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66587155999997 meters 0.6609042737299294 Centerline is valid? [False, False] Translation: X:299.58, Y:-45.62, Z:-12.44 [[ 9.96463937e-01 8.21701079e-02 1.75412583e-02 2.99576313e+02] [-8.21882669e-02 9.96616771e-01 3.15619491e-04 -4.56209734e+01] [-1.74559777e-02 -1.75618906e-03 9.99846090e-01 -1.24417293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72587156 meters 0.654801855532526 Centerline is valid? [False, False] Translation: X:299.58, Y:-45.62, Z:-12.44 [[ 9.96840619e-01 7.75382155e-02 1.72222112e-02 2.99576637e+02] [-7.74677309e-02 9.96983669e-01 -4.72376883e-03 -4.56173974e+01] [-1.75365359e-02 3.37467902e-03 9.99840528e-01 -1.24423357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.78587156 meters 1.0661099005947408 Centerline is valid? [False, False] Translation: X:299.58, Y:-45.62, Z:-12.45 [[ 9.97385902e-01 6.75052513e-02 2.57760336e-02 2.99579269e+02] [-6.75395902e-02 9.97716488e-01 4.62945613e-04 -4.56177087e+01] [-2.56859224e-02 -2.20263818e-03 9.99667636e-01 -1.24492996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.84587156 meters 0.6568517956356328 Centerline is valid? [False, False] Translation: X:299.58, Y:-45.62, Z:-12.45 [[ 9.98227302e-01 5.40168556e-02 2.49886732e-02 2.99579555e+02] [-5.41626539e-02 9.98518615e-01 5.19451538e-03 -4.56181262e+01] [-2.46710640e-02 -6.53875993e-03 9.99674239e-01 -1.24493606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.90587156 meters 0.6840283627304794 Centerline is valid? [False, False] Translation: X:299.58, Y:-45.62, Z:-12.45 [[ 9.98860852e-01 4.11653060e-02 2.41332942e-02 2.99579154e+02] [-4.14282186e-02 9.99086339e-01 1.04971505e-02 -4.56189194e+01] [-2.36791262e-02 -1.14849921e-02 9.99653637e-01 -1.24487683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.96587156 meters 0.7289877753492051 Centerline is valid? [False, False] Translation: X:299.58, Y:-45.62, Z:-12.45 [[ 9.99035057e-01 3.67781600e-02 2.40067124e-02 2.99579552e+02] [-3.69293141e-02 9.99300560e-01 5.88349961e-03 -4.56173519e+01] [-2.37735368e-02 -6.76437378e-03 9.99694484e-01 -1.24495718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.02587156 meters 0.7678743321322138 Centerline is valid? [False, False] Translation: X:299.58, Y:-45.62, Z:-12.45 [[ 9.99186988e-01 3.25307400e-02 2.38141424e-02 2.99580649e+02] [-3.25758523e-02 9.99468127e-01 1.50876834e-03 -4.56170241e+01] [-2.37523950e-02 -2.28330768e-03 9.99715265e-01 -1.24509858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.08587156 meters 0.7843877546183257 Centerline is valid? [False, False] Translation: X:299.58, Y:-45.62, Z:-12.45 [[ 9.99321350e-01 2.82652283e-02 2.36202455e-02 2.99581414e+02] [-2.82028405e-02 9.99597808e-01 -2.97031794e-03 -4.56160866e+01] [-2.36947023e-02 2.30214412e-03 9.99716590e-01 -1.24518471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.14587156 meters 0.7935498023872474 Centerline is valid? [False, False] Translation: X:299.58, Y:-45.61, Z:-12.45 [[ 9.99442215e-01 2.38839019e-02 2.33413447e-02 2.99582403e+02] [-2.37068481e-02 9.99688266e-01 -7.83295502e-03 -4.56128135e+01] [-2.35211500e-02 7.27523620e-03 9.99696867e-01 -1.24524883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.20587156 meters 0.7925411610877465 Centerline is valid? [False, False] Translation: X:299.58, Y:-45.61, Z:-12.45 [[ 9.99441412e-01 2.40142461e-02 2.32417576e-02 2.99583452e+02] [-2.38420171e-02 9.99686397e-01 -7.65931348e-03 -4.56137991e+01] [-2.34184015e-02 7.10090470e-03 9.99700533e-01 -1.24535916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26587156 meters 0.8128542814908435 Centerline is valid? [False, False] Translation: X:299.58, Y:-45.61, Z:-12.45 [[ 9.99444800e-01 2.39506517e-02 2.31615798e-02 2.99584338e+02] [-2.37757478e-02 9.99686906e-01 -7.79763124e-03 -4.56130399e+01] [-2.33410865e-02 7.24261812e-03 9.99701324e-01 -1.24545899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32587156 meters 0.880257223677931 Centerline is valid? [False, False] Translation: X:299.59, Y:-45.61, Z:-12.46 [[ 9.99424460e-01 2.54949767e-02 2.23775380e-02 2.99590692e+02] [-2.53466286e-02 9.99654991e-01 -6.88816277e-03 -4.56133370e+01] [-2.25454311e-02 6.31700322e-03 9.99725862e-01 -1.24593764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38587156 meters 0.874465001250022 Centerline is valid? [False, False] Translation: X:299.59, Y:-45.61, Z:-12.46 [[ 9.99429411e-01 2.53316059e-02 2.23419262e-02 2.99591242e+02] [-2.51768320e-02 9.99657215e-01 -7.18184285e-03 -4.56117700e+01] [-2.25161954e-02 6.61524605e-03 9.99724592e-01 -1.24600253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44587156 meters 0.8706313860909235 Centerline is valid? [False, False] Translation: X:299.59, Y:-45.61, Z:-12.46 [[ 9.99438090e-01 2.51366061e-02 2.21733128e-02 2.99592691e+02] [-2.49723011e-02 9.99658826e-01 -7.65610603e-03 -4.56090858e+01] [-2.23581963e-02 7.09808534e-03 9.99724826e-01 -1.24613902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.50587155999995 meters 0.8704097339749616 Centerline is valid? [False, False] Translation: X:299.59, Y:-45.61, Z:-12.46 [[ 9.99445254e-01 2.49062579e-02 2.21102194e-02 2.99593500e+02] [-2.47333150e-02 9.99661583e-01 -8.06119843e-03 -4.56067691e+01] [-2.23035112e-02 7.50986749e-03 9.99723039e-01 -1.24622694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.56587155999995 meters 0.9190673987883504 Centerline is valid? [False, False] Translation: X:299.59, Y:-45.61, Z:-12.46 [[ 9.99447442e-01 2.48314475e-02 2.20954586e-02 2.99593827e+02] [-2.46558767e-02 9.99662504e-01 -8.18331530e-03 -4.56060797e+01] [-2.22912050e-02 7.63401064e-03 9.99722373e-01 -1.24626831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.62587155999995 meters 0.9400087795858908 Centerline is valid? [False, False] Translation: X:299.60, Y:-45.61, Z:-12.47 [[ 9.99497701e-01 2.35554663e-02 2.12010791e-02 2.99600316e+02] [-2.33747799e-02 9.99688652e-01 -8.73038588e-03 -4.56072237e+01] [-2.14001265e-02 8.23043006e-03 9.99737113e-01 -1.24671822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.68587155999995 meters 0.9745154340839877 Centerline is valid? [False, False] Translation: X:299.60, Y:-45.61, Z:-12.47 [[ 9.99495975e-01 2.37036461e-02 2.11171288e-02 2.99600986e+02] [-2.35293228e-02 9.99687303e-01 -8.46566553e-03 -4.56087024e+01] [-2.13111926e-02 7.96452689e-03 9.99741166e-01 -1.24677062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.74587155999996 meters 0.9302904941338896 Centerline is valid? [False, False] Translation: X:299.60, Y:-45.61, Z:-12.47 [[ 9.99493957e-01 2.38360932e-02 2.10634724e-02 2.99601478e+02] [-2.36675541e-02 9.99686132e-01 -8.21490703e-03 -4.56101128e+01] [-2.12526725e-02 7.71222906e-03 9.99744390e-01 -1.24681394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.80587155999996 meters 0.9822154851478816 Centerline is valid? [False, False] Translation: X:299.60, Y:-45.61, Z:-12.47 [[ 9.99494598e-01 2.38792347e-02 2.09840814e-02 2.99602339e+02] [-2.37129937e-02 9.99685703e-01 -8.13571381e-03 -4.56105962e+01] [-2.11717608e-02 7.63400661e-03 9.99746707e-01 -1.24689509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.86587155999996 meters 0.9837469664205247 Centerline is valid? [False, False] Translation: X:299.60, Y:-45.61, Z:-12.47 [[ 9.99497597e-01 2.38275511e-02 2.08997848e-02 2.99603251e+02] [-2.36600390e-02 9.99686218e-01 -8.22603118e-03 -4.56100249e+01] [-2.10892330e-02 7.72740868e-03 9.99747734e-01 -1.24698135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.92587155999996 meters 0.799297985537741 Centerline is valid? [False, False] Translation: X:299.60, Y:-45.61, Z:-12.47 [[ 9.99500983e-01 2.37763892e-02 2.07958961e-02 2.99604098e+02] [-2.36080286e-02 9.99686801e-01 -8.30426667e-03 -4.56094553e+01] [-2.09868283e-02 7.80917259e-03 9.99749253e-01 -1.24703813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.98587155999996 meters 1.0080757079714484 Centerline is valid? [False, False] Translation: X:299.60, Y:-45.61, Z:-12.47 [[ 9.99498796e-01 2.39538945e-02 2.06970626e-02 2.99604846e+02] [-2.37928272e-02 9.99684952e-01 -7.99368059e-03 -4.56112697e+01] [-2.08820218e-02 7.49723249e-03 9.99753836e-01 -1.24709102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2882.83 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%| | 0/10334 [00:00