+ python -m lidar_slam --no-model /working/90974db6-3605-4c98-972d-ab7450a59c8c Lidar SLAM 0.0.9 ===================================================== The recording path: /working/90974db6-3605-4c98-972d-ab7450a59c8c 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 0.028623853 Adjusted end_distance from 9.223372036854776e+18 to 309.218623853 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.028623853 meters 0.8361586840648249 Centerline is valid? [0, False] SLAMing on 0.088623853 meters 0.8105371598629458 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999991e-01 -7.19414419e-05 -1.17419924e-04 1.12946730e-03] [ 7.19269953e-05 9.99999990e-01 -1.23033218e-04 8.17269318e-04] [ 1.17428774e-04 1.23024771e-04 9.99999986e-01 -9.31677231e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.148623853 meters 0.8369803190835877 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999938e-01 -2.53008348e-04 -2.44069385e-04 2.15533618e-03] [ 2.52903602e-04 9.99999876e-01 -4.29100326e-04 2.73618735e-03] [ 2.44177920e-04 4.29038574e-04 9.99999878e-01 -1.61323766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.208623853 meters 0.8290302176110964 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999944e-01 -1.87560339e-04 -2.75509667e-04 2.80600936e-03] [ 1.87470089e-04 9.99999929e-01 -3.27561797e-04 2.06258966e-03] [ 2.75571085e-04 3.27510129e-04 9.99999908e-01 -2.38688165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.26862385299999997 meters 0.8198890445212852 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999882e-01 -3.31933167e-04 -3.54224316e-04 3.48922420e-03] [ 3.31734813e-04 9.99999788e-01 -5.59877119e-04 3.55241466e-03] [ 3.54410083e-04 5.59759544e-04 9.99999781e-01 -2.84925494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32862385299999997 meters 1.0468557916840795 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999906e-01 7.25970113e-06 -4.33961310e-04 4.37825862e-03] [-7.26001798e-06 1.00000000e+00 -7.28564297e-07 -1.29946990e-05] [ 4.33961305e-04 7.31714796e-07 9.99999906e-01 -3.69469992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.38862385299999996 meters 1.0875245040568389 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99999849e-01 8.84492655e-05 -5.42311912e-04 5.49606463e-03] [-8.83791607e-05 9.99999988e-01 1.29292956e-04 -7.98875164e-04] [ 5.42323341e-04 -1.29245008e-04 9.99999845e-01 -4.62888651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44862385299999996 meters 1.0807852848529236 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99999773e-01 2.82401014e-04 -6.12120028e-04 6.33707507e-03] [-2.82125070e-04 9.99999859e-01 4.50840335e-04 -2.84771241e-03] [ 6.12247259e-04 -4.50667538e-04 9.99999711e-01 -5.47953596e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.508623853 meters 0.9221266561258102 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99999716e-01 3.07115937e-04 -6.88370346e-04 6.99555364e-03] [-3.06784165e-04 9.99999837e-01 4.82021506e-04 -3.02800135e-03] [ 6.88518270e-04 -4.81810188e-04 9.99999647e-01 -5.93296341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5686238530000001 meters 0.8872546601040411 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99999588e-01 4.83464121e-04 -7.68344020e-04 7.76803040e-03] [-4.82873437e-04 9.99999588e-01 7.68774748e-04 -4.83413349e-03] [ 7.68715379e-04 -7.68403418e-04 9.99999409e-01 -6.56302241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.628623853 meters 0.9053629320302875 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99999448e-01 6.24018719e-04 -8.44918482e-04 8.60417981e-03] [-6.23183876e-04 9.99999318e-01 9.87978315e-04 -6.19218552e-03] [ 8.45534423e-04 -9.87451230e-04 9.99999155e-01 -7.27531288e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.688623853 meters 0.8789748889026057 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99999355e-01 6.53974176e-04 -9.28231695e-04 9.26473696e-03] [-6.53013534e-04 9.99999251e-01 1.03484242e-03 -6.50737078e-03] [ 9.28907761e-04 -1.03423561e-03 9.99999034e-01 -7.68463074e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.748623853 meters 1.022853142368791 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99999095e-01 7.96248062e-04 -1.08488466e-03 1.10739259e-02] [-7.94888072e-04 9.99998899e-01 1.25343565e-03 -7.99449247e-03] [ 1.08588151e-03 -1.25257215e-03 9.99998626e-01 -9.29973218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8086238530000001 meters 0.8940228768030656 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99999007e-01 7.90981312e-04 -1.16601075e-03 1.17477927e-02] [-7.89530010e-04 9.99998914e-01 1.24460866e-03 -7.92341560e-03] [ 1.16699395e-03 -1.24368683e-03 9.99998546e-01 -9.72950705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.868623853 meters 0.9115343452330005 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99998852e-01 8.46743269e-04 -1.25681704e-03 1.24963277e-02] [-8.45062067e-04 9.99998748e-01 1.33759548e-03 -8.53522125e-03] [ 1.25794807e-03 -1.33653186e-03 9.99998316e-01 -1.01594562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9286238529999999 meters 0.9213832132125052 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 0.99999852 0.00109216 -0.00132969 0.01319626] [-0.00108983 0.99999787 0.00175527 -0.01135063] [ 0.00133161 -0.00175381 0.99999758 -0.01068687] [ 0. 0. 0. 1. ]] SLAMing on 0.988623853 meters 0.9233001774198941 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:-0.02 [[ 9.99997331e-01 8.30766551e-04 -2.15578613e-03 2.21644477e-02] [-8.26662768e-04 9.99997846e-01 1.90380658e-03 -1.33788138e-02] [ 2.15736310e-03 -1.90201939e-03 9.99995864e-01 -1.75882194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.048623853 meters 0.918262539345254 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.02 [[ 0.99999675 0.00119386 -0.00225394 0.02307142] [-0.00118819 0.99999613 0.00251585 -0.01741047] [ 0.00225694 -0.00251317 0.9999943 -0.01820675] [ 0. 0. 0. 1. ]] SLAMing on 1.108623853 meters 0.880306389906945 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.02 [[ 0.99999583 0.00160944 -0.00239619 0.02412396] [-0.00160134 0.99999301 0.00337916 -0.02340027] [ 0.00240161 -0.00337531 0.99999142 -0.01878258] [ 0. 0. 0. 1. ]] SLAMing on 1.168623853 meters 0.8232452840154197 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.02 [[ 0.99999485 0.00200592 -0.00250612 0.02503075] [-0.00199581 0.99998989 0.00403002 -0.02789999] [ 0.00251418 -0.004025 0.99998874 -0.01924911] [ 0. 0. 0. 1. ]] SLAMing on 1.228623853 meters 0.8718494872872584 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.02 [[ 9.99994014e-01 -9.45904527e-04 -3.32812473e-03 3.14687534e-02] [ 9.46876673e-04 9.99999510e-01 2.90536847e-04 -2.80619871e-02] [ 3.32784827e-03 -2.93686431e-04 9.99994420e-01 -2.29486689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.288623853 meters 0.8505458703936513 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.02 [[ 9.99993922e-01 -8.09289240e-04 -3.39144774e-03 3.20050679e-02] [ 8.11009683e-04 9.99999543e-01 5.05944276e-04 -2.95498863e-02] [ 3.39103674e-03 -5.08691697e-04 9.99994121e-01 -2.31012735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3486238529999999 meters 0.9214282769680259 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.02 [[ 9.99993864e-01 -4.62072271e-04 -3.47265993e-03 3.25802397e-02] [ 4.65725448e-04 9.99999339e-01 1.05124725e-03 -3.33802062e-02] [ 3.47217188e-03 -1.05285810e-03 9.99993418e-01 -2.32749017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.408623853 meters 0.8771169368146682 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.02 [[ 9.99993510e-01 -3.07287262e-05 -3.60268309e-03 3.38818385e-02] [ 3.70149031e-05 9.99998477e-01 1.74480609e-03 -3.81409179e-02] [ 3.60262399e-03 -1.74492812e-03 9.99991988e-01 -2.41105722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.468623853 meters 0.812336293241888 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.04, Z:-0.03 [[ 9.99990740e-01 4.62011785e-04 -4.27856410e-03 4.17246792e-02] [-4.52956837e-04 9.99997656e-01 2.11707952e-03 -3.97700662e-02] [ 4.27953219e-03 -2.11512191e-03 9.99988606e-01 -3.01093978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.528623853 meters 0.8648950995875421 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.04, Z:-0.03 [[ 9.99990181e-01 2.87990776e-04 -4.42210557e-03 4.29436773e-02] [-2.80043995e-04 9.99998345e-01 1.79757214e-03 -3.76244109e-02] [ 4.42261594e-03 -1.79631610e-03 9.99988607e-01 -3.07521681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.588623853 meters 0.5129770638845996 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.04, Z:-0.03 [[ 9.99989918e-01 2.12793437e-04 -4.48548105e-03 4.33097585e-02] [-2.05481541e-04 9.99998650e-01 1.63052304e-03 -3.64502879e-02] [ 4.48582196e-03 -1.62958492e-03 9.99988611e-01 -3.07641260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.648623853 meters 0.7632101095819447 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.04, Z:-0.03 [[ 9.99989458e-01 4.26546512e-04 -4.57182023e-03 4.41906266e-02] [-4.17439516e-04 9.99997927e-01 1.99275387e-03 -3.89645074e-02] [ 4.57266075e-03 -1.99082440e-03 9.99987564e-01 -3.13062397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.708623853 meters 0.5152680229387845 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.04, Z:-0.03 [[ 9.99989099e-01 5.47132843e-04 -4.63697581e-03 4.45061843e-02] [-5.36713415e-04 9.99997329e-01 2.24797745e-03 -4.07347756e-02] [ 4.63819337e-03 -2.24546422e-03 9.99986722e-01 -3.12223196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.768623853 meters 0.6531058576295575 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:-0.03 [[ 9.99988542e-01 2.84096203e-05 -4.78697006e-03 4.51823716e-02] [-1.44314144e-05 9.99995737e-01 2.92006215e-03 -4.77051821e-02] [ 4.78703261e-03 -2.91995961e-03 9.99984279e-01 -3.09852327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8286238529999999 meters 0.7385926156445162 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:-0.03 [[ 9.99987617e-01 2.25774158e-04 -4.97131158e-03 4.62909543e-02] [-2.07827809e-04 9.99993462e-01 3.61020347e-03 -5.26315546e-02] [ 4.97209417e-03 -3.60912559e-03 9.99981126e-01 -3.11583538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.888623853 meters 0.5309565251469365 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.06, Z:-0.03 [[ 9.99987430e-01 4.28456049e-04 -4.99564807e-03 4.63740459e-02] [-4.05829137e-04 9.99989660e-01 4.52945904e-03 -5.95461049e-02] [ 4.99753709e-03 -4.52737472e-03 9.99977263e-01 -3.09373536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.948623853 meters 0.5209996909465966 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.06, Z:-0.03 [[ 9.99979602e-01 -3.88700621e-03 -5.06827435e-03 4.66765573e-02] [ 3.88719686e-03 9.99992444e-01 2.77672328e-05 -5.77968612e-02] [ 5.06812813e-03 -4.74680466e-05 9.99987156e-01 -3.06469498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.008623853 meters 0.5432643970861866 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:-0.04 [[ 9.99973900e-01 -4.10036250e-03 -5.94857235e-03 5.59163651e-02] [ 4.10579350e-03 9.99991165e-01 9.01067605e-04 -6.60730915e-02] [ 5.94482510e-03 -9.25467697e-04 9.99981901e-01 -3.70761549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.068623853 meters 0.5024894789523903 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:-0.04 [[ 0.9999752 -0.00363861 -0.00603013 0.05635512] [ 0.0036491 0.99999185 0.00172939 -0.07166513] [ 0.00602379 -0.00175135 0.99998032 -0.03701428] [ 0. 0. 0. 1. ]] SLAMing on 2.128623853 meters 0.9591606546758844 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.08, Z:-0.04 [[ 0.99997605 -0.00320941 -0.00613129 0.0572096 ] [ 0.00322475 0.99999169 0.00249389 -0.07684922] [ 0.00612323 -0.0025136 0.99997809 -0.03746005] [ 0. 0. 0. 1. ]] SLAMing on 2.188623853 meters 0.51146073203161 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.08, Z:-0.04 [[ 0.99997666 -0.00268757 -0.00628207 0.05828038] [ 0.002709 0.99999053 0.00340501 -0.08305278] [ 0.00627286 -0.00342195 0.99997447 -0.03790162] [ 0. 0. 0. 1. ]] SLAMing on 2.248623853 meters 1.0219345897412888 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.09, Z:-0.04 [[ 0.99997684 -0.00222208 -0.00643288 0.05940741] [ 0.00224919 0.99998861 0.00420926 -0.08853897] [ 0.00642346 -0.00422363 0.99997045 -0.03835284] [ 0. 0. 0. 1. ]] SLAMing on 2.308623853 meters 0.5289127330866259 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.09, Z:-0.04 [[ 0.9999771 -0.00197738 -0.00647239 0.05941643] [ 0.00200739 0.99998725 0.00463431 -0.09138172] [ 0.00646315 -0.0046472 0.99996832 -0.03790747] [ 0. 0. 0. 1. ]] SLAMing on 2.368623853 meters 0.5708045211846285 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.09, Z:-0.04 [[ 0.99997703 -0.00174616 -0.00654895 0.05944769] [ 0.00177902 0.99998584 0.0050159 -0.09382542] [ 0.0065401 -0.00502744 0.99996598 -0.03717334] [ 0. 0. 0. 1. ]] SLAMing on 2.428623853 meters 0.6064611465882834 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.10, Z:-0.04 [[ 0.9999768 -0.00144592 -0.00665592 0.06026251] [ 0.00148294 0.99998344 0.00555991 -0.09746409] [ 0.00664777 -0.00556965 0.99996239 -0.03752004] [ 0. 0. 0. 1. ]] SLAMing on 2.488623853 meters 0.5905748928717515 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.10, Z:-0.04 [[ 0.99999009 0.00299189 -0.00329631 0.04153715] [-0.00297608 0.99998409 0.00479121 -0.10064667] [ 0.00331059 -0.00478135 0.99998309 -0.04223305] [ 0. 0. 0. 1. ]] SLAMing on 2.548623853 meters 0.6062904056413035 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.10, Z:-0.04 [[ 0.99998992 0.00296046 -0.00337591 0.04197679] [-0.00294448 0.99998448 0.0047291 -0.10026824] [ 0.00338985 -0.00471912 0.99998312 -0.04225619] [ 0. 0. 0. 1. ]] SLAMing on 2.608623853 meters 0.6061338833499651 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.10, Z:-0.04 [[ 0.9999896 0.00302198 -0.00341683 0.04224593] [-0.00300565 0.99998408 0.00477554 -0.1005032 ] [ 0.00343121 -0.00476522 0.99998276 -0.04231975] [ 0. 0. 0. 1. ]] SLAMing on 2.6686238529999997 meters 0.598849835686851 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.10, Z:-0.04 [[ 0.99999011 0.00281934 -0.00344055 0.04220411] [-0.00280455 0.99998684 0.00429485 -0.09735672] [ 0.00345262 -0.00428516 0.99998486 -0.04196044] [ 0. 0. 0. 1. ]] SLAMing on 2.7286238529999998 meters 0.6162891162332794 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.10, Z:-0.04 [[ 0.9999903 0.00264346 -0.0035219 0.04262545] [-0.00262962 0.99998883 0.00392724 -0.09503141] [ 0.00353224 -0.00391794 0.99998609 -0.04195853] [ 0. 0. 0. 1. ]] SLAMing on 2.788623853 meters 0.6457537007184501 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.09, Z:-0.04 [[ 0.99999047 0.00248057 -0.00359291 0.04311943] [-0.00246762 0.99999046 0.00360513 -0.09301072] [ 0.00360182 -0.00359623 0.99998705 -0.04216768] [ 0. 0. 0. 1. ]] SLAMing on 2.848623853 meters 0.6313457352582181 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.09, Z:-0.04 [[ 0.99999074 0.00227952 -0.00364942 0.04331438] [-0.00226789 0.99999234 0.00318968 -0.09034803] [ 0.00365666 -0.00318138 0.99998825 -0.04205075] [ 0. 0. 0. 1. ]] SLAMing on 2.908623853 meters 0.6483270695131139 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.09, Z:-0.04 [[ 0.99999119 0.00195137 -0.00371767 0.04356195] [-0.00194187 0.99999485 0.00255559 -0.08642123] [ 0.00372264 -0.00254835 0.99998982 -0.04189054] [ 0. 0. 0. 1. ]] SLAMing on 2.968623853 meters 0.6714126560571699 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:-0.04 [[ 0.99999116 0.00180391 -0.00379834 0.04364727] [-0.00179532 0.99999582 0.00226541 -0.08459819] [ 0.00380241 -0.00225857 0.99999022 -0.04132928] [ 0. 0. 0. 1. ]] SLAMing on 3.028623853 meters 0.6858579768099575 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:-0.04 [[ 0.99999144 0.00147667 -0.00386458 0.04348036] [-0.00147046 0.99999762 0.00160894 -0.08049328] [ 0.00386694 -0.00160325 0.99999124 -0.04044493] [ 0. 0. 0. 1. ]] SLAMing on 3.088623853 meters 0.7009551875254381 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:-0.04 [[ 0.99999151 0.00130849 -0.00390774 0.04354928] [-0.00130353 0.99999834 0.00127247 -0.07843628] [ 0.0039094 -0.00126736 0.99999156 -0.04019519] [ 0. 0. 0. 1. ]] SLAMing on 3.148623853 meters 0.6484698905395879 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:-0.04 [[ 0.9999913 0.00120698 -0.00399351 0.0438166 ] [-0.00120259 0.99999867 0.00110085 -0.07746216] [ 0.00399483 -0.00109604 0.99999142 -0.04002299] [ 0. 0. 0. 1. ]] SLAMing on 3.2086238529999997 meters 1.0599487310628508 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:-0.04 [[ 0.99998626 -0.00333945 -0.00403961 0.04389718] [ 0.00332471 0.99998781 -0.00364981 -0.07497498] [ 0.00405175 0.00363633 0.99998518 -0.03976731] [ 0. 0. 0. 1. ]] SLAMing on 3.268623853 meters 0.6785861335071214 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:-0.04 [[ 0.99998549 -0.00342995 -0.00415472 0.04437172] [ 0.00341539 0.99998803 -0.00350496 -0.07617934] [ 0.0041667 0.00349071 0.99998523 -0.03981585] [ 0. 0. 0. 1. ]] SLAMing on 3.328623853 meters 0.6845887568462585 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:-0.04 [[ 0.99998535 -0.0033781 -0.00422947 0.04444118] [ 0.00336377 0.99998859 -0.00339131 -0.07683661] [ 0.00424088 0.00337703 0.99998531 -0.03935016] [ 0. 0. 0. 1. ]] SLAMing on 3.388623853 meters 0.7146091778459511 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:-0.03 [[ 0.99998142 -0.00507927 -0.0033717 0.03785045] [ 0.00506444 0.99997753 -0.00439152 -0.07807346] [ 0.00339393 0.00437436 0.99998467 -0.03397286] [ 0. 0. 0. 1. ]] SLAMing on 3.448623853 meters 0.7181861077433562 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.08, Z:-0.03 [[ 0.99998217 -0.00489651 -0.00341854 0.03784146] [ 0.00488303 0.99998031 -0.0039408 -0.08059324] [ 0.00343777 0.00392404 0.99998639 -0.03355951] [ 0. 0. 0. 1. ]] SLAMing on 3.508623853 meters 0.7407813702545445 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.09, Z:-0.03 [[ 0.99998306 -0.00464761 -0.003505 0.0379002 ] [ 0.00463652 0.99998424 -0.00316623 -0.08504405] [ 0.00351966 0.00314993 0.99998884 -0.03298208] [ 0. 0. 0. 1. ]] SLAMing on 3.568623853 meters 0.7710694879154151 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.09, Z:-0.03 [[ 0.99997789 -0.00611158 -0.0026226 0.03120904] [ 0.00610167 0.99997427 -0.00377094 -0.08993728] [ 0.00264557 0.00375485 0.99998945 -0.02759422] [ 0. 0. 0. 1. ]] SLAMing on 3.6286238529999997 meters 0.7724955347459469 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.10, Z:-0.03 [[ 9.99999235e-01 -7.16193989e-04 1.00817601e-03 3.55222779e-03] [ 7.22315311e-04 9.99981229e-01 -6.08446724e-03 -9.50742556e-02] [-1.00379942e-03 6.08519081e-03 9.99980981e-01 -2.66809917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6886238529999997 meters 0.7780509363152203 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.10, Z:-0.02 [[ 0.99999572 0.00206391 0.00207462 -0.00327162] [-0.00205954 0.99999566 -0.0021049 -0.10266005] [-0.00207896 0.00210062 0.99999563 -0.02123908] [ 0. 0. 0. 1. ]] SLAMing on 3.748623853 meters 0.7820183144527008 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.11, Z:-0.02 [[ 0.9999948 0.00250478 0.00203028 -0.00327851] [-0.00250266 0.99999632 -0.00104527 -0.108342 ] [-0.00203289 0.00104018 0.99999739 -0.02087361] [ 0. 0. 0. 1. ]] SLAMing on 3.808623853 meters 0.7898011653617234 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.11, Z:-0.02 [[ 9.99994498e-01 2.67963719e-03 1.95545466e-03 -3.18130580e-03] [-2.67846166e-03 9.99996231e-01 -6.03528726e-04 -1.10641662e-01] [-1.95706453e-03 5.98287795e-04 9.99997906e-01 -2.05095863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.868623853 meters 0.7849268491471867 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.11, Z:-0.02 [[ 0.99998461 0.00470044 0.00294826 -0.00933459] [-0.00470447 0.999988 0.00136333 -0.11338541] [-0.00294182 -0.00137718 0.99999472 -0.0157779 ] [ 0. 0. 0. 1. ]] SLAMing on 3.928623853 meters 0.7853378749104714 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.12, Z:-0.02 [[ 0.99998397 0.00485789 0.00290912 -0.00927627] [-0.00486315 0.99998655 0.00180425 -0.11561021] [-0.00290032 -0.00181837 0.99999414 -0.0155992 ] [ 0. 0. 0. 1. ]] SLAMing on 3.988623853 meters 0.7680168426515533 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.12, Z:-0.02 [[ 0.99998322 0.00502073 0.00288866 -0.00930124] [-0.00502714 0.99998491 0.00221651 -0.11770425] [-0.00287749 -0.00223099 0.99999337 -0.01541066] [ 0. 0. 0. 1. ]] SLAMing on 4.048623853 meters 0.7773671605073439 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.12, Z:-0.02 [[ 0.99998245 0.00517773 0.00287833 -0.00936854] [-0.0051852 0.99998319 0.00259472 -0.11963336] [-0.00286485 -0.0026096 0.99999249 -0.01515389] [ 0. 0. 0. 1. ]] SLAMing on 4.108623853 meters 0.7654775722834788 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.12, Z:-0.01 [[ 9.99986835e-01 3.14775890e-03 4.05245708e-03 -1.62488014e-02] [-3.15065948e-03 9.99994785e-01 7.09573703e-04 -1.22038678e-01] [-4.05020238e-03 -7.22332273e-04 9.99991537e-01 -1.00362602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.168623853 meters 0.7607728393883137 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.12, Z:-0.01 [[ 0.99998627 0.0010531 0.00513279 -0.02246824] [-0.00104497 0.9999982 -0.00158586 -0.12084903] [-0.00513445 0.00158047 0.99998557 -0.00533575] [ 0. 0. 0. 1. ]] SLAMing on 4.228623853 meters 0.7596755272528227 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.12, Z:-0.01 [[ 0.99998654 0.00109988 0.00506962 -0.02227417] [-0.00109247 0.99999833 -0.00146382 -0.1214802 ] [-0.00507122 0.00145826 0.99998608 -0.0052877 ] [ 0. 0. 0. 1. ]] SLAMing on 4.288623853 meters 0.732723040964229 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.12, Z:-0.00 [[ 9.99979742e-01 2.64966338e-03 5.78753141e-03 -2.73631242e-02] [-2.65192486e-03 9.99996410e-01 3.83110646e-04 -1.24424591e-01] [-5.78649552e-03 -3.98450984e-04 9.99983179e-01 -9.36780214e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.348623853 meters 0.7092196734284455 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.13, Z:0.00 [[ 0.99996567 0.0045373 0.00693379 -0.03400273] [-0.00455379 0.99998684 0.0023644 -0.12523811] [-0.00692297 -0.0023959 0.99997317 0.00404512] [ 0. 0. 0. 1. ]] SLAMing on 4.408623853 meters 0.6962898820151762 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.01 [[ 9.99966583e-01 2.53868940e-03 7.77091564e-03 -3.94210648e-02] [-2.53825876e-03 9.99996776e-01 -6.52795781e-05 -1.21319907e-01] [-7.77105632e-03 4.55528020e-05 9.99969804e-01 8.54304367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4686238529999995 meters 0.6914164539722114 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.12, Z:0.01 [[ 9.99966347e-01 2.69878865e-03 7.74739391e-03 -3.94524339e-02] [-2.70170263e-03 9.99996284e-01 3.65681592e-04 -1.23352003e-01] [-7.74637822e-03 -3.86600440e-04 9.99969922e-01 8.77203779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.528623853 meters 0.6591923125245552 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.12, Z:0.01 [[ 0.99998514 -0.00317464 0.0044317 -0.06038603] [ 0.00315109 0.99998093 0.00531132 -0.12493943] [-0.00444848 -0.00529728 0.99997607 0.01185337] [ 0. 0. 0. 1. ]] SLAMing on 4.588623853 meters 0.7346851454948046 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.12, Z:0.02 [[ 0.99996974 -0.00542332 0.00557811 -0.06702518] [ 0.00540752 0.99998134 0.00284225 -0.12291233] [-0.00559342 -0.002812 0.9999804 0.01669262] [ 0. 0. 0. 1. ]] SLAMing on 4.648623853 meters 0.6478854825594311 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.12, Z:0.02 [[ 0.99994353 -0.00547903 0.0091058 -0.04878656] [ 0.00555335 0.99995131 -0.00815716 -0.12159716] [-0.00906066 0.00820727 0.99992527 0.01578517] [ 0. 0. 0. 1. ]] SLAMing on 4.708623853 meters 0.5016005905782143 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.13, Z:0.02 [[ 0.9999122 -0.01242503 0.00460624 -0.06876902] [ 0.01244293 0.99991506 -0.00387854 -0.12928065] [-0.00455765 0.00393552 0.99998187 0.01956476] [ 0. 0. 0. 1. ]] SLAMing on 4.768623853 meters 0.26081730736020065 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.14, Z:0.02 [[ 0.99996053 -0.00782933 0.00420102 -0.06802918] [ 0.00782085 0.99996735 0.00203091 -0.13668038] [-0.00421678 -0.00199797 0.99998911 0.01983844] [ 0. 0. 0. 1. ]] SLAMing on 4.828623853 meters 0.06773299948526729 Centerline is valid? [False, True] Translation: X:-0.07, Y:-0.14, Z:0.02 [[ 0.99996464 -0.0072803 0.00420848 -0.06822862] [ 0.00726423 0.99996631 0.0038228 -0.1446341 ] [-0.00423617 -0.00379209 0.99998384 0.02037874] [ 0. 0. 0. 1. ]] SLAMing on 4.8886238529999995 meters 0.0563651761339745 Centerline is valid? [True, True] Translation: X:-0.01, Y:-0.16, Z:0.02 [[ 9.99916272e-01 -1.04928043e-02 7.57304097e-03 -6.81044593e-03] [ 1.04933408e-02 9.99944943e-01 -3.11170990e-05 -1.56814936e-01] [-7.57229751e-03 1.10580994e-04 9.99971324e-01 2.40790556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.948623853 meters 0.06101091220721838 Centerline is valid? [True, True] Translation: X:0.05, Y:-0.17, Z:0.02 [[ 9.99906319e-01 -1.16177444e-02 7.23753121e-03 5.39488991e-02] [ 1.16182632e-02 9.99932505e-01 -2.96458545e-05 -1.68568984e-01] [-7.23669830e-03 1.13730620e-04 9.99973808e-01 1.90776858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.008623853 meters 0.05281964856552037 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.18, Z:0.02 [[ 9.99888088e-01 -1.22738057e-02 8.55361884e-03 1.15666651e-01] [ 1.22745601e-02 9.99924664e-01 -3.57054043e-05 -1.76923529e-01] [-8.55253620e-03 1.40693317e-04 9.99963416e-01 1.94595421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.068623853 meters 0.05167403267361366 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.18, Z:0.02 [[ 9.99888569e-01 -1.06718232e-02 1.04385095e-02 1.76830761e-01] [ 1.06728633e-02 9.99943042e-01 -4.39342342e-05 -1.81576542e-01] [-1.04374461e-02 1.55338123e-04 9.99945516e-01 1.94313224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.128623853 meters 0.04278637613283769 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.18, Z:0.02 [[ 9.99919140e-01 -6.32282881e-03 1.10333994e-02 2.37378014e-01] [ 6.32373118e-03 9.99980004e-01 -4.68998772e-05 -1.84125672e-01] [-1.10328822e-02 1.16668337e-04 9.99939129e-01 1.92102174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.188623853 meters 0.02995228454801326 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.18, Z:0.02 [[ 9.99901595e-01 1.47991661e-03 1.39502534e-02 2.99216378e-01] [-1.47923450e-03 9.99998904e-01 -5.92138751e-05 -1.76050745e-01] [-1.39503257e-02 3.85723520e-05 9.99902689e-01 2.25561319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.248623853 meters 0.035357064905942856 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.17, Z:0.02 [[ 9.99852948e-01 6.70433744e-03 1.57840163e-02 3.61903398e-01] [-6.70410889e-03 9.99977525e-01 -6.73925127e-05 -1.71097540e-01] [-1.57841133e-02 -3.84351612e-05 9.99875422e-01 2.27137433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.308623852999999 meters 0.027437266275455847 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.17, Z:0.02 [[ 9.99809091e-01 1.29951377e-02 1.45913433e-02 4.23187880e-01] [-1.29955977e-02 9.99915552e-01 -6.32984561e-05 -1.66072709e-01] [-1.45909336e-02 -1.26336854e-04 9.99893539e-01 1.73411063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.368623853 meters 0.025759851509512884 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.17, Z:0.01 [[ 9.99769061e-01 1.52549597e-02 1.51364138e-02 4.84992395e-01] [-1.52557284e-02 9.99883623e-01 -6.46874753e-05 -1.65137102e-01] [-1.51356391e-02 -1.66244481e-04 9.99885436e-01 1.28933198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4286238529999995 meters 0.02577887491408469 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.17, Z:0.01 [[ 9.99709955e-01 1.75638614e-02 1.64777686e-02 5.47354127e-01] [-1.75650380e-02 9.99845720e-01 -7.33256847e-05 -1.67275137e-01] [-1.64765143e-02 -2.16128215e-04 9.99864230e-01 1.10206880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.488623853 meters 0.028000464173470782 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.17, Z:0.01 [[ 9.99666638e-01 1.99054130e-02 1.64434662e-02 6.08012346e-01] [-1.99068464e-02 9.99801836e-01 -7.65180811e-05 -1.68088233e-01] [-1.64417308e-02 -2.50844983e-04 9.99864794e-01 8.66541456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.548623853 meters 0.02795489481203665 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.17, Z:0.01 [[ 9.99619534e-01 2.27559982e-02 1.55868874e-02 6.70040236e-01] [-2.27576106e-02 9.99741009e-01 -7.39418841e-05 -1.67272355e-01] [-1.55845332e-02 -2.80806562e-04 9.99878514e-01 5.20428053e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.608623853 meters 0.030245901762860197 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.16, Z:0.00 [[ 9.99553054e-01 2.50227167e-02 1.63571191e-02 7.31453237e-01] [-2.50248014e-02 9.99686828e-01 -7.72517543e-05 -1.64757757e-01] [-1.63539296e-02 -3.32116431e-04 9.99866210e-01 2.82148478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.668623853 meters 0.031139940123904305 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.16, Z:0.00 [[ 9.99478477e-01 2.68239113e-02 1.79791981e-02 7.93379640e-01] [-2.68266685e-02 9.99640096e-01 -8.78504701e-05 -1.63696939e-01] [-1.79750838e-02 -3.94517333e-04 9.99838357e-01 3.52233515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.728623853 meters 0.030010085206390986 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.17, Z:0.00 [[ 9.99457948e-01 2.70908700e-02 1.87054707e-02 8.56024453e-01] [-2.70938474e-02 9.99632890e-01 -9.42747053e-05 -1.65412616e-01] [-1.87011577e-02 -4.12579566e-04 9.99825033e-01 3.59605236e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.788623853 meters 0.028091116774036324 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.17, Z:0.00 [[ 9.99448070e-01 2.67696087e-02 1.96708769e-02 9.18711790e-01] [-2.67727472e-02 9.99641540e-01 -1.03827995e-04 -1.67313946e-01] [-1.96666051e-02 -4.22872725e-04 9.99806504e-01 3.52159071e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.848623852999999 meters 0.027934168689003714 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.17, Z:-0.00 [[ 9.99519446e-01 2.40037682e-02 1.96136498e-02 9.80165422e-01] [-2.40063337e-02 9.99711801e-01 -1.04670713e-04 -1.65953089e-01] [-1.96105096e-02 -3.66231408e-04 9.99807628e-01 -6.49715918e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.908623853 meters 0.02091829925942003 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.18, Z:-0.00 [[ 9.99643041e-01 1.80734839e-02 1.96758848e-02 1.04139864e+00] [-1.80748319e-02 9.99836631e-01 -1.09342150e-04 -1.76617670e-01] [-1.96746465e-02 -2.46335190e-04 9.99806405e-01 -1.91767817e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9686238529999995 meters 0.017522348041677488 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.18, Z:-0.00 [[ 9.99702745e-01 1.30268149e-02 2.06088216e-02 1.10360355e+00] [-1.30272316e-02 9.99915136e-01 -1.14039852e-04 -1.84539786e-01] [-2.06085582e-02 -1.54469939e-04 9.99787609e-01 -2.37374921e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.028623853 meters 0.015580987841131409 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.19, Z:-0.00 [[ 9.99762077e-01 5.72834973e-03 2.10469751e-02 1.16529139e+00] [-5.72709227e-03 9.99983593e-01 -1.20021017e-04 -1.94994160e-01] [-2.10473173e-02 -5.45507744e-07 9.99778481e-01 -3.80493337e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.088623853 meters 0.016016549947498227 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.20, Z:-0.01 [[ 9.99774183e-01 2.85231088e-03 2.10582126e-02 1.22829095e+00] [-2.85034382e-03 9.99995930e-01 -1.23424811e-04 -2.00721304e-01] [-2.10584789e-02 6.33737933e-05 9.99778244e-01 -5.07929904e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.148623853 meters 0.01690159216336844 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.21, Z:-0.01 [[ 9.99785672e-01 2.97295852e-04 2.07007860e-02 1.28917155e+00] [-2.94760878e-04 9.99999949e-01 -1.25508973e-04 -2.07411611e-01] [-2.07008223e-02 1.19380291e-04 9.99785708e-01 -7.58643173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.208623853 meters 0.016915026145449912 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.21, Z:-0.01 [[ 9.99756392e-01 -5.89179079e-04 2.20637431e-02 1.35187176e+00] [ 5.92351641e-04 9.99999815e-01 -1.37255469e-04 -2.10959392e-01] [-2.20636582e-02 1.50291527e-04 9.99756557e-01 -7.12897150e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.268623853 meters 0.018035071566128675 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.22, Z:-0.01 [[ 9.99748877e-01 -1.86596075e-03 2.23316371e-02 1.41294855e+00] [ 1.86963955e-03 9.99998242e-01 -1.43857539e-04 -2.16969522e-01] [-2.23313294e-02 1.85573525e-04 9.99750608e-01 -1.03799958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.328623853 meters 0.018161153922219404 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.22, Z:-0.01 [[ 9.99739974e-01 -2.88216924e-03 2.26202674e-02 1.47544034e+00] [ 2.88624340e-03 9.99995824e-01 -1.47465101e-04 -2.22355663e-01] [-2.26197479e-02 2.12714353e-04 9.99744118e-01 -1.19265392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3886238529999995 meters 0.018934657916851973 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.23, Z:-0.02 [[ 9.99778436e-01 -3.40798632e-03 2.07717332e-02 1.53753988e+00] [ 3.41161656e-03 9.99994171e-01 -1.39334419e-04 -2.29994722e-01] [-2.07711373e-02 2.10168736e-04 9.99784235e-01 -1.55913229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.448623853 meters 0.01659533735171134 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.23, Z:-0.01 [[ 9.99738012e-01 -1.06785178e-04 2.28887565e-02 1.59875375e+00] [ 1.10344531e-04 9.99999982e-01 -1.54243676e-04 -2.30575135e-01] [-2.28887396e-02 1.56728916e-04 9.99738006e-01 -1.49054716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.508623853 meters 0.014885781707463209 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.23, Z:-0.01 [[ 9.99714116e-01 2.34882661e-03 2.37942990e-02 1.66061306e+00] [-2.34558658e-03 9.99997236e-01 -1.64077287e-04 -2.28390093e-01] [-2.37946186e-02 1.08218791e-04 9.99716862e-01 -1.46893923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.568623853 meters 0.014724701936429748 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.22, Z:-0.02 [[ 9.99645556e-01 1.15713935e-02 2.39763642e-02 1.72405069e+00] [-1.15706481e-02 9.99933043e-01 -1.69825049e-04 -2.19495667e-01] [-2.39767240e-02 -1.07657218e-04 9.99712511e-01 -1.54881630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.628623853 meters 0.018692348369740333 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.21, Z:-0.02 [[ 9.99546075e-01 1.86533758e-02 2.36578961e-02 1.78510200e+00] [-1.86546005e-02 9.99825974e-01 -1.68945040e-04 -2.10027034e-01] [-2.36569304e-02 -2.72460249e-04 9.99720099e-01 -1.84863594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.688623853 meters 0.024003417205654184 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.20, Z:-0.02 [[ 9.99366533e-01 2.73919657e-02 2.27203161e-02 1.84600559e+00] [-2.73952591e-02 9.99624666e-01 -1.66348413e-04 -2.00538703e-01] [-2.27163450e-02 -4.56185909e-04 9.99741846e-01 -2.21205612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.748623853 meters 0.029723854355020705 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.19, Z:-0.02 [[ 9.99183893e-01 3.31593576e-02 2.30652454e-02 1.90587426e+00] [-3.31642844e-02 9.99449900e-01 -1.68993216e-04 -1.89550427e-01] [-2.30581609e-02 -5.96087060e-04 9.99733948e-01 -2.41197899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.808623852999999 meters 0.03197189883410488 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.18, Z:-0.03 [[ 9.99107230e-01 3.54816568e-02 2.29302188e-02 1.96779225e+00] [-3.54871114e-02 9.99370120e-01 -1.69122660e-04 -1.83845785e-01] [-2.29217763e-02 -6.44755556e-04 9.99737054e-01 -2.57869659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.868623853 meters 0.03368330618682712 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.18, Z:-0.02 [[ 9.99011848e-01 3.70718686e-02 2.45153751e-02 2.03005135e+00] [-3.70785604e-02 9.99312337e-01 -1.81699342e-04 -1.78224802e-01] [-2.45052527e-02 -7.27475021e-04 9.99699437e-01 -2.45896041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9286238529999995 meters 0.032678858487328856 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.17, Z:-0.03 [[ 9.99016498e-01 3.69552683e-02 2.45019249e-02 2.09197524e+00] [-3.69618178e-02 9.99316661e-01 -1.85680997e-04 -1.74233880e-01] [-2.44920437e-02 -7.20137304e-04 9.99699766e-01 -2.62695274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.988623853 meters 0.033312894601164995 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.17, Z:-0.03 [[ 9.99105273e-01 3.51517352e-02 2.35161260e-02 2.15311724e+00] [-3.51571785e-02 9.99381779e-01 -1.82054311e-04 -1.67641953e-01] [-2.35079874e-02 -6.44869217e-04 9.99723441e-01 -3.06273911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.048623853 meters 0.03077290691827013 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.17, Z:-0.04 [[ 9.99225106e-01 3.25980924e-02 2.20579303e-02 2.21485015e+00] [-3.26021747e-02 9.99468393e-01 -1.74610458e-04 -1.67977445e-01] [-2.20518961e-02 -5.44661345e-04 9.99756679e-01 -3.55324161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.108623853 meters 0.023204652991491905 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.17, Z:-0.04 [[ 9.99391462e-01 2.72758873e-02 2.17424058e-02 2.27603352e+00] [-2.72785756e-02 9.99627855e-01 -1.72986604e-04 -1.74903856e-01] [-2.17390328e-02 -4.20220525e-04 9.99763591e-01 -3.63254268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.168623853 meters 0.0210097028772397 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.17, Z:-0.04 [[ 9.99487382e-01 2.35594249e-02 2.16778076e-02 2.33667820e+00] [-2.35612193e-02 9.99722381e-01 -1.72664728e-04 -1.74360082e-01] [-2.16758573e-02 -3.38179362e-04 9.99764994e-01 -3.78368459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.228623852999999 meters 0.01986684450627392 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.17, Z:-0.04 [[ 9.99490683e-01 2.23700503e-02 2.27586269e-02 2.39925916e+00] [-2.23717231e-02 9.99749705e-01 -1.81138945e-04 -1.72554120e-01] [-2.27569826e-02 -3.28103010e-04 9.99740972e-01 -3.77879458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.288623853 meters 0.018946234043934147 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.17, Z:-0.04 [[ 9.99481181e-01 2.14910538e-02 2.39896614e-02 2.46124026e+00] [-2.14925553e-02 9.99768989e-01 -1.95275597e-04 -1.68987641e-01] [-2.39883162e-02 -3.20424841e-04 9.99712188e-01 -3.76027472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.348623852999999 meters 0.018595912157315448 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.17, Z:-0.04 [[ 9.99502983e-01 2.05397082e-02 2.39145957e-02 2.52270121e+00] [-2.05408240e-02 9.99788995e-01 -1.99015546e-04 -1.66269797e-01] [-2.39136373e-02 -2.92308870e-04 9.99713985e-01 -4.02280686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.408623853 meters 0.01690555308881201 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.16, Z:-0.04 [[ 9.99544813e-01 1.91816538e-02 2.32858356e-02 2.58520880e+00] [-1.91823007e-02 9.99815984e-01 -1.95604606e-04 -1.63428158e-01] [-2.32853026e-02 -2.51160331e-04 9.99728829e-01 -4.31713975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4686238529999995 meters 0.016283944246651718 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.16, Z:-0.05 [[ 9.99608319e-01 1.66664247e-02 2.24819553e-02 2.64680640e+00] [-1.66663064e-02 9.99861089e-01 -1.92645086e-04 -1.60188423e-01] [-2.24820430e-02 -1.82121525e-04 9.99747230e-01 -4.66120138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.528623853 meters 0.014625880953043886 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.16, Z:-0.05 [[ 9.99652346e-01 1.39792704e-02 2.23554866e-02 2.70909308e+00] [-1.39783950e-02 9.99902278e-01 -1.95431932e-04 -1.60292951e-01] [-2.23560340e-02 -1.17129833e-04 9.99750066e-01 -4.85182545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.588623853 meters 0.013536212404946553 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.16, Z:-0.05 [[ 9.99671236e-01 1.12351683e-02 2.30475830e-02 2.77095597e+00] [-1.12334155e-02 9.99936882e-01 -2.05521014e-04 -1.60505095e-01] [-2.30484373e-02 -5.34496299e-05 9.99734348e-01 -4.88124085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.648623853 meters 0.01345973236661171 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.16, Z:-0.05 [[ 9.99681940e-01 1.03488833e-02 2.29982297e-02 2.83396782e+00] [-1.03468157e-02 9.99946448e-01 -2.08898652e-04 -1.60193994e-01] [-2.29991600e-02 -2.91262350e-05 9.99735484e-01 -5.11770448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.708623853 meters 0.013496893826300295 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.16, Z:-0.05 [[ 9.99702574e-01 9.74942383e-03 2.23542482e-02 2.89713684e+00] [-9.74722639e-03 9.99952473e-01 -2.07260826e-04 -1.59376339e-01] [-2.23552065e-02 -1.06927375e-05 9.99750091e-01 -5.42368451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.768623852999999 meters 0.01357290037532498 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.16, Z:-0.06 [[ 9.99726018e-01 9.51704731e-03 2.13849386e-02 2.96013161e+00] [-9.51489862e-03 9.99954712e-01 -2.02226229e-04 -1.58052982e-01] [-2.13858947e-02 -1.30470107e-06 9.99771296e-01 -5.80038181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.828623853 meters 0.013630238632947064 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.16, Z:-0.06 [[ 9.99760083e-01 8.37971509e-03 2.02375256e-02 3.02187915e+00] [-8.37747996e-03 9.99964889e-01 -1.95222120e-04 -1.56333868e-01] [-2.02384510e-02 2.56358170e-05 9.99795181e-01 -6.19946478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8886238529999995 meters 0.014008721254697432 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.16, Z:-0.06 [[ 9.99763523e-01 7.42049205e-03 2.04409998e-02 3.08400546e+00] [-7.41793923e-03 9.99972467e-01 -2.00708407e-04 -1.56452055e-01] [-2.04419263e-02 4.90308504e-05 9.99791041e-01 -6.40765491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.948623853 meters 0.014550309668848599 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.16, Z:-0.06 [[ 9.99753656e-01 5.32490288e-03 2.15469993e-02 3.14694277e+00] [-5.32148925e-03 9.99985817e-01 -2.15762239e-04 -1.57092094e-01] [-2.15478426e-02 1.01046962e-04 9.99767813e-01 -6.32857776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.008623853 meters 0.015196786292323523 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.16, Z:-0.06 [[ 9.99738678e-01 4.17507041e-03 2.24754102e-02 3.20929828e+00] [-4.17096265e-03 9.99991275e-01 -2.29642053e-04 -1.58113000e-01] [-2.24761729e-02 1.35837947e-04 9.99747370e-01 -6.38624723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.068623852999998 meters 0.01545682871824671 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.16, Z:-0.06 [[ 9.99719943e-01 2.54778255e-03 2.35275275e-02 3.27269211e+00] [-2.54272855e-03 9.99996737e-01 -2.44726164e-04 -1.58000387e-01] [-2.35280743e-02 1.84833511e-04 9.99723159e-01 -6.26054341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.128623852999999 meters 0.03347242765679048 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.16, Z:-0.06 [[ 9.99736981e-01 1.94704772e-03 2.28512018e-02 3.33469447e+00] [-1.94202012e-03 9.99998085e-01 -2.42204351e-04 -1.58897801e-01] [-2.28516297e-02 1.97763153e-04 9.99738848e-01 -6.17164389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.188623853 meters 0.02739655497988753 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.16, Z:-0.07 [[ 9.99759359e-01 2.51967121e-03 2.17916509e-02 3.39652360e+00] [-2.51515955e-03 9.99996809e-01 -2.34441768e-04 -1.57774673e-01] [-2.17921721e-02 1.79575873e-04 9.99762506e-01 -6.63707423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.248623852999998 meters 0.015957903326012483 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.16, Z:-0.07 [[ 9.99782498e-01 3.13912661e-03 2.06180203e-02 3.45954099e+00] [-3.13514957e-03 9.99995060e-01 -2.25212775e-04 -1.56457341e-01] [-2.06186254e-02 1.60523214e-04 9.99787401e-01 -7.32524336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.308623852999999 meters 0.026503810009309965 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.16, Z:-0.07 [[ 9.99779479e-01 2.50334428e-03 2.08500874e-02 3.52183416e+00] [-2.49905038e-03 9.99996850e-01 -2.31994875e-04 -1.60474237e-01] [-2.08506025e-02 1.79838296e-04 9.99782586e-01 -7.27557494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.368623852999999 meters 0.01666485766873514 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.16, Z:-0.07 [[ 9.99756641e-01 1.89330233e-03 2.19789412e-02 3.58446670e+00] [-1.88829109e-03 9.99998186e-01 -2.48753770e-04 -1.63159891e-01] [-2.19793723e-02 2.07190594e-04 9.99758403e-01 -7.46006791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.428623853 meters 0.017039369052211824 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.17, Z:-0.08 [[ 9.99755835e-01 2.51009148e-03 2.19538061e-02 3.64665029e+00] [-2.50514336e-03 9.99996830e-01 -2.52886554e-04 -1.66024640e-01] [-2.19543713e-02 1.97827377e-04 9.99758954e-01 -7.73997646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.488623852999998 meters 0.014651090755356143 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.16, Z:-0.08 [[ 9.99751529e-01 5.86267093e-03 2.15060362e-02 3.70839893e+00] [-5.85861390e-03 9.99982807e-01 -2.51646591e-04 -1.64377611e-01] [-2.15071418e-02 1.25588501e-04 9.99768687e-01 -7.81502598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.548623852999999 meters 0.012986125463859247 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.16, Z:-0.08 [[ 9.99675225e-01 1.23450307e-02 2.22944947e-02 3.77056985e+00] [-1.23421782e-02 9.99923797e-01 -2.65547883e-04 -1.55220769e-01] [-2.22960740e-02 -9.70098582e-06 9.99751412e-01 -7.84250498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.608623853 meters 0.013735186218690883 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.15, Z:-0.08 [[ 9.99601014e-01 1.66291119e-02 2.28316788e-02 3.83253883e+00] [-1.66272261e-02 9.99861721e-01 -2.72443371e-04 -1.48453632e-01] [-2.28330521e-02 -1.07292815e-04 9.99739286e-01 -7.96561873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.668623853 meters 0.01639871403415764 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.14, Z:-0.08 [[ 9.99491142e-01 2.22446950e-02 2.28611092e-02 3.89436228e+00] [-2.22441764e-02 9.99752529e-01 -2.77008912e-04 -1.39916513e-01] [-2.28616137e-02 -2.31658592e-04 9.99738612e-01 -8.13276451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.728623852999998 meters 0.020103930766187054 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.13, Z:-0.08 [[ 9.99398508e-01 2.59636210e-02 2.29894201e-02 3.95572819e+00] [-2.59639870e-02 9.99662839e-01 -2.82618212e-04 -1.31776252e-01] [-2.29890067e-02 -3.14448785e-04 9.99735668e-01 -8.31854066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.788623852999999 meters 0.021211839029681205 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.13, Z:-0.08 [[ 9.99324150e-01 2.78331489e-02 2.40116284e-02 4.01821740e+00] [-2.78340412e-02 9.99612514e-01 -2.97118594e-04 -1.26283092e-01] [-2.40105940e-02 -3.71422869e-04 9.99711635e-01 -8.41909889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.848623853 meters 0.020916174457328764 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.12, Z:-0.09 [[ 9.99304620e-01 2.92950263e-02 2.30668008e-02 4.08070446e+00] [-2.92961565e-02 9.99570734e-01 -2.89000413e-04 -1.22705357e-01] [-2.30653653e-02 -3.86969160e-04 9.99733884e-01 -8.62535889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.908623852999998 meters 0.026333723489144964 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.12, Z:-0.09 [[ 9.99309187e-01 2.91829335e-02 2.30109679e-02 4.14260068e+00] [-2.91839382e-02 9.99574015e-01 -2.92226002e-04 -1.16531594e-01] [-2.30096936e-02 -3.79526538e-04 9.99735170e-01 -8.63785678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.968623852999999 meters 0.02075022649490755 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.11, Z:-0.09 [[ 9.99327664e-01 2.84587912e-02 2.31153117e-02 4.20484875e+00] [-2.84595108e-02 9.99594902e-01 -2.97906235e-04 -1.12403596e-01] [-2.31144257e-02 -3.60144519e-04 9.99732761e-01 -9.06922978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.028623853 meters 0.019329183755748727 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.11, Z:-0.09 [[ 9.99359709e-01 2.71255882e-02 2.33318363e-02 4.26660564e+00] [-2.71258649e-02 9.99631980e-01 -3.04690965e-04 -1.11265366e-01] [-2.33315146e-02 -3.28400366e-04 9.99727729e-01 -9.14031836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.088623853 meters 0.01781382157266298 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.11, Z:-0.09 [[ 9.99419353e-01 2.45478602e-02 2.36296174e-02 4.32766033e+00] [-2.45473259e-02 9.99698620e-01 -3.12717191e-04 -1.06958390e-01] [-2.36301725e-02 -2.67508307e-04 9.99720733e-01 -9.33556903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.148623852999998 meters 0.01574344138794612 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.11, Z:-0.09 [[ 9.99477325e-01 2.24534146e-02 2.32577079e-02 4.39032316e+00] [-2.24522370e-02 9.99747868e-01 -3.11794939e-04 -1.05544032e-01] [-2.32588447e-02 -2.10555598e-04 9.99729454e-01 -9.48799701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.208623852999999 meters 0.014040357740702546 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.10, Z:-0.10 [[ 9.99562265e-01 1.90507054e-02 2.26351200e-02 4.45106197e+00] [-1.90486916e-02 9.99818511e-01 -3.04595844e-04 -1.01520686e-01] [-2.26368147e-02 -1.26706908e-04 9.99743746e-01 -9.89117098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.268623853 meters 0.01294983945738918 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.10, Z:-0.10 [[ 9.99649083e-01 1.54103921e-02 2.15460238e-02 4.51266505e+00] [-1.54076793e-02 9.99881252e-01 -2.91916662e-04 -9.81562666e-02] [-2.15479638e-02 -4.01600017e-05 9.99767815e-01 -1.01927448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.328623852999998 meters 0.012733341519563018 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.10, Z:-0.10 [[ 9.99681871e-01 1.27714004e-02 2.17496883e-02 4.57529648e+00] [-1.27679797e-02 9.99918442e-01 -2.96139858e-04 -9.74280180e-02] [-2.17516966e-02 1.83460680e-05 9.99763404e-01 -1.03585446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.388623852999999 meters 0.013884314129997301 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.10, Z:-0.10 [[ 9.99727917e-01 8.37139257e-03 2.17717886e-02 4.63777706e+00] [-8.36682795e-03 9.99964952e-01 -3.00742002e-04 -9.50977589e-02] [-2.17735432e-02 1.18499365e-04 9.99762921e-01 -1.04886020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.448623852999999 meters 0.01845039026339366 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.10, Z:-0.11 [[ 9.99781692e-01 3.00263561e-03 2.06773291e-02 4.69846466e+00] [-2.99728027e-03 9.99995466e-01 -2.89982112e-04 -9.74342160e-02] [-2.06781061e-02 2.27943056e-04 9.99786159e-01 -1.09622247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.508623853 meters 0.019567066140928877 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.10, Z:-0.11 [[ 9.99804259e-01 -7.60032724e-04 1.97703248e-02 4.76024188e+00] [ 7.65650675e-04 9.99999669e-01 -2.76593038e-04 -9.66739850e-02] [-1.97701080e-02 2.91676060e-04 9.99804510e-01 -1.10953790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.568623852999998 meters 0.025687214347263676 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.10, Z:-0.12 [[ 9.99795010e-01 -5.72448818e-03 1.94208010e-02 4.82015581e+00] [ 5.73092241e-03 9.99983540e-01 -2.75667055e-04 -1.01269006e-01] [-1.94189033e-02 3.86909650e-04 9.99811360e-01 -1.15066026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.628623852999999 meters 0.027967694601023566 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.10, Z:-0.12 [[ 9.99771170e-01 -7.42280279e-03 2.00626580e-02 4.88139563e+00] [ 7.43002329e-03 9.99972356e-01 -2.85379686e-04 -1.02044133e-01] [-2.00599851e-02 4.34380399e-04 9.99798684e-01 -1.15684584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.688623853 meters 0.02726197705674974 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.10, Z:-0.12 [[ 9.99760462e-01 -8.43815398e-03 2.01944830e-02 4.94403325e+00] [ 8.44575531e-03 9.99964292e-01 -2.91147048e-04 -9.89191431e-02] [-2.01913051e-02 4.61634968e-04 9.99796028e-01 -1.16528978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.748623852999998 meters 0.02699228997061296 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.10, Z:-0.12 [[ 9.99778705e-01 -7.69570894e-03 1.95784835e-02 5.00631366e+00] [ 7.70272923e-03 9.99970293e-01 -2.83184453e-04 -9.70174239e-02] [-1.95757226e-02 4.33929543e-04 9.99808283e-01 -1.19262468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.808623852999999 meters 0.024894678939841375 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.09, Z:-0.12 [[ 9.99780617e-01 -6.90017287e-03 1.97763753e-02 5.06839137e+00] [ 6.90719923e-03 9.99976104e-01 -2.87005411e-04 -9.27209475e-02] [-1.97739224e-02 4.23541811e-04 9.99804387e-01 -1.19820695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.868623852999999 meters 0.026981507807832497 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.10, Z:-0.12 [[ 9.99793632e-01 -7.14880713e-03 1.90154761e-02 5.12931436e+00] [ 7.15536736e-03 9.99974362e-01 -2.76978484e-04 -9.59105500e-02] [-1.90130085e-02 4.12984041e-04 9.99819151e-01 -1.23264833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.928623853 meters 0.031494419657857195 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.11, Z:-0.13 [[ 9.99767288e-01 -8.04728572e-03 2.00152611e-02 5.19045136e+00] [ 8.05473187e-03 9.99967518e-01 -2.91433598e-04 -1.05117513e-01] [-2.00122657e-02 4.52583340e-04 9.99799632e-01 -1.25163700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.988623852999998 meters 0.03189306834215857 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.11, Z:-0.13 [[ 9.99750054e-01 -8.26576514e-03 2.07727319e-02 5.25309462e+00] [ 8.27391598e-03 9.99965724e-01 -3.06465633e-04 -1.08181956e-01] [-2.07694867e-02 4.78260871e-04 9.99784177e-01 -1.25165637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.048623852999999 meters 0.03334713226182997 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.11, Z:-0.13 [[ 9.99763992e-01 -8.61268380e-03 1.99444627e-02 5.31436917e+00] [ 8.62029675e-03 9.99962801e-01 -2.95765022e-04 -1.13901919e-01] [-1.99411735e-02 4.67622406e-04 9.99801046e-01 -1.29042103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.108623853 meters 0.028370826895233764 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.11, Z:-0.13 [[ 9.99784982e-01 -8.50969710e-03 1.89096534e-02 5.37699765e+00] [ 8.51653031e-03 9.99963694e-01 -2.80859841e-04 -1.11989978e-01] [-1.89065769e-02 4.41844088e-04 9.99821157e-01 -1.29920674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.168623852999998 meters 0.02859633039412183 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.12, Z:-0.13 [[ 9.99791659e-01 -8.70937088e-03 1.84603505e-02 5.43907361e+00] [ 8.71593305e-03 9.99961978e-01 -2.75045270e-04 -1.16120410e-01] [-1.84572532e-02 4.35887146e-04 9.99829555e-01 -1.32191018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.228623852999998 meters 0.03113487313093689 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.13, Z:-0.13 [[ 9.99785845e-01 -1.00598713e-02 1.80848965e-02 5.49962924e+00] [ 1.00663991e-02 9.99949296e-01 -2.69954903e-04 -1.27394696e-01] [-1.80812638e-02 4.51946876e-04 9.99836418e-01 -1.34605828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.288623852999999 meters 0.031005233535613085 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.14, Z:-0.14 [[ 9.99781755e-01 -1.08605472e-02 1.78463167e-02 5.56148471e+00] [ 1.08670637e-02 9.99940916e-01 -2.68208849e-04 -1.35169660e-01] [-1.78423493e-02 4.62087373e-04 9.99840706e-01 -1.36188137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.348623853 meters 0.031914616621846366 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.14, Z:-0.14 [[ 9.99791813e-01 -1.01413105e-02 1.77055104e-02 5.62242547e+00] [ 1.01476292e-02 9.99948476e-01 -2.67066116e-04 -1.39398287e-01] [-1.77018898e-02 4.46679471e-04 9.99843209e-01 -1.38737620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.408623852999998 meters 0.02745696867217217 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.14, Z:-0.14 [[ 9.99833458e-01 -5.72189991e-03 1.73296156e-02 5.68416107e+00] [ 5.72730016e-03 9.99983565e-01 -2.62005726e-04 -1.39942430e-01] [-1.73278316e-02 3.61214001e-04 9.99849797e-01 -1.40625700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.468623852999999 meters 0.022667606370440012 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.14, Z:-0.14 [[ 9.99864341e-01 -1.05403740e-04 1.64708358e-02 5.74602911e+00] [ 1.09529001e-04 9.99999963e-01 -2.49556624e-04 -1.39129898e-01] [-1.64708089e-02 2.51326803e-04 9.99864315e-01 -1.43060904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.528623853 meters 0.017430741363828536 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.14, Z:-0.14 [[ 9.99835721e-01 5.12969046e-03 1.73843728e-02 5.80731593e+00] [-5.12587244e-03 9.99986828e-01 -2.64175579e-04 -1.37240552e-01] [-1.73854989e-02 1.75022104e-04 9.99848845e-01 -1.42128467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.588623852999998 meters 0.015365815572153317 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.14, Z:-0.14 [[ 9.99797505e-01 8.23045252e-03 1.83632271e-02 5.86918913e+00] [-8.22673130e-03 9.99966121e-01 -2.78178101e-04 -1.37705460e-01] [-1.83648945e-02 1.27052437e-04 9.99831343e-01 -1.42160064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.648623852999998 meters 0.019524653749337813 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.14, Z:-0.14 [[ 9.99746639e-01 1.19540464e-02 1.90724321e-02 5.93071237e+00] [-1.19506426e-02 9.99928546e-01 -2.92433922e-04 -1.39332716e-01] [-1.90745650e-02 6.44320124e-05 9.99818062e-01 -1.39280285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.708623852999999 meters 0.012963778504748091 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.14, Z:-0.14 [[ 9.99688162e-01 1.61019340e-02 1.90868343e-02 5.99311323e+00] [-1.60992259e-02 9.99870355e-01 -2.95539143e-04 -1.36551236e-01] [-1.90891186e-02 -1.18362752e-05 9.99817786e-01 -1.43234525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.768623853 meters 0.015734859029806748 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.13, Z:-0.14 [[ 9.99541645e-01 2.37605207e-02 1.87600100e-02 6.05486433e+00] [-2.37591951e-02 9.99717667e-01 -2.93572438e-04 -1.27734304e-01] [-1.87616889e-02 -1.52284861e-04 9.99823972e-01 -1.44840947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.828623852999998 meters 0.021287162129867032 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.12, Z:-0.15 [[ 9.99384099e-01 3.03755159e-02 1.75712964e-02 6.11601074e+00] [-3.03753065e-02 9.99538525e-01 -2.78866473e-04 -1.18154025e-01] [-1.75716584e-02 -2.55038796e-04 9.99845574e-01 -1.48236104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.888623852999999 meters 0.024545705175658114 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.11, Z:-0.15 [[ 9.99282543e-01 3.37763424e-02 1.71335132e-02 6.17823421e+00] [-3.37766460e-02 9.99429369e-01 -2.71738717e-04 -1.12375039e-01] [-1.71329146e-02 -3.07168854e-04 9.99853174e-01 -1.51021835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.948623852999999 meters 0.024410048309310272 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.11, Z:-0.15 [[ 9.99277465e-01 3.36385883e-02 1.76916208e-02 6.24082814e+00] [-3.36388957e-02 9.99434013e-01 -2.80297712e-04 -1.13619891e-01] [-1.76910363e-02 -3.15031397e-04 9.99843452e-01 -1.51588401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.008623853 meters 0.020474811326141318 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.12, Z:-0.15 [[ 9.99361667e-01 3.07242114e-02 1.82285761e-02 6.30313496e+00] [-3.07239975e-02 9.99527864e-01 -2.91847761e-04 -1.18453101e-01] [-1.82289365e-02 -2.68393261e-04 9.99833803e-01 -1.51789583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.068623852999998 meters 0.017881044850464975 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.12, Z:-0.15 [[ 9.99458204e-01 2.79934926e-02 1.73107627e-02 6.36543006e+00] [-2.79928446e-02 9.99608084e-01 -2.79786298e-04 -1.22464474e-01] [-1.73118106e-02 -2.04942782e-04 9.99850118e-01 -1.54558662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.128623852999999 meters 0.0164554807573101 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.13, Z:-0.16 [[ 9.99600882e-01 2.33111022e-02 1.59583896e-02 6.42685404e+00] [-2.33099165e-02 9.99728253e-01 -2.60327979e-04 -1.25785972e-01] [-1.59601215e-02 -1.11764651e-04 9.99872623e-01 -1.60888126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.188623853 meters 0.014415669871262646 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.14, Z:-0.16 [[ 9.99711626e-01 1.80556282e-02 1.58322048e-02 6.48789857e+00] [-1.80537551e-02 9.99836984e-01 -2.61236857e-04 -1.35690720e-01] [-1.58343407e-02 -2.46692260e-05 9.99874629e-01 -1.62038137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.248623852999998 meters 0.01470655254115102 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.14, Z:-0.16 [[ 9.99764235e-01 1.41029552e-02 1.65100213e-02 6.55066962e+00] [-1.41003427e-02 9.99900548e-01 -2.74640273e-04 -1.42981464e-01] [-1.65122526e-02 4.17785647e-05 9.99863663e-01 -1.62451874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.308623852999999 meters 0.024360385508005906 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.15, Z:-0.16 [[ 9.99816834e-01 8.17610243e-03 1.73046144e-02 6.61306720e+00] [-8.17228266e-03 9.99966564e-01 -2.91441187e-04 -1.54603658e-01] [-1.73064186e-02 1.49969605e-04 9.99850221e-01 -1.60185189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.368623852999999 meters 0.021808010357890643 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.16, Z:-0.16 [[ 9.99839875e-01 4.85444716e-03 1.72237549e-02 6.67385994e+00] [-4.85012227e-03 9.99988195e-01 -2.92863248e-04 -1.62401515e-01] [-1.72249733e-02 2.09279036e-04 9.99851617e-01 -1.64146106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.428623853 meters 0.02414807132692478 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.17, Z:-0.17 [[ 9.99860667e-01 3.33333448e-03 1.63565014e-02 6.73568069e+00] [-3.32919745e-03 9.99994419e-01 -2.80151149e-04 -1.67833833e-01] [-1.63573439e-02 2.25658093e-04 9.99866184e-01 -1.67852290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.488623852999998 meters 0.026363907139795056 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.17, Z:-0.17 [[ 9.99870419e-01 1.87157656e-03 1.59888093e-02 6.79634306e+00] [-1.86739709e-03 9.99998218e-01 -2.76325796e-04 -1.74428039e-01] [-1.59892980e-02 2.46432534e-04 9.99872133e-01 -1.69755173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.548623852999999 meters 0.02623192871084406 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.18, Z:-0.17 [[ 9.99856126e-01 2.16980667e-03 1.68231659e-02 6.85829519e+00] [-2.16518042e-03 9.99997613e-01 -2.93201618e-04 -1.76802033e-01] [-1.68237619e-02 2.56734245e-04 9.99858438e-01 -1.69300817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.608623853 meters 0.02364831439397048 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.17, Z:-0.17 [[ 9.99847492e-01 4.62288662e-03 1.68410871e-02 6.92043296e+00] [-4.61853654e-03 9.99989290e-01 -2.97185719e-04 -1.74618181e-01] [-1.68422806e-02 2.19359220e-04 9.99858135e-01 -1.70410970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.668623852999998 meters 0.015938906889734115 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.17, Z:-0.17 [[ 9.99808366e-01 9.40161384e-03 1.71709191e-02 6.98334111e+00] [-9.39778703e-03 9.99955794e-01 -3.03544362e-04 -1.65744145e-01] [-1.71730138e-02 1.42117553e-04 9.99852523e-01 -1.66523118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.728623852999998 meters 0.015995706011870267 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.17, Z:-0.17 [[ 9.99761085e-01 1.29288537e-02 1.76243251e-02 7.04457577e+00] [-1.29253675e-02 9.99916415e-01 -3.11703669e-04 -1.65483937e-01] [-1.76268820e-02 8.38283180e-05 9.99844631e-01 -1.72032355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.788623852999999 meters 0.013166646528232611 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.16, Z:-0.17 [[ 9.99692750e-01 1.68910558e-02 1.81410495e-02 7.10688568e+00] [-1.68879617e-02 9.99857336e-01 -3.23752714e-04 -1.56864143e-01] [-1.81439299e-02 1.72878923e-05 9.99835385e-01 -1.67211682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.848623853 meters 0.01313939358703848 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.16, Z:-0.17 [[ 9.99672539e-01 1.80184206e-02 1.81700400e-02 7.16870183e+00] [-1.80154475e-02 9.99837655e-01 -3.27311580e-04 -1.55490509e-01] [-1.81729879e-02 -1.37004282e-07 9.99834858e-01 -1.70523725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.908623852999998 meters 0.013505704691951828 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.16, Z:-0.17 [[ 9.99700520e-01 1.72160882e-02 1.73918807e-02 7.23062884e+00] [-1.72131886e-02 9.99851792e-01 -3.16415178e-04 -1.59123200e-01] [-1.73947505e-02 1.69506946e-05 9.99848700e-01 -1.74481505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.968623852999999 meters 0.013772743268810162 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.16, Z:-0.18 [[ 9.99719550e-01 1.69701630e-02 1.65176973e-02 7.29311868e+00] [-1.69674725e-02 9.99855996e-01 -3.03021941e-04 -1.60386590e-01] [-1.65204610e-02 2.26733842e-05 9.99863528e-01 -1.77213145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.028623853 meters 0.01378012917967241 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.16, Z:-0.18 [[ 9.99687584e-01 1.88328018e-02 1.64335182e-02 7.35476804e+00] [-1.88303480e-02 9.99822647e-01 -3.04052929e-04 -1.58106752e-01] [-1.64363299e-02 -5.49092843e-06 9.99864914e-01 -1.78910012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.088623852999998 meters 0.013945219496017803 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.16, Z:-0.18 [[ 9.99644250e-01 2.11950434e-02 1.61908429e-02 7.41780160e+00] [-2.11929284e-02 9.99775359e-01 -3.02214078e-04 -1.55159700e-01] [-1.61936112e-02 -4.10248082e-05 9.99868874e-01 -1.80497732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.148623852999998 meters 0.014522236177023801 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.15, Z:-0.18 [[ 9.99583918e-01 2.33409532e-02 1.69466838e-02 7.47951411e+00] [-2.33388838e-02 9.99727560e-01 -3.19902909e-04 -1.50208679e-01] [-1.69495337e-02 -7.57468824e-05 9.99856343e-01 -1.81551386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.208623852999999 meters 0.01463812856945298 Centerline is valid? [True, True] Translation: X:7.54, Y:-0.15, Z:-0.18 [[ 9.99573802e-01 2.37063825e-02 1.70359042e-02 7.54252525e+00] [-2.37042956e-02 9.99718961e-01 -3.24445739e-04 -1.50403494e-01] [-1.70388079e-02 -7.95166485e-05 9.99854826e-01 -1.82720479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.268623853 meters 0.014632394072434194 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.15, Z:-0.19 [[ 9.99574913e-01 2.36682637e-02 1.70236949e-02 7.60478448e+00] [-2.36661185e-02 9.99719865e-01 -3.27488430e-04 -1.50103679e-01] [-1.70266770e-02 -7.55355623e-05 9.99855033e-01 -1.85322434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.328623852999998 meters 0.014894334998763786 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.15, Z:-0.19 [[ 9.99606123e-01 2.31083005e-02 1.59249805e-02 7.66657300e+00] [-2.31063109e-02 9.99732966e-01 -3.08943934e-04 -1.50744642e-01] [-1.59278672e-02 -5.91453027e-05 9.99873142e-01 -1.89529555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.388623852999999 meters 0.014080656506870428 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.15, Z:-0.19 [[ 9.99645609e-01 2.14569219e-02 1.57562020e-02 7.72920021e+00] [-2.14547369e-02 9.99769773e-01 -3.07718401e-04 -1.51311460e-01] [-1.57591772e-02 -3.04358194e-05 9.99875816e-01 -1.90187752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.448623852999999 meters 0.014262061255706305 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.15, Z:-0.19 [[ 9.99679082e-01 1.93338305e-02 1.63687346e-02 7.79050846e+00] [-1.93311260e-02 9.99813084e-01 -3.23443451e-04 -1.54289926e-01] [-1.63719284e-02 6.91358059e-06 9.99865971e-01 -1.92803122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.508623853 meters 0.014609721674379565 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.16, Z:-0.19 [[ 9.99728643e-01 1.60582672e-02 1.68752246e-02 7.85389096e+00] [-1.60548867e-02 9.99871056e-01 -3.35788818e-04 -1.58829788e-01] [-1.68784408e-02 6.47678817e-05 9.99857547e-01 -1.90773828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.568623852999998 meters 0.0163721808182978 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.16, Z:-0.19 [[ 9.99770171e-01 1.26615651e-02 1.72999907e-02 7.91559275e+00] [-1.26574406e-02 9.99919831e-01 -3.47891836e-04 -1.61696961e-01] [-1.73030086e-02 1.28838277e-04 9.99850283e-01 -1.91795763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.628623852999999 meters 0.01978705675919641 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.17, Z:-0.19 [[ 9.99787531e-01 1.03431919e-02 1.78300411e-02 7.97631560e+00] [-1.03383850e-02 9.99946492e-01 -3.61754246e-04 -1.67648795e-01] [-1.78328288e-02 1.77343556e-04 9.99840967e-01 -1.94769794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.688623853 meters 0.021248460268480037 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.17, Z:-0.19 [[ 9.99816855e-01 7.27619540e-03 1.77006464e-02 8.03866052e+00] [-7.27093194e-03 9.99973501e-01 -3.61697434e-04 -1.71891099e-01] [-1.77028091e-02 2.32930996e-04 9.99843266e-01 -1.94052289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.748623852999998 meters 0.024690017175187023 Centerline is valid? [True, True] Translation: X:8.10, Y:-0.18, Z:-0.20 [[ 9.99857323e-01 4.51451540e-03 1.62773593e-02 8.09927897e+00] [-4.50963606e-03 9.99989775e-01 -3.36454869e-04 -1.76536638e-01] [-1.62787118e-02 2.63001898e-04 9.99867458e-01 -1.99548730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.808623852999999 meters 0.026870334508747984 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.18, Z:-0.20 [[ 9.99863143e-01 2.53364635e-03 1.63485678e-02 8.16164860e+00] [-2.52847854e-03 9.99996747e-01 -3.36764094e-04 -1.81218006e-01] [-1.63493679e-02 2.95381003e-04 9.99866297e-01 -2.00413102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.868623852999999 meters 0.025034474351308133 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.18, Z:-0.20 [[ 9.99830296e-01 5.81979470e-04 1.84130452e-02 8.22360664e+00] [-5.75031904e-04 9.99999761e-01 -3.82609889e-04 -1.83633478e-01] [-1.84132635e-02 3.71956871e-04 9.99830392e-01 -1.95753456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.928623853 meters 0.030543909701723205 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.19, Z:-0.20 [[ 9.99833107e-01 1.33698652e-04 1.82685598e-02 8.28483153e+00] [-1.26725586e-04 9.99999919e-01 -3.82854730e-04 -1.93007522e-01] [-1.82686095e-02 3.80475740e-04 9.99833043e-01 -2.00357287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.988623852999998 meters 0.029565986124254654 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.19, Z:-0.20 [[ 9.99853496e-01 1.44424925e-03 1.70558133e-02 8.34742473e+00] [-1.43830688e-03 9.99998901e-01 -3.60669117e-04 -1.94275414e-01] [-1.70563154e-02 3.36084784e-04 9.99854474e-01 -2.04565162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.048623852999999 meters 0.021772820158786444 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.19, Z:-0.20 [[ 9.99846008e-01 4.76407808e-03 1.68897418e-02 8.40980151e+00] [-4.75869511e-03 9.99988613e-01 -3.58887849e-04 -1.86248044e-01] [-1.68912592e-02 2.78459451e-04 9.99857294e-01 -2.02272560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.108623853 meters 0.019931988850564894 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.18, Z:-0.21 [[ 9.99837053e-01 7.52538712e-03 1.64083837e-02 8.47171410e+00] [-7.52066591e-03 9.99971658e-01 -3.49418731e-04 -1.84149017e-01] [-1.64105481e-02 2.25959823e-04 9.99865312e-01 -2.05267785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.168623852999998 meters 0.019762337068613505 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.18, Z:-0.21 [[ 9.99805619e-01 1.12932298e-02 1.61612789e-02 8.53295187e+00] [-1.12891498e-02 9.99936216e-01 -3.43666652e-04 -1.81994234e-01] [-1.61641292e-02 1.61152752e-04 9.99869339e-01 -2.07042277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.228623852999998 meters 0.015595473847399293 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.18, Z:-0.21 [[ 9.99751074e-01 1.41094827e-02 1.72832992e-02 8.59522515e+00] [-1.41051868e-02 9.99900448e-01 -3.70441205e-04 -1.80299133e-01] [-1.72868053e-02 1.26564829e-04 9.99850564e-01 -2.07801218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.288623852999999 meters 0.014785246040855573 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.18, Z:-0.21 [[ 9.99723979e-01 1.56291160e-02 1.75412832e-02 8.65736363e+00] [-1.56248709e-02 9.99877852e-01 -3.79040811e-04 -1.80037408e-01] [-1.75450646e-02 1.04855902e-04 9.99846068e-01 -2.08591253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.348623853 meters 0.01380456397256561 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.18, Z:-0.21 [[ 9.99676093e-01 1.75846265e-02 1.83980917e-02 8.72008201e+00] [-1.75802056e-02 9.99845375e-01 -4.02008859e-04 -1.77353300e-01] [-1.84023161e-02 7.84364106e-05 9.99830660e-01 -2.09394068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.408623852999998 meters 0.014296914321870939 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.18, Z:-0.21 [[ 9.99686355e-01 1.80947900e-02 1.73138836e-02 8.78083363e+00] [-1.80909522e-02 9.99836274e-01 -3.78274344e-04 -1.80032446e-01] [-1.73178937e-02 6.49310590e-05 9.99850032e-01 -2.13757223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.468623852999999 meters 0.014408935607673916 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.18, Z:-0.22 [[ 9.99689593e-01 1.78322027e-02 1.73991592e-02 8.84414005e+00] [-1.78282448e-02 9.99840991e-01 -3.82574801e-04 -1.82801666e-01] [-1.74032147e-02 7.22595789e-05 9.99848550e-01 -2.15346062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.528623853 meters 0.02113930788491316 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.19, Z:-0.22 [[ 9.99735059e-01 1.53719646e-02 1.71322720e-02 8.90639440e+00] [-1.53677069e-02 9.99881838e-01 -3.80151750e-04 -1.88689296e-01] [-1.71360913e-02 1.16767299e-04 9.99853160e-01 -2.15657278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.588623852999998 meters 0.01779434894150718 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.20, Z:-0.22 [[ 9.99765567e-01 1.23007949e-02 1.78185747e-02 8.96848694e+00] [-1.22956457e-02 9.99924326e-01 -3.98505372e-04 -1.96268814e-01] [-1.78221283e-02 1.79321067e-04 9.99841157e-01 -2.18221670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.648623852999998 meters 0.033822583924148955 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.21, Z:-0.21 [[ 9.99798276e-01 6.32675933e-03 1.90625186e-02 9.03031413e+00] [-6.31969436e-03 9.99979938e-01 -4.30838611e-04 -2.09962869e-01] [-1.90648620e-02 3.10282409e-04 9.99818201e-01 -2.12548246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.708623852999999 meters 0.02830207080592318 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.23, Z:-0.22 [[ 9.99789245e-01 -7.31503211e-04 2.05166015e-02 9.09054216e+00] [ 7.41200680e-04 9.99999617e-01 -4.65064260e-04 -2.28360147e-01] [-2.05162535e-02 4.80173164e-04 9.99789404e-01 -2.15879532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.768623853 meters 0.03414638815700057 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.25, Z:-0.22 [[ 9.99783077e-01 -5.10048032e-03 2.01936651e-02 9.14974718e+00] [ 5.11076381e-03 9.99986835e-01 -4.57667775e-04 -2.45399213e-01] [-2.01910649e-02 5.60773549e-04 9.99795982e-01 -2.18824498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.828623852999998 meters 0.03777675382068447 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.26, Z:-0.22 [[ 9.99755299e-01 -9.92042355e-03 1.97718995e-02 9.21031375e+00] [ 9.93125055e-03 9.99950583e-01 -4.49478611e-04 -2.64286078e-01] [-1.97664634e-02 6.45728310e-04 9.99804416e-01 -2.20430292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.888623852999999 meters 0.03962968920852416 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.28, Z:-0.22 [[ 9.99760062e-01 -1.02594412e-02 1.93535903e-02 9.27205442e+00] [ 1.02698764e-02 9.99947167e-01 -4.39875440e-04 -2.76475066e-01] [-1.93480549e-02 6.38528878e-04 9.99812605e-01 -2.18618185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.948623852999999 meters 0.03568747704873886 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.28, Z:-0.23 [[ 9.99814369e-01 -6.61990352e-03 1.80943265e-02 9.33201061e+00] [ 6.62845044e-03 9.99977947e-01 -4.12420298e-04 -2.84882337e-01] [-1.80911973e-02 5.32281087e-04 9.99836199e-01 -2.26234914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.008623852999998 meters 0.024261354797010446 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.28, Z:-0.23 [[ 9.99832051e-01 3.35339785e-03 1.80173285e-02 9.39314819e+00] [-3.34653617e-03 9.99994316e-01 -4.10974440e-04 -2.81122308e-01] [-1.80186042e-02 3.50609776e-04 9.99837590e-01 -2.26833541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.068623852999998 meters 0.01728308707150225 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.28, Z:-0.23 [[ 9.99758225e-01 1.18045383e-02 1.85511479e-02 9.45435647e+00] [-1.17987187e-02 9.99930303e-01 -4.23129418e-04 -2.78225371e-01] [-1.85548498e-02 2.04147341e-04 9.99827823e-01 -2.27604571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.128623852999999 meters 0.013069862053336127 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.27, Z:-0.23 [[ 9.99611439e-01 2.04526090e-02 1.89383872e-02 9.51581345e+00] [-2.04481154e-02 9.99790823e-01 -4.30905742e-04 -2.74952414e-01] [-1.89432389e-02 4.34839811e-05 9.99820560e-01 -2.29419000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.188623853 meters 0.013479588376101175 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.27, Z:-0.23 [[ 9.99391754e-01 2.82773606e-02 2.04086353e-02 9.57848835e+00] [-2.82737046e-02 9.99600109e-01 -4.67721696e-04 -2.70386798e-01] [-2.04137000e-02 -1.09590519e-04 9.99791613e-01 -2.28415597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.248623852999998 meters 0.02113601225937501 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.26, Z:-0.23 [[ 9.99031272e-01 3.90717266e-02 2.02464038e-02 9.64007057e+00] [-3.90702398e-02 9.99236357e-01 -4.69138067e-04 -2.61951114e-01] [-2.02492728e-02 -3.22348252e-04 9.99794910e-01 -2.30739451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.308623852999999 meters 0.030766810771797777 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.25, Z:-0.24 [[ 9.98674762e-01 4.78981701e-02 1.88277490e-02 9.70010259e+00] [-4.78984381e-02 9.98852116e-01 -4.36973736e-04 -2.52015783e-01] [-1.88270671e-02 -4.65425127e-04 9.99822647e-01 -2.35942313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.368623852999999 meters 0.03403649377914097 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.25, Z:-0.24 [[ 9.98470838e-01 5.21622704e-02 1.83052930e-02 9.76117404e+00] [-5.21632493e-02 9.98638481e-01 -4.24313438e-04 -2.49272618e-01] [-1.83025031e-02 -5.31198968e-04 9.99832354e-01 -2.38339781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.428623852999998 meters 0.03699534482625718 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.25, Z:-0.24 [[ 9.98283730e-01 5.51770195e-02 1.96237228e-02 9.82271992e+00] [-5.51787137e-02 9.98476390e-01 -4.55527505e-04 -2.45567216e-01] [-1.96189586e-02 -6.28066085e-04 9.99807332e-01 -2.38497678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.488623852999998 meters 0.036361070887263265 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.25, Z:-0.24 [[ 9.98351559e-01 5.30584718e-02 2.18852117e-02 9.88288609e+00] [-5.30600564e-02 9.98591193e-01 -5.08679689e-04 -2.46627270e-01] [-2.18813694e-02 -6.53389407e-04 9.99760361e-01 -2.37088010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.548623852999999 meters 0.031444621586305545 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.25, Z:-0.24 [[ 9.98504752e-01 4.98437567e-02 2.24468442e-02 9.94473197e+00] [-4.98446089e-02 9.98756849e-01 -5.21879086e-04 -2.54532831e-01] [-2.24449518e-02 -5.97755423e-04 9.99747902e-01 -2.37155124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.608623853 meters 0.02656045474775866 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.26, Z:-0.24 [[ 9.98716712e-01 4.45294631e-02 2.41258326e-02 1.00053206e+01] [-4.45288738e-02 9.99007940e-01 -5.61919197e-04 -2.59936925e-01] [-2.41269203e-02 -5.13098064e-04 9.99708772e-01 -2.36601722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.668623852999998 meters 0.02875245687990155 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.27, Z:-0.24 [[ 9.98901089e-01 4.01633475e-02 2.41561507e-02 1.00663571e+01] [-4.01614748e-02 9.99193044e-01 -5.62861881e-04 -2.66424681e-01] [-2.41592642e-02 -4.07903292e-04 9.99708039e-01 -2.35595857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.728623852999998 meters 0.01721811602579 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.27, Z:-0.24 [[ 9.99142503e-01 3.43392908e-02 2.31316260e-02 1.01279017e+01] [-3.43360020e-02 9.99410200e-01 -5.39455909e-04 -2.74254644e-01] [-2.31365075e-02 -2.55254231e-04 9.99732283e-01 -2.41258154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.788623852999999 meters 0.014205401232805387 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.28, Z:-0.25 [[ 9.99334782e-01 2.95309180e-02 2.13990053e-02 1.01892408e+01] [-2.95270038e-02 9.99563858e-01 -4.98917492e-04 -2.81285343e-01] [-2.14044058e-02 -1.33262908e-04 9.99770891e-01 -2.47369275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.848623853 meters 0.012613645580677643 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.29, Z:-0.25 [[ 9.99400445e-01 2.67944026e-02 2.19273739e-02 1.02511935e+01] [-2.67895532e-02 9.99640963e-01 -5.14924293e-04 -2.87076990e-01] [-2.19332983e-02 -7.28089830e-05 9.99759434e-01 -2.48005377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.908623852999998 meters 0.012526789010729652 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.29, Z:-0.25 [[ 9.99424820e-01 2.63482233e-02 2.13494677e-02 1.03140108e+01] [-2.63434557e-02 9.99652824e-01 -5.04575715e-04 -2.89728475e-01] [-2.13553503e-02 -5.81332622e-05 9.99771947e-01 -2.50862181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.968623852999999 meters 0.012807953481008563 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.29, Z:-0.25 [[ 9.99435996e-01 2.65389952e-02 2.05759948e-02 1.03755985e+01] [-2.65345295e-02 9.99647777e-01 -4.90067683e-04 -2.89903811e-01] [-2.05817534e-02 -5.61830586e-05 9.99788172e-01 -2.54207774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.028623853 meters 0.01269357132139119 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.29, Z:-0.26 [[ 9.99423337e-01 2.67190134e-02 2.09544014e-02 1.04383112e+01] [-2.67143438e-02 9.99642982e-01 -5.02785533e-04 -2.90201856e-01] [-2.09603542e-02 -5.72874876e-05 9.99780306e-01 -2.55700250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.088623852999998 meters 0.012894403614578984 Centerline is valid? [True, True] Translation: X:10.50, Y:-0.29, Z:-0.26 [[ 9.99432750e-01 2.67737175e-02 2.04290478e-02 1.05003463e+01] [-2.67692146e-02 9.99641518e-01 -4.93898789e-04 -2.89632895e-01] [-2.04349479e-02 -5.32509396e-05 9.99791183e-01 -2.59002686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.148623852999998 meters 0.012608246091081058 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.29, Z:-0.26 [[ 9.99414880e-01 2.66987733e-02 2.13792699e-02 1.05624533e+01] [-2.66937399e-02 9.99643523e-01 -5.20831084e-04 -2.89774333e-01] [-2.13855543e-02 -5.01663352e-05 9.99771302e-01 -2.58911450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.208623852999999 meters 0.012744691718541803 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.29, Z:-0.26 [[ 9.99403949e-01 2.71053164e-02 2.13786933e-02 1.06243470e+01] [-2.71003053e-02 9.99632582e-01 -5.24131886e-04 -2.88837110e-01] [-2.13850451e-02 -5.55496389e-05 9.99771312e-01 -2.60872017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.268623853 meters 0.012574780465936939 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.29, Z:-0.26 [[ 9.99444503e-01 2.59210463e-02 2.09471864e-02 1.06871307e+01] [-2.59159045e-02 9.99663993e-01 -5.16934077e-04 -2.91026480e-01] [-2.09535475e-02 -2.62183622e-05 9.99780450e-01 -2.63951694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.328623852999998 meters 0.012949645238510327 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.30, Z:-0.27 [[ 9.99516899e-01 2.31551319e-02 2.07318242e-02 1.07492339e+01] [-2.31494173e-02 9.99731883e-01 -5.15624551e-04 -2.96357276e-01] [-2.07382050e-02 3.54458013e-05 9.99784940e-01 -2.67173713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.388623852999999 meters 0.01404522648542647 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.30, Z:-0.27 [[ 9.99604342e-01 2.01379763e-02 1.96372203e-02 1.08110288e+01] [-2.01322374e-02 9.99797206e-01 -4.89908924e-04 -3.01319918e-01] [-1.96431037e-02 9.43739077e-05 9.99807051e-01 -2.69932635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.448623852999999 meters 0.016456177728496137 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.31, Z:-0.28 [[ 9.99647124e-01 1.87162826e-02 1.88501463e-02 1.08720587e+01] [-1.87106846e-02 9.99824828e-01 -4.73310118e-04 -3.07847197e-01] [-1.88557029e-02 1.20443956e-04 9.99822208e-01 -2.76037333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.508623852999998 meters 0.01716043118933048 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.31, Z:-0.28 [[ 9.99665030e-01 1.86241849e-02 1.79712776e-02 1.09327055e+01] [-1.86190339e-02 9.99826548e-01 -4.53918479e-04 -3.10224313e-01] [-1.79766143e-02 1.19158605e-04 9.99838401e-01 -2.80248246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.568623852999998 meters 0.026471104902535104 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.31, Z:-0.28 [[ 9.99647803e-01 1.92667778e-02 1.82499382e-02 1.09958089e+01] [-1.92615357e-02 9.99814372e-01 -4.62985824e-04 -3.09527723e-01] [-1.82554708e-02 1.11300925e-04 9.99833349e-01 -2.75439481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.628623852999999 meters 0.013795823919388763 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.31, Z:-0.28 [[ 9.99612358e-01 2.04660097e-02 1.88752583e-02 1.10581894e+01] [-2.04605420e-02 9.99790545e-01 -4.82764038e-04 -3.08547006e-01] [-1.88811850e-02 9.63788829e-05 9.99821730e-01 -2.76775194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.688623853 meters 0.014239848763155026 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.31, Z:-0.28 [[ 9.99585174e-01 2.14953229e-02 1.91684682e-02 1.11189572e+01] [-2.14898038e-02 9.99768946e-01 -4.93889107e-04 -3.11312097e-01] [-1.91746556e-02 8.17576089e-05 9.99816146e-01 -2.80464069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.748623852999998 meters 0.013289126075927308 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.31, Z:-0.28 [[ 9.99544219e-01 2.30208842e-02 1.95292906e-02 1.11814286e+01] [-2.30153831e-02 9.99734983e-01 -5.06427827e-04 -3.09358609e-01] [-1.95357734e-02 5.67229029e-05 9.99809157e-01 -2.80147136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.808623852999999 meters 0.012676215010081286 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.31, Z:-0.28 [[ 9.99485969e-01 2.51990854e-02 1.98192765e-02 1.12435824e+01] [-2.51937813e-02 9.99682452e-01 -5.17302394e-04 -3.09474565e-01] [-1.98260185e-02 1.77139667e-05 9.99803445e-01 -2.80534984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.868623852999999 meters 0.013100853596978731 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.31, Z:-0.29 [[ 9.99462535e-01 2.65220606e-02 1.92671029e-02 1.13049890e+01] [-2.65172258e-02 9.99648228e-01 -5.06414507e-04 -3.09020028e-01] [-1.92737564e-02 -4.76779113e-06 9.99814244e-01 -2.86307955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.928623852999998 meters 0.013391814856471949 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.32, Z:-0.29 [[ 9.99507869e-01 2.48824953e-02 1.91018634e-02 1.13675330e+01] [-2.48774102e-02 9.99690382e-01 -5.03826820e-04 -3.15834706e-01] [-1.91084856e-02 2.83739819e-05 9.99817416e-01 -2.88760863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.988623852999998 meters 0.016300474753585266 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.32, Z:-0.29 [[ 9.99581693e-01 2.11642004e-02 1.97108006e-02 1.14293523e+01] [-2.11579914e-02 9.99776008e-01 -5.23515674e-04 -3.24290306e-01] [-1.97174653e-02 1.06255734e-04 9.99805586e-01 -2.86718416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.048623853 meters 0.018869634506233447 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.33, Z:-0.29 [[ 9.99600730e-01 2.00396795e-02 1.99196184e-02 1.14919650e+01] [-2.00330513e-02 9.99799177e-01 -5.32257366e-04 -3.30166744e-01] [-1.99262843e-02 1.32994115e-04 9.99801443e-01 -2.87234058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.108623852999997 meters 0.016263671823534314 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.34, Z:-0.29 [[ 9.99633035e-01 1.78951226e-02 2.03361924e-02 1.15539266e+01] [-1.78876859e-02 9.99839853e-01 -5.47547533e-04 -3.39972835e-01] [-2.03427341e-02 1.83579180e-04 9.99793048e-01 -2.88528695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.168623853 meters 0.015561490349231327 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.34, Z:-0.29 [[ 9.99590252e-01 1.96304866e-02 2.08319836e-02 1.16154715e+01] [-1.96229817e-02 9.99807291e-01 -5.64632398e-04 -3.43177207e-01] [-2.08390531e-02 1.55615408e-04 9.99782831e-01 -2.89069445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.228623853 meters 0.013890350836196412 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.34, Z:-0.29 [[ 9.99522858e-01 2.23423770e-02 2.13277646e-02 1.16765122e+01] [-2.23350539e-02 9.99750372e-01 -5.81530626e-04 -3.43328306e-01] [-2.13354334e-02 1.04896381e-04 9.99772368e-01 -2.89845059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.288623852999997 meters 0.012212101895507326 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.34, Z:-0.29 [[ 9.99413455e-01 2.66790695e-02 2.14702780e-02 1.17385578e+01] [-2.66725808e-02 9.99644050e-01 -5.88577359e-04 -3.42726393e-01] [-2.14783383e-02 1.55644072e-05 9.99769314e-01 -2.90484421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.348623853 meters 0.012793764359184967 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.34, Z:-0.29 [[ 9.99322177e-01 3.02622370e-02 2.09614587e-02 1.18004206e+01] [-3.02567715e-02 9.99541992e-01 -5.77910748e-04 -3.42345401e-01] [-2.09693470e-02 -5.67070376e-05 9.99780117e-01 -2.94480876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.408623852999998 meters 0.013330771631666813 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.34, Z:-0.30 [[ 9.99271298e-01 3.22567343e-02 2.04053112e-02 1.18627770e+01] [-3.22518995e-02 9.99479612e-01 -5.66065727e-04 -3.44177529e-01] [-2.04129519e-02 -9.24568123e-05 9.99791630e-01 -2.96359795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.468623852999997 meters 0.015826116818510243 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.34, Z:-0.30 [[ 9.99113101e-01 3.64196717e-02 2.11333459e-02 1.19243842e+01] [-3.64153375e-02 9.99336567e-01 -5.90011835e-04 -3.42458788e-01] [-2.11408134e-02 -1.80089368e-04 9.99776492e-01 -2.97563032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.528623853 meters 0.01909896230291903 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.34, Z:-0.30 [[ 9.98895009e-01 4.15747626e-02 2.19157690e-02 1.19864309e+01] [-4.15712518e-02 9.99135352e-01 -6.15953920e-04 -3.38870973e-01] [-2.19224277e-02 -2.95792653e-04 9.99759631e-01 -2.97553438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.588623852999998 meters 0.02250377480142234 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.34, Z:-0.30 [[ 9.98750372e-01 4.49306639e-02 2.18844653e-02 1.20472070e+01] [-4.49279426e-02 9.98990040e-01 -6.16250211e-04 -3.35537862e-01] [-2.18900514e-02 -3.67743872e-04 9.99760316e-01 -2.99338178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.648623853 meters 0.024475538665730275 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.33, Z:-0.30 [[ 9.98587290e-01 4.87642231e-02 2.11062793e-02 1.21091934e+01] [-4.87625412e-02 9.98810223e-01 -5.94642182e-04 -3.32637662e-01] [-2.11101648e-02 -4.35393689e-04 9.99777061e-01 -3.01943713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.708623853 meters 0.02932344887199052 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.33, Z:-0.31 [[ 9.98500047e-01 5.11037760e-02 1.96484189e-02 1.21705375e+01] [-5.11027712e-02 9.98693246e-01 -5.53560238e-04 -3.26240713e-01] [-1.96510323e-02 -4.51358731e-04 9.99806798e-01 -3.06685355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.768623852999998 meters 0.029253054550747285 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.33, Z:-0.31 [[ 9.98524635e-01 5.06372443e-02 1.96067071e-02 1.22321547e+01] [-5.06360942e-02 9.98717016e-01 -5.55424991e-04 -3.27020788e-01] [-1.96096772e-02 -4.38201532e-04 9.99807616e-01 -3.09101077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.828623853 meters 0.026388417153897295 Centerline is valid? [True, True] Translation: X:12.29, Y:-0.33, Z:-0.31 [[ 9.98646787e-01 4.77650589e-02 2.05692383e-02 1.22932328e+01] [-4.77630929e-02 9.98858520e-01 -5.87131320e-04 -3.29597410e-01] [-2.05738032e-02 -3.96113631e-04 9.99788258e-01 -3.08591169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.888623853 meters 0.022282691252510978 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.34, Z:-0.31 [[ 9.98765312e-01 4.50809553e-02 2.08700449e-02 1.23557072e+01] [-4.50783406e-02 9.98983277e-01 -5.95951110e-04 -3.35457510e-01] [-2.08756919e-02 -3.45571696e-04 9.99782019e-01 -3.09170371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.948623852999997 meters 0.017475155709953102 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.34, Z:-0.31 [[ 9.98982406e-01 3.99093059e-02 2.10095380e-02 1.24173053e+01] [-3.99054833e-02 9.99203278e-01 -6.01326781e-04 -3.43273420e-01] [-2.10167978e-02 -2.37680896e-04 9.99779094e-01 -3.10746711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.008623853 meters 0.013765314280651093 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.35, Z:-0.31 [[ 9.99172360e-01 3.45261163e-02 2.15067736e-02 1.24780851e+01] [-3.45208624e-02 9.99403788e-01 -6.15613368e-04 -3.51250086e-01] [-2.15152057e-02 -1.27328510e-04 9.99768513e-01 -3.10958999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.068623853 meters 0.012522701221875461 Centerline is valid? [True, True] Translation: X:12.54, Y:-0.36, Z:-0.31 [[ 9.99295596e-01 3.10987540e-02 2.10042531e-02 1.25405470e+01] [-3.10929070e-02 9.99516316e-01 -6.04971065e-04 -3.56917636e-01] [-2.10129075e-02 -4.85383687e-05 9.99779203e-01 -3.14523695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.128623852999997 meters 0.012709523389826321 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.37, Z:-0.32 [[ 9.99434560e-01 2.67684930e-02 2.03471665e-02 1.26034283e+01] [-2.67621057e-02 9.99641659e-01 -5.86191563e-04 -3.66270859e-01] [-2.03555668e-02 4.13270857e-05 9.99792803e-01 -3.17128485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.188623853 meters 0.013932397383939265 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.37, Z:-0.32 [[ 9.99496205e-01 2.43576148e-02 2.03480428e-02 1.26643415e+01] [-2.43506425e-02 9.99703305e-01 -5.90389487e-04 -3.71429249e-01] [-2.03563862e-02 9.46041346e-05 9.99792783e-01 -3.20180800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.248623852999998 meters 0.014188836785863369 Centerline is valid? [True, True] Translation: X:12.73, Y:-0.38, Z:-0.32 [[ 9.99522706e-01 2.31197128e-02 2.04899988e-02 1.27273366e+01] [-2.31123231e-02 9.99732696e-01 -5.97417760e-04 -3.75383637e-01] [-2.04983339e-02 1.23561143e-04 9.99789879e-01 -3.20577695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.308623853 meters 0.01845555904847911 Centerline is valid? [True, True] Translation: X:12.79, Y:-0.38, Z:-0.32 [[ 9.99524130e-01 2.25069236e-02 2.10938811e-02 1.27903945e+01] [-2.24988651e-02 9.99746677e-01 -6.19300667e-04 -3.77887492e-01] [-2.11024761e-02 1.44417575e-04 9.99777308e-01 -3.19787960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.368623853 meters 0.013681425853024844 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.38, Z:-0.32 [[ 9.99474176e-01 2.45329189e-02 2.12015680e-02 1.28514733e+01] [-2.45251387e-02 9.99699017e-01 -6.26943599e-04 -3.76609697e-01] [-2.12105674e-02 1.06642544e-04 9.99775025e-01 -3.22630278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.428623852999998 meters 0.012813452544926555 Centerline is valid? [True, True] Translation: X:12.91, Y:-0.37, Z:-0.33 [[ 9.99435308e-01 2.66261709e-02 2.04966317e-02 1.29147631e+01] [-2.66192815e-02 9.99645459e-01 -6.08928327e-04 -3.73667785e-01] [-2.05055782e-02 6.29788620e-05 9.99789737e-01 -3.25300690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.488623853 meters 0.012529023485483605 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.37, Z:-0.33 [[ 9.99382363e-01 2.94502264e-02 1.91723154e-02 1.29773146e+01] [-2.94446508e-02 9.99566248e-01 -5.73098600e-04 -3.69690940e-01] [-1.91808773e-02 8.22250066e-06 9.99816030e-01 -3.29439885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.548623853 meters 0.012712011202461786 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.37, Z:-0.33 [[ 9.99328271e-01 3.15247216e-02 1.86868852e-02 1.30394815e+01] [-3.15197248e-02 9.99502972e-01 -5.61939377e-04 -3.66215292e-01] [-1.86953123e-02 -2.74435733e-05 9.99825227e-01 -3.32015907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.608623852999997 meters 0.012571700187619439 Centerline is valid? [True, True] Translation: X:13.10, Y:-0.37, Z:-0.33 [[ 9.99318959e-01 3.16410066e-02 1.89859117e-02 1.31027776e+01] [-3.16358033e-02 9.99499298e-01 -5.74417014e-04 -3.65831565e-01] [-1.89945806e-02 -2.66087575e-05 9.99819586e-01 -3.34081027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.668623853 meters 0.012668538624945413 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.37, Z:-0.34 [[ 9.99346907e-01 3.05931905e-02 1.92305944e-02 1.31644664e+01] [-3.05875726e-02 9.99531919e-01 -5.86269789e-04 -3.68259328e-01] [-1.92395288e-02 -2.33030298e-06 9.99814903e-01 -3.36024909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.728623853 meters 0.013039638670680963 Centerline is valid? [True, True] Translation: X:13.23, Y:-0.38, Z:-0.34 [[ 9.99432307e-01 2.76765303e-02 1.92112662e-02 1.32274474e+01] [-2.76703528e-02 9.99616930e-01 -5.87344335e-04 -3.75233168e-01] [-1.92201626e-02 5.54283895e-05 9.99815274e-01 -3.36950063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.788623852999997 meters 0.013994611112427377 Centerline is valid? [True, True] Translation: X:13.29, Y:-0.38, Z:-0.34 [[ 9.99476464e-01 2.52412520e-02 2.02404707e-02 1.32899292e+01] [-2.52338094e-02 9.99681383e-01 -6.23060783e-04 -3.82820035e-01] [-2.02497486e-02 1.11990407e-04 9.99794947e-01 -3.36506672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.848623853 meters 0.01683066896030067 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.39, Z:-0.34 [[ 9.99540026e-01 2.17844365e-02 2.10991639e-02 1.33512793e+01] [-2.17754821e-02 9.99762672e-01 -6.54075104e-04 -3.92698465e-01] [-2.11084051e-02 1.94329781e-04 9.99777174e-01 -3.36581887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.908623852999998 meters 0.017437321972252524 Centerline is valid? [True, True] Translation: X:13.41, Y:-0.40, Z:-0.34 [[ 9.99561829e-01 1.97489238e-02 2.20483621e-02 1.34129595e+01] [-1.97385722e-02 9.99804939e-01 -6.87045267e-04 -3.98907253e-01] [-2.20576298e-02 2.51541036e-04 9.99756669e-01 -3.35625326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.968623852999997 meters 0.01748651446624003 Centerline is valid? [True, True] Translation: X:13.48, Y:-0.40, Z:-0.34 [[ 9.99565371e-01 1.99427681e-02 2.17107328e-02 1.34760192e+01] [-1.99327004e-02 9.99801093e-01 -6.80045400e-04 -4.02087233e-01] [-2.17199764e-02 2.46996298e-04 9.99764063e-01 -3.38064590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.028623853 meters 0.01691716535145459 Centerline is valid? [True, True] Translation: X:13.54, Y:-0.41, Z:-0.34 [[ 9.99567892e-01 2.13296863e-02 2.02255800e-02 1.35388199e+01] [-2.13211597e-02 9.99772475e-01 -6.37143107e-04 -4.06793495e-01] [-2.02345682e-02 2.05634972e-04 9.99795239e-01 -3.42988801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.088623852999998 meters 0.016202512264366743 Centerline is valid? [True, True] Translation: X:13.60, Y:-0.41, Z:-0.35 [[ 9.99544854e-01 2.31112986e-02 1.93895235e-02 1.36003445e+01] [-2.31037238e-02 9.99732884e-01 -6.14609565e-04 -4.09014441e-01] [-1.93985486e-02 1.66359634e-04 9.99811817e-01 -3.46809986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.148623853 meters 0.015041004771307308 Centerline is valid? [True, True] Translation: X:13.66, Y:-0.41, Z:-0.35 [[ 9.99477723e-01 2.58160792e-02 1.94373432e-02 1.36614551e+01] [-2.58089117e-02 9.99666703e-01 -6.19549300e-04 -4.11565120e-01] [-1.94468591e-02 1.17569049e-04 9.99810885e-01 -3.49268933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.208623853 meters 0.027122199094694238 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.41, Z:-0.35 [[ 9.99439902e-01 2.73490666e-02 1.92849988e-02 1.37239370e+01] [-2.73422427e-02 9.99625940e-01 -6.17478499e-04 -4.10921766e-01] [-1.92946726e-02 8.98375319e-05 9.99813836e-01 -3.48747743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.268623852999998 meters 0.013131855787758842 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.41, Z:-0.35 [[ 9.99389273e-01 2.92199057e-02 1.91644941e-02 1.37868354e+01] [-2.92134528e-02 9.99573006e-01 -6.16640394e-04 -4.14354228e-01] [-1.91743292e-02 5.64027501e-05 9.99816154e-01 -3.51162180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.328623853 meters 0.01281285152654315 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.42, Z:-0.35 [[ 9.99333051e-01 3.11621742e-02 1.90360766e-02 1.38499850e+01] [-3.11560901e-02 9.99514341e-01 -6.16168966e-04 -4.15516321e-01] [-1.90460328e-02 2.26682942e-05 9.99818608e-01 -3.53034841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.388623853 meters 0.012293649949452066 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.42, Z:-0.35 [[ 9.99270917e-01 3.23085894e-02 2.03418403e-02 1.39125503e+01] [-3.23017897e-02 9.99477941e-01 -6.62843158e-04 -4.17422437e-01] [-2.03526362e-02 5.28204174e-06 9.99792864e-01 -3.51979263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.448623852999997 meters 0.012331699663474607 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.42, Z:-0.35 [[ 9.99206506e-01 3.38415054e-02 2.10026592e-02 1.39746153e+01] [-3.38345173e-02 9.99427212e-01 -6.88086210e-04 -4.18051525e-01] [-2.10139151e-02 -2.30746205e-05 9.99779183e-01 -3.53427557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.508623853 meters 0.012995955683390858 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.41, Z:-0.36 [[ 9.99094610e-01 3.71785759e-02 2.06812468e-02 1.40368983e+01] [-3.71724360e-02 9.99308634e-01 -6.81365000e-04 -4.14244344e-01] [-2.06922807e-02 -8.80242245e-05 9.99785888e-01 -3.55470973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.568623853 meters 0.014486542986677406 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.41, Z:-0.36 [[ 9.98984210e-01 4.03851518e-02 1.99896713e-02 1.40994682e+01] [-4.03799937e-02 9.99184176e-01 -6.61767800e-04 -4.10949995e-01] [-2.00000888e-02 -1.46087216e-04 9.99799968e-01 -3.58264214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.628623852999997 meters 0.016773615432745793 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.41, Z:-0.36 [[ 9.98800909e-01 4.46871502e-02 1.99950546e-02 1.41621318e+01] [-4.46827846e-02 9.99001004e-01 -6.65266202e-04 -4.05219373e-01] [-2.00048085e-02 -2.28966231e-04 9.99799858e-01 -3.58954661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.688623853 meters 0.02026370258926843 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.40, Z:-0.36 [[ 9.98759882e-01 4.59321229e-02 1.92077561e-02 1.42230583e+01] [-4.59282622e-02 9.98944534e-01 -6.42312144e-04 -4.00164551e-01] [-1.92169858e-02 -2.40663259e-04 9.99815308e-01 -3.62331035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.748623852999998 meters 0.029038477968864575 Centerline is valid? [True, True] Translation: X:14.29, Y:-0.40, Z:-0.36 [[ 9.98827214e-01 4.46085361e-02 1.88221846e-02 1.42854057e+01] [-4.46045424e-02 9.99004522e-01 -6.32153717e-04 -4.02280463e-01] [-1.88316470e-02 -2.08142594e-04 9.99822647e-01 -3.62809013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.808623852999997 meters 0.017069773509948767 Centerline is valid? [True, True] Translation: X:14.35, Y:-0.40, Z:-0.37 [[ 9.98847250e-01 4.43333295e-02 1.84045661e-02 1.43473661e+01] [-4.43293987e-02 9.99016776e-01 -6.21689616e-04 -4.02468244e-01] [-1.84140318e-02 -1.94890385e-04 9.99830428e-01 -3.68436041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.868623853 meters 0.016472088424629085 Centerline is valid? [True, True] Translation: X:14.41, Y:-0.40, Z:-0.37 [[ 9.98886052e-01 4.37764785e-02 1.76146292e-02 1.44101917e+01] [-4.37727685e-02 9.99041335e-01 -5.96300914e-04 -4.01787964e-01] [-1.76238466e-02 -1.75404418e-04 9.99844673e-01 -3.71116812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.928623852999998 meters 0.01540723955161446 Centerline is valid? [True, True] Translation: X:14.47, Y:-0.40, Z:-0.37 [[ 9.98930643e-01 4.25602886e-02 1.80608182e-02 1.44726964e+01] [-4.25561196e-02 9.99093889e-01 -6.15274449e-04 -4.04608765e-01] [-1.80706394e-02 -1.53981840e-04 9.99836701e-01 -3.71843308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.988623853 meters 0.013734486830045224 Centerline is valid? [True, True] Translation: X:14.53, Y:-0.41, Z:-0.37 [[ 9.99046833e-01 3.93737966e-02 1.88448810e-02 1.45339440e+01] [-3.93686233e-02 9.99224547e-01 -6.45565051e-04 -4.08575018e-01] [-1.88556861e-02 -9.69473033e-05 9.99822211e-01 -3.73403500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.048623853 meters 0.012777635347194437 Centerline is valid? [True, True] Translation: X:14.60, Y:-0.41, Z:-0.37 [[ 9.99151311e-01 3.64218409e-02 1.92381455e-02 1.45957760e+01] [-3.64158442e-02 9.99336504e-01 -6.62051880e-04 -4.12360229e-01] [-1.92494942e-02 -3.90833041e-05 9.99814711e-01 -3.74521639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.108623852999997 meters 0.013145252732274544 Centerline is valid? [True, True] Translation: X:14.66, Y:-0.41, Z:-0.38 [[ 9.99217565e-01 3.51157300e-02 1.81973342e-02 1.46565109e+01] [-3.51100823e-02 9.99383253e-01 -6.29844458e-04 -4.14126628e-01] [-1.82082284e-02 -9.55825372e-06 9.99834216e-01 -3.78847184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.168623853 meters 0.013078483131811936 Centerline is valid? [True, True] Translation: X:14.72, Y:-0.41, Z:-0.38 [[ 9.99233963e-01 3.51391079e-02 1.72258547e-02 1.47189364e+01] [-3.51340390e-02 9.99382431e-01 -5.96893921e-04 -4.14236409e-01] [-1.72361909e-02 -8.77717433e-06 9.99851446e-01 -3.81614458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.228623853 meters 0.017380094350327117 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.41, Z:-0.38 [[ 9.99177479e-01 3.61902553e-02 1.82929198e-02 1.47809809e+01] [-3.61846522e-02 9.99344918e-01 -6.37300747e-04 -4.10117334e-01] [-1.83040005e-02 -2.51463873e-05 9.99832467e-01 -3.80094969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.288623852999997 meters 0.012595872719085965 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.41, Z:-0.38 [[ 9.99129830e-01 3.63437640e-02 2.04625049e-02 1.48422380e+01] [-3.63367001e-02 9.99339347e-01 -7.17039406e-04 -4.09678569e-01] [-2.04750462e-02 -2.71244452e-05 9.99790364e-01 -3.79255854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.348623853 meters 0.012655353469669707 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.41, Z:-0.38 [[ 9.99178419e-01 3.52668832e-02 1.99683480e-02 1.49049905e+01] [-3.52598859e-02 9.99377930e-01 -7.02497414e-04 -4.12871395e-01] [-1.99807012e-02 -2.16141751e-06 9.99800366e-01 -3.82466462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.408623852999998 meters 0.02513410830167119 Centerline is valid? [True, True] Translation: X:14.97, Y:-0.42, Z:-0.39 [[ 9.99315573e-01 3.19004442e-02 1.87282219e-02 1.49673725e+01] [-3.18936332e-02 9.99491049e-01 -6.62319791e-04 -4.17342506e-01] [-1.87398184e-02 6.45554422e-05 9.99824392e-01 -3.85123803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.468623852999997 meters 0.015818933279735634 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.43, Z:-0.39 [[ 9.99427726e-01 2.83356928e-02 1.84745415e-02 1.50295275e+01] [-2.83284015e-02 9.99598455e-01 -6.56300714e-04 -4.25693734e-01] [-1.84857199e-02 1.32570901e-04 9.99829116e-01 -3.89503647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.528623853 meters 0.018424235959140996 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.43, Z:-0.39 [[ 9.99453662e-01 2.73108027e-02 1.86144459e-02 1.50903717e+01] [-2.73031619e-02 9.99626978e-01 -6.64538734e-04 -4.31192995e-01] [-1.86256514e-02 1.55942440e-04 9.99826515e-01 -3.93078482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.588623852999998 meters 0.0183704253442851 Centerline is valid? [True, True] Translation: X:15.15, Y:-0.43, Z:-0.39 [[ 9.99445064e-01 2.68312988e-02 1.97394192e-02 1.51536741e+01] [-2.68225548e-02 9.99639960e-01 -7.07640055e-04 -4.31695836e-01] [-1.97512992e-02 1.77785706e-04 9.99804908e-01 -3.88298659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.648623853 meters 0.02247780511816785 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.44, Z:-0.39 [[ 9.99462566e-01 2.57825405e-02 2.02444869e-02 1.52150950e+01] [-2.57730401e-02 9.99667553e-01 -7.30095416e-04 -4.36530680e-01] [-2.02565805e-02 2.07941064e-04 9.99794793e-01 -3.88453396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.708623853 meters 0.018524351321147235 Centerline is valid? [True, True] Translation: X:15.28, Y:-0.44, Z:-0.39 [[ 9.99478102e-01 2.47156170e-02 2.08005044e-02 1.52768965e+01] [-2.47052881e-02 9.99694494e-01 -7.53431969e-04 -4.43944819e-01] [-2.08127712e-02 2.39156302e-04 9.99783362e-01 -3.91478322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.768623852999998 meters 0.032912712442957515 Centerline is valid? [True, True] Translation: X:15.34, Y:-0.45, Z:-0.39 [[ 9.99542685e-01 2.27138854e-02 1.99624560e-02 1.53389932e+01] [-2.27039104e-02 9.99741969e-01 -7.26213556e-04 -4.51902452e-01] [-1.99738002e-02 2.72655636e-04 9.99800467e-01 -3.91589732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.828623853 meters 0.020568070980434974 Centerline is valid? [True, True] Translation: X:15.40, Y:-0.46, Z:-0.40 [[ 9.99539011e-01 2.24491820e-02 2.04401435e-02 1.54016922e+01] [-2.24385983e-02 9.99747944e-01 -7.47019910e-04 -4.57116333e-01] [-2.04517614e-02 2.88027373e-04 9.99790799e-01 -3.95405219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.888623853 meters 0.025979394943795506 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.47, Z:-0.39 [[ 9.99520731e-01 2.23355931e-02 2.14343128e-02 1.54637226e+01] [-2.23238320e-02 9.99750482e-01 -7.87851824e-04 -4.65720551e-01] [-2.14465617e-02 3.08978232e-04 9.99769948e-01 -3.93062528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.948623852999997 meters 0.020592953412166857 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.47, Z:-0.40 [[ 9.99503319e-01 2.34020435e-02 2.11058958e-02 1.55254547e+01] [-2.33907972e-02 9.99726094e-01 -7.79597920e-04 -4.68822430e-01] [-2.11183590e-02 2.85526981e-04 9.99776942e-01 -3.96849995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.008623853 meters 0.02525954258493425 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.47, Z:-0.40 [[ 9.99481590e-01 2.52767450e-02 1.99408321e-02 1.55878733e+01] [-2.52670203e-02 9.99680464e-01 -7.39515843e-04 -4.71320488e-01] [-1.99531528e-02 2.35287063e-04 9.99800888e-01 -3.97289594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.068623853 meters 0.015706127992110568 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.47, Z:-0.40 [[ 9.99382924e-01 2.92820544e-02 1.93992739e-02 1.56488185e+01] [-2.92735389e-02 9.99571177e-01 -7.22843786e-04 -4.72866467e-01] [-1.94121213e-02 1.54512339e-04 9.99811555e-01 -4.01846807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.128623852999997 meters 0.013437854264374821 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.47, Z:-0.40 [[ 9.99220299e-01 3.46259115e-02 1.89694728e-02 1.57098770e+01] [-3.46186644e-02 9.99400342e-01 -7.10385371e-04 -4.71472807e-01] [-1.89826954e-02 5.31336701e-05 9.99819811e-01 -4.04473745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.188623853 meters 0.012871948134185863 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.47, Z:-0.41 [[ 9.99098741e-01 3.78716684e-02 1.91687822e-02 1.57720084e+01] [-3.78648408e-02 9.99282611e-01 -7.19133929e-04 -4.70895111e-01] [-1.91822655e-02 -7.33708304e-06 9.99816003e-01 -4.05457403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.248623852999998 meters 0.012995334188860728 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.47, Z:-0.41 [[ 9.99028962e-01 3.96181990e-02 1.92751425e-02 1.58345438e+01] [-3.96115606e-02 9.99214890e-01 -7.26226374e-04 -4.72620308e-01] [-1.92887812e-02 -3.79972937e-05 9.99813953e-01 -4.07955082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.308623852999997 meters 0.013021488952757856 Centerline is valid? [True, True] Translation: X:15.90, Y:-0.48, Z:-0.41 [[ 9.99102387e-01 3.78678687e-02 1.89853792e-02 1.58966691e+01] [-3.78610418e-02 9.99282755e-01 -7.19026241e-04 -4.81966433e-01] [-1.89989900e-02 -4.25401288e-07 9.99819503e-01 -4.09896010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.368623853 meters 0.013428401686533442 Centerline is valid? [True, True] Translation: X:15.96, Y:-0.49, Z:-0.41 [[ 9.99183601e-01 3.56298606e-02 1.90432119e-02 1.59591993e+01] [-3.56225221e-02 9.99365054e-01 -7.24542150e-04 -4.90752099e-01] [-1.90569358e-02 4.55833980e-05 9.99818399e-01 -4.11682986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.428623852999998 meters 0.02323325930913901 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.50, Z:-0.41 [[ 9.99295250e-01 3.22619800e-02 1.91876902e-02 1.60213287e+01] [-3.22538343e-02 9.99479440e-01 -7.33923642e-04 -5.02409773e-01] [-1.92013797e-02 1.14529830e-04 9.99815630e-01 -4.10183672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.488623853 meters 0.015384554235555008 Centerline is valid? [True, True] Translation: X:16.08, Y:-0.51, Z:-0.41 [[ 9.99303077e-01 3.15875144e-02 1.98894398e-02 1.60843385e+01] [-3.15785634e-02 9.99500981e-01 -7.64023925e-04 -5.12786369e-01] [-1.99036482e-02 1.35411522e-04 9.99801894e-01 -4.13755208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.548623853 meters 0.015421546742011854 Centerline is valid? [True, True] Translation: X:16.15, Y:-0.52, Z:-0.42 [[ 9.99315165e-01 3.13895106e-02 1.95933742e-02 1.61468899e+01] [-3.13807154e-02 9.99507218e-01 -7.56260413e-04 -5.18834317e-01] [-1.96074576e-02 1.40888400e-04 9.99807745e-01 -4.15219313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.608623852999997 meters 0.015317910119768565 Centerline is valid? [True, True] Translation: X:16.21, Y:-0.53, Z:-0.42 [[ 9.99299013e-01 3.19784715e-02 1.94643079e-02 1.62094712e+01] [-3.19698301e-02 9.99488549e-01 -7.55041541e-04 -5.25552316e-01] [-1.94784980e-02 1.32241649e-04 9.99810267e-01 -4.18006539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.668623853 meters 0.014864125689572375 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.53, Z:-0.42 [[ 9.99262174e-01 3.36536520e-02 1.85078266e-02 1.62713843e+01] [-3.36460626e-02 9.99433551e-01 -7.21386276e-04 -5.32754811e-01] [-1.85216202e-02 9.81385257e-05 9.99828455e-01 -4.21671951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.728623853 meters 0.014608253028458204 Centerline is valid? [True, True] Translation: X:16.33, Y:-0.54, Z:-0.43 [[ 9.99202555e-01 3.54421229e-02 1.83877773e-02 1.63324689e+01] [-3.54348693e-02 9.99371728e-01 -7.20241001e-04 -5.36301003e-01] [-1.84017516e-02 6.80981628e-05 9.99830671e-01 -4.25119860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.788623852999997 meters 0.013152790705249592 Centerline is valid? [True, True] Translation: X:16.40, Y:-0.54, Z:-0.42 [[ 9.99031785e-01 3.97540006e-02 1.88444297e-02 1.63950186e+01] [-3.97470964e-02 9.99209497e-01 -7.40921552e-04 -5.36483919e-01] [-1.88589877e-02 -8.80718464e-06 9.99822153e-01 -4.23222489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.848623853 meters 0.014276204868642742 Centerline is valid? [True, True] Translation: X:16.46, Y:-0.53, Z:-0.43 [[ 9.98843039e-01 4.40793215e-02 1.92248821e-02 1.64570732e+01] [-4.40728738e-02 9.99028030e-01 -7.59152114e-04 -5.34179372e-01] [-1.92396590e-02 -8.90219964e-05 9.99814897e-01 -4.25025862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.908623852999998 meters 0.017513025740250987 Centerline is valid? [True, True] Translation: X:16.52, Y:-0.53, Z:-0.43 [[ 9.98566984e-01 4.99547704e-02 1.91963347e-02 1.65190658e+01] [-4.99493578e-02 9.98751461e-01 -7.61624147e-04 -5.32549687e-01] [-1.92104141e-02 -1.98311862e-04 9.99815443e-01 -4.26535862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.968623852999997 meters 0.021476052690128932 Centerline is valid? [True, True] Translation: X:16.58, Y:-0.53, Z:-0.43 [[ 9.98291162e-01 5.52374019e-02 1.90679219e-02 1.65816644e+01] [-5.52329473e-02 9.98473206e-01 -7.60578713e-04 -5.30741903e-01] [-1.90808215e-02 -2.93898518e-04 9.99817901e-01 -4.27584388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.028623853 meters 0.024767689144447387 Centerline is valid? [True, True] Translation: X:16.64, Y:-0.53, Z:-0.43 [[ 9.98074584e-01 5.86328335e-02 2.02315408e-02 1.66427867e+01] [-5.86285107e-02 9.98279543e-01 -8.07245882e-04 -5.29064105e-01] [-2.02440644e-02 -3.80453507e-04 9.99794996e-01 -4.27585781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.088623852999998 meters 0.02765674737532256 Centerline is valid? [True, True] Translation: X:16.70, Y:-0.53, Z:-0.43 [[ 9.97862277e-01 6.22812398e-02 1.97970634e-02 1.67043543e+01] [-6.22777411e-02 9.98058542e-01 -7.93796158e-04 -5.27528354e-01] [-1.98080669e-02 -4.40817149e-04 9.99803704e-01 -4.29861522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.148623852999997 meters 0.03207831636578313 Centerline is valid? [True, True] Translation: X:16.77, Y:-0.52, Z:-0.43 [[ 9.97715247e-01 6.49085850e-02 1.87392920e-02 1.67657735e+01] [-6.49059270e-02 9.97891105e-01 -7.50643425e-04 -5.24552953e-01] [-1.87484960e-02 -4.67362727e-04 9.99824122e-01 -4.34267567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.208623853 meters 0.030887167895964265 Centerline is valid? [True, True] Translation: X:16.83, Y:-0.53, Z:-0.44 [[ 9.97605266e-01 6.67571527e-02 1.80890974e-02 1.68275923e+01] [-6.67549151e-02 9.97769137e-01 -7.28163318e-04 -5.27738876e-01] [-1.80973533e-02 -4.81116604e-04 9.99836114e-01 -4.36250328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.268623852999998 meters 0.030945299347551775 Centerline is valid? [True, True] Translation: X:16.89, Y:-0.53, Z:-0.44 [[ 9.97556797e-01 6.73790200e-02 1.84527433e-02 1.68902408e+01] [-6.73768056e-02 9.97727325e-01 -7.42380401e-04 -5.26835838e-01] [-1.84608270e-02 -5.02720281e-04 9.99829458e-01 -4.37171581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.328623853 meters 0.03135759272701781 Centerline is valid? [True, True] Translation: X:16.95, Y:-0.53, Z:-0.44 [[ 9.97633923e-01 6.62136802e-02 1.85014847e-02 1.69511857e+01] [-6.62111821e-02 9.97805352e-01 -7.48218074e-04 -5.25691268e-01] [-1.85104227e-02 -4.78557439e-04 9.99828553e-01 -4.39001329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.388623853 meters 0.026337293237810932 Centerline is valid? [True, True] Translation: X:17.01, Y:-0.53, Z:-0.44 [[ 9.97821482e-01 6.32736468e-02 1.86744538e-02 1.70122966e+01] [-6.32705113e-02 9.97996125e-01 -7.59272515e-04 -5.30064129e-01] [-1.86850745e-02 -4.23923815e-04 9.99825329e-01 -4.38936743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.448623852999997 meters 0.024246777122891704 Centerline is valid? [True, True] Translation: X:17.07, Y:-0.53, Z:-0.44 [[ 9.97989346e-01 6.03364938e-02 1.94106507e-02 1.70729398e+01] [-6.03325412e-02 9.98178021e-01 -7.89706884e-04 -5.32299919e-01] [-1.94229330e-02 -3.82974825e-04 9.99811284e-01 -4.39603757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.508623853 meters 0.019973369021727125 Centerline is valid? [True, True] Translation: X:17.13, Y:-0.54, Z:-0.44 [[ 9.98324804e-01 5.46155608e-02 1.90978052e-02 1.71337276e+01] [-5.46106791e-02 9.98507421e-01 -7.77432363e-04 -5.36656118e-01] [-1.91117601e-02 -2.66814098e-04 9.99817318e-01 -4.41362398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.568623853 meters 0.016534231949822002 Centerline is valid? [True, True] Translation: X:17.19, Y:-0.54, Z:-0.44 [[ 9.98576775e-01 4.95551337e-02 1.97157880e-02 1.71936175e+01] [-4.95489329e-02 9.98771374e-01 -8.03182082e-04 -5.40944345e-01] [-1.97313664e-02 -1.74857281e-04 9.99805302e-01 -4.42782888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.628623852999997 meters 0.014468623331502119 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.55, Z:-0.44 [[ 9.98696388e-01 4.69499239e-02 2.00307271e-02 1.72555527e+01] [-4.69430193e-02 9.98897236e-01 -8.15020403e-04 -5.46075494e-01] [-2.00469031e-02 -1.26344877e-04 9.99799033e-01 -4.43245938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.688623853 meters 0.013905978838386773 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.55, Z:-0.45 [[ 9.98888424e-01 4.35352240e-02 1.80720764e-02 1.73175414e+01] [-4.35289991e-02 9.99051891e-01 -7.37857666e-04 -5.49900336e-01] [-1.80870649e-02 -4.96219169e-05 9.99836414e-01 -4.49265065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.748623852999998 meters 0.013781707547193295 Centerline is valid? [True, True] Translation: X:17.38, Y:-0.55, Z:-0.45 [[ 9.98935566e-01 4.25506158e-02 1.78095499e-02 1.73802311e+01] [-4.25443588e-02 9.99094312e-01 -7.30228299e-04 -5.53126788e-01] [-1.78244917e-02 -2.82448626e-05 9.99841131e-01 -4.51694634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.808623852999997 meters 0.01492803026343335 Centerline is valid? [True, True] Translation: X:17.44, Y:-0.56, Z:-0.46 [[ 9.99162376e-01 3.75388471e-02 1.62905215e-02 1.74423770e+01] [-3.75328980e-02 9.99295167e-01 -6.70883063e-04 -5.61518743e-01] [-1.63042236e-02 5.88906355e-05 9.99867076e-01 -4.56090641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.868623853 meters 0.029275930137008455 Centerline is valid? [True, True] Translation: X:17.50, Y:-0.57, Z:-0.45 [[ 9.99337957e-01 3.22552727e-02 1.68298893e-02 1.75039009e+01] [-3.22481227e-02 9.99479652e-01 -6.96123489e-04 -5.70318142e-01] [-1.68435856e-02 1.52930289e-04 9.99858125e-01 -4.52391191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.928623852999998 meters 0.02061591980028476 Centerline is valid? [True, True] Translation: X:17.57, Y:-0.58, Z:-0.45 [[ 9.99369453e-01 3.05742284e-02 1.80530447e-02 1.75658364e+01] [-3.05656731e-02 9.99532480e-01 -7.49696295e-04 -5.77148047e-01] [-1.80675259e-02 1.97420114e-04 9.99836749e-01 -4.54431764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.988623853 meters 0.01913893615702075 Centerline is valid? [True, True] Translation: X:17.63, Y:-0.58, Z:-0.46 [[ 9.99378504e-01 2.97256066e-02 1.89471607e-02 1.76291696e+01] [-2.97159621e-02 9.99558071e-01 -7.90422434e-04 -5.81839289e-01] [-1.89622832e-02 2.26898081e-04 9.99820174e-01 -4.55169131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.048623853 meters 0.020492226176053042 Centerline is valid? [True, True] Translation: X:17.69, Y:-0.59, Z:-0.46 [[ 9.99380572e-01 3.03911381e-02 1.77440610e-02 1.76904085e+01] [-3.03827158e-02 9.99538062e-01 -7.44106629e-04 -5.87166247e-01] [-1.77584786e-02 2.04532948e-04 9.99842285e-01 -4.60414788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.108623852999997 meters 0.01905065563884737 Centerline is valid? [True, True] Translation: X:17.75, Y:-0.59, Z:-0.46 [[ 9.99367222e-01 3.13725137e-02 1.67606941e-02 1.77538195e+01] [-3.13651191e-02 9.99507746e-01 -7.03936326e-04 -5.88457484e-01] [-1.67745278e-02 1.77789725e-04 9.99859282e-01 -4.62366698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.168623853 meters 0.018510004805266447 Centerline is valid? [True, True] Translation: X:17.82, Y:-0.59, Z:-0.47 [[ 9.99334917e-01 3.27861630e-02 1.59621732e-02 1.78162299e+01] [-3.27795918e-02 9.99462378e-01 -6.73204485e-04 -5.91127225e-01] [-1.59756634e-02 1.49523226e-04 9.99872370e-01 -4.65962995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.228623853 meters 0.016694620580024543 Centerline is valid? [True, True] Translation: X:17.88, Y:-0.59, Z:-0.47 [[ 9.99243369e-01 3.55724874e-02 1.57253537e-02 1.78779971e+01] [-3.55664045e-02 9.99367093e-01 -6.66405738e-04 -5.91978100e-01] [-1.57391067e-02 1.06607226e-04 9.99876127e-01 -4.66890706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.288623852999997 meters 0.015108877079248396 Centerline is valid? [True, True] Translation: X:17.94, Y:-0.59, Z:-0.47 [[ 9.99100849e-01 3.91437892e-02 1.62867450e-02 1.79389334e+01] [-3.91376882e-02 9.99233587e-01 -6.93285309e-04 -5.89881276e-01] [-1.63014004e-02 5.52363939e-05 9.99867122e-01 -4.67761504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.348623853 meters 0.014703792487578738 Centerline is valid? [True, True] Translation: X:18.00, Y:-0.58, Z:-0.47 [[ 9.98800838e-01 4.61476333e-02 1.63487467e-02 1.80024160e+01] [-4.61423885e-02 9.98934629e-01 -6.98069786e-04 -5.82396826e-01] [-1.63635435e-02 -5.71375359e-05 9.99866107e-01 -4.67968777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.408623852999998 meters 0.016280119535856123 Centerline is valid? [True, True] Translation: X:18.06, Y:-0.58, Z:-0.47 [[ 9.98570985e-01 5.05500467e-02 1.73401304e-02 1.80636150e+01] [-5.05447405e-02 9.98721520e-01 -7.44408890e-04 -5.78173465e-01] [-1.73555913e-02 -1.33107274e-04 9.99849372e-01 -4.67689265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.468623852999997 meters 0.017592731377808982 Centerline is valid? [True, True] Translation: X:18.13, Y:-0.58, Z:-0.46 [[ 9.98342042e-01 5.40984390e-02 1.96602878e-02 1.81261581e+01] [-5.40922379e-02 9.98535584e-01 -8.47453978e-04 -5.76006177e-01] [-1.96773429e-02 -2.17420032e-04 9.99806359e-01 -4.63790148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.528623853 meters 0.017167526747023966 Centerline is valid? [True, True] Translation: X:18.19, Y:-0.58, Z:-0.47 [[ 9.98381838e-01 5.33826758e-02 1.95957832e-02 1.81881127e+01] [-5.33763129e-02 9.98574109e-01 -8.47961573e-04 -5.79200866e-01] [-1.96131082e-02 -1.99361221e-04 9.99807625e-01 -4.65587143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.588623852999998 meters 0.016221620261858513 Centerline is valid? [True, True] Translation: X:18.25, Y:-0.58, Z:-0.47 [[ 9.98558498e-01 5.04596061e-02 1.82962852e-02 1.82488570e+01] [-5.04535159e-02 9.98726094e-01 -7.94602974e-04 -5.84980273e-01] [-1.83130728e-02 -1.29654363e-04 9.99832293e-01 -4.71249705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.648623852999997 meters 0.015152222653747655 Centerline is valid? [True, True] Translation: X:18.31, Y:-0.59, Z:-0.47 [[ 9.98695552e-01 4.80161567e-02 1.73678595e-02 1.83117056e+01] [-4.80102615e-02 9.98846556e-01 -7.56458924e-04 -5.93591071e-01] [-1.73841489e-02 -7.83633125e-05 9.99848881e-01 -4.74342469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.708623853 meters 0.014223005021657232 Centerline is valid? [True, True] Translation: X:18.37, Y:-0.60, Z:-0.47 [[ 9.98811127e-01 4.57049278e-02 1.69526216e-02 1.83745166e+01] [-4.56989306e-02 9.98954983e-01 -7.41184586e-04 -6.01484215e-01] [-1.69687817e-02 -3.44132679e-05 9.99856019e-01 -4.74767347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.768623852999998 meters 0.01834002482083158 Centerline is valid? [True, True] Translation: X:18.44, Y:-0.60, Z:-0.48 [[ 9.98870682e-01 4.47082264e-02 1.60790167e-02 1.84350957e+01] [-4.47026365e-02 9.99000087e-01 -7.07078516e-04 -6.04663357e-01] [-1.60945513e-02 -1.24944392e-05 9.99870474e-01 -4.76094440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.828623853 meters 0.014374203447693416 Centerline is valid? [True, True] Translation: X:18.50, Y:-0.61, Z:-0.48 [[ 9.98805458e-01 4.60677558e-02 1.62916924e-02 1.84977394e+01] [-4.60621955e-02 9.98938317e-01 -7.16572287e-04 -6.05855238e-01] [-1.63074067e-02 -3.47148103e-05 9.99867025e-01 -4.78897141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.888623853 meters 0.021945877788777428 Centerline is valid? [True, True] Translation: X:18.56, Y:-0.61, Z:-0.48 [[ 9.98761712e-01 4.70181795e-02 1.62583220e-02 1.85603770e+01] [-4.70127179e-02 9.98894033e-01 -7.18176426e-04 -6.07186737e-01] [-1.62741082e-02 -4.70607879e-05 9.99867567e-01 -4.76305910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.948623852999997 meters 0.01431350707930742 Centerline is valid? [True, True] Translation: X:18.62, Y:-0.61, Z:-0.48 [[ 9.98689075e-01 4.80375267e-02 1.76784548e-02 1.86221456e+01] [-4.80311547e-02 9.98845529e-01 -7.85097899e-04 -6.06638504e-01] [-1.76957597e-02 -6.50479006e-05 9.99843416e-01 -4.79425084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.008623853 meters 0.014868646292367175 Centerline is valid? [True, True] Translation: X:18.68, Y:-0.61, Z:-0.48 [[ 9.98681701e-01 4.83342308e-02 1.72818454e-02 1.86842499e+01] [-4.83281388e-02 9.98831216e-01 -7.70209376e-04 -6.09124554e-01] [-1.72988741e-02 -6.60054136e-05 9.99850361e-01 -4.83424641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.068623853 meters 0.014582762875695873 Centerline is valid? [True, True] Translation: X:18.75, Y:-0.61, Z:-0.48 [[ 9.98690681e-01 4.82961216e-02 1.68643805e-02 1.87470028e+01] [-4.82902683e-02 9.98833060e-01 -7.54365729e-04 -6.12083662e-01] [-1.68811337e-02 -6.10074365e-05 9.99857502e-01 -4.83460230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.128623852999997 meters 0.014982612680155369 Centerline is valid? [True, True] Translation: X:18.81, Y:-0.61, Z:-0.49 [[ 9.98648673e-01 4.92460262e-02 1.66029437e-02 1.88088447e+01] [-4.92404290e-02 9.98786676e-01 -7.45997542e-04 -6.12167462e-01] [-1.66195364e-02 -7.25466158e-05 9.99861883e-01 -4.85976191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.188623853 meters 0.014931794550932154 Centerline is valid? [True, True] Translation: X:18.87, Y:-0.61, Z:-0.49 [[ 9.98644086e-01 4.93736939e-02 1.64993582e-02 1.88720518e+01] [-4.93681371e-02 9.98780373e-01 -7.44163873e-04 -6.14445142e-01] [-1.65159772e-02 -7.13877264e-05 9.99863599e-01 -4.87402653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.248623852999998 meters 0.014819240050750191 Centerline is valid? [True, True] Translation: X:18.93, Y:-0.62, Z:-0.49 [[ 9.98654337e-01 4.91309720e-02 1.66030801e-02 1.89349009e+01] [-4.91252578e-02 9.98792342e-01 -7.52081464e-04 -6.16702450e-01] [-1.66199798e-02 -6.45611738e-05 9.99861877e-01 -4.89335367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.308623852999997 meters 0.014856255996550547 Centerline is valid? [True, True] Translation: X:19.00, Y:-0.62, Z:-0.49 [[ 9.98631455e-01 4.94354459e-02 1.70690661e-02 1.89980902e+01] [-4.94293922e-02 9.98777319e-01 -7.76626029e-04 -6.18219246e-01] [-1.70865890e-02 -6.81503819e-05 9.99854011e-01 -4.90750906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.368623853 meters 0.015216230661060799 Centerline is valid? [True, True] Translation: X:19.06, Y:-0.62, Z:-0.49 [[ 9.98580851e-01 5.05281202e-02 1.68283587e-02 1.90610611e+01] [-5.05223388e-02 9.98722635e-01 -7.68782465e-04 -6.18653540e-01] [-1.68457079e-02 -8.25165933e-05 9.99858098e-01 -4.92605851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.428623852999998 meters 0.015357901253874762 Centerline is valid? [True, True] Translation: X:19.12, Y:-0.62, Z:-0.49 [[ 9.98479362e-01 5.22096362e-02 1.76951134e-02 1.91238306e+01] [-5.22034450e-02 9.98636140e-01 -8.11923368e-04 -6.17351719e-01] [-1.77133700e-02 -1.13057155e-04 9.99843100e-01 -4.91626438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.488623853 meters 0.01609002218732719 Centerline is valid? [True, True] Translation: X:19.19, Y:-0.61, Z:-0.49 [[ 9.98385666e-01 5.38777204e-02 1.79792348e-02 1.91861923e+01] [-5.38715324e-02 9.98547531e-01 -8.28672226e-04 -6.14627404e-01] [-1.79977675e-02 -1.41234459e-04 9.99838017e-01 -4.93153766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.548623853 meters 0.01744334016253557 Centerline is valid? [True, True] Translation: X:19.25, Y:-0.61, Z:-0.50 [[ 9.98301105e-01 5.57338039e-02 1.69896187e-02 1.92488994e+01] [-5.57284971e-02 9.98445650e-01 -7.85999957e-04 -6.09241208e-01] [-1.70070177e-02 -1.62141292e-04 9.99855357e-01 -4.96448005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.608623852999997 meters 0.017778620678796368 Centerline is valid? [True, True] Translation: X:19.31, Y:-0.61, Z:-0.50 [[ 9.98275451e-01 5.62894999e-02 1.66618160e-02 1.93117097e+01] [-5.62844326e-02 9.98414475e-01 -7.73273348e-04 -6.07490563e-01] [-1.66789255e-02 -1.65861062e-04 9.99860883e-01 -4.99486469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.668623853 meters 0.03060082767220001 Centerline is valid? [True, True] Translation: X:19.37, Y:-0.61, Z:-0.50 [[ 9.98317442e-01 5.57188614e-02 1.60528158e-02 1.93743884e+01] [-5.57140244e-02 9.98446487e-01 -7.48721990e-04 -6.05386748e-01] [-1.60695955e-02 -1.46904752e-04 9.99870865e-01 -4.99300133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.728623853 meters 0.017084855194757102 Centerline is valid? [True, True] Translation: X:19.44, Y:-0.61, Z:-0.50 [[ 9.98348808e-01 5.49553552e-02 1.67202633e-02 1.94369549e+01] [-5.49499737e-02 9.98488803e-01 -7.81455052e-04 -6.05662056e-01] [-1.67379408e-02 -1.38613311e-04 9.99859901e-01 -5.03672885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.788623852999997 meters 0.015626855264120394 Centerline is valid? [True, True] Translation: X:19.50, Y:-0.61, Z:-0.50 [[ 9.98460692e-01 5.27188303e-02 1.72328509e-02 1.94996003e+01] [-5.27127163e-02 9.98609391e-01 -8.09141745e-04 -6.06581906e-01] [-1.72515438e-02 -1.00494153e-04 9.99851176e-01 -5.04110930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.848623853 meters 0.01516329355500382 Centerline is valid? [True, True] Translation: X:19.56, Y:-0.60, Z:-0.51 [[ 9.98515432e-01 5.19608620e-02 1.63401483e-02 1.95629385e+01] [-5.19552617e-02 9.98649119e-01 -7.67334832e-04 -6.04336998e-01] [-1.63579461e-02 -8.27610091e-05 9.99866196e-01 -5.05629739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.908623852999998 meters 0.016898446942369767 Centerline is valid? [True, True] Translation: X:19.63, Y:-0.60, Z:-0.51 [[ 9.98544518e-01 5.15542560e-02 1.58430936e-02 1.96262912e+01] [-5.15488947e-02 9.98670193e-01 -7.46859491e-04 -6.02592628e-01] [-1.58605291e-02 -7.09215116e-05 9.99874211e-01 -5.05521275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.968623852999997 meters 0.0142080464603939 Centerline is valid? [True, True] Translation: X:19.69, Y:-0.60, Z:-0.51 [[ 9.98679043e-01 4.86382534e-02 1.65677354e-02 1.96885577e+01] [-4.86319252e-02 9.98816460e-01 -7.84868629e-04 -6.03603311e-01] [-1.65863015e-02 -2.18890190e-05 9.99862438e-01 -5.08011715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.028623853 meters 0.01490083653821384 Centerline is valid? [True, True] Translation: X:19.75, Y:-0.61, Z:-0.51 [[ 9.98897401e-01 4.41759091e-02 1.58893466e-02 1.97501278e+01] [-4.41694841e-02 9.99023767e-01 -7.55242468e-04 -6.08739184e-01] [-1.59071984e-02 5.25854971e-05 9.99873471e-01 -5.10803309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.088623852999998 meters 0.01637120815808817 Centerline is valid? [True, True] Translation: X:19.81, Y:-0.61, Z:-0.51 [[ 9.99026853e-01 4.09795711e-02 1.63101724e-02 1.98106763e+01] [-4.09723190e-02 9.99159979e-01 -7.78689220e-04 -6.12281520e-01] [-1.63283819e-02 1.09665854e-04 9.99866677e-01 -5.12861649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.148623852999997 meters 0.016963875355077176 Centerline is valid? [True, True] Translation: X:19.87, Y:-0.61, Z:-0.51 [[ 9.99063463e-01 4.01347962e-02 1.61676929e-02 1.98728374e+01] [-4.01275301e-02 9.99194267e-01 -7.73707906e-04 -6.14902584e-01] [-1.61857186e-02 1.24213717e-04 9.99868995e-01 -5.14695196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.208623853 meters 0.017966452448540206 Centerline is valid? [True, True] Translation: X:19.93, Y:-0.62, Z:-0.52 [[ 9.99078187e-01 3.96834315e-02 1.63707248e-02 1.99346071e+01] [-3.96758761e-02 9.99212293e-01 -7.86173008e-04 -6.18237667e-01] [-1.63890275e-02 1.35925454e-04 9.99865682e-01 -5.17318255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.268623852999998 meters 0.01737197115648426 Centerline is valid? [True, True] Translation: X:20.00, Y:-0.62, Z:-0.52 [[ 9.99042289e-01 3.98803090e-02 1.80018245e-02 1.99965497e+01] [-3.98711339e-02 9.99204453e-01 -8.68436526e-04 -6.19953180e-01] [-1.80221367e-02 1.49851661e-04 9.99837577e-01 -5.15351059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.328623853 meters 0.016697179153381023 Centerline is valid? [True, True] Translation: X:20.06, Y:-0.62, Z:-0.52 [[ 9.98983466e-01 4.15062415e-02 1.75859533e-02 2.00575781e+01] [-4.14976857e-02 9.99138237e-01 -8.51309190e-04 -6.19572582e-01] [-1.76061330e-02 1.20667444e-04 9.99844993e-01 -5.18215884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.388623853 meters 0.015895533776728615 Centerline is valid? [True, True] Translation: X:20.12, Y:-0.62, Z:-0.52 [[ 9.98935632e-01 4.28630793e-02 1.70399524e-02 2.01205285e+01] [-4.28552091e-02 9.99080951e-01 -8.26922592e-04 -6.20658756e-01] [-1.70597363e-02 9.57917176e-05 9.99854468e-01 -5.20456798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.448623852999997 meters 0.01504666239024507 Centerline is valid? [True, True] Translation: X:20.18, Y:-0.62, Z:-0.52 [[ 9.98848337e-01 4.50818979e-02 1.64201692e-02 2.01838361e+01] [-4.50748418e-02 9.98983293e-01 -7.99752333e-04 -6.21125791e-01] [-1.64395290e-02 5.86947610e-05 9.99864860e-01 -5.22428755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.508623853 meters 0.014350234793949052 Centerline is valid? [True, True] Translation: X:20.25, Y:-0.62, Z:-0.52 [[ 9.98741419e-01 4.73440703e-02 1.65564591e-02 2.02459213e+01] [-4.73371491e-02 9.98878640e-01 -8.09898365e-04 -6.21199133e-01] [-1.65762372e-02 2.51434689e-05 9.99862604e-01 -5.23439820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.568623853 meters 0.014803776097785337 Centerline is valid? [True, True] Translation: X:20.31, Y:-0.62, Z:-0.52 [[ 9.98447331e-01 5.30546140e-02 1.69745152e-02 2.03080384e+01] [-5.30481148e-02 9.98591610e-01 -8.33231181e-04 -6.15139026e-01] [-1.69948153e-02 -6.85285844e-05 9.99855575e-01 -5.24711497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.628623852999997 meters 0.01840224134998525 Centerline is valid? [True, True] Translation: X:20.37, Y:-0.60, Z:-0.53 [[ 9.98102244e-01 5.94057695e-02 1.62130879e-02 2.03707767e+01] [-5.94006092e-02 9.98233904e-01 -8.00082560e-04 -6.04510656e-01] [-1.62319836e-02 -1.64503103e-04 9.99868239e-01 -5.27571174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.688623853 meters 0.02170690849498403 Centerline is valid? [True, True] Translation: X:20.43, Y:-0.60, Z:-0.53 [[ 9.97902824e-01 6.30210714e-02 1.47749517e-02 2.04332489e+01] [-6.30171734e-02 9.98012176e-01 -7.29704613e-04 -5.97201444e-01] [-1.47915684e-02 -2.02901399e-04 9.99890578e-01 -5.32754021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.748623852999998 meters 0.020200984529489912 Centerline is valid? [True, True] Translation: X:20.50, Y:-0.60, Z:-0.53 [[ 9.97884293e-01 6.31101514e-02 1.56219730e-02 2.04951067e+01] [-6.31058155e-02 9.98006544e-01 -7.70837306e-04 -5.99736311e-01] [-1.56394790e-02 -2.16630907e-04 9.99877672e-01 -5.31337487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.808623852999997 meters 0.017830693739615818 Centerline is valid? [True, True] Translation: X:20.56, Y:-0.60, Z:-0.53 [[ 9.98088913e-01 5.92780147e-02 1.74538956e-02 2.05560591e+01] [-5.92719279e-02 9.98241498e-01 -8.66288477e-04 -6.02195932e-01] [-1.74745548e-02 -1.69893117e-04 9.99847294e-01 -5.30074456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.868623853 meters 0.013946032060243656 Centerline is valid? [True, True] Translation: X:20.62, Y:-0.61, Z:-0.53 [[ 9.98400071e-01 5.30115360e-02 1.96742101e-02 2.06171237e+01] [-5.30025739e-02 9.98593898e-01 -9.77053431e-04 -6.11841893e-01] [-1.96983413e-02 -6.72935603e-05 9.99805967e-01 -5.27431266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.928623852999998 meters 0.013564353667197292 Centerline is valid? [True, True] Translation: X:20.68, Y:-0.62, Z:-0.53 [[ 9.98598212e-01 4.86956980e-02 2.07446442e-02 2.06783504e+01] [-4.86848106e-02 9.98813661e-01 -1.02983450e-03 -6.20686061e-01] [-2.07701825e-02 1.84418206e-05 9.99784276e-01 -5.28313940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.988623853 meters 0.015628668066720395 Centerline is valid? [True, True] Translation: X:20.74, Y:-0.63, Z:-0.53 [[ 9.98850477e-01 4.32914533e-02 2.05809538e-02 2.07404368e+01] [-4.32795264e-02 9.99062477e-01 -1.02478499e-03 -6.30627933e-01] [-2.06060231e-02 1.32873049e-04 9.99787665e-01 -5.30241225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.048623853 meters 0.018299881577310755 Centerline is valid? [True, True] Translation: X:20.80, Y:-0.64, Z:-0.54 [[ 9.99015358e-01 4.05135833e-02 1.80821674e-02 2.08010004e+01] [-4.05038754e-02 9.99178973e-01 -9.02936899e-04 -6.37846604e-01] [-1.81039027e-02 1.69649972e-04 9.99836097e-01 -5.37260606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.108623852999997 meters 0.025016152928498528 Centerline is valid? [True, True] Translation: X:20.86, Y:-0.64, Z:-0.53 [[ 9.99049578e-01 4.00391167e-02 1.72281898e-02 2.08632166e+01] [-4.00301961e-02 9.99198098e-01 -8.62470417e-04 -6.40943438e-01] [-1.72489070e-02 1.72002891e-04 9.99851212e-01 -5.34740676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.168623853 meters 0.01843413807601733 Centerline is valid? [True, True] Translation: X:20.92, Y:-0.65, Z:-0.54 [[ 9.99037752e-01 4.01734390e-02 1.75972804e-02 2.09245604e+01] [-4.01640988e-02 9.99192706e-01 -8.84015010e-04 -6.45709429e-01] [-1.76185882e-02 1.76385460e-04 9.99844765e-01 -5.39888593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.228623853 meters 0.01810002942348521 Centerline is valid? [True, True] Translation: X:20.99, Y:-0.65, Z:-0.54 [[ 9.99013581e-01 4.04224997e-02 1.83816720e-02 2.09870813e+01] [-4.04122800e-02 9.99182660e-01 -9.27239798e-04 -6.48949545e-01] [-1.84041293e-02 1.83479875e-04 9.99830613e-01 -5.40719345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.288623852999997 meters 0.01891712095446172 Centerline is valid? [True, True] Translation: X:21.05, Y:-0.66, Z:-0.54 [[ 9.99056476e-01 3.97317252e-02 1.75370162e-02 2.10484310e+01] [-3.97222665e-02 9.99210365e-01 -8.87499353e-04 -6.55369581e-01] [-1.75584303e-02 1.90051945e-04 9.99845821e-01 -5.43962097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.348623853 meters 0.028477520803885797 Centerline is valid? [True, True] Translation: X:21.11, Y:-0.66, Z:-0.54 [[ 9.99126320e-01 3.82846931e-02 1.67594262e-02 2.11101067e+01] [-3.82758124e-02 9.99266851e-01 -8.50449871e-04 -6.61968939e-01] [-1.67796983e-02 2.08226195e-04 9.99859189e-01 -5.43495874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.408623852999998 meters 0.019136414360101744 Centerline is valid? [True, True] Translation: X:21.17, Y:-0.67, Z:-0.55 [[ 9.99086268e-01 3.91317888e-02 1.71852079e-02 2.11724992e+01] [-3.91225261e-02 9.99234038e-01 -8.74980460e-04 -6.65676312e-01] [-1.72062843e-02 2.01852218e-04 9.99851941e-01 -5.47186517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.468623852999997 meters 0.017800507463738357 Centerline is valid? [True, True] Translation: X:21.23, Y:-0.67, Z:-0.55 [[ 9.98992053e-01 4.13712552e-02 1.74154200e-02 2.12349201e+01] [-4.13620289e-02 9.99143829e-01 -8.89790568e-04 -6.67829051e-01] [-1.74373212e-02 1.68556600e-04 9.99847944e-01 -5.49044306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.528623853 meters 0.015099931287519614 Centerline is valid? [True, True] Translation: X:21.30, Y:-0.67, Z:-0.55 [[ 9.98775694e-01 4.55436755e-02 1.93102665e-02 2.12977309e+01] [-4.55330246e-02 9.98962342e-01 -9.91107249e-04 -6.67526481e-01] [-1.93353678e-02 1.10638990e-04 9.99813048e-01 -5.47225775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.588623852999998 meters 0.01403468186305057 Centerline is valid? [True, True] Translation: X:21.36, Y:-0.67, Z:-0.55 [[ 9.98643822e-01 4.83710542e-02 1.92550847e-02 2.13604208e+01] [-4.83609673e-02 9.98829434e-01 -9.89422787e-04 -6.66767780e-01] [-1.92804048e-02 5.68864306e-05 9.99814114e-01 -5.49019290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.648623852999997 meters 0.014076442944396117 Centerline is valid? [True, True] Translation: X:21.42, Y:-0.67, Z:-0.55 [[ 9.98582084e-01 4.97056789e-02 1.90569214e-02 2.14221160e+01] [-4.96959810e-02 9.98763908e-01 -9.82418145e-04 -6.69989514e-01] [-1.90821970e-02 3.39727581e-05 9.99817918e-01 -5.53210620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.708623853 meters 0.014247226051293194 Centerline is valid? [True, True] Translation: X:21.48, Y:-0.68, Z:-0.56 [[ 9.98577568e-01 5.01468655e-02 1.81144094e-02 2.14836616e+01] [-5.01381166e-02 9.98741854e-01 -9.37096274e-04 -6.76620529e-01] [-1.81386112e-02 2.75409498e-05 9.99835481e-01 -5.56787731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.768623852999998 meters 0.014023286665118297 Centerline is valid? [True, True] Translation: X:21.55, Y:-0.68, Z:-0.56 [[ 9.98520916e-01 5.12886453e-02 1.80403873e-02 2.15464088e+01] [-5.12801046e-02 9.98683871e-01 -9.35999955e-04 -6.81007967e-01] [-1.80646500e-02 9.50258489e-06 9.99836821e-01 -5.57787401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.828623853 meters 0.013900861248991989 Centerline is valid? [True, True] Translation: X:21.61, Y:-0.68, Z:-0.56 [[ 9.98294914e-01 5.49741526e-02 1.96241642e-02 2.16084032e+01] [-5.49646709e-02 9.98487776e-01 -1.02261687e-03 -6.81831714e-01] [-1.96507055e-02 -5.77625046e-05 9.99806905e-01 -5.57005245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.888623853 meters 0.01538542240461552 Centerline is valid? [True, True] Translation: X:21.67, Y:-0.68, Z:-0.56 [[ 9.98009652e-01 5.97405787e-02 2.01939796e-02 2.16702836e+01] [-5.97314426e-02 9.98213925e-01 -1.05582554e-03 -6.81127856e-01] [-2.02209873e-02 -1.52491454e-04 9.99795523e-01 -5.56478255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.948623852999997 meters 0.019673881228319284 Centerline is valid? [True, True] Translation: X:21.73, Y:-0.67, Z:-0.56 [[ 9.97702496e-01 6.49804851e-02 1.91641887e-02 2.17318727e+01] [-6.49731681e-02 9.97886505e-01 -1.00485489e-03 -6.74303760e-01] [-1.91889813e-02 -2.42611822e-04 9.99815845e-01 -5.60504667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.008623853 meters 0.021891517277306614 Centerline is valid? [True, True] Translation: X:21.79, Y:-0.67, Z:-0.56 [[ 9.97475985e-01 6.83345870e-02 1.92884441e-02 2.17941600e+01] [-6.83277433e-02 9.97662413e-01 -1.01438490e-03 -6.72644093e-01] [-1.93126733e-02 -3.06111278e-04 9.99813446e-01 -5.61824092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.068623853 meters 0.027188367268921487 Centerline is valid? [True, True] Translation: X:21.85, Y:-0.67, Z:-0.56 [[ 9.97271206e-01 7.15916405e-02 1.80216348e-02 2.18549889e+01] [-7.15861236e-02 9.97433968e-01 -9.51875807e-04 -6.68219598e-01] [-1.80435370e-02 -3.40820641e-04 9.99837144e-01 -5.64796873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.128623852999997 meters 0.025693960090549774 Centerline is valid? [True, True] Translation: X:21.92, Y:-0.67, Z:-0.57 [[ 9.97291227e-01 7.11646303e-02 1.85957936e-02 2.19162278e+01] [-7.11586850e-02 9.97464524e-01 -9.82038015e-04 -6.68806108e-01] [-1.86185308e-02 -3.43874322e-04 9.99826601e-01 -5.67764098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.188623853 meters 0.02297634196592799 Centerline is valid? [True, True] Translation: X:21.98, Y:-0.67, Z:-0.57 [[ 9.97421215e-01 6.90385733e-02 1.96111145e-02 2.19786440e+01] [-6.90315110e-02 9.97613940e-01 -1.03765267e-03 -6.74103639e-01] [-1.96359592e-02 -3.18808078e-04 9.99807145e-01 -5.67206780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.248623852999998 meters 0.03153104034951031 Centerline is valid? [True, True] Translation: X:22.04, Y:-0.68, Z:-0.56 [[ 9.97732483e-01 6.42856869e-02 1.99309589e-02 2.20387595e+01] [-6.42773959e-02 9.97931510e-01 -1.05698997e-03 -6.82236842e-01] [-1.99576813e-02 -2.26516908e-04 9.99800800e-01 -5.64337791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.308623852999997 meters 0.014870733706863598 Centerline is valid? [True, True] Translation: X:22.10, Y:-0.69, Z:-0.57 [[ 9.98120522e-01 5.80297681e-02 1.96969563e-02 2.20999139e+01] [-5.80204713e-02 9.98314848e-01 -1.04361263e-03 -6.94529599e-01] [-1.97243246e-02 -1.01175510e-04 9.99805451e-01 -5.72020572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.368623853 meters 0.013955412251208978 Centerline is valid? [True, True] Translation: X:22.16, Y:-0.70, Z:-0.57 [[ 9.98313545e-01 5.46961911e-02 1.94523294e-02 2.21620914e+01] [-5.46864314e-02 9.98503042e-01 -1.03370832e-03 -7.03828448e-01] [-1.94797500e-02 -3.18134611e-05 9.99810251e-01 -5.73841772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.428623852999998 meters 0.013940088257906243 Centerline is valid? [True, True] Translation: X:22.22, Y:-0.71, Z:-0.58 [[ 9.98478981e-01 5.16539756e-02 1.92766928e-02 2.22246805e+01] [-5.16437701e-02 9.98665042e-01 -1.02718518e-03 -7.11472938e-01] [-1.93040174e-02 3.01017215e-05 9.99813660e-01 -5.75403642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.488623852999996 meters 0.014254985697965879 Centerline is valid? [True, True] Translation: X:22.29, Y:-0.71, Z:-0.58 [[ 9.98471745e-01 5.15145026e-02 2.00107415e-02 2.22861379e+01] [-5.15033948e-02 9.98672246e-01 -1.07040099e-03 -7.14367652e-01] [-2.00393134e-02 3.81440263e-05 9.99799192e-01 -5.77401284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.548623853 meters 0.013702195243500354 Centerline is valid? [True, True] Translation: X:22.35, Y:-0.72, Z:-0.58 [[ 9.98430686e-01 5.21438439e-02 2.04251250e-02 2.23486667e+01] [-5.21323284e-02 9.98639584e-01 -1.09620880e-03 -7.18215964e-01] [-2.04544989e-02 2.96791839e-05 9.99790784e-01 -5.76302417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.608623852999997 meters 0.013759611511819527 Centerline is valid? [True, True] Translation: X:22.41, Y:-0.72, Z:-0.58 [[ 9.98408318e-01 5.27490011e-02 1.99592934e-02 2.24111616e+01] [-5.27380532e-02 9.98607802e-01 -1.07484007e-03 -7.20343119e-01] [-1.99882028e-02 2.05149962e-05 9.99800216e-01 -5.79756639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.668623853 meters 0.013986372595248327 Centerline is valid? [True, True] Translation: X:22.47, Y:-0.72, Z:-0.58 [[ 9.98405328e-01 5.32165372e-02 1.88361903e-02 2.24730242e+01] [-5.32068058e-02 9.98582996e-01 -1.01776771e-03 -7.23105746e-01] [-1.88636614e-02 1.39311884e-05 9.99822065e-01 -5.83822001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.728623853 meters 0.014132091720647638 Centerline is valid? [True, True] Translation: X:22.53, Y:-0.73, Z:-0.59 [[ 9.98338553e-01 5.45463862e-02 1.85694770e-02 2.25345576e+01] [-5.45371056e-02 9.98511238e-01 -1.00619743e-03 -7.25667706e-01] [-1.85967159e-02 -8.19983918e-06 9.99827066e-01 -5.86543884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.788623852999997 meters 0.013924896535569888 Centerline is valid? [True, True] Translation: X:22.60, Y:-0.73, Z:-0.59 [[ 9.98224344e-01 5.64269925e-02 1.90828296e-02 2.25971596e+01] [-5.64174735e-02 9.98406727e-01 -1.03724100e-03 -7.26681747e-01] [-1.91109538e-02 -4.12058159e-05 9.99817368e-01 -5.85599325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.848623853 meters 0.015364484545692104 Centerline is valid? [True, True] Translation: X:22.66, Y:-0.72, Z:-0.58 [[ 9.97931965e-01 6.09464802e-02 2.04283980e-02 2.26588457e+01] [-6.09364161e-02 9.98141027e-01 -1.11535067e-03 -7.21916441e-01] [-2.04583988e-02 -1.31789273e-04 9.99790696e-01 -5.84397918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.908623852999998 meters 0.019180796763619574 Centerline is valid? [True, True] Translation: X:22.72, Y:-0.72, Z:-0.59 [[ 9.97602326e-01 6.62517748e-02 2.00075113e-02 2.27209382e+01] [-6.62431615e-02 9.97802910e-01 -1.09367250e-03 -7.15543254e-01] [-2.00360107e-02 -2.34310568e-04 9.99799232e-01 -5.87505148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.968623852999997 meters 0.020136687842679937 Centerline is valid? [True, True] Translation: X:22.78, Y:-0.72, Z:-0.59 [[ 9.97520173e-01 6.76952522e-02 1.92576343e-02 2.27827436e+01] [-6.76874907e-02 9.97706014e-01 -1.05531175e-03 -7.15636523e-01] [-1.92848971e-02 -2.50806186e-04 9.99813998e-01 -5.90701533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.028623853 meters 0.01897327154529061 Centerline is valid? [True, True] Translation: X:22.84, Y:-0.72, Z:-0.59 [[ 9.97656736e-01 6.58498400e-02 1.85697256e-02 2.28438829e+01] [-6.58422472e-02 9.97829523e-01 -1.02063711e-03 -7.19522198e-01] [-1.85966292e-02 -2.04426972e-04 9.99827047e-01 -5.94275441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.088623852999998 meters 0.014630428153402313 Centerline is valid? [True, True] Translation: X:22.90, Y:-0.74, Z:-0.60 [[ 9.98082167e-01 5.89267423e-02 1.89638208e-02 2.29040326e+01] [-5.89175171e-02 9.98262307e-01 -1.04528305e-03 -7.35644289e-01] [-1.89924627e-02 -7.40228612e-05 9.99819624e-01 -5.95466007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.148623852999997 meters 0.014403583951344657 Centerline is valid? [True, True] Translation: X:22.97, Y:-0.75, Z:-0.60 [[ 9.98417980e-01 5.28439467e-02 1.92108074e-02 2.29652451e+01] [-5.28332989e-02 9.98602782e-01 -1.06172483e-03 -7.51619379e-01] [-1.92400714e-02 4.50748274e-05 9.99814892e-01 -5.97191846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.208623853 meters 0.02020928799924672 Centerline is valid? [True, True] Translation: X:23.03, Y:-0.77, Z:-0.60 [[ 9.98841198e-01 4.43223975e-02 1.87559772e-02 2.30264291e+01] [-4.43106716e-02 9.99017258e-01 -1.04050395e-03 -7.74156699e-01] [-1.87836625e-02 2.08208265e-04 9.99823550e-01 -5.99963709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.268623852999998 meters 0.023883965652150438 Centerline is valid? [True, True] Translation: X:23.09, Y:-0.79, Z:-0.60 [[ 9.99058745e-01 3.92272961e-02 1.85160173e-02 2.30877334e+01] [-3.92149785e-02 9.99230268e-01 -1.02799397e-03 -7.91671403e-01] [-1.85420903e-02 3.00921143e-04 9.99828035e-01 -6.00533176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.328623853 meters 0.02696055082876249 Centerline is valid? [True, True] Translation: X:23.15, Y:-0.81, Z:-0.60 [[ 9.99094586e-01 3.83877098e-02 1.83409744e-02 2.31483942e+01] [-3.83754741e-02 9.99262871e-01 -1.01873992e-03 -8.05382469e-01] [-1.83665618e-02 3.13973953e-04 9.99831271e-01 -6.04148907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.388623853 meters 0.023090872557343496 Centerline is valid? [True, True] Translation: X:23.21, Y:-0.81, Z:-0.60 [[ 9.99046886e-01 3.98615615e-02 1.77869250e-02 2.32101257e+01] [-3.98502743e-02 9.99205173e-01 -9.88707877e-04 -8.10130498e-01] [-1.78121989e-02 2.78951687e-04 9.99841311e-01 -6.04213828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.448623852999997 meters 0.03322163042083043 Centerline is valid? [True, True] Translation: X:23.27, Y:-0.81, Z:-0.60 [[ 9.99002854e-01 4.10624403e-02 1.75263548e-02 2.32723760e+01] [-4.10516157e-02 9.99156549e-01 -9.77091914e-04 -8.14494799e-01] [-1.75516940e-02 2.56632428e-04 9.99845924e-01 -6.02611140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.508623853 meters 0.027332443734155207 Centerline is valid? [True, True] Translation: X:23.33, Y:-0.82, Z:-0.60 [[ 9.98804252e-01 4.56656151e-02 1.74561797e-02 2.33343161e+01] [-4.56555313e-02 9.98956766e-01 -9.75951876e-04 -8.18285417e-01] [-1.74825362e-02 1.77813728e-04 9.99847153e-01 -6.01978915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.568623853 meters 0.01414288727061322 Centerline is valid? [True, True] Translation: X:23.40, Y:-0.82, Z:-0.61 [[ 9.98390814e-01 5.36498908e-02 1.83704016e-02 2.33958176e+01] [-5.36400089e-02 9.98559807e-01 -1.03059399e-03 -8.18843134e-01] [-1.83992359e-02 4.35470701e-05 9.99830719e-01 -6.06133127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.628623852999997 meters 0.014533309083846594 Centerline is valid? [True, True] Translation: X:23.46, Y:-0.81, Z:-0.61 [[ 9.97948042e-01 6.11648831e-02 1.89357365e-02 2.34596467e+01] [-6.11556731e-02 9.98127671e-01 -1.06560667e-03 -8.14506713e-01] [-1.89654603e-02 -9.46076256e-05 9.99820135e-01 -6.06938983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.688623853 meters 0.02250594965406351 Centerline is valid? [True, True] Translation: X:23.52, Y:-0.80, Z:-0.61 [[ 9.97136732e-01 7.31949695e-02 1.89956399e-02 2.35216175e+01] [-7.31877822e-02 9.97317600e-01 -1.07420720e-03 -8.02523823e-01] [-1.90233125e-02 -3.19117298e-04 9.99818989e-01 -6.08020966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.748623852999998 meters 0.04097609061450557 Centerline is valid? [True, True] Translation: X:23.58, Y:-0.78, Z:-0.61 [[ 9.96301145e-01 8.37654458e-02 1.91671230e-02 2.35833933e+01] [-8.37600717e-02 9.96485361e-01 -1.08441250e-03 -7.78380920e-01] [-1.91905938e-02 -5.25038182e-04 9.99815706e-01 -6.13552824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.808623852999997 meters 0.041443386270437324 Centerline is valid? [True, True] Translation: X:23.64, Y:-0.78, Z:-0.61 [[ 9.95592025e-01 9.17621032e-02 1.93968087e-02 2.36448908e+01] [-9.17581025e-02 9.95780721e-01 -1.09802890e-03 -7.76422756e-01] [-1.94157256e-02 -6.86625537e-04 9.99811261e-01 -6.11108025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.868623853 meters 0.04409675436152707 Centerline is valid? [True, True] Translation: X:23.71, Y:-0.77, Z:-0.61 [[ 9.95322801e-01 9.45660170e-02 1.97431181e-02 2.37059192e+01] [-9.45624143e-02 9.95518307e-01 -1.11806564e-03 -7.72988449e-01] [-1.97603665e-02 -7.54120685e-04 9.99804460e-01 -6.12283816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.928623852999998 meters 0.04554792118441881 Centerline is valid? [True, True] Translation: X:23.77, Y:-0.77, Z:-0.62 [[ 9.95304713e-01 9.48782342e-02 1.91480970e-02 2.37677128e+01] [-9.48749116e-02 9.95488612e-01 -1.08392423e-03 -7.68972371e-01] [-1.91645533e-02 -7.37839111e-04 9.99816071e-01 -6.15900027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.988623852999996 meters 0.04182609258062857 Centerline is valid? [True, True] Translation: X:23.83, Y:-0.77, Z:-0.62 [[ 9.95680542e-01 9.05543323e-02 2.04980846e-02 2.38277857e+01] [-9.05495542e-02 9.95891272e-01 -1.16303347e-03 -7.70332503e-01] [-2.05191813e-02 -6.98082636e-04 9.99789216e-01 -6.15260870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.048623853 meters 0.03595692888820741 Centerline is valid? [True, True] Translation: X:23.89, Y:-0.78, Z:-0.62 [[ 9.96121925e-01 8.54008312e-02 2.11615031e-02 2.38883712e+01] [-8.53945823e-02 9.96346488e-01 -1.20041519e-03 -7.77761316e-01] [-2.11867057e-02 -6.11317830e-04 9.99775350e-01 -6.16024675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.108623852999997 meters 0.0256775416285805 Centerline is valid? [True, True] Translation: X:23.95, Y:-0.79, Z:-0.62 [[ 9.96845687e-01 7.65247117e-02 2.10391489e-02 2.39479022e+01] [-7.65165556e-02 9.97067597e-01 -1.19358317e-03 -7.91924733e-01] [-2.10687922e-02 -4.20024975e-04 9.99777940e-01 -6.17774745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.168623853 meters 0.021392360274281583 Centerline is valid? [True, True] Translation: X:24.01, Y:-0.80, Z:-0.62 [[ 9.97257640e-01 7.12673973e-02 1.99538621e-02 2.40084775e+01] [-7.12590123e-02 9.97457203e-01 -1.13182891e-03 -8.00095604e-01] [-1.99837860e-02 -2.93167473e-04 9.99800261e-01 -6.21631833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.228623853 meters 0.015857326023427366 Centerline is valid? [True, True] Translation: X:24.07, Y:-0.81, Z:-0.62 [[ 9.97788999e-01 6.37153145e-02 1.89069182e-02 2.40693604e+01] [-6.37064223e-02 9.97968106e-01 -1.07285564e-03 -8.11096715e-01] [-1.89368587e-02 -1.34008561e-04 9.99820673e-01 -6.24628341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.288623852999997 meters 0.014314958495391002 Centerline is valid? [True, True] Translation: X:24.13, Y:-0.82, Z:-0.63 [[ 9.98066309e-01 5.92852493e-02 1.86789071e-02 2.41303940e+01] [-5.92758084e-02 9.98241081e-01 -1.05916678e-03 -8.17785189e-01] [-1.87088454e-02 -5.00886381e-05 9.99824973e-01 -6.27532972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.348623853 meters 0.0149110471856491 Centerline is valid? [True, True] Translation: X:24.19, Y:-0.83, Z:-0.63 [[ 9.98363432e-01 5.37897773e-02 1.94195126e-02 2.41922190e+01] [-5.37784735e-02 9.98552280e-01 -1.10422109e-03 -8.26905891e-01] [-1.94507944e-02 5.80622095e-05 9.99810814e-01 -6.29220107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.408623852999998 meters 0.016470091537447832 Centerline is valid? [True, True] Translation: X:24.25, Y:-0.83, Z:-0.63 [[ 9.98552227e-01 5.01669249e-02 1.94095196e-02 2.42539383e+01] [-5.01548795e-02 9.98740838e-01 -1.10718599e-03 -8.33809788e-01] [-1.94406240e-02 1.32100921e-04 9.99811004e-01 -6.29671690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.468623852999997 meters 0.01822609032217804 Centerline is valid? [True, True] Translation: X:24.31, Y:-0.84, Z:-0.63 [[ 9.98601634e-01 4.93116324e-02 1.90562387e-02 2.43146702e+01] [-4.92998056e-02 9.98783430e-01 -1.09019152e-03 -8.38246681e-01] [-1.90868145e-02 1.49198173e-04 9.99817819e-01 -6.34238685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.528623853 meters 0.01799514126666465 Centerline is valid? [True, True] Translation: X:24.38, Y:-0.84, Z:-0.64 [[ 9.98618643e-01 4.90933328e-02 1.87256709e-02 2.43778867e+01] [-4.90818280e-02 9.98794184e-01 -1.07375401e-03 -8.39066567e-01] [-1.87558053e-02 1.53180618e-04 9.99824083e-01 -6.35250534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.588623852999998 meters 0.0184665595356519 Centerline is valid? [True, True] Translation: X:24.44, Y:-0.84, Z:-0.64 [[ 9.98656763e-01 4.86443148e-02 1.78437654e-02 2.44400252e+01] [-4.86337391e-02 9.98816152e-01 -1.02639999e-03 -8.42827147e-01] [-1.78725696e-02 1.57212259e-04 9.99840261e-01 -6.38339863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.648623852999997 meters 0.019084279100663397 Centerline is valid? [True, True] Translation: X:24.50, Y:-0.85, Z:-0.64 [[ 9.98679779e-01 4.80425839e-02 1.81826697e-02 2.45032571e+01] [-4.80314521e-02 9.98845273e-01 -1.04868671e-03 -8.47540706e-01] [-1.82120553e-02 1.73962187e-04 9.99834132e-01 -6.40004484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.708623853 meters 0.02934304751329727 Centerline is valid? [True, True] Translation: X:24.56, Y:-0.85, Z:-0.64 [[ 9.98694995e-01 4.78302446e-02 1.79046143e-02 2.45645567e+01] [-4.78193425e-02 9.98855463e-01 -1.03677847e-03 -8.52374872e-01] [-1.79337112e-02 1.79238587e-04 9.99839162e-01 -6.37437606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.768623852999998 meters 0.01988966339991902 Centerline is valid? [True, True] Translation: X:24.63, Y:-0.86, Z:-0.64 [[ 9.98689652e-01 4.77547601e-02 1.83973574e-02 2.46270708e+01] [-4.77432217e-02 9.98859073e-01 -1.06613119e-03 -8.58455290e-01] [-1.84272802e-02 1.86385076e-04 9.99830186e-01 -6.43375379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.828623852999996 meters 0.025967808515852408 Centerline is valid? [True, True] Translation: X:24.69, Y:-0.87, Z:-0.64 [[ 9.98692344e-01 4.74761395e-02 1.89635979e-02 2.46888030e+01] [-4.74637599e-02 9.98872352e-01 -1.10260790e-03 -8.66438058e-01] [-1.89945612e-02 2.01082408e-04 9.99819567e-01 -6.40499921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.888623853 meters 0.020325067313388605 Centerline is valid? [True, True] Translation: X:24.75, Y:-0.87, Z:-0.65 [[ 9.98668240e-01 4.78753306e-02 1.92275490e-02 2.47514170e+01] [-4.78626166e-02 9.98853299e-01 -1.12114181e-03 -8.71336329e-01] [-1.92591758e-02 1.99367911e-04 9.99814505e-01 -6.45638349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.948623852999997 meters 0.030900919700136593 Centerline is valid? [True, True] Translation: X:24.81, Y:-0.88, Z:-0.65 [[ 9.98680856e-01 4.82361256e-02 1.76018297e-02 2.48125176e+01] [-4.82254733e-02 9.98835945e-01 -1.02939324e-03 -8.78932980e-01] [-1.76309941e-02 1.79178759e-04 9.99844546e-01 -6.45323869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.008623853 meters 0.019626703362962697 Centerline is valid? [True, True] Translation: X:24.87, Y:-0.89, Z:-0.65 [[ 9.98683375e-01 4.78213417e-02 1.85643561e-02 2.48748732e+01] [-4.78093755e-02 9.98855885e-01 -1.08811222e-03 -8.85602093e-01] [-1.85951514e-02 1.99129315e-04 9.99827075e-01 -6.48901831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.068623853 meters 0.01816252806063143 Centerline is valid? [True, True] Translation: X:24.94, Y:-0.89, Z:-0.65 [[ 9.98581525e-01 4.96111086e-02 1.93306981e-02 2.49366036e+01] [-4.95983910e-02 9.98768595e-01 -1.13706966e-03 -8.89984557e-01] [-1.93633054e-02 1.76685237e-04 9.99812498e-01 -6.48586877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.128623852999997 meters 0.01533177312084244 Centerline is valid? [True, True] Translation: X:25.00, Y:-0.89, Z:-0.65 [[ 9.98311264e-01 5.45444813e-02 1.99879867e-02 2.49980684e+01] [-5.45318016e-02 9.98511338e-01 -1.17926502e-03 -8.87898266e-01] [-2.00225537e-02 8.72926290e-05 9.99799525e-01 -6.49243088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.188623853 meters 0.01439802641236625 Centerline is valid? [True, True] Translation: X:25.06, Y:-0.89, Z:-0.65 [[ 9.98167204e-01 5.72702085e-02 1.95539158e-02 2.50609663e+01] [-5.72585476e-02 9.98358714e-01 -1.15615681e-03 -8.88741885e-01] [-1.95880355e-02 3.44089938e-05 9.99808135e-01 -6.51463478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.248623852999998 meters 0.014170940470868754 Centerline is valid? [True, True] Translation: X:25.12, Y:-0.89, Z:-0.65 [[ 9.98051578e-01 5.93071786e-02 1.93831654e-02 2.51240030e+01] [-5.92960323e-02 9.98239780e-01 -1.14978092e-03 -8.91783849e-01] [-1.94172370e-02 -1.80414210e-06 9.99811468e-01 -6.53245401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.308623852999997 meters 0.014219028687559004 Centerline is valid? [True, True] Translation: X:25.19, Y:-0.90, Z:-0.66 [[ 9.98050563e-01 5.94046721e-02 1.91352746e-02 2.51871167e+01] [-5.93937577e-02 9.98233983e-01 -1.13869016e-03 -8.97003090e-01] [-1.91691249e-02 -4.55118791e-08 9.99816255e-01 -6.55900886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.368623853 meters 0.01453444471052767 Centerline is valid? [True, True] Translation: X:25.25, Y:-0.90, Z:-0.66 [[ 9.98090655e-01 5.88494771e-02 1.87558847e-02 2.52490029e+01] [-5.88388237e-02 9.98266868e-01 -1.11980971e-03 -9.02899753e-01] [-1.87892785e-02 1.40974130e-05 9.99823466e-01 -6.59304556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.428623852999998 meters 0.015035045983637781 Centerline is valid? [True, True] Translation: X:25.31, Y:-0.91, Z:-0.66 [[ 9.98205130e-01 5.72758843e-02 1.74926173e-02 2.53103743e+01] [-5.72663243e-02 9.98358388e-01 -1.04734467e-03 -9.12188818e-01] [-1.75238888e-02 4.37269255e-05 9.99846444e-01 -6.62954699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.488623852999996 meters 0.01517116626100052 Centerline is valid? [True, True] Translation: X:25.37, Y:-0.92, Z:-0.66 [[ 9.98217933e-01 5.70365177e-02 1.75440810e-02 2.53730123e+01] [-5.70268165e-02 9.98372091e-01 -1.05314812e-03 -9.18662994e-01] [-1.75755887e-02 5.07882479e-05 9.99845536e-01 -6.64531620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.548623853 meters 0.014924630834987362 Centerline is valid? [True, True] Translation: X:25.43, Y:-0.92, Z:-0.67 [[ 9.98140828e-01 5.82632502e-02 1.78964283e-02 2.54343426e+01] [-5.82532817e-02 9.98301253e-01 -1.07825493e-03 -9.21318254e-01] [-1.79288494e-02 3.37245923e-05 9.99839265e-01 -6.65517673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.608623852999997 meters 0.014926726454493826 Centerline is valid? [True, True] Translation: X:25.50, Y:-0.93, Z:-0.67 [[ 9.98076938e-01 5.92150244e-02 1.83304852e-02 2.54951958e+01] [-5.92046720e-02 9.98245251e-01 -1.10740064e-03 -9.25233965e-01] [-1.83638945e-02 2.00206832e-05 9.99831369e-01 -6.67735805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.668623853 meters 0.014616736621502516 Centerline is valid? [True, True] Translation: X:25.56, Y:-0.93, Z:-0.67 [[ 9.98047887e-01 5.96823935e-02 1.83963916e-02 2.55576482e+01] [-5.96719999e-02 9.98217417e-01 -1.11387087e-03 -9.30330268e-01] [-1.84300769e-02 1.39469911e-05 9.99830152e-01 -6.67914324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.728623853 meters 0.026039190533549077 Centerline is valid? [True, True] Translation: X:25.62, Y:-0.93, Z:-0.66 [[ 9.98045953e-01 5.97078832e-02 1.84186061e-02 2.56204573e+01] [-5.96974029e-02 9.98215893e-01 -1.11879477e-03 -9.34840284e-01] [-1.84525462e-02 1.70656420e-05 9.99829737e-01 -6.64005144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.788623852999997 meters 0.014537247439226502 Centerline is valid? [True, True] Translation: X:25.68, Y:-0.94, Z:-0.67 [[ 9.98087704e-01 5.88032800e-02 1.90554295e-02 2.56828206e+01] [-5.87918247e-02 9.98269589e-01 -1.16128538e-03 -9.40777581e-01] [-1.90907432e-02 3.87611858e-05 9.99817754e-01 -6.69683532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.848623853 meters 0.02051221829292122 Centerline is valid? [True, True] Translation: X:25.74, Y:-0.95, Z:-0.67 [[ 9.98116176e-01 5.85352707e-02 1.83771748e-02 2.57436103e+01] [-5.85244921e-02 9.98285340e-01 -1.12423821e-03 -9.46456548e-01] [-1.84114718e-02 4.66055217e-05 9.99830493e-01 -6.68372382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.908623852999998 meters 0.0144548825261239 Centerline is valid? [True, True] Translation: X:25.81, Y:-0.95, Z:-0.67 [[ 9.98043838e-01 5.93875856e-02 1.95349020e-02 2.58058452e+01] [-5.93755423e-02 9.98234999e-01 -1.19644127e-03 -9.49774665e-01] [-1.95714767e-02 3.42054318e-05 9.99808460e-01 -6.71480252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.968623852999997 meters 0.014153628918679398 Centerline is valid? [True, True] Translation: X:25.87, Y:-0.95, Z:-0.67 [[ 9.97914843e-01 6.13625950e-02 2.00149239e-02 2.58685382e+01] [-6.13502843e-02 9.98115540e-01 -1.22910219e-03 -9.49713520e-01] [-2.00526274e-02 -1.38195146e-06 9.99798926e-01 -6.72542793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.028623853 meters 0.01429635601823826 Centerline is valid? [True, True] Translation: X:25.93, Y:-0.95, Z:-0.67 [[ 9.97799383e-01 6.32757639e-02 1.98133442e-02 2.59307004e+01] [-6.32640020e-02 9.97996080e-01 -1.22050131e-03 -9.51224636e-01] [-1.98508680e-02 -3.56559976e-05 9.99802951e-01 -6.74945815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.088623852999998 meters 0.014532590578787714 Centerline is valid? [True, True] Translation: X:25.99, Y:-0.96, Z:-0.68 [[ 9.97770617e-01 6.39285529e-02 1.91555916e-02 2.59925000e+01] [-6.39176176e-02 9.97954477e-01 -1.18319769e-03 -9.56010676e-01] [-1.91920485e-02 -4.38198919e-05 9.99815815e-01 -6.78378692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.148623852999997 meters 0.013905320112277889 Centerline is valid? [True, True] Translation: X:26.05, Y:-0.96, Z:-0.68 [[ 9.97755712e-01 6.35896343e-02 2.09737496e-02 2.60549028e+01] [-6.35763629e-02 9.97976131e-01 -1.29962229e-03 -9.62994416e-01] [-2.10139439e-02 -3.67291517e-05 9.99779182e-01 -6.75253565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.208623853 meters 0.014218992114469349 Centerline is valid? [True, True] Translation: X:26.12, Y:-0.97, Z:-0.68 [[ 9.97667603e-01 6.47005155e-02 2.17531054e-02 2.61172968e+01] [-6.46864153e-02 9.97904725e-01 -1.35195534e-03 -9.65947524e-01] [-2.17949989e-02 -5.83283691e-05 9.99762459e-01 -6.75864422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.268623852999998 meters 0.014959992200524158 Centerline is valid? [True, True] Translation: X:26.18, Y:-0.97, Z:-0.68 [[ 9.97525458e-01 6.69126533e-02 2.15791052e-02 2.61796803e+01] [-6.68992466e-02 9.97758832e-01 -1.34339126e-03 -9.68410395e-01] [-2.16206327e-02 -1.03558896e-04 9.99766241e-01 -6.78227782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.328623852999996 meters 0.019014155248925708 Centerline is valid? [True, True] Translation: X:26.24, Y:-0.96, Z:-0.68 [[ 9.97168778e-01 7.23677436e-02 2.04288701e-02 2.62423807e+01] [-7.23568108e-02 9.97377996e-01 -1.27478894e-03 -9.63459616e-01] [-2.04675591e-02 -2.06988157e-04 9.99790496e-01 -6.82393638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.388623853 meters 0.023733596145730323 Centerline is valid? [True, True] Translation: X:26.30, Y:-0.96, Z:-0.69 [[ 9.96770158e-01 7.78618514e-02 1.96668524e-02 2.63042383e+01] [-7.78527117e-02 9.96964112e-01 -1.23109544e-03 -9.56539640e-01] [-1.97030014e-02 -3.03998591e-04 9.99805831e-01 -6.86049299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.448623852999997 meters 0.026639178208959478 Centerline is valid? [True, True] Translation: X:26.37, Y:-0.96, Z:-0.69 [[ 9.96573104e-01 8.05109533e-02 1.89745763e-02 2.63664311e+01] [-8.05029394e-02 9.96753664e-01 -1.18704082e-03 -9.55592906e-01] [-1.90085483e-02 -3.44536215e-04 9.99819262e-01 -6.89476377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.508623853 meters 0.02993043096778341 Centerline is valid? [True, True] Translation: X:26.43, Y:-0.95, Z:-0.69 [[ 9.96349933e-01 8.32284478e-02 1.89693713e-02 2.64292574e+01] [-8.32208580e-02 9.96530417e-01 -1.19052453e-03 -9.52005767e-01] [-1.90026410e-02 -3.92468315e-04 9.99819356e-01 -6.90691624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.568623853 meters 0.030862142957191578 Centerline is valid? [True, True] Translation: X:26.49, Y:-0.95, Z:-0.69 [[ 9.96256220e-01 8.41533453e-02 1.97928702e-02 2.64914820e+01] [-8.41452634e-02 9.96452724e-01 -1.24227193e-03 -9.51169203e-01] [-1.98272008e-02 -4.27855145e-04 9.99803330e-01 -6.90751620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.628623852999997 meters 0.02745680039972394 Centerline is valid? [True, True] Translation: X:26.55, Y:-0.96, Z:-0.69 [[ 9.96329683e-01 8.31385359e-02 2.03751692e-02 2.65532145e+01] [-8.31296938e-02 9.96537912e-01 -1.28202937e-03 -9.55064172e-01] [-2.04112146e-02 -4.16457667e-04 9.99791583e-01 -6.90300992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.688623853 meters 0.025214012370221753 Centerline is valid? [True, True] Translation: X:26.62, Y:-0.96, Z:-0.69 [[ 9.96448291e-01 8.18169960e-02 1.99193882e-02 2.66151183e+01] [-8.18082196e-02 9.96647298e-01 -1.25643665e-03 -9.59224284e-01] [-1.99554023e-02 -3.77595527e-04 9.99800800e-01 -6.92139510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.748623852999998 meters 0.025982461234854155 Centerline is valid? [True, True] Translation: X:26.68, Y:-0.96, Z:-0.70 [[ 9.96639380e-01 7.92939156e-02 2.05528732e-02 2.66771345e+01] [-7.92839624e-02 9.96851224e-01 -1.29995113e-03 -9.55690091e-01] [-2.05912351e-02 -3.33930736e-04 9.99787922e-01 -6.95210860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.808623852999997 meters 0.022386011156232753 Centerline is valid? [True, True] Translation: X:26.74, Y:-0.96, Z:-0.69 [[ 9.96819094e-01 7.65705318e-02 2.21053883e-02 2.67398106e+01] [-7.65582469e-02 9.97064124e-01 -1.40273068e-03 -9.58102644e-01] [-2.21478975e-02 -2.94081050e-04 9.99754662e-01 -6.93032643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.868623853 meters 0.01894767011136362 Centerline is valid? [True, True] Translation: X:26.80, Y:-0.96, Z:-0.69 [[ 9.96926220e-01 7.50812948e-02 2.23810367e-02 2.68022832e+01] [-7.50682996e-02 9.97177381e-01 -1.42141671e-03 -9.63489906e-01] [-2.24245853e-02 -2.63058775e-04 9.99748503e-01 -6.92703898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.928623852999998 meters 0.017688205168025647 Centerline is valid? [True, True] Translation: X:26.86, Y:-0.96, Z:-0.69 [[ 9.97027958e-01 7.36729461e-02 2.25288223e-02 2.68649128e+01] [-7.36594011e-02 9.97282429e-01 -1.43160253e-03 -9.62700279e-01] [-2.25730690e-02 -2.32111815e-04 9.99745169e-01 -6.94259044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.988623852999996 meters 0.016545974863645743 Centerline is valid? [True, True] Translation: X:26.93, Y:-0.96, Z:-0.70 [[ 9.97191683e-01 7.18290710e-02 2.11974357e-02 2.69275150e+01] [-7.18165830e-02 9.97416941e-01 -1.35077489e-03 -9.64421078e-01] [-2.12397064e-02 -1.75345915e-04 9.99774397e-01 -6.98659978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.048623853 meters 0.014337821826192 Centerline is valid? [True, True] Translation: X:26.99, Y:-0.97, Z:-0.70 [[ 9.97552772e-01 6.67990899e-02 2.06482294e-02 2.69883613e+01] [-6.67861343e-02 9.97766444e-01 -1.31716095e-03 -9.70527275e-01] [-2.06900955e-02 -6.50778654e-05 9.99785935e-01 -7.01272102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.108623852999997 meters 0.014436609367556127 Centerline is valid? [True, True] Translation: X:27.05, Y:-0.98, Z:-0.71 [[ 9.97809450e-01 6.26930149e-02 2.11160253e-02 2.70495010e+01] [-6.26784742e-02 9.98032858e-01 -1.35039479e-03 -9.78157246e-01] [-2.11591474e-02 2.39164335e-05 9.99776120e-01 -7.05034049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.168623853 meters 0.01702272746153407 Centerline is valid? [True, True] Translation: X:27.11, Y:-0.99, Z:-0.70 [[ 9.98222456e-01 5.58454120e-02 2.08138825e-02 2.71113811e+01] [-5.58297314e-02 9.98439413e-01 -1.33414626e-03 -9.87940245e-01] [-2.08559066e-02 1.69741288e-04 9.99782478e-01 -7.04216131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.228623853 meters 0.020024120612864196 Centerline is valid? [True, True] Translation: X:27.17, Y:-0.99, Z:-0.71 [[ 9.98511154e-01 5.07924897e-02 1.98896331e-02 2.71730071e+01] [-5.07770893e-02 9.98709193e-01 -1.27887313e-03 -9.94545478e-01] [-1.99289166e-02 2.67031415e-04 9.99801364e-01 -7.06930143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.288623852999997 meters 0.0213693671857297 Centerline is valid? [True, True] Translation: X:27.23, Y:-1.00, Z:-0.71 [[ 9.98562131e-01 4.99730281e-02 1.94001992e-02 2.72340086e+01] [-4.99582215e-02 9.98750529e-01 -1.24741906e-03 -1.00028369e+00] [-1.94382965e-02 2.76425984e-04 9.99811020e-01 -7.10006081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.348623853 meters 0.02297906080054583 Centerline is valid? [True, True] Translation: X:27.30, Y:-1.01, Z:-0.71 [[ 9.98646122e-01 4.88417077e-02 1.79000352e-02 2.72952449e+01] [-4.88288750e-02 9.98806493e-01 -1.15352333e-03 -1.00655080e+00] [-1.79350114e-02 2.77923024e-04 9.99839116e-01 -7.14311242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.408623852999998 meters 0.02381399846945255 Centerline is valid? [True, True] Translation: X:27.36, Y:-1.01, Z:-0.72 [[ 9.98642588e-01 4.89345549e-02 1.78435355e-02 2.73574351e+01] [-4.89217730e-02 9.98801948e-01 -1.15239427e-03 -1.01156610e+00] [-1.78785499e-02 2.77892602e-04 9.99840127e-01 -7.16848408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.468623852999997 meters 0.0209720075243085 Centerline is valid? [True, True] Translation: X:27.42, Y:-1.01, Z:-0.71 [[ 9.98571573e-01 4.98822438e-02 1.91461669e-02 2.74197325e+01] [-4.98676298e-02 9.98755066e-01 -1.24025761e-03 -1.01263945e+00] [-1.91841980e-02 2.83712031e-04 9.99815926e-01 -7.14502675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.528623853 meters 0.020704539699113688 Centerline is valid? [True, True] Translation: X:27.48, Y:-1.02, Z:-0.71 [[ 9.98464190e-01 5.12984682e-02 2.09219753e-02 2.74805855e+01] [-5.12812401e-02 9.98683326e-01 -1.35948311e-03 -1.01822140e+00] [-2.09641672e-02 2.84490364e-04 9.99780187e-01 -7.13607917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.588623852999998 meters 0.01945212071029 Centerline is valid? [True, True] Translation: X:27.54, Y:-1.02, Z:-0.72 [[ 9.98404953e-01 5.26106146e-02 2.04859397e-02 2.75424521e+01] [-5.25943090e-02 9.98615070e-01 -1.33428300e-03 -1.02107328e+00] [-2.05277655e-02 2.54710919e-04 9.99789251e-01 -7.15624630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.648623852999997 meters 0.017521688609291455 Centerline is valid? [True, True] Translation: X:27.60, Y:-1.02, Z:-0.72 [[ 9.98246594e-01 5.56334416e-02 2.02152759e-02 2.76046341e+01] [-5.56181146e-02 9.98451242e-01 -1.32006088e-03 -1.02424044e+00] [-2.02574069e-02 1.93410742e-04 9.99794779e-01 -7.17598618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.708623853 meters 0.01493162501867302 Centerline is valid? [True, True] Translation: X:27.67, Y:-1.02, Z:-0.72 [[ 9.97941411e-01 6.10351294e-02 1.96888853e-02 2.76655773e+01] [-6.10215753e-02 9.98135615e-01 -1.28902312e-03 -1.02345188e+00] [-1.97308534e-02 8.49227501e-05 9.99805324e-01 -7.20500630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.768623852999998 meters 0.0139038312773773 Centerline is valid? [True, True] Translation: X:27.73, Y:-1.02, Z:-0.72 [[ 9.97694069e-01 6.47750746e-02 2.02665783e-02 2.77284204e+01] [-6.47614198e-02 9.97899890e-01 -1.33004275e-03 -1.02238594e+00] [-2.03101698e-02 1.44833795e-05 9.99793727e-01 -7.21016202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.828623852999996 meters 0.014760556830597026 Centerline is valid? [True, True] Translation: X:27.79, Y:-1.02, Z:-0.72 [[ 9.97360924e-01 6.98579549e-02 1.97750933e-02 2.77898142e+01] [-6.98458775e-02 9.97556945e-01 -1.30159793e-03 -1.02063559e+00] [-1.98177086e-02 -8.30458264e-05 9.99803606e-01 -7.24477060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.888623853 meters 0.01599292787303945 Centerline is valid? [True, True] Translation: X:27.85, Y:-1.02, Z:-0.73 [[ 9.97115580e-01 7.32802210e-02 1.97618398e-02 2.78521695e+01] [-7.32688088e-02 9.97311379e-01 -1.30188030e-03 -1.02103327e+00] [-1.98041097e-02 -1.49801324e-04 9.99803868e-01 -7.25194382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.948623852999997 meters 0.017124555400560786 Centerline is valid? [True, True] Translation: X:27.91, Y:-1.02, Z:-0.73 [[ 9.97009314e-01 7.47227936e-02 1.97213634e-02 2.79134554e+01] [-7.47116411e-02 9.97204329e-01 -1.30271105e-03 -1.02267759e+00] [-1.97635712e-02 -1.74600379e-04 9.99804666e-01 -7.28358197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.008623853 meters 0.017722543868383 Centerline is valid? [True, True] Translation: X:27.98, Y:-1.03, Z:-0.73 [[ 9.96925922e-01 7.58627906e-02 1.95842441e-02 2.79751840e+01] [-7.58519539e-02 9.97118248e-01 -1.29664200e-03 -1.02561326e+00] [-1.96261741e-02 -1.92847166e-04 9.99807369e-01 -7.30409097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.068623853 meters 0.01761374603175029 Centerline is valid? [True, True] Translation: X:28.04, Y:-1.03, Z:-0.73 [[ 9.96900295e-01 7.60996975e-02 1.99659123e-02 2.80377422e+01] [-7.60884170e-02 9.97100194e-01 -1.32514681e-03 -1.02841813e+00] [-2.00088583e-02 -1.98135423e-04 9.99799783e-01 -7.31143799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.128623853 meters 0.016771295431840774 Centerline is valid? [True, True] Translation: X:28.10, Y:-1.03, Z:-0.73 [[ 9.96970299e-01 7.51683286e-02 1.99986531e-02 2.80997780e+01] [-7.51567430e-02 9.97170844e-01 -1.33134394e-03 -1.03241677e+00] [-2.00421487e-02 -1.75723272e-04 9.99799121e-01 -7.32241751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.188623852999996 meters 0.015175714819973502 Centerline is valid? [True, True] Translation: X:28.16, Y:-1.04, Z:-0.73 [[ 9.97132288e-01 7.26212583e-02 2.12920892e-02 2.81610698e+01] [-7.26074592e-02 9.97359582e-01 -1.42146475e-03 -1.03812364e+00] [-2.13390978e-02 -1.28576101e-04 9.99772287e-01 -7.31541647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.248623853 meters 0.013879174104391507 Centerline is valid? [True, True] Translation: X:28.22, Y:-1.04, Z:-0.73 [[ 9.97247974e-01 7.06409725e-02 2.25018239e-02 2.82232275e+01] [-7.06249733e-02 9.97501802e-01 -1.50591848e-03 -1.04404814e+00] [-2.25519894e-02 -8.74165597e-05 9.99745668e-01 -7.30199015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.308623853 meters 0.01323280304614111 Centerline is valid? [True, True] Translation: X:28.28, Y:-1.05, Z:-0.73 [[ 9.97416173e-01 6.79379694e-02 2.33540032e-02 2.82840706e+01] [-6.79198942e-02 9.97689547e-01 -1.56722315e-03 -1.05017574e+00] [-2.34065188e-02 -2.30277099e-05 9.99726030e-01 -7.31727330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.368623852999995 meters 0.013280745049583785 Centerline is valid? [True, True] Translation: X:28.35, Y:-1.06, Z:-0.73 [[ 9.97555674e-01 6.61028437e-02 2.26514980e-02 2.83469267e+01] [-6.60852921e-02 9.97812815e-01 -1.52336203e-03 -1.05573950e+00] [-2.27026536e-02 2.27075785e-05 9.99742261e-01 -7.34247681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.428623853 meters 0.014183632087676052 Centerline is valid? [True, True] Translation: X:28.41, Y:-1.06, Z:-0.74 [[ 9.97742871e-01 6.32902134e-02 2.24390748e-02 2.84079766e+01] [-6.32721758e-02 9.97995161e-01 -1.51362619e-03 -1.06135687e+00] [-2.24898857e-02 9.04406562e-05 9.99747066e-01 -7.36970123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.488623853 meters 0.016012353727851127 Centerline is valid? [True, True] Translation: X:28.47, Y:-1.07, Z:-0.74 [[ 9.97948296e-01 6.02228504e-02 2.17349031e-02 2.84686485e+01] [-6.02051279e-02 9.98184944e-01 -1.46942447e-03 -1.06826226e+00] [-2.17839459e-02 1.57857033e-04 9.99762689e-01 -7.40907077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.548623852999995 meters 0.017936685689246883 Centerline is valid? [True, True] Translation: X:28.53, Y:-1.08, Z:-0.74 [[ 9.98108872e-01 5.78028815e-02 2.09166388e-02 2.85300256e+01] [-5.77858742e-02 9.98327994e-01 -1.41710367e-03 -1.07635110e+00] [-2.09635788e-02 2.05737482e-04 9.99780219e-01 -7.44637716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.608623853 meters 0.021076791163170256 Centerline is valid? [True, True] Translation: X:28.59, Y:-1.08, Z:-0.75 [[ 9.98299406e-01 5.45181632e-02 2.06413580e-02 2.85903622e+01] [-5.45008092e-02 9.98512741e-01 -1.40277112e-03 -1.08428732e+00] [-2.06871355e-02 2.75414859e-04 9.99785960e-01 -7.47675114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.668623853 meters 0.02384606637696916 Centerline is valid? [True, True] Translation: X:28.65, Y:-1.09, Z:-0.75 [[ 9.98421167e-01 5.17662242e-02 2.18043773e-02 2.86523207e+01] [-5.17462089e-02 9.98659169e-01 -1.48154271e-03 -1.09290682e+00] [-2.18518351e-02 3.50909739e-04 9.99761159e-01 -7.47219359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.728623852999995 meters 0.024170642808875542 Centerline is valid? [True, True] Translation: X:28.71, Y:-1.10, Z:-0.75 [[ 9.98471612e-01 5.06793044e-02 2.20464890e-02 2.87137834e+01] [-5.06584967e-02 9.98714905e-01 -1.50163678e-03 -1.09764022e+00] [-2.20942591e-02 3.82499705e-04 9.99755819e-01 -7.47938878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.788623853 meters 0.0266903051389614 Centerline is valid? [True, True] Translation: X:28.77, Y:-1.11, Z:-0.75 [[ 9.98508194e-01 4.96991195e-02 2.26138226e-02 2.87747122e+01] [-4.96768948e-02 9.98764148e-01 -1.54384126e-03 -1.10607616e+00] [-2.26626028e-02 4.18153663e-04 9.99743083e-01 -7.50031690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.848623853 meters 0.024960726496794296 Centerline is valid? [True, True] Translation: X:28.84, Y:-1.11, Z:-0.75 [[ 9.98504219e-01 4.96056282e-02 2.29914610e-02 2.88378468e+01] [-4.95825531e-02 9.98768790e-01 -1.57296659e-03 -1.10910856e+00] [-2.30411817e-02 4.30638437e-04 9.99734424e-01 -7.50887715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.908623852999995 meters 0.025926559790711835 Centerline is valid? [True, True] Translation: X:28.90, Y:-1.12, Z:-0.75 [[ 9.98536408e-01 4.90614802e-02 2.27599013e-02 2.88988032e+01] [-4.90386244e-02 9.98795662e-01 -1.56159356e-03 -1.11660661e+00] [-2.28091048e-02 4.43193768e-04 9.99739740e-01 -7.53515482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.968623853 meters 0.029837650954846116 Centerline is valid? [True, True] Translation: X:28.96, Y:-1.13, Z:-0.76 [[ 9.98612793e-01 4.83248825e-02 2.09091947e-02 2.89588548e+01] [-4.83053718e-02 9.98831580e-01 -1.43747675e-03 -1.12964941e+00] [-2.09542299e-02 4.25456251e-04 9.99780345e-01 -7.60396904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.028623853 meters 0.025521428412374512 Centerline is valid? [True, True] Translation: X:29.02, Y:-1.13, Z:-0.76 [[ 9.98602490e-01 4.86689181e-02 2.06010597e-02 2.90218520e+01] [-4.86499953e-02 9.98814880e-01 -1.41900923e-03 -1.13198011e+00] [-2.06457066e-02 4.14784690e-04 9.99786769e-01 -7.60887391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.088623853 meters 0.026509466507219113 Centerline is valid? [True, True] Translation: X:29.08, Y:-1.14, Z:-0.76 [[ 9.98505680e-01 5.02234352e-02 2.15409513e-02 2.90826700e+01] [-5.02030061e-02 9.98737925e-01 -1.48845378e-03 -1.13923560e+00] [-2.15885203e-02 4.04809041e-04 9.99766859e-01 -7.61967312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.148623853 meters 0.02368608800598083 Centerline is valid? [True, True] Translation: X:29.14, Y:-1.14, Z:-0.76 [[ 9.98313904e-01 5.34482541e-02 2.26413862e-02 2.91431774e+01] [-5.34264098e-02 9.98570557e-01 -1.56903129e-03 -1.14285092e+00] [-2.26928836e-02 3.56737773e-04 9.99742420e-01 -7.61452806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.208623853 meters 0.022508646201921747 Centerline is valid? [True, True] Translation: X:29.20, Y:-1.15, Z:-0.76 [[ 9.98252633e-01 5.44759295e-02 2.28922333e-02 2.92047956e+01] [-5.44538789e-02 9.98515027e-01 -1.58596325e-03 -1.14675567e+00] [-2.29446357e-02 3.36621095e-04 9.99736681e-01 -7.63127242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.268623853 meters 0.01986280426269894 Centerline is valid? [True, True] Translation: X:29.27, Y:-1.15, Z:-0.77 [[ 9.98153407e-01 5.64132816e-02 2.25237161e-02 2.92663142e+01] [-5.63923495e-02 9.98407460e-01 -1.56392482e-03 -1.15120137e+00] [-2.25760723e-02 2.90871612e-04 9.99745086e-01 -7.65860100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.328623852999996 meters 0.01900243998895312 Centerline is valid? [True, True] Translation: X:29.33, Y:-1.16, Z:-0.77 [[ 9.98095115e-01 5.77572755e-02 2.16849622e-02 2.93275003e+01] [-5.77381158e-02 9.98330623e-01 -1.50913274e-03 -1.16032537e+00] [-2.17359252e-02 2.54209158e-04 9.99763715e-01 -7.68493978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.388623853 meters 0.01773441652600974 Centerline is valid? [True, True] Translation: X:29.39, Y:-1.16, Z:-0.77 [[ 9.98017575e-01 5.93312860e-02 2.09933060e-02 2.93899224e+01] [-5.93135916e-02 9.98238324e-01 -1.46506982e-03 -1.16465090e+00] [-2.10432471e-02 2.16977050e-04 9.99778543e-01 -7.71629309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.448623853 meters 0.01550907557513467 Centerline is valid? [True, True] Translation: X:29.45, Y:-1.17, Z:-0.77 [[ 9.97750724e-01 6.36909697e-02 2.09034274e-02 2.94508754e+01] [-6.36743700e-02 9.97969661e-01 -1.45941116e-03 -1.16798634e+00] [-2.09539377e-02 1.25115970e-04 9.99780434e-01 -7.74068331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.508623852999996 meters 0.013380505718993308 Centerline is valid? [True, True] Translation: X:29.51, Y:-1.17, Z:-0.77 [[ 9.97396585e-01 6.84155410e-02 2.27896108e-02 2.95135950e+01] [-6.83969536e-02 9.97656911e-01 -1.59500001e-03 -1.16611052e+00] [-2.28453355e-02 3.21076113e-05 9.99739011e-01 -7.72056861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.568623853 meters 0.0133223069322093 Centerline is valid? [True, True] Translation: X:29.58, Y:-1.17, Z:-0.77 [[ 9.97176964e-01 7.13252745e-02 2.34693132e-02 2.95751059e+01] [-7.13062721e-02 9.97453109e-01 -1.64661577e-03 -1.16824936e+00] [-2.35269848e-02 -3.15419209e-05 9.99723202e-01 -7.73720790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.628623853 meters 0.015275877340189582 Centerline is valid? [True, True] Translation: X:29.64, Y:-1.16, Z:-0.78 [[ 9.96764520e-01 7.69060757e-02 2.33655143e-02 2.96379473e+01] [-7.68886748e-02 9.97038329e-01 -1.64353921e-03 -1.16476867e+00] [-2.34227115e-02 -1.58321857e-04 9.99725638e-01 -7.75306808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.688623852999996 meters 0.018472049122745585 Centerline is valid? [True, True] Translation: X:29.70, Y:-1.16, Z:-0.78 [[ 9.96423363e-01 8.11964156e-02 2.34013729e-02 2.97000210e+01] [-8.11800526e-02 9.96698087e-01 -1.64995169e-03 -1.16237266e+00] [-2.34580738e-02 -2.55674267e-04 9.99724789e-01 -7.76664055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.748623853 meters 0.021693453128667425 Centerline is valid? [True, True] Translation: X:29.76, Y:-1.16, Z:-0.78 [[ 9.96024383e-01 8.59870071e-02 2.32736384e-02 2.97627938e+01] [-8.59720373e-02 9.96296192e-01 -1.64487879e-03 -1.15838602e+00] [-2.33288756e-02 -3.62542732e-04 9.99727779e-01 -7.77747093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.808623853 meters 0.021145069695221883 Centerline is valid? [True, True] Translation: X:29.82, Y:-1.16, Z:-0.78 [[ 9.95946972e-01 8.61975453e-02 2.56828966e-02 2.98247787e+01] [-8.61793566e-02 9.96277983e-01 -1.81628094e-03 -1.16028524e+00] [-2.57438633e-02 -4.04415997e-04 9.99668490e-01 -7.75993557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.868623852999995 meters 0.01982545363283832 Centerline is valid? [True, True] Translation: X:29.89, Y:-1.17, Z:-0.78 [[ 9.96108642e-01 8.39771735e-02 2.67471158e-02 2.98858110e+01] [-8.39565178e-02 9.96467615e-01 -1.89631016e-03 -1.16536415e+00] [-2.68118814e-02 -3.56663766e-04 9.99640433e-01 -7.76451878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.928623853 meters 0.015667123470511444 Centerline is valid? [True, True] Translation: X:29.95, Y:-1.18, Z:-0.78 [[ 9.96558635e-01 7.88312128e-02 2.56227661e-02 2.99469492e+01] [-7.88104583e-02 9.96887956e-01 -1.82040729e-03 -1.17617195e+00] [-2.56865319e-02 -2.05199341e-04 9.99670026e-01 -7.80217485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.988623853 meters 0.013264452618238817 Centerline is valid? [True, True] Translation: X:30.01, Y:-1.19, Z:-0.78 [[ 9.97030286e-01 7.30326498e-02 2.44303363e-02 3.00071550e+01] [-7.30119452e-02 9.97329549e-01 -1.73960499e-03 -1.18615792e+00] [-2.44921442e-02 -4.92675121e-05 9.99700021e-01 -7.84568756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.048623852999995 meters 0.01363547296379717 Centerline is valid? [True, True] Translation: X:30.07, Y:-1.20, Z:-0.79 [[ 9.97372844e-01 6.83951245e-02 2.38645490e-02 3.00690269e+01] [-6.83739578e-02 9.97658309e-01 -1.70275997e-03 -1.19714123e+00] [-2.39251261e-02 6.65728854e-05 9.99713751e-01 -7.87578359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.108623853 meters 0.01829171458894415 Centerline is valid? [True, True] Translation: X:30.13, Y:-1.21, Z:-0.79 [[ 9.97843222e-01 6.05754306e-02 2.52887654e-02 3.01304838e+01] [-6.05490117e-02 9.98163585e-01 -1.80981718e-03 -1.21371954e+00] [-2.53519551e-02 2.74704055e-04 9.99678550e-01 -7.86942564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.168623853 meters 0.02249196763570771 Centerline is valid? [True, True] Translation: X:30.19, Y:-1.22, Z:-0.79 [[ 9.98096278e-01 5.59895201e-02 2.58648982e-02 3.01922818e+01] [-5.59603115e-02 9.98431276e-01 -1.85229244e-03 -1.22443906e+00] [-2.59280323e-02 4.01358432e-04 9.99663731e-01 -7.88067135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.228623852999995 meters 0.02649710844353056 Centerline is valid? [True, True] Translation: X:30.25, Y:-1.23, Z:-0.79 [[ 9.98320675e-01 5.20087917e-02 2.55130512e-02 3.02538421e+01] [-5.19790430e-02 9.98646502e-01 -1.82826326e-03 -1.23475680e+00] [-2.55736051e-02 4.99049022e-04 9.99672817e-01 -7.90320070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.288623853 meters 0.02482237828530781 Centerline is valid? [True, True] Translation: X:30.32, Y:-1.24, Z:-0.79 [[ 9.98322697e-01 5.27404904e-02 2.38795388e-02 3.03162929e+01] [-5.27146185e-02 9.98608150e-01 -1.71206631e-03 -1.23871898e+00] [-2.39365973e-02 4.50393876e-04 9.99713377e-01 -7.94612976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.348623853 meters 0.020614050771118827 Centerline is valid? [True, True] Translation: X:30.38, Y:-1.24, Z:-0.80 [[ 9.98087335e-01 5.72513912e-02 2.33227329e-02 3.03777908e+01] [-5.72278883e-02 9.98359737e-01 -1.67447756e-03 -1.23524136e+00] [-2.33803436e-02 3.36564095e-04 9.99726586e-01 -7.97415518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.408623852999995 meters 0.018143192258372548 Centerline is valid? [True, True] Translation: X:30.44, Y:-1.23, Z:-0.80 [[ 9.97853212e-01 6.10590080e-02 2.36804839e-02 3.04389637e+01] [-6.10358486e-02 9.98134126e-01 -1.70022034e-03 -1.23422846e+00] [-2.37401128e-02 2.51211896e-04 9.99718132e-01 -7.98534201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.468623853 meters 0.014893056406326816 Centerline is valid? [True, True] Translation: X:30.50, Y:-1.23, Z:-0.80 [[ 9.97522936e-01 6.58618308e-02 2.47024593e-02 3.05011083e+01] [-6.58380016e-02 9.97828742e-01 -1.77760016e-03 -1.23157754e+00] [-2.47658999e-02 1.46836380e-04 9.99693267e-01 -7.98798946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.528623853 meters 0.01394075297871729 Centerline is valid? [True, True] Translation: X:30.56, Y:-1.23, Z:-0.80 [[ 9.97362337e-01 6.83134365e-02 2.45284255e-02 3.05630231e+01] [-6.82905848e-02 9.97663905e-01 -1.76907091e-03 -1.23321873e+00] [-2.45919761e-02 8.93441748e-05 9.99697568e-01 -8.01132216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.588623853 meters 0.013543292111799011 Centerline is valid? [True, True] Translation: X:30.63, Y:-1.24, Z:-0.80 [[ 9.97295780e-01 6.95656763e-02 2.37011255e-02 3.06255670e+01] [-6.95446073e-02 9.97577372e-01 -1.71304574e-03 -1.23630833e+00] [-2.37628756e-02 6.01278233e-05 9.99717621e-01 -8.04355319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.648623853 meters 0.014029958679550317 Centerline is valid? [True, True] Translation: X:30.69, Y:-1.24, Z:-0.81 [[ 9.97368010e-01 6.89415783e-02 2.24524066e-02 3.06869159e+01] [-6.89224183e-02 9.97620696e-01 -1.62700497e-03 -1.24208999e+00] [-2.25111538e-02 7.52485465e-05 9.99746589e-01 -8.08468534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.708623853 meters 0.014781544161235139 Centerline is valid? [True, True] Translation: X:30.75, Y:-1.25, Z:-0.81 [[ 9.97468622e-01 6.71596690e-02 2.33650657e-02 3.07483342e+01] [-6.71383425e-02 9.97742233e-01 -1.69689888e-03 -1.25147917e+00] [-2.34262760e-02 1.23911599e-04 9.99725559e-01 -8.09173238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.768623853 meters 0.015272722532786418 Centerline is valid? [True, True] Translation: X:30.81, Y:-1.26, Z:-0.81 [[ 9.97498062e-01 6.62861698e-02 2.45715302e-02 3.08114077e+01] [-6.62622045e-02 9.97800641e-01 -1.78914913e-03 -1.26010954e+00] [-2.46360844e-02 1.56509029e-04 9.99696473e-01 -8.08613936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.828623852999996 meters 0.01633291405393138 Centerline is valid? [True, True] Translation: X:30.87, Y:-1.27, Z:-0.81 [[ 9.97584164e-01 6.50200727e-02 2.44586754e-02 3.08728305e+01] [-6.49958321e-02 9.97883938e-01 -1.78559971e-03 -1.26802414e+00] [-2.45230192e-02 1.91574030e-04 9.99699247e-01 -8.10850263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.888623853 meters 0.01794193722393216 Centerline is valid? [True, True] Translation: X:30.93, Y:-1.28, Z:-0.81 [[ 9.97697168e-01 6.32923957e-02 2.43810076e-02 3.09331203e+01] [-6.32676905e-02 9.97994998e-01 -1.78412138e-03 -1.27668482e+00] [-2.44450450e-02 2.37482805e-04 9.99701147e-01 -8.13528539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.948623853 meters 0.02628685694613892 Centerline is valid? [True, True] Translation: X:30.99, Y:-1.29, Z:-0.81 [[ 9.97884340e-01 6.09549888e-02 2.26127005e-02 3.09937437e+01] [-6.09331037e-02 9.98140478e-01 -1.65622483e-03 -1.28749046e+00] [-2.26716069e-02 2.74858799e-04 9.99742928e-01 -8.14564864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.008623852999996 meters 0.020535001315219622 Centerline is valid? [True, True] Translation: X:31.05, Y:-1.29, Z:-0.82 [[ 9.97976610e-01 5.97437809e-02 2.17569763e-02 3.10549804e+01] [-5.97231680e-02 9.98213702e-01 -1.59654445e-03 -1.29311794e+00] [-2.18134954e-02 2.93918473e-04 9.99762014e-01 -8.22046583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.068623853 meters 0.019993931744497474 Centerline is valid? [True, True] Translation: X:31.12, Y:-1.30, Z:-0.82 [[ 9.97962509e-01 5.99425260e-02 2.18569060e-02 3.11178279e+01] [-5.99217015e-02 9.98201787e-01 -1.60704675e-03 -1.29795524e+00] [-2.19139331e-02 2.94069410e-04 9.99759818e-01 -8.23086265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.128623853 meters 0.01962870195101465 Centerline is valid? [True, True] Translation: X:31.18, Y:-1.30, Z:-0.82 [[ 9.97858494e-01 6.11344787e-02 2.32594350e-02 3.11788958e+01] [-6.11111008e-02 9.98129496e-01 -1.71523525e-03 -1.30358555e+00] [-2.33207882e-02 2.90152387e-04 9.99727991e-01 -8.22853450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.188623852999996 meters 0.016363178494749133 Centerline is valid? [True, True] Translation: X:31.24, Y:-1.31, Z:-0.82 [[ 9.97613832e-01 6.46410864e-02 2.42522595e-02 3.12407887e+01] [-6.46166095e-02 9.97908553e-01 -1.79239429e-03 -1.30513821e+00] [-2.43173995e-02 2.21018551e-04 9.99704264e-01 -8.21939043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.248623853 meters 0.014780793881730423 Centerline is valid? [True, True] Translation: X:31.30, Y:-1.31, Z:-0.82 [[ 9.97419041e-01 6.77256108e-02 2.38432010e-02 3.13021106e+01] [-6.77027357e-02 9.97703974e-01 -1.76626368e-03 -1.30642342e+00] [-2.39080776e-02 1.47455097e-04 9.99714150e-01 -8.24761477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.308623853 meters 0.013298565868807217 Centerline is valid? [True, True] Translation: X:31.36, Y:-1.30, Z:-0.83 [[ 9.97046974e-01 7.29557823e-02 2.39746807e-02 3.13636808e+01] [-7.29340669e-02 9.97335176e-01 -1.78009757e-03 -1.30371503e+00] [-2.40406608e-02 2.62699247e-05 9.99710981e-01 -8.27821476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.368623852999995 meters 0.013871502648135184 Centerline is valid? [True, True] Translation: X:31.43, Y:-1.30, Z:-0.83 [[ 9.96602641e-01 7.87091266e-02 2.42497248e-02 3.14269419e+01] [-7.86885623e-02 9.96897618e-01 -1.80256934e-03 -1.29742935e+00] [-2.43163716e-02 -1.11730623e-04 9.99704307e-01 -8.27533132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.428623853 meters 0.015427180246928926 Centerline is valid? [True, True] Translation: X:31.49, Y:-1.29, Z:-0.83 [[ 9.96300438e-01 8.24257905e-02 2.43192497e-02 3.14893803e+01] [-8.24060963e-02 9.96597185e-01 -1.81259343e-03 -1.29422012e+00] [-2.43859003e-02 -1.98166807e-04 9.99702600e-01 -8.29131281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.488623853 meters 0.018573138411343663 Centerline is valid? [True, True] Translation: X:31.55, Y:-1.29, Z:-0.83 [[ 9.95876068e-01 8.73795804e-02 2.44062889e-02 3.15519386e+01] [-8.73611253e-02 9.96175039e-01 -1.82342222e-03 -1.28575320e+00] [-2.44722657e-02 -3.16258309e-04 9.99700459e-01 -8.30437365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.548623852999995 meters 0.020852921735759585 Centerline is valid? [True, True] Translation: X:31.61, Y:-1.28, Z:-0.83 [[ 9.95655638e-01 8.99203261e-02 2.41699379e-02 3.16142933e+01] [-8.99028812e-02 9.95948893e-01 -1.80963264e-03 -1.27849503e+00] [-2.42347457e-02 -3.71176113e-04 9.99706227e-01 -8.33367355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.608623853 meters 0.020117525440959377 Centerline is valid? [True, True] Translation: X:31.68, Y:-1.28, Z:-0.84 [[ 9.95732252e-01 8.92986183e-02 2.33031879e-02 3.16765027e+01] [-8.92821503e-02 9.96004840e-01 -1.74823581e-03 -1.27926161e+00] [-2.33662029e-02 -3.39783937e-04 9.99726915e-01 -8.37006914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.668623853 meters 0.016854241458373293 Centerline is valid? [True, True] Translation: X:31.74, Y:-1.28, Z:-0.84 [[ 9.96149018e-01 8.45956639e-02 2.30371033e-02 3.17378722e+01] [-8.45782206e-02 9.96415337e-01 -1.73223181e-03 -1.28340349e+00] [-2.31010624e-02 -2.22876185e-04 9.99733110e-01 -8.39284218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.728623852999995 meters 0.013340132606074018 Centerline is valid? [True, True] Translation: X:31.80, Y:-1.30, Z:-0.84 [[ 9.96899421e-01 7.49907599e-02 2.38312928e-02 3.17987176e+01] [-7.49692447e-02 9.97184229e-01 -1.79622557e-03 -1.29608049e+00] [-2.38988896e-02 4.04220893e-06 9.99714381e-01 -8.40569535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.788623853 meters 0.02041298370722507 Centerline is valid? [True, True] Translation: X:31.86, Y:-1.32, Z:-0.84 [[ 9.97846106e-01 6.12923298e-02 2.33751848e-02 3.18587575e+01] [-6.12677637e-02 9.98119803e-01 -1.76634590e-03 -1.31802632e+00] [-2.34394983e-02 3.30396077e-04 9.99725203e-01 -8.43413780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.848623853 meters 0.02927778285197953 Centerline is valid? [True, True] Translation: X:31.92, Y:-1.34, Z:-0.85 [[ 9.98365502e-01 5.24065586e-02 2.28007947e-02 3.19167888e+01] [-5.23808549e-02 9.98625693e-01 -1.72351307e-03 -1.33650368e+00] [-2.28597828e-02 5.26370873e-04 9.99738542e-01 -8.46576177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.908623852999995 meters 0.036215563079915844 Centerline is valid? [True, True] Translation: X:31.98, Y:-1.35, Z:-0.85 [[ 9.98845236e-01 4.23247050e-02 2.27335592e-02 3.19767236e+01] [-4.22965326e-02 9.99103623e-01 -1.71886856e-03 -1.35216873e+00] [-2.27859320e-02 7.55332938e-04 9.99740082e-01 -8.47562431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.968623853 meters 0.04166486972195022 Centerline is valid? [True, True] Translation: X:32.04, Y:-1.37, Z:-0.85 [[ 9.99036144e-01 3.74030961e-02 2.29737073e-02 3.20357136e+01] [-3.73730219e-02 9.99299875e-01 -1.73718184e-03 -1.36725618e+00] [-2.30225988e-02 8.76910578e-04 9.99734560e-01 -8.48636259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.028623853 meters 0.04291106603044587 Centerline is valid? [True, True] Translation: X:32.10, Y:-1.38, Z:-0.85 [[ 9.99009385e-01 3.76899208e-02 2.36583607e-02 3.20966562e+01] [-3.76581113e-02 9.99289081e-01 -1.78878365e-03 -1.37633761e+00] [-2.37089606e-02 8.96082473e-04 9.99718501e-01 -8.49347990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.088623852999994 meters 0.03852524160300865 Centerline is valid? [True, True] Translation: X:32.16, Y:-1.38, Z:-0.85 [[ 9.98870994e-01 4.08613735e-02 2.42298450e-02 3.21580110e+01] [-4.08288335e-02 9.99164468e-01 -1.83636901e-03 -1.37670411e+00] [-2.42846367e-02 8.45019426e-04 9.99704728e-01 -8.49723157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.148623853 meters 0.03484677115218573 Centerline is valid? [True, True] Translation: X:32.22, Y:-1.38, Z:-0.85 [[ 9.98577720e-01 4.72231914e-02 2.47488929e-02 3.22175388e+01] [-4.71911838e-02 9.98884114e-01 -1.87608394e-03 -1.37868695e+00] [-2.48098706e-02 7.05486064e-04 9.99691939e-01 -8.50848686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.208623853 meters 0.0259401710832288 Centerline is valid? [True, True] Translation: X:32.28, Y:-1.37, Z:-0.85 [[ 9.98246575e-01 5.41751429e-02 2.38501456e-02 3.22786600e+01] [-5.41474083e-02 9.98531317e-01 -1.80761408e-03 -1.37236524e+00] [-2.39130450e-02 5.13020993e-04 9.99713911e-01 -8.54002788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.268623853 meters 0.023764105525302552 Centerline is valid? [True, True] Translation: X:32.34, Y:-1.37, Z:-0.86 [[ 9.98012689e-01 5.85524217e-02 2.32870572e-02 3.23392870e+01] [-5.85271698e-02 9.98284256e-01 -1.76504045e-03 -1.37456568e+00] [-2.33504500e-02 3.98607210e-04 9.99727262e-01 -8.57186392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.328623852999996 meters 0.018215855667079832 Centerline is valid? [True, True] Translation: X:32.40, Y:-1.37, Z:-0.86 [[ 9.97700413e-01 6.39989831e-02 2.23162916e-02 3.24012618e+01] [-6.39771446e-02 9.97949930e-01 -1.69191061e-03 -1.37222973e+00] [-2.23788222e-02 2.60287302e-04 9.99749529e-01 -8.59521492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.388623853 meters 0.0156915065563967 Centerline is valid? [True, True] Translation: X:32.46, Y:-1.37, Z:-0.86 [[ 9.97422400e-01 6.80900093e-02 2.26342120e-02 3.24631481e+01] [-6.80685929e-02 9.97679168e-01 -1.71618433e-03 -1.37324731e+00] [-2.26985368e-02 1.71081731e-04 9.99742340e-01 -8.60847207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.448623853 meters 0.01403686381371781 Centerline is valid? [True, True] Translation: X:32.53, Y:-1.38, Z:-0.86 [[ 9.97132416e-01 7.19863081e-02 2.33434300e-02 3.25250398e+01] [-7.19644977e-02 9.97405616e-01 -1.77413763e-03 -1.37508155e+00] [-2.34105818e-02 8.91519271e-05 9.99725931e-01 -8.62285031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.508623852999996 meters 0.018024235275842227 Centerline is valid? [True, True] Translation: X:32.59, Y:-1.38, Z:-0.86 [[ 9.96955416e-01 7.43426785e-02 2.35173308e-02 3.25874330e+01] [-7.43211007e-02 9.97232754e-01 -1.79145054e-03 -1.37825224e+00] [-2.35854338e-02 3.81624056e-05 9.99721824e-01 -8.59554181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.568623853 meters 0.013642620206860868 Centerline is valid? [True, True] Translation: X:32.65, Y:-1.38, Z:-0.87 [[ 9.96773167e-01 7.71334597e-02 2.22189724e-02 3.26487870e+01] [-7.71148134e-02 9.97020777e-01 -1.69607633e-03 -1.38052152e+00] [-2.22836014e-02 -2.28085407e-05 9.99751689e-01 -8.68505166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.628623853 meters 0.013739898320240935 Centerline is valid? [True, True] Translation: X:32.71, Y:-1.39, Z:-0.87 [[ 9.96805670e-01 7.68805200e-02 2.16296692e-02 3.27109796e+01] [-7.68627073e-02 9.97040313e-01 -1.65491431e-03 -1.38695408e+00] [-2.16928828e-02 -1.28869685e-05 9.99764682e-01 -8.72245497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.688623852999996 meters 0.013648296871071025 Centerline is valid? [True, True] Translation: X:32.77, Y:-1.40, Z:-0.87 [[ 9.96918941e-01 7.51571055e-02 2.24507362e-02 3.27736541e+01] [-7.51373779e-02 9.97171705e-01 -1.72216273e-03 -1.39712772e+00] [-2.25166717e-02 2.99671896e-05 9.99746467e-01 -8.71884883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.748623853 meters 0.014137865808239404 Centerline is valid? [True, True] Translation: X:32.83, Y:-1.41, Z:-0.87 [[ 9.97077607e-01 7.30105225e-02 2.24879790e-02 3.28347586e+01] [-7.29900804e-02 9.97331167e-01 -1.72958306e-03 -1.40852664e+00] [-2.25542401e-02 8.31291396e-05 9.99745617e-01 -8.73827254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.808623853 meters 0.013955994311051077 Centerline is valid? [True, True] Translation: X:32.90, Y:-1.42, Z:-0.88 [[ 9.97029275e-01 7.35664416e-02 2.28167448e-02 3.28977104e+01] [-7.35454465e-02 9.97290315e-01 -1.75908383e-03 -1.41572184e+00] [-2.28843281e-02 7.57903929e-05 9.99738117e-01 -8.75051265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.868623852999995 meters 0.013437910143235782 Centerline is valid? [True, True] Translation: X:32.96, Y:-1.42, Z:-0.88 [[ 9.96892263e-01 7.53944226e-02 2.28363049e-02 3.29604769e+01] [-7.53737695e-02 9.97153789e-01 -1.76502221e-03 -1.41970897e+00] [-2.29043808e-02 3.82786065e-05 9.99737660e-01 -8.76142604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.928623853 meters 0.02471435915888955 Centerline is valid? [True, True] Translation: X:33.02, Y:-1.42, Z:-0.87 [[ 9.96674130e-01 7.85891499e-02 2.15505031e-02 3.30230257e+01] [-7.85714163e-02 9.96907089e-01 -1.66969217e-03 -1.42132642e+00] [-2.16150690e-02 -2.91145624e-05 9.99766367e-01 -8.74894625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.988623853 meters 0.01373456408301162 Centerline is valid? [True, True] Translation: X:33.09, Y:-1.43, Z:-0.88 [[ 9.96559639e-01 7.99663388e-02 2.17777676e-02 3.30854601e+01] [-7.99484712e-02 9.96797563e-01 -1.69126575e-03 -1.42531726e+00] [-2.18432700e-02 -5.56520452e-05 9.99761406e-01 -8.81494117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.048623852999995 meters 0.02102828862070238 Centerline is valid? [True, True] Translation: X:33.15, Y:-1.43, Z:-0.88 [[ 9.96196558e-01 8.42699990e-02 2.21581954e-02 3.31469491e+01] [-8.42524611e-02 9.96442946e-01 -1.72551744e-03 -1.42519246e+00] [-2.22247869e-02 -1.47927963e-04 9.99752988e-01 -8.78061742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.108623853 meters 0.019039913039914695 Centerline is valid? [True, True] Translation: X:33.21, Y:-1.42, Z:-0.88 [[ 9.95667129e-01 9.00464778e-02 2.32077550e-02 3.32096964e+01] [-9.00287170e-02 9.95937523e-01 -1.81111396e-03 -1.42058782e+00] [-2.32765585e-02 -2.86097770e-04 9.99729023e-01 -8.83137601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.168623853 meters 0.030124495675703827 Centerline is valid? [True, True] Translation: X:33.27, Y:-1.41, Z:-0.88 [[ 9.95162477e-01 9.53674065e-02 2.35945171e-02 3.32722460e+01] [-9.53504473e-02 9.95442056e-01 -1.84534046e-03 -1.41404442e+00] [-2.36629600e-02 -4.13334179e-04 9.99719908e-01 -8.79205438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.228623852999995 meters 0.026983503847033352 Centerline is valid? [True, True] Translation: X:33.33, Y:-1.41, Z:-0.89 [[ 9.94860631e-01 9.85141520e-02 2.33941774e-02 3.33340465e+01] [-9.84982639e-02 9.95135534e-01 -1.83328939e-03 -1.41027611e+00] [-2.34609821e-02 -4.80418420e-04 9.99724638e-01 -8.86990800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.288623853 meters 0.03572135393056909 Centerline is valid? [True, True] Translation: X:33.40, Y:-1.41, Z:-0.88 [[ 9.94762938e-01 9.98275137e-02 2.19354726e-02 3.33964539e+01] [-9.98137985e-02 9.95004643e-01 -1.72196956e-03 -1.40978552e+00] [-2.19977970e-02 -4.76511340e-04 9.99757906e-01 -8.83412166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.348623853 meters 0.026694106632490975 Centerline is valid? [True, True] Translation: X:33.46, Y:-1.41, Z:-0.89 [[ 9.94870217e-01 9.86236687e-02 2.25082733e-02 3.34578528e+01] [-9.86088202e-02 9.95124697e-01 -1.77135188e-03 -1.40761549e+00] [-2.25732359e-02 -4.57249053e-04 9.99745087e-01 -8.92088074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.408623852999995 meters 0.023366999444620666 Centerline is valid? [True, True] Translation: X:33.52, Y:-1.41, Z:-0.89 [[ 9.95103897e-01 9.58345515e-02 2.41655348e-02 3.35189118e+01] [-9.58165448e-02 9.95397188e-01 -1.90460973e-03 -1.41310393e+00] [-2.42368328e-02 -4.20173483e-04 9.99706157e-01 -8.90808382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.468623853 meters 0.016278765131526374 Centerline is valid? [True, True] Translation: X:33.58, Y:-1.42, Z:-0.89 [[ 9.95840399e-01 8.77406633e-02 2.45657457e-02 3.35802207e+01] [-8.77195778e-02 9.96143325e-01 -1.93671176e-03 -1.42472157e+00] [-2.46409320e-02 -2.26241031e-04 9.99696341e-01 -8.92388601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.528623853 meters 0.013645924405748994 Centerline is valid? [True, True] Translation: X:33.64, Y:-1.44, Z:-0.90 [[ 9.96746409e-01 7.71235820e-02 2.34211385e-02 3.36398392e+01] [-7.71014754e-02 9.97021540e-01 -1.84678105e-03 -1.44036989e+00] [-2.34938100e-02 3.49680453e-05 9.99723982e-01 -8.97245158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.588623852999994 meters 0.016543871511576436 Centerline is valid? [True, True] Translation: X:33.70, Y:-1.45, Z:-0.90 [[ 9.97252492e-01 7.07169814e-02 2.20584801e-02 3.37011242e+01] [-7.06957332e-02 9.97496404e-01 -1.74257702e-03 -1.45346733e+00] [-2.21264843e-02 1.78348854e-04 9.99755163e-01 -9.01629417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.648623853 meters 0.022584465448208704 Centerline is valid? [True, True] Translation: X:33.76, Y:-1.47, Z:-0.91 [[ 9.97740415e-01 6.38686102e-02 2.08533993e-02 3.37596614e+01] [-6.38480394e-02 9.97958266e-01 -1.65143944e-03 -1.46889671e+00] [-2.09162973e-02 3.16259211e-04 9.99781180e-01 -9.05601270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.708623853 meters 0.02301936686603843 Centerline is valid? [True, True] Translation: X:33.82, Y:-1.47, Z:-0.90 [[ 9.97870139e-01 6.14752999e-02 2.18168042e-02 3.38214694e+01] [-6.14521969e-02 9.98108531e-01 -1.72843971e-03 -1.47466264e+00] [-2.18817947e-02 3.84067829e-04 9.99760491e-01 -9.04604763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.768623853 meters 0.0253794269566867 Centerline is valid? [True, True] Translation: X:33.88, Y:-1.48, Z:-0.90 [[ 9.97979524e-01 5.91460410e-02 2.32080745e-02 3.38824162e+01] [-5.91191641e-02 9.98249231e-01 -1.84309787e-03 -1.48273095e+00] [-2.32764545e-02 4.67331972e-04 9.99728957e-01 -9.04108344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.828623852999996 meters 0.02577513473174615 Centerline is valid? [True, True] Translation: X:33.94, Y:-1.49, Z:-0.91 [[ 9.98043927e-01 5.80252808e-02 2.32677155e-02 3.39442302e+01] [-5.79978755e-02 9.98314990e-01 -1.85150183e-03 -1.48944138e+00] [-2.33359431e-02 4.98402090e-04 9.99727556e-01 -9.05346223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.888623853 meters 0.02945457997346592 Centerline is valid? [True, True] Translation: X:34.00, Y:-1.50, Z:-0.91 [[ 9.98151009e-01 5.62252112e-02 2.30930669e-02 3.40040282e+01] [-5.61976324e-02 9.98417965e-01 -1.84200435e-03 -1.50189026e+00] [-2.31601000e-02 5.40822811e-04 9.99731623e-01 -9.08205574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.948623853 meters 0.03138697051324727 Centerline is valid? [True, True] Translation: X:34.06, Y:-1.51, Z:-0.91 [[ 9.98298452e-01 5.32666183e-02 2.37248503e-02 3.40648784e+01] [-5.32366310e-02 9.98580128e-01 -1.89422725e-03 -1.51319163e+00] [-2.37920632e-02 6.27973030e-04 9.99716732e-01 -9.08819106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.008623852999996 meters 0.03261078301659811 Centerline is valid? [True, True] Translation: X:34.13, Y:-1.52, Z:-0.91 [[ 9.98349265e-01 5.18916575e-02 2.46170685e-02 3.41260546e+01] [-5.18588552e-02 9.98652482e-01 -1.96946895e-03 -1.52447251e+00] [-2.46860955e-02 6.89604890e-04 9.99695014e-01 -9.08934946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.068623853 meters 0.03487906082178643 Centerline is valid? [True, True] Translation: X:34.19, Y:-1.54, Z:-0.91 [[ 9.98386251e-01 5.10125247e-02 2.49522641e-02 3.41862514e+01] [-5.09784401e-02 9.98697750e-01 -2.00061668e-03 -1.53939747e+00] [-2.50218265e-02 7.25360689e-04 9.99686642e-01 -9.09973642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.128623853 meters 0.03469439108102425 Centerline is valid? [True, True] Translation: X:34.25, Y:-1.55, Z:-0.91 [[ 9.98375393e-01 5.17062441e-02 2.39382440e-02 3.42482007e+01] [-5.16749888e-02 9.98662104e-01 -1.92283324e-03 -1.54840510e+00] [-2.40056396e-02 6.82700896e-04 9.99711590e-01 -9.13838979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.188623852999996 meters 0.03274445581257268 Centerline is valid? [True, True] Translation: X:34.31, Y:-1.56, Z:-0.92 [[ 9.98277317e-01 5.44978845e-02 2.17342643e-02 3.43079003e+01] [-5.44726925e-02 9.98513727e-01 -1.74988811e-03 -1.55881292e+00] [-2.17973264e-02 5.62949714e-04 9.99762252e-01 -9.19638122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.248623853 meters 0.03703314219902746 Centerline is valid? [True, True] Translation: X:34.37, Y:-1.56, Z:-0.91 [[ 9.97977214e-01 5.98077249e-02 2.15526410e-02 3.43685597e+01] [-5.97841838e-02 9.98209817e-01 -1.73551522e-03 -1.56370264e+00] [-2.16178550e-02 4.43497596e-04 9.99766208e-01 -9.14344160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.308623853 meters 0.021909064469215932 Centerline is valid? [True, True] Translation: X:34.43, Y:-1.57, Z:-0.92 [[ 9.97635375e-01 6.46296014e-02 2.33810224e-02 3.44304217e+01] [-6.46032147e-02 9.97909254e-01 -1.88293720e-03 -1.56593729e+00] [-2.34538321e-02 3.67995553e-04 9.99724853e-01 -9.19064946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.368623852999995 meters 0.016977979892329527 Centerline is valid? [True, True] Translation: X:34.49, Y:-1.57, Z:-0.92 [[ 9.97165397e-01 7.13958772e-02 2.37444875e-02 3.44907163e+01] [-7.13705571e-02 9.97448035e-01 -1.91318336e-03 -1.57056055e+00] [-2.38204858e-02 2.13102946e-04 9.99716229e-01 -9.20205626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.428623853 meters 0.013669507872318735 Centerline is valid? [True, True] Translation: X:34.55, Y:-1.57, Z:-0.92 [[ 9.96651069e-01 7.83647402e-02 2.33583663e-02 3.45532344e+01] [-7.83421479e-02 9.96924754e-01 -1.88214665e-03 -1.57397322e+00] [-2.34340275e-02 4.58988874e-05 9.99725384e-01 -9.22814462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.488623853 meters 0.013977116531873003 Centerline is valid? [True, True] Translation: X:34.61, Y:-1.58, Z:-0.93 [[ 9.96274219e-01 8.32477831e-02 2.25274930e-02 3.46144117e+01] [-8.32279921e-02 9.96528877e-01 -1.81631351e-03 -1.57578841e+00] [-2.26005014e-02 -6.53716897e-05 9.99744574e-01 -9.25833426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.548623852999995 meters 0.018115985777491274 Centerline is valid? [True, True] Translation: X:34.68, Y:-1.58, Z:-0.93 [[ 9.95581181e-01 9.11225752e-02 2.26889333e-02 3.46768896e+01] [-9.11044903e-02 9.95839654e-01 -1.83162835e-03 -1.57583848e+00] [-2.27614421e-02 -2.43528985e-04 9.99740895e-01 -9.27200285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.608623853 meters 0.02220653960650242 Centerline is valid? [True, True] Translation: X:34.74, Y:-1.58, Z:-0.93 [[ 9.95082462e-01 9.63769137e-02 2.28557337e-02 3.47388490e+01] [-9.63599332e-02 9.95344843e-01 -1.84568436e-03 -1.57703736e+00] [-2.29272181e-02 -3.65768841e-04 9.99737070e-01 -9.28540009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.668623853 meters 0.03322227271748289 Centerline is valid? [True, True] Translation: X:34.80, Y:-1.57, Z:-0.93 [[ 9.94508531e-01 1.02201056e-01 2.25327830e-02 3.47993903e+01] [-1.02185956e-01 9.94763643e-01 -1.82353444e-03 -1.57317745e+00] [-2.26011604e-02 -4.89013413e-04 9.99744442e-01 -9.25256475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.728623852999995 meters 0.02951082083340064 Centerline is valid? [True, True] Translation: X:34.86, Y:-1.58, Z:-0.93 [[ 9.94202064e-01 1.04988542e-01 2.32306348e-02 3.48607410e+01] [-1.04973234e-01 9.94473269e-01 -1.88083177e-03 -1.57611070e+00] [-2.32997111e-02 -5.68668021e-04 9.99728363e-01 -9.31702933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.788623853 meters 0.03293619410489205 Centerline is valid? [True, True] Translation: X:34.92, Y:-1.58, Z:-0.93 [[ 9.94144301e-01 1.05557325e-01 2.31248671e-02 3.49223682e+01] [-1.05542227e-01 9.94413053e-01 -1.87585408e-03 -1.57717055e+00] [-2.31936798e-02 -5.75780315e-04 9.99730825e-01 -9.34152482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.848623853 meters 0.031123010446232006 Centerline is valid? [True, True] Translation: X:34.98, Y:-1.58, Z:-0.94 [[ 9.94343994e-01 1.03566401e-01 2.35376884e-02 3.49846087e+01] [-1.03550104e-01 9.94622398e-01 -1.91344738e-03 -1.58273147e+00] [-2.36092810e-02 -5.34705184e-04 9.99721119e-01 -9.35755306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.908623852999995 meters 0.03012732508549814 Centerline is valid? [True, True] Translation: X:35.05, Y:-1.59, Z:-0.94 [[ 9.94453991e-01 1.02548476e-01 2.33467205e-02 3.50466568e+01] [-1.02532142e-01 9.94727880e-01 -1.89878746e-03 -1.58876178e+00] [-2.34183515e-02 -5.05532486e-04 9.99725625e-01 -9.37877439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.968623853 meters 0.02490664209487751 Centerline is valid? [True, True] Translation: X:35.11, Y:-1.60, Z:-0.94 [[ 9.94970660e-01 9.74196127e-02 2.32981532e-02 3.51064127e+01] [-9.74018405e-02 9.95243324e-01 -1.89910568e-03 -1.59867773e+00] [-2.33723416e-02 -3.79728568e-04 9.99726757e-01 -9.39808652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.028623853 meters 0.03325721488997357 Centerline is valid? [True, True] Translation: X:35.17, Y:-1.61, Z:-0.94 [[ 9.95394290e-01 9.32981802e-02 2.20376254e-02 3.51677737e+01] [-9.32812830e-02 9.95638176e-01 -1.79572334e-03 -1.61126483e+00] [-2.21090389e-02 -2.68245216e-04 9.99755529e-01 -9.37168024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.088623852999994 meters 0.01598574539233801 Centerline is valid? [True, True] Translation: X:35.23, Y:-1.62, Z:-0.95 [[ 9.96027435e-01 8.65924880e-02 2.07626921e-02 3.52281904e+01] [-8.65759647e-02 9.96243810e-01 -1.69506575e-03 -1.62110593e+00] [-2.08314835e-02 -1.09218106e-04 9.99782995e-01 -9.50414385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.148623853 meters 0.014547790522547533 Centerline is valid? [True, True] Translation: X:35.29, Y:-1.63, Z:-0.95 [[ 9.96353744e-01 8.27045882e-02 2.09563216e-02 3.52898073e+01] [-8.26868278e-02 9.96574107e-01 -1.71407379e-03 -1.63095126e+00] [-2.10262892e-02 -2.49879176e-05 9.99778923e-01 -9.52304890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.208623853 meters 0.015720080225058677 Centerline is valid? [True, True] Translation: X:35.35, Y:-1.64, Z:-0.95 [[ 9.96776112e-01 7.70115893e-02 2.25077336e-02 3.53518082e+01] [-7.69895680e-02 9.97030192e-01 -1.84458361e-03 -1.64305667e+00] [-2.25829442e-02 1.05776194e-04 9.99744967e-01 -9.50380541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.268623853 meters 0.019797449266419728 Centerline is valid? [True, True] Translation: X:35.41, Y:-1.66, Z:-0.95 [[ 9.97302827e-01 6.95404993e-02 2.34774479e-02 3.54129263e+01] [-6.95143562e-02 9.97579087e-01 -1.92882199e-03 -1.65600799e+00] [-2.35547423e-02 2.91599952e-04 9.99722506e-01 -9.48482574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.328623852999996 meters 0.02356009194819531 Centerline is valid? [True, True] Translation: X:35.47, Y:-1.67, Z:-0.95 [[ 9.97603413e-01 6.52649751e-02 2.29763712e-02 3.54738915e+01] [-6.52387892e-02 9.97867895e-01 -1.88822222e-03 -1.66698034e+00] [-2.30506180e-02 3.84746290e-04 9.99734225e-01 -9.51484811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.388623853 meters 0.028582924299215502 Centerline is valid? [True, True] Translation: X:35.53, Y:-1.68, Z:-0.95 [[ 9.97891063e-01 6.08370608e-02 2.26335772e-02 3.55332468e+01] [-6.08104166e-02 9.98147593e-01 -1.86424780e-03 -1.67886334e+00] [-2.27050659e-02 4.83958963e-04 9.99742090e-01 -9.53429818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.448623853 meters 0.035849347914422264 Centerline is valid? [True, True] Translation: X:35.60, Y:-1.68, Z:-0.95 [[ 9.97961575e-01 5.97837491e-02 2.23293208e-02 3.55956640e+01] [-5.97575656e-02 9.98211227e-01 -1.83862632e-03 -1.68330893e+00] [-2.23992987e-02 5.00532569e-04 9.99748979e-01 -9.48437831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.508623852999996 meters 0.029106687807691593 Centerline is valid? [True, True] Translation: X:35.66, Y:-1.69, Z:-0.95 [[ 9.97939550e-01 5.94711246e-02 2.40798474e-02 3.56581776e+01] [-5.94404800e-02 9.98229874e-01 -1.98702540e-03 -1.69102812e+00] [-2.41553937e-02 5.51613544e-04 9.99708064e-01 -9.53287869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.568623853 meters 0.02812375324591988 Centerline is valid? [True, True] Translation: X:35.72, Y:-1.70, Z:-0.96 [[ 9.97963840e-01 5.93932294e-02 2.32511855e-02 3.57198301e+01] [-5.93645353e-02 9.98234519e-01 -1.92300570e-03 -1.69602344e+00] [-2.33243495e-02 5.38794333e-04 9.99727805e-01 -9.55556506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.628623853 meters 0.03244715579989438 Centerline is valid? [True, True] Translation: X:35.78, Y:-1.70, Z:-0.95 [[ 9.97961499e-01 5.97436359e-02 2.24397867e-02 3.57816578e+01] [-5.97169095e-02 9.98213620e-01 -1.85984986e-03 -1.70320855e+00] [-2.25108149e-02 5.16023847e-04 9.99746466e-01 -9.54552500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.688623852999996 meters 0.02906120945563453 Centerline is valid? [True, True] Translation: X:35.84, Y:-1.71, Z:-0.96 [[ 9.97938901e-01 6.04401489e-02 2.15624358e-02 3.58433518e+01] [-6.04155867e-02 9.98171706e-01 -1.78933634e-03 -1.71300949e+00] [-2.16311610e-02 4.82941135e-04 9.99765902e-01 -9.63212807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.748623853 meters 0.02936550117938764 Centerline is valid? [True, True] Translation: X:35.90, Y:-1.72, Z:-0.97 [[ 9.97924590e-01 6.09411396e-02 2.08011874e-02 3.59045305e+01] [-6.09183224e-02 9.98141256e-01 -1.72940586e-03 -1.72264061e+00] [-2.08679152e-02 4.58643194e-04 9.99782136e-01 -9.65718091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.808623853 meters 0.026873296594649012 Centerline is valid? [True, True] Translation: X:35.97, Y:-1.73, Z:-0.97 [[ 9.97865384e-01 6.17554891e-02 2.12352344e-02 3.59659379e+01] [-6.17318097e-02 9.98091205e-01 -1.76944184e-03 -1.72921176e+00] [-2.13039734e-02 4.54775310e-04 9.99772941e-01 -9.65715306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.868623852999995 meters 0.02862207518977941 Centerline is valid? [True, True] Translation: X:36.03, Y:-1.74, Z:-0.97 [[ 9.97794818e-01 6.28752839e-02 2.12649688e-02 3.60262365e+01] [-6.28517037e-02 9.98021297e-01 -1.77607373e-03 -1.74446926e+00] [-2.13345629e-02 4.35617649e-04 9.99772297e-01 -9.68696293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.928623853 meters 0.025172994423548336 Centerline is valid? [True, True] Translation: X:36.09, Y:-1.75, Z:-0.97 [[ 9.97735579e-01 6.37373031e-02 2.14772228e-02 3.60879578e+01] [-6.37134131e-02 9.97966621e-01 -1.79547925e-03 -1.75008618e+00] [-2.15479905e-02 4.23026359e-04 9.99767726e-01 -9.68494703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.988623853 meters 0.024395437159899804 Centerline is valid? [True, True] Translation: X:36.15, Y:-1.76, Z:-0.97 [[ 9.97563075e-01 6.63503724e-02 2.15763592e-02 3.61487262e+01] [-6.63267891e-02 9.97796317e-01 -1.80760072e-03 -1.76072298e+00] [-2.16487467e-02 3.72105107e-04 9.99765569e-01 -9.70445083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.048623852999995 meters 0.020520586056351313 Centerline is valid? [True, True] Translation: X:36.21, Y:-1.77, Z:-0.97 [[ 9.97232463e-01 7.14726057e-02 2.04714692e-02 3.62086358e+01] [-7.14523706e-02 9.97442531e-01 -1.71913252e-03 -1.76537449e+00] [-2.05419849e-02 2.51639754e-04 9.99788959e-01 -9.73619757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.108623853 meters 0.01668386315347405 Centerline is valid? [True, True] Translation: X:36.27, Y:-1.77, Z:-0.98 [[ 9.96900493e-01 7.60580917e-02 2.01140338e-02 3.62712053e+01] [-7.60394931e-02 9.97103376e-01 -1.68896686e-03 -1.76745695e+00] [-2.01842307e-02 1.54270962e-04 9.99796266e-01 -9.75056716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.168623853 meters 0.014390420503801711 Centerline is valid? [True, True] Translation: X:36.33, Y:-1.77, Z:-0.98 [[ 9.96358415e-01 8.27277641e-02 2.06403994e-02 3.63329502e+01] [-8.27095871e-02 9.96572183e-01 -1.73423871e-03 -1.76775925e+00] [-2.07131175e-02 2.07644256e-05 9.99785460e-01 -9.75813892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.228623852999995 meters 0.018902784791819324 Centerline is valid? [True, True] Translation: X:36.40, Y:-1.77, Z:-0.97 [[ 9.95886853e-01 8.81357772e-02 2.10109851e-02 3.63956117e+01] [-8.81181129e-02 9.96108466e-01 -1.76687134e-03 -1.77071919e+00] [-2.10849447e-02 -9.18444169e-05 9.99777684e-01 -9.72942766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.288623853 meters 0.01612541773159481 Centerline is valid? [True, True] Translation: X:36.46, Y:-1.77, Z:-0.98 [[ 9.95586052e-01 9.12613787e-02 2.19037527e-02 3.64572285e+01] [-9.12428366e-02 9.95826960e-01 -1.84652896e-03 -1.77394749e+00] [-2.19808643e-02 -1.60182054e-04 9.99758379e-01 -9.77248180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.348623853 meters 0.01786370823838257 Centerline is valid? [True, True] Translation: X:36.52, Y:-1.78, Z:-0.98 [[ 9.95312005e-01 9.43457386e-02 2.12813015e-02 3.65186588e+01] [-9.43288646e-02 9.95539469e-01 -1.79759588e-03 -1.77902108e+00] [-2.13559711e-02 -2.18272249e-04 9.99771911e-01 -9.79959047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.408623852999995 meters 0.019056911449222187 Centerline is valid? [True, True] Translation: X:36.58, Y:-1.78, Z:-0.98 [[ 9.95196101e-01 9.57140313e-02 2.05802138e-02 3.65797672e+01] [-9.56984794e-02 9.95408845e-01 -1.74146748e-03 -1.78411635e+00] [-2.06524097e-02 -2.36393520e-04 9.99786688e-01 -9.83013967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.468623853 meters 0.020813198860879185 Centerline is valid? [True, True] Translation: X:36.64, Y:-1.79, Z:-0.98 [[ 9.94888195e-01 9.89748124e-02 2.00366189e-02 3.66418400e+01] [-9.89606752e-02 9.95089896e-01 -1.69830257e-03 -1.78850157e+00] [-2.01063262e-02 -2.93216160e-04 9.99797804e-01 -9.84675474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.528623853 meters 0.023014400063124822 Centerline is valid? [True, True] Translation: X:36.70, Y:-1.79, Z:-0.98 [[ 9.94532473e-01 1.02338634e-01 2.07837560e-02 3.67040881e+01] [-1.02324079e-01 9.94749550e-01 -1.76533778e-03 -1.79011753e+00] [-2.08552942e-02 -3.70992945e-04 9.99782436e-01 -9.84587201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.588623852999994 meters 0.027040136605243185 Centerline is valid? [True, True] Translation: X:36.77, Y:-1.79, Z:-0.99 [[ 9.94317059e-01 1.04255853e-01 2.15476887e-02 3.67657405e+01] [-1.04240573e-01 9.94550420e-01 -1.83418747e-03 -1.79032167e+00] [-2.16214876e-02 -4.22379532e-04 9.99766139e-01 -9.85794420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.648623853 meters 0.025866607910646093 Centerline is valid? [True, True] Translation: X:36.83, Y:-1.80, Z:-0.99 [[ 9.94199906e-01 1.05295954e-01 2.18931134e-02 3.68277272e+01] [-1.05280356e-01 9.94440828e-01 -1.86706548e-03 -1.79710443e+00] [-2.19680003e-02 -4.48678443e-04 9.99758574e-01 -9.86342119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.708623853 meters 0.02806682892279558 Centerline is valid? [True, True] Translation: X:36.89, Y:-1.80, Z:-0.99 [[ 9.94156797e-01 1.05632715e-01 2.22259272e-02 3.68902485e+01] [-1.05616640e-01 9.94405108e-01 -1.89918303e-03 -1.79835839e+00] [-2.23021914e-02 -4.59342032e-04 9.99751170e-01 -9.87533936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.768623853 meters 0.02683095861518905 Centerline is valid? [True, True] Translation: X:36.95, Y:-1.80, Z:-0.99 [[ 9.94105195e-01 1.06232426e-01 2.16687042e-02 3.69525027e+01] [-1.06217206e-01 9.94341220e-01 -1.85537467e-03 -1.80378058e+00] [-2.17431867e-02 -4.57151624e-04 9.99763484e-01 -9.89224040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.828623852999996 meters 0.028212313787282454 Centerline is valid? [True, True] Translation: X:37.02, Y:-1.80, Z:-0.99 [[ 9.93925175e-01 1.07780004e-01 2.22759530e-02 3.70153498e+01] [-1.07764222e-01 9.94174642e-01 -1.91118387e-03 -1.80361843e+00] [-2.23521750e-02 -5.00976990e-04 9.99750033e-01 -9.89989073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.888623853 meters 0.03000902975338486 Centerline is valid? [True, True] Translation: X:37.08, Y:-1.80, Z:-0.99 [[ 9.93723880e-01 1.09500037e-01 2.28602770e-02 3.70782030e+01] [-1.09483782e-01 9.93986640e-01 -1.96520184e-03 -1.80190317e+00] [-2.29379996e-02 -5.49961582e-04 9.99736738e-01 -9.90851975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.948623853 meters 0.030581803322045756 Centerline is valid? [True, True] Translation: X:37.14, Y:-1.80, Z:-0.99 [[ 9.93616435e-01 1.10452294e-01 2.29493203e-02 3.71410095e+01] [-1.10436080e-01 9.93881263e-01 -1.97660702e-03 -1.80079143e+00] [-2.30272202e-02 -5.70443747e-04 9.99734676e-01 -9.91730726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.008623852999996 meters 0.03156420187233638 Centerline is valid? [True, True] Translation: X:37.20, Y:-1.80, Z:-0.99 [[ 9.93615065e-01 1.10498311e-01 2.27865099e-02 3.72036432e+01] [-1.10482254e-01 9.93876152e-01 -1.96626217e-03 -1.80057502e+00] [-2.28642374e-02 -5.63797256e-04 9.99738420e-01 -9.93516530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.068623853 meters 0.0319738056566269 Centerline is valid? [True, True] Translation: X:37.27, Y:-1.80, Z:-1.00 [[ 9.93727509e-01 1.09688956e-01 2.17708872e-02 3.72653047e+01] [-1.09674022e-01 9.93965827e-01 -1.88239721e-03 -1.79747015e+00] [-2.18459961e-02 -5.17110868e-04 9.99761214e-01 -9.98188784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.128623853 meters 0.02725822879660509 Centerline is valid? [True, True] Translation: X:37.33, Y:-1.80, Z:-1.00 [[ 9.93996664e-01 1.07150425e-01 2.21227978e-02 3.73271667e+01] [-1.07134287e-01 9.94242712e-01 -1.91679900e-03 -1.80114928e+00] [-2.22008163e-02 -4.64818356e-04 9.99753423e-01 -9.98537208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.188623852999996 meters 0.024409389416044452 Centerline is valid? [True, True] Translation: X:37.39, Y:-1.81, Z:-1.00 [[ 9.94312293e-01 1.04117567e-01 2.24186529e-02 3.73882029e+01] [-1.04100204e-01 9.94564915e-01 -1.94330590e-03 -1.80625968e+00] [-2.24991379e-02 -4.01533399e-04 9.99746782e-01 -1.00008722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.248623853 meters 0.019658266942636796 Centerline is valid? [True, True] Translation: X:37.45, Y:-1.81, Z:-1.00 [[ 9.94894178e-01 9.84215550e-02 2.23332211e-02 3.74496862e+01] [-9.84028785e-02 9.95144775e-01 -1.93636995e-03 -1.81228428e+00] [-2.24153688e-02 -2.71170053e-04 9.99748707e-01 -1.00175055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.308623853 meters 0.01639126149413938 Centerline is valid? [True, True] Translation: X:37.51, Y:-1.82, Z:-1.01 [[ 9.95416525e-01 9.33099269e-02 2.09570844e-02 3.75115823e+01] [-9.32923518e-02 9.95637101e-01 -1.81687505e-03 -1.81939163e+00] [-2.10351832e-02 -1.46588237e-04 9.99778725e-01 -1.00605925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.368623852999995 meters 0.014895876358160209 Centerline is valid? [True, True] Translation: X:37.57, Y:-1.83, Z:-1.01 [[ 9.95769071e-01 8.97350344e-02 1.97883783e-02 3.75735329e+01] [-8.97186006e-02 9.95965672e-01 -1.71849213e-03 -1.82695590e+00] [-1.98627545e-02 -6.41642950e-05 9.99802714e-01 -1.00923491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.428623853 meters 0.014798476226364874 Centerline is valid? [True, True] Translation: X:37.64, Y:-1.84, Z:-1.01 [[ 9.96238705e-01 8.42626940e-02 2.02049848e-02 3.76359167e+01] [-8.42443670e-02 9.96443574e-01 -1.75802902e-03 -1.83598566e+00] [-2.02812635e-02 4.92604018e-05 9.99794313e-01 -1.00936211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.488623853 meters 0.016082385415907802 Centerline is valid? [True, True] Translation: X:37.70, Y:-1.84, Z:-1.01 [[ 9.96498979e-01 8.07801182e-02 2.15489366e-02 3.76976119e+01] [-8.07583563e-02 9.96731937e-01 -1.87963362e-03 -1.84383632e+00] [-2.16303504e-02 1.32796285e-04 9.99766028e-01 -1.00856115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.548623852999995 meters 0.0185896878793227 Centerline is valid? [True, True] Translation: X:37.76, Y:-1.85, Z:-1.01 [[ 9.96793732e-01 7.64000365e-02 2.37758516e-02 3.77589511e+01] [-7.63721787e-02 9.97077213e-01 -2.07885089e-03 -1.85248408e+00] [-2.38651842e-02 2.56371946e-04 9.99715153e-01 -1.00558324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.608623853 meters 0.02220580481366531 Centerline is valid? [True, True] Translation: X:37.82, Y:-1.86, Z:-1.01 [[ 9.97125604e-01 7.20239095e-02 2.35177736e-02 3.78203469e+01] [-7.19953397e-02 9.97402840e-01 -2.06036674e-03 -1.86395255e+00] [-2.36050899e-02 3.61274327e-04 9.99721296e-01 -1.00807177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.668623853 meters 0.02505790095336636 Centerline is valid? [True, True] Translation: X:37.88, Y:-1.87, Z:-1.01 [[ 9.97363534e-01 6.89856419e-02 2.25158427e-02 3.78816904e+01] [-6.89586577e-02 9.97617566e-01 -1.97361820e-03 -1.87487528e+00] [-2.25983515e-02 4.15752535e-04 9.99744538e-01 -1.01211645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.728623852999995 meters 0.02771589930892786 Centerline is valid? [True, True] Translation: X:37.94, Y:-1.89, Z:-1.02 [[ 9.97679411e-01 6.50830103e-02 1.99998826e-02 3.79418856e+01] [-6.50609148e-02 9.97879752e-01 -1.75416770e-03 -1.88549688e+00] [-2.00716444e-02 4.48886341e-04 9.99798443e-01 -1.01756467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.788623853 meters 0.027199013804351524 Centerline is valid? [True, True] Translation: X:38.00, Y:-1.89, Z:-1.02 [[ 9.97631352e-01 6.55969034e-02 2.07058287e-02 3.80041628e+01] [-6.55733324e-02 9.97846100e-01 -1.81600959e-03 -1.89312804e+00] [-2.07803550e-02 4.53957914e-04 9.99783962e-01 -1.01711283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.848623853 meters 0.024593404025425897 Centerline is valid? [True, True] Translation: X:38.07, Y:-1.90, Z:-1.02 [[ 9.97418264e-01 6.84978609e-02 2.15603830e-02 3.80652023e+01] [-6.84729458e-02 9.97651178e-01 -1.89258580e-03 -1.89679383e+00] [-2.16393796e-02 4.11396709e-04 9.99765757e-01 -1.01661315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.908623852999995 meters 0.019881466120212694 Centerline is valid? [True, True] Translation: X:38.13, Y:-1.90, Z:-1.02 [[ 9.96947473e-01 7.50342094e-02 2.15778254e-02 3.81264650e+01] [-7.50107721e-02 9.97180924e-01 -1.89465383e-03 -1.89653123e+00] [-2.16591597e-02 2.70301000e-04 9.99765376e-01 -1.01894710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.968623853 meters 0.016002290603913127 Centerline is valid? [True, True] Translation: X:38.19, Y:-1.89, Z:-1.02 [[ 9.96499394e-01 8.11847469e-02 1.99497888e-02 3.81894901e+01] [-8.11659419e-02 9.96699062e-01 -1.75185292e-03 -1.89435581e+00] [-2.00261595e-02 1.26476973e-04 9.99799448e-01 -1.02295351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.028623853 meters 0.015215235438160779 Centerline is valid? [True, True] Translation: X:38.25, Y:-1.90, Z:-1.03 [[ 9.96214136e-01 8.49292094e-02 1.85587044e-02 3.82502022e+01] [-8.49135720e-02 9.96386987e-01 -1.63041193e-03 -1.89653984e+00] [-1.86301211e-02 4.83535284e-05 9.99826443e-01 -1.02835661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.088623852999994 meters 0.014994986885537609 Centerline is valid? [True, True] Translation: X:38.31, Y:-1.89, Z:-1.03 [[ 9.95772759e-01 8.99588297e-02 1.85478271e-02 3.83138743e+01] [-8.99440655e-02 9.95945484e-01 -1.63037391e-03 -1.89459246e+00] [-1.86192912e-02 -4.47850536e-05 9.99826645e-01 -1.02872910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.148623853 meters 0.015437837682633453 Centerline is valid? [True, True] Translation: X:38.38, Y:-1.90, Z:-1.03 [[ 9.95473833e-01 9.29154421e-02 1.99641896e-02 3.83767884e+01] [-9.28988460e-02 9.95673998e-01 -1.75912036e-03 -1.89587946e+00] [-2.00412739e-02 -1.03491888e-04 9.99799148e-01 -1.02795124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.208623853 meters 0.015645899834787303 Centerline is valid? [True, True] Translation: X:38.44, Y:-1.90, Z:-1.03 [[ 9.95329327e-01 9.41872847e-02 2.11727542e-02 3.84392663e+01] [-9.41688100e-02 9.95554488e-01 -1.87012143e-03 -1.89947409e+00] [-2.12547722e-02 -1.32426364e-04 9.99774083e-01 -1.02811271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.268623852999994 meters 0.015585765920476271 Centerline is valid? [True, True] Translation: X:38.50, Y:-1.91, Z:-1.03 [[ 9.95361962e-01 9.38278842e-02 2.12342391e-02 3.85008426e+01] [-9.38091302e-02 9.95588426e-01 -1.87977720e-03 -1.90603520e+00] [-2.13169382e-02 -1.20906777e-04 9.99772761e-01 -1.03037468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.328623852999996 meters 0.014930313607034675 Centerline is valid? [True, True] Translation: X:38.56, Y:-1.91, Z:-1.03 [[ 9.95494994e-01 9.25995978e-02 2.03723405e-02 3.85634674e+01] [-9.25820097e-02 9.95703423e-01 -1.80682677e-03 -1.91376003e+00] [-2.04521206e-02 -8.74252234e-05 9.99790830e-01 -1.03331975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.388623853 meters 0.014784960055936764 Centerline is valid? [True, True] Translation: X:38.63, Y:-1.92, Z:-1.04 [[ 9.95677768e-01 9.07773372e-02 1.96279933e-02 3.86253291e+01] [-9.07605824e-02 9.95871213e-01 -1.74459078e-03 -1.92189760e+00] [-1.97053228e-02 -4.43978554e-05 9.99805830e-01 -1.03714200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.448623853 meters 0.014713560519428362 Centerline is valid? [True, True] Translation: X:38.69, Y:-1.93, Z:-1.04 [[ 9.95855501e-01 8.88305990e-02 1.95178216e-02 3.86879342e+01] [-8.88135904e-02 9.96046748e-01 -1.73824004e-03 -1.92993810e+00] [-1.95950717e-02 -2.41190955e-06 9.99807998e-01 -1.03824601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.508623852999996 meters 0.015284505657559186 Centerline is valid? [True, True] Translation: X:38.75, Y:-1.94, Z:-1.04 [[ 9.96177269e-01 8.48926750e-02 2.05932568e-02 3.87500915e+01] [-8.48728096e-02 9.96390098e-01 -1.83832113e-03 -1.93976200e+00] [-2.06749772e-02 8.34861582e-05 9.99786246e-01 -1.03822969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.568623853 meters 0.017642539667550552 Centerline is valid? [True, True] Translation: X:38.81, Y:-1.95, Z:-1.04 [[ 9.96529004e-01 8.05634643e-02 2.09635854e-02 3.88101793e+01] [-8.05418272e-02 9.96749465e-01 -1.87577944e-03 -1.95368113e+00] [-2.10465618e-02 1.80823140e-04 9.99778480e-01 -1.04056916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.628623853 meters 0.026679663515850972 Centerline is valid? [True, True] Translation: X:38.87, Y:-1.96, Z:-1.04 [[ 9.96755441e-01 7.80537491e-02 1.96520712e-02 3.88712143e+01] [-7.80341812e-02 9.96949127e-01 -1.76176680e-03 -1.96365095e+00] [-1.97296277e-02 2.22517356e-04 9.99805327e-01 -1.03910011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.688623852999996 meters 0.02223455606228816 Centerline is valid? [True, True] Translation: X:38.93, Y:-1.97, Z:-1.05 [[ 9.96927831e-01 7.59857474e-02 1.90017200e-02 3.89311432e+01] [-7.59670587e-02 9.97108871e-01 -1.70445997e-03 -1.97439708e+00] [-1.90762982e-02 2.55718807e-04 9.99817998e-01 -1.04783042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.748623853 meters 0.023290828790196748 Centerline is valid? [True, True] Translation: X:38.99, Y:-1.98, Z:-1.05 [[ 9.97052876e-01 7.43572643e-02 1.88827991e-02 3.89929258e+01] [-7.43384646e-02 9.97231625e-01 -1.69655042e-03 -1.98318861e+00] [-1.89566753e-02 2.87832180e-04 9.99820265e-01 -1.04882743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.808623853 meters 0.023721582545758898 Centerline is valid? [True, True] Translation: X:39.06, Y:-1.99, Z:-1.05 [[ 9.97054969e-01 7.39282778e-02 2.03960655e-02 3.90558240e+01] [-7.39061802e-02 9.97263508e-01 -1.83611491e-03 -1.99156538e+00] [-2.04759926e-02 3.23312200e-04 9.99790293e-01 -1.04729847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.868623852999995 meters 0.022063250888340474 Centerline is valid? [True, True] Translation: X:39.12, Y:-2.00, Z:-1.05 [[ 9.96866800e-01 7.58759617e-02 2.23477597e-02 3.91177939e+01] [-7.58498119e-02 9.97117214e-01 -2.01668138e-03 -1.99757598e+00] [-2.24363535e-02 3.15289346e-04 9.99748224e-01 -1.04570101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.928623853 meters 0.02008304592421924 Centerline is valid? [True, True] Translation: X:39.18, Y:-2.00, Z:-1.05 [[ 9.96674354e-01 7.83961064e-02 2.22324455e-02 3.91800726e+01] [-7.83707720e-02 9.96922255e-01 -2.00988114e-03 -2.00002350e+00] [-2.23215866e-02 2.60823069e-04 9.99750808e-01 -1.04790331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.988623853 meters 0.01878822254038194 Centerline is valid? [True, True] Translation: X:39.24, Y:-2.01, Z:-1.05 [[ 9.96497481e-01 8.07231596e-02 2.18298379e-02 3.92410183e+01] [-8.06992143e-02 9.96736539e-01 -1.97706162e-03 -2.00513297e+00] [-2.19181918e-02 2.08486151e-04 9.99759746e-01 -1.05082917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.048623852999995 meters 0.017751046137779117 Centerline is valid? [True, True] Translation: X:39.30, Y:-2.01, Z:-1.05 [[ 9.96424281e-01 8.17660891e-02 2.12828302e-02 3.93037224e+01] [-8.17435054e-02 9.96651530e-01 -1.93039248e-03 -2.01002203e+00] [-2.13694060e-02 1.83756787e-04 9.99771631e-01 -1.05289291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.108623853 meters 0.0161992378642967 Centerline is valid? [True, True] Translation: X:39.37, Y:-2.01, Z:-1.05 [[ 9.96252546e-01 8.36790820e-02 2.18786653e-02 3.93655561e+01] [-8.36555805e-02 9.96492744e-01 -1.98883427e-03 -2.01477860e+00] [-2.19683550e-02 1.51108764e-04 9.99758655e-01 -1.05220128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.168623853 meters 0.0151692108960701 Centerline is valid? [True, True] Translation: X:39.43, Y:-2.02, Z:-1.05 [[ 9.96058926e-01 8.58828822e-02 2.21527829e-02 3.94276056e+01] [-8.58592482e-02 9.96305234e-01 -2.01755668e-03 -2.01918655e+00] [-2.22442072e-02 1.07584050e-04 9.99752561e-01 -1.05382957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.228623852999995 meters 0.01417633595045708 Centerline is valid? [True, True] Translation: X:39.49, Y:-2.02, Z:-1.06 [[ 9.95698764e-01 9.00788647e-02 2.16741730e-02 3.94890520e+01] [-9.00571565e-02 9.95934635e-01 -1.97755568e-03 -2.02023008e+00] [-2.17641955e-02 1.71353610e-05 9.99763132e-01 -1.05707821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.288623853 meters 0.0146254240900324 Centerline is valid? [True, True] Translation: X:39.55, Y:-2.02, Z:-1.06 [[ 9.95428747e-01 9.32439120e-02 2.06683933e-02 3.95502555e+01] [-9.32247915e-02 9.95643295e-01 -1.88879432e-03 -2.01984442e+00] [-2.07544658e-02 -4.66464925e-05 9.99784602e-01 -1.06178794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.348623853 meters 0.015110785894837483 Centerline is valid? [True, True] Translation: X:39.61, Y:-2.02, Z:-1.07 [[ 9.95415005e-01 9.38922611e-02 1.82540550e-02 3.96124482e+01] [-9.38774185e-02 9.95582363e-01 -1.67020779e-03 -2.02397371e+00] [-1.83302348e-02 -5.10936693e-05 9.99831986e-01 -1.06757066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.408623852999995 meters 0.014927956644288098 Centerline is valid? [True, True] Translation: X:39.67, Y:-2.04, Z:-1.07 [[ 9.95703886e-01 9.09299601e-02 1.74789347e-02 3.96744459e+01] [-9.09158523e-02 9.95857290e-01 -1.60170947e-03 -2.03592544e+00] [-1.75521679e-02 5.71610209e-06 9.99845949e-01 -1.06956145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.468623853 meters 0.017267452996742816 Centerline is valid? [True, True] Translation: X:39.74, Y:-2.05, Z:-1.07 [[ 9.96207149e-01 8.46906114e-02 1.99704045e-02 3.97355811e+01] [-8.46708429e-02 9.96407287e-01 -1.83488516e-03 -2.05346679e+00] [-2.00540541e-02 1.37014729e-04 9.99798888e-01 -1.06921252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.528623853 meters 0.02043390158316868 Centerline is valid? [True, True] Translation: X:39.80, Y:-2.07, Z:-1.07 [[ 9.96520860e-01 8.06119497e-02 2.11634152e-02 3.97969223e+01] [-8.05887354e-02 9.96745533e-01 -1.94887538e-03 -2.06852406e+00] [-2.12516422e-02 2.36562099e-04 9.99774130e-01 -1.06777093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.588623852999994 meters 0.022956988824813326 Centerline is valid? [True, True] Translation: X:39.86, Y:-2.08, Z:-1.07 [[ 9.96843121e-01 7.63488934e-02 2.17861975e-02 3.98581734e+01] [-7.63231816e-02 9.97081105e-01 -2.01046524e-03 -2.08093629e+00] [-2.18761027e-02 3.41326538e-04 9.99760631e-01 -1.06782602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.648623853 meters 0.024516137526563845 Centerline is valid? [True, True] Translation: X:39.92, Y:-2.09, Z:-1.07 [[ 9.96957895e-01 7.50208277e-02 2.11383807e-02 3.99192254e+01] [-7.49963199e-02 9.97181902e-01 -1.95088319e-03 -2.09180171e+00] [-2.12251675e-02 3.59647637e-04 9.99774656e-01 -1.07015743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.708623853 meters 0.024895406188072913 Centerline is valid? [True, True] Translation: X:39.98, Y:-2.10, Z:-1.07 [[ 9.96969871e-01 7.50020815e-02 2.06340496e-02 3.99812774e+01] [-7.49786596e-02 9.97183314e-01 -1.90750675e-03 -2.10109114e+00] [-2.07189970e-02 3.54613372e-04 9.99785276e-01 -1.07295161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.768623852999994 meters 0.023920492558614843 Centerline is valid? [True, True] Translation: X:40.04, Y:-2.11, Z:-1.07 [[ 9.96891958e-01 7.57009679e-02 2.18125701e-02 4.00430790e+01] [-7.56748606e-02 9.97130498e-01 -2.02103498e-03 -2.11016391e+00] [-2.19029732e-02 3.64090314e-04 9.99760035e-01 -1.07256248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.828623852999996 meters 0.030344049908451156 Centerline is valid? [True, True] Translation: X:40.10, Y:-2.12, Z:-1.07 [[ 9.96757663e-01 7.73685095e-02 2.20969655e-02 4.01041733e+01] [-7.73420418e-02 9.97002508e-01 -2.05119652e-03 -2.11698716e+00] [-2.21894280e-02 3.35521425e-04 9.99753728e-01 -1.06943535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.888623853 meters 0.01862533853876503 Centerline is valid? [True, True] Translation: X:40.16, Y:-2.12, Z:-1.08 [[ 9.96304273e-01 8.31836694e-02 2.14073085e-02 4.01641473e+01] [-8.31600831e-02 9.96534212e-01 -1.99120470e-03 -2.12012515e+00] [-2.14987510e-02 2.03612197e-04 9.99768854e-01 -1.07790416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.948623853 meters 0.014905402593846701 Centerline is valid? [True, True] Translation: X:40.23, Y:-2.12, Z:-1.08 [[ 9.95762287e-01 8.95367764e-02 2.09912826e-02 4.02266042e+01] [-8.95155243e-02 9.95983515e-01 -1.95176754e-03 -2.11725858e+00] [-2.10817264e-02 6.44508377e-05 9.99777754e-01 -1.07992867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.008623852999996 meters 0.015639791176245522 Centerline is valid? [True, True] Translation: X:40.29, Y:-2.11, Z:-1.08 [[ 9.94902602e-01 9.89113330e-02 1.96305925e-02 4.02900918e+01] [-9.88945160e-02 9.95096243e-01 -1.82799052e-03 -2.10956270e+00] [-1.97151378e-02 -1.22685415e-04 9.99805630e-01 -1.08216607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.068623853 meters 0.01972386813749798 Centerline is valid? [True, True] Translation: X:40.35, Y:-2.11, Z:-1.09 [[ 9.94330074e-01 1.04562050e-01 1.93515251e-02 4.03516468e+01] [-1.04546711e-01 9.94518339e-01 -1.80535970e-03 -2.10501707e+00] [-1.94342187e-02 -2.28014866e-04 9.99811112e-01 -1.08548909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.128623853 meters 0.02445331065092182 Centerline is valid? [True, True] Translation: X:40.41, Y:-2.10, Z:-1.09 [[ 9.93572025e-01 1.11469953e-01 1.97251309e-02 4.04129383e+01] [-1.11455294e-01 9.93767737e-01 -1.84435931e-03 -2.10180360e+00] [-1.98077893e-02 -3.65966447e-04 9.99803740e-01 -1.08563927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.188623852999996 meters 0.027970185567567984 Centerline is valid? [True, True] Translation: X:40.48, Y:-2.10, Z:-1.09 [[ 9.93060285e-01 1.15809832e-01 2.04781275e-02 4.04752905e+01] [-1.15794939e-01 9.93271294e-01 -1.91550375e-03 -2.09623989e+00] [-2.05621703e-02 -4.69052826e-04 9.99788466e-01 -1.08688650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.248623853 meters 0.028254347561108166 Centerline is valid? [True, True] Translation: X:40.54, Y:-2.10, Z:-1.09 [[ 9.93016277e-01 1.16334873e-01 1.96181222e-02 4.05371093e+01] [-1.16321321e-01 9.93209940e-01 -1.83434317e-03 -2.09951361e+00] [-1.96983121e-02 -4.60473275e-04 9.99805863e-01 -1.09016678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.308623853 meters 0.02595043792160634 Centerline is valid? [True, True] Translation: X:40.60, Y:-2.11, Z:-1.09 [[ 9.93516420e-01 1.12207023e-01 1.82950177e-02 4.05972086e+01] [-1.12194462e-01 9.93684790e-01 -1.71476575e-03 -2.10731664e+00] [-1.83718896e-02 -3.48951737e-04 9.99831162e-01 -1.09459822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.368623852999995 meters 0.018415232437948393 Centerline is valid? [True, True] Translation: X:40.66, Y:-2.12, Z:-1.09 [[ 9.94380731e-01 1.04099583e-01 1.92415830e-02 4.06567416e+01] [-1.04084158e-01 9.94566857e-01 -1.80408298e-03 -2.12196430e+00] [-1.93248450e-02 -2.08798613e-04 9.99813236e-01 -1.09476210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.428623853 meters 0.015469077142355903 Centerline is valid? [True, True] Translation: X:40.72, Y:-2.13, Z:-1.09 [[ 9.94881222e-01 9.90606292e-02 1.99586199e-02 4.07186819e+01] [-9.90430217e-02 9.95081393e-01 -1.87119516e-03 -2.13356098e+00] [-2.00458130e-02 -1.15145097e-04 9.99799056e-01 -1.09478171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.488623853 meters 0.014147259300962816 Centerline is valid? [True, True] Translation: X:40.78, Y:-2.14, Z:-1.10 [[ 9.95307099e-01 9.45564212e-02 2.05636028e-02 4.07803758e+01] [-9.45367573e-02 9.95519504e-01 -1.92844822e-03 -2.14419311e+00] [-2.06538148e-02 -2.46181201e-05 9.99786687e-01 -1.09562329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.548623852999995 meters 0.025113874403945018 Centerline is valid? [True, True] Translation: X:40.84, Y:-2.15, Z:-1.09 [[ 9.95418779e-01 9.34609203e-02 2.01621346e-02 4.08429620e+01] [-9.34417288e-02 9.95622949e-01 -1.89392150e-03 -2.15068760e+00] [-2.02508916e-02 1.26030908e-06 9.99794930e-01 -1.09243450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.608623853 meters 0.01408142233006155 Centerline is valid? [True, True] Translation: X:40.91, Y:-2.16, Z:-1.10 [[ 9.95425926e-01 9.32116206e-02 2.09480165e-02 4.09056404e+01] [-9.31907609e-02 9.95646320e-01 -1.97190698e-03 -2.15635920e+00] [-2.10406201e-02 1.07257360e-05 9.99778622e-01 -1.09756284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.668623853 meters 0.014201733062774653 Centerline is valid? [True, True] Translation: X:40.97, Y:-2.16, Z:-1.10 [[ 9.95385729e-01 9.37731925e-02 2.03430257e-02 4.09684791e+01] [-9.37535582e-02 9.95593586e-01 -1.91884416e-03 -2.16039446e+00] [-2.04333221e-02 2.75905155e-06 9.99791218e-01 -1.10049205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.728623852999995 meters 0.018368313659207547 Centerline is valid? [True, True] Translation: X:41.03, Y:-2.17, Z:-1.10 [[ 9.95426453e-01 9.35273904e-02 1.94628789e-02 4.10305380e+01] [-9.35092991e-02 9.95616707e-01 -1.83952843e-03 -2.16529491e+00] [-1.95496137e-02 1.11550915e-05 9.99808888e-01 -1.10042830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.788623853 meters 0.014202632089292242 Centerline is valid? [True, True] Translation: X:41.09, Y:-2.17, Z:-1.10 [[ 9.95454605e-01 9.29553907e-02 2.07225704e-02 4.10925103e+01] [-9.29346711e-02 9.95670274e-01 -1.96274209e-03 -2.17040010e+00] [-2.08152948e-02 2.79753857e-05 9.99783338e-01 -1.10384159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.848623853 meters 0.028904800147193235 Centerline is valid? [True, True] Translation: X:41.16, Y:-2.17, Z:-1.10 [[ 9.95418909e-01 9.34109881e-02 2.03858337e-02 4.11559253e+01] [-9.33909662e-02 9.95627635e-01 -1.93405670e-03 -2.17410684e+00] [-2.04773616e-02 2.13438957e-05 9.99790317e-01 -1.09963808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.908623852999995 meters 0.01435998782008915 Centerline is valid? [True, True] Translation: X:41.22, Y:-2.18, Z:-1.11 [[ 9.95357050e-01 9.40184930e-02 2.06122898e-02 4.12175009e+01] [-9.39980655e-02 9.95570451e-01 -1.95982021e-03 -2.17908676e+00] [-2.07052460e-02 1.32054978e-05 9.99785623e-01 -1.10846738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.968623853 meters 0.014401522629479151 Centerline is valid? [True, True] Translation: X:41.28, Y:-2.18, Z:-1.11 [[ 9.95277670e-01 9.51018020e-02 1.94424000e-02 4.12798397e+01] [-9.50837669e-02 9.95467552e-01 -1.85203899e-03 -2.18090737e+00] [-1.95304106e-02 -5.36357913e-06 9.99809263e-01 -1.11201526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.028623853 meters 0.01463477019372277 Centerline is valid? [True, True] Translation: X:41.34, Y:-2.18, Z:-1.12 [[ 9.95135978e-01 9.66340278e-02 1.91376336e-02 4.13419713e+01] [-9.66167783e-02 9.95319981e-01 -1.82605752e-03 -2.18306658e+00] [-1.92245284e-02 -3.18409689e-05 9.99815191e-01 -1.11507647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.088623852999994 meters 0.014804692259281141 Centerline is valid? [True, True] Translation: X:41.41, Y:-2.19, Z:-1.12 [[ 9.95042710e-01 9.75545354e-02 1.93162534e-02 4.14053869e+01] [-9.75370697e-02 9.95230180e-01 -1.84650623e-03 -2.18674755e+00] [-1.94042534e-02 -4.66981985e-05 9.99811719e-01 -1.11671798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.148623853 meters 0.023685098497901628 Centerline is valid? [True, True] Translation: X:41.47, Y:-2.19, Z:-1.11 [[ 9.94983421e-01 9.83119382e-02 1.85136387e-02 4.14672389e+01] [-9.82959604e-02 9.95155646e-01 -1.77326079e-03 -2.19182259e+00] [-1.85982848e-02 -5.54508119e-05 9.99827035e-01 -1.11289346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.208623853 meters 0.014826474474968298 Centerline is valid? [True, True] Translation: X:41.53, Y:-2.20, Z:-1.12 [[ 9.94953087e-01 9.84194438e-02 1.95439741e-02 4.15282407e+01] [-9.84015852e-02 9.95145020e-01 -1.87568139e-03 -2.19798484e+00] [-1.96336920e-02 -5.69430485e-05 9.99807239e-01 -1.11995428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.268623852999994 meters 0.014276762271046847 Centerline is valid? [True, True] Translation: X:41.59, Y:-2.21, Z:-1.12 [[ 9.95055211e-01 9.72096539e-02 2.03816288e-02 4.15901073e+01] [-9.71899089e-02 9.95263926e-01 -1.95943390e-03 -2.20702680e+00] [-2.04755758e-02 -3.11437357e-05 9.99790353e-01 -1.11993255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.328623852999996 meters 0.014014007534646817 Centerline is valid? [True, True] Translation: X:41.65, Y:-2.22, Z:-1.12 [[ 9.95149236e-01 9.61432584e-02 2.08439745e-02 4.16527663e+01] [-9.61223040e-02 9.95367507e-01 -2.00719557e-03 -2.21618744e+00] [-2.09403932e-02 -6.11171418e-06 9.99780726e-01 -1.12045933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.388623853 meters 0.014307339098237408 Centerline is valid? [True, True] Translation: X:41.71, Y:-2.22, Z:-1.12 [[ 9.95047014e-01 9.71615390e-02 2.10018141e-02 4.17145328e+01] [-9.71404064e-02 9.95268624e-01 -2.02649242e-03 -2.22204830e+00] [-2.10993437e-02 -2.36695225e-05 9.99777384e-01 -1.12287004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.448623853 meters 0.015635818801790047 Centerline is valid? [True, True] Translation: X:41.78, Y:-2.22, Z:-1.13 [[ 9.94651253e-01 1.01298109e-01 2.01885515e-02 4.17765193e+01] [-1.01279360e-01 9.94856111e-01 -1.95161982e-03 -2.22073310e+00] [-2.02823992e-02 -1.03502469e-04 9.99794286e-01 -1.12622670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.508623852999996 meters 0.01750828951982471 Centerline is valid? [True, True] Translation: X:41.84, Y:-2.22, Z:-1.13 [[ 9.94220099e-01 1.05604049e-01 1.93437239e-02 4.18383746e+01] [-1.05587604e-01 9.94408242e-01 -1.87238071e-03 -2.22279060e+00] [-1.94332895e-02 -1.80898921e-04 9.99811139e-01 -1.12780815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.568623853 meters 0.023691647695650814 Centerline is valid? [True, True] Translation: X:41.90, Y:-2.23, Z:-1.13 [[ 9.94051704e-01 1.07285377e-01 1.87365598e-02 4.19009167e+01] [-1.07270190e-01 9.94228247e-01 -1.81662264e-03 -2.22592795e+00] [-1.88233140e-02 -2.04057497e-04 9.99822805e-01 -1.12599014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.628623853 meters 0.018719925227532547 Centerline is valid? [True, True] Translation: X:41.96, Y:-2.23, Z:-1.13 [[ 9.94103365e-01 1.06789165e-01 1.88301434e-02 4.19613446e+01] [-1.06773664e-01 9.94281669e-01 -1.82954636e-03 -2.23251378e+00] [-1.89178421e-02 -1.91805215e-04 9.99821023e-01 -1.13355300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.688623852999996 meters 0.01963905828729597 Centerline is valid? [True, True] Translation: X:42.02, Y:-2.24, Z:-1.14 [[ 9.94169905e-01 1.06242127e-01 1.84068271e-02 4.20230206e+01] [-1.06227204e-01 9.94340273e-01 -1.78935445e-03 -2.23886053e+00] [-1.84927543e-02 -1.76383435e-04 9.99828979e-01 -1.13846330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.748623853 meters 0.017223996175593767 Centerline is valid? [True, True] Translation: X:42.08, Y:-2.25, Z:-1.14 [[ 9.94302889e-01 1.04827194e-01 1.93138138e-02 4.20848730e+01] [-1.04810409e-01 9.94490440e-01 -1.88207739e-03 -2.25119443e+00] [-1.94046961e-02 -1.52933739e-04 9.99811699e-01 -1.13622677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.808623853 meters 0.016239390871820514 Centerline is valid? [True, True] Translation: X:42.15, Y:-2.26, Z:-1.13 [[ 9.94290889e-01 1.04649192e-01 2.08368494e-02 4.21460929e+01] [-1.04629604e-01 9.94509186e-01 -2.03106451e-03 -2.26034467e+00] [-2.09349874e-02 -1.60682359e-04 9.99780826e-01 -1.13324498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.868623852999995 meters 0.016521079530527092 Centerline is valid? [True, True] Translation: X:42.21, Y:-2.27, Z:-1.13 [[ 9.94088115e-01 1.06279818e-01 2.22130550e-02 4.22087066e+01] [-1.06257877e-01 9.94336240e-01 -2.16910765e-03 -2.26751588e+00] [-2.23177780e-02 -2.04027920e-04 9.99750907e-01 -1.13197103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.928623853 meters 0.020174940333722288 Centerline is valid? [True, True] Translation: X:42.27, Y:-2.27, Z:-1.14 [[ 9.93876327e-01 1.08362162e-01 2.16214897e-02 4.22700319e+01] [-1.08341772e-01 9.94111455e-01 -2.11567978e-03 -2.26891143e+00] [-2.17234302e-02 -2.39786461e-04 9.99763990e-01 -1.13628515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.988623853 meters 0.030481897866622688 Centerline is valid? [True, True] Translation: X:42.33, Y:-2.27, Z:-1.13 [[ 9.93434980e-01 1.12712068e-01 1.95685784e-02 4.23317689e+01] [-1.12696158e-01 9.93627646e-01 -1.91742929e-03 -2.27360004e+00] [-1.96599979e-02 -3.00462272e-04 9.99806678e-01 -1.13281349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.048623852999995 meters 0.0245751005062329 Centerline is valid? [True, True] Translation: X:42.39, Y:-2.27, Z:-1.14 [[ 9.93117032e-01 1.15413493e-01 1.99571294e-02 4.23924551e+01] [-1.15397402e-01 9.93317471e-01 -1.95989850e-03 -2.27355384e+00] [-2.00499641e-02 -3.56592297e-04 9.99798916e-01 -1.14124987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.108623853 meters 0.027541617085308303 Centerline is valid? [True, True] Translation: X:42.45, Y:-2.27, Z:-1.14 [[ 9.92598423e-01 1.19770451e-01 2.00850749e-02 4.24538791e+01] [-1.19755034e-01 9.92801510e-01 -1.97297001e-03 -2.27470452e+00] [-2.01767962e-02 -4.46921909e-04 9.99796328e-01 -1.14202260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.168623853 meters 0.032499147355974235 Centerline is valid? [True, True] Translation: X:42.52, Y:-2.27, Z:-1.14 [[ 9.92134893e-01 1.23407842e-01 2.09489349e-02 4.25150574e+01] [-1.23391877e-01 9.92355889e-01 -2.05796932e-03 -2.27137295e+00] [-2.10427684e-02 -5.43145218e-04 9.99778429e-01 -1.14241305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.228623852999995 meters 0.033990255032730496 Centerline is valid? [True, True] Translation: X:42.58, Y:-2.27, Z:-1.14 [[ 9.91884542e-01 1.25387527e-01 2.10481201e-02 4.25774930e+01] [-1.25371813e-01 9.92107668e-01 -2.06971735e-03 -2.27412634e+00] [-2.11415181e-02 -5.85920343e-04 9.99776321e-01 -1.14392317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.288623853 meters 0.03499037358906798 Centerline is valid? [True, True] Translation: X:42.64, Y:-2.28, Z:-1.15 [[ 9.91808535e-01 1.26088204e-01 2.04351129e-02 4.26391441e+01] [-1.26073537e-01 9.92018863e-01 -2.00961221e-03 -2.27647374e+00] [-2.05254058e-02 -5.83176427e-04 9.99789162e-01 -1.14658164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.348623853 meters 0.03228365991987982 Centerline is valid? [True, True] Translation: X:42.70, Y:-2.28, Z:-1.15 [[ 9.91768743e-01 1.26348063e-01 2.07588004e-02 4.27021096e+01] [-1.26332924e-01 9.91985793e-01 -2.04435594e-03 -2.28228293e+00] [-2.08507355e-02 -5.94991643e-04 9.99782423e-01 -1.14710145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.408623852999995 meters 0.03559235868830131 Centerline is valid? [True, True] Translation: X:42.76, Y:-2.28, Z:-1.15 [[ 9.91711689e-01 1.26750738e-01 2.10279704e-02 4.27648393e+01] [-1.26735204e-01 9.91934414e-01 -2.07515718e-03 -2.28064931e+00] [-2.11213952e-02 -6.07026484e-04 9.99776734e-01 -1.14957202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.468623853 meters 0.035583863991933376 Centerline is valid? [True, True] Translation: X:42.83, Y:-2.28, Z:-1.15 [[ 9.91606098e-01 1.27495280e-01 2.15011648e-02 4.28270516e+01] [-1.27479124e-01 9.91838975e-01 -2.12598915e-03 -2.28149093e+00] [-2.15967469e-02 -6.32805845e-04 9.99766563e-01 -1.14969564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.528623853 meters 0.03440913268591711 Centerline is valid? [True, True] Translation: X:42.89, Y:-2.29, Z:-1.15 [[ 9.91578374e-01 1.27670848e-01 2.17366784e-02 4.28899954e+01] [-1.27654303e-01 9.91816387e-01 -2.15273238e-03 -2.28713990e+00] [-2.18336350e-02 -6.40177662e-04 9.99761413e-01 -1.15069622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.588623852999994 meters 0.032149991454883904 Centerline is valid? [True, True] Translation: X:42.95, Y:-2.29, Z:-1.15 [[ 9.91741897e-01 1.26358079e-01 2.19464317e-02 4.29519735e+01] [-1.26340795e-01 9.91984506e-01 -2.17788606e-03 -2.28958565e+00] [-2.20457137e-02 -6.12828765e-04 9.99756776e-01 -1.15165354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.648623853 meters 0.0314677813466187 Centerline is valid? [True, True] Translation: X:43.01, Y:-2.29, Z:-1.15 [[ 9.92072559e-01 1.23702392e-01 2.21304309e-02 4.30129333e+01] [-1.23684054e-01 9.92319208e-01 -2.20075024e-03 -2.28866023e+00] [-2.22326897e-02 -5.53877498e-04 9.99752670e-01 -1.15380883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.708623853 meters 0.0287317413275364 Centerline is valid? [True, True] Translation: X:43.08, Y:-2.29, Z:-1.16 [[ 9.92331466e-01 1.21694929e-01 2.16473239e-02 4.30754195e+01] [-1.21676903e-01 9.92567427e-01 -2.15281972e-03 -2.29276714e+00] [-2.17484158e-02 -4.97668582e-04 9.99763351e-01 -1.15640089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.768623852999994 meters 0.025291448935489184 Centerline is valid? [True, True] Translation: X:43.14, Y:-2.30, Z:-1.16 [[ 9.92882958e-01 1.17231804e-01 2.09793995e-02 4.31359093e+01] [-1.17213829e-01 9.93104504e-01 -2.08866034e-03 -2.29676725e+00] [-2.10795935e-02 -3.85280494e-04 9.99777726e-01 -1.16042259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.828623852999996 meters 0.022664725754271697 Centerline is valid? [True, True] Translation: X:43.20, Y:-2.30, Z:-1.16 [[ 9.93350195e-01 1.13283331e-01 2.05494037e-02 4.31958751e+01] [-1.13265229e-01 9.93562681e-01 -2.04641125e-03 -2.30237479e+00] [-2.06489449e-02 -2.94729897e-04 9.99786744e-01 -1.16375508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.888623853 meters 0.01652933407306563 Centerline is valid? [True, True] Translation: X:43.26, Y:-2.31, Z:-1.17 [[ 9.94127864e-01 1.06375810e-01 1.98488674e-02 4.32563812e+01] [-1.06357541e-01 9.94325986e-01 -1.97677442e-03 -2.31324007e+00] [-1.99465256e-02 -1.45910206e-04 9.99801038e-01 -1.16667370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.948623853 meters 0.01398253593656122 Centerline is valid? [True, True] Translation: X:43.32, Y:-2.33, Z:-1.17 [[ 9.94924116e-01 9.84236177e-02 2.09474210e-02 4.33179694e+01] [-9.84015010e-02 9.95144608e-01 -2.08646417e-03 -2.32696053e+00] [-2.10510704e-02 1.46158465e-05 9.99778402e-01 -1.16570361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.008623852999996 meters 0.01611219897514319 Centerline is valid? [True, True] Translation: X:43.38, Y:-2.34, Z:-1.17 [[ 9.95581478e-01 9.17320641e-02 2.00686044e-02 4.33793757e+01] [-9.17103988e-02 9.95783714e-01 -1.99920286e-03 -2.33901733e+00] [-2.01673804e-02 1.49869625e-04 9.99796606e-01 -1.16858510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.068623853 meters 0.019574343557105477 Centerline is valid? [True, True] Translation: X:43.44, Y:-2.35, Z:-1.17 [[ 9.95960919e-01 8.76144337e-02 1.96356629e-02 4.34392200e+01] [-8.75928015e-02 9.96154434e-01 -1.96069962e-03 -2.35034266e+00] [-1.97319383e-02 2.32837473e-04 9.99805279e-01 -1.17270939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.128623853 meters 0.019916667068746886 Centerline is valid? [True, True] Translation: X:43.50, Y:-2.36, Z:-1.17 [[ 9.96055645e-01 8.66588738e-02 1.90628157e-02 4.35006449e+01] [-8.66383129e-02 9.96238014e-01 -1.90337208e-03 -2.35603989e+00] [-1.91560457e-02 2.44294315e-04 9.99816476e-01 -1.17484427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.188623852999996 meters 0.019528606688418573 Centerline is valid? [True, True] Translation: X:43.56, Y:-2.36, Z:-1.17 [[ 9.95924816e-01 8.78553556e-02 2.03763753e-02 4.35616611e+01] [-8.78320801e-02 9.96133214e-01 -2.03615687e-03 -2.36065002e+00] [-2.04764715e-02 2.38159731e-04 9.99790307e-01 -1.17473816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.248623853 meters 0.017982387988359706 Centerline is valid? [True, True] Translation: X:43.62, Y:-2.36, Z:-1.17 [[ 9.95732777e-01 8.97736247e-02 2.13759824e-02 4.36240727e+01] [-8.97483745e-02 9.95962174e-01 -2.13960687e-03 -2.36406767e+00] [-2.14817502e-02 2.12017014e-04 9.99769218e-01 -1.17487019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.308623853 meters 0.017124288901413782 Centerline is valid? [True, True] Translation: X:43.69, Y:-2.37, Z:-1.18 [[ 9.95579971e-01 9.15758933e-02 2.08417303e-02 4.36858689e+01] [-9.15522137e-02 9.95798085e-01 -2.08950987e-03 -2.36970054e+00] [-2.09455038e-02 1.72167630e-04 9.99780604e-01 -1.17766211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.368623852999995 meters 0.016479917066511224 Centerline is valid? [True, True] Translation: X:43.75, Y:-2.38, Z:-1.18 [[ 9.95454294e-01 9.30148592e-02 2.04691065e-02 4.37464593e+01] [-9.29922438e-02 9.95664710e-01 -2.05599801e-03 -2.37564523e+00] [-2.05716053e-02 1.43183910e-04 9.99788372e-01 -1.18068525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.428623853 meters 0.0155569712944881 Centerline is valid? [True, True] Translation: X:43.81, Y:-2.38, Z:-1.18 [[ 9.95288797e-01 9.47128573e-02 2.07288407e-02 4.38081242e+01] [-9.46900017e-02 9.95504627e-01 -2.08355786e-03 -2.38248493e+00] [-2.08329965e-02 1.10927842e-04 9.99782963e-01 -1.18264129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.488623853 meters 0.024289973849160436 Centerline is valid? [True, True] Translation: X:43.87, Y:-2.39, Z:-1.18 [[ 9.95230857e-01 9.54211698e-02 2.02568755e-02 4.38710237e+01] [-9.53994282e-02 9.95436985e-01 -2.03915067e-03 -2.39021301e+00] [-2.03590212e-02 9.69313304e-05 9.99792729e-01 -1.17889426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.548623852999995 meters 0.014560520138626668 Centerline is valid? [True, True] Translation: X:43.93, Y:-2.40, Z:-1.18 [[ 9.95034096e-01 9.72963943e-02 2.09895199e-02 4.39321241e+01] [-9.72733754e-02 9.95255448e-01 -2.11731282e-03 -2.39802329e+00] [-2.10959409e-02 6.50770031e-05 9.99777454e-01 -1.18471069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.608623853 meters 0.01400684637881074 Centerline is valid? [True, True] Translation: X:43.99, Y:-2.40, Z:-1.19 [[ 9.94781024e-01 9.98003881e-02 2.12272559e-02 4.39939106e+01] [-9.97773379e-02 9.95007479e-01 -2.14488845e-03 -2.40355793e+00] [-2.13353390e-02 1.56952510e-05 9.99772376e-01 -1.18617796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.668623853 meters 0.014880894065891147 Centerline is valid? [True, True] Translation: X:44.06, Y:-2.41, Z:-1.19 [[ 9.94203478e-01 1.05515094e-01 2.06399726e-02 4.40562557e+01] [-1.05494462e-01 9.94417696e-01 -2.08893256e-03 -2.40548117e+00] [-2.07451679e-02 -1.00578782e-04 9.99784791e-01 -1.18904339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.728623852999995 meters 0.0186081272881845 Centerline is valid? [True, True] Translation: X:44.12, Y:-2.41, Z:-1.19 [[ 9.93469979e-01 1.12395558e-01 1.96122485e-02 4.41179769e+01] [-1.12378208e-01 9.93663518e-01 -1.98802801e-03 -2.40695871e+00] [-1.97114213e-02 -2.28943190e-04 9.99805685e-01 -1.19205918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.788623853 meters 0.025896959583073545 Centerline is valid? [True, True] Translation: X:44.18, Y:-2.40, Z:-1.19 [[ 9.92561264e-01 1.20092940e-01 1.99955518e-02 4.41794925e+01] [-1.20076376e-01 9.92762579e-01 -2.03134230e-03 -2.40015764e+00] [-2.00947854e-02 -3.84761703e-04 9.99798005e-01 -1.19360943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.848623853 meters 0.030600408816779216 Centerline is valid? [True, True] Translation: X:44.24, Y:-2.40, Z:-1.19 [[ 9.92027021e-01 1.24359903e-01 2.04206740e-02 4.42400118e+01] [-1.24343522e-01 9.92237060e-01 -2.07487592e-03 -2.39797335e+00] [-2.05201809e-02 -4.80845560e-04 9.99789323e-01 -1.19480445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.908623852999995 meters 0.035378428406527586 Centerline is valid? [True, True] Translation: X:44.30, Y:-2.40, Z:-1.20 [[ 9.91406510e-01 1.29168123e-01 2.07057279e-02 4.43016274e+01] [-1.29152331e-01 9.91622534e-01 -2.10375799e-03 -2.39501529e+00] [-2.08040049e-02 -5.88513655e-04 9.99783400e-01 -1.19644296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.968623853 meters 0.03574834732824978 Centerline is valid? [True, True] Translation: X:44.36, Y:-2.40, Z:-1.20 [[ 9.91154440e-01 1.31033436e-01 2.10502705e-02 4.43627875e+01] [-1.31017530e-01 9.91377744e-01 -2.13893676e-03 -2.39874313e+00] [-2.11490419e-02 -6.37937782e-04 9.99776130e-01 -1.19717024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.028623853 meters 0.03779258883955178 Centerline is valid? [True, True] Translation: X:44.42, Y:-2.40, Z:-1.20 [[ 9.91044917e-01 1.31757629e-01 2.16771507e-02 4.44231259e+01] [-1.31740921e-01 9.91281734e-01 -2.20327821e-03 -2.39592251e+00] [-2.17784623e-02 -6.72220135e-04 9.99762595e-01 -1.19801702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.088623852999994 meters 0.03365034394861277 Centerline is valid? [True, True] Translation: X:44.48, Y:-2.40, Z:-1.20 [[ 9.91622799e-01 1.27454479e-01 2.09661885e-02 4.44831206e+01] [-1.27437884e-01 9.91844264e-01 -2.13119389e-03 -2.40297213e+00] [-2.10668240e-02 -5.58546242e-04 9.99777914e-01 -1.20218769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.148623853 meters 0.028162003404590696 Centerline is valid? [True, True] Translation: X:44.54, Y:-2.41, Z:-1.20 [[ 9.92238732e-01 1.22549489e-01 2.10694554e-02 4.45425886e+01] [-1.22531624e-01 9.92462299e-01 -2.14169088e-03 -2.41481868e+00] [-2.11731033e-02 -4.56605946e-04 9.99775720e-01 -1.20395673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.208623853 meters 0.02247207877557415 Centerline is valid? [True, True] Translation: X:44.60, Y:-2.43, Z:-1.21 [[ 9.93064941e-01 1.15604089e-01 2.13943116e-02 4.46012828e+01] [-1.15584057e-01 9.93295322e-01 -2.17471221e-03 -2.42650436e+00] [-2.15022753e-02 -3.13210869e-04 9.99768750e-01 -1.20529755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.268623852999994 meters 0.01863983319976678 Centerline is valid? [True, True] Translation: X:44.66, Y:-2.44, Z:-1.20 [[ 9.93547427e-01 1.11198747e-01 2.23237516e-02 4.46613051e+01] [-1.11175825e-01 9.93798162e-01 -2.26912819e-03 -2.43531401e+00] [-2.24376275e-02 -2.27375031e-04 9.99748219e-01 -1.20440790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.328623852999996 meters 0.01742571844968619 Centerline is valid? [True, True] Translation: X:44.72, Y:-2.44, Z:-1.21 [[ 9.93714237e-01 1.09614086e-01 2.27325103e-02 4.47236850e+01] [-1.09589902e-01 9.93974202e-01 -2.31072062e-03 -2.44139509e+00] [-2.28488163e-02 -1.95057593e-04 9.99738913e-01 -1.20543467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.388623853 meters 0.015980535392224528 Centerline is valid? [True, True] Translation: X:44.79, Y:-2.45, Z:-1.21 [[ 9.93891462e-01 1.08122527e-01 2.21197044e-02 4.47850132e+01] [-1.08099245e-01 9.94137563e-01 -2.24906368e-03 -2.44910350e+00] [-2.22332035e-02 -1.55798173e-04 9.99752800e-01 -1.20753284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.448623853 meters 0.01593257036745039 Centerline is valid? [True, True] Translation: X:44.85, Y:-2.45, Z:-1.21 [[ 9.93923475e-01 1.07790817e-01 2.22994395e-02 4.48463326e+01] [-1.07766990e-01 9.94173586e-01 -2.27097260e-03 -2.45425967e+00] [-2.24143037e-02 -1.45970492e-04 9.99748757e-01 -1.20903543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.508623852999996 meters 0.0148174912765869 Centerline is valid? [True, True] Translation: X:44.91, Y:-2.46, Z:-1.21 [[ 9.94149136e-01 1.05791518e-01 2.18094071e-02 4.49082307e+01] [-1.05768164e-01 9.94388327e-01 -2.22478492e-03 -2.46248766e+00] [-2.19223832e-02 -9.49729396e-05 9.99759671e-01 -1.21106684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.568623853 meters 0.014605430548301821 Centerline is valid? [True, True] Translation: X:44.97, Y:-2.47, Z:-1.21 [[ 9.94110455e-01 1.06070350e-01 2.22144837e-02 4.49710694e+01] [-1.06046109e-01 9.94358623e-01 -2.26976987e-03 -2.46744914e+00] [-2.23299187e-02 -9.93576098e-05 9.99750651e-01 -1.21129049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.628623853 meters 0.019382090569284485 Centerline is valid? [True, True] Translation: X:45.03, Y:-2.47, Z:-1.21 [[ 9.93874830e-01 1.08269241e-01 2.21493577e-02 4.50335505e+01] [-1.08245590e-01 9.94121598e-01 -2.26749778e-03 -2.46747507e+00] [-2.22646551e-02 -1.43961308e-04 9.99752101e-01 -1.20901757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.688623852999996 meters 0.016382470709882652 Centerline is valid? [True, True] Translation: X:45.10, Y:-2.47, Z:-1.21 [[ 9.93596516e-01 1.10718003e-01 2.25274685e-02 4.50954116e+01] [-1.10694077e-01 9.93851842e-01 -2.31013222e-03 -2.46818321e+00] [-2.26447393e-02 -1.98318002e-04 9.99743555e-01 -1.21331655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.748623853 meters 0.03287965583790117 Centerline is valid? [True, True] Translation: X:45.16, Y:-2.47, Z:-1.21 [[ 9.93299078e-01 1.13512557e-01 2.17219142e-02 4.51574627e+01] [-1.13490906e-01 9.93536530e-01 -2.23091216e-03 -2.46530055e+00] [-2.18347518e-02 -2.49276742e-04 9.99761562e-01 -1.21159028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.808623853 meters 0.018775309022378717 Centerline is valid? [True, True] Translation: X:45.22, Y:-2.47, Z:-1.22 [[ 9.93227211e-01 1.14272990e-01 2.10092922e-02 4.52195109e+01] [-1.14252839e-01 9.93449354e-01 -2.16089582e-03 -2.46915812e+00] [-2.11185998e-02 -2.54110760e-04 9.99776945e-01 -1.21952614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.868623852999995 meters 0.01818994661020757 Centerline is valid? [True, True] Translation: X:45.28, Y:-2.47, Z:-1.22 [[ 9.93393865e-01 1.12718775e-01 2.15199095e-02 4.52808914e+01] [-1.12697183e-01 9.93626906e-01 -2.21735893e-03 -2.47271845e+00] [-2.16326991e-02 -2.22522420e-04 9.99765961e-01 -1.22094995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.928623853 meters 0.01585917530338789 Centerline is valid? [True, True] Translation: X:45.34, Y:-2.48, Z:-1.22 [[ 9.93693556e-01 1.09883105e-01 2.23342907e-02 4.53430782e+01] [-1.09859049e-01 9.93944504e-01 -2.30494679e-03 -2.47987542e+00] [-2.24523202e-02 -1.63213158e-04 9.99747902e-01 -1.22055693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.988623853 meters 0.014626930892704728 Centerline is valid? [True, True] Translation: X:45.41, Y:-2.49, Z:-1.22 [[ 9.93965565e-01 1.07333724e-01 2.26257966e-02 4.54052035e+01] [-1.07308273e-01 9.94223044e-01 -2.33950829e-03 -2.48792835e+00] [-2.27461965e-02 -1.02544473e-04 9.99741267e-01 -1.22158860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.048623852999995 meters 0.013948504532204035 Centerline is valid? [True, True] Translation: X:45.47, Y:-2.50, Z:-1.22 [[ 9.94402567e-01 1.03458483e-01 2.14447503e-02 4.54677270e+01] [-1.03434710e-01 9.94633773e-01 -2.21776166e-03 -2.49850071e+00] [-2.15591192e-02 -1.27836584e-05 9.99767575e-01 -1.22466484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.108623853 meters 0.014137284820990453 Centerline is valid? [True, True] Translation: X:45.53, Y:-2.51, Z:-1.23 [[ 9.94622488e-01 1.01287494e-01 2.16090157e-02 4.55303825e+01] [-1.01262748e-01 9.94857197e-01 -2.23915416e-03 -2.50702766e+00] [-2.17246831e-02 3.89247613e-05 9.99763990e-01 -1.22596451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.168623853 meters 0.01508546096613114 Centerline is valid? [True, True] Translation: X:45.59, Y:-2.52, Z:-1.23 [[ 9.94915435e-01 9.84226250e-02 2.13603567e-02 4.55907562e+01] [-9.83976895e-02 9.95144701e-01 -2.21783707e-03 -2.51634027e+00] [-2.14749311e-02 1.04750586e-04 9.99769382e-01 -1.22826721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.228623852999995 meters 0.015657394649275222 Centerline is valid? [True, True] Translation: X:45.65, Y:-2.52, Z:-1.23 [[ 9.95047025e-01 9.70599602e-02 2.14658156e-02 4.56527643e+01] [-9.70343876e-02 9.95278526e-01 -2.23217370e-03 -2.52451494e+00] [-2.15811201e-02 1.38195522e-04 9.99767091e-01 -1.22987457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.288623853 meters 0.016524142569186138 Centerline is valid? [True, True] Translation: X:45.71, Y:-2.53, Z:-1.23 [[ 9.95115853e-01 9.63626916e-02 2.14166105e-02 4.57140258e+01] [-9.63369965e-02 9.95346275e-01 -2.23068216e-03 -2.53424167e+00] [-2.15318980e-02 1.56575250e-04 9.99768150e-01 -1.23228328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.348623853 meters 0.0166174213133058 Centerline is valid? [True, True] Translation: X:45.78, Y:-2.54, Z:-1.23 [[ 9.95119496e-01 9.61387400e-02 2.22380653e-02 4.57769168e+01] [-9.61108855e-02 9.95367929e-01 -2.32045936e-03 -2.54235067e+00] [-2.23581430e-02 1.71814203e-04 9.99750011e-01 -1.23244160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.408623852999995 meters 0.016527269799918375 Centerline is valid? [True, True] Translation: X:45.84, Y:-2.55, Z:-1.23 [[ 9.95075897e-01 9.65550952e-02 2.23846628e-02 4.58394755e+01] [-9.65268798e-02 9.95327627e-01 -2.34010174e-03 -2.54953413e+00] [-2.25060221e-02 1.67857183e-04 9.99746693e-01 -1.23328258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.468623853 meters 0.015567654806484229 Centerline is valid? [True, True] Translation: X:45.90, Y:-2.55, Z:-1.23 [[ 9.94883557e-01 9.85048843e-02 2.24387176e-02 4.59017069e+01] [-9.84769289e-02 9.95136559e-01 -2.35015050e-03 -2.55450236e+00] [-2.25610895e-02 1.28430092e-04 9.99745458e-01 -1.23485270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.528623853 meters 0.014486090140798285 Centerline is valid? [True, True] Translation: X:45.96, Y:-2.56, Z:-1.24 [[ 9.94595821e-01 1.01271613e-01 2.28738481e-02 4.59635880e+01] [-1.01243206e-01 9.94858812e-01 -2.39957278e-03 -2.55840412e+00] [-2.29992579e-02 7.07833580e-05 9.99735480e-01 -1.23598139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.588623852999994 meters 0.014064762793156523 Centerline is valid? [True, True] Translation: X:46.03, Y:-2.56, Z:-1.24 [[ 9.94393965e-01 1.03099490e-01 2.34763133e-02 4.60256756e+01] [-1.03069980e-01 9.94671048e-01 -2.46680270e-03 -2.56301302e+00] [-2.36055353e-02 3.32705745e-05 9.99721350e-01 -1.23574246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.648623853 meters 0.01397082907135544 Centerline is valid? [True, True] Translation: X:46.09, Y:-2.57, Z:-1.24 [[ 9.94210634e-01 1.04883852e-01 2.33365298e-02 4.60881407e+01] [-1.04855096e-01 9.94484478e-01 -2.45586612e-03 -2.56892535e+00] [-2.34653974e-02 -5.30585296e-06 9.99724650e-01 -1.23773784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.708623853 meters 0.01417633292625285 Centerline is valid? [True, True] Translation: X:46.15, Y:-2.58, Z:-1.24 [[ 9.94130782e-01 1.05791622e-01 2.26300970e-02 4.61501835e+01] [-1.05764719e-01 9.94388321e-01 -2.38578109e-03 -2.57654000e+00] [-2.27554998e-02 -2.16874322e-05 9.99741060e-01 -1.24096783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.768623852999994 meters 0.014381947320608272 Centerline is valid? [True, True] Translation: X:46.21, Y:-2.58, Z:-1.24 [[ 9.93961372e-01 1.07404685e-01 2.24727595e-02 4.62119882e+01] [-1.07378467e-01 9.94215385e-01 -2.37358834e-03 -2.58372274e+00] [-2.25976978e-02 -5.38353564e-05 9.99744638e-01 -1.24379739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.828623852999996 meters 0.01467774304589313 Centerline is valid? [True, True] Translation: X:46.27, Y:-2.59, Z:-1.24 [[ 9.93775803e-01 1.09040644e-01 2.27989446e-02 4.62747909e+01] [-1.09013995e-01 9.94037288e-01 -2.41218884e-03 -2.59024998e+00] [-2.29260277e-02 -8.82291325e-05 9.99737160e-01 -1.24377506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.888623853 meters 0.014903756772940651 Centerline is valid? [True, True] Translation: X:46.34, Y:-2.60, Z:-1.24 [[ 9.93597143e-01 1.10529171e-01 2.34098346e-02 4.63379004e+01] [-1.10501382e-01 9.93872873e-01 -2.48132863e-03 -2.59715655e+00] [-2.35406588e-02 -1.21378048e-04 9.99722873e-01 -1.24408819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.948623853 meters 0.01716318699741654 Centerline is valid? [True, True] Translation: X:46.40, Y:-2.60, Z:-1.24 [[ 9.93156805e-01 1.14292865e-01 2.40146207e-02 4.63995454e+01] [-1.14264598e-01 9.93447078e-01 -2.55049955e-03 -2.59937490e+00] [-2.41487587e-02 -2.10975009e-04 9.99708354e-01 -1.24494387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.008623852999996 meters 0.019482603798248142 Centerline is valid? [True, True] Translation: X:46.46, Y:-2.60, Z:-1.25 [[ 9.92810254e-01 1.17326779e-01 2.37112925e-02 4.64617764e+01] [-1.17299999e-01 9.93093324e-01 -2.52198974e-03 -2.60214442e+00] [-2.38434232e-02 -2.77477306e-04 9.99715667e-01 -1.24759982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.068623853 meters 0.02198627489969648 Centerline is valid? [True, True] Translation: X:46.52, Y:-2.60, Z:-1.25 [[ 9.92381461e-01 1.21096344e-01 2.26872533e-02 4.65229234e+01] [-1.21072714e-01 9.92640698e-01 -2.41735406e-03 -2.60238963e+00] [-2.28130237e-02 -3.47869977e-04 9.99739689e-01 -1.25114912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.128623853 meters 0.02345472398478711 Centerline is valid? [True, True] Translation: X:46.58, Y:-2.61, Z:-1.25 [[ 9.92189890e-01 1.22627264e-01 2.28424362e-02 4.65836093e+01] [-1.22603713e-01 9.92452722e-01 -2.43397009e-03 -2.60737206e+00] [-2.29685090e-02 -3.85606976e-04 9.99736115e-01 -1.25322159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.188623852999996 meters 0.026596463777188134 Centerline is valid? [True, True] Translation: X:46.64, Y:-2.61, Z:-1.26 [[ 9.92167255e-01 1.22745608e-01 2.31873653e-02 4.66438343e+01] [-1.22721338e-01 9.92438090e-01 -2.47218315e-03 -2.60802971e+00] [-2.33154741e-02 -3.92765321e-04 9.99728080e-01 -1.25517310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.248623853 meters 0.023266766649771675 Centerline is valid? [True, True] Translation: X:46.70, Y:-2.62, Z:-1.25 [[ 9.92209138e-01 1.22014706e-01 2.51681947e-02 4.67038831e+01] [-1.21985867e-01 9.92528209e-01 -2.68377348e-03 -2.61752478e+00] [-2.53076030e-02 -4.07299462e-04 9.99679628e-01 -1.25218136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.308623853 meters 0.02666726108696129 Centerline is valid? [True, True] Translation: X:46.77, Y:-2.63, Z:-1.25 [[ 9.92267799e-01 1.21566860e-01 2.50222759e-02 4.67651644e+01] [-1.21538214e-01 9.92583167e-01 -2.66815034e-03 -2.62524476e+00] [-2.51610485e-02 -3.93643060e-04 9.99683333e-01 -1.24877944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.368623852999995 meters 0.021214852052097975 Centerline is valid? [True, True] Translation: X:46.83, Y:-2.63, Z:-1.25 [[ 9.92437598e-01 1.19847134e-01 2.65382581e-02 4.68253529e+01] [-1.19814281e-01 9.92792288e-01 -2.83035025e-03 -2.63435172e+00] [-2.66861873e-02 -3.70716307e-04 9.99643792e-01 -1.25386863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.428623853 meters 0.02126670433213457 Centerline is valid? [True, True] Translation: X:46.89, Y:-2.64, Z:-1.26 [[ 9.92562974e-01 1.18953785e-01 2.58600222e-02 4.68864950e+01] [-1.18922184e-01 9.92899736e-01 -2.76198169e-03 -2.63971831e+00] [-2.60049574e-02 -3.33889556e-04 9.99661758e-01 -1.25706566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.488623853 meters 0.019336114396829907 Centerline is valid? [True, True] Translation: X:46.95, Y:-2.65, Z:-1.26 [[ 9.92721460e-01 1.17890075e-01 2.46177466e-02 4.69482540e+01] [-1.17861024e-01 9.93026610e-01 -2.63283071e-03 -2.64809993e+00] [-2.47564621e-02 -2.87805263e-04 9.99693470e-01 -1.26125564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.548623852999995 meters 0.01910888792013067 Centerline is valid? [True, True] Translation: X:47.01, Y:-2.65, Z:-1.26 [[ 9.92772250e-01 1.17511766e-01 2.43771195e-02 4.70088000e+01] [-1.17483054e-01 9.93071453e-01 -2.61163827e-03 -2.65386537e+00] [-2.45151198e-02 -2.71136456e-04 9.99699423e-01 -1.26365478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.608623853 meters 0.019843321852517012 Centerline is valid? [True, True] Translation: X:47.07, Y:-2.66, Z:-1.26 [[ 9.92677431e-01 1.18195563e-01 2.49264218e-02 4.70689489e+01] [-1.18165742e-01 9.92990293e-01 -2.67113464e-03 -2.65527686e+00] [-2.50674112e-02 -2.93874052e-04 9.99685720e-01 -1.26442982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.668623853 meters 0.019063152030378876 Centerline is valid? [True, True] Translation: X:47.13, Y:-2.66, Z:-1.27 [[ 9.92667818e-01 1.18069107e-01 2.58899543e-02 4.71305953e+01] [-1.18036885e-01 9.93005335e-01 -2.77468695e-03 -2.65719756e+00] [-2.60364675e-02 -3.01627110e-04 9.99660948e-01 -1.26502261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.728623852999995 meters 0.01917078235794011 Centerline is valid? [True, True] Translation: X:47.19, Y:-2.66, Z:-1.27 [[ 9.92701754e-01 1.17675185e-01 2.63776084e-02 4.71906676e+01] [-1.17641581e-01 9.93052095e-01 -2.82762088e-03 -2.66053864e+00] [-2.65270801e-02 -2.96119340e-04 9.99648051e-01 -1.26637987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.788623853 meters 0.01790338739657922 Centerline is valid? [True, True] Translation: X:47.25, Y:-2.67, Z:-1.27 [[ 9.92864895e-01 1.16332154e-01 2.61941061e-02 4.72517596e+01] [-1.16298540e-01 9.93210332e-01 -2.80824690e-03 -2.66597859e+00] [-2.63429463e-02 -2.58126542e-04 9.99652931e-01 -1.26876361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.848623853 meters 0.017471796875314517 Centerline is valid? [True, True] Translation: X:47.31, Y:-2.67, Z:-1.27 [[ 9.93012708e-01 1.15133706e-01 2.58841792e-02 4.73121601e+01] [-1.15100459e-01 9.93349979e-01 -2.77566535e-03 -2.66640009e+00] [-2.60316215e-02 -2.23009948e-04 9.99661095e-01 -1.27101663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.908623852999995 meters 0.016333968785040343 Centerline is valid? [True, True] Translation: X:47.37, Y:-2.67, Z:-1.27 [[ 9.93196542e-01 1.13590464e-01 2.56483125e-02 4.73728703e+01] [-1.13557298e-01 9.93527641e-01 -2.75065379e-03 -2.67269578e+00] [-2.57947555e-02 -1.80613235e-04 9.99667244e-01 -1.27376730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.968623853 meters 0.014951326773488415 Centerline is valid? [True, True] Translation: X:47.43, Y:-2.68, Z:-1.28 [[ 9.93626403e-01 1.09699725e-01 2.59334034e-02 4.74345096e+01] [-1.09664482e-01 9.93964770e-01 -2.78162938e-03 -2.68058579e+00] [-2.60820334e-02 -8.00728603e-05 9.99659803e-01 -1.27579423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.028623853 meters 0.014724577910501187 Centerline is valid? [True, True] Translation: X:47.50, Y:-2.69, Z:-1.28 [[ 9.94116033e-01 1.04994901e-01 2.66342675e-02 4.74956607e+01] [-1.04955912e-01 9.94472759e-01 -2.86151666e-03 -2.68946574e+00] [-2.67874982e-02 4.92557608e-05 9.99641149e-01 -1.27620791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.088623852999994 meters 0.015415378038432544 Centerline is valid? [True, True] Translation: X:47.56, Y:-2.70, Z:-1.28 [[ 9.94383494e-01 1.02436110e-01 2.66141034e-02 4.75569069e+01] [-1.02396132e-01 9.94739578e-01 -2.86423109e-03 -2.69729178e+00] [-2.67675026e-02 1.22962878e-04 9.99641679e-01 -1.27859660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.148623853 meters 0.016435698513184778 Centerline is valid? [True, True] Translation: X:47.62, Y:-2.71, Z:-1.28 [[ 9.94574702e-01 1.00488254e-01 2.68937489e-02 4.76170958e+01] [-1.00446594e-01 9.94938228e-01 -2.89897002e-03 -2.70721243e+00] [-2.70489314e-02 1.81856758e-04 9.99634094e-01 -1.28030528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.208623853 meters 0.01659706095569474 Centerline is valid? [True, True] Translation: X:47.68, Y:-2.71, Z:-1.28 [[ 9.94580797e-01 1.00545111e-01 2.64521964e-02 4.76797914e+01] [-1.00504722e-01 9.94932484e-01 -2.85538691e-03 -2.71173199e+00] [-2.66052446e-02 1.81342355e-04 9.99646001e-01 -1.28239117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.268623852999994 meters 0.016237538505576448 Centerline is valid? [True, True] Translation: X:47.74, Y:-2.71, Z:-1.29 [[ 9.94457747e-01 1.01936708e-01 2.57428987e-02 4.77412994e+01] [-1.01898796e-01 9.94790876e-01 -2.78368641e-03 -2.71487876e+00] [-2.58925606e-02 1.45088133e-04 9.99664721e-01 -1.28680470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.328623852999996 meters 0.015644001513032784 Centerline is valid? [True, True] Translation: X:47.80, Y:-2.72, Z:-1.29 [[ 9.94317497e-01 1.03431183e-01 2.51933598e-02 4.78034584e+01] [-1.03395257e-01 9.94636606e-01 -2.72802951e-03 -2.71929607e+00] [-2.53404012e-02 1.07653573e-04 9.99678875e-01 -1.28948920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.388623853 meters 0.014909935223890699 Centerline is valid? [True, True] Translation: X:47.87, Y:-2.72, Z:-1.29 [[ 9.94064936e-01 1.05901801e-01 2.48940075e-02 4.78660686e+01] [-1.05867397e-01 9.94376592e-01 -2.69963582e-03 -2.72111656e+00] [-2.50399146e-02 4.81495251e-05 9.99686451e-01 -1.29206733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.448623852999994 meters 0.014661105160633046 Centerline is valid? [True, True] Translation: X:47.93, Y:-2.72, Z:-1.29 [[ 9.93806546e-01 1.08268035e-01 2.50316352e-02 4.79268010e+01] [-1.08233880e-01 9.94121739e-01 -2.71931465e-03 -2.72261808e+00] [-2.51789076e-02 -6.79829473e-06 9.99682961e-01 -1.29408509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.508623852999996 meters 0.014740758097314727 Centerline is valid? [True, True] Translation: X:47.99, Y:-2.73, Z:-1.30 [[ 9.93636296e-01 1.09694085e-01 2.55757393e-02 4.79870313e+01] [-1.09658893e-01 9.93965395e-01 -2.77874318e-03 -2.72697750e+00] [-2.57262115e-02 -4.35471800e-05 9.99669025e-01 -1.29529127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.568623853 meters 0.014936107996742077 Centerline is valid? [True, True] Translation: X:48.05, Y:-2.73, Z:-1.30 [[ 9.93441833e-01 1.11223157e-01 2.65091365e-02 4.80484388e+01] [-1.11185885e-01 9.93795453e-01 -2.88046593e-03 -2.73005729e+00] [-2.66650338e-02 -8.58664421e-05 9.99644421e-01 -1.29603023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.628623853 meters 0.015455935292195709 Centerline is valid? [True, True] Translation: X:48.11, Y:-2.73, Z:-1.30 [[ 9.93231851e-01 1.13118138e-01 2.63586189e-02 4.81092457e+01] [-1.13081937e-01 9.93581536e-01 -2.86476660e-03 -2.73324042e+00] [-2.65134941e-02 -1.35306252e-04 9.99648446e-01 -1.29867532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.688623852999996 meters 0.0161998414590483 Centerline is valid? [True, True] Translation: X:48.17, Y:-2.73, Z:-1.30 [[ 9.93111349e-01 1.14266902e-01 2.59407781e-02 4.81687615e+01] [-1.14232222e-01 9.93450074e-01 -2.81971158e-03 -2.73490882e+00] [-2.60930676e-02 -1.62985159e-04 9.99659505e-01 -1.30101083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.748623853 meters 0.016995956988743347 Centerline is valid? [True, True] Translation: X:48.23, Y:-2.74, Z:-1.30 [[ 9.92909777e-01 1.15897926e-01 2.64167843e-02 4.82287865e+01] [-1.15862547e-01 9.93261107e-01 -2.87113376e-03 -2.73668976e+00] [-2.65715228e-02 -2.09939137e-04 9.99646893e-01 -1.30183387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.808623853 meters 0.017719153986811835 Centerline is valid? [True, True] Translation: X:48.29, Y:-2.74, Z:-1.30 [[ 9.92796807e-01 1.16887602e-01 2.63018922e-02 4.82883353e+01] [-1.16852894e-01 9.93145122e-01 -2.85802377e-03 -2.73805437e+00] [-2.64556635e-02 -2.36015352e-04 9.99649960e-01 -1.30403992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.868623852999995 meters 0.017670852105623927 Centerline is valid? [True, True] Translation: X:48.35, Y:-2.74, Z:-1.31 [[ 9.92787834e-01 1.17084903e-01 2.57573540e-02 4.83479138e+01] [-1.17051700e-01 9.93121880e-01 -2.79825723e-03 -2.74286328e+00] [-2.59078256e-02 -2.36866335e-04 9.99664308e-01 -1.30741128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.928623853 meters 0.017420215931474015 Centerline is valid? [True, True] Translation: X:48.41, Y:-2.75, Z:-1.31 [[ 9.92905414e-01 1.16123680e-01 2.55759668e-02 4.84064852e+01] [-1.16090639e-01 9.93234739e-01 -2.77796096e-03 -2.74721508e+00] [-2.57255257e-02 -2.10877853e-04 9.99669022e-01 -1.31083426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.988623853 meters 0.01650096396059708 Centerline is valid? [True, True] Translation: X:48.47, Y:-2.75, Z:-1.31 [[ 9.93103934e-01 1.14400761e-01 2.56328329e-02 4.84657083e+01] [-1.14367024e-01 9.93434667e-01 -2.78319178e-03 -2.75499913e+00] [-2.57829441e-02 -1.67552109e-04 9.99667551e-01 -1.31259987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.048623852999995 meters 0.015142784779439181 Centerline is valid? [True, True] Translation: X:48.53, Y:-2.77, Z:-1.32 [[ 9.93551003e-01 1.10519800e-01 2.53333295e-02 4.85253529e+01] [-1.10485600e-01 9.93873920e-01 -2.75002842e-03 -2.76565077e+00] [-2.54820681e-02 -6.66746322e-05 9.99675277e-01 -1.31554109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.108623853 meters 0.015237200928007353 Centerline is valid? [True, True] Translation: X:48.59, Y:-2.78, Z:-1.32 [[ 9.93976680e-01 1.06772971e-01 2.46960072e-02 4.85856410e+01] [-1.06739316e-01 9.94283426e-01 -2.68077529e-03 -2.77995861e+00] [-2.48410650e-02 2.85932118e-05 9.99691413e-01 -1.31933121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.168623853 meters 0.015667713298387374 Centerline is valid? [True, True] Translation: X:48.65, Y:-2.79, Z:-1.32 [[ 9.94181783e-01 1.04906784e-01 2.44366186e-02 4.86464318e+01] [-1.04873254e-01 9.94482057e-01 -2.65319505e-03 -2.78971079e+00] [-2.45801169e-02 7.50104699e-05 9.99697860e-01 -1.32188403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.228623852999995 meters 0.016220004354707843 Centerline is valid? [True, True] Translation: X:48.71, Y:-2.80, Z:-1.32 [[ 9.94378395e-01 1.03065166e-01 2.42730010e-02 4.87072302e+01] [-1.03031521e-01 9.94674599e-01 -2.63600608e-03 -2.79970663e+00] [-2.44154179e-02 1.20303285e-04 9.99701892e-01 -1.32471656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.288623853 meters 0.016932486716352058 Centerline is valid? [True, True] Translation: X:48.77, Y:-2.81, Z:-1.33 [[ 9.94521376e-01 1.01672326e-01 2.42893336e-02 4.87671816e+01] [-1.01638217e-01 9.94817930e-01 -2.63793239e-03 -2.81041431e+00] [-2.44316693e-02 1.54755599e-04 9.99701490e-01 -1.32654140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.348623853 meters 0.017089801469461235 Centerline is valid? [True, True] Translation: X:48.83, Y:-2.82, Z:-1.33 [[ 9.94524037e-01 1.01396966e-01 2.53099919e-02 4.88274947e+01] [-1.01359729e-01 9.94846031e-01 -2.75317494e-03 -2.82061729e+00] [-2.54587086e-02 1.72684735e-04 9.99675860e-01 -1.32683061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.408623852999995 meters 0.016505302142884017 Centerline is valid? [True, True] Translation: X:48.89, Y:-2.83, Z:-1.33 [[ 9.94373648e-01 1.03102995e-01 2.43068163e-02 4.88888334e+01] [-1.03069159e-01 9.94670678e-01 -2.64412772e-03 -2.82833211e+00] [-2.44498949e-02 1.23967807e-04 9.99701049e-01 -1.33057697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.468623853 meters 0.015658795064682974 Centerline is valid? [True, True] Translation: X:48.95, Y:-2.83, Z:-1.33 [[ 9.94091877e-01 1.05843076e-01 2.40537571e-02 4.89489070e+01] [-1.05810635e-01 9.94382844e-01 -2.62104799e-03 -2.83311555e+00] [-2.41960632e-02 6.04191966e-05 9.99707231e-01 -1.33250621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.528623853 meters 0.015501995900713068 Centerline is valid? [True, True] Translation: X:49.01, Y:-2.83, Z:-1.33 [[ 9.93592512e-01 1.10316166e-01 2.45817691e-02 4.90097537e+01] [-1.10283645e-01 9.93896544e-01 -2.67891114e-03 -2.83317610e+00] [-2.47272625e-02 -4.92210545e-05 9.99694233e-01 -1.33304035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.588623852999994 meters 0.01584063164869089 Centerline is valid? [True, True] Translation: X:49.07, Y:-2.84, Z:-1.33 [[ 9.93444877e-01 1.11613192e-01 2.46935677e-02 4.90695511e+01] [-1.11580775e-01 9.93751724e-01 -2.69109491e-03 -2.83959826e+00] [-2.48396371e-02 -8.18729724e-05 9.99691445e-01 -1.33426294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.648623853 meters 0.01971495303497893 Centerline is valid? [True, True] Translation: X:49.13, Y:-2.85, Z:-1.33 [[ 9.93407010e-01 1.11954195e-01 2.46732767e-02 4.91300742e+01] [-1.11921936e-01 9.93713364e-01 -2.68888360e-03 -2.84759371e+00] [-2.48191966e-02 -9.03250793e-05 9.99691952e-01 -1.33285258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.708623853 meters 0.01569192042470744 Centerline is valid? [True, True] Translation: X:49.19, Y:-2.86, Z:-1.34 [[ 9.93457263e-01 1.11348733e-01 2.53796273e-02 4.91900259e+01] [-1.11314406e-01 9.93781391e-01 -2.76573112e-03 -2.85708612e+00] [-2.55297620e-02 -7.74824771e-05 9.99674060e-01 -1.33715706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.768623852999994 meters 0.015509082938651053 Centerline is valid? [True, True] Translation: X:49.25, Y:-2.87, Z:-1.34 [[ 9.93585380e-01 1.10135842e-01 2.56552095e-02 4.92510981e+01] [-1.10100321e-01 9.93916543e-01 -2.79735425e-03 -2.86693352e+00] [-2.58072261e-02 -4.52365067e-05 9.99666937e-01 -1.33889301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.828623852999996 meters 0.015623072278563348 Centerline is valid? [True, True] Translation: X:49.31, Y:-2.88, Z:-1.34 [[ 9.93996155e-01 1.06391001e-01 2.55460029e-02 4.93118615e+01] [-1.06354537e-01 9.94324370e-01 -2.78575464e-03 -2.88318069e+00] [-2.56973924e-02 5.20961076e-05 9.99669766e-01 -1.34098880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.888623853 meters 0.016663522199196788 Centerline is valid? [True, True] Translation: X:49.37, Y:-2.90, Z:-1.34 [[ 9.94300343e-01 1.03406215e-01 2.59611737e-02 4.93731393e+01] [-1.03367423e-01 9.94639199e-01 -2.83538212e-03 -2.89622725e+00] [-2.61151972e-02 1.35681779e-04 9.99658931e-01 -1.34216721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.948623852999994 meters 0.01905950673183372 Centerline is valid? [True, True] Translation: X:49.43, Y:-2.91, Z:-1.35 [[ 9.94828502e-01 9.84269372e-02 2.50676856e-02 4.94340006e+01] [-9.83890889e-02 9.95144246e-01 -2.74178680e-03 -2.91478330e+00] [-2.52158288e-02 2.61220909e-04 9.99681996e-01 -1.34545369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.008623852999996 meters 0.021624041823170907 Centerline is valid? [True, True] Translation: X:49.49, Y:-2.93, Z:-1.35 [[ 9.95085241e-01 9.60468911e-02 2.40906005e-02 4.94941537e+01] [-9.60111410e-02 9.95376761e-01 -2.63895629e-03 -2.93024298e+00] [-2.42326874e-02 3.13020417e-04 9.99706296e-01 -1.34934411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.068623853 meters 0.0254934893030934 Centerline is valid? [True, True] Translation: X:49.55, Y:-2.95, Z:-1.35 [[ 9.95433193e-01 9.26094834e-02 2.31569170e-02 4.95546189e+01] [-9.25754276e-02 9.95702433e-01 -2.54068834e-03 -2.94791796e+00] [-2.32926904e-02 3.85324018e-04 9.99728614e-01 -1.35050952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.128623853 meters 0.027329464404649825 Centerline is valid? [True, True] Translation: X:49.61, Y:-2.97, Z:-1.35 [[ 9.95716358e-01 8.93835459e-02 2.36540752e-02 4.96144259e+01] [-8.93470844e-02 9.95997168e-01 -2.59596446e-03 -2.96694000e+00] [-2.37914284e-02 4.71421633e-04 9.99716833e-01 -1.35395752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.188623852999996 meters 0.03024792098122297 Centerline is valid? [True, True] Translation: X:49.67, Y:-2.98, Z:-1.36 [[ 9.95933005e-01 8.69142354e-02 2.37353062e-02 4.96733375e+01] [-8.68767279e-02 9.96215653e-01 -2.60881621e-03 -2.98490136e+00] [-2.38722268e-02 5.36160434e-04 9.99714874e-01 -1.35610374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.248623853 meters 0.03291195343672639 Centerline is valid? [True, True] Translation: X:49.73, Y:-3.01, Z:-1.36 [[ 9.96134733e-01 8.45742773e-02 2.37230811e-02 4.97331477e+01] [-8.45360986e-02 9.96417001e-01 -2.60942797e-03 -3.00502013e+00] [-2.38587718e-02 5.93885114e-04 9.99715163e-01 -1.35755766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.308623853 meters 0.03764041681086866 Centerline is valid? [True, True] Translation: X:49.79, Y:-3.02, Z:-1.35 [[ 9.96159895e-01 8.43578545e-02 2.34353625e-02 4.97948524e+01] [-8.43205020e-02 9.96435347e-01 -2.57925026e-03 -3.01750907e+00] [-2.35694036e-02 5.93264139e-04 9.99722027e-01 -1.35247652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.368623852999995 meters 0.03567868676296187 Centerline is valid? [True, True] Translation: X:49.85, Y:-3.04, Z:-1.35 [[ 9.96076582e-01 8.52329166e-02 2.38073955e-02 4.98546415e+01] [-8.51945204e-02 9.96360882e-01 -2.62428015e-03 -3.03604708e+00] [-2.39444326e-02 5.85724360e-04 9.99713119e-01 -1.35442854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.428623853 meters 0.03137350725654427 Centerline is valid? [True, True] Translation: X:49.91, Y:-3.05, Z:-1.36 [[ 9.95863464e-01 8.78605107e-02 2.31622859e-02 4.99135896e+01] [-8.78247845e-02 9.96132656e-01 -2.55716158e-03 -3.05429756e+00] [-2.32973829e-02 5.12361014e-04 9.99728448e-01 -1.36407268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.488623853 meters 0.026815803929542595 Centerline is valid? [True, True] Translation: X:49.98, Y:-3.06, Z:-1.37 [[ 9.95622148e-01 9.07985049e-02 2.21849055e-02 4.99756286e+01] [-9.07664567e-02 9.95869194e-01 -2.44938004e-03 -3.06219978e+00] [-2.23156640e-02 4.25011755e-04 9.99750884e-01 -1.36707985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.548623852999995 meters 0.024491658330480406 Centerline is valid? [True, True] Translation: X:50.04, Y:-3.08, Z:-1.37 [[ 9.95261276e-01 9.47497062e-02 2.18514383e-02 5.00353789e+01] [-9.47195143e-02 9.95501071e-01 -2.41491078e-03 -3.07607861e+00] [-2.19819423e-02 3.33709559e-04 9.99758312e-01 -1.37015869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.608623853 meters 0.02111145952886599 Centerline is valid? [True, True] Translation: X:50.10, Y:-3.08, Z:-1.37 [[ 9.95005016e-01 9.75456807e-02 2.12098691e-02 5.00971907e+01] [-9.75178805e-02 9.95231014e-01 -2.34355292e-03 -3.08413253e+00] [-2.13373230e-02 2.63505432e-04 9.99772299e-01 -1.37277199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.668623853 meters 0.018153009613262824 Centerline is valid? [True, True] Translation: X:50.16, Y:-3.09, Z:-1.37 [[ 9.94448763e-01 1.03052510e-01 2.12564825e-02 5.01573865e+01] [-1.03025764e-01 9.94675906e-01 -2.35243877e-03 -3.09292511e+00] [-2.13857357e-02 1.49414476e-04 9.99771288e-01 -1.37468153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.728623852999995 meters 0.01661821919472778 Centerline is valid? [True, True] Translation: X:50.22, Y:-3.10, Z:-1.38 [[ 9.94020108e-01 1.07120472e-01 2.11950416e-02 5.02187208e+01] [-1.07094736e-01 9.94246046e-01 -2.34889633e-03 -3.09996254e+00] [-2.13247012e-02 6.49728015e-05 9.99772601e-01 -1.37649593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.788623853 meters 0.01625174925560071 Centerline is valid? [True, True] Translation: X:50.28, Y:-3.11, Z:-1.38 [[ 9.93482628e-01 1.12047944e-01 2.09171164e-02 5.02812411e+01] [-1.12023901e-01 9.93702801e-01 -2.32137637e-03 -3.10699501e+00] [-2.10455026e-02 -3.69698728e-05 9.99778518e-01 -1.37904105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.848623853 meters 0.01708946241710333 Centerline is valid? [True, True] Translation: X:50.34, Y:-3.11, Z:-1.38 [[ 9.93181254e-01 1.14929721e-01 1.95488213e-02 5.03430791e+01] [-1.14909209e-01 9.93373621e-01 -2.17304864e-03 -3.11284417e+00] [-1.96690313e-02 -8.81084245e-05 9.99806542e-01 -1.38296415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.908623852999995 meters 0.018186069199305738 Centerline is valid? [True, True] Translation: X:50.41, Y:-3.12, Z:-1.39 [[ 9.92874684e-01 1.17616764e-01 1.91352882e-02 5.04052432e+01] [-1.17597551e-01 9.93059051e-01 -2.13017417e-03 -3.11977613e+00] [-1.92530154e-02 -1.35267020e-04 9.99814634e-01 -1.38580779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.968623853 meters 0.01999286167466985 Centerline is valid? [True, True] Translation: X:50.47, Y:-3.13, Z:-1.39 [[ 9.92517896e-01 1.20617648e-01 1.89633470e-02 5.04659611e+01] [-1.20599253e-01 9.92699022e-01 -2.11486523e-03 -3.12725397e+00] [-1.90799861e-02 -1.87923892e-04 9.99817943e-01 -1.38761626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.028623853 meters 0.025768559553862144 Centerline is valid? [True, True] Translation: X:50.53, Y:-3.13, Z:-1.38 [[ 9.92212292e-01 1.23149301e-01 1.86820160e-02 5.05277204e+01] [-1.23131877e-01 9.92388128e-01 -2.08452439e-03 -3.13191997e+00] [-1.87965186e-02 -2.32060961e-04 9.99823303e-01 -1.38328183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.088623852999994 meters 0.020816886866981348 Centerline is valid? [True, True] Translation: X:50.59, Y:-3.14, Z:-1.39 [[ 9.92147837e-01 1.23601526e-01 1.91136523e-02 5.05903069e+01] [-1.23583319e-01 9.92331902e-01 -2.13539721e-03 -3.14113226e+00] [-1.92310253e-02 -2.43498850e-04 9.99815037e-01 -1.38944852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.148623853 meters 0.02914260880631274 Centerline is valid? [True, True] Translation: X:50.65, Y:-3.15, Z:-1.39 [[ 9.92244125e-01 1.22873626e-01 1.88060589e-02 5.06513317e+01] [-1.22855783e-01 9.92422301e-01 -2.10557262e-03 -3.14849839e+00] [-1.89222716e-02 -2.21191032e-04 9.99820933e-01 -1.38537236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.208623853 meters 0.02531340638394429 Centerline is valid? [True, True] Translation: X:50.71, Y:-3.16, Z:-1.39 [[ 9.92469198e-01 1.20951669e-01 1.93800095e-02 5.07125640e+01] [-1.20932328e-01 9.92658379e-01 -2.17119796e-03 -3.16010785e+00] [-1.95003388e-02 -1.88822552e-04 9.99809832e-01 -1.38617358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.268623852999994 meters 0.01691142483322215 Centerline is valid? [True, True] Translation: X:50.77, Y:-3.17, Z:-1.39 [[ 9.92969142e-01 1.16722565e-01 1.97008978e-02 5.07737582e+01] [-1.16701677e-01 9.93164554e-01 -2.21058566e-03 -3.17403402e+00] [-1.98242586e-02 -1.04084454e-04 9.99803475e-01 -1.39354599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.328623852999996 meters 0.016393229437850456 Centerline is valid? [True, True] Translation: X:50.84, Y:-3.19, Z:-1.40 [[ 9.93366522e-01 1.13501982e-01 1.84459286e-02 5.08358863e+01] [-1.13483065e-01 9.93537769e-01 -2.07243610e-03 -3.18659645e+00] [-1.85619523e-02 -3.46118735e-05 9.99827712e-01 -1.39708522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.388623853 meters 0.016428535786466192 Centerline is valid? [True, True] Translation: X:50.90, Y:-3.20, Z:-1.40 [[ 9.93579604e-01 1.11626473e-01 1.84146694e-02 5.08973172e+01] [-1.11607229e-01 9.93750235e-01 -2.07264658e-03 -3.19591281e+00] [-1.85309443e-02 4.12914270e-06 9.99828287e-01 -1.39917460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.448623852999994 meters 0.017014534164015254 Centerline is valid? [True, True] Translation: X:50.96, Y:-3.20, Z:-1.40 [[ 9.93817190e-01 1.09672871e-01 1.72989766e-02 5.09579721e+01] [-1.09655538e-01 9.93967736e-01 -1.95021239e-03 -3.20477799e+00] [-1.74085100e-02 4.12260078e-05 9.99848460e-01 -1.40353565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.508623852999996 meters 0.017685051819803253 Centerline is valid? [True, True] Translation: X:51.02, Y:-3.22, Z:-1.41 [[ 9.94000283e-01 1.08013186e-01 1.72217532e-02 5.10205114e+01] [-1.07995719e-01 9.94149459e-01 -1.94379317e-03 -3.21519077e+00] [-1.73309520e-02 7.22553444e-05 9.99849805e-01 -1.40628480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.568623853 meters 0.017897772144365 Centerline is valid? [True, True] Translation: X:51.08, Y:-3.22, Z:-1.41 [[ 9.94079480e-01 1.07258766e-01 1.73650202e-02 5.10830918e+01] [-1.07240834e-01 9.94231135e-01 -1.96326397e-03 -3.22375154e+00] [-1.74754210e-02 8.94011731e-05 9.99847289e-01 -1.40797344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.628623853 meters 0.01911598572365424 Centerline is valid? [True, True] Translation: X:51.14, Y:-3.23, Z:-1.41 [[ 9.94240311e-01 1.05774175e-01 1.72634739e-02 5.11436538e+01] [-1.05756165e-01 9.94390170e-01 -1.95544127e-03 -3.23417401e+00] [-1.73734640e-02 1.18459737e-04 9.99849063e-01 -1.41095577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.688623852999996 meters 0.01979076600922998 Centerline is valid? [True, True] Translation: X:51.21, Y:-3.24, Z:-1.41 [[ 9.94302643e-01 1.05136225e-01 1.75678143e-02 5.12051457e+01] [-1.05117428e-01 9.94457820e-01 -1.99250511e-03 -3.24214046e+00] [-1.76799348e-02 1.34469637e-04 9.99843689e-01 -1.41203019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.748623853 meters 0.01987635950588962 Centerline is valid? [True, True] Translation: X:51.27, Y:-3.25, Z:-1.41 [[ 9.94341804e-01 1.04819711e-01 1.72396293e-02 5.12676879e+01] [-1.04801516e-01 9.94491231e-01 -1.95799580e-03 -3.24901675e+00] [-1.73498967e-02 1.40177792e-04 9.99849469e-01 -1.41396134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.808623853 meters 0.020579712009775396 Centerline is valid? [True, True] Translation: X:51.33, Y:-3.26, Z:-1.42 [[ 9.94427561e-01 1.04079524e-01 1.67713909e-02 5.13288078e+01] [-1.04062144e-01 9.94568967e-01 -1.90803485e-03 -3.25817469e+00] [-1.68788922e-02 1.52135550e-04 9.99857530e-01 -1.41610786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.868623852999995 meters 0.019496089353270636 Centerline is valid? [True, True] Translation: X:51.39, Y:-3.26, Z:-1.42 [[ 9.94268210e-01 1.05411729e-01 1.78632051e-02 5.13908146e+01] [-1.05392170e-01 9.94428654e-01 -2.03544201e-03 -3.26317527e+00] [-1.79782425e-02 1.41133331e-04 9.99838368e-01 -1.41557891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.928623853 meters 0.018561704418517365 Centerline is valid? [True, True] Translation: X:51.45, Y:-3.27, Z:-1.42 [[ 9.94058964e-01 1.07339057e-01 1.80306037e-02 5.14522759e+01] [-1.07319382e-01 9.94222467e-01 -2.05812431e-03 -3.26653093e+00] [-1.81473484e-02 1.10863689e-04 9.99835317e-01 -1.41762293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.988623853 meters 0.020431510982367174 Centerline is valid? [True, True] Translation: X:51.52, Y:-3.27, Z:-1.41 [[ 9.93932504e-01 1.08506123e-01 1.80166312e-02 5.15150471e+01] [-1.08486658e-01 9.94095777e-01 -2.05715457e-03 -3.26950332e+00] [-1.81334708e-02 9.01086963e-05 9.99835571e-01 -1.41235709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.048623852999995 meters 0.018380309323498652 Centerline is valid? [True, True] Translation: X:51.58, Y:-3.28, Z:-1.42 [[ 9.93987194e-01 1.08013379e-01 1.79601649e-02 5.15759600e+01] [-1.07993880e-01 9.94149435e-01 -2.05492603e-03 -3.27822076e+00] [-1.80770473e-02 1.02982271e-04 9.99836592e-01 -1.42164784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.108623853 meters 0.018143864047321025 Centerline is valid? [True, True] Translation: X:51.64, Y:-3.29, Z:-1.42 [[ 9.94077590e-01 1.07178746e-01 1.79571889e-02 5.16385013e+01] [-1.07159089e-01 9.94239761e-01 -2.05609119e-03 -3.28624840e+00] [-1.80741205e-02 1.19638162e-04 9.99836643e-01 -1.42110602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.168623853 meters 0.018546045889714105 Centerline is valid? [True, True] Translation: X:51.70, Y:-3.29, Z:-1.43 [[ 9.94074842e-01 1.07429286e-01 1.65576661e-02 5.17001299e+01] [-1.07412558e-01 9.94212722e-01 -1.89891342e-03 -3.29143850e+00] [-1.66658412e-02 1.09160796e-04 9.99861109e-01 -1.42566959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.228623852999995 meters 0.025253787484752568 Centerline is valid? [True, True] Translation: X:51.76, Y:-3.29, Z:-1.42 [[ 9.93824654e-01 1.09790332e-01 1.60822905e-02 5.17617302e+01] [-1.09774816e-01 9.93954767e-01 -1.84710364e-03 -3.29484131e+00] [-1.61878634e-02 7.02666604e-05 9.99868965e-01 -1.42058739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.288623853 meters 0.017293988946859407 Centerline is valid? [True, True] Translation: X:51.82, Y:-3.30, Z:-1.43 [[ 9.93692736e-01 1.10894895e-01 1.66453916e-02 5.18233594e+01] [-1.10878385e-01 9.93832138e-01 -1.91434937e-03 -3.29965271e+00] [-1.67550167e-02 5.66609250e-05 9.99859623e-01 -1.42848846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.348623853 meters 0.01685578467888348 Centerline is valid? [True, True] Translation: X:51.89, Y:-3.30, Z:-1.43 [[ 9.93588226e-01 1.11708828e-01 1.74234187e-02 5.18857750e+01] [-1.11690809e-01 9.93740980e-01 -2.00694452e-03 -3.30346517e+00] [-1.75385586e-02 4.80407155e-05 9.99846186e-01 -1.42885876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.408623852999995 meters 0.016695868280271815 Centerline is valid? [True, True] Translation: X:51.95, Y:-3.31, Z:-1.43 [[ 9.93472564e-01 1.12740998e-01 1.73704463e-02 5.19486078e+01] [-1.12723200e-01 9.93624409e-01 -2.00344742e-03 -3.30791417e+00] [-1.74855701e-02 3.23177490e-05 9.99847115e-01 -1.43076381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.468623853 meters 0.017012835026354763 Centerline is valid? [True, True] Translation: X:52.01, Y:-3.31, Z:-1.44 [[ 9.93243771e-01 1.14975929e-01 1.57272641e-02 5.20100365e+01] [-1.14961572e-01 9.93368278e-01 -1.81688829e-03 -3.31093457e+00] [-1.58318637e-02 -3.41803815e-06 9.99874668e-01 -1.43603857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.528623853 meters 0.017234633025336423 Centerline is valid? [True, True] Translation: X:52.07, Y:-3.31, Z:-1.44 [[ 9.93082920e-01 1.16414011e-01 1.53000630e-02 5.20734396e+01] [-1.16400566e-01 9.93200774e-01 -1.76935621e-03 -3.31318874e+00] [-1.54020122e-02 -2.38185668e-05 9.99881382e-01 -1.43909726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.588623852999994 meters 0.01757046879442808 Centerline is valid? [True, True] Translation: X:52.14, Y:-3.32, Z:-1.44 [[ 9.93070094e-01 1.16582651e-01 1.48415977e-02 5.21352228e+01] [-1.16569977e-01 9.93180993e-01 -1.71914391e-03 -3.31867705e+00] [-1.49408151e-02 -2.28542933e-05 9.99888380e-01 -1.44204504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.648623853 meters 0.016939637781984998 Centerline is valid? [True, True] Translation: X:52.20, Y:-3.33, Z:-1.44 [[ 9.93153411e-01 1.15789701e-01 1.54611352e-02 5.21966792e+01] [-1.15775805e-01 9.93273751e-01 -1.79386144e-03 -3.32554762e+00] [-1.55648504e-02 -8.44575744e-06 9.99878860e-01 -1.44013833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.708623853 meters 0.02463911885461282 Centerline is valid? [True, True] Translation: X:52.26, Y:-3.33, Z:-1.43 [[ 9.93347249e-01 1.14109834e-01 1.54979995e-02 5.22588477e+01] [-1.14095628e-01 9.93468140e-01 -1.80064985e-03 -3.33323028e+00] [-1.56022406e-02 2.04165818e-05 9.99878277e-01 -1.43434706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.768623852999994 meters 0.01860300144151243 Centerline is valid? [True, True] Translation: X:52.32, Y:-3.34, Z:-1.44 [[ 9.93556561e-01 1.12124690e-01 1.65352350e-02 5.23204611e+01] [-1.12108187e-01 9.93694143e-01 -1.92451769e-03 -3.34210698e+00] [-1.66467522e-02 5.83819543e-05 9.99861432e-01 -1.43636350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.828623852999996 meters 0.01885087159677403 Centerline is valid? [True, True] Translation: X:52.38, Y:-3.36, Z:-1.44 [[ 9.94046276e-01 1.07428210e-01 1.81983871e-02 5.23806154e+01] [-1.07407353e-01 9.94212832e-01 -2.12249296e-03 -3.35661803e+00] [-1.83210856e-02 1.55215645e-04 9.99832143e-01 -1.43895979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.888623853 meters 0.025456208588609162 Centerline is valid? [True, True] Translation: X:52.44, Y:-3.38, Z:-1.44 [[ 9.94664245e-01 1.01498478e-01 1.84688744e-02 5.24394084e+01] [-1.01475950e-01 9.94835658e-01 -2.15526864e-03 -3.37808665e+00] [-1.85922513e-02 2.69622070e-04 9.99827113e-01 -1.44226421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.948623852999994 meters 0.028100254349657315 Centerline is valid? [True, True] Translation: X:52.50, Y:-3.39, Z:-1.44 [[ 9.95041838e-01 9.78898393e-02 1.75875125e-02 5.24997798e+01] [-9.78688016e-02 9.95197204e-01 -2.05499079e-03 -3.39333687e+00] [-1.77042060e-02 3.23533035e-04 9.99843216e-01 -1.44453266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.008623852999996 meters 0.03481019031162754 Centerline is valid? [True, True] Translation: X:52.56, Y:-3.42, Z:-1.45 [[ 9.95382367e-01 9.44832728e-02 1.69368086e-02 5.25585396e+01] [-9.44632291e-02 9.95526380e-01 -1.98136120e-03 -3.41689992e+00] [-1.70482453e-02 3.72306363e-04 9.99854599e-01 -1.44825196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.068623853 meters 0.029138281990328425 Centerline is valid? [True, True] Translation: X:52.62, Y:-3.42, Z:-1.45 [[ 9.95405616e-01 9.42486027e-02 1.68778007e-02 5.26211516e+01] [-9.42286274e-02 9.95548622e-01 -1.97665596e-03 -3.41783504e+00] [-1.69889683e-02 3.77202446e-04 9.99855606e-01 -1.44643376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.128623853 meters 0.03462551027464375 Centerline is valid? [True, True] Translation: X:52.68, Y:-3.44, Z:-1.45 [[ 9.95280112e-01 9.56130052e-02 1.66027748e-02 5.26807965e+01] [-9.55938163e-02 9.95418520e-01 -1.94738577e-03 -3.43645627e+00] [-1.67129049e-02 3.51071729e-04 9.99860268e-01 -1.45371847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.188623852999996 meters 0.031852437064314745 Centerline is valid? [True, True] Translation: X:52.74, Y:-3.45, Z:-1.45 [[ 9.95011402e-01 9.83316817e-02 1.68282438e-02 5.27406902e+01] [-9.83122857e-02 9.95153647e-01 -1.97801007e-03 -3.44685397e+00] [-1.69411892e-02 3.13719460e-04 9.99856439e-01 -1.45431745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.248623853 meters 0.02303888792419212 Centerline is valid? [True, True] Translation: X:52.80, Y:-3.45, Z:-1.45 [[ 9.94676787e-01 1.01434186e-01 1.81437630e-02 5.28028375e+01] [-1.01412147e-01 9.94842212e-01 -2.13303687e-03 -3.44552621e+00] [-1.82665442e-02 2.81684302e-04 9.99833113e-01 -1.44856805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.308623853 meters 0.018727978217145804 Centerline is valid? [True, True] Translation: X:52.86, Y:-3.45, Z:-1.45 [[ 9.93903708e-01 1.08811397e-01 1.77623231e-02 5.28639035e+01] [-1.08791444e-01 9.94062402e-01 -2.08862434e-03 -3.44784291e+00] [-1.78841237e-02 1.43502700e-04 9.99840056e-01 -1.45137803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.368623852999995 meters 0.015716018013648123 Centerline is valid? [True, True] Translation: X:52.93, Y:-3.44, Z:-1.45 [[ 9.92807820e-01 1.18317805e-01 1.82628028e-02 5.29276926e+01] [-1.18298316e-01 9.92975778e-01 -2.14760424e-03 -3.44224864e+00] [-1.83886206e-02 -2.83005323e-05 9.99830915e-01 -1.45117461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.428623853 meters 0.018611861305783798 Centerline is valid? [True, True] Translation: X:52.99, Y:-3.44, Z:-1.45 [[ 9.91794805e-01 1.26524558e-01 1.82920814e-02 5.29904705e+01] [-1.26506399e-01 9.91963459e-01 -2.15112693e-03 -3.43805363e+00] [-1.84172468e-02 -1.80588842e-04 9.99830372e-01 -1.45260261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.488623853 meters 0.022235983739175565 Centerline is valid? [True, True] Translation: X:53.05, Y:-3.44, Z:-1.45 [[ 9.91213180e-01 1.30995964e-01 1.83436387e-02 5.30516990e+01] [-1.30978384e-01 9.91382867e-01 -2.16172042e-03 -3.43777743e+00] [-1.84687458e-02 -2.59894392e-04 9.99829404e-01 -1.45485058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.548623852999995 meters 0.029277611178038412 Centerline is valid? [True, True] Translation: X:53.11, Y:-3.44, Z:-1.45 [[ 9.90469000e-01 1.36483781e-01 1.85293513e-02 5.31136711e+01] [-1.36466794e-01 9.90642238e-01 -2.18405978e-03 -3.43670024e+00] [-1.86540468e-02 -3.65397665e-04 9.99825931e-01 -1.44888949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.608623853 meters 0.029661149245309 Centerline is valid? [True, True] Translation: X:53.18, Y:-3.43, Z:-1.46 [[ 9.89891140e-01 1.40554126e-01 1.89754825e-02 5.31751742e+01] [-1.40537059e-01 9.90072893e-01 -2.23661173e-03 -3.43368450e+00] [-1.91014759e-02 -4.52756379e-04 9.99817448e-01 -1.45548034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.668623853 meters 0.033401173807255546 Centerline is valid? [True, True] Translation: X:53.24, Y:-3.43, Z:-1.46 [[ 9.89710660e-01 1.41763404e-01 1.93893279e-02 5.32371638e+01] [-1.41745794e-01 9.89900450e-01 -2.28653524e-03 -3.43053886e+00] [-1.95176515e-02 -4.85347366e-04 9.99809395e-01 -1.45817368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.728623852999995 meters 0.03149958922258378 Centerline is valid? [True, True] Translation: X:53.30, Y:-3.44, Z:-1.46 [[ 9.89793591e-01 1.41239245e-01 1.89769233e-02 5.32990149e+01] [-1.41222226e-01 9.89975385e-01 -2.24068939e-03 -3.43773868e+00] [-1.91031602e-02 -4.62143359e-04 9.99817411e-01 -1.46036037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.788623853 meters 0.027656058291152946 Centerline is valid? [True, True] Translation: X:53.36, Y:-3.44, Z:-1.46 [[ 9.90340252e-01 1.37387181e-01 1.87335923e-02 5.33600099e+01] [-1.37369826e-01 9.90517349e-01 -2.21623370e-03 -3.44380228e+00] [-1.88604303e-02 -3.78604884e-04 9.99822055e-01 -1.46349808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.848623853 meters 0.022896426298332273 Centerline is valid? [True, True] Translation: X:53.42, Y:-3.45, Z:-1.46 [[ 9.91147721e-01 1.31423384e-01 1.88172657e-02 5.34194357e+01] [-1.31404788e-01 9.91326295e-01 -2.22669050e-03 -3.45430152e+00] [-1.89466895e-02 -2.65699593e-04 9.99820460e-01 -1.46484521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.908623852999995 meters 0.019580731696723336 Centerline is valid? [True, True] Translation: X:53.48, Y:-3.46, Z:-1.47 [[ 9.91647986e-01 1.27523931e-01 1.92851844e-02 5.34806631e+01] [-1.27503681e-01 9.91835474e-01 -2.28103124e-03 -3.46346673e+00] [-1.94186161e-02 -1.96951951e-04 9.99811421e-01 -1.46580188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.968623853 meters 0.016141663653805403 Centerline is valid? [True, True] Translation: X:53.54, Y:-3.48, Z:-1.47 [[ 9.92481388e-01 1.20907128e-01 1.90305449e-02 5.35414309e+01] [-1.20886134e-01 9.92663821e-01 -2.25394425e-03 -3.47658743e+00] [-1.91634514e-02 -6.35312797e-05 9.99816362e-01 -1.46757583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.028623853 meters 0.016736766642974236 Centerline is valid? [True, True] Translation: X:53.60, Y:-3.49, Z:-1.47 [[ 9.93315242e-01 1.13852756e-01 1.90362774e-02 5.36023158e+01] [-1.13830393e-01 9.93497632e-01 -2.25775108e-03 -3.48931285e+00] [-1.91695477e-02 7.57516190e-05 9.99816244e-01 -1.47026525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.088623852999994 meters 0.019463816074052568 Centerline is valid? [True, True] Translation: X:53.66, Y:-3.50, Z:-1.47 [[ 9.93899870e-01 1.08604633e-01 1.91854927e-02 5.36630419e+01] [-1.08580870e-01 9.94085007e-01 -2.27905502e-03 -3.50319670e+00] [-1.93195266e-02 1.81975004e-04 9.99813344e-01 -1.47181303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.148623853 meters 0.02560987881517927 Centerline is valid? [True, True] Translation: X:53.72, Y:-3.52, Z:-1.47 [[ 9.94670123e-01 1.01231843e-01 1.95821536e-02 5.37229600e+01] [-1.01205569e-01 9.94862805e-01 -2.33067476e-03 -3.52028530e+00] [-1.97174948e-02 3.36429564e-04 9.99805535e-01 -1.47201282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.208623853 meters 0.031930300154602305 Centerline is valid? [True, True] Translation: X:53.78, Y:-3.53, Z:-1.47 [[ 9.95119577e-01 9.69304980e-02 1.84798997e-02 5.37832124e+01] [-9.69063497e-02 9.95291073e-01 -2.19988500e-03 -3.53360460e+00] [-1.86061152e-02 3.98329002e-04 9.99826812e-01 -1.46989468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.268623852999994 meters 0.033384953090758764 Centerline is valid? [True, True] Translation: X:53.84, Y:-3.55, Z:-1.48 [[ 9.95362198e-01 9.43520984e-02 1.87556852e-02 5.38436104e+01] [-9.43267670e-02 9.95538787e-01 -2.23267672e-03 -3.54690384e+00] [-1.88826699e-02 4.53158855e-04 9.99821604e-01 -1.47669152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.328623852999996 meters 0.04253342290422993 Centerline is valid? [True, True] Translation: X:53.90, Y:-3.56, Z:-1.47 [[ 9.95658875e-01 9.11609107e-02 1.87907746e-02 5.39021300e+01] [-9.11348758e-02 9.95836041e-01 -2.23899925e-03 -3.56269024e+00] [-1.89166398e-02 5.16784569e-04 9.99820931e-01 -1.47031134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.388623853 meters 0.03812911221240166 Centerline is valid? [True, True] Translation: X:53.96, Y:-3.57, Z:-1.48 [[ 9.95634378e-01 9.14267300e-02 1.87972945e-02 5.39635490e+01] [-9.14007539e-02 9.95811675e-01 -2.23821239e-03 -3.57363893e+00] [-1.89231977e-02 5.10354318e-04 9.99820810e-01 -1.48015226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.448623852999994 meters 0.03426647067873009 Centerline is valid? [True, True] Translation: X:54.02, Y:-3.58, Z:-1.48 [[ 9.95251804e-01 9.55536412e-02 1.85296399e-02 5.40236832e+01] [-9.55290238e-02 9.95424189e-01 -2.21118806e-03 -3.57718184e+00] [-1.86561388e-02 4.30570494e-04 9.99825866e-01 -1.48173569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.508623852999996 meters 0.02329729479384591 Centerline is valid? [True, True] Translation: X:54.09, Y:-3.57, Z:-1.48 [[ 9.94463689e-01 1.03497855e-01 1.81704474e-02 5.40862857e+01] [-1.03475509e-01 9.94629639e-01 -2.16821228e-03 -3.57023568e+00] [-1.82972709e-02 2.76012090e-04 9.99832553e-01 -1.48199062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.568623853 meters 0.02125200809053761 Centerline is valid? [True, True] Translation: X:54.15, Y:-3.57, Z:-1.48 [[ 9.93709696e-01 1.10438502e-01 1.85574221e-02 5.41488259e+01] [-1.10416403e-01 9.93882948e-01 -2.21440096e-03 -3.56715046e+00] [-1.86884605e-02 1.51427915e-04 9.99825344e-01 -1.47770890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62862385299999 meters 0.015495717427207479 Centerline is valid? [True, True] Translation: X:54.21, Y:-3.56, Z:-1.48 [[ 9.92628904e-01 1.19525844e-01 2.00357650e-02 5.42127613e+01] [-1.19501920e-01 9.92831089e-01 -2.39142582e-03 -3.55912100e+00] [-2.01779676e-02 -2.05140062e-05 9.99796404e-01 -1.48207899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.688623852999996 meters 0.017844841050020866 Centerline is valid? [True, True] Translation: X:54.28, Y:-3.56, Z:-1.49 [[ 9.91790626e-01 1.26368740e-01 1.95523793e-02 5.42756158e+01] [-1.26347280e-01 9.91983325e-01 -2.33399464e-03 -3.55727996e+00] [-1.96905782e-02 -1.55555922e-04 9.99806110e-01 -1.48529298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.748623853 meters 0.01971714404858102 Centerline is valid? [True, True] Translation: X:54.34, Y:-3.56, Z:-1.49 [[ 9.91368397e-01 1.29706372e-01 1.91038656e-02 5.43374699e+01] [-1.29686443e-01 9.91552425e-01 -2.28366908e-03 -3.55897050e+00] [-1.92386907e-02 -2.13555017e-04 9.99814896e-01 -1.48759216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.808623853 meters 0.022947587816783896 Centerline is valid? [True, True] Translation: X:54.40, Y:-3.56, Z:-1.49 [[ 9.90884547e-01 1.33380004e-01 1.89100311e-02 5.43989317e+01] [-1.33361067e-01 9.91064931e-01 -2.26460831e-03 -3.55610218e+00] [-1.90431221e-02 -2.77896537e-04 9.99818625e-01 -1.48936714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.868623852999995 meters 0.024812063556404047 Centerline is valid? [True, True] Translation: X:54.46, Y:-3.56, Z:-1.49 [[ 9.90538303e-01 1.35890287e-01 1.91755081e-02 5.44615773e+01] [-1.35871298e-01 9.90723836e-01 -2.29566866e-03 -3.55602747e+00] [-1.93095920e-02 -3.31453442e-04 9.99813498e-01 -1.49090393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.928623853 meters 0.03148018617174025 Centerline is valid? [True, True] Translation: X:54.52, Y:-3.55, Z:-1.50 [[ 9.90318414e-01 1.37454178e-01 1.93852431e-02 5.45224277e+01] [-1.37434981e-01 9.90508061e-01 -2.32545554e-03 -3.55043193e+00] [-1.95208831e-02 -3.61269061e-04 9.99809384e-01 -1.49505626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.988623853 meters 0.027245641626226117 Centerline is valid? [True, True] Translation: X:54.58, Y:-3.56, Z:-1.49 [[ 9.90238175e-01 1.37953892e-01 1.99268795e-02 5.45822251e+01] [-1.37933708e-01 9.90438579e-01 -2.39043030e-03 -3.55958591e+00] [-2.00661194e-02 -3.81493047e-04 9.99798582e-01 -1.49295470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.048623852999995 meters 0.026938996761261044 Centerline is valid? [True, True] Translation: X:54.64, Y:-3.56, Z:-1.50 [[ 9.90580790e-01 1.35567598e-01 1.92645809e-02 5.46427911e+01] [-1.35548293e-01 9.90768047e-01 -2.31044047e-03 -3.56119556e+00] [-1.93999520e-02 -3.22603108e-04 9.99811751e-01 -1.49723737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.108623853 meters 0.021750564430718367 Centerline is valid? [True, True] Translation: X:54.70, Y:-3.57, Z:-1.50 [[ 9.91067290e-01 1.31863822e-01 1.99388794e-02 5.47029076e+01] [-1.31842358e-01 9.91267808e-01 -2.39298807e-03 -3.57338797e+00] [-2.00803178e-02 -2.57176673e-04 9.99798337e-01 -1.49647839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.168623853 meters 0.01707374042565895 Centerline is valid? [True, True] Translation: X:54.76, Y:-3.59, Z:-1.50 [[ 9.91975047e-01 1.24952770e-01 1.92953546e-02 5.47629577e+01] [-1.24931352e-01 9.92162685e-01 -2.31618541e-03 -3.58977404e+00] [-1.94335446e-02 -1.12996609e-04 9.99811144e-01 -1.49873965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.228623852999995 meters 0.015640242812076786 Centerline is valid? [True, True] Translation: X:54.82, Y:-3.60, Z:-1.50 [[ 9.92796574e-01 1.18185117e-01 1.96784239e-02 5.48238459e+01] [-1.18161523e-01 9.92991580e-01 -2.36149504e-03 -3.60340340e+00] [-1.98196028e-02 1.92516530e-05 9.99803572e-01 -1.49862830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.288623853 meters 0.016969586175941655 Centerline is valid? [True, True] Translation: X:54.88, Y:-3.62, Z:-1.50 [[ 9.93326689e-01 1.13645481e-01 1.96670845e-02 5.48847589e+01] [-1.13620957e-01 9.93521360e-01 -2.36351196e-03 -3.61662854e+00] [-1.98082710e-02 1.13146537e-04 9.99803791e-01 -1.50049336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.348623853 meters 0.02116314513892453 Centerline is valid? [True, True] Translation: X:54.94, Y:-3.63, Z:-1.50 [[ 9.94043505e-01 1.07137083e-01 1.99788929e-02 5.49446252e+01] [-1.07110389e-01 9.94244227e-01 -2.40454878e-03 -3.63340735e+00] [-2.01215153e-02 2.50279109e-04 9.99797510e-01 -1.50163230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.408623852999995 meters 0.02965566423611709 Centerline is valid? [True, True] Translation: X:55.01, Y:-3.65, Z:-1.50 [[ 9.94481826e-01 1.03144951e-01 1.91576872e-02 5.50055474e+01] [-1.03119599e-01 9.94666284e-01 -2.30913338e-03 -3.64505789e+00] [-1.92936810e-02 3.20858159e-04 9.99813808e-01 -1.49585798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.468623853 meters 0.03096063816059912 Centerline is valid? [True, True] Translation: X:55.06, Y:-3.66, Z:-1.51 [[ 9.95029051e-01 9.76126440e-02 1.97220423e-02 5.50635330e+01] [-9.75846444e-02 9.95224384e-01 -2.37943949e-03 -3.66491315e+00] [-1.98601208e-02 4.43042939e-04 9.99802670e-01 -1.50588449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.528623853 meters 0.03157577042656944 Centerline is valid? [True, True] Translation: X:55.12, Y:-3.68, Z:-1.51 [[ 9.95302626e-01 9.49109346e-02 1.90944312e-02 5.51242160e+01] [-9.48842112e-02 9.95485652e-01 -2.30271310e-03 -3.67715225e+00] [-1.92267850e-02 4.80136343e-04 9.99815033e-01 -1.50710267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.588623852999994 meters 0.029383443682741303 Centerline is valid? [True, True] Translation: X:55.19, Y:-3.68, Z:-1.51 [[ 9.95246628e-01 9.54451481e-02 1.93487495e-02 5.51865299e+01] [-9.54177515e-02 9.95434576e-01 -2.33633112e-03 -3.68281079e+00] [-1.94834057e-02 4.79011497e-04 9.99810066e-01 -1.50704962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.648623853 meters 0.029701406386083658 Centerline is valid? [True, True] Translation: X:55.25, Y:-3.69, Z:-1.51 [[ 9.94913455e-01 9.86696433e-02 2.02859308e-02 5.52463828e+01] [-9.86400959e-02 9.95120147e-01 -2.45447873e-03 -3.69202794e+00] [-2.04291210e-02 4.40987756e-04 9.99791206e-01 -1.50835422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.708623853 meters 0.031363598911786146 Centerline is valid? [True, True] Translation: X:55.31, Y:-3.70, Z:-1.51 [[ 9.94615640e-01 1.01622550e-01 2.03121916e-02 5.53055680e+01] [-1.01593536e-01 9.94822955e-01 -2.45791777e-03 -3.70337415e+00] [-2.04568144e-02 3.81096091e-04 9.99790665e-01 -1.51208079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.768623852999994 meters 0.022835892055986105 Centerline is valid? [True, True] Translation: X:55.37, Y:-3.70, Z:-1.51 [[ 9.94241478e-01 1.04991914e-01 2.14611840e-02 5.53676587e+01] [-1.04960304e-01 9.94473021e-01 -2.59714385e-03 -3.70158467e+00] [-2.16152476e-02 3.29615735e-04 9.99766309e-01 -1.50864170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.828623852999996 meters 0.0217426094933165 Centerline is valid? [True, True] Translation: X:55.43, Y:-3.71, Z:-1.51 [[ 9.94092242e-01 1.06530620e-01 2.07808178e-02 5.54293523e+01] [-1.06501329e-01 9.94309381e-01 -2.51430960e-03 -3.70945138e+00] [-2.09304131e-02 2.86270936e-04 9.99780894e-01 -1.51131212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.888623853 meters 0.020513552948991442 Centerline is valid? [True, True] Translation: X:55.49, Y:-3.72, Z:-1.51 [[ 9.93869269e-01 1.08664143e-01 2.03955726e-02 5.54892804e+01] [-1.08636307e-01 9.94078491e-01 -2.47114355e-03 -3.71942820e+00] [-2.05433248e-02 2.40293946e-04 9.99788935e-01 -1.51445935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.948623852999994 meters 0.018861980512189715 Centerline is valid? [True, True] Translation: X:55.55, Y:-3.73, Z:-1.52 [[ 9.93559398e-01 1.11490400e-01 2.02389204e-02 5.55497841e+01] [-1.11463512e-01 9.93765494e-01 -2.45527855e-03 -3.72871612e+00] [-2.03864808e-02 1.83563931e-04 9.99792157e-01 -1.51692958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.008623852999996 meters 0.017892897582506374 Centerline is valid? [True, True] Translation: X:55.61, Y:-3.74, Z:-1.52 [[ 9.93379046e-01 1.13137701e-01 1.99482187e-02 5.56117347e+01] [-1.13111854e-01 9.93579306e-01 -2.42292713e-03 -3.73717908e+00] [-2.00942617e-02 1.50505048e-04 9.99798079e-01 -1.51942792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.068623853 meters 0.016426394004364762 Centerline is valid? [True, True] Translation: X:55.67, Y:-3.74, Z:-1.52 [[ 9.93025691e-01 1.16141313e-01 2.02774059e-02 5.56722892e+01] [-1.16115160e-01 9.93232695e-01 -2.46641353e-03 -3.74496714e+00] [-2.04266350e-02 9.46977558e-05 9.99791350e-01 -1.52048171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12862385299999 meters 0.01584556252109699 Centerline is valid? [True, True] Translation: X:55.73, Y:-3.75, Z:-1.52 [[ 9.92811548e-01 1.18099317e-01 1.94365831e-02 5.57347796e+01] [-1.18075616e-01 9.93001787e-01 -2.36658721e-03 -3.75468413e+00] [-1.95800541e-02 5.45885981e-05 9.99808291e-01 -1.52359236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.188623852999996 meters 0.015708630281861948 Centerline is valid? [True, True] Translation: X:55.80, Y:-3.77, Z:-1.52 [[ 9.92789177e-01 1.18369633e-01 1.89282939e-02 5.57964928e+01] [-1.18347139e-01 9.92969600e-01 -2.30807037e-03 -3.76523015e+00] [-1.90684259e-02 5.13178425e-05 9.99818180e-01 -1.52499102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.248623853 meters 0.016207284782747952 Centerline is valid? [True, True] Translation: X:55.86, Y:-3.78, Z:-1.53 [[ 9.92756022e-01 1.18563989e-01 1.94438153e-02 5.58568857e+01] [-1.18540209e-01 9.92946412e-01 -2.37510861e-03 -3.77833535e+00] [-1.95882690e-02 5.30294560e-05 9.99808130e-01 -1.52887210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.308623853 meters 0.01664063588282855 Centerline is valid? [True, True] Translation: X:55.92, Y:-3.79, Z:-1.53 [[ 9.92850017e-01 1.17707634e-01 1.98433125e-02 5.59174518e+01] [-1.17682608e-01 9.93048290e-01 -2.42832519e-03 -3.79036183e+00] [-1.99911999e-02 7.57499471e-05 9.99800153e-01 -1.52979363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.368623852999995 meters 0.016777039883749515 Centerline is valid? [True, True] Translation: X:55.98, Y:-3.80, Z:-1.53 [[ 9.93067878e-01 1.15842031e-01 1.99201791e-02 5.59780665e+01] [-1.15816399e-01 9.93267643e-01 -2.43952789e-03 -3.80295591e+00] [-2.00686692e-02 1.15533382e-04 9.99798597e-01 -1.52909696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.428623853 meters 0.019398761433965007 Centerline is valid? [True, True] Translation: X:56.04, Y:-3.82, Z:-1.53 [[ 9.93358739e-01 1.13400671e-01 1.94603021e-02 5.60390416e+01] [-1.13375684e-01 9.93549325e-01 -2.38602696e-03 -3.82038795e+00] [-1.96053471e-02 1.63855654e-04 9.99807783e-01 -1.52757332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.488623853 meters 0.018395596882913638 Centerline is valid? [True, True] Translation: X:56.10, Y:-3.83, Z:-1.53 [[ 9.93468437e-01 1.12288275e-01 2.02930273e-02 5.61010579e+01] [-1.12260800e-01 9.93675653e-01 -2.49169071e-03 -3.83394132e+00] [-2.04444748e-02 1.97304593e-04 9.99790970e-01 -1.53088125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.548623852999995 meters 0.018892977141371788 Centerline is valid? [True, True] Translation: X:56.16, Y:-3.85, Z:-1.53 [[ 9.93364029e-01 1.13066487e-01 2.10683348e-02 5.61609183e+01] [-1.13036947e-01 9.93587405e-01 -2.59160166e-03 -3.84881688e+00] [-2.12262555e-02 1.92903613e-04 9.99774679e-01 -1.53197207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.608623853 meters 0.017480676343831162 Centerline is valid? [True, True] Translation: X:56.22, Y:-3.86, Z:-1.53 [[ 9.93086890e-01 1.15352347e-01 2.17316567e-02 5.62213652e+01] [-1.15321376e-01 9.93324626e-01 -2.67725355e-03 -3.86085744e+00] [-2.18954172e-02 1.52620860e-04 9.99760255e-01 -1.53234553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.668623853 meters 0.01584391261749452 Centerline is valid? [True, True] Translation: X:56.28, Y:-3.87, Z:-1.53 [[ 9.92860471e-01 1.17310765e-01 2.15932730e-02 5.62835902e+01] [-1.17280607e-01 9.93095248e-01 -2.66217359e-03 -3.86843187e+00] [-2.17564784e-02 1.10694777e-04 9.99763294e-01 -1.53311681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.728623852999995 meters 0.01517008477881521 Centerline is valid? [True, True] Translation: X:56.35, Y:-3.88, Z:-1.54 [[ 9.92428521e-01 1.21139523e-01 2.02693771e-02 5.63456282e+01] [-1.21113727e-01 9.92635490e-01 -2.49996198e-03 -3.87747936e+00] [-2.04229472e-02 2.61337696e-05 9.99791430e-01 -1.53750938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.788623853 meters 0.015376704043950154 Centerline is valid? [True, True] Translation: X:56.41, Y:-3.89, Z:-1.54 [[ 9.92095473e-01 1.23962721e-01 1.94888933e-02 5.64071095e+01] [-1.23939343e-01 9.92286875e-01 -2.40753683e-03 -3.88523612e+00] [-1.96370179e-02 -2.69342409e-05 9.99807175e-01 -1.54171229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.848623853 meters 0.015737871636729392 Centerline is valid? [True, True] Translation: X:56.47, Y:-3.89, Z:-1.54 [[ 9.91755810e-01 1.26533346e-01 2.02416727e-02 5.64692475e+01] [-1.26508581e-01 9.91962351e-01 -2.50446645e-03 -3.89446024e+00] [-2.03958757e-02 -7.69261417e-05 9.99791980e-01 -1.54259952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.908623852999995 meters 0.016291780020558845 Centerline is valid? [True, True] Translation: X:56.53, Y:-3.90, Z:-1.54 [[ 9.91365078e-01 1.29371805e-01 2.14060493e-02 5.65314670e+01] [-1.29344677e-01 9.91596146e-01 -2.65287273e-03 -3.90205089e+00] [-2.15693629e-02 -1.38793143e-04 9.99767345e-01 -1.54077344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.968623853 meters 0.02024579640611758 Centerline is valid? [True, True] Translation: X:56.59, Y:-3.90, Z:-1.54 [[ 9.90638349e-01 1.34850030e-01 2.12398553e-02 5.65928658e+01] [-1.34824487e-01 9.90865988e-01 -2.63662379e-03 -3.90368165e+00] [-2.14013990e-02 -2.51711948e-04 9.99770932e-01 -1.54380813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.028623853 meters 0.023771445209807056 Centerline is valid? [True, True] Translation: X:56.65, Y:-3.91, Z:-1.55 [[ 9.89986587e-01 1.39920972e-01 1.86729375e-02 5.66538674e+01] [-1.39902064e-01 9.90162624e-01 -2.32155939e-03 -3.90819358e+00] [-1.88140796e-02 -3.14069830e-04 9.99822950e-01 -1.54953407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.088623852999994 meters 0.027709220038631525 Centerline is valid? [True, True] Translation: X:56.72, Y:-3.91, Z:-1.55 [[ 9.89547606e-01 1.43052169e-01 1.82102257e-02 5.67152195e+01] [-1.43034731e-01 9.89715082e-01 -2.26322563e-03 -3.90928320e+00] [-1.83466943e-02 -3.65125222e-04 9.99831619e-01 -1.55272328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.148623853 meters 0.027550075860409088 Centerline is valid? [True, True] Translation: X:56.78, Y:-3.92, Z:-1.55 [[ 9.89240034e-01 1.45010013e-01 1.93971977e-02 5.67768535e+01] [-1.44990541e-01 9.89430097e-01 -2.41395637e-03 -3.91721023e+00] [-1.95422191e-02 -4.24427906e-04 9.99808943e-01 -1.55111288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.208623853 meters 0.02631925582962851 Centerline is valid? [True, True] Translation: X:56.84, Y:-3.93, Z:-1.55 [[ 9.89439944e-01 1.43458389e-01 2.06950992e-02 5.68387437e+01] [-1.43435789e-01 9.89656263e-01 -2.58003583e-03 -3.92810672e+00] [-2.08511624e-02 -4.15627370e-04 9.99782504e-01 -1.55013826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.268623852999994 meters 0.020984654856314247 Centerline is valid? [True, True] Translation: X:56.90, Y:-3.95, Z:-1.55 [[ 9.90345729e-01 1.36905237e-01 2.17323051e-02 5.68972416e+01] [-1.36878698e-01 9.90584106e-01 -2.71107309e-03 -3.94632595e+00] [-2.18988362e-02 -2.89789989e-04 9.99760150e-01 -1.55028343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.328623852999996 meters 0.01565325140911902 Centerline is valid? [True, True] Translation: X:56.96, Y:-3.97, Z:-1.55 [[ 9.91528391e-01 1.28129941e-01 2.13112105e-02 5.69560280e+01] [-1.28102394e-01 9.91757384e-01 -2.65839327e-03 -3.96960376e+00] [-2.14761702e-02 -9.41446969e-05 9.99769356e-01 -1.55367606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.388623853 meters 0.015166737755122216 Centerline is valid? [True, True] Translation: X:57.02, Y:-3.99, Z:-1.56 [[ 9.92223299e-01 1.22691848e-01 2.09674684e-02 5.70160536e+01] [-1.22663978e-01 9.92444815e-01 -2.61505723e-03 -3.98958379e+00] [-2.11299015e-02 2.27676307e-05 9.99776738e-01 -1.55516847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.448623852999994 meters 0.016967535366436054 Centerline is valid? [True, True] Translation: X:57.08, Y:-4.01, Z:-1.56 [[ 9.92856657e-01 1.17415373e-01 2.11964533e-02 5.70759251e+01] [-1.17385611e-01 9.93082882e-01 -2.64722546e-03 -4.00845230e+00] [-2.13606599e-02 1.40156802e-04 9.99771825e-01 -1.55695380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.508623852999996 meters 0.018072155467413253 Centerline is valid? [True, True] Translation: X:57.14, Y:-4.02, Z:-1.56 [[ 9.93028698e-01 1.15772508e-01 2.21524581e-02 5.71354054e+01] [-1.15739503e-01 9.93275738e-01 -2.77060851e-03 -4.02241986e+00] [-2.23242594e-02 1.87379285e-04 9.99750765e-01 -1.55693426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.568623853 meters 0.018910663396132933 Centerline is valid? [True, True] Translation: X:57.19, Y:-4.04, Z:-1.56 [[ 9.93112138e-01 1.15010886e-01 2.23780768e-02 5.71948148e+01] [-1.14976925e-01 9.93364209e-01 -2.80263779e-03 -4.03748246e+00] [-2.25519144e-02 2.10371139e-04 9.99745651e-01 -1.55738185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62862385299999 meters 0.01906388836413045 Centerline is valid? [True, True] Translation: X:57.26, Y:-4.05, Z:-1.56 [[ 9.93091670e-01 1.15255053e-01 2.20274209e-02 5.72564597e+01] [-1.15222176e-01 9.93335911e-01 -2.76015086e-03 -4.04942186e+00] [-2.21987495e-02 2.03035450e-04 9.99753557e-01 -1.56051518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.688623852999996 meters 0.018227613079613837 Centerline is valid? [True, True] Translation: X:57.32, Y:-4.06, Z:-1.57 [[ 9.92905225e-01 1.17144811e-01 2.04035959e-02 5.73183932e+01] [-1.17116933e-01 9.93114832e-01 -2.56009158e-03 -4.05887877e+00] [-2.05630151e-02 1.52321740e-04 9.99788547e-01 -1.56575847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.748623853 meters 0.01712620004517436 Centerline is valid? [True, True] Translation: X:57.38, Y:-4.07, Z:-1.57 [[ 9.92650293e-01 1.19362609e-01 1.99490279e-02 5.73798497e+01] [-1.19336332e-01 9.92850722e-01 -2.50678509e-03 -4.06664659e+00] [-2.01056231e-02 1.07717134e-04 9.99797856e-01 -1.56799108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.808623853 meters 0.01533332102408327 Centerline is valid? [True, True] Translation: X:57.44, Y:-4.07, Z:-1.57 [[ 9.92077832e-01 1.23927945e-01 2.05776550e-02 5.74423249e+01] [-1.23900897e-01 9.92291219e-01 -2.58913046e-03 -4.07088378e+00] [-2.07398920e-02 1.90290070e-05 9.99784905e-01 -1.56669786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.868623852999995 meters 0.015576218120144272 Centerline is valid? [True, True] Translation: X:57.51, Y:-4.07, Z:-1.57 [[ 9.91406725e-01 1.29193787e-01 2.05346142e-02 5.75055388e+01] [-1.29167916e-01 9.91619361e-01 -2.58688378e-03 -4.07302795e+00] [-2.06967303e-02 -8.77593338e-05 9.99785796e-01 -1.56721572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.928623853 meters 0.017928121828898972 Centerline is valid? [True, True] Translation: X:57.57, Y:-4.07, Z:-1.57 [[ 9.90884364e-01 1.33220888e-01 2.00092958e-02 5.75665838e+01] [-1.33197060e-01 9.91086358e-01 -2.52484110e-03 -4.07488045e+00] [-2.01673017e-02 -1.63353807e-04 9.99796606e-01 -1.57122314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.988623853 meters 0.03109840189610772 Centerline is valid? [True, True] Translation: X:57.63, Y:-4.07, Z:-1.57 [[ 9.90128823e-01 1.38887135e-01 1.88488177e-02 5.76290563e+01] [-1.38866962e-01 9.90308183e-01 -2.38125739e-03 -4.07170563e+00] [-1.89968644e-02 -2.59726482e-04 9.99819510e-01 -1.56776227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.048623852999995 meters 0.023068960882719845 Centerline is valid? [True, True] Translation: X:57.69, Y:-4.08, Z:-1.58 [[ 9.89772822e-01 1.41389823e-01 1.89387916e-02 5.76902716e+01] [-1.41369863e-01 9.89953950e-01 -2.39539864e-03 -4.07768243e+00] [-1.90872165e-02 -3.06473885e-04 9.99817776e-01 -1.57534499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.108623853 meters 0.024281641280059798 Centerline is valid? [True, True] Translation: X:57.75, Y:-4.08, Z:-1.58 [[ 9.89786722e-01 1.41351397e-01 1.84939634e-02 5.77525239e+01] [-1.41332298e-01 9.89959441e-01 -2.34228403e-03 -4.08121093e+00] [-1.86393588e-02 -2.95432706e-04 9.99826228e-01 -1.57954912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.168623853 meters 0.021384169361614785 Centerline is valid? [True, True] Translation: X:57.81, Y:-4.09, Z:-1.58 [[ 9.90206311e-01 1.38418230e-01 1.82168882e-02 5.78140971e+01] [-1.38399153e-01 9.90373838e-01 -2.30986177e-03 -4.09414649e+00] [-1.83612565e-02 -2.33962205e-04 9.99831391e-01 -1.58169297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.228623852999995 meters 0.01761792820978832 Centerline is valid? [True, True] Translation: X:57.87, Y:-4.11, Z:-1.59 [[ 9.91183882e-01 1.31165298e-01 1.87130129e-02 5.78727871e+01] [-1.31143845e-01 9.91360507e-01 -2.37431248e-03 -4.11035021e+00] [-1.88627694e-02 -1.00716209e-04 9.99822077e-01 -1.58504832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.288623853 meters 0.015614348618853037 Centerline is valid? [True, True] Translation: X:57.93, Y:-4.13, Z:-1.58 [[ 9.92102981e-01 1.24028199e-01 1.86730222e-02 5.79328978e+01] [-1.24005595e-01 9.92278693e-01 -2.36803721e-03 -4.13090293e+00] [-1.88225455e-02 3.37775399e-05 9.99822840e-01 -1.58284896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.348623853 meters 0.01691708982871807 Centerline is valid? [True, True] Translation: X:57.99, Y:-4.15, Z:-1.58 [[ 9.92624489e-01 1.19759077e-01 1.88251691e-02 5.79939124e+01] [-1.19735275e-01 9.92802976e-01 -2.39056638e-03 -4.14533864e+00] [-1.89759759e-02 1.18897947e-04 9.99819933e-01 -1.58403215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.408623852999995 meters 0.01889013657268892 Centerline is valid? [True, True] Translation: X:58.05, Y:-4.16, Z:-1.59 [[ 9.92951494e-01 1.17136267e-01 1.80672272e-02 5.80535374e+01] [-1.17113851e-01 9.93115838e-01 -2.29741305e-03 -4.15758764e+00] [-1.82119599e-02 1.65297157e-04 9.99834135e-01 -1.58702577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.468623853 meters 0.018830772168155232 Centerline is valid? [True, True] Translation: X:58.12, Y:-4.17, Z:-1.59 [[ 9.92945912e-01 1.17194505e-01 1.79962167e-02 5.81160638e+01] [-1.17172229e-01 9.93108967e-01 -2.29092451e-03 -4.16505344e+00] [-1.81406879e-02 1.66107315e-04 9.99835430e-01 -1.58815198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.528623853 meters 0.01966159008565124 Centerline is valid? [True, True] Translation: X:58.18, Y:-4.17, Z:-1.58 [[ 9.92815969e-01 1.18089480e-01 1.92698505e-02 5.81779208e+01] [-1.18064022e-01 9.93002944e-01 -2.45748328e-03 -4.17215598e+00] [-1.94252212e-02 1.64752585e-04 9.99811299e-01 -1.58474407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.588623852999994 meters 0.016892756705431045 Centerline is valid? [True, True] Translation: X:58.24, Y:-4.18, Z:-1.59 [[ 9.92530341e-01 1.20267408e-01 2.04761284e-02 5.82388753e+01] [-1.20239036e-01 9.92741524e-01 -2.61568970e-03 -4.17672009e+00] [-2.06420851e-02 1.34121465e-04 9.99786920e-01 -1.58725329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.648623853 meters 0.016134700605837243 Centerline is valid? [True, True] Translation: X:58.30, Y:-4.18, Z:-1.59 [[ 9.92273909e-01 1.22506328e-01 1.96134767e-02 5.83018424e+01] [-1.22480712e-01 9.92467729e-01 -2.50653936e-03 -4.18043433e+00] [-1.97728096e-02 8.49010046e-05 9.99804495e-01 -1.59066772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.708623853 meters 0.01580922386021264 Centerline is valid? [True, True] Translation: X:58.36, Y:-4.18, Z:-1.59 [[ 9.91997733e-01 1.24889267e-01 1.85248070e-02 5.83639246e+01] [-1.24866757e-01 9.92170686e-01 -2.37137934e-03 -4.18257072e+00] [-1.86759303e-02 3.92703477e-05 9.99825589e-01 -1.59461829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.768623852999994 meters 0.015742548114983358 Centerline is valid? [True, True] Translation: X:58.43, Y:-4.19, Z:-1.60 [[ 9.91895277e-01 1.25734221e-01 1.82938732e-02 5.84261014e+01] [-1.25712385e-01 9.92063962e-01 -2.34331238e-03 -4.18911143e+00] [-1.84433269e-02 2.45540536e-05 9.99829907e-01 -1.59671975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.828623852999996 meters 0.022452895619085544 Centerline is valid? [True, True] Translation: X:58.49, Y:-4.19, Z:-1.59 [[ 9.91621789e-01 1.27909815e-01 1.80362442e-02 5.84886884e+01] [-1.27888886e-01 9.91785803e-01 -2.31382061e-03 -4.19118521e+00] [-1.81840514e-02 -1.22002522e-05 9.99834656e-01 -1.59205435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.888623853 meters 0.015273474802916381 Centerline is valid? [True, True] Translation: X:58.55, Y:-4.20, Z:-1.60 [[ 9.91519189e-01 1.28550705e-01 1.90896369e-02 5.85505705e+01] [-1.28527307e-01 9.91702937e-01 -2.45268892e-03 -4.19656780e+00] [-1.92465439e-02 -2.16514938e-05 9.99814768e-01 -1.59758799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.948623852999994 meters 0.01516211885908295 Centerline is valid? [True, True] Translation: X:58.61, Y:-4.20, Z:-1.60 [[ 9.91680511e-01 1.27209782e-01 1.96833935e-02 5.86127069e+01] [-1.27184576e-01 9.91875835e-01 -2.53229924e-03 -4.20361868e+00] [-1.98456156e-02 7.80775203e-06 9.99803056e-01 -1.59851884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.008623852999996 meters 0.016293757628223066 Centerline is valid? [True, True] Translation: X:58.67, Y:-4.22, Z:-1.60 [[ 9.92184308e-01 1.23353840e-01 1.88183070e-02 5.86735557e+01] [-1.23330037e-01 9.92362748e-01 -2.42469478e-03 -4.21578482e+00] [-1.89736823e-02 8.48816137e-05 9.99819980e-01 -1.60175411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.068623853 meters 0.018546103871473336 Centerline is valid? [True, True] Translation: X:58.73, Y:-4.23, Z:-1.60 [[ 9.92640404e-01 1.19628650e-01 1.88152934e-02 5.87338196e+01] [-1.19604122e-01 9.92818695e-01 -2.42764272e-03 -4.22897846e+00] [-1.89705907e-02 1.59389604e-04 9.99820029e-01 -1.60376882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12862385299999 meters 0.023143689661696595 Centerline is valid? [True, True] Translation: X:58.79, Y:-4.25, Z:-1.60 [[ 9.93342751e-01 1.13554376e-01 1.93799635e-02 5.87941294e+01] [-1.13527116e-01 9.93531741e-01 -2.50460876e-03 -4.24673126e+00] [-1.95390182e-02 2.87783596e-04 9.99809054e-01 -1.60335656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.188623852999996 meters 0.02703019515187729 Centerline is valid? [True, True] Translation: X:58.85, Y:-4.26, Z:-1.60 [[ 9.93728480e-01 1.10013313e-01 2.00194805e-02 5.88537620e+01] [-1.09983501e-01 9.93930045e-01 -2.58746568e-03 -4.26259135e+00] [-2.01826188e-02 3.69425783e-04 9.99796242e-01 -1.60430937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.248623853 meters 0.029785972915282146 Centerline is valid? [True, True] Translation: X:58.91, Y:-4.28, Z:-1.60 [[ 9.94079806e-01 1.06557566e-01 2.12326289e-02 5.89140196e+01] [-1.06523168e-01 9.94306424e-01 -2.74776760e-03 -4.27834641e+00] [-2.14045347e-02 4.69733381e-04 9.99770786e-01 -1.60325757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.308623853 meters 0.03145810518146685 Centerline is valid? [True, True] Translation: X:58.97, Y:-4.29, Z:-1.61 [[ 9.94172179e-01 1.05933185e-01 1.99959817e-02 5.89738124e+01] [-1.05902493e-01 9.94373145e-01 -2.59060641e-03 -4.29307763e+00] [-2.01578984e-02 4.57884502e-04 9.99796704e-01 -1.60728554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.368623852999995 meters 0.03021618435183465 Centerline is valid? [True, True] Translation: X:59.04, Y:-4.30, Z:-1.61 [[ 9.94046398e-01 1.07153372e-01 1.97462251e-02 5.90350213e+01] [-1.07123625e-01 9.94242410e-01 -2.56113333e-03 -4.30283089e+00] [-1.99069685e-02 4.30598144e-04 9.99801744e-01 -1.60876370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.428623853 meters 0.027299259880000492 Centerline is valid? [True, True] Translation: X:59.10, Y:-4.31, Z:-1.61 [[ 9.93665775e-01 1.10693985e-01 1.93692897e-02 5.90960505e+01] [-1.10665956e-01 9.93854473e-01 -2.51630597e-03 -4.31190570e+00] [-1.95287951e-02 3.56846157e-04 9.99809231e-01 -1.61140130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.488623853 meters 0.023041340301395978 Centerline is valid? [True, True] Translation: X:59.16, Y:-4.31, Z:-1.61 [[ 9.93122950e-01 1.15637762e-01 1.82951818e-02 5.91567415e+01] [-1.15613572e-01 9.93291421e-01 -2.37796279e-03 -4.31463640e+00] [-1.84474294e-02 2.46438104e-04 9.99829801e-01 -1.61454788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.548623852999995 meters 0.01951987761626353 Centerline is valid? [True, True] Translation: X:59.22, Y:-4.32, Z:-1.62 [[ 9.92709801e-01 1.19194157e-01 1.78886489e-02 5.92188273e+01] [-1.19171631e-01 9.92870949e-01 -2.32380649e-03 -4.31896283e+00] [-1.80381040e-02 1.75046020e-04 9.99837285e-01 -1.61586781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.608623853 meters 0.01992806259609269 Centerline is valid? [True, True] Translation: X:59.28, Y:-4.33, Z:-1.62 [[ 9.92355212e-01 1.22167802e-01 1.74974490e-02 5.92798942e+01] [-1.22146660e-01 9.92509453e-01 -2.27598817e-03 -4.32646168e+00] [-1.76444360e-02 1.21333777e-04 9.99844317e-01 -1.61601570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.668623853 meters 0.021664677146041273 Centerline is valid? [True, True] Translation: X:59.34, Y:-4.33, Z:-1.62 [[ 9.91916564e-01 1.25675595e-01 1.75264081e-02 5.93424534e+01] [-1.25654882e-01 9.92071389e-01 -2.28245465e-03 -4.33025904e+00] [-1.76742968e-02 6.17258388e-05 9.99843796e-01 -1.61504832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.728623852999995 meters 0.01561565033093548 Centerline is valid? [True, True] Translation: X:59.40, Y:-4.34, Z:-1.62 [[ 9.91484325e-01 1.28883668e-01 1.86502956e-02 5.94035687e+01] [-1.28860717e-01 9.91659720e-01 -2.43217822e-03 -4.33582362e+00] [-1.88082150e-02 8.17611539e-06 9.99823110e-01 -1.62035458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.788623853 meters 0.015475944168461162 Centerline is valid? [True, True] Translation: X:59.46, Y:-4.34, Z:-1.62 [[ 9.91299840e-01 1.30204943e-01 1.92691248e-02 5.94640968e+01] [-1.30180636e-01 9.91487102e-01 -2.51582157e-03 -4.34280916e+00] [-1.94326611e-02 -1.45333971e-05 9.99811168e-01 -1.62104733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.848623853 meters 0.015610867232574575 Centerline is valid? [True, True] Translation: X:59.53, Y:-4.35, Z:-1.62 [[ 9.91183716e-01 1.31222569e-01 1.83160691e-02 5.95254830e+01] [-1.31200740e-01 9.91352932e-01 -2.39365587e-03 -4.34994006e+00] [-1.84717905e-02 -3.05290984e-05 9.99829381e-01 -1.62341587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.908623852999995 meters 0.016303350663139687 Centerline is valid? [True, True] Translation: X:59.59, Y:-4.36, Z:-1.63 [[ 9.91074125e-01 1.32140219e-01 1.76363631e-02 5.95855104e+01] [-1.32120075e-01 9.91231033e-01 -2.30763244e-03 -4.35911487e+00] [-1.77866414e-02 -4.30828075e-05 9.99841804e-01 -1.62725523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.968623853 meters 0.015603521409921502 Centerline is valid? [True, True] Translation: X:59.65, Y:-4.37, Z:-1.63 [[ 9.91040916e-01 1.32343480e-01 1.79751524e-02 5.96482092e+01] [-1.32322545e-01 9.91203915e-01 -2.35432170e-03 -4.36868152e+00] [-1.81286205e-02 -4.52887648e-05 9.99835662e-01 -1.62578128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.028623853 meters 0.015313868070169464 Centerline is valid? [True, True] Translation: X:59.71, Y:-4.38, Z:-1.63 [[ 9.91383408e-01 1.29701839e-01 1.83404363e-02 5.97101674e+01] [-1.29679528e-01 9.91553041e-01 -2.40566079e-03 -4.38314311e+00] [-1.84975340e-02 6.55306741e-06 9.99828906e-01 -1.62575750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.088623852999994 meters 0.016052125222039818 Centerline is valid? [True, True] Translation: X:59.77, Y:-4.40, Z:-1.63 [[ 9.91788134e-01 1.26522912e-01 1.86614668e-02 5.97702135e+01] [-1.26499178e-01 9.91963683e-01 -2.45160367e-03 -4.39982437e+00] [-1.88216814e-02 7.08112109e-05 9.99822854e-01 -1.62823336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.148623853 meters 0.016992581927203747 Centerline is valid? [True, True] Translation: X:59.83, Y:-4.41, Z:-1.63 [[ 9.92143416e-01 1.23853932e-01 1.76535168e-02 5.98310988e+01] [-1.23832217e-01 9.92300453e-01 -2.32213447e-03 -4.41315615e+00] [-1.78051982e-02 1.17816308e-04 9.99841468e-01 -1.62979398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.208623853 meters 0.019555263824397543 Centerline is valid? [True, True] Translation: X:59.89, Y:-4.43, Z:-1.63 [[ 9.92564177e-01 1.20581219e-01 1.66290289e-02 5.98904695e+01] [-1.20561445e-01 9.92703451e-01 -2.19017833e-03 -4.42967445e+00] [-1.67717887e-02 1.69072802e-04 9.99859329e-01 -1.63374003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.268623852999994 meters 0.025399527516756868 Centerline is valid? [True, True] Translation: X:59.95, Y:-4.44, Z:-1.63 [[ 9.92570923e-01 1.20516983e-01 1.66918853e-02 5.99527918e+01] [-1.20497011e-01 9.92711251e-01 -2.20076463e-03 -4.43955545e+00] [-1.68354519e-02 1.73092690e-04 9.99858259e-01 -1.62853540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.328623852999996 meters 0.03047765233807869 Centerline is valid? [True, True] Translation: X:60.01, Y:-4.45, Z:-1.63 [[ 9.92423221e-01 1.21662822e-01 1.71554314e-02 6.00130072e+01] [-1.21641828e-01 9.92571474e-01 -2.26585134e-03 -4.45014274e+00] [-1.73036617e-02 1.61865445e-04 9.99850267e-01 -1.62959549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.388623853 meters 0.018762577640851534 Centerline is valid? [True, True] Translation: X:60.07, Y:-4.46, Z:-1.64 [[ 9.92375060e-01 1.21954426e-01 1.78565803e-02 6.00742220e+01] [-1.21931676e-01 9.92535687e-01 -2.36135457e-03 -4.45872744e+00] [-1.80112709e-02 1.66066619e-04 9.99837770e-01 -1.63700678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.448623852999994 meters 0.019844250302460464 Centerline is valid? [True, True] Translation: X:60.13, Y:-4.47, Z:-1.64 [[ 9.92483215e-01 1.20938065e-01 1.87363802e-02 6.01347626e+01] [-1.20912772e-01 9.92660035e-01 -2.48107217e-03 -4.47126086e+00] [-1.88989119e-02 1.96954802e-04 9.99821380e-01 -1.63845669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.508623852999996 meters 0.021113550666710123 Centerline is valid? [True, True] Translation: X:60.20, Y:-4.48, Z:-1.64 [[ 9.92642292e-01 1.19628586e-01 1.87158238e-02 6.01953620e+01] [-1.19603049e-01 9.92818690e-01 -2.48192783e-03 -4.48371073e+00] [-1.88783291e-02 2.25196935e-04 9.99821763e-01 -1.64012887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.568623853 meters 0.023467171837944552 Centerline is valid? [True, True] Translation: X:60.26, Y:-4.50, Z:-1.64 [[ 9.92940374e-01 1.17332979e-01 1.73892345e-02 6.02554766e+01] [-1.17310536e-01 9.93092598e-01 -2.30859613e-03 -4.49995803e+00] [-1.75399945e-02 2.52357877e-04 9.99846131e-01 -1.64483873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62862385299999 meters 0.02569667156829657 Centerline is valid? [True, True] Translation: X:60.32, Y:-4.51, Z:-1.65 [[ 9.93036397e-01 1.16492009e-01 1.75591990e-02 6.03152833e+01] [-1.16468928e-01 9.93191591e-01 -2.33490994e-03 -4.51311635e+00] [-1.77116471e-02 2.73549476e-04 9.99843099e-01 -1.64781288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.688623852999996 meters 0.0246351099646371 Centerline is valid? [True, True] Translation: X:60.38, Y:-4.52, Z:-1.65 [[ 9.93013677e-01 1.16559532e-01 1.83769486e-02 6.03771083e+01] [-1.16534242e-01 9.93183666e-01 -2.44477341e-03 -4.52163671e+00] [-1.85366468e-02 2.86149667e-04 9.99828141e-01 -1.64681234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.748623853 meters 0.02431121892014059 Centerline is valid? [True, True] Translation: X:60.44, Y:-4.53, Z:-1.65 [[ 9.92953787e-01 1.16986458e-01 1.88930201e-02 6.04384106e+01] [-1.16959743e-01 9.93133468e-01 -2.51666824e-03 -4.53172139e+00] [-1.90577066e-02 2.89212493e-04 9.99818344e-01 -1.64795735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.808623853 meters 0.024202973658815168 Centerline is valid? [True, True] Translation: X:60.50, Y:-4.54, Z:-1.65 [[ 9.92991585e-01 1.16610169e-01 1.92296807e-02 6.05006901e+01] [-1.16582364e-01 9.93177716e-01 -2.56452436e-03 -4.54440333e+00] [-1.93975400e-02 3.04709476e-04 9.99811804e-01 -1.64803961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.868623852999995 meters 0.024019379955687262 Centerline is valid? [True, True] Translation: X:60.56, Y:-4.55, Z:-1.65 [[ 9.93020583e-01 1.16382177e-01 1.91131057e-02 6.05630349e+01] [-1.16354596e-01 9.93204456e-01 -2.55259967e-03 -4.55472320e+00] [-1.92802989e-02 3.10886313e-04 9.99814069e-01 -1.64953581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.928623853 meters 0.03340055574611557 Centerline is valid? [True, True] Translation: X:60.62, Y:-4.57, Z:-1.65 [[ 9.93043926e-01 1.16355730e-01 1.80306765e-02 6.06244157e+01] [-1.16331117e-01 9.93207559e-01 -2.41152579e-03 -4.56626920e+00] [-1.81887991e-02 2.97222298e-04 9.99834526e-01 -1.64522828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.988623853 meters 0.023791342235543318 Centerline is valid? [True, True] Translation: X:60.69, Y:-4.58, Z:-1.65 [[ 9.92991996e-01 1.16789982e-01 1.80830058e-02 6.06864320e+01] [-1.16765246e-01 9.93156591e-01 -2.42138325e-03 -4.57781137e+00] [-1.82420497e-02 2.92947566e-04 9.99833557e-01 -1.65447477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.048623853 meters 0.02484893985727256 Centerline is valid? [True, True] Translation: X:60.75, Y:-4.59, Z:-1.66 [[ 9.92919459e-01 1.17421205e-01 1.79779904e-02 6.07466079e+01] [-1.17396788e-01 9.93082162e-01 -2.41121909e-03 -4.59034525e+00] [-1.81367499e-02 2.83588022e-04 9.99835475e-01 -1.65839393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.108623853 meters 0.023779464889786977 Centerline is valid? [True, True] Translation: X:60.81, Y:-4.60, Z:-1.66 [[ 9.92867658e-01 1.17883576e-01 1.78122523e-02 6.08081322e+01] [-1.17859638e-01 9.93027385e-01 -2.39143960e-03 -4.60251367e+00] [-1.79699658e-02 2.75037434e-04 9.99838489e-01 -1.66000863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.168623853 meters 0.025983595403259764 Centerline is valid? [True, True] Translation: X:60.87, Y:-4.62, Z:-1.66 [[ 9.93052322e-01 1.16399133e-01 1.72721722e-02 6.08667444e+01] [-1.16376314e-01 9.93202473e-01 -2.32387879e-03 -4.62142846e+00] [-1.74252616e-02 2.97661493e-04 9.99848124e-01 -1.66333923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.228623853 meters 0.026532772186509842 Centerline is valid? [True, True] Translation: X:60.93, Y:-4.64, Z:-1.66 [[ 9.93137948e-01 1.15665908e-01 1.72746617e-02 6.09274936e+01] [-1.15642989e-01 9.93288126e-01 -2.32316543e-03 -4.63554650e+00] [-1.74274274e-02 3.09530234e-04 9.99848083e-01 -1.66417206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28862385299999 meters 0.026075792017291294 Centerline is valid? [True, True] Translation: X:60.99, Y:-4.65, Z:-1.66 [[ 9.93019194e-01 1.16518551e-01 1.83387059e-02 6.09869460e+01] [-1.16492793e-01 9.93188465e-01 -2.47028115e-03 -4.65326048e+00] [-1.85016247e-02 3.16709528e-04 9.99828780e-01 -1.66427870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34862385299999 meters 0.021706107167116673 Centerline is valid? [True, True] Translation: X:61.05, Y:-4.66, Z:-1.66 [[ 9.92553324e-01 1.20413528e-01 1.83978667e-02 6.10473719e+01] [-1.20388227e-01 9.92723789e-01 -2.48064382e-03 -4.66214392e+00] [-1.85627030e-02 2.47284717e-04 9.99827668e-01 -1.66407983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.408623853 meters 0.02006997753714525 Centerline is valid? [True, True] Translation: X:61.11, Y:-4.67, Z:-1.67 [[ 9.92150576e-01 1.23667138e-01 1.85384085e-02 6.11083280e+01] [-1.23642033e-01 9.92323739e-01 -2.49875629e-03 -4.67154770e+00] [-1.87051168e-02 1.87015984e-04 9.99825027e-01 -1.66675103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.468623853 meters 0.01683239714097776 Centerline is valid? [True, True] Translation: X:61.17, Y:-4.68, Z:-1.67 [[ 9.91470673e-01 1.28982559e-01 1.86923333e-02 6.11699397e+01] [-1.28957918e-01 9.91646858e-01 -2.52276286e-03 -4.67983255e+00] [-1.88615860e-02 9.07210138e-05 9.99822100e-01 -1.66764153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.528623853 meters 0.015375977199652679 Centerline is valid? [True, True] Translation: X:61.23, Y:-4.69, Z:-1.67 [[ 9.90858505e-01 1.33538867e-01 1.91518730e-02 6.12312749e+01] [-1.33513787e-01 9.91043577e-01 -2.58799802e-03 -4.69042653e+00] [-1.93259390e-02 7.30075574e-06 9.99813237e-01 -1.66788975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.588623853 meters 0.015486825237380564 Centerline is valid? [True, True] Translation: X:61.29, Y:-4.70, Z:-1.67 [[ 9.90359833e-01 1.37141891e-01 1.94808474e-02 6.12937147e+01] [-1.37116578e-01 9.90551411e-01 -2.63551079e-03 -4.69812592e+00] [-1.96582198e-02 -6.10431013e-05 9.99806757e-01 -1.66863850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.648623853 meters 0.018611033578728283 Centerline is valid? [True, True] Translation: X:61.35, Y:-4.70, Z:-1.67 [[ 9.89444596e-01 1.43651251e-01 1.90711615e-02 6.13547630e+01] [-1.43628116e-01 9.89628357e-01 -2.58442387e-03 -4.70221649e+00] [-1.92446180e-02 -1.82010767e-04 9.99814789e-01 -1.67108811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70862385299999 meters 0.02208135647625238 Centerline is valid? [True, True] Translation: X:61.42, Y:-4.71, Z:-1.67 [[ 9.88829296e-01 1.47822472e-01 1.91086230e-02 6.14152969e+01] [-1.47799985e-01 9.89013877e-01 -2.59157416e-03 -4.70614799e+00] [-1.92817862e-02 -2.61629733e-04 9.99814055e-01 -1.67329571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.768623853 meters 0.025072475881724968 Centerline is valid? [True, True] Translation: X:61.48, Y:-4.71, Z:-1.67 [[ 9.87887779e-01 1.54102398e-01 1.81710264e-02 6.14760064e+01] [-1.54083115e-01 9.88054815e-01 -2.46489351e-03 -4.71306875e+00] [-1.83338161e-02 -3.64810174e-04 9.99831855e-01 -1.67464630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.828623853 meters 0.029775163889688264 Centerline is valid? [True, True] Translation: X:61.54, Y:-4.71, Z:-1.68 [[ 9.86930809e-01 1.60157932e-01 1.78049240e-02 6.15376320e+01] [-1.60140398e-01 9.87091292e-01 -2.41544186e-03 -4.71438425e+00] [-1.79619376e-02 -4.67413633e-04 9.99838562e-01 -1.67595052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.888623853 meters 0.03478070259791857 Centerline is valid? [True, True] Translation: X:61.60, Y:-4.71, Z:-1.68 [[ 9.86314129e-01 1.63854903e-01 1.83305578e-02 6.15981974e+01] [-1.63836960e-01 9.86484297e-01 -2.48656698e-03 -4.71447148e+00] [-1.84902436e-02 -5.50686711e-04 9.99828889e-01 -1.67781071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.948623853 meters 0.038067447246774744 Centerline is valid? [True, True] Translation: X:61.66, Y:-4.72, Z:-1.68 [[ 9.85561558e-01 1.68141988e-01 1.99169961e-02 6.16600425e+01] [-1.68121648e-01 9.85762549e-01 -2.70331302e-03 -4.71609695e+00] [-2.00879693e-02 -6.84196818e-04 9.99797982e-01 -1.67606223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.008623853 meters 0.040504709074026805 Centerline is valid? [True, True] Translation: X:61.72, Y:-4.72, Z:-1.68 [[ 9.85323320e-01 1.69539833e-01 1.98544851e-02 6.17211758e+01] [-1.69519903e-01 9.85523079e-01 -2.69485023e-03 -4.71673499e+00] [-2.00239378e-02 -7.10431623e-04 9.99799248e-01 -1.67842610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06862385299999 meters 0.03945940728655665 Centerline is valid? [True, True] Translation: X:61.78, Y:-4.72, Z:-1.68 [[ 9.85414845e-01 1.69084114e-01 1.91871033e-02 6.17826145e+01] [-1.69065400e-01 9.85601392e-01 -2.60507528e-03 -4.72318986e+00] [-1.93513125e-02 -6.76795430e-04 9.99812517e-01 -1.68129255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.128623853 meters 0.03648778349227309 Centerline is valid? [True, True] Translation: X:61.84, Y:-4.73, Z:-1.68 [[ 9.85951308e-01 1.65920681e-01 1.92443912e-02 6.18425136e+01] [-1.65901164e-01 9.86138912e-01 -2.61740905e-03 -4.73084528e+00] [-1.94119253e-02 -6.12029026e-04 9.99811384e-01 -1.68307471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.188623853 meters 0.03392199728847504 Centerline is valid? [True, True] Translation: X:61.90, Y:-4.73, Z:-1.69 [[ 9.86736104e-01 1.61234727e-01 1.88473946e-02 6.19025045e+01] [-1.61215152e-01 9.86915956e-01 -2.56341397e-03 -4.73441562e+00] [-1.90141058e-02 -5.09072482e-04 9.99819086e-01 -1.68630169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.248623853 meters 0.030873324526255966 Centerline is valid? [True, True] Translation: X:61.96, Y:-4.74, Z:-1.69 [[ 9.87238423e-01 1.58101142e-01 1.90873130e-02 6.19641173e+01] [-1.58080485e-01 9.87422818e-01 -2.59575442e-03 -4.74160852e+00] [-1.92576401e-02 -4.54703198e-04 9.99814451e-01 -1.68745602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.308623853 meters 0.024524474355510556 Centerline is valid? [True, True] Translation: X:62.02, Y:-4.75, Z:-1.69 [[ 9.88011440e-01 1.53081820e-01 1.99837663e-02 6.20238832e+01] [-1.53058131e-01 9.88213447e-01 -2.71866024e-03 -4.75163077e+00] [-2.01644041e-02 -3.72610508e-04 9.99796608e-01 -1.68638821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.368623853 meters 0.03185294579344566 Centerline is valid? [True, True] Translation: X:62.08, Y:-4.76, Z:-1.68 [[ 9.88463396e-01 1.50203719e-01 1.94668356e-02 6.20847959e+01] [-1.50180705e-01 9.88655020e-01 -2.64709393e-03 -4.75758102e+00] [-1.96435881e-02 -3.06987649e-04 9.99806999e-01 -1.68067348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42862385299999 meters 0.018440351446588076 Centerline is valid? [True, True] Translation: X:62.15, Y:-4.77, Z:-1.69 [[ 9.89243295e-01 1.44827684e-01 2.05583535e-02 6.21454935e+01] [-1.44800768e-01 9.89456871e-01 -2.79975451e-03 -4.76713007e+00] [-2.07470861e-02 -2.07226993e-04 9.99784735e-01 -1.68923318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48862385299999 meters 0.01602659691032658 Centerline is valid? [True, True] Translation: X:62.21, Y:-4.78, Z:-1.69 [[ 9.89926906e-01 1.40139008e-01 2.01439543e-02 6.22071212e+01] [-1.40112201e-01 9.90131833e-01 -2.74303478e-03 -4.77508365e+00] [-2.03295766e-02 -1.07009848e-04 9.99793327e-01 -1.69185080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.548623853 meters 0.01603882887619 Centerline is valid? [True, True] Translation: X:62.27, Y:-4.78, Z:-1.70 [[ 9.90109060e-01 1.38885661e-01 1.98701383e-02 6.22677489e+01] [-1.38859247e-01 9.90308420e-01 -2.70961536e-03 -4.78254441e+00] [-2.00538920e-02 -7.63377366e-05 9.99798898e-01 -1.69586645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.608623853 meters 0.015545326090281492 Centerline is valid? [True, True] Translation: X:62.33, Y:-4.79, Z:-1.70 [[ 9.90544257e-01 1.35893353e-01 1.88433551e-02 6.23306664e+01] [-1.35869042e-01 9.90723471e-01 -2.57040431e-03 -4.79024740e+00] [-1.90178550e-02 -1.41293703e-05 9.99819144e-01 -1.69839336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.668623853 meters 0.015917255728627202 Centerline is valid? [True, True] Translation: X:62.39, Y:-4.79, Z:-1.70 [[ 9.90633125e-01 1.35450914e-01 1.72934184e-02 6.23928369e+01] [-1.35430316e-01 9.90784058e-01 -2.36212578e-03 -4.79407839e+00] [-1.74539954e-02 -2.05308311e-06 9.99847667e-01 -1.70323762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.728623853 meters 0.016280605454156574 Centerline is valid? [True, True] Translation: X:62.45, Y:-4.80, Z:-1.71 [[ 9.90631605e-01 1.35591152e-01 1.62500204e-02 6.24542490e+01] [-1.35572941e-01 9.90764876e-01 -2.22218327e-03 -4.79745014e+00] [-1.64012578e-02 -1.69808285e-06 9.99865490e-01 -1.70735200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78862385299999 meters 0.015993385558362185 Centerline is valid? [True, True] Translation: X:62.52, Y:-4.80, Z:-1.71 [[ 9.90544467e-01 1.36243005e-01 1.61091054e-02 6.25178315e+01] [-1.36225164e-01 9.90675448e-01 -2.20484163e-03 -4.79887528e+00] [-1.62592895e-02 -1.04718393e-05 9.99867809e-01 -1.70786251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84862385299999 meters 0.016180106226686374 Centerline is valid? [True, True] Translation: X:62.58, Y:-4.80, Z:-1.71 [[ 9.90441386e-01 1.36950266e-01 1.64464624e-02 6.25800087e+01] [-1.36931709e-01 9.90577924e-01 -2.25450661e-03 -4.79868738e+00] [-1.66002579e-02 -1.90855637e-05 9.99862206e-01 -1.71149807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.908623853 meters 0.015932001019797443 Centerline is valid? [True, True] Translation: X:62.64, Y:-4.80, Z:-1.71 [[ 9.90338375e-01 1.37657442e-01 1.67430850e-02 6.26433767e+01] [-1.37638260e-01 9.90479898e-01 -2.29816742e-03 -4.80269571e+00] [-1.69000489e-02 -2.85256990e-05 9.99857184e-01 -1.71143194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.968623853 meters 0.01543514913116218 Centerline is valid? [True, True] Translation: X:62.71, Y:-4.81, Z:-1.71 [[ 9.90390767e-01 1.37162059e-01 1.76832926e-02 6.27054084e+01] [-1.37140513e-01 9.90548620e-01 -2.43113311e-03 -4.80538259e+00] [-1.78496203e-02 -1.73240408e-05 9.99840683e-01 -1.71157751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.028623853 meters 0.015454005699708652 Centerline is valid? [True, True] Translation: X:62.77, Y:-4.81, Z:-1.71 [[ 9.90525379e-01 1.36096095e-01 1.83664262e-02 6.27659503e+01] [-1.36072605e-01 9.90695641e-01 -2.52850285e-03 -4.81161676e+00] [-1.85396577e-02 5.37879391e-06 9.99828126e-01 -1.71219858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.088623853 meters 0.015930120025675537 Centerline is valid? [True, True] Translation: X:62.83, Y:-4.82, Z:-1.71 [[ 9.90867841e-01 1.33616958e-01 1.80950201e-02 6.28282744e+01] [-1.33593699e-01 9.91033050e-01 -2.49359598e-03 -4.81938194e+00] [-1.82659497e-02 5.34434037e-05 9.99833162e-01 -1.71465689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.148623853 meters 0.01721892499079205 Centerline is valid? [True, True] Translation: X:62.89, Y:-4.83, Z:-1.72 [[ 9.91275531e-01 1.30616072e-01 1.76709615e-02 6.28896218e+01] [-1.30593351e-01 9.91433018e-01 -2.43861022e-03 -4.82920275e+00] [-1.78380964e-02 1.09624563e-04 9.99840882e-01 -1.71732292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20862385299999 meters 0.020468136127614976 Centerline is valid? [True, True] Translation: X:62.95, Y:-4.84, Z:-1.72 [[ 9.91753478e-01 1.26947564e-01 1.75885081e-02 6.29489412e+01] [-1.26924409e-01 9.91909413e-01 -2.43109560e-03 -4.84305959e+00] [-1.77548284e-02 1.78636515e-04 9.99842355e-01 -1.72013191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.268623853 meters 0.022120467444485852 Centerline is valid? [True, True] Translation: X:63.01, Y:-4.85, Z:-1.72 [[ 9.92002957e-01 1.24922134e-01 1.80164587e-02 6.30098767e+01] [-1.24897489e-01 9.92166524e-01 -2.49110195e-03 -4.85442655e+00] [-1.81865210e-02 2.20970042e-04 9.99834587e-01 -1.72120158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.328623853 meters 0.0247581192045596 Centerline is valid? [True, True] Translation: X:63.07, Y:-4.87, Z:-1.72 [[ 9.92523397e-01 1.20630902e-01 1.85873949e-02 6.30708155e+01] [-1.20603839e-01 9.92697380e-01 -2.57424164e-03 -4.86871372e+00] [-1.87621913e-02 3.13283883e-04 9.99823926e-01 -1.72143327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.388623853 meters 0.030138486004086026 Centerline is valid? [True, True] Translation: X:63.13, Y:-4.88, Z:-1.72 [[ 9.92858547e-01 1.17764686e-01 1.90626365e-02 6.31306414e+01] [-1.17735692e-01 9.93041458e-01 -2.64011629e-03 -4.88461525e+00] [-1.92409009e-02 3.76909323e-04 9.99814806e-01 -1.71739017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.448623853 meters 0.03172317508070872 Centerline is valid? [True, True] Translation: X:63.19, Y:-4.89, Z:-1.72 [[ 9.92922417e-01 1.17262420e-01 1.88307714e-02 6.31918577e+01] [-1.17233985e-01 9.93100890e-01 -2.61074870e-03 -4.89405515e+00] [-1.90069985e-02 3.84664540e-04 9.99819277e-01 -1.71607621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.508623853 meters 0.029568739326116058 Centerline is valid? [True, True] Translation: X:63.25, Y:-4.91, Z:-1.73 [[ 9.92840565e-01 1.18026485e-01 1.83674070e-02 6.32518961e+01] [-1.17999503e-01 9.93010381e-01 -2.54972390e-03 -4.90748392e+00] [-1.85399608e-02 3.64124427e-04 9.99828054e-01 -1.72735635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56862385299999 meters 0.027902311644637714 Centerline is valid? [True, True] Translation: X:63.31, Y:-4.91, Z:-1.72 [[ 9.92513419e-01 1.20717718e-01 1.85565461e-02 6.33135231e+01] [-1.20690593e-01 9.92686824e-01 -2.57890794e-03 -4.91462114e+00] [-1.87321587e-02 3.20000193e-04 9.99824487e-01 -1.72223637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.628623853 meters 0.022420860163304353 Centerline is valid? [True, True] Translation: X:63.38, Y:-4.92, Z:-1.72 [[ 9.92125925e-01 1.23853927e-01 1.86105874e-02 6.33760260e+01] [-1.23827138e-01 9.92300426e-01 -2.58944721e-03 -4.91755720e+00] [-1.87880070e-02 2.64561938e-04 9.99823455e-01 -1.72419962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.688623853 meters 0.02892011836808588 Centerline is valid? [True, True] Translation: X:63.44, Y:-4.93, Z:-1.73 [[ 9.91402432e-01 1.29667885e-01 1.75344690e-02 6.34369433e+01] [-1.29644961e-01 9.91557471e-01 -2.44265077e-03 -4.92597291e+00] [-1.77031671e-02 1.48394373e-04 9.99843276e-01 -1.72586117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.748623853 meters 0.01610110142274841 Centerline is valid? [True, True] Translation: X:63.50, Y:-4.92, Z:-1.74 [[ 9.90352523e-01 1.37511305e-01 1.71032247e-02 6.34997947e+01] [-1.37490610e-01 9.90500197e-01 -2.38564056e-03 -4.92458130e+00] [-1.72687999e-02 1.10923576e-05 9.99850883e-01 -1.73535650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.808623853 meters 0.017160371937917127 Centerline is valid? [True, True] Translation: X:63.56, Y:-4.93, Z:-1.74 [[ 9.89504703e-01 1.43612096e-01 1.60002536e-02 6.35617633e+01] [-1.43594739e-01 9.89634053e-01 -2.23438577e-03 -4.92577547e+00] [-1.61552807e-02 -8.66170098e-05 9.99869491e-01 -1.73852117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.868623853 meters 0.021511299830025178 Centerline is valid? [True, True] Translation: X:63.62, Y:-4.92, Z:-1.74 [[ 9.88177643e-01 1.52465450e-01 1.61006710e-02 6.36243681e+01] [-1.52449007e-01 9.88308774e-01 -2.25093656e-03 -4.92275288e+00] [-1.62556244e-02 -2.30206105e-04 9.99867842e-01 -1.73834386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92862385299999 meters 0.027833531882762896 Centerline is valid? [True, True] Translation: X:63.69, Y:-4.92, Z:-1.74 [[ 9.86922971e-01 1.60302268e-01 1.69184124e-02 6.36864779e+01] [-1.60285184e-01 9.87067902e-01 -2.36977413e-03 -4.91923851e+00] [-1.70795020e-02 -3.72986330e-04 9.99854065e-01 -1.73842739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98862385299999 meters 0.03404238036125586 Centerline is valid? [True, True] Translation: X:63.75, Y:-4.92, Z:-1.74 [[ 9.86290471e-01 1.64137227e-01 1.70316673e-02 6.37470277e+01] [-1.64120490e-01 9.86437416e-01 -2.38535164e-03 -4.91668391e+00] [-1.71921988e-02 -4.42595981e-04 9.99852105e-01 -1.74180880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.048623853 meters 0.032743094278365345 Centerline is valid? [True, True] Translation: X:63.81, Y:-4.92, Z:-1.74 [[ 9.85827908e-01 1.66905843e-01 1.69048976e-02 6.38089308e+01] [-1.66889742e-01 9.85972719e-01 -2.36870390e-03 -4.92413073e+00] [-1.70631184e-02 -4.86119579e-04 9.99854296e-01 -1.74177802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.108623853 meters 0.03701170337194786 Centerline is valid? [True, True] Translation: X:63.87, Y:-4.92, Z:-1.75 [[ 9.85638562e-01 1.68105463e-01 1.60368024e-02 6.38704070e+01] [-1.68091141e-01 9.85768899e-01 -2.24653390e-03 -4.92353916e+00] [-1.61862357e-02 -4.81373966e-04 9.99868878e-01 -1.74636723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.168623853 meters 0.04103120494739523 Centerline is valid? [True, True] Translation: X:63.93, Y:-4.93, Z:-1.74 [[ 9.85463812e-01 1.69212293e-01 1.51088059e-02 6.39322656e+01] [-1.69199680e-01 9.85579515e-01 -2.11855112e-03 -4.92905841e+00] [-1.52494145e-02 -4.68649653e-04 9.99883611e-01 -1.74116820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.228623853 meters 0.037485626466086594 Centerline is valid? [True, True] Translation: X:63.99, Y:-4.93, Z:-1.75 [[ 9.85398747e-01 1.69632810e-01 1.46294134e-02 6.39940356e+01] [-1.69620993e-01 9.85507230e-01 -2.05384014e-03 -4.93028727e+00] [-1.47657913e-02 -4.57604129e-04 9.99890875e-01 -1.75224497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28862385299999 meters 0.0328801037271137 Centerline is valid? [True, True] Translation: X:64.05, Y:-4.94, Z:-1.75 [[ 9.85910240e-01 1.66588262e-01 1.51442898e-02 6.40548953e+01] [-1.66575180e-01 9.86026456e-01 -2.13008188e-03 -4.94077452e+00] [-1.52875170e-02 -4.22593258e-04 9.99883050e-01 -1.75150690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34862385299999 meters 0.03011948365033372 Centerline is valid? [True, True] Translation: X:64.11, Y:-4.95, Z:-1.75 [[ 9.86804749e-01 1.61081778e-01 1.64026817e-02 6.41146425e+01] [-1.61065651e-01 9.86940995e-01 -2.30816372e-03 -4.94702300e+00] [-1.65602821e-02 -3.64201689e-04 9.99862803e-01 -1.75194070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.408623853 meters 0.024491492213628854 Centerline is valid? [True, True] Translation: X:64.17, Y:-4.96, Z:-1.75 [[ 9.87368283e-01 1.57631263e-01 1.60080491e-02 6.41748088e+01] [-1.57615455e-01 9.87497998e-01 -2.25234508e-03 -4.95787238e+00] [-1.61629564e-02 -2.99221840e-04 9.99869326e-01 -1.75276876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.468623853 meters 0.024381703301242435 Centerline is valid? [True, True] Translation: X:64.24, Y:-4.97, Z:-1.76 [[ 9.87597223e-01 1.56188819e-01 1.60242802e-02 6.42355116e+01] [-1.56172796e-01 9.87727177e-01 -2.25417784e-03 -4.96543692e+00] [-1.61796944e-02 -2.76336859e-04 9.99869062e-01 -1.75548185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.528623853 meters 0.02028187707582168 Centerline is valid? [True, True] Translation: X:64.30, Y:-4.98, Z:-1.76 [[ 9.88452853e-01 1.50780354e-01 1.50413517e-02 6.42955818e+01] [-1.50765575e-01 9.88567274e-01 -2.11816096e-03 -4.97622124e+00] [-1.51887651e-02 -1.74015804e-04 9.99884629e-01 -1.75804537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.588623853 meters 0.017714657220534568 Centerline is valid? [True, True] Translation: X:64.36, Y:-4.99, Z:-1.76 [[ 9.89228658e-01 1.45536135e-01 1.56810645e-02 6.43560746e+01] [-1.45519432e-01 9.89352932e-01 -2.20708773e-03 -4.98549945e+00] [-1.58353181e-02 -9.85851641e-05 9.99874609e-01 -1.76065992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.648623853 meters 0.015997531922684077 Centerline is valid? [True, True] Translation: X:64.42, Y:-5.00, Z:-1.76 [[ 9.89837387e-01 1.41235189e-01 1.65701453e-02 6.44174228e+01] [-1.41215889e-01 9.89976071e-01 -2.33493436e-03 -4.99849096e+00] [-1.67338223e-02 -2.87624818e-05 9.99859979e-01 -1.75876577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70862385299999 meters 0.01572666335518836 Centerline is valid? [True, True] Translation: X:64.48, Y:-5.01, Z:-1.76 [[ 9.90133976e-01 1.39096479e-01 1.69375143e-02 6.44793181e+01] [-1.39075955e-01 9.90278834e-01 -2.38942695e-03 -5.00872949e+00] [-1.71052228e-02 1.02518309e-05 9.99853695e-01 -1.75895366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.768623853 meters 0.016345460160794124 Centerline is valid? [True, True] Translation: X:64.54, Y:-5.02, Z:-1.76 [[ 9.90458689e-01 1.36782932e-01 1.67932849e-02 6.45406736e+01] [-1.36762365e-01 9.90601043e-01 -2.37251570e-03 -5.01670719e+00] [-1.69599652e-02 5.31894320e-05 9.99856168e-01 -1.76183385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.828623853 meters 0.016321061339167234 Centerline is valid? [True, True] Translation: X:64.60, Y:-5.02, Z:-1.76 [[ 9.90423471e-01 1.37139606e-01 1.59398030e-02 6.46022863e+01] [-1.37121077e-01 9.90551728e-01 -2.25476451e-03 -5.02374633e+00] [-1.60984169e-02 4.74887304e-05 9.99870411e-01 -1.76382490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.888623853 meters 0.01586639124376315 Centerline is valid? [True, True] Translation: X:64.66, Y:-5.03, Z:-1.76 [[ 9.90098093e-01 1.39423777e-01 1.63333140e-02 6.46636802e+01] [-1.39404582e-01 9.90232806e-01 -2.31351022e-03 -5.02573067e+00] [-1.64963417e-02 1.36632400e-05 9.99863926e-01 -1.76492954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.948623853 meters 0.015708895251640077 Centerline is valid? [True, True] Translation: X:64.73, Y:-5.03, Z:-1.77 [[ 9.89805753e-01 1.41441760e-01 1.66972860e-02 6.47264207e+01] [-1.41421947e-01 9.89946578e-01 -2.36743169e-03 -5.03062208e+00] [-1.68642748e-02 -1.80651855e-05 9.99857788e-01 -1.76546057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.008623853 meters 0.015813586684091458 Centerline is valid? [True, True] Translation: X:64.79, Y:-5.03, Z:-1.77 [[ 9.89425573e-01 1.43993417e-01 1.74049365e-02 6.47894754e+01] [-1.43972221e-01 9.89578644e-01 -2.47132711e-03 -5.03357856e+00] [-1.75794083e-02 -6.06331266e-05 9.99845468e-01 -1.76547333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06862385299999 meters 0.016233267028098634 Centerline is valid? [True, True] Translation: X:64.85, Y:-5.04, Z:-1.77 [[ 9.89192667e-01 1.45567965e-01 1.75452217e-02 6.48511504e+01] [-1.45546598e-01 9.89348250e-01 -2.49550260e-03 -5.03877143e+00] [-1.77215997e-02 -8.51144617e-05 9.99842956e-01 -1.76684219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.128623853 meters 0.018006915662665494 Centerline is valid? [True, True] Translation: X:64.91, Y:-5.04, Z:-1.77 [[ 9.88702893e-01 1.49036988e-01 1.59551202e-02 6.49134320e+01] [-1.49019750e-01 9.88831613e-01 -2.27056141e-03 -5.03809019e+00] [-1.61153249e-02 -1.32717404e-04 9.99870131e-01 -1.77063937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.188623853 meters 0.020535456048760906 Centerline is valid? [True, True] Translation: X:64.98, Y:-5.03, Z:-1.77 [[ 9.88019881e-01 1.53475711e-01 1.61839582e-02 6.49767715e+01] [-1.53458530e-01 9.88152399e-01 -2.30559718e-03 -5.03457080e+00] [-1.63460703e-02 -2.05590572e-04 9.99866373e-01 -1.77215059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.248623853 meters 0.021110825565511977 Centerline is valid? [True, True] Translation: X:65.04, Y:-5.04, Z:-1.78 [[ 9.87967706e-01 1.53835212e-01 1.59542962e-02 6.50386622e+01] [-1.53818521e-01 9.88096496e-01 -2.27542723e-03 -5.03751801e+00] [-1.61144250e-02 -2.06017619e-04 9.99870133e-01 -1.77553306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.308623853 meters 0.01856500418035594 Centerline is valid? [True, True] Translation: X:65.10, Y:-5.05, Z:-1.78 [[ 9.88375686e-01 1.51153367e-01 1.63144803e-02 6.50997478e+01] [-1.51135496e-01 9.88510310e-01 -2.32997503e-03 -5.04900683e+00] [-1.64792156e-02 -1.62806403e-04 9.99864195e-01 -1.77541290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.368623853 meters 0.016075748191069418 Centerline is valid? [True, True] Translation: X:65.16, Y:-5.06, Z:-1.78 [[ 9.89326525e-01 1.44773614e-01 1.65417006e-02 6.51601680e+01] [-1.44754299e-01 9.89464804e-01 -2.36540620e-03 -5.06233807e+00] [-1.67098789e-02 -5.43231757e-05 9.99860379e-01 -1.77827036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42862385299999 meters 0.0168739871316067 Centerline is valid? [True, True] Translation: X:65.22, Y:-5.08, Z:-1.78 [[ 9.90312523e-01 1.38041125e-01 1.50251274e-02 6.52207350e+01] [-1.38024380e-01 9.90426496e-01 -2.15078714e-03 -5.07956657e+00] [-1.51781814e-02 5.61175352e-05 9.99884803e-01 -1.78242856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48862385299999 meters 0.018749732632334055 Centerline is valid? [True, True] Translation: X:65.28, Y:-5.09, Z:-1.78 [[ 9.91048633e-01 1.32590151e-01 1.55710818e-02 6.52819448e+01] [-1.32571451e-01 9.91170939e-01 -2.23162500e-03 -5.09211290e+00] [-1.57294953e-02 1.47367999e-04 9.99876273e-01 -1.78211751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.548623853 meters 0.021769402911354388 Centerline is valid? [True, True] Translation: X:65.34, Y:-5.11, Z:-1.79 [[ 9.91463847e-01 1.29504618e-01 1.50994494e-02 6.53417886e+01] [-1.29486634e-01 9.91578800e-01 -2.16676773e-03 -5.10621747e+00] [-1.52529004e-02 1.93094989e-04 9.99883649e-01 -1.78571375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.608623853 meters 0.02460524603091764 Centerline is valid? [True, True] Translation: X:65.40, Y:-5.12, Z:-1.79 [[ 9.91788718e-01 1.26942968e-01 1.55119675e-02 6.54015716e+01] [-1.26923619e-01 9.91909988e-01 -2.22952704e-03 -5.12049130e+00] [-1.56694983e-02 2.42384720e-04 9.99877196e-01 -1.78749581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.668623853 meters 0.025749053292091994 Centerline is valid? [True, True] Translation: X:65.46, Y:-5.13, Z:-1.79 [[ 9.91763267e-01 1.27060450e-01 1.61636975e-02 6.54619930e+01] [-1.27039432e-01 9.91894943e-01 -2.32468825e-03 -5.13154296e+00] [-1.63280658e-02 2.52113454e-04 9.99866656e-01 -1.78905850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.728623853 meters 0.023426428685460507 Centerline is valid? [True, True] Translation: X:65.52, Y:-5.14, Z:-1.79 [[ 9.91398659e-01 1.29892147e-01 1.60227515e-02 6.55242546e+01] [-1.29871852e-01 9.91528108e-01 -2.30516589e-03 -5.13699165e+00] [-1.61864314e-02 2.04433970e-04 9.99868970e-01 -1.79097754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78862385299999 meters 0.018905476565091093 Centerline is valid? [True, True] Translation: X:65.59, Y:-5.14, Z:-1.79 [[ 9.90858333e-01 1.33931861e-01 1.61870345e-02 6.55866952e+01] [-1.33911646e-01 9.90990533e-01 -2.33127507e-03 -5.13899068e+00] [-1.63534299e-02 1.42330906e-04 9.99866264e-01 -1.79070348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84862385299999 meters 0.017433322606363415 Centerline is valid? [True, True] Translation: X:65.65, Y:-5.15, Z:-1.79 [[ 9.90434098e-01 1.36938667e-01 1.69734532e-02 6.56475832e+01] [-1.36916825e-01 9.90579523e-01 -2.44778140e-03 -5.14510536e+00] [-1.71487511e-02 1.00414836e-04 9.99852944e-01 -1.79185385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.908623853 meters 0.015356342960723551 Centerline is valid? [True, True] Translation: X:65.71, Y:-5.15, Z:-1.79 [[ 9.89689509e-01 1.42222330e-01 1.69553495e-02 6.57101111e+01] [-1.42201267e-01 9.89834738e-01 -2.44763225e-03 -5.14518956e+00] [-1.71311019e-02 1.13237790e-05 9.99853252e-01 -1.79178466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.968623853 meters 0.016093121359435775 Centerline is valid? [True, True] Translation: X:65.77, Y:-5.15, Z:-1.79 [[ 9.88905483e-01 1.47645282e-01 1.63345107e-02 6.57719223e+01] [-1.47626426e-01 9.89040376e-01 -2.36083453e-03 -5.14566524e+00] [-1.65040566e-02 -7.67632200e-05 9.99863796e-01 -1.79447186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.028623853 meters 0.01826362112766471 Centerline is valid? [True, True] Translation: X:65.83, Y:-5.15, Z:-1.80 [[ 9.88175976e-01 1.52332860e-01 1.74051585e-02 6.58335137e+01] [-1.52312122e-01 9.88329233e-01 -2.51871408e-03 -5.14639020e+00] [-1.75857099e-02 -1.62083885e-04 9.99845346e-01 -1.79524921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.088623853 meters 0.019809410601040005 Centerline is valid? [True, True] Translation: X:65.90, Y:-5.15, Z:-1.79 [[ 9.87680841e-01 1.55400476e-01 1.83643362e-02 6.58959797e+01] [-1.55377864e-01 9.87851528e-01 -2.66052093e-03 -5.14776647e+00] [-1.85546838e-02 -2.25665779e-04 9.99827822e-01 -1.79494050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.148623853 meters 0.02904624136903477 Centerline is valid? [True, True] Translation: X:65.96, Y:-5.15, Z:-1.79 [[ 9.87516318e-01 1.56481244e-01 1.80316779e-02 6.59581780e+01] [-1.56459568e-01 9.87680902e-01 -2.61535729e-03 -5.15265632e+00] [-1.82187983e-02 -2.38520548e-04 9.99833995e-01 -1.79106274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20862385299999 meters 0.020926408906158885 Centerline is valid? [True, True] Translation: X:66.02, Y:-5.16, Z:-1.80 [[ 9.87510229e-01 1.56507947e-01 1.81331359e-02 6.60190612e+01] [-1.56485976e-01 9.87676671e-01 -2.63309986e-03 -5.16064013e+00] [-1.83217763e-02 -2.37368420e-04 9.99832114e-01 -1.79960836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.268623853 meters 0.024332835804224042 Centerline is valid? [True, True] Translation: X:66.08, Y:-5.17, Z:-1.80 [[ 9.87769183e-01 1.54883229e-01 1.79784906e-02 6.60812445e+01] [-1.54861301e-01 9.87932763e-01 -2.61398564e-03 -5.16716032e+00] [-1.81664024e-02 -2.02157982e-04 9.99834957e-01 -1.79654846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.328623853 meters 0.0177573607352017 Centerline is valid? [True, True] Translation: X:66.14, Y:-5.18, Z:-1.80 [[ 9.88135195e-01 1.52358040e-01 1.93872281e-02 6.61416100e+01] [-1.52331982e-01 9.88325352e-01 -2.82250456e-03 -5.17675253e+00] [-1.95909203e-02 -1.64278780e-04 9.99808066e-01 -1.80154084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.388623853 meters 0.0298829604149696 Centerline is valid? [True, True] Translation: X:66.20, Y:-5.19, Z:-1.80 [[ 9.88286539e-01 1.51463653e-01 1.86676092e-02 6.62043382e+01] [-1.51439291e-01 9.88462818e-01 -2.72004473e-03 -5.18647503e+00] [-1.88642255e-02 -1.38825898e-04 9.99822045e-01 -1.79654479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.448623853 meters 0.015224637899939712 Centerline is valid? [True, True] Translation: X:66.27, Y:-5.20, Z:-1.81 [[ 9.88848156e-01 1.47713204e-01 1.89772005e-02 6.62655990e+01] [-1.47687240e-01 9.89030235e-01 -2.77012730e-03 -5.19880373e+00] [-1.91782094e-02 -6.34550978e-05 9.99816079e-01 -1.80548286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.508623853 meters 0.01517541570172029 Centerline is valid? [True, True] Translation: X:66.33, Y:-5.21, Z:-1.81 [[ 9.89409572e-01 1.44017088e-01 1.81046297e-02 6.63273967e+01] [-1.43992843e-01 9.89575201e-01 -2.64251111e-03 -5.20939872e+00] [-1.82964594e-02 7.58867162e-06 9.99832606e-01 -1.80977917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56862385299999 meters 0.015614514879340163 Centerline is valid? [True, True] Translation: X:66.39, Y:-5.22, Z:-1.81 [[ 9.89836588e-01 1.41007977e-01 1.84466506e-02 6.63891534e+01] [-1.40982213e-01 9.90008457e-01 -2.69625416e-03 -5.22173210e+00] [-1.86425334e-02 6.82013930e-05 9.99826211e-01 -1.81035599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.628623853 meters 0.01756819670699369 Centerline is valid? [True, True] Translation: X:66.45, Y:-5.24, Z:-1.81 [[ 9.90331515e-01 1.37525837e-01 1.81695818e-02 6.64487546e+01] [-1.37500182e-01 9.90498171e-01 -2.65971982e-03 -5.23575074e+00] [-1.83627177e-02 1.35683558e-04 9.99831382e-01 -1.81366041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.688623853 meters 0.019274080269170865 Centerline is valid? [True, True] Translation: X:66.51, Y:-5.25, Z:-1.81 [[ 9.90702435e-01 1.34716219e-01 1.89795849e-02 6.65099469e+01] [-1.34687648e-01 9.90884201e-01 -2.78150620e-03 -5.24890803e+00] [-1.91812848e-02 1.99329303e-04 9.99816002e-01 -1.81435738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.748623853 meters 0.020351897133851906 Centerline is valid? [True, True] Translation: X:66.57, Y:-5.26, Z:-1.82 [[ 9.90842266e-01 1.33758060e-01 1.84495318e-02 6.65714221e+01] [-1.33730841e-01 9.91013993e-01 -2.70684757e-03 -5.25922985e+00] [-1.86458069e-02 2.14787579e-04 9.99826129e-01 -1.81748003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.808623853 meters 0.02076930818559217 Centerline is valid? [True, True] Translation: X:66.63, Y:-5.27, Z:-1.82 [[ 9.90873761e-01 1.33561914e-01 1.81770226e-02 6.66334649e+01] [-1.33535409e-01 9.91040447e-01 -2.66963634e-03 -5.27047704e+00] [-1.83707263e-02 2.17996462e-04 9.99831220e-01 -1.81980736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.868623853 meters 0.02005392861748945 Centerline is valid? [True, True] Translation: X:66.70, Y:-5.28, Z:-1.82 [[ 9.90771916e-01 1.34120962e-01 1.95595970e-02 6.66953371e+01] [-1.34090293e-01 9.90964942e-01 -2.87705928e-03 -5.28046182e+00] [-1.97687488e-02 2.27757443e-04 9.99804553e-01 -1.81857009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92862385299999 meters 0.01871501787167843 Centerline is valid? [True, True] Translation: X:66.76, Y:-5.29, Z:-1.82 [[ 9.90617517e-01 1.35160214e-01 2.02151217e-02 6.67573876e+01] [-1.35127599e-01 9.90823733e-01 -2.97701714e-03 -5.28860122e+00] [-2.04319966e-02 2.17464466e-04 9.99791221e-01 -1.81855345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98862385299999 meters 0.017552207815854034 Centerline is valid? [True, True] Translation: X:66.82, Y:-5.30, Z:-1.82 [[ 9.90164420e-01 1.38329481e-01 2.09613178e-02 6.68176827e+01] [-1.38295041e-01 9.90386252e-01 -3.09082214e-03 -5.29620418e+00] [-2.11873528e-02 1.61575802e-04 9.99775510e-01 -1.82035457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.048623853 meters 0.015103323661635268 Centerline is valid? [True, True] Translation: X:66.88, Y:-5.30, Z:-1.82 [[ 9.89562404e-01 1.42480800e-01 2.15747484e-02 6.68796305e+01] [-1.42445224e-01 9.89797563e-01 -3.18477623e-03 -5.29969974e+00] [-2.18084028e-02 7.83149606e-05 9.99762165e-01 -1.81961357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.108623853 meters 0.014439393871745056 Centerline is valid? [True, True] Translation: X:66.94, Y:-5.31, Z:-1.82 [[ 9.89129088e-01 1.45563086e-01 2.08575064e-02 6.69428990e+01] [-1.45530452e-01 9.89348972e-01 -3.08215787e-03 -5.30526223e+00] [-2.10840010e-02 1.32496692e-05 9.99777708e-01 -1.82293121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.168623853 meters 0.01872674523062847 Centerline is valid? [True, True] Translation: X:67.00, Y:-5.31, Z:-1.82 [[ 9.88611178e-01 1.49090920e-01 2.04899246e-02 6.70046809e+01] [-1.49060100e-01 9.88823490e-01 -3.03187037e-03 -5.30964909e+00] [-2.07129431e-02 -5.68892712e-05 9.99785462e-01 -1.82202185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.228623853 meters 0.015559141269393723 Centerline is valid? [True, True] Translation: X:67.07, Y:-5.32, Z:-1.83 [[ 9.88156913e-01 1.51980938e-01 2.11591462e-02 6.70678263e+01] [-1.51948649e-01 9.88383418e-01 -3.13484810e-03 -5.31524184e+00] [-2.13897864e-02 -1.17381866e-04 9.99771205e-01 -1.82718390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28862385299999 meters 0.01699477876931149 Centerline is valid? [True, True] Translation: X:67.13, Y:-5.32, Z:-1.83 [[ 9.87709520e-01 1.54847161e-01 2.12664240e-02 6.71298295e+01] [-1.54815117e-01 9.87938422e-01 -3.15498889e-03 -5.31953505e+00] [-2.14984584e-02 -1.76151349e-04 9.99768866e-01 -1.82876736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34862385299999 meters 0.02067589923409564 Centerline is valid? [True, True] Translation: X:67.19, Y:-5.32, Z:-1.83 [[ 9.87073955e-01 1.58945235e-01 2.05285067e-02 6.71916066e+01] [-1.58916192e-01 9.87287369e-01 -3.04885794e-03 -5.31916873e+00] [-2.07521368e-02 -2.52863862e-04 9.99784619e-01 -1.83209838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.408623853 meters 0.021961211977722068 Centerline is valid? [True, True] Translation: X:67.25, Y:-5.32, Z:-1.84 [[ 9.86821356e-01 1.60530534e-01 2.03361682e-02 6.72533510e+01] [-1.60502308e-01 9.87030835e-01 -3.02329166e-03 -5.32346000e+00] [-2.05577557e-02 -2.80553160e-04 9.99788628e-01 -1.83505984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.468623853 meters 0.019187291167891286 Centerline is valid? [True, True] Translation: X:67.31, Y:-5.34, Z:-1.84 [[ 9.87009553e-01 1.59391643e-01 2.01605068e-02 6.73143689e+01] [-1.59363601e-01 9.87215397e-01 -3.00029009e-03 -5.33581101e+00] [-2.03809839e-02 -2.51535980e-04 9.99792255e-01 -1.83618134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.528623853 meters 0.0171869472574879 Centerline is valid? [True, True] Translation: X:67.37, Y:-5.35, Z:-1.84 [[ 9.87780716e-01 1.54566694e-01 1.99597986e-02 6.73748908e+01] [-1.54538141e-01 9.87982346e-01 -2.97445439e-03 -5.34618200e+00] [-2.01796802e-02 -1.46441478e-04 9.99796359e-01 -1.83988185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.588623853 meters 0.014458571238101755 Centerline is valid? [True, True] Translation: X:67.43, Y:-5.37, Z:-1.84 [[ 9.88830080e-01 1.47578370e-01 2.08733921e-02 6.74344624e+01] [-1.47545546e-01 9.89050365e-01 -3.11242424e-03 -5.36625760e+00] [-2.11041626e-02 -2.11731998e-06 9.99777282e-01 -1.84018888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64862385299999 meters 0.0163940050231716 Centerline is valid? [True, True] Translation: X:67.49, Y:-5.39, Z:-1.84 [[ 9.89719479e-01 1.41439926e-01 2.12155764e-02 6.74943728e+01] [-1.41404532e-01 9.89946832e-01 -3.16685827e-03 -5.38585815e+00] [-2.14502129e-02 1.34322650e-04 9.99769909e-01 -1.84056605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70862385299999 meters 0.027390386367708904 Centerline is valid? [True, True] Translation: X:67.55, Y:-5.40, Z:-1.84 [[ 9.90139295e-01 1.38499090e-01 2.10280482e-02 6.75549805e+01] [-1.38463583e-01 9.90362541e-01 -3.14226481e-03 -5.39959917e+00] [-2.12605921e-02 1.99660960e-04 9.99773948e-01 -1.83619634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.768623853 meters 0.019043479541183222 Centerline is valid? [True, True] Translation: X:67.62, Y:-5.41, Z:-1.84 [[ 9.90473703e-01 1.36055178e-01 2.12327876e-02 6.76162167e+01] [-1.36018338e-01 9.90701227e-01 -3.17643660e-03 -5.41117288e+00] [-2.14675193e-02 2.58128447e-04 9.99769513e-01 -1.84258027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.828623853 meters 0.01976842109794435 Centerline is valid? [True, True] Translation: X:67.68, Y:-5.42, Z:-1.84 [[ 9.90456786e-01 1.36148681e-01 2.14217414e-02 6.76774850e+01] [-1.36111123e-01 9.90688381e-01 -3.20846810e-03 -5.42358386e+00] [-2.16590990e-02 2.62111737e-04 9.99765380e-01 -1.84403661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.888623853 meters 0.018741401302991904 Centerline is valid? [True, True] Translation: X:67.74, Y:-5.43, Z:-1.85 [[ 9.90278004e-01 1.37401886e-01 2.16840209e-02 6.77393286e+01] [-1.37363610e-01 9.90515352e-01 -3.25196162e-03 -5.43208233e+00] [-2.19251813e-02 2.41750664e-04 9.99759585e-01 -1.84543264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.948623853 meters 0.01732009089328856 Centerline is valid? [True, True] Translation: X:67.80, Y:-5.44, Z:-1.85 [[ 9.89970018e-01 1.39454991e-01 2.26200858e-02 6.78008339e+01] [-1.39413781e-01 9.90228389e-01 -3.39642713e-03 -5.43976415e+00] [-2.28726999e-02 2.08809327e-04 9.99738364e-01 -1.84548442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.008623853 meters 0.016835155505932176 Centerline is valid? [True, True] Translation: X:67.86, Y:-5.45, Z:-1.85 [[ 9.89836023e-01 1.40407527e-01 2.25914681e-02 6.78618275e+01] [-1.40366581e-01 9.90093778e-01 -3.39599941e-03 -5.44943267e+00] [-2.28444959e-02 1.90395406e-04 9.99739012e-01 -1.84709360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06862385299999 meters 0.01657291936281842 Centerline is valid? [True, True] Translation: X:67.92, Y:-5.46, Z:-1.85 [[ 9.89705584e-01 1.41389779e-01 2.21762785e-02 6.79236222e+01] [-1.41350491e-01 9.89953990e-01 -3.33717101e-03 -5.46003683e+00] [-2.24253372e-02 1.68188935e-04 9.99748506e-01 -1.84983849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.128623853 meters 0.015600368825090152 Centerline is valid? [True, True] Translation: X:67.99, Y:-5.47, Z:-1.85 [[ 9.89414559e-01 1.43575642e-01 2.10918391e-02 6.79850573e+01] [-1.43540515e-01 9.89639339e-01 -3.17793757e-03 -5.46889006e+00] [-2.13295882e-02 1.16764253e-04 9.99772492e-01 -1.85428935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.188623853 meters 0.014702621818053301 Centerline is valid? [True, True] Translation: X:68.05, Y:-5.48, Z:-1.85 [[ 9.89098197e-01 1.45623420e-01 2.18764058e-02 6.80455516e+01] [-1.45586036e-01 9.89340090e-01 -3.30042629e-03 -5.47715576e+00] [-2.21238246e-02 7.95464993e-05 9.99755235e-01 -1.85435567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.248623853 meters 0.015222588626828753 Centerline is valid? [True, True] Translation: X:68.11, Y:-5.49, Z:-1.86 [[ 9.88978644e-01 1.46429752e-01 2.18990812e-02 6.81059196e+01] [-1.46392452e-01 9.89221069e-01 -3.30549384e-03 -5.48958141e+00] [-2.21470551e-02 6.32026313e-05 9.99754722e-01 -1.85846719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.308623853 meters 0.014472327635033798 Centerline is valid? [True, True] Translation: X:68.17, Y:-5.50, Z:-1.86 [[ 9.88812712e-01 1.47583301e-01 2.16469383e-02 6.81683148e+01] [-1.47547049e-01 9.89049628e-01 -3.27117496e-03 -5.49694833e+00] [-2.18926671e-02 4.06375035e-05 9.99760326e-01 -1.85839142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.368623853 meters 0.014107131779764297 Centerline is valid? [True, True] Translation: X:68.23, Y:-5.51, Z:-1.86 [[ 9.88739504e-01 1.47940319e-01 2.25356321e-02 6.82303353e+01] [-1.47901023e-01 9.88996289e-01 -3.40981158e-03 -5.50657162e+00] [-2.27921051e-02 3.83723799e-05 9.99740225e-01 -1.85812594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42862385299999 meters 0.01378551831775093 Centerline is valid? [True, True] Translation: X:68.29, Y:-5.52, Z:-1.86 [[ 9.88520126e-01 1.49273131e-01 2.33557818e-02 6.82927473e+01] [-1.49231181e-01 9.88796001e-01 -3.53871378e-03 -5.51691173e+00] [-2.36223386e-02 1.26788878e-05 9.99720954e-01 -1.85733521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48862385299999 meters 0.013644880532711807 Centerline is valid? [True, True] Translation: X:68.35, Y:-5.53, Z:-1.86 [[ 9.88376413e-01 1.50093149e-01 2.41684148e-02 6.83541884e+01] [-1.50048353e-01 9.88671860e-01 -3.66679000e-03 -5.52824513e+00] [-2.44449917e-02 -2.26207222e-06 9.99701177e-01 -1.85766911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.548623853 meters 0.013699735458144655 Centerline is valid? [True, True] Translation: X:68.42, Y:-5.54, Z:-1.86 [[ 9.88270432e-01 1.50823970e-01 2.39517042e-02 6.84154309e+01] [-1.50780083e-01 9.88560635e-01 -3.63822353e-03 -5.53732039e+00] [-2.42264432e-02 -1.58912107e-05 9.99706497e-01 -1.86038310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.608623853 meters 0.013926718890704062 Centerline is valid? [True, True] Translation: X:68.48, Y:-5.55, Z:-1.86 [[ 9.88136352e-01 1.51775313e-01 2.34692192e-02 6.84767218e+01] [-1.51733349e-01 9.88415021e-01 -3.56900285e-03 -5.54979080e+00] [-2.37390153e-02 -3.44017772e-05 9.99718189e-01 -1.86245423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.668623853 meters 0.014537357709369958 Centerline is valid? [True, True] Translation: X:68.54, Y:-5.56, Z:-1.87 [[ 9.87839446e-01 1.53865586e-01 2.23296066e-02 6.85370920e+01] [-1.53828045e-01 9.88091785e-01 -3.39953776e-03 -5.55802766e+00] [-2.25867728e-02 -7.67222449e-05 9.99744883e-01 -1.86640961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.728623853 meters 0.015622552034422454 Centerline is valid? [True, True] Translation: X:68.60, Y:-5.56, Z:-1.87 [[ 9.87492640e-01 1.56145143e-01 2.18398813e-02 6.85989374e+01] [-1.56109719e-01 9.87734114e-01 -3.32812524e-03 -5.56349958e+00] [-2.20916664e-02 -1.22918544e-04 9.99755942e-01 -1.86943495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78862385299999 meters 0.017654271931801954 Centerline is valid? [True, True] Translation: X:68.66, Y:-5.57, Z:-1.87 [[ 9.87065020e-01 1.58938901e-01 2.10016984e-02 6.86602209e+01] [-1.58906706e-01 9.87288405e-01 -3.20371387e-03 -5.56842103e+00] [-2.12439281e-02 -1.75036810e-04 9.99774307e-01 -1.87365682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84862385299999 meters 0.018047188866130347 Centerline is valid? [True, True] Translation: X:68.72, Y:-5.58, Z:-1.88 [[ 9.86976744e-01 1.59461877e-01 2.11852747e-02 6.87213337e+01] [-1.59429171e-01 9.87204070e-01 -3.23477931e-03 -5.57990795e+00] [-2.14300134e-02 -1.84898833e-04 9.99770334e-01 -1.87528033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.908623853 meters 0.017401363295387332 Centerline is valid? [True, True] Translation: X:68.78, Y:-5.59, Z:-1.88 [[ 9.87075957e-01 1.58787614e-01 2.16228731e-02 6.87826258e+01] [-1.58753298e-01 9.87312749e-01 -3.30542223e-03 -5.59077147e+00] [-2.18733984e-02 -1.69999602e-04 9.99760734e-01 -1.87588779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.968623853 meters 0.015405066846186814 Centerline is valid? [True, True] Translation: X:68.84, Y:-5.61, Z:-1.88 [[ 9.87347035e-01 1.57043981e-01 2.19777071e-02 6.88429754e+01] [-1.57008021e-01 9.87591601e-01 -3.36309259e-03 -5.60555131e+00] [-2.22331524e-02 -1.30136792e-04 9.99752804e-01 -1.87620014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.028623853 meters 0.014927359136495172 Centerline is valid? [True, True] Translation: X:68.90, Y:-5.62, Z:-1.88 [[ 9.87665025e-01 1.55092046e-01 2.15465701e-02 6.89027435e+01] [-1.55056939e-01 9.87900021e-01 -3.30077407e-03 -5.62005776e+00] [-2.17977809e-02 -8.08860879e-05 9.99762397e-01 -1.87979478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.088623853 meters 0.014787580596098377 Centerline is valid? [True, True] Translation: X:68.96, Y:-5.63, Z:-1.88 [[ 9.87718152e-01 1.54783373e-01 2.13297767e-02 6.89647964e+01] [-1.54748828e-01 9.87948431e-01 -3.27072130e-03 -5.63095673e+00] [-2.15789727e-02 -7.02071539e-05 9.99767144e-01 -1.88189584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14862385299999 meters 0.014653788638839085 Centerline is valid? [True, True] Translation: X:69.03, Y:-5.64, Z:-1.89 [[ 9.87863093e-01 1.53940635e-01 2.07072419e-02 6.90257532e+01] [-1.53907816e-01 9.88080097e-01 -3.17887507e-03 -5.64405690e+00] [-2.09497717e-02 -4.67130255e-05 9.99780528e-01 -1.88542767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20862385299999 meters 0.014575279139386362 Centerline is valid? [True, True] Translation: X:69.09, Y:-5.66, Z:-1.89 [[ 9.87882624e-01 1.53926518e-01 1.98632501e-02 6.90872367e+01] [-1.53896261e-01 9.88082297e-01 -3.05217912e-03 -5.65793917e+00] [-2.00963371e-02 -4.16851991e-05 9.99798047e-01 -1.88624182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.268623853 meters 0.014856373723089707 Centerline is valid? [True, True] Translation: X:69.15, Y:-5.67, Z:-1.89 [[ 9.87741903e-01 1.54877749e-01 1.94631921e-02 6.91497881e+01] [-1.54848810e-01 9.87933641e-01 -2.99438763e-03 -5.66724886e+00] [-1.96921063e-02 -5.61699950e-05 9.99806090e-01 -1.88913306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.328623853 meters 0.015125394090238938 Centerline is valid? [True, True] Translation: X:69.21, Y:-5.68, Z:-1.89 [[ 9.87512732e-01 1.56274583e-01 1.99213398e-02 6.92117781e+01] [-1.56244469e-01 9.87713647e-01 -3.06886387e-03 -5.67629506e+00] [-2.01561646e-02 -8.20570100e-05 9.99796841e-01 -1.88976074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.388623853 meters 0.016580772572427314 Centerline is valid? [True, True] Translation: X:69.27, Y:-5.68, Z:-1.89 [[ 9.86935400e-01 1.59784997e-01 2.06705370e-02 6.92741763e+01] [-1.59753254e-01 9.87151828e-01 -3.18860190e-03 -5.68151520e+00] [-2.09144491e-02 -1.55241462e-04 9.99781257e-01 -1.88930904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.448623853 meters 0.019667445477560556 Centerline is valid? [True, True] Translation: X:69.34, Y:-5.68, Z:-1.89 [[ 9.86359691e-01 1.63479222e-01 1.92120959e-02 6.93351909e+01] [-1.63452432e-01 9.86546754e-01 -2.96715617e-03 -5.68487928e+00] [-1.94386993e-02 -2.13580560e-04 9.99811028e-01 -1.89448204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.508623853 meters 0.0220321266937811 Centerline is valid? [True, True] Translation: X:69.40, Y:-5.69, Z:-1.90 [[ 9.85963992e-01 1.65930919e-01 1.84915411e-02 6.93966207e+01] [-1.65906515e-01 9.86137347e-01 -2.85678217e-03 -5.69019898e+00] [-1.87092277e-02 -2.51182780e-04 9.99824936e-01 -1.89779334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56862385299999 meters 0.024100437513286287 Centerline is valid? [True, True] Translation: X:69.46, Y:-5.69, Z:-1.90 [[ 9.85591720e-01 1.68029372e-01 1.93673094e-02 6.94581424e+01] [-1.68002945e-01 9.85781943e-01 -2.99520524e-03 -5.69497403e+00] [-1.95952264e-02 -3.01715531e-04 9.99807950e-01 -1.89750673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.628623853 meters 0.027351339723357553 Centerline is valid? [True, True] Translation: X:69.52, Y:-5.70, Z:-1.89 [[ 9.85446827e-01 1.68804768e-01 1.99875300e-02 6.95209280e+01] [-1.68776723e-01 9.85649453e-01 -3.09398251e-03 -5.70304922e+00] [-2.02229771e-02 -3.24474566e-04 9.99795442e-01 -1.89372567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.688623853 meters 0.03023810387150882 Centerline is valid? [True, True] Translation: X:69.58, Y:-5.71, Z:-1.89 [[ 9.85367522e-01 1.69210090e-01 2.04644035e-02 6.95829997e+01] [-1.69180695e-01 9.85579947e-01 -3.17179118e-03 -5.71095671e+00] [-2.07060048e-02 -3.36802008e-04 9.99785551e-01 -1.89388012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.748623853 meters 0.029751403178214345 Centerline is valid? [True, True] Translation: X:69.64, Y:-5.72, Z:-1.89 [[ 9.85479341e-01 1.68502237e-01 2.09156577e-02 6.96443677e+01] [-1.68471301e-01 9.85701217e-01 -3.24511028e-03 -5.72131633e+00] [-2.11633976e-02 -3.25698913e-04 9.99775977e-01 -1.89478566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.808623853 meters 0.032313858580589376 Centerline is valid? [True, True] Translation: X:69.70, Y:-5.73, Z:-1.90 [[ 9.85938314e-01 1.65941062e-01 1.97282597e-02 6.97049730e+01] [-1.65912969e-01 9.86135640e-01 -3.06371272e-03 -5.73267107e+00] [-1.99631357e-02 -2.52542392e-04 9.99800685e-01 -1.89802004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.868623853 meters 0.018071728037898988 Centerline is valid? [True, True] Translation: X:69.77, Y:-5.75, Z:-1.90 [[ 9.86338602e-01 1.63475689e-01 2.02943909e-02 6.97653054e+01] [-1.63445374e-01 9.86547342e-01 -3.15476081e-03 -5.74776122e+00] [-2.05371041e-02 -2.05361957e-04 9.99789070e-01 -1.90389448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92862385299999 meters 0.01728584131255251 Centerline is valid? [True, True] Translation: X:69.83, Y:-5.76, Z:-1.91 [[ 9.86836121e-01 1.60516133e-01 1.97241500e-02 6.98254460e+01] [-1.60486842e-01 9.87033207e-01 -3.06941358e-03 -5.75762247e+00] [-1.99610814e-02 -1.36458344e-04 9.99800748e-01 -1.90882254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98862385299999 meters 0.01566911078596799 Centerline is valid? [True, True] Translation: X:69.89, Y:-5.77, Z:-1.91 [[ 9.86942588e-01 1.59828419e-01 1.99801117e-02 6.98865339e+01] [-1.59798160e-01 9.87144803e-01 -3.11227450e-03 -5.76756105e+00] [-2.02206933e-02 -1.21148831e-04 9.99795534e-01 -1.90733351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.048623853 meters 0.015545976229899365 Centerline is valid? [True, True] Translation: X:69.95, Y:-5.77, Z:-1.91 [[ 9.86999581e-01 1.59499447e-01 1.97927858e-02 6.99484279e+01] [-1.59469612e-01 9.87198012e-01 -3.08683307e-03 -5.77337205e+00] [-2.00317469e-02 -1.09644919e-04 9.99799338e-01 -1.91022742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.108623853 meters 0.022218205955594882 Centerline is valid? [True, True] Translation: X:70.01, Y:-5.79, Z:-1.91 [[ 9.87274273e-01 1.57844729e-01 1.93533242e-02 7.00103417e+01] [-1.57815853e-01 9.87463942e-01 -3.01999489e-03 -5.78508805e+00] [-1.95874001e-02 -7.26981064e-05 9.99808146e-01 -1.90691573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.168623853 meters 0.014150554274685338 Centerline is valid? [True, True] Translation: X:70.07, Y:-5.80, Z:-1.91 [[ 9.87635569e-01 1.55396753e-01 2.06840943e-02 7.00704865e+01] [-1.55363134e-01 9.87852139e-01 -3.23228430e-03 -5.79672630e+00] [-2.09351133e-02 -2.12267799e-05 9.99780836e-01 -1.91221403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.228623853 meters 0.014310388524965205 Centerline is valid? [True, True] Translation: X:70.13, Y:-5.81, Z:-1.91 [[ 9.87967602e-01 1.53215790e-01 2.10935734e-02 7.01320280e+01] [-1.53180262e-01 9.88192755e-01 -3.29945068e-03 -5.80962817e+00] [-2.13500444e-02 2.86312813e-05 9.99772061e-01 -1.91326835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28862385299999 meters 0.02371716025988251 Centerline is valid? [True, True] Translation: X:70.19, Y:-5.82, Z:-1.91 [[ 9.88222029e-01 1.51550360e-01 2.12063777e-02 7.01940403e+01] [-1.51513981e-01 9.88449535e-01 -3.32114743e-03 -5.82143705e+00] [-2.14647553e-02 6.89683377e-05 9.99769603e-01 -1.90856832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34862385299999 meters 0.016665968451909687 Centerline is valid? [True, True] Translation: X:70.26, Y:-5.83, Z:-1.91 [[ 9.88195069e-01 1.51673280e-01 2.15806096e-02 7.02556678e+01] [-1.51635543e-01 9.88430681e-01 -3.38394746e-03 -5.83210424e+00] [-2.18441910e-02 7.16127417e-05 9.99761385e-01 -1.91228915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.408623853 meters 0.014603569844325046 Centerline is valid? [True, True] Translation: X:70.32, Y:-5.84, Z:-1.92 [[ 9.88027206e-01 1.52871994e-01 2.07940546e-02 7.03166050e+01] [-1.52837140e-01 9.88245997e-01 -3.26455644e-03 -5.84045831e+00] [-2.10487005e-02 4.73667301e-05 9.99778450e-01 -1.91983156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.468623853 meters 0.014646573719431243 Centerline is valid? [True, True] Translation: X:70.38, Y:-5.85, Z:-1.92 [[ 9.87935061e-01 1.53576873e-01 1.99614489e-02 7.03779818e+01] [-1.53544820e-01 9.88136703e-01 -3.13772942e-03 -5.84999586e+00] [-2.02065230e-02 3.48958316e-05 9.99795827e-01 -1.92420616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.528623853 meters 0.014897835343824991 Centerline is valid? [True, True] Translation: X:70.44, Y:-5.86, Z:-1.93 [[ 9.87978623e-01 1.53321802e-01 1.97652744e-02 7.04400540e+01] [-1.53290290e-01 9.88176312e-01 -3.10861439e-03 -5.86171351e+00] [-2.00081943e-02 4.14199123e-05 9.99799815e-01 -1.92675774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.588623853 meters 0.014905138567614044 Centerline is valid? [True, True] Translation: X:70.50, Y:-5.88, Z:-1.93 [[ 9.88076988e-01 1.52550569e-01 2.07891772e-02 7.05018965e+01] [-1.52515453e-01 9.88295664e-01 -3.27368234e-03 -5.87557192e+00] [-2.10452558e-02 6.39794156e-05 9.99778522e-01 -1.92634420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64862385299999 meters 0.025491492209393365 Centerline is valid? [True, True] Translation: X:70.56, Y:-5.89, Z:-1.92 [[ 9.88139819e-01 1.52090518e-01 2.11700838e-02 7.05627554e+01] [-1.52053911e-01 9.88366566e-01 -3.33768635e-03 -5.88968824e+00] [-2.14314335e-02 7.91067477e-05 9.99770317e-01 -1.92039611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70862385299999 meters 0.014239218942920944 Centerline is valid? [True, True] Translation: X:70.62, Y:-5.89, Z:-1.93 [[ 9.87647055e-01 1.55299407e-01 2.08659890e-02 7.06249733e+01] [-1.55264485e-01 9.87867448e-01 -3.29328934e-03 -5.89407298e+00] [-2.11242771e-02 1.28604934e-05 9.99776857e-01 -1.92981836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.768623853 meters 0.018452618756983733 Centerline is valid? [True, True] Translation: X:70.69, Y:-5.90, Z:-1.93 [[ 9.87135995e-01 1.58556426e-01 2.05520441e-02 7.06886016e+01] [-1.58523191e-01 9.87349916e-01 -3.24669337e-03 -5.89850351e+00] [-2.08068431e-02 -5.30477181e-05 9.99783513e-01 -1.92783297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.828623853 meters 0.01484606134751155 Centerline is valid? [True, True] Translation: X:70.75, Y:-5.91, Z:-1.93 [[ 9.86665434e-01 1.61382927e-01 2.11393698e-02 7.07513668e+01] [-1.61348333e-01 9.86891858e-01 -3.34321995e-03 -5.90558067e+00] [-2.14018105e-02 -1.12162510e-04 9.99770949e-01 -1.93060748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.888623853 meters 0.014973123380550126 Centerline is valid? [True, True] Translation: X:70.81, Y:-5.91, Z:-1.93 [[ 9.86580167e-01 1.61897843e-01 2.11816551e-02 7.08137121e+01] [-1.61863139e-01 9.86807516e-01 -3.35409463e-03 -5.91456507e+00] [-2.14452371e-02 -1.19445944e-04 9.99770017e-01 -1.93192010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.948623853 meters 0.015507971043743182 Centerline is valid? [True, True] Translation: X:70.88, Y:-5.92, Z:-1.94 [[ 9.86516196e-01 1.62341255e-01 2.07632544e-02 7.08751991e+01] [-1.62307910e-01 9.86734667e-01 -3.29246041e-03 -5.92254190e+00] [-2.10223251e-02 -1.21974906e-04 9.99778999e-01 -1.93533888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.008623853 meters 0.015611146689447478 Centerline is valid? [True, True] Translation: X:70.94, Y:-5.93, Z:-1.93 [[ 9.86282048e-01 1.63607273e-01 2.19176139e-02 7.09382026e+01] [-1.63570373e-01 9.86525538e-01 -3.47803177e-03 -5.93074395e+00] [-2.21913171e-02 -1.54751987e-04 9.99753730e-01 -1.93402778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06862385299999 meters 0.01567610768322956 Centerline is valid? [True, True] Translation: X:71.00, Y:-5.94, Z:-1.94 [[ 9.86226328e-01 1.63894709e-01 2.22745224e-02 7.09993315e+01] [-1.63856568e-01 9.86477825e-01 -3.53923892e-03 -5.93953942e+00] [-2.25533849e-02 -1.59336186e-04 9.99745627e-01 -1.93556913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.128623853 meters 0.01470876594054669 Centerline is valid? [True, True] Translation: X:71.06, Y:-5.95, Z:-1.94 [[ 9.86497662e-01 1.62203939e-01 2.26328115e-02 7.10602911e+01] [-1.62164018e-01 9.86757249e-01 -3.60046161e-03 -5.95067456e+00] [-2.29170998e-02 -1.18380681e-04 9.99737362e-01 -1.93699723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.188623853 meters 0.013941559413437325 Centerline is valid? [True, True] Translation: X:71.12, Y:-5.97, Z:-1.94 [[ 9.87049971e-01 1.58972532e-01 2.14496863e-02 7.11217789e+01] [-1.58935841e-01 9.87283005e-01 -3.41553661e-03 -5.96687543e+00] [-2.17198873e-02 -3.78186264e-05 9.99764095e-01 -1.94009011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.248623853 meters 0.014211982527597316 Centerline is valid? [True, True] Translation: X:71.18, Y:-5.98, Z:-1.95 [[ 9.87262016e-01 1.57800206e-01 2.03176594e-02 7.11824757e+01] [-1.57766956e-01 9.87471060e-01 -3.23922933e-03 -5.97901624e+00] [-2.05742517e-02 -7.48719909e-06 9.99788328e-01 -1.94518012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.308623853 meters 0.01426027845093531 Centerline is valid? [True, True] Translation: X:71.24, Y:-5.99, Z:-1.95 [[ 9.87240284e-01 1.57942674e-01 2.02665655e-02 7.12443649e+01] [-1.57909544e-01 9.87448283e-01 -3.23484420e-03 -5.98976905e+00] [-2.05231053e-02 -6.71561249e-06 9.99789379e-01 -1.94734777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.368623853 meters 0.016262893806300412 Centerline is valid? [True, True] Translation: X:71.31, Y:-6.00, Z:-1.94 [[ 9.87420756e-01 1.56709543e-01 2.10325823e-02 7.13066105e+01] [-1.56673490e-01 9.87644733e-01 -3.36139106e-03 -6.00274802e+00] [-2.12994812e-02 2.38592229e-05 9.99773140e-01 -1.94398860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42862385299999 meters 0.020535529056016636 Centerline is valid? [True, True] Translation: X:71.37, Y:-6.02, Z:-1.94 [[ 9.87714514e-01 1.54848456e-01 2.10236661e-02 7.13680286e+01] [-1.54811921e-01 9.87938232e-01 -3.36421957e-03 -6.01678881e+00] [-2.12910277e-02 6.81743572e-05 9.99773318e-01 -1.94346247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48862385299999 meters 0.016163095150502065 Centerline is valid? [True, True] Translation: X:71.43, Y:-6.03, Z:-1.95 [[ 9.88200601e-01 1.51718727e-01 2.09999964e-02 7.14273518e+01] [-1.51681473e-01 9.88423699e-01 -3.36488902e-03 -6.03417559e+00] [-2.12674108e-02 1.39874962e-04 9.99773813e-01 -1.95137752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.548623853 meters 0.017403918005188836 Centerline is valid? [True, True] Translation: X:71.49, Y:-6.05, Z:-1.95 [[ 9.88505960e-01 1.49600340e-01 2.18106770e-02 7.14879084e+01] [-1.49559558e-01 9.88746530e-01 -3.49841725e-03 -6.05139596e+00] [-2.20885956e-02 1.96211093e-04 9.99755998e-01 -1.95128173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.608623853 meters 0.017537225581345697 Centerline is valid? [True, True] Translation: X:71.55, Y:-6.06, Z:-1.95 [[ 9.88488160e-01 1.49588250e-01 2.26828662e-02 7.15496926e+01] [-1.49544046e-01 9.88748356e-01 -3.64227735e-03 -6.06456826e+00] [-2.29724886e-02 2.08260441e-04 9.99736076e-01 -1.95217950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.668623853 meters 0.016941768563497234 Centerline is valid? [True, True] Translation: X:71.61, Y:-6.08, Z:-1.95 [[ 9.88287967e-01 1.50794456e-01 2.34078273e-02 7.16096999e+01] [-1.50747604e-01 9.88565120e-01 -3.76354577e-03 -6.07669798e+00] [-2.37076835e-02 1.90793099e-04 9.99718915e-01 -1.95317167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.728623853 meters 0.015511884180246894 Centerline is valid? [True, True] Translation: X:71.67, Y:-6.09, Z:-1.96 [[ 9.87892941e-01 1.53509342e-01 2.24147031e-02 7.16696771e+01] [-1.53467005e-01 9.88147189e-01 -3.60719446e-03 -6.08635864e+00] [-2.27027639e-02 1.23604593e-04 9.99742251e-01 -1.95717711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78862385299999 meters 0.01441318465380334 Centerline is valid? [True, True] Translation: X:71.73, Y:-6.09, Z:-1.96 [[ 9.87341341e-01 1.57124027e-01 2.16590762e-02 7.17313505e+01] [-1.57085297e-01 9.87578877e-01 -3.48872690e-03 -6.09217793e+00] [-2.19382090e-02 4.22418779e-05 9.99759328e-01 -1.96059007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84862385299999 meters 0.015330107166718088 Centerline is valid? [True, True] Translation: X:71.79, Y:-6.09, Z:-1.96 [[ 9.86199091e-01 1.64187946e-01 2.12995610e-02 7.17941107e+01] [-1.64152063e-01 9.86429068e-01 -3.43423936e-03 -6.09277050e+00] [-2.15743668e-02 -1.09523142e-04 9.99767240e-01 -1.96287838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.908623853 meters 0.018664305327773727 Centerline is valid? [True, True] Translation: X:71.86, Y:-6.10, Z:-1.96 [[ 9.85190524e-01 1.70129864e-01 2.13415220e-02 7.18568260e+01] [-1.70095157e-01 9.85421622e-01 -3.44444212e-03 -6.09509867e+00] [-2.16163997e-02 -2.36657810e-04 9.99766310e-01 -1.96390221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.968623853 meters 0.03235096293849149 Centerline is valid? [True, True] Translation: X:71.92, Y:-6.09, Z:-1.96 [[ 9.83767751e-01 1.78202406e-01 2.10929975e-02 7.19194285e+01] [-1.78170259e-01 9.83993770e-01 -3.40882781e-03 -6.08977229e+00] [-2.13628394e-02 -4.04649957e-04 9.99771707e-01 -1.95954347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.028623853 meters 0.029140649560006556 Centerline is valid? [True, True] Translation: X:71.98, Y:-6.09, Z:-1.97 [[ 9.82854407e-01 1.83178487e-01 2.10441616e-02 7.19815449e+01] [-1.83147624e-01 9.83079539e-01 -3.40111352e-03 -6.08818072e+00] [-2.13110956e-02 -5.11388800e-04 9.99772762e-01 -1.96841117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.088623853 meters 0.030248470414276724 Centerline is valid? [True, True] Translation: X:72.04, Y:-6.10, Z:-1.97 [[ 9.82726428e-01 1.83857444e-01 2.10999722e-02 7.20423670e+01] [-1.83826580e-01 9.82952777e-01 -3.40981393e-03 -6.09504633e+00] [-2.13671960e-02 -5.27821459e-04 9.99771556e-01 -1.97051701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14862385299999 meters 0.02862813395644152 Centerline is valid? [True, True] Translation: X:72.10, Y:-6.10, Z:-1.97 [[ 9.82923386e-01 1.82580450e-01 2.29346128e-02 7.21045172e+01] [-1.82543545e-01 9.83190769e-01 -3.71025765e-03 -6.10200101e+00] [-2.32265201e-02 -5.39666513e-04 9.99730082e-01 -1.96885938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20862385299999 meters 0.026445516951701307 Centerline is valid? [True, True] Translation: X:72.16, Y:-6.11, Z:-1.97 [[ 9.83472277e-01 1.79559792e-01 2.32499600e-02 7.21639161e+01] [-1.79520911e-01 9.83746949e-01 -3.76597254e-03 -6.11067286e+00] [-2.35482945e-02 -4.70124396e-04 9.99722590e-01 -1.96992619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.268623853 meters 0.020144204500461265 Centerline is valid? [True, True] Translation: X:72.22, Y:-6.13, Z:-1.97 [[ 9.84779675e-01 1.72374337e-01 2.22728531e-02 7.22225111e+01] [-1.72336809e-01 9.85031475e-01 -3.60801948e-03 -6.12640794e+00] [-2.25613913e-02 -2.85328184e-04 9.99745419e-01 -1.97421964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.328623853 meters 0.015855326665174394 Centerline is valid? [True, True] Translation: X:72.28, Y:-6.14, Z:-1.98 [[ 9.85831766e-01 1.66338898e-01 2.16125226e-02 7.22825633e+01] [-1.66302132e-01 9.86068634e-01 -3.50005759e-03 -6.14472752e+00] [-2.18936264e-02 -1.43740644e-04 9.99760296e-01 -1.97697083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.388623853 meters 0.014902125809226778 Centerline is valid? [True, True] Translation: X:72.34, Y:-6.16, Z:-1.98 [[ 9.87372266e-01 1.57018075e-01 2.10079344e-02 7.23416474e+01] [-1.56981150e-01 9.87595727e-01 -3.40562947e-03 -6.16492356e+00] [-2.12820916e-02 6.47743756e-05 9.99773509e-01 -1.98075390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.448623853 meters 0.018797873433903014 Centerline is valid? [True, True] Translation: X:72.40, Y:-6.18, Z:-1.98 [[ 9.88615930e-01 1.48821028e-01 2.21549938e-02 7.24009925e+01] [-1.48777810e-01 9.88864113e-01 -3.59563401e-03 -6.18411429e+00] [-2.24433842e-02 2.58529611e-04 9.99748082e-01 -1.97946660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.508623853 meters 0.02239188228630228 Centerline is valid? [True, True] Translation: X:72.46, Y:-6.20, Z:-1.98 [[ 9.89275303e-01 1.44297739e-01 2.26393047e-02 7.24616156e+01] [-1.44251325e-01 9.89534246e-01 -3.67859191e-03 -6.20035920e+00] [-2.29331798e-02 3.73390418e-04 9.99736930e-01 -1.98025418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56862385299999 meters 0.03467528583543895 Centerline is valid? [True, True] Translation: X:72.52, Y:-6.22, Z:-1.98 [[ 9.89962148e-01 1.39727122e-01 2.12432725e-02 7.25202197e+01] [-1.39685178e-01 9.90189945e-01 -3.45296835e-03 -6.21720699e+00] [-2.15173482e-02 4.50937664e-04 9.99768373e-01 -1.97764444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.628623853 meters 0.02985015124025633 Centerline is valid? [True, True] Translation: X:72.58, Y:-6.23, Z:-1.99 [[ 9.90196540e-01 1.38025596e-01 2.14417000e-02 7.25812754e+01] [-1.37982480e-01 9.90428540e-01 -3.48456357e-03 -6.22916670e+00] [-2.17174306e-02 4.91823849e-04 9.99764028e-01 -1.98621091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.688623853 meters 0.031558645755932466 Centerline is valid? [True, True] Translation: X:72.64, Y:-6.24, Z:-1.99 [[ 9.90469296e-01 1.36185380e-01 2.05940592e-02 7.26415996e+01] [-1.36145124e-01 9.90683237e-01 -3.35089676e-03 -6.24395106e+00] [-2.08585324e-02 5.15179621e-04 9.99782304e-01 -1.98928426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.748623853 meters 0.032107339128045975 Centerline is valid? [True, True] Translation: X:72.70, Y:-6.26, Z:-1.99 [[ 9.90580480e-01 1.35199162e-01 2.17140239e-02 7.27023876e+01] [-1.35154161e-01 9.90818281e-01 -3.53354947e-03 -6.25766261e+00] [-2.19923847e-02 5.65524459e-04 9.99757978e-01 -1.98854585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.808623853 meters 0.032635987361435775 Centerline is valid? [True, True] Translation: X:72.76, Y:-6.27, Z:-1.99 [[ 9.90407107e-01 1.36410329e-01 2.20450708e-02 7.27624693e+01] [-1.36364158e-01 9.90652269e-01 -3.59131504e-03 -6.27084864e+00] [-2.23288919e-02 5.50706422e-04 9.99750528e-01 -1.98991891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.868623853 meters 0.02825377016794402 Centerline is valid? [True, True] Translation: X:72.82, Y:-6.28, Z:-1.99 [[ 9.90103996e-01 1.38620840e-01 2.18709762e-02 7.28246069e+01] [-1.38575861e-01 9.90345401e-01 -3.56625996e-03 -6.27820860e+00] [-2.21541786e-02 5.00178876e-04 9.99754441e-01 -1.99070908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92862385299999 meters 0.02644677609379075 Centerline is valid? [True, True] Translation: X:72.88, Y:-6.29, Z:-1.99 [[ 9.89442998e-01 1.43199795e-01 2.22794373e-02 7.28841584e+01] [-1.43154171e-01 9.89693716e-01 -3.63764168e-03 -6.28832957e+00] [-2.25707286e-02 4.09844703e-04 9.99745165e-01 -1.99248769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98862385299999 meters 0.02158830387850297 Centerline is valid? [True, True] Translation: X:72.95, Y:-6.30, Z:-1.99 [[ 9.88867576e-01 1.46936267e-01 2.34659414e-02 7.29453135e+01] [-1.46886698e-01 9.89145903e-01 -3.83162737e-03 -6.29558286e+00] [-2.37742448e-02 3.42137412e-04 9.99717294e-01 -1.99138925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.048623853 meters 0.01993636093644191 Centerline is valid? [True, True] Translation: X:73.01, Y:-6.31, Z:-1.99 [[ 9.88549555e-01 1.49096777e-01 2.32363718e-02 7.30069700e+01] [-1.49048772e-01 9.88822567e-01 -3.79409706e-03 -6.30583814e+00] [-2.35423364e-02 2.87300290e-04 9.99722800e-01 -1.99347521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.108623853 meters 0.01937816703822554 Centerline is valid? [True, True] Translation: X:73.07, Y:-6.32, Z:-2.00 [[ 9.88168775e-01 1.51839535e-01 2.16154415e-02 7.30662650e+01] [-1.51798575e-01 9.88405135e-01 -3.53284777e-03 -6.32106986e+00] [-2.19012393e-02 2.09856634e-04 9.99760117e-01 -1.99949136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.168623853 meters 0.017644089620302013 Centerline is valid? [True, True] Translation: X:73.13, Y:-6.33, Z:-2.00 [[ 9.87936034e-01 1.53499692e-01 2.04997036e-02 7.31272116e+01] [-1.53463149e-01 9.88148681e-01 -3.35337914e-03 -6.33118241e+00] [-2.07714977e-02 1.66975019e-04 9.99784235e-01 -2.00251384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.228623853 meters 0.015958894441799716 Centerline is valid? [True, True] Translation: X:73.19, Y:-6.34, Z:-2.00 [[ 9.87412249e-01 1.56872353e-01 2.02018725e-02 7.31880741e+01] [-1.56837501e-01 9.87618882e-01 -3.30800704e-03 -6.34114689e+00] [-2.04706856e-02 9.79554657e-05 9.99790449e-01 -2.00441143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28862385299999 meters 0.014599730600912002 Centerline is valid? [True, True] Translation: X:73.25, Y:-6.35, Z:-2.00 [[ 9.86665728e-01 1.61373090e-01 2.12006442e-02 7.32491733e+01] [-1.61335655e-01 9.86893472e-01 -3.47576635e-03 -6.34705214e+00] [-2.14836725e-02 8.99972862e-06 9.99769199e-01 -2.00413961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34862385299999 meters 0.014877333625039083 Centerline is valid? [True, True] Translation: X:73.31, Y:-6.35, Z:-2.00 [[ 9.86058335e-01 1.65018060e-01 2.14009326e-02 7.33118960e+01] [-1.64980740e-01 9.86290543e-01 -3.51003490e-03 -6.35411652e+00] [-2.16867566e-02 -6.96425355e-05 9.99764812e-01 -2.00448088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.408623853 meters 0.016222742525477608 Centerline is valid? [True, True] Translation: X:73.37, Y:-6.36, Z:-2.01 [[ 9.85355419e-01 1.69169657e-01 2.13617743e-02 7.33739109e+01] [-1.69133356e-01 9.85586933e-01 -3.50786255e-03 -6.36030637e+00] [-2.16473096e-02 -1.56497212e-04 9.99765657e-01 -2.00536497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.468623853 meters 0.01762111588836105 Centerline is valid? [True, True] Translation: X:73.44, Y:-6.37, Z:-2.01 [[ 9.84988243e-01 1.71391166e-01 2.05725135e-02 7.34356123e+01] [-1.71357912e-01 9.85203040e-01 -3.38166951e-03 -6.36773804e+00] [-2.08476911e-02 -1.94358240e-04 9.99782644e-01 -2.00839555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.528623853 meters 0.017644098729605786 Centerline is valid? [True, True] Translation: X:73.50, Y:-6.38, Z:-2.01 [[ 9.85030032e-01 1.71163439e-01 2.04673915e-02 7.34965364e+01] [-1.71130394e-01 9.85242632e-01 -3.36825491e-03 -6.37737012e+00] [-2.07418688e-02 -1.84760536e-04 9.99784847e-01 -2.01058760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.588623853 meters 0.016035652084471812 Centerline is valid? [True, True] Translation: X:73.56, Y:-6.39, Z:-2.01 [[ 9.85453512e-01 1.68706070e-01 2.04850737e-02 7.35567753e+01] [-1.68672392e-01 9.85666396e-01 -3.37332859e-03 -6.39153412e+00] [-2.07605498e-02 -1.31007874e-04 9.99784468e-01 -2.01241799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64862385299999 meters 0.017381867946948886 Centerline is valid? [True, True] Translation: X:73.62, Y:-6.41, Z:-2.01 [[ 9.85748623e-01 1.67020756e-01 2.00927820e-02 7.36174286e+01] [-1.66987937e-01 9.85953376e-01 -3.31208357e-03 -6.40562442e+00] [-2.03637330e-02 -9.03704148e-05 9.99792634e-01 -2.01124921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70862385299999 meters 0.014805549302782101 Centerline is valid? [True, True] Translation: X:73.68, Y:-6.42, Z:-2.02 [[ 9.86213652e-01 1.64191129e-01 2.05889512e-02 7.36764449e+01] [-1.64155972e-01 9.86428544e-01 -3.39774200e-03 -6.42049831e+00] [-2.08674082e-02 -2.88997341e-05 9.99782252e-01 -2.01576778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.768623853 meters 0.014802465882132042 Centerline is valid? [True, True] Translation: X:73.74, Y:-6.43, Z:-2.02 [[ 9.86585304e-01 1.61952023e-01 2.05178003e-02 7.37367819e+01] [-1.61916557e-01 9.86798633e-01 -3.38919907e-03 -6.43497317e+00] [-2.07958250e-02 2.15624021e-05 9.99783743e-01 -2.01767275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.828623853 meters 0.014933763687862273 Centerline is valid? [True, True] Translation: X:73.80, Y:-6.45, Z:-2.02 [[ 9.86765090e-01 1.60802446e-01 2.09100488e-02 7.37980520e+01] [-1.60765272e-01 9.86986611e-01 -3.45781298e-03 -6.44796001e+00] [-2.11939630e-02 5.04394635e-05 9.99775381e-01 -2.01786113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.888623853 meters 0.015568275351360013 Centerline is valid? [True, True] Translation: X:73.86, Y:-6.46, Z:-2.02 [[ 9.87004727e-01 1.59223075e-01 2.16721297e-02 7.38589460e+01] [-1.59182662e-01 9.87242627e-01 -3.58834815e-03 -6.46255166e+00] [-2.19669981e-02 9.18892774e-05 9.99758692e-01 -2.01876918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.948623853 meters 0.01736485550240206 Centerline is valid? [True, True] Translation: X:73.92, Y:-6.48, Z:-2.02 [[ 9.87685453e-01 1.54921984e-01 2.18317370e-02 7.39186265e+01] [-1.54879833e-01 9.87926688e-01 -3.61879881e-03 -6.48079758e+00] [-2.21287871e-02 1.92939171e-04 9.99755110e-01 -2.01935848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.008623853 meters 0.03030127007164661 Centerline is valid? [True, True] Translation: X:73.98, Y:-6.50, Z:-2.02 [[ 9.87958162e-01 1.53293526e-01 2.09705765e-02 7.39784321e+01] [-1.53254181e-01 9.88180674e-01 -3.48013075e-03 -6.49535993e+00] [-2.12561999e-02 2.24395043e-04 9.99774036e-01 -2.01503276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06862385299999 meters 0.02309762210514065 Centerline is valid? [True, True] Translation: X:74.04, Y:-6.52, Z:-2.03 [[ 9.88704954e-01 1.48544624e-01 1.99250833e-02 7.40357663e+01] [-1.48508104e-01 9.88905656e-01 -3.30845508e-03 -6.51858740e+00] [-2.01954808e-02 3.12049590e-04 9.99796002e-01 -2.02666284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.128623853 meters 0.023266791236173815 Centerline is valid? [True, True] Translation: X:74.10, Y:-6.53, Z:-2.03 [[ 9.88760893e-01 1.48251229e-01 1.93253484e-02 7.40960798e+01] [-1.48216800e-01 9.88949684e-01 -3.20978163e-03 -6.53285249e+00] [-1.95876513e-02 3.09365236e-04 9.99808096e-01 -2.02852327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.188623853 meters 0.019753262046144707 Centerline is valid? [True, True] Translation: X:74.16, Y:-6.54, Z:-2.03 [[ 9.88098602e-01 1.52548617e-01 1.97502668e-02 7.41567955e+01] [-1.52513421e-01 9.88295940e-01 -3.28505213e-03 -6.53982489e+00] [-2.00202386e-02 2.33774659e-04 9.99799548e-01 -2.02902130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.248623853 meters 0.01562573538327331 Centerline is valid? [True, True] Translation: X:74.22, Y:-6.54, Z:-2.03 [[ 9.86840139e-01 1.60516620e-01 1.95180589e-02 7.42182540e+01] [-1.60483815e-01 9.87033135e-01 -3.24584869e-03 -6.54244742e+00] [-1.97859835e-02 7.08012209e-05 9.99804236e-01 -2.03113272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.308623853 meters 0.015451887880346718 Centerline is valid? [True, True] Translation: X:74.28, Y:-6.54, Z:-2.03 [[ 9.85510740e-01 1.68331683e-01 2.08092667e-02 7.42810729e+01] [-1.68296057e-01 9.85730408e-01 -3.46414935e-03 -6.54391856e+00] [-2.10954530e-02 -8.81611500e-05 9.99777462e-01 -2.03059799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.368623853 meters 0.017128636020241627 Centerline is valid? [True, True] Translation: X:74.34, Y:-6.55, Z:-2.03 [[ 9.84776449e-01 1.72518472e-01 2.12772645e-02 7.43431594e+01] [-1.72482123e-01 9.85006267e-01 -3.54572161e-03 -6.54877164e+00] [-2.15699413e-02 -1.78204611e-04 9.99767326e-01 -2.03046769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42862385299999 meters 0.021980939424701793 Centerline is valid? [True, True] Translation: X:74.40, Y:-6.55, Z:-2.03 [[ 9.83745498e-01 1.78334852e-01 2.10113174e-02 7.44048497e+01] [-1.78300645e-01 9.83969812e-01 -3.50545163e-03 -6.54777655e+00] [-2.12996463e-02 -2.97859199e-04 9.99773092e-01 -2.03342330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48862385299999 meters 0.024059602605043955 Centerline is valid? [True, True] Translation: X:74.47, Y:-6.55, Z:-2.03 [[ 9.83207538e-01 1.81266654e-01 2.11029978e-02 7.44665501e+01] [-1.81232796e-01 9.83433917e-01 -3.52200195e-03 -6.55431494e+00] [-2.13918253e-02 -3.61696415e-04 9.99771103e-01 -2.03479342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.548623853 meters 0.025043932688259735 Centerline is valid? [True, True] Translation: X:74.53, Y:-6.56, Z:-2.03 [[ 9.82722725e-01 1.83754310e-01 2.21449581e-02 7.45282671e+01] [-1.83717569e-01 9.82972109e-01 -3.69978940e-03 -6.56049023e+00] [-2.24477284e-02 -4.32550750e-04 9.99747924e-01 -2.03360872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.608623853 meters 0.02734520428171526 Centerline is valid? [True, True] Translation: X:74.59, Y:-6.56, Z:-2.03 [[ 9.82463257e-01 1.85062157e-01 2.27584559e-02 7.45902663e+01] [-1.85023608e-01 9.82726705e-01 -3.80639080e-03 -6.56266031e+00] [-2.30697613e-02 -4.71212526e-04 9.99733747e-01 -2.03443765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.668623853 meters 0.027170776377968834 Centerline is valid? [True, True] Translation: X:74.65, Y:-6.57, Z:-2.04 [[ 9.82418927e-01 1.85441042e-01 2.15562291e-02 7.46526064e+01] [-1.85406481e-01 9.82655289e-01 -3.60841851e-03 -6.56827850e+00] [-2.18514915e-02 -4.51685947e-04 9.99761126e-01 -2.03835711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.728623853 meters 0.025376057998818268 Centerline is valid? [True, True] Translation: X:74.71, Y:-6.58, Z:-2.04 [[ 9.82629377e-01 1.84397836e-01 2.09032314e-02 7.47140158e+01] [-1.84365031e-01 9.82851600e-01 -3.50245084e-03 -6.57717299e+00] [-2.11906188e-02 -4.12213819e-04 9.99775369e-01 -2.04105488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78862385299999 meters 0.023309773910705715 Centerline is valid? [True, True] Translation: X:74.77, Y:-6.59, Z:-2.05 [[ 9.83262164e-01 1.81087306e-01 2.00724599e-02 7.47748336e+01] [-1.81056301e-01 9.83466971e-01 -3.36652001e-03 -6.58613775e+00] [-2.03502354e-02 -3.24073591e-04 9.99792860e-01 -2.04521923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84862385299999 meters 0.02031546484932774 Centerline is valid? [True, True] Translation: X:74.84, Y:-6.60, Z:-2.05 [[ 9.83841373e-01 1.77901431e-01 2.01800438e-02 7.48355294e+01] [-1.77869351e-01 9.84048279e-01 -3.38804556e-03 -6.59881683e+00] [-2.04608755e-02 -2.56111902e-04 9.99790622e-01 -2.04656020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.908623853 meters 0.029379644156980834 Centerline is valid? [True, True] Translation: X:74.90, Y:-6.61, Z:-2.04 [[ 9.84734661e-01 1.72983893e-01 1.93447836e-02 7.48969320e+01] [-1.72953387e-01 9.84924643e-01 -3.25177220e-03 -6.61221229e+00] [-1.96156583e-02 -1.43613039e-04 9.99807584e-01 -2.04260099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.968623853 meters 0.015335183349852236 Centerline is valid? [True, True] Translation: X:74.96, Y:-6.63, Z:-2.05 [[ 9.85467911e-01 1.68720102e-01 1.96601991e-02 7.49560685e+01] [-1.68687734e-01 9.85664001e-01 -3.30527065e-03 -6.62659194e+00] [-1.99360161e-02 -5.91962667e-05 9.99801256e-01 -2.05089906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.028623853 meters 0.014908733723065708 Centerline is valid? [True, True] Translation: X:75.02, Y:-6.64, Z:-2.05 [[ 9.85954897e-01 1.65776237e-01 2.02775789e-02 7.50175600e+01] [-1.65741115e-01 9.86163394e-01 -3.41226979e-03 -6.63833679e+00] [-2.05626793e-02 3.51557730e-06 9.99788566e-01 -2.05047128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.088623853 meters 0.014874472324446072 Centerline is valid? [True, True] Translation: X:75.08, Y:-6.65, Z:-2.05 [[ 9.86167234e-01 1.64397159e-01 2.11603816e-02 7.50797932e+01] [-1.64358516e-01 9.86394228e-01 -3.56448469e-03 -6.64994507e+00] [-2.14584695e-02 3.72890877e-05 9.99769740e-01 -2.05092001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14862385299999 meters 0.01500663428690402 Centerline is valid? [True, True] Translation: X:75.14, Y:-6.66, Z:-2.05 [[ 9.86324930e-01 1.63290482e-01 2.23461674e-02 7.51417970e+01] [-1.63246997e-01 9.86578032e-01 -3.76886808e-03 -6.66113550e+00] [-2.26616581e-02 6.93838240e-05 9.99743189e-01 -2.04979964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20862385299999 meters 0.017146359031330057 Centerline is valid? [True, True] Translation: X:75.20, Y:-6.67, Z:-2.05 [[ 9.86241058e-01 1.63829247e-01 2.21032233e-02 7.52028388e+01] [-1.63786733e-01 9.86488709e-01 -3.73256337e-03 -6.66980535e+00] [-2.24160832e-02 6.09925117e-05 9.99748726e-01 -2.04973332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.268623853 meters 0.014935310069377964 Centerline is valid? [True, True] Translation: X:75.27, Y:-6.67, Z:-2.06 [[ 9.86013004e-01 1.65464772e-01 1.99941483e-02 7.52653522e+01] [-1.65430287e-01 9.86215701e-01 -3.37810895e-03 -6.67376980e+00] [-2.02775010e-02 2.32216579e-05 9.99794390e-01 -2.05788689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.328623853 meters 0.01513592939183957 Centerline is valid? [True, True] Translation: X:75.33, Y:-6.68, Z:-2.06 [[ 9.85629638e-01 1.67880097e-01 1.87213818e-02 7.53276996e+01] [-1.67850241e-01 9.85807422e-01 -3.16603639e-03 -6.67855953e+00] [-1.89871916e-02 -2.18491464e-05 9.99819727e-01 -2.06167703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.388623853 meters 0.01554928087312839 Centerline is valid? [True, True] Translation: X:75.39, Y:-6.68, Z:-2.06 [[ 9.85229891e-01 1.70183357e-01 1.89654160e-02 7.53898131e+01] [-1.70153080e-01 9.85412412e-01 -3.21065626e-03 -6.68253246e+00] [-1.92351566e-02 -6.37894375e-05 9.99814985e-01 -2.06366402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.448623853 meters 0.015503913403844372 Centerline is valid? [True, True] Translation: X:75.45, Y:-6.69, Z:-2.06 [[ 9.84987022e-01 1.71487982e-01 1.98100753e-02 7.54522744e+01] [-1.71455134e-01 9.85186208e-01 -3.35751931e-03 -6.68914808e+00] [-2.00923871e-02 -8.94261680e-05 9.99798124e-01 -2.06341045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.508623853 meters 0.01595242170807507 Centerline is valid? [True, True] Translation: X:75.51, Y:-6.69, Z:-2.06 [[ 9.84740225e-01 1.72772255e-01 2.08910802e-02 7.55148905e+01] [-1.72735916e-01 9.84961793e-01 -3.54531577e-03 -6.69385502e+00] [-2.11894480e-02 -1.17424816e-04 9.99775472e-01 -2.06366414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56862385299999 meters 0.0158666115358196 Centerline is valid? [True, True] Translation: X:75.58, Y:-6.70, Z:-2.07 [[ 9.84731759e-01 1.72845239e-01 2.06854331e-02 7.55771085e+01] [-1.72809541e-01 9.84948989e-01 -3.51453236e-03 -6.70147556e+00] [-2.09815666e-02 -1.13768578e-04 9.99779856e-01 -2.06577925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.628623853 meters 0.015479408194387008 Centerline is valid? [True, True] Translation: X:75.64, Y:-6.71, Z:-2.07 [[ 9.84949233e-01 1.71613767e-01 2.05845611e-02 7.56379024e+01] [-1.71578057e-01 9.85164305e-01 -3.50175940e-03 -6.70987445e+00] [-2.08801250e-02 -8.28037580e-05 9.99781983e-01 -2.06951195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.688623853 meters 0.015150893712489647 Centerline is valid? [True, True] Translation: X:75.70, Y:-6.72, Z:-2.07 [[ 9.85366984e-01 1.69237559e-01 2.02621417e-02 7.56997331e+01] [-1.69202396e-01 9.85575288e-01 -3.44984035e-03 -6.72157474e+00] [-2.05537086e-02 -2.90441418e-05 9.99788750e-01 -2.07214798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.748623853 meters 0.015112963731794014 Centerline is valid? [True, True] Translation: X:75.76, Y:-6.73, Z:-2.07 [[ 9.85650283e-01 1.67630819e-01 1.98350362e-02 7.57615218e+01] [-1.67596721e-01 9.85849841e-01 -3.38088841e-03 -6.73328682e+00] [-2.01211084e-02 8.08658420e-06 9.99797550e-01 -2.07456550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.808623853 meters 0.015355703923531697 Centerline is valid? [True, True] Translation: X:75.82, Y:-6.74, Z:-2.07 [[ 9.86028053e-01 1.65317798e-01 2.04622532e-02 7.58237585e+01] [-1.65280924e-01 9.86240347e-01 -3.49202036e-03 -6.74439339e+00] [-2.07579929e-02 6.12099005e-05 9.99784528e-01 -2.07488768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.868623853 meters 0.016282211054656895 Centerline is valid? [True, True] Translation: X:75.88, Y:-6.76, Z:-2.08 [[ 9.86379358e-01 1.63079656e-01 2.14659909e-02 7.58846809e+01] [-1.63038439e-01 9.86612899e-01 -3.66820800e-03 -6.75740509e+00] [-2.17768336e-02 1.18463002e-04 9.99762850e-01 -2.07529854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92862385299999 meters 0.016567476884838304 Centerline is valid? [True, True] Translation: X:75.95, Y:-6.77, Z:-2.08 [[ 9.86446325e-01 1.62634022e-01 2.17674875e-02 7.59462209e+01] [-1.62591480e-01 9.86686453e-01 -3.72202443e-03 -6.76905128e+00] [-2.20830128e-02 1.32369317e-04 9.99756132e-01 -2.07652687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98862385299999 meters 0.018132854938567616 Centerline is valid? [True, True] Translation: X:76.01, Y:-6.78, Z:-2.08 [[ 9.86835685e-01 1.60242540e-01 2.18554250e-02 7.60067461e+01] [-1.60198971e-01 9.87077652e-01 -3.74136017e-03 -6.78253819e+00] [-2.21725267e-02 1.90891126e-04 9.99754141e-01 -2.07864607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.048623853 meters 0.01854607372664121 Centerline is valid? [True, True] Translation: X:76.07, Y:-6.79, Z:-2.08 [[ 9.87101117e-01 1.58618046e-01 2.17186718e-02 7.60677681e+01] [-1.58574550e-01 9.87339993e-01 -3.72147732e-03 -6.79497131e+00] [-2.20340067e-02 2.29445818e-04 9.99757195e-01 -2.07964732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.108623853 meters 0.029804916278773762 Centerline is valid? [True, True] Translation: X:76.13, Y:-6.81, Z:-2.08 [[ 9.87681417e-01 1.54981273e-01 2.15921974e-02 7.61285050e+01] [-1.54937329e-01 9.87917359e-01 -3.70360675e-03 -6.81087458e+00] [-2.19052963e-02 3.12546156e-04 9.99760001e-01 -2.07502030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.168623853 meters 0.023787865229522896 Centerline is valid? [True, True] Translation: X:76.19, Y:-6.83, Z:-2.08 [[ 9.88009024e-01 1.52861895e-01 2.17119571e-02 7.61871586e+01] [-1.52816864e-01 9.88247493e-01 -3.72808512e-03 -6.82831910e+00] [-2.20266694e-02 3.65428550e-04 9.99757317e-01 -2.08437677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.228623853 meters 0.02680316905435264 Centerline is valid? [True, True] Translation: X:76.25, Y:-6.85, Z:-2.09 [[ 9.88574992e-01 1.49414274e-01 1.98710976e-02 7.62460147e+01] [-1.49375790e-01 9.88774599e-01 -3.41543970e-03 -6.84871606e+00] [-2.01583520e-02 4.08157374e-04 9.99796716e-01 -2.08927644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28862385299999 meters 0.028313841601202663 Centerline is valid? [True, True] Translation: X:76.30, Y:-6.87, Z:-2.09 [[ 9.88735010e-01 1.48314980e-01 2.01431432e-02 7.63049093e+01] [-1.48275185e-01 9.88940077e-01 -3.46326604e-03 -6.86693733e+00] [-2.04340159e-02 4.37524096e-04 9.99791108e-01 -2.09115216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34862385299999 meters 0.026760238627690808 Centerline is valid? [True, True] Translation: X:76.37, Y:-6.88, Z:-2.09 [[ 9.88504383e-01 1.49835456e-01 2.02094387e-02 7.63656795e+01] [-1.49795652e-01 9.88710861e-01 -3.47782055e-03 -6.87984174e+00] [-2.05023924e-02 4.10554807e-04 9.99789720e-01 -2.09262115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.408623853 meters 0.021674008694067163 Centerline is valid? [True, True] Translation: X:76.43, Y:-6.89, Z:-2.09 [[ 9.87753880e-01 1.54759026e-01 1.97968584e-02 7.64261922e+01] [-1.54721729e-01 9.87952200e-01 -3.41125439e-03 -6.88815241e+00] [-2.00862722e-02 3.06475601e-04 9.99798204e-01 -2.09373138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.468623853 meters 0.018102688354198905 Centerline is valid? [True, True] Translation: X:76.49, Y:-6.90, Z:-2.10 [[ 9.86734572e-01 1.61073490e-01 2.02537586e-02 7.64864997e+01] [-1.61035769e-01 9.86942398e-01 -3.49052100e-03 -6.89711919e+00] [-2.05515235e-02 1.82638154e-04 9.99788778e-01 -2.09592579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.528623853 meters 0.024633913873280653 Centerline is valid? [True, True] Translation: X:76.55, Y:-6.91, Z:-2.09 [[ 9.86186855e-01 1.64383357e-01 2.03371259e-02 7.65483791e+01] [-1.64346038e-01 9.86396522e-01 -3.50439690e-03 -6.90600540e+00] [-2.06365348e-02 1.13664079e-04 9.99787038e-01 -2.09179994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.588623853 meters 0.014273797986683238 Centerline is valid? [True, True] Translation: X:76.61, Y:-6.92, Z:-2.10 [[ 9.85366777e-01 1.68963957e-01 2.24387003e-02 7.66099375e+01] [-1.68919615e-01 9.85622230e-01 -3.87080156e-03 -6.91664109e+00] [-2.27701078e-02 2.38226575e-05 9.99740727e-01 -2.09621110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64862385299999 meters 0.01436366279644506 Centerline is valid? [True, True] Translation: X:76.67, Y:-6.93, Z:-2.10 [[ 9.84651813e-01 1.73018719e-01 2.29200998e-02 7.66714902e+01] [-1.72973461e-01 9.84918534e-01 -3.95768911e-03 -6.92787024e+00] [-2.32591854e-02 -6.76232489e-05 9.99729466e-01 -2.09617289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70862385299999 meters 0.015908453912732476 Centerline is valid? [True, True] Translation: X:76.73, Y:-6.94, Z:-2.10 [[ 9.83999186e-01 1.76801439e-01 2.20647583e-02 7.67333433e+01] [-1.76760351e-01 9.84246529e-01 -3.81428324e-03 -6.93621259e+00] [-2.23915325e-02 -1.46922828e-04 9.99749267e-01 -2.09996886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.768623853 meters 0.025033534121494186 Centerline is valid? [True, True] Translation: X:76.79, Y:-6.94, Z:-2.10 [[ 9.82949749e-01 1.82718323e-01 2.05865432e-02 7.67941971e+01] [-1.82683764e-01 9.83165270e-01 -3.56299893e-03 -6.94144762e+00] [-2.08909995e-02 -2.58578291e-04 9.99781726e-01 -2.09958944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.828623853 meters 0.026503281077688335 Centerline is valid? [True, True] Translation: X:76.86, Y:-6.94, Z:-2.11 [[ 9.81618142e-01 1.89662594e-01 2.13054868e-02 7.68558042e+01] [-1.89627199e-01 9.81849237e-01 -3.68797908e-03 -6.94389720e+00] [-2.16182476e-02 -4.19912608e-04 9.99766210e-01 -2.10506686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.888623853 meters 0.028466262690027236 Centerline is valid? [True, True] Translation: X:76.92, Y:-6.95, Z:-2.11 [[ 9.80811390e-01 1.93689029e-01 2.22165938e-02 7.69171508e+01] [-1.93651576e-01 9.81062831e-01 -3.84554896e-03 -6.95020786e+00] [-2.25407150e-02 -5.30520183e-04 9.99745785e-01 -2.10501052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.948623853 meters 0.032173137255414055 Centerline is valid? [True, True] Translation: X:76.98, Y:-6.95, Z:-2.10 [[ 9.79981369e-01 1.97704623e-01 2.34392689e-02 7.69789127e+01] [-1.97663973e-01 9.80261422e-01 -4.06172087e-03 -6.95357346e+00] [-2.37796321e-02 -6.52688258e-04 9.99717012e-01 -2.10475580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.008623853 meters 0.03494645390087853 Centerline is valid? [True, True] Translation: X:77.04, Y:-6.96, Z:-2.11 [[ 9.79472247e-01 2.00181923e-01 2.36921033e-02 7.70401968e+01] [-2.00141113e-01 9.79758480e-01 -4.10563492e-03 -6.95991696e+00] [-2.40344131e-02 -7.20408465e-04 9.99710872e-01 -2.10613308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06862385299999 meters 0.04291135604190068 Centerline is valid? [True, True] Translation: X:77.10, Y:-6.96, Z:-2.11 [[ 9.79286075e-01 2.01185431e-01 2.28737108e-02 7.71013078e+01] [-2.01147568e-01 9.79552914e-01 -3.96798181e-03 -6.95689569e+00] [-2.32043102e-02 -7.15201977e-04 9.99730488e-01 -2.11038729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.128623853 meters 0.037007496052762275 Centerline is valid? [True, True] Translation: X:77.16, Y:-6.97, Z:-2.11 [[ 9.79027790e-01 2.02539453e-01 2.19625930e-02 7.71610684e+01] [-2.02504890e-01 9.79273841e-01 -3.80979560e-03 -6.96977449e+00] [-2.22790267e-02 -7.17636719e-04 9.99751534e-01 -2.11232809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.188623853 meters 0.03992782058858077 Centerline is valid? [True, True] Translation: X:77.22, Y:-6.97, Z:-2.12 [[ 9.79007147e-01 2.02769274e-01 2.07274693e-02 7.72211434e+01] [-2.02738526e-01 9.79226305e-01 -3.59625126e-03 -6.97129397e+00] [-2.10260924e-02 -6.81500866e-04 9.99778695e-01 -2.11713420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.248623853 meters 0.03643092325831775 Centerline is valid? [True, True] Translation: X:77.28, Y:-6.98, Z:-2.12 [[ 9.79325843e-01 2.01206092e-01 2.09046054e-02 7.72806023e+01] [-2.01174466e-01 9.79548713e-01 -3.62672968e-03 -6.97986311e+00] [-2.12067994e-02 -6.53722729e-04 9.99774897e-01 -2.11819733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.308623853 meters 0.032482013038838554 Centerline is valid? [True, True] Translation: X:77.34, Y:-6.99, Z:-2.12 [[ 9.80158134e-01 1.96993937e-01 2.19868436e-02 7.73410292e+01] [-1.96957901e-01 9.80404528e-01 -3.81405179e-03 -6.98792565e+00] [-2.23073461e-02 -5.92108690e-04 9.99750985e-01 -2.11797932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.368623853 meters 0.029386661936829775 Centerline is valid? [True, True] Translation: X:77.40, Y:-7.00, Z:-2.12 [[ 9.80848459e-01 1.93435838e-01 2.27788778e-02 7.74008782e+01] [-1.93396189e-01 9.81112785e-01 -3.95190253e-03 -6.99655916e+00] [-2.31130878e-02 -5.29130648e-04 9.99732717e-01 -2.11837325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42862385299999 meters 0.02592572741931059 Centerline is valid? [True, True] Translation: X:77.46, Y:-7.00, Z:-2.12 [[ 9.81552782e-01 1.89750112e-01 2.34314071e-02 7.74616217e+01] [-1.89707109e-01 9.81832312e-01 -4.06506247e-03 -7.00277444e+00] [-2.37770587e-02 -4.55031135e-04 9.99717182e-01 -2.11921766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48862385299999 meters 0.023610060809334716 Centerline is valid? [True, True] Translation: X:77.52, Y:-7.00, Z:-2.12 [[ 9.81967121e-01 1.87535280e-01 2.38975210e-02 7.75226332e+01] [-1.87489885e-01 9.82257783e-01 -4.14626347e-03 -7.00488075e+00] [-2.42510967e-02 -4.09049059e-04 9.99705815e-01 -2.12101588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.548623853 meters 0.02342044143023249 Centerline is valid? [True, True] Translation: X:77.58, Y:-7.01, Z:-2.12 [[ 9.82138462e-01 1.86683321e-01 2.35239959e-02 7.75822269e+01] [-1.86639088e-01 9.82420069e-01 -4.08154835e-03 -7.00710005e+00] [-2.38724027e-02 -3.81851517e-04 9.99714941e-01 -2.12369233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.608623853 meters 0.02080138532945984 Centerline is valid? [True, True] Translation: X:77.64, Y:-7.01, Z:-2.13 [[ 9.82636916e-01 1.84215118e-01 2.21242450e-02 7.76426400e+01] [-1.84175380e-01 9.82885903e-01 -3.83812878e-03 -7.01055504e+00] [-2.24526499e-02 -3.03254201e-04 9.99747861e-01 -2.12858764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.668623853 meters 0.018000286314973777 Centerline is valid? [True, True] Translation: X:77.70, Y:-7.02, Z:-2.13 [[ 9.83555499e-01 1.79429875e-01 2.05791309e-02 7.77011235e+01] [-1.79394450e-01 9.83770749e-01 -3.56987490e-03 -7.01580995e+00] [-2.08856892e-02 -1.80611758e-04 9.99781854e-01 -2.13498148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.728623853 meters 0.015747873379520733 Centerline is valid? [True, True] Translation: X:77.76, Y:-7.02, Z:-2.14 [[ 9.84215654e-01 1.75815940e-01 2.02064766e-02 7.77602579e+01] [-1.75781029e-01 9.84423052e-01 -3.50498996e-03 -7.02361655e+00] [-2.05079545e-02 -1.02249270e-04 9.99789685e-01 -2.13644498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78862385299999 meters 0.014879762149904156 Centerline is valid? [True, True] Translation: X:77.82, Y:-7.03, Z:-2.14 [[ 9.84814496e-01 1.72407239e-01 2.03998373e-02 7.78196571e+01] [-1.72370936e-01 9.85025758e-01 -3.53800464e-03 -7.02960625e+00] [-2.07043428e-02 -3.20607925e-05 9.99785642e-01 -2.13818910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84862385299999 meters 0.02672823809949897 Centerline is valid? [True, True] Translation: X:77.88, Y:-7.04, Z:-2.13 [[ 9.85243957e-01 1.69960695e-01 2.01917612e-02 7.78782330e+01] [-1.69924624e-01 9.85450842e-01 -3.50150004e-03 -7.03649344e+00] [-2.04931055e-02 1.87543192e-05 9.99789994e-01 -2.13361700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.908623853 meters 0.015604603478217642 Centerline is valid? [True, True] Translation: X:77.94, Y:-7.05, Z:-2.14 [[ 9.85956364e-01 1.65440640e-01 2.27912727e-02 7.79371061e+01] [-1.65393497e-01 9.86219742e-01 -3.95124989e-03 -7.04603319e+00] [-2.31309004e-02 1.26231673e-04 9.99732437e-01 -2.13727299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.968623853 meters 0.016544391520411983 Centerline is valid? [True, True] Translation: X:78.00, Y:-7.05, Z:-2.14 [[ 9.86343588e-01 1.62929571e-01 2.40890108e-02 7.79973748e+01] [-1.62876175e-01 9.86637683e-01 -4.17551919e-03 -7.05375316e+00] [-2.44474414e-02 1.94970641e-04 9.99701098e-01 -2.13654121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.028623853 meters 0.01968158884579858 Centerline is valid? [True, True] Translation: X:78.06, Y:-7.06, Z:-2.14 [[ 9.87007195e-01 1.58963294e-01 2.33980459e-02 7.80555734e+01] [-1.58911800e-01 9.87284452e-01 -4.05584652e-03 -7.06253795e+00] [-2.37452576e-02 2.84924117e-04 9.99718001e-01 -2.14011302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.088623853 meters 0.021187417815810367 Centerline is valid? [True, True] Translation: X:78.12, Y:-7.07, Z:-2.14 [[ 9.87501631e-01 1.55973012e-01 2.26483544e-02 7.81152670e+01] [-1.55923998e-01 9.87761257e-01 -3.92501562e-03 -7.07394819e+00] [-2.29833636e-02 3.44537344e-04 9.99735788e-01 -2.14268546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14862385299999 meters 0.024787145987429572 Centerline is valid? [True, True] Translation: X:78.17, Y:-7.09, Z:-2.15 [[ 9.88088474e-01 1.52351894e-01 2.16810287e-02 7.81741609e+01] [-1.52306085e-01 9.88326227e-01 -3.75840049e-03 -7.08735287e+00] [-2.20005287e-02 4.11479608e-04 9.99757874e-01 -2.14631701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20862385299999 meters 0.027507935011683648 Centerline is valid? [True, True] Translation: X:78.23, Y:-7.10, Z:-2.15 [[ 9.88228897e-01 1.51558345e-01 2.08258181e-02 7.82328232e+01] [-1.51515880e-01 9.88448227e-01 -3.61120044e-03 -7.09924214e+00] [-2.11325505e-02 4.13250476e-04 9.99776597e-01 -2.14982136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.268623853 meters 0.025646563039080663 Centerline is valid? [True, True] Translation: X:78.29, Y:-7.11, Z:-2.15 [[ 9.88129060e-01 1.52287083e-01 2.02387183e-02 7.82928570e+01] [-1.52247125e-01 9.88336226e-01 -3.50971894e-03 -7.10502979e+00] [-2.05371433e-02 3.86768595e-04 9.99789016e-01 -2.15288127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.328623853 meters 0.025870626746692594 Centerline is valid? [True, True] Translation: X:78.35, Y:-7.11, Z:-2.15 [[ 9.87848010e-01 1.54031740e-01 2.07492658e-02 7.83511688e+01] [-1.53990121e-01 9.88065835e-01 -3.59841438e-03 -7.11466765e+00] [-2.10559107e-02 3.59504522e-04 9.99778235e-01 -2.15458613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.388623853 meters 0.023614878982523284 Centerline is valid? [True, True] Translation: X:78.41, Y:-7.12, Z:-2.16 [[ 9.87751208e-01 1.54664636e-01 2.06494694e-02 7.84108822e+01] [-1.54623565e-01 9.87966969e-01 -3.58061569e-03 -7.12131212e+00] [-2.09547883e-02 3.43862892e-04 9.99780365e-01 -2.15581723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.448623853 meters 0.023517378231239627 Centerline is valid? [True, True] Translation: X:78.47, Y:-7.13, Z:-2.16 [[ 9.87821424e-01 1.54239139e-01 2.04724643e-02 7.84701447e+01] [-1.54198688e-01 9.88033484e-01 -3.54944053e-03 -7.13104197e+00] [-2.07749429e-02 3.49386258e-04 9.99784117e-01 -2.15768149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.508623853 meters 0.026504416839281647 Centerline is valid? [True, True] Translation: X:78.53, Y:-7.15, Z:-2.16 [[ 9.87879473e-01 1.53860927e-01 2.05173794e-02 7.85276833e+01] [-1.53820233e-01 9.88092449e-01 -3.55648583e-03 -7.14868000e+00] [-2.08202718e-02 3.57391279e-04 9.99783171e-01 -2.16058437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56862385299999 meters 0.030870288482052144 Centerline is valid? [True, True] Translation: X:78.59, Y:-7.16, Z:-2.16 [[ 9.87647465e-01 1.55484095e-01 1.94211663e-02 7.85874114e+01] [-1.55447938e-01 9.87838348e-01 -3.36693025e-03 -7.15579589e+00] [-1.97084769e-02 3.06359876e-04 9.99805722e-01 -2.15612075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.628623853 meters 0.01959580953934338 Centerline is valid? [True, True] Translation: X:78.65, Y:-7.16, Z:-2.16 [[ 9.87132394e-01 1.58696521e-01 1.96226985e-02 7.86473194e+01] [-1.58660253e-01 9.87327380e-01 -3.40140208e-03 -7.15995454e+00] [-1.99138182e-02 2.44291872e-04 9.99801670e-01 -2.16255228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.688623853 meters 0.015470260965859616 Centerline is valid? [True, True] Translation: X:78.71, Y:-7.16, Z:-2.16 [[ 9.85858148e-01 1.66440717e-01 1.95243371e-02 7.87065995e+01] [-1.66406334e-01 9.86051459e-01 -3.38406402e-03 -7.15856909e+00] [-1.98152471e-02 8.72337295e-05 9.99803655e-01 -2.16413883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.748623853 meters 0.015097880329524024 Centerline is valid? [True, True] Translation: X:78.77, Y:-7.16, Z:-2.17 [[ 9.84885707e-01 1.72108488e-01 1.94630989e-02 7.87650199e+01] [-1.72075443e-01 9.85078001e-01 -3.37258288e-03 -7.15991214e+00] [-1.97531207e-02 -2.75126906e-05 9.99804888e-01 -2.16833632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.808623853 meters 0.015088453812997345 Centerline is valid? [True, True] Translation: X:78.82, Y:-7.17, Z:-2.17 [[ 9.84570955e-01 1.73810031e-01 2.02510999e-02 7.88236059e+01] [-1.73774644e-01 9.84779198e-01 -3.50773352e-03 -7.16712823e+00] [-2.05525412e-02 -6.55151402e-05 9.99788772e-01 -2.16727516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.868623853 meters 0.0187402368052386 Centerline is valid? [True, True] Translation: X:78.88, Y:-7.18, Z:-2.16 [[ 9.84440908e-01 1.74422880e-01 2.12781000e-02 7.88817177e+01] [-1.74383979e-01 9.84670834e-01 -3.68453412e-03 -7.17593665e+00] [-2.15945916e-02 -8.33536336e-05 9.99766806e-01 -2.16192624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92862385299999 meters 0.014684411275424714 Centerline is valid? [True, True] Translation: X:78.94, Y:-7.19, Z:-2.17 [[ 9.84649449e-01 1.73144290e-01 2.20571180e-02 7.89387124e+01] [-1.73102193e-01 9.84896467e-01 -3.81832257e-03 -7.18556575e+00] [-2.23850983e-02 -5.84262688e-05 9.99749421e-01 -2.16763705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98862385299999 meters 0.014633713533450256 Centerline is valid? [True, True] Translation: X:79.00, Y:-7.20, Z:-2.17 [[ 9.84846958e-01 1.72123566e-01 2.12119535e-02 7.89969681e+01] [-1.72084425e-01 9.85075366e-01 -3.67065966e-03 -7.19587723e+00] [-2.15271799e-02 -3.52088339e-05 9.99768263e-01 -2.17064105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.048623853 meters 0.014888974690706954 Centerline is valid? [True, True] Translation: X:79.05, Y:-7.21, Z:-2.18 [[ 9.85175268e-01 1.70346514e-01 2.02917732e-02 7.90542652e+01] [-1.70310336e-01 9.85384222e-01 -3.51057487e-03 -7.20608368e+00] [-2.05932073e-02 2.63282535e-06 9.99787937e-01 -2.17557793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.108623853 meters 0.014512673872665423 Centerline is valid? [True, True] Translation: X:79.11, Y:-7.22, Z:-2.17 [[ 9.85376037e-01 1.69147299e-01 2.05731914e-02 7.91124869e+01] [-1.69109877e-01 9.85590782e-01 -3.55793418e-03 -7.21620992e+00] [-2.08785627e-02 2.67732173e-05 9.99782019e-01 -2.17412847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.168623853 meters 0.01488034301391524 Centerline is valid? [True, True] Translation: X:79.17, Y:-7.23, Z:-2.18 [[ 9.85724432e-01 1.67141515e-01 2.02745645e-02 7.91690762e+01] [-1.67104765e-01 9.85932913e-01 -3.50541941e-03 -7.22899531e+00] [-2.05752615e-02 6.74012267e-05 9.99788305e-01 -2.17633088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.228623853 meters 0.015532700163733959 Centerline is valid? [True, True] Translation: X:79.23, Y:-7.24, Z:-2.18 [[ 9.86077647e-01 1.64930028e-01 2.11886647e-02 7.92264443e+01] [-1.64889414e-01 9.86305263e-01 -3.66183601e-03 -7.24189589e+00] [-2.15024383e-02 1.17068124e-04 9.99768789e-01 -2.17592880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28862385299999 meters 0.016106125838108942 Centerline is valid? [True, True] Translation: X:79.28, Y:-7.25, Z:-2.18 [[ 9.86278361e-01 1.63696248e-01 2.14133993e-02 7.92841285e+01] [-1.63654500e-01 9.86510779e-01 -3.69960739e-03 -7.25456278e+00] [-2.17301610e-02 1.44443562e-04 9.99763862e-01 -2.17765718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34862385299999 meters 0.017751597172086873 Centerline is valid? [True, True] Translation: X:79.34, Y:-7.27, Z:-2.18 [[ 9.86691250e-01 1.61299125e-01 2.05662357e-02 7.93403312e+01] [-1.61260114e-01 9.86905546e-01 -3.55229388e-03 -7.27043360e+00] [-2.08699140e-02 1.88503776e-04 9.99782182e-01 -2.18072716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.408623853 meters 0.018444351731851015 Centerline is valid? [True, True] Translation: X:79.40, Y:-7.28, Z:-2.18 [[ 9.86885993e-01 1.60167264e-01 2.00620061e-02 7.93979184e+01] [-1.60129930e-01 9.87089867e-01 -3.46418708e-03 -7.28449995e+00] [-2.03578523e-02 2.06230075e-04 9.99792736e-01 -2.18300118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.468623853 meters 0.02219271153140877 Centerline is valid? [True, True] Translation: X:79.46, Y:-7.30, Z:-2.18 [[ 9.87002519e-01 1.59566300e-01 1.90951098e-02 7.94554545e+01] [-1.59532380e-01 9.87187192e-01 -3.29650652e-03 -7.29942603e+00] [-1.93764592e-02 2.07371939e-04 9.99812237e-01 -2.18206554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.528623853 meters 0.018649815679740313 Centerline is valid? [True, True] Translation: X:79.51, Y:-7.31, Z:-2.19 [[ 9.86701439e-01 1.61510931e-01 1.82890614e-02 7.95125423e+01] [-1.61480157e-01 9.86870910e-01 -3.15683788e-03 -7.31136545e+00] [-1.85588065e-02 1.61535961e-04 9.99827757e-01 -2.19068230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.588623853 meters 0.01653720366894661 Centerline is valid? [True, True] Translation: X:79.57, Y:-7.32, Z:-2.19 [[ 9.86096712e-01 1.65140659e-01 1.84888357e-02 7.95708946e+01] [-1.65109852e-01 9.86270021e-01 -3.19108972e-03 -7.31849769e+00] [-1.87619631e-02 9.40341558e-05 9.99823974e-01 -2.19163058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64862385299999 meters 0.015606600292917685 Centerline is valid? [True, True] Translation: X:79.63, Y:-7.33, Z:-2.19 [[ 9.85754868e-01 1.67075762e-01 1.93139767e-02 7.96292572e+01] [-1.67042533e-01 9.85944058e-01 -3.33255491e-03 -7.32573801e+00] [-1.95992898e-02 5.88266308e-05 9.99807914e-01 -2.19175883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70862385299999 meters 0.015433114136625122 Centerline is valid? [True, True] Translation: X:79.69, Y:-7.34, Z:-2.19 [[ 9.85661474e-01 1.67596166e-01 1.95699761e-02 7.96869623e+01] [-1.67562171e-01 9.85855731e-01 -3.37580869e-03 -7.33548601e+00] [-1.98589456e-02 4.82169012e-05 9.99802791e-01 -2.19317596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.768623853 meters 0.015475994343523588 Centerline is valid? [True, True] Translation: X:79.74, Y:-7.35, Z:-2.19 [[ 9.85760084e-01 1.66980147e-01 1.98667178e-02 7.97445203e+01] [-1.66945006e-01 9.85960256e-01 -3.42607173e-03 -7.35057994e+00] [-2.01598801e-02 6.06354301e-05 9.99796767e-01 -2.19490488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.828623853 meters 0.016111372643104208 Centerline is valid? [True, True] Translation: X:79.80, Y:-7.37, Z:-2.19 [[ 9.86303726e-01 1.63592782e-01 2.10324211e-02 7.98016286e+01] [-1.63552650e-01 9.86527943e-01 -3.62594611e-03 -7.36950490e+00] [-2.13422497e-02 1.36375948e-04 9.99772219e-01 -2.19307127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.888623853 meters 0.018846133242467172 Centerline is valid? [True, True] Translation: X:79.86, Y:-7.39, Z:-2.19 [[ 9.87057580e-01 1.59098266e-01 2.01264913e-02 7.98605591e+01] [-1.59060599e-01 9.87262727e-01 -3.46894345e-03 -7.39006867e+00] [-2.04220375e-02 2.22715169e-04 9.99791424e-01 -2.19480321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.948623853 meters 0.021072594367717936 Centerline is valid? [True, True] Translation: X:79.92, Y:-7.41, Z:-2.20 [[ 9.87474595e-01 1.56527642e-01 1.98247752e-02 7.99183509e+01] [-1.56490567e-01 9.87673541e-01 -3.41751243e-03 -7.40777352e+00] [-2.01153411e-02 2.72316384e-04 9.99797629e-01 -2.19755355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.008623853 meters 0.02419479551977009 Centerline is valid? [True, True] Translation: X:79.98, Y:-7.43, Z:-2.20 [[ 9.87967396e-01 1.53432429e-01 1.94657240e-02 7.99763345e+01] [-1.53396091e-01 9.88159087e-01 -3.35525852e-03 -7.42989489e+00] [-1.97500376e-02 3.28920036e-04 9.99804895e-01 -2.20026235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06862385299999 meters 0.026694236983107102 Centerline is valid? [True, True] Translation: X:80.04, Y:-7.45, Z:-2.20 [[ 9.88322709e-01 1.51154768e-01 1.92473380e-02 8.00359355e+01] [-1.51118789e-01 9.88510040e-01 -3.31860551e-03 -7.45217772e+00] [-1.95278098e-02 3.71218778e-04 9.99809245e-01 -2.20261190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.128623853 meters 0.027578231339003615 Centerline is valid? [True, True] Translation: X:80.10, Y:-7.47, Z:-2.20 [[ 9.88440529e-01 1.50377049e-01 1.92889533e-02 8.00956116e+01] [-1.50340703e-01 9.88628641e-01 -3.32903585e-03 -7.47115519e+00] [-1.95702223e-02 3.90639151e-04 9.99808409e-01 -2.20430351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.188623853 meters 0.02673226535723228 Centerline is valid? [True, True] Translation: X:80.16, Y:-7.49, Z:-2.20 [[ 9.88292059e-01 1.51287380e-01 1.97720704e-02 8.01550196e+01] [-1.51249304e-01 9.88489747e-01 -3.41584794e-03 -7.49136531e+00] [-2.00612635e-02 3.85343519e-04 9.99798678e-01 -2.20420534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.248623853 meters 0.024329763296829687 Centerline is valid? [True, True] Translation: X:80.21, Y:-7.51, Z:-2.21 [[ 9.87803848e-01 1.54386520e-01 2.02079122e-02 8.02134790e+01] [-1.54347308e-01 9.88010471e-01 -3.49534106e-03 -7.50847838e+00] [-2.05052624e-02 3.33674503e-04 9.99789689e-01 -2.20546087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.308623853 meters 0.018336077359232466 Centerline is valid? [True, True] Translation: X:80.27, Y:-7.52, Z:-2.21 [[ 9.86922244e-01 1.60019280e-01 1.94502965e-02 8.02746397e+01] [-1.59984015e-01 9.87113867e-01 -3.36583649e-03 -7.51656746e+00] [-1.97382561e-02 2.10082366e-04 9.99805160e-01 -2.20718076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.368623853 meters 0.016084320179197344 Centerline is valid? [True, True] Translation: X:80.33, Y:-7.53, Z:-2.21 [[ 9.86025448e-01 1.65549786e-01 1.86301839e-02 8.03345732e+01] [-1.65518427e-01 9.86201429e-01 -3.22349338e-03 -7.52702150e+00] [-1.89067626e-02 9.48077655e-05 9.99821247e-01 -2.21178409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42862385299999 meters 0.0167744858957915 Centerline is valid? [True, True] Translation: X:80.40, Y:-7.53, Z:-2.22 [[ 9.84210782e-01 1.76150250e-01 1.73270460e-02 8.03959807e+01] [-1.76124693e-01 9.84363287e-01 -3.00205899e-03 -7.52789808e+00] [-1.75849214e-02 -9.70618383e-05 9.99845369e-01 -2.21750370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48862385299999 meters 0.021105800189182063 Centerline is valid? [True, True] Translation: X:80.46, Y:-7.53, Z:-2.22 [[ 9.82799703e-01 1.83808488e-01 1.78656931e-02 8.04563432e+01] [-1.83782573e-01 9.82962045e-01 -3.09584035e-03 -7.53098981e+00] [-1.81303399e-02 -2.40812067e-04 9.99835603e-01 -2.21617318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.548623853 meters 0.029027364075518234 Centerline is valid? [True, True] Translation: X:80.52, Y:-7.53, Z:-2.21 [[ 9.80857683e-01 1.93795267e-01 1.90157666e-02 8.05179581e+01] [-1.93767786e-01 9.81041890e-01 -3.29480803e-03 -7.52975543e+00] [-1.92937818e-02 -4.52905220e-04 9.99813755e-01 -2.21444737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.608623853 meters 0.03483548621002847 Centerline is valid? [True, True] Translation: X:80.58, Y:-7.53, Z:-2.22 [[ 9.79920679e-01 1.98444437e-01 1.93718518e-02 8.05778242e+01] [-1.98416826e-01 9.80111982e-01 -3.35642405e-03 -7.53060329e+00] [-1.96526478e-02 -5.54672020e-04 9.99806714e-01 -2.21719514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.668623853 meters 0.039254188531048555 Centerline is valid? [True, True] Translation: X:80.64, Y:-7.53, Z:-2.22 [[ 9.79714006e-01 1.99453578e-01 1.94611563e-02 8.06354489e+01] [-1.99425904e-01 9.79907106e-01 -3.37220859e-03 -7.53319254e+00] [-1.97427245e-02 -5.77258706e-04 9.99804927e-01 -2.22022426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.728623853 meters 0.033613090932478745 Centerline is valid? [True, True] Translation: X:80.69, Y:-7.55, Z:-2.22 [[ 9.80060974e-01 1.97715020e-01 1.97296229e-02 8.06936266e+01] [-1.97686255e-01 9.80259388e-01 -3.41726349e-03 -7.54940336e+00] [-2.00157924e-02 -5.51148671e-04 9.99799512e-01 -2.21919414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78862385299999 meters 0.03514790474446006 Centerline is valid? [True, True] Translation: X:80.75, Y:-7.56, Z:-2.21 [[ 9.80909314e-01 1.93470337e-01 1.96505962e-02 8.07522433e+01] [-1.93440954e-01 9.81106016e-01 -3.40333899e-03 -7.56379141e+00] [-1.99377633e-02 -4.62863174e-04 9.99801116e-01 -2.21450802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84862385299999 meters 0.024535779719539474 Centerline is valid? [True, True] Translation: X:80.81, Y:-7.58, Z:-2.22 [[ 9.81982734e-01 1.87865238e-01 2.04098762e-02 8.08101586e+01] [-1.87832335e-01 9.82194747e-01 -3.53457558e-03 -7.57730707e+00] [-2.07104971e-02 -3.62742511e-04 9.99785449e-01 -2.22196558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.908623853 meters 0.020049650852914585 Centerline is valid? [True, True] Translation: X:80.87, Y:-7.59, Z:-2.22 [[ 9.83029678e-01 1.82316640e-01 2.03296618e-02 8.08681960e+01] [-1.82282816e-01 9.83239840e-01 -3.52026601e-03 -7.59450108e+00] [-2.06307365e-02 -2.45222028e-04 9.99787134e-01 -2.22368757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.968623853 meters 0.027744819797172193 Centerline is valid? [True, True] Translation: X:80.93, Y:-7.62, Z:-2.22 [[ 9.84626219e-01 1.73579202e-01 1.95312242e-02 8.09264837e+01] [-1.73546259e-01 9.84819911e-01 -3.38213609e-03 -7.61643874e+00] [-1.98218069e-02 -5.94310117e-05 9.99803527e-01 -2.22122284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.028623853 meters 0.015136815477996945 Centerline is valid? [True, True] Translation: X:80.99, Y:-7.64, Z:-2.23 [[ 9.85624554e-01 1.67940049e-01 1.84493639e-02 8.09854417e+01] [-1.67909683e-01 9.85797209e-01 -3.19392469e-03 -7.63612856e+00] [-1.87237193e-02 5.01837517e-05 9.99824695e-01 -2.23151219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.088623853 meters 0.01574661249055374 Centerline is valid? [True, True] Translation: X:81.05, Y:-7.65, Z:-2.23 [[ 9.85877844e-01 1.66401213e-01 1.88550413e-02 8.10474825e+01] [-1.66369156e-01 9.86058127e-01 -3.26723834e-03 -7.64977355e+00] [-1.91358391e-02 8.42005822e-05 9.99816890e-01 -2.23250401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14862385299999 meters 0.015629556868029457 Centerline is valid? [True, True] Translation: X:81.11, Y:-7.66, Z:-2.24 [[ 9.85703021e-01 1.67465868e-01 1.85671026e-02 8.11087973e+01] [-1.67434894e-01 9.85877872e-01 -3.22144715e-03 -7.65777244e+00] [-1.88443780e-02 6.66093441e-05 9.99822427e-01 -2.23531668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20862385299999 meters 0.014944769370776856 Centerline is valid? [True, True] Translation: X:81.17, Y:-7.66, Z:-2.24 [[ 9.85246476e-01 1.70126389e-01 1.86116351e-02 8.11704064e+01] [-1.70095683e-01 9.85422250e-01 -3.23222275e-03 -7.66269422e+00] [-1.88902058e-02 1.87772859e-05 9.99821564e-01 -2.23664759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.268623853 meters 0.014972378922209333 Centerline is valid? [True, True] Translation: X:81.23, Y:-7.67, Z:-2.24 [[ 9.84982384e-01 1.71662057e-01 1.84889464e-02 8.12306803e+01] [-1.71632013e-01 9.85155895e-01 -3.21155176e-03 -7.66841711e+00] [-1.87657962e-02 -9.97318751e-06 9.99823907e-01 -2.23941551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.328623853 meters 0.015673817906361198 Centerline is valid? [True, True] Translation: X:81.29, Y:-7.67, Z:-2.24 [[ 9.84693558e-01 1.73429140e-01 1.73473305e-02 8.12905690e+01] [-1.73402968e-01 9.84846349e-01 -3.01316153e-03 -7.67292516e+00] [-1.76070252e-02 -4.10378521e-05 9.99844983e-01 -2.24414140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.388623853 meters 0.016456615929199697 Centerline is valid? [True, True] Translation: X:81.35, Y:-7.68, Z:-2.24 [[ 9.84218027e-01 1.75980298e-01 1.85959672e-02 8.13500410e+01] [-1.75950667e-01 9.84393685e-01 -3.23060708e-03 -7.67541399e+00] [-1.88742759e-02 -9.23510972e-05 9.99821861e-01 -2.24364452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.448623853 meters 0.027744251983515652 Centerline is valid? [True, True] Translation: X:81.41, Y:-7.68, Z:-2.24 [[ 9.83788241e-01 1.78268649e-01 1.95188468e-02 8.14099659e+01] [-1.78236469e-01 9.83981843e-01 -3.39014120e-03 -7.67792730e+00] [-1.98105467e-02 -1.43789264e-04 9.99803742e-01 -2.23563344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50862385299999 meters 0.018302305984033346 Centerline is valid? [True, True] Translation: X:81.47, Y:-7.68, Z:-2.24 [[ 9.83606135e-01 1.79144136e-01 2.06482376e-02 8.14681534e+01] [-1.79108322e-01 9.83822824e-01 -3.58601199e-03 -7.68204431e+00] [-2.09566204e-02 -1.71047796e-04 9.99780371e-01 -2.24246751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56862385299999 meters 0.026383565054864458 Centerline is valid? [True, True] Translation: X:81.53, Y:-7.69, Z:-2.24 [[ 9.83749220e-01 1.78375802e-01 2.04828021e-02 8.15269588e+01] [-1.78340419e-01 9.83962423e-01 -3.55603202e-03 -7.68923481e+00] [-2.07886177e-02 -1.54667799e-04 9.99783881e-01 -2.23720340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.628623853 meters 0.02260114076399491 Centerline is valid? [True, True] Translation: X:81.58, Y:-7.70, Z:-2.24 [[ 9.84200483e-01 1.75903436e-01 2.01839110e-02 8.15847665e+01] [-1.75868581e-01 9.84407421e-01 -3.50305483e-03 -7.70148843e+00] [-2.04853912e-02 -1.02007536e-04 9.99790147e-01 -2.24158588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.688623853 meters 0.014916454423311323 Centerline is valid? [True, True] Translation: X:81.64, Y:-7.72, Z:-2.25 [[ 9.84802637e-01 1.72559892e-01 1.96684887e-02 8.16424577e+01] [-1.72526136e-01 9.84999027e-01 -3.41315846e-03 -7.71534154e+00] [-1.99624165e-02 -3.20409114e-05 9.99800731e-01 -2.25033696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.748623853 meters 0.022720338685433373 Centerline is valid? [True, True] Translation: X:81.70, Y:-7.73, Z:-2.25 [[ 9.85847707e-01 1.66627991e-01 1.84231221e-02 8.16998704e+01] [-1.66597347e-01 9.86019830e-01 -3.19656689e-03 -7.73322322e+00] [-1.86982012e-02 8.20848786e-05 9.99825170e-01 -2.24955620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.808623853 meters 0.017497474251881258 Centerline is valid? [True, True] Translation: X:81.76, Y:-7.75, Z:-2.25 [[ 9.86523976e-01 1.62526183e-01 1.88596146e-02 8.17599188e+01] [-1.62493354e-01 9.86704218e-01 -3.27050763e-03 -7.74821904e+00] [-1.91404044e-02 1.61872154e-04 9.99816793e-01 -2.25323614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.868623853 meters 0.018940005341224548 Centerline is valid? [True, True] Translation: X:81.82, Y:-7.76, Z:-2.25 [[ 9.86826934e-01 1.60598661e-01 1.95108455e-02 8.18192039e+01] [-1.60563066e-01 9.87019770e-01 -3.38761499e-03 -7.76255181e+00] [-1.98016367e-02 2.10268531e-04 9.99803906e-01 -2.25337213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92862385299999 meters 0.02898621805618424 Centerline is valid? [True, True] Translation: X:81.88, Y:-7.78, Z:-2.25 [[ 9.87175315e-01 1.58385973e-01 1.99694970e-02 8.18797805e+01] [-1.58348202e-01 9.87377240e-01 -3.46871741e-03 -7.77730661e+00] [-2.02668230e-02 2.62098264e-04 9.99794572e-01 -2.24753783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98862385299999 meters 0.018800407730123665 Centerline is valid? [True, True] Translation: X:81.94, Y:-7.79, Z:-2.25 [[ 9.86920641e-01 1.59911086e-01 2.03983718e-02 8.19410667e+01] [-1.59871928e-01 9.87131393e-01 -3.54670405e-03 -7.78542980e+00] [-2.07030304e-02 2.39188411e-04 9.99785641e-01 -2.25358481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.048623853 meters 0.017320422755076705 Centerline is valid? [True, True] Translation: X:82.00, Y:-7.79, Z:-2.26 [[ 9.86515800e-01 1.62388392e-01 2.04104376e-02 8.20028707e+01] [-1.62349643e-01 9.86726899e-01 -3.55245971e-03 -7.79341595e+00] [-2.07164060e-02 1.90930396e-04 9.99785374e-01 -2.25566390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.108623853 meters 0.015858551766353656 Centerline is valid? [True, True] Translation: X:82.06, Y:-7.80, Z:-2.26 [[ 9.85811768e-01 1.66788694e-01 1.88862072e-02 8.20637326e+01] [-1.66756264e-01 9.85992658e-01 -3.29027320e-03 -7.79745647e+00] [-1.91704420e-02 9.41966865e-05 9.99816226e-01 -2.26101019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.168623853 meters 0.020440742808515197 Centerline is valid? [True, True] Translation: X:82.12, Y:-7.80, Z:-2.26 [[ 9.85089036e-01 1.71008999e-01 1.88550851e-02 8.21247966e+01] [-1.70977362e-01 9.85269467e-01 -3.28930050e-03 -7.80106778e+00] [-1.91398396e-02 1.64611363e-05 9.99816816e-01 -2.25675071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.228623853 meters 0.02360381061015557 Centerline is valid? [True, True] Translation: X:82.18, Y:-7.81, Z:-2.26 [[ 9.84610272e-01 1.73741593e-01 1.88804505e-02 8.21845809e+01] [-1.73710372e-01 9.84791276e-01 -3.29383026e-03 -7.80618424e+00] [-1.91655783e-02 -3.65909657e-05 9.99816323e-01 -2.25932682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28862385299999 meters 0.01684404541292272 Centerline is valid? [True, True] Translation: X:82.24, Y:-7.81, Z:-2.27 [[ 9.83821226e-01 1.78096142e-01 1.94308915e-02 8.22428647e+01] [-1.78063919e-01 9.84013084e-01 -3.38996988e-03 -7.80520389e+00] [-1.97239921e-02 -1.24816383e-04 9.99805455e-01 -2.26589934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34862385299999 meters 0.01924999361353572 Centerline is valid? [True, True] Translation: X:82.30, Y:-7.81, Z:-2.27 [[ 9.83141055e-01 1.81907854e-01 1.85256378e-02 8.23026021e+01] [-1.81879261e-01 9.83315562e-01 -3.23094955e-03 -7.80632458e+00] [-1.88042830e-02 -1.92950153e-04 9.99823165e-01 -2.26800412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.408623853 meters 0.022319460304321703 Centerline is valid? [True, True] Translation: X:82.36, Y:-7.81, Z:-2.27 [[ 9.82806873e-01 1.83706474e-01 1.85089618e-02 8.23609415e+01] [-1.83678266e-01 9.82981119e-01 -3.22725197e-03 -7.80740979e+00] [-1.87868270e-02 -2.27928587e-04 9.99823486e-01 -2.27134540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.468623853 meters 0.021225388261679315 Centerline is valid? [True, True] Translation: X:82.42, Y:-7.81, Z:-2.27 [[ 9.82504422e-01 1.85083803e-01 2.07134525e-02 8.24193889e+01] [-1.85048809e-01 9.82722699e-01 -3.61028678e-03 -7.81055211e+00] [-2.10237856e-02 -2.85876992e-04 9.99778935e-01 -2.26551081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.528623853 meters 0.021407558952709804 Centerline is valid? [True, True] Translation: X:82.48, Y:-7.81, Z:-2.27 [[ 9.82429630e-01 1.85351249e-01 2.18388666e-02 8.24778293e+01] [-1.85312453e-01 9.82672285e-01 -3.80473825e-03 -7.81381383e+00] [-2.21656619e-02 -3.09126333e-04 9.99754264e-01 -2.26545688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.588623853 meters 0.020365939169618055 Centerline is valid? [True, True] Translation: X:82.54, Y:-7.82, Z:-2.27 [[ 9.82738201e-01 1.83669486e-01 2.21618505e-02 8.25358298e+01] [-1.83629144e-01 9.82988018e-01 -3.85930648e-03 -7.81792651e+00] [-2.24936703e-02 -2.76873735e-04 9.99746947e-01 -2.26712248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64862385299999 meters 0.017036706575424946 Centerline is valid? [True, True] Translation: X:82.59, Y:-7.83, Z:-2.27 [[ 9.83592182e-01 1.79311664e-01 1.98430742e-02 8.25936939e+01] [-1.79278459e-01 9.83792306e-01 -3.45434425e-03 -7.82819609e+00] [-2.01408680e-02 -1.59769769e-04 9.99797139e-01 -2.27225473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70862385299999 meters 0.018777170572554697 Centerline is valid? [True, True] Translation: X:82.65, Y:-7.84, Z:-2.27 [[ 9.84592821e-01 1.73804414e-01 1.92094579e-02 8.26519781e+01] [-1.73772264e-01 9.84780191e-01 -3.34312683e-03 -7.83657282e+00] [-1.94981438e-02 -4.64523268e-05 9.99809892e-01 -2.27184023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.768623853 meters 0.014406826967388034 Centerline is valid? [True, True] Translation: X:82.71, Y:-7.85, Z:-2.28 [[ 9.85226698e-01 1.70061628e-01 2.01840644e-02 8.27093547e+01] [-1.70025370e-01 9.85433428e-01 -3.51165768e-03 -7.84712971e+00] [-2.04872500e-02 2.79758845e-05 9.99790114e-01 -2.27515473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.828623853 meters 0.016453045964178178 Centerline is valid? [True, True] Translation: X:82.77, Y:-7.86, Z:-2.27 [[ 9.86270641e-01 1.63724277e-01 2.15541885e-02 8.27661092e+01] [-1.63681438e-01 9.86506124e-01 -3.74894135e-03 -7.86158076e+00] [-2.18771317e-02 1.69450223e-04 9.99760653e-01 -2.27356625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.888623853 meters 0.024664052084924202 Centerline is valid? [True, True] Translation: X:82.82, Y:-7.88, Z:-2.27 [[ 9.87273683e-01 1.57601242e-01 2.12725976e-02 8.28240122e+01] [-1.57558126e-01 9.87502789e-01 -3.69838162e-03 -7.87607193e+00] [-2.15896190e-02 2.99644220e-04 9.99766872e-01 -2.27403326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.948623853 meters 0.023166578628374377 Centerline is valid? [True, True] Translation: X:82.88, Y:-7.89, Z:-2.28 [[ 9.87859649e-01 1.53990061e-01 2.05030471e-02 8.28835533e+01] [-1.53949237e-01 9.88072329e-01 -3.56427201e-03 -7.88678194e+00] [-2.08073560e-02 3.64572032e-04 9.99783437e-01 -2.27954952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00862385299999 meters 0.027581479895752044 Centerline is valid? [True, True] Translation: X:82.94, Y:-7.90, Z:-2.28 [[ 9.88440519e-01 1.50361693e-01 1.94088138e-02 8.29409005e+01] [-1.50324408e-01 9.88630966e-01 -3.37424422e-03 -7.90127740e+00] [-1.96955114e-02 4.17621258e-04 9.99805937e-01 -2.28374314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06862385299999 meters 0.027251893672800308 Centerline is valid? [True, True] Translation: X:83.00, Y:-7.91, Z:-2.29 [[ 9.88518562e-01 1.49919678e-01 1.88452237e-02 8.30007246e+01] [-1.49884455e-01 9.88698093e-01 -3.27581951e-03 -7.90807970e+00] [-1.91233465e-02 4.13602317e-04 9.99817047e-01 -2.28536898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.128623853 meters 0.02947075644663876 Centerline is valid? [True, True] Translation: X:83.06, Y:-7.92, Z:-2.29 [[ 9.88420567e-01 1.50508428e-01 1.92872119e-02 8.30579772e+01] [-1.50471656e-01 9.88608640e-01 -3.35215021e-03 -7.92120580e+00] [-1.95720312e-02 4.11155496e-04 9.99808365e-01 -2.28802435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.188623853 meters 0.026843042817832886 Centerline is valid? [True, True] Translation: X:83.12, Y:-7.93, Z:-2.29 [[ 9.88272047e-01 1.51340536e-01 2.03568930e-02 8.31177299e+01] [-1.51299758e-01 9.88481598e-01 -3.53756895e-03 -7.92596924e+00] [-2.06577917e-02 4.16087522e-04 9.99786518e-01 -2.28730599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.248623853 meters 0.02567152438679276 Centerline is valid? [True, True] Translation: X:83.18, Y:-7.93, Z:-2.29 [[ 9.88176984e-01 1.51964575e-01 2.03228064e-02 8.31763479e+01] [-1.51924074e-01 9.88385859e-01 -3.53116153e-03 -7.93434887e+00] [-2.06233859e-02 4.01889003e-04 9.99787235e-01 -2.28894485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.308623853 meters 0.024725514396896103 Centerline is valid? [True, True] Translation: X:83.24, Y:-7.94, Z:-2.29 [[ 9.87946431e-01 1.53354926e-01 2.10740539e-02 8.32358896e+01] [-1.53311705e-01 9.88171097e-01 -3.66107999e-03 -7.94345771e+00] [-2.13862156e-02 3.86051773e-04 9.99771214e-01 -2.28929500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.368623853 meters 0.023504696696965748 Centerline is valid? [True, True] Translation: X:83.29, Y:-7.95, Z:-2.29 [[ 9.87687160e-01 1.54898660e-01 2.19198491e-02 8.32941404e+01] [-1.54852281e-01 9.87930297e-01 -3.80793357e-03 -7.95000049e+00] [-2.22451268e-02 3.66708468e-04 9.99752479e-01 -2.28897733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42862385299999 meters 0.02420983574384567 Centerline is valid? [True, True] Translation: X:83.35, Y:-7.96, Z:-2.29 [[ 9.87357984e-01 1.56823677e-01 2.30336015e-02 8.33516134e+01] [-1.56773016e-01 9.87626559e-01 -4.00019923e-03 -7.96217344e+00] [-2.33759225e-02 3.38581465e-04 9.99726688e-01 -2.29039324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48862385299999 meters 0.021935293486396164 Centerline is valid? [True, True] Translation: X:83.41, Y:-7.97, Z:-2.29 [[ 9.87319734e-01 1.57011383e-01 2.33916337e-02 8.34102265e+01] [-1.56959207e-01 9.87596735e-01 -4.06157819e-03 -7.96902042e+00] [-2.37392151e-02 3.38544023e-04 9.99718128e-01 -2.29009931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.548623853 meters 0.021824548725695087 Centerline is valid? [True, True] Translation: X:83.47, Y:-7.98, Z:-2.29 [[ 9.87481252e-01 1.55981544e-01 2.34634763e-02 8.34686798e+01] [-1.55928784e-01 9.87759903e-01 -4.07286348e-03 -7.98034242e+00] [-2.38115726e-02 3.63244993e-04 9.99716398e-01 -2.29191391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.608623853 meters 0.02430087276577053 Centerline is valid? [True, True] Translation: X:83.53, Y:-8.00, Z:-2.29 [[ 9.87643961e-01 1.54977579e-01 2.32670496e-02 8.35250571e+01] [-1.54925432e-01 9.87917913e-01 -4.03825519e-03 -7.99644106e+00] [-2.36117741e-02 3.83700637e-04 9.99721130e-01 -2.29429290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.668623853 meters 0.024233725917301344 Centerline is valid? [True, True] Translation: X:83.58, Y:-8.01, Z:-2.30 [[ 9.87577712e-01 1.55398929e-01 2.32687547e-02 8.35837373e+01] [-1.55346913e-01 9.87851727e-01 -4.03765934e-03 -8.00866775e+00] [-2.36135274e-02 3.72773151e-04 9.99721092e-01 -2.29635675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.728623853 meters 0.022604210598181903 Centerline is valid? [True, True] Translation: X:83.64, Y:-8.02, Z:-2.30 [[ 9.87290748e-01 1.57263505e-01 2.29165717e-02 8.36422454e+01] [-1.57213561e-01 9.87556624e-01 -3.97624572e-03 -8.01811069e+00] [-2.32567305e-02 3.22914772e-04 9.99729474e-01 -2.29841006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78862385299999 meters 0.018470982711705015 Centerline is valid? [True, True] Translation: X:83.70, Y:-8.02, Z:-2.30 [[ 9.86788073e-01 1.60429137e-01 2.26227980e-02 8.37018557e+01] [-1.60381337e-01 9.87047330e-01 -3.92351515e-03 -8.02187366e+00] [-2.29592185e-02 2.43403348e-04 9.99736373e-01 -2.30033184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84862385299999 meters 0.016541478339980112 Centerline is valid? [True, True] Translation: X:83.76, Y:-8.03, Z:-2.30 [[ 9.86345492e-01 1.63045193e-01 2.32128387e-02 8.37607705e+01] [-1.62995603e-01 9.86618584e-01 -4.02532333e-03 -8.02897883e+00] [-2.35585276e-02 1.86768879e-04 9.99722442e-01 -2.30092913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.908623853 meters 0.01498010040702883 Centerline is valid? [True, True] Translation: X:83.82, Y:-8.04, Z:-2.30 [[ 9.85654173e-01 1.67077035e-01 2.38980039e-02 8.38180291e+01] [-1.67025678e-01 9.85943840e-01 -4.14331189e-03 -8.03595733e+00] [-2.42543420e-02 9.22923396e-05 9.99705816e-01 -2.30284882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.968623853 meters 0.014171639863720394 Centerline is valid? [True, True] Translation: X:83.88, Y:-8.04, Z:-2.30 [[ 9.85147816e-01 1.70102657e-01 2.34279216e-02 8.38767033e+01] [-1.70054190e-01 9.85426347e-01 -4.06037363e-03 -8.04017533e+00] [-2.37771715e-02 1.60519718e-05 9.99717283e-01 -2.30487453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.028623853 meters 0.014123279216914362 Centerline is valid? [True, True] Translation: X:83.93, Y:-8.05, Z:-2.31 [[ 9.84872022e-01 1.71633859e-01 2.38520150e-02 8.39333809e+01] [-1.71584098e-01 9.85160808e-01 -4.13274656e-03 -8.04930843e+00] [-2.42073897e-02 -2.24000160e-05 9.99706958e-01 -2.30670609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.088623853 meters 0.014186154686209424 Centerline is valid? [True, True] Translation: X:83.99, Y:-8.06, Z:-2.31 [[ 9.84946596e-01 1.71237271e-01 2.36220379e-02 8.39908554e+01] [-1.71188385e-01 9.85229819e-01 -4.09146556e-03 -8.05933763e+00] [-2.39737476e-02 -1.39434471e-05 9.99712588e-01 -2.30862905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14862385299999 meters 0.014198451176397963 Centerline is valid? [True, True] Translation: X:84.05, Y:-8.07, Z:-2.31 [[ 9.85271345e-01 1.69361661e-01 2.36009225e-02 8.40483370e+01] [-1.69312351e-01 9.85553969e-01 -4.08668111e-03 -8.07256752e+00] [-2.39521100e-02 3.05621031e-05 9.99713107e-01 -2.31056223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20862385299999 meters 0.014809486564079644 Centerline is valid? [True, True] Translation: X:84.10, Y:-8.09, Z:-2.31 [[ 9.85672011e-01 1.66954501e-01 2.40183453e-02 8.41047037e+01] [-1.66902744e-01 9.85964597e-01 -4.15781703e-03 -8.08775573e+00] [-2.43754044e-02 8.95161306e-05 9.99702872e-01 -2.31217687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.268623853 meters 0.016877371496899902 Centerline is valid? [True, True] Translation: X:84.16, Y:-8.11, Z:-2.31 [[ 9.86359397e-01 1.62738308e-01 2.47261509e-02 8.41615117e+01] [-1.62682170e-01 9.86669247e-01 -4.27873373e-03 -8.10703706e+00] [-2.50928466e-02 1.97865335e-04 9.99685105e-01 -2.31289693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.328623853 meters 0.017092776832464608 Centerline is valid? [True, True] Translation: X:84.22, Y:-8.12, Z:-2.31 [[ 9.86667617e-01 1.60763028e-01 2.53428965e-02 8.42206129e+01] [-1.60703420e-01 9.86993001e-01 -4.38479236e-03 -8.12121187e+00] [-2.57181740e-02 2.53642496e-04 9.99669201e-01 -2.31288408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.388623853 meters 0.01784740089053503 Centerline is valid? [True, True] Translation: X:84.28, Y:-8.14, Z:-2.32 [[ 9.86542257e-01 1.61554414e-01 2.51902146e-02 8.42782279e+01] [-1.61495779e-01 9.86863779e-01 -4.35840306e-03 -8.13736880e+00] [-2.55634296e-02 2.31635461e-04 9.99673175e-01 -2.31557230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.448623853 meters 0.016006866676203733 Centerline is valid? [True, True] Translation: X:84.34, Y:-8.15, Z:-2.32 [[ 9.86260610e-01 1.63263203e-01 2.52018873e-02 8.43379414e+01] [-1.63205080e-01 9.86582532e-01 -4.36007503e-03 -8.14618530e+00] [-2.55755816e-02 1.87094217e-04 9.99672874e-01 -2.31714838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50862385299999 meters 0.014582419984637662 Centerline is valid? [True, True] Translation: X:84.40, Y:-8.15, Z:-2.32 [[ 9.85679538e-01 1.66839479e-01 2.45038250e-02 8.43976276e+01] [-1.66785634e-01 9.85984067e-01 -4.23937757e-03 -8.15275605e+00] [-2.48676766e-02 9.17817238e-05 9.99690747e-01 -2.32011174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56862385299999 meters 0.014157984272664117 Centerline is valid? [True, True] Translation: X:84.46, Y:-8.16, Z:-2.32 [[ 9.85326976e-01 1.68825994e-01 2.50705702e-02 8.44566191e+01] [-1.68770289e-01 9.85645870e-01 -4.33678562e-03 -8.16361627e+00] [-2.54428661e-02 4.19844881e-05 9.99676277e-01 -2.32169628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.628623853 meters 0.0140067315575219 Centerline is valid? [True, True] Translation: X:84.51, Y:-8.17, Z:-2.32 [[ 9.85216202e-01 1.69344681e-01 2.59116526e-02 8.45140249e+01] [-1.69285371e-01 9.85556887e-01 -4.48162657e-03 -8.17457219e+00] [-2.62963473e-02 2.89073916e-05 9.99654191e-01 -2.32228152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.688623853 meters 0.02357375958411897 Centerline is valid? [True, True] Translation: X:84.57, Y:-8.18, Z:-2.32 [[ 9.85073773e-01 1.70287744e-01 2.51345710e-02 8.45725213e+01] [-1.70232269e-01 9.85394380e-01 -4.34630041e-03 -8.18488527e+00] [-2.55075867e-02 2.71148022e-06 9.99674629e-01 -2.31837897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.748623853 meters 0.014178018651918745 Centerline is valid? [True, True] Translation: X:84.63, Y:-8.19, Z:-2.33 [[ 9.84685555e-01 1.72499679e-01 2.52629893e-02 8.46310805e+01] [-1.72444380e-01 9.85009572e-01 -4.36787984e-03 -8.19442467e+00] [-2.56377442e-02 -5.54723358e-05 9.99671297e-01 -2.32711191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.808623853 meters 0.014533339060890167 Centerline is valid? [True, True] Translation: X:84.69, Y:-8.20, Z:-2.33 [[ 9.84449206e-01 1.73846521e-01 2.52417825e-02 8.46897273e+01] [-1.73791773e-01 9.84772755e-01 -4.36358921e-03 -8.20385873e+00] [-2.56160145e-02 -9.10821902e-05 9.99671852e-01 -2.32888365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.868623853 meters 0.015482937495779902 Centerline is valid? [True, True] Translation: X:84.75, Y:-8.21, Z:-2.33 [[ 9.84149100e-01 1.75658457e-01 2.43855452e-02 8.47476691e+01] [-1.75607931e-01 9.84451161e-01 -4.21499171e-03 -8.21042513e+00] [-2.47467772e-02 -1.34114823e-04 9.99693743e-01 -2.33251567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92862385299999 meters 0.015917891079725566 Centerline is valid? [True, True] Translation: X:84.81, Y:-8.22, Z:-2.33 [[ 9.83938274e-01 1.76856852e-01 2.42306891e-02 8.48062194e+01] [-1.76807343e-01 9.84236571e-01 -4.18765529e-03 -8.21890907e+00] [-2.45893459e-02 -1.63769425e-04 9.99697623e-01 -2.33477519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98862385299999 meters 0.016737889609011364 Centerline is valid? [True, True] Translation: X:84.86, Y:-8.23, Z:-2.34 [[ 9.83914179e-01 1.76967116e-01 2.44034514e-02 8.48632207e+01] [-1.76916961e-01 9.84216750e-01 -4.21633237e-03 -8.22739496e+00] [-2.47644378e-02 -1.68875254e-04 9.99693300e-01 -2.33734906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.048623853 meters 0.01596486767985495 Centerline is valid? [True, True] Translation: X:84.92, Y:-8.24, Z:-2.34 [[ 9.84055617e-01 1.76201784e-01 2.42378489e-02 8.49208430e+01] [-1.76152116e-01 9.84354057e-01 -4.18605974e-03 -8.24004101e+00] [-2.45962161e-02 -1.50232792e-04 9.99697456e-01 -2.33949536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.108623853 meters 0.014997345213852653 Centerline is valid? [True, True] Translation: X:84.98, Y:-8.26, Z:-2.34 [[ 9.84439786e-01 1.74089017e-01 2.39023567e-02 8.49781854e+01] [-1.74040120e-01 9.84729915e-01 -4.12698807e-03 -8.25503634e+00] [-2.42558289e-02 -9.71977806e-05 9.99705779e-01 -2.34249046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.168623853 meters 0.014486548905651892 Centerline is valid? [True, True] Translation: X:85.04, Y:-8.27, Z:-2.35 [[ 9.84755631e-01 1.72419486e-01 2.29753906e-02 8.50362232e+01] [-1.72373880e-01 9.85023613e-01 -3.96577480e-03 -8.26896822e+00] [-2.33150791e-02 -5.50381645e-05 9.99728165e-01 -2.34595607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.228623853 meters 0.014820255414421888 Centerline is valid? [True, True] Translation: X:85.09, Y:-8.28, Z:-2.35 [[ 9.84786107e-01 1.72362306e-01 2.20807400e-02 8.50936538e+01] [-1.72320179e-01 9.85033620e-01 -3.81088969e-03 -8.28003072e+00] [-2.24071250e-02 -5.20458522e-05 9.99748928e-01 -2.34939988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28862385299999 meters 0.01498134198986162 Centerline is valid? [True, True] Translation: X:85.15, Y:-8.29, Z:-2.35 [[ 9.84613278e-01 1.73368114e-01 2.19132418e-02 8.51528818e+01] [-1.73326893e-01 9.84857092e-01 -3.78110857e-03 -8.28896718e+00] [-2.22369352e-02 -7.52244018e-05 9.99752726e-01 -2.35055370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34862385299999 meters 0.015663475452699523 Centerline is valid? [True, True] Translation: X:85.21, Y:-8.30, Z:-2.35 [[ 9.84422555e-01 1.74366535e-01 2.25509351e-02 8.52103908e+01] [-1.74323151e-01 9.84680812e-01 -3.89075717e-03 -8.29533272e+00] [-2.28838910e-02 -1.01000945e-04 9.99738124e-01 -2.35292643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.408623853 meters 0.0157954633051847 Centerline is valid? [True, True] Translation: X:85.27, Y:-8.30, Z:-2.35 [[ 9.84271862e-01 1.75180641e-01 2.28176256e-02 8.52685759e+01] [-1.75136481e-01 9.84536301e-01 -3.93512101e-03 -8.30341592e+00] [-2.31541378e-02 -1.22969785e-04 9.99731899e-01 -2.35352040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.468623853 meters 0.015208556622199682 Centerline is valid? [True, True] Translation: X:85.33, Y:-8.31, Z:-2.35 [[ 9.84361495e-01 1.74538889e-01 2.38458321e-02 8.53262507e+01] [-1.74490500e-01 9.84650275e-01 -4.11122825e-03 -8.31415187e+00] [-2.41973743e-02 -1.13936372e-04 9.99707194e-01 -2.35312861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.528623853 meters 0.014592829292849451 Centerline is valid? [True, True] Translation: X:85.38, Y:-8.33, Z:-2.36 [[ 9.84752163e-01 1.72312649e-01 2.39066636e-02 8.53835884e+01] [-1.72263386e-01 9.85042307e-01 -4.12048268e-03 -8.32792525e+00] [-2.42590864e-02 -6.05885963e-05 9.99705703e-01 -2.35556174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.588623853 meters 0.014187694131997995 Centerline is valid? [True, True] Translation: X:85.44, Y:-8.34, Z:-2.36 [[ 9.85008668e-01 1.70753992e-01 2.45152529e-02 8.54418091e+01] [-1.70701731e-01 9.85313693e-01 -4.22441425e-03 -8.34020650e+00] [-2.48765500e-02 -2.37114452e-05 9.99690530e-01 -2.35624063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64862385299999 meters 0.014331934102972673 Centerline is valid? [True, True] Translation: X:85.50, Y:-8.35, Z:-2.36 [[ 9.85302083e-01 1.69158993e-01 2.37705860e-02 8.55003513e+01] [-1.69109407e-01 9.85588776e-01 -4.09553901e-03 -8.35369116e+00] [-2.41208200e-02 1.55134102e-05 9.99709051e-01 -2.35945250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70862385299999 meters 0.014403356918372214 Centerline is valid? [True, True] Translation: X:85.56, Y:-8.37, Z:-2.36 [[ 9.85469277e-01 1.68264467e-01 2.31813143e-02 8.55588123e+01] [-1.68217075e-01 9.85741887e-01 -3.99347136e-03 -8.36633593e+00] [-2.35227518e-02 3.59504377e-05 9.99723301e-01 -2.36162044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.768623853 meters 0.014749244871033752 Centerline is valid? [True, True] Translation: X:85.62, Y:-8.38, Z:-2.36 [[ 9.85700809e-01 1.66929400e-01 2.29889043e-02 8.56169422e+01] [-1.66882445e-01 9.85968849e-01 -3.95962639e-03 -8.38120648e+00] [-2.33273216e-02 6.65623780e-05 9.99727879e-01 -2.36408521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.828623853 meters 0.02914976532816387 Centerline is valid? [True, True] Translation: X:85.68, Y:-8.40, Z:-2.36 [[ 9.85831116e-01 1.66268570e-01 2.21759479e-02 8.56758723e+01] [-1.66224703e-01 9.86080502e-01 -3.81988874e-03 -8.39503547e+00] [-2.25023972e-02 7.95748247e-05 9.99746786e-01 -2.36040872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.888623853 meters 0.0169623097183691 Centerline is valid? [True, True] Translation: X:85.73, Y:-8.41, Z:-2.37 [[ 9.85762691e-01 1.66646829e-01 2.23774529e-02 8.57343264e+01] [-1.66602257e-01 9.86016648e-01 -3.85471430e-03 -8.40831466e+00] [-2.27069170e-02 7.16993852e-05 9.99742162e-01 -2.36685383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.948623853 meters 0.014513037399596116 Centerline is valid? [True, True] Translation: X:85.79, Y:-8.42, Z:-2.37 [[ 9.85205024e-01 1.69971938e-01 2.19226019e-02 8.57936555e+01] [-1.69929994e-01 9.85448903e-01 -3.77586555e-03 -8.41503411e+00] [-2.22453952e-02 -5.30588780e-06 9.99752541e-01 -2.37248879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00862385299999 meters 0.016540836565808355 Centerline is valid? [True, True] Translation: X:85.85, Y:-8.42, Z:-2.37 [[ 9.84007621e-01 1.76782410e-01 2.18398813e-02 8.58527695e+01] [-1.76742464e-01 9.84249945e-01 -3.76126029e-03 -8.41789809e+00] [-2.21608267e-02 -1.58925647e-04 9.99754406e-01 -2.37336535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06862385299999 meters 0.02241723392410736 Centerline is valid? [True, True] Translation: X:85.91, Y:-8.42, Z:-2.38 [[ 9.82679894e-01 1.84050370e-01 2.15797754e-02 8.59130354e+01] [-1.84013144e-01 9.82916761e-01 -3.71535458e-03 -8.41633253e+00] [-2.18949353e-02 -3.19958075e-04 9.99760226e-01 -2.37610017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.128623853 meters 0.03560984817951978 Centerline is valid? [True, True] Translation: X:85.97, Y:-8.42, Z:-2.37 [[ 9.82089348e-01 1.87225045e-01 2.11493679e-02 8.59721834e+01] [-1.87190041e-01 9.82316973e-01 -3.64050042e-03 -8.41806826e+00] [-2.14569759e-02 -3.83654366e-04 9.99769699e-01 -2.37145094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.188623853 meters 0.02680339096424486 Centerline is valid? [True, True] Translation: X:86.03, Y:-8.43, Z:-2.38 [[ 9.81833794e-01 1.88462315e-01 2.20081332e-02 8.60300627e+01] [-1.88424738e-01 9.82080329e-01 -3.78755488e-03 -8.42688733e+00] [-2.23275661e-02 -4.28127357e-04 9.99750617e-01 -2.37937740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.248623853 meters 0.026681533743649528 Centerline is valid? [True, True] Translation: X:86.09, Y:-8.44, Z:-2.38 [[ 9.82412254e-01 1.85417989e-01 2.20529428e-02 8.60867593e+01] [-1.85379514e-01 9.82659676e-01 -3.79425895e-03 -8.43598812e+00] [-2.23740615e-02 -3.60637349e-04 9.99749604e-01 -2.38255716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.308623853 meters 0.023962239381083245 Centerline is valid? [True, True] Translation: X:86.14, Y:-8.45, Z:-2.39 [[ 9.82928147e-01 1.82703829e-01 2.17156352e-02 8.61440786e+01] [-1.82665888e-01 9.83167953e-01 -3.73494562e-03 -8.44808526e+00] [-2.20325055e-02 -2.95522632e-04 9.99757211e-01 -2.38510553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.368623853 meters 0.022996805608806015 Centerline is valid? [True, True] Translation: X:86.20, Y:-8.47, Z:-2.38 [[ 9.84101479e-01 1.76245805e-01 2.19475445e-02 8.62002187e+01] [-1.76205466e-01 9.84346175e-01 -3.77375590e-03 -8.46935827e+00] [-2.22690902e-02 -1.53518542e-04 9.99752001e-01 -2.38154629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42862385299999 meters 0.014933775282801284 Centerline is valid? [True, True] Translation: X:86.26, Y:-8.50, Z:-2.39 [[ 9.85533709e-01 1.68048498e-01 2.19774992e-02 8.62557329e+01] [-1.68006020e-01 9.85778728e-01 -3.77837224e-03 -8.49711730e+00] [-2.22999010e-02 3.13610436e-05 9.99751326e-01 -2.38996812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48862385299999 meters 0.017059608191427364 Centerline is valid? [True, True] Translation: X:86.31, Y:-8.52, Z:-2.39 [[ 9.86242940e-01 1.63840022e-01 2.19387812e-02 8.63132165e+01] [-1.63796664e-01 9.86486914e-01 -3.77112708e-03 -8.51840312e+00] [-2.22601821e-02 1.25748292e-04 9.99752204e-01 -2.39193853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.548623853 meters 0.018186336507059232 Centerline is valid? [True, True] Translation: X:86.37, Y:-8.54, Z:-2.39 [[ 9.86650191e-01 1.61514674e-01 2.08425208e-02 8.63728124e+01] [-1.61475043e-01 9.86870296e-01 -3.58171655e-03 -8.53582803e+00] [-2.11473645e-02 1.68354366e-04 9.99776355e-01 -2.39405797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.608623853 meters 0.01630340219853439 Centerline is valid? [True, True] Translation: X:86.43, Y:-8.55, Z:-2.40 [[ 9.86131364e-01 1.64694548e-01 2.05095022e-02 8.64320449e+01] [-1.64656777e-01 9.86344613e-01 -3.52849842e-03 -8.54570970e+00] [-2.08105615e-02 1.02534420e-04 9.99783432e-01 -2.39623471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.668623853 meters 0.01591657478130426 Centerline is valid? [True, True] Translation: X:86.49, Y:-8.55, Z:-2.40 [[ 9.84896011e-01 1.71976946e-01 2.00942388e-02 8.64915338e+01] [-1.71942200e-01 9.85100973e-01 -3.45721240e-03 -8.54502428e+00] [-2.03894151e-02 -5.00529328e-05 9.99792113e-01 -2.40025839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.728623853 meters 0.018238714677498498 Centerline is valid? [True, True] Translation: X:86.55, Y:-8.55, Z:-2.40 [[ 9.83920249e-01 1.77496555e-01 1.98976486e-02 8.65506769e+01] [-1.77463618e-01 9.84121408e-01 -3.42315190e-03 -8.54645270e+00] [-2.01892996e-02 -1.63000239e-04 9.99796162e-01 -2.39997368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78862385299999 meters 0.02402439126414669 Centerline is valid? [True, True] Translation: X:86.61, Y:-8.54, Z:-2.40 [[ 9.82511416e-01 1.85167814e-01 1.96009741e-02 8.66120281e+01] [-1.85137397e-01 9.82706864e-01 -3.37104544e-03 -8.54194311e+00] [-1.98862209e-02 -3.16782700e-04 9.99802199e-01 -2.40144132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84862385299999 meters 0.033042627809710144 Centerline is valid? [True, True] Translation: X:86.67, Y:-8.54, Z:-2.41 [[ 9.81512822e-01 1.90428171e-01 1.92273779e-02 8.66726333e+01] [-1.90399918e-01 9.81701043e-01 -3.30643498e-03 -8.53589830e+00] [-1.95051753e-02 -4.15582850e-04 9.99809670e-01 -2.40640868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.908623853 meters 0.036440541996317785 Centerline is valid? [True, True] Translation: X:86.73, Y:-8.54, Z:-2.41 [[ 9.81034490e-01 1.92895774e-01 1.90407358e-02 8.67326741e+01] [-1.92868546e-01 9.81219144e-01 -3.27355232e-03 -8.53888066e+00] [-1.93145889e-02 -4.60891303e-04 9.99813350e-01 -2.40791649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.968623853 meters 0.039864109262853144 Centerline is valid? [True, True] Translation: X:86.79, Y:-8.54, Z:-2.41 [[ 9.80642139e-01 1.94950673e-01 1.83092726e-02 8.67921513e+01] [-1.94925858e-01 9.80812929e-01 -3.14761327e-03 -8.53604002e+00] [-1.85716006e-02 -4.82268465e-04 9.99827417e-01 -2.41186387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.028623853 meters 0.035127059564473866 Centerline is valid? [True, True] Translation: X:86.85, Y:-8.54, Z:-2.41 [[ 9.80781719e-01 1.94246851e-01 1.83134213e-02 8.68500280e+01] [-1.94221916e-01 9.80952568e-01 -3.14756268e-03 -8.54429484e+00] [-1.85760018e-02 -4.69795837e-04 9.99827341e-01 -2.41147963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.088623853 meters 0.032947602996451775 Centerline is valid? [True, True] Translation: X:86.91, Y:-8.55, Z:-2.41 [[ 9.81196642e-01 1.92150117e-01 1.82066355e-02 8.69077327e+01] [-1.92125126e-01 9.81365451e-01 -3.12837359e-03 -8.55348661e+00] [-1.84684804e-02 -4.28402484e-04 9.99829351e-01 -2.41381181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14862385299999 meters 0.02520222953990856 Centerline is valid? [True, True] Translation: X:86.97, Y:-8.57, Z:-2.41 [[ 9.82303505e-01 1.86324901e-01 1.90487434e-02 8.69660235e+01] [-1.86296471e-01 9.82488127e-01 -3.27194733e-03 -8.56653887e+00] [-1.93248095e-02 -3.34668341e-04 9.99813202e-01 -2.41290796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20862385299999 meters 0.020835113935228154 Centerline is valid? [True, True] Translation: X:87.02, Y:-8.58, Z:-2.42 [[ 9.83523060e-01 1.79804217e-01 1.87838757e-02 8.70238842e+01] [-1.79775388e-01 9.83702395e-01 -3.22610967e-03 -8.57665655e+00] [-1.90578116e-02 -2.03925287e-04 9.99818363e-01 -2.41641321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.268623853 meters 0.016639874990832446 Centerline is valid? [True, True] Translation: X:87.08, Y:-8.59, Z:-2.42 [[ 9.84441046e-01 1.74657111e-01 1.92541297e-02 8.70817594e+01] [-1.74625848e-01 9.84629312e-01 -3.30625265e-03 -8.58923146e+00] [-1.95356411e-02 -1.07457910e-04 9.99809155e-01 -2.41616452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.328623853 meters 0.01585758256914358 Centerline is valid? [True, True] Translation: X:87.14, Y:-8.60, Z:-2.42 [[ 9.84681322e-01 1.73273625e-01 1.94665142e-02 8.71401257e+01] [-1.73241416e-01 9.84873720e-01 -3.34179427e-03 -8.59930447e+00] [-1.97511031e-02 -8.18040966e-05 9.99804925e-01 -2.41682200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.388623853 meters 0.014999191675895649 Centerline is valid? [True, True] Translation: X:87.20, Y:-8.61, Z:-2.42 [[ 9.85570934e-01 1.68018505e-01 2.04869776e-02 8.71973468e+01] [-1.67981716e-01 9.85783841e-01 -3.51591418e-03 -8.61213985e+00] [-2.07864701e-02 2.37451580e-05 9.99783938e-01 -2.41632572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.448623853 meters 0.015838413085190226 Centerline is valid? [True, True] Translation: X:87.25, Y:-8.63, Z:-2.42 [[ 9.86223077e-01 1.63973287e-01 2.18358440e-02 8.72547888e+01] [-1.63930527e-01 9.86464773e-01 -3.74626022e-03 -8.62537668e+00] [-2.21545775e-02 1.15086874e-04 9.99754551e-01 -2.41574778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50862385299999 meters 0.020096316191484914 Centerline is valid? [True, True] Translation: X:87.31, Y:-8.64, Z:-2.42 [[ 9.87289935e-01 1.57474152e-01 2.14586856e-02 8.73119827e+01] [-1.57431345e-01 9.87523076e-01 -3.68041360e-03 -8.64332412e+00] [-2.17705172e-02 2.55365574e-04 9.99762962e-01 -2.41824323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56862385299999 meters 0.022985031174470767 Centerline is valid? [True, True] Translation: X:87.37, Y:-8.66, Z:-2.42 [[ 9.88011907e-01 1.53093970e-01 1.98672482e-02 8.73710973e+01] [-1.53056403e-01 9.88211582e-01 -3.40685944e-03 -8.65803551e+00] [-2.01546144e-02 3.25208143e-04 9.99796822e-01 -2.42196375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.628623853 meters 0.024156787597090997 Centerline is valid? [True, True] Translation: X:87.43, Y:-8.67, Z:-2.43 [[ 9.88202782e-01 1.51963066e-01 1.90391233e-02 8.74296863e+01] [-1.51928353e-01 9.88386116e-01 -3.26505428e-03 -8.67098232e+00] [-1.93141728e-02 3.33953076e-04 9.99813408e-01 -2.42567775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.688623853 meters 0.02328594640828886 Centerline is valid? [True, True] Translation: X:87.49, Y:-8.68, Z:-2.43 [[ 9.88168154e-01 1.52260927e-01 1.84474930e-02 8.74890075e+01] [-1.52228402e-01 9.88340280e-01 -3.16294893e-03 -8.68117082e+00] [-1.87139940e-02 3.17293010e-04 9.99824828e-01 -2.42771569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.748623853 meters 0.023061048873515032 Centerline is valid? [True, True] Translation: X:87.55, Y:-8.69, Z:-2.43 [[ 9.87960739e-01 1.53648285e-01 1.80494564e-02 8.75464290e+01] [-1.53617374e-01 9.88125560e-01 -3.09504914e-03 -8.69322770e+00] [-1.83106783e-02 2.85076941e-04 9.99832305e-01 -2.43103644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.808623853 meters 0.020588823660776502 Centerline is valid? [True, True] Translation: X:87.61, Y:-8.70, Z:-2.43 [[ 9.87440108e-01 1.56999987e-01 1.76928813e-02 8.76057003e+01] [-1.56970836e-01 9.87598581e-01 -3.03314260e-03 -8.70059901e+00] [-1.79496678e-02 2.17780292e-04 9.99838868e-01 -2.43319801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.868623853 meters 0.019420749205340943 Centerline is valid? [True, True] Translation: X:87.66, Y:-8.71, Z:-2.43 [[ 9.87190354e-01 1.58535932e-01 1.79321801e-02 8.76638406e+01] [-1.58506244e-01 9.87353190e-01 -3.07395029e-03 -8.70804044e+00] [-1.81927268e-02 1.92211556e-04 9.99834480e-01 -2.43480429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92862385299999 meters 0.018676889845029677 Centerline is valid? [True, True] Translation: X:87.72, Y:-8.72, Z:-2.44 [[ 9.86971500e-01 1.59882962e-01 1.80193185e-02 8.77205414e+01] [-1.59853223e-01 9.87135964e-01 -3.08813705e-03 -8.71813630e+00] [-1.82812578e-02 1.67457127e-04 9.99832870e-01 -2.43650141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98862385299999 meters 0.01705410810786979 Centerline is valid? [True, True] Translation: X:87.78, Y:-8.73, Z:-2.44 [[ 9.86604351e-01 1.62112201e-01 1.82068157e-02 8.77791742e+01] [-1.62082243e-01 9.86772323e-01 -3.11898858e-03 -8.72573525e+00] [-1.84716080e-02 1.26206167e-04 9.99829377e-01 -2.43728313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.048623853 meters 0.015680760500097007 Centerline is valid? [True, True] Translation: X:87.84, Y:-8.73, Z:-2.44 [[ 9.86023021e-01 1.65555247e-01 1.87099450e-02 8.78383924e+01] [-1.65524248e-01 9.86200515e-01 -3.20423189e-03 -8.73021668e+00] [-1.89822348e-02 6.24968513e-05 9.99819819e-01 -2.43767228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.108623853 meters 0.015420225881125765 Centerline is valid? [True, True] Translation: X:87.90, Y:-8.74, Z:-2.44 [[ 9.85672347e-01 1.67649127e-01 1.85417093e-02 8.78955800e+01] [-1.67619068e-01 9.85846727e-01 -3.17462141e-03 -8.73756709e+00] [-1.88115060e-02 2.11924940e-05 9.99823048e-01 -2.44046630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.168623853 meters 0.015446112016546653 Centerline is valid? [True, True] Translation: X:87.95, Y:-8.74, Z:-2.44 [[ 9.85285561e-01 1.69892221e-01 1.86814664e-02 8.79533145e+01] [-1.69862133e-01 9.85462649e-01 -3.19738414e-03 -8.74251517e+00] [-1.89530981e-02 -2.29372940e-05 9.99820374e-01 -2.44216800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.228623853 meters 0.01548947585695397 Centerline is valid? [True, True] Translation: X:88.01, Y:-8.75, Z:-2.44 [[ 9.85224673e-01 1.70322333e-01 1.79623611e-02 8.80111748e+01] [-1.70294609e-01 9.85388402e-01 -3.07318341e-03 -8.75071742e+00] [-1.82233340e-02 -3.11171317e-05 9.99833941e-01 -2.44391225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28862385299999 meters 0.015735630411222515 Centerline is valid? [True, True] Translation: X:88.07, Y:-8.76, Z:-2.45 [[ 9.85116264e-01 1.70988589e-01 1.75741211e-02 8.80685111e+01] [-1.70962169e-01 9.85273008e-01 -3.00603118e-03 -8.75768344e+00] [-1.78293042e-02 -4.32196458e-05 9.99841044e-01 -2.44691820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34862385299999 meters 0.016022424590756514 Centerline is valid? [True, True] Translation: X:88.13, Y:-8.76, Z:-2.45 [[ 9.84985266e-01 1.71775936e-01 1.72352334e-02 8.81269036e+01] [-1.71750666e-01 9.85136044e-01 -2.94691051e-03 -8.76488146e+00] [-1.74852579e-02 -5.74993791e-05 9.99847120e-01 -2.44895109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.408623853 meters 0.01724321816848986 Centerline is valid? [True, True] Translation: X:88.18, Y:-8.77, Z:-2.46 [[ 9.84839012e-01 1.72717363e-01 1.61503065e-02 8.81844945e+01] [-1.72695310e-01 9.84971425e-01 -2.76082634e-03 -8.76913413e+00] [-1.63844331e-02 -7.01127118e-05 9.99865764e-01 -2.45580398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.468623853 meters 0.01690987019295344 Centerline is valid? [True, True] Translation: X:88.24, Y:-8.78, Z:-2.46 [[ 9.84746380e-01 1.73185035e-01 1.67782753e-02 8.82426915e+01] [-1.73161323e-01 9.84889302e-01 -2.86694537e-03 -8.77753678e+00] [-1.70212559e-02 -8.21342727e-05 9.99855125e-01 -2.45567996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.528623853 meters 0.015830869481284683 Centerline is valid? [True, True] Translation: X:88.30, Y:-8.79, Z:-2.45 [[ 9.85032490e-01 1.71446192e-01 1.78100355e-02 8.83010649e+01] [-1.71419205e-01 9.85193484e-01 -3.04233411e-03 -8.78764354e+00] [-1.80679275e-02 -5.61841798e-05 9.99836760e-01 -2.45358220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.588623853 meters 0.015379588480682752 Centerline is valid? [True, True] Translation: X:88.36, Y:-8.80, Z:-2.46 [[ 9.85454255e-01 1.69041981e-01 1.74562445e-02 8.83586228e+01] [-1.69015693e-01 9.85608852e-01 -2.98106326e-03 -8.79895949e+00] [-1.77089540e-02 -1.26777931e-05 9.99843184e-01 -2.45524638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64862385299999 meters 0.01603100435096833 Centerline is valid? [True, True] Translation: X:88.41, Y:-8.82, Z:-2.46 [[ 9.86226103e-01 1.64459328e-01 1.76409465e-02 8.84142078e+01] [-1.64431762e-01 9.86383863e-01 -3.01180641e-03 -8.81500029e+00] [-1.78960646e-02 6.95901909e-05 9.99839850e-01 -2.45795522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70862385299999 meters 0.01696215758363681 Centerline is valid? [True, True] Translation: X:88.47, Y:-8.83, Z:-2.46 [[ 9.86610950e-01 1.62091992e-01 1.80282688e-02 8.84703733e+01] [-1.62062829e-01 9.86775645e-01 -3.07674139e-03 -8.82997264e+00] [-1.82885717e-02 1.13834500e-04 9.99832744e-01 -2.45910183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.768623853 meters 0.01640987271234516 Centerline is valid? [True, True] Translation: X:88.53, Y:-8.84, Z:-2.46 [[ 9.86512028e-01 1.62683688e-01 1.81117813e-02 8.85291483e+01] [-1.62654376e-01 9.86678269e-01 -3.08978774e-03 -8.83795940e+00] [-1.83731591e-02 1.02152280e-04 9.99831194e-01 -2.45945180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.828623853 meters 0.015301862443898284 Centerline is valid? [True, True] Translation: X:88.59, Y:-8.85, Z:-2.46 [[ 9.86017809e-01 1.65501908e-01 1.94422166e-02 8.85864897e+01] [-1.65468697e-01 9.86209469e-01 -3.31578123e-03 -8.84502010e+00] [-1.97228662e-02 5.23410806e-05 9.99805484e-01 -2.45914743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.888623853 meters 0.014624801653998133 Centerline is valid? [True, True] Translation: X:88.64, Y:-8.85, Z:-2.46 [[ 9.85738601e-01 1.66943564e-01 2.11956654e-02 8.86446323e+01] [-1.66904458e-01 9.85966453e-01 -3.61330122e-03 -8.85492719e+00] [-2.15014324e-02 2.41194421e-05 9.99768817e-01 -2.45676969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.948623853 meters 0.014507986854251967 Centerline is valid? [True, True] Translation: X:88.70, Y:-8.87, Z:-2.46 [[ 9.85548663e-01 1.67953843e-01 2.20304274e-02 8.87021958e+01] [-1.67911875e-01 9.85794860e-01 -3.75444915e-03 -8.86597595e+00] [-2.23480563e-02 1.02197040e-06 9.99750251e-01 -2.45711996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00862385299999 meters 0.01496356313143775 Centerline is valid? [True, True] Translation: X:88.76, Y:-8.87, Z:-2.46 [[ 9.85164482e-01 1.70354865e-01 2.07403726e-02 8.87603377e+01] [-1.70318220e-01 9.85382777e-01 -3.53363661e-03 -8.87411474e+00] [-2.10391782e-02 -5.12500584e-05 9.99778651e-01 -2.46090178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06862385299999 meters 0.016860435056563955 Centerline is valid? [True, True] Translation: X:88.82, Y:-8.88, Z:-2.46 [[ 9.84465341e-01 1.74463792e-01 1.97579567e-02 8.88177979e+01] [-1.74431378e-01 9.84663581e-01 -3.36552111e-03 -8.87761045e+00] [-2.00421020e-02 -1.33168727e-04 9.99799128e-01 -2.46450071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.128623853 meters 0.01929368515600764 Centerline is valid? [True, True] Translation: X:88.88, Y:-8.88, Z:-2.47 [[ 9.83905235e-01 1.77662382e-01 1.91459472e-02 8.88758425e+01] [-1.77632579e-01 9.84091480e-01 -3.25980697e-03 -8.88259719e+00] [-1.94205086e-02 -1.93602840e-04 9.99811385e-01 -2.46736175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.188623853 meters 0.023006034914467507 Centerline is valid? [True, True] Translation: X:88.94, Y:-8.88, Z:-2.47 [[ 9.83021176e-01 1.82453193e-01 1.94987382e-02 8.89361678e+01] [-1.82423253e-01 9.83214496e-01 -3.31838015e-03 -8.88494938e+00] [-1.97768911e-02 -2.94985282e-04 9.99804375e-01 -2.46784449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.248623853 meters 0.02453441185582998 Centerline is valid? [True, True] Translation: X:88.99, Y:-8.89, Z:-2.47 [[ 9.82751150e-01 1.83949114e-01 1.90499507e-02 8.89948715e+01] [-1.83920822e-01 9.82935716e-01 -3.24175750e-03 -8.89169236e+00] [-1.93211954e-02 -3.17841682e-04 9.99813278e-01 -2.47032902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.308623853 meters 0.025984515171726848 Centerline is valid? [True, True] Translation: X:89.05, Y:-8.89, Z:-2.47 [[ 9.82211446e-01 1.86929354e-01 1.78351336e-02 8.90544008e+01] [-1.86905062e-01 9.82373295e-01 -3.03415467e-03 -8.89494745e+00] [-1.80879315e-02 -3.53295301e-04 9.99836338e-01 -2.47351085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.368623853 meters 0.025543493534213434 Centerline is valid? [True, True] Translation: X:89.11, Y:-8.90, Z:-2.48 [[ 9.82538023e-01 1.85237784e-01 1.74927792e-02 8.91123117e+01] [-1.85214156e-01 9.82693677e-01 -2.97538946e-03 -8.90207365e+00] [-1.77411980e-02 -3.16477056e-04 9.99842562e-01 -2.47722834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42862385299999 meters 0.022870415398118838 Centerline is valid? [True, True] Translation: X:89.17, Y:-8.91, Z:-2.48 [[ 9.83177846e-01 1.81761861e-01 1.79986065e-02 8.91696844e+01] [-1.81736282e-01 9.83342543e-01 -3.06047935e-03 -8.91158523e+00] [-1.82550739e-02 -2.62004333e-04 9.99833328e-01 -2.47775631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48862385299999 meters 0.020823447945495174 Centerline is valid? [True, True] Translation: X:89.23, Y:-8.92, Z:-2.48 [[ 9.83671956e-01 1.79087662e-01 1.78071088e-02 8.92273136e+01] [-1.79062202e-01 9.83833098e-01 -3.02705315e-03 -8.92205211e+00] [-1.80613309e-02 -2.10952834e-04 9.99836859e-01 -2.47946236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.548623853 meters 0.01688844691043312 Centerline is valid? [True, True] Translation: X:89.28, Y:-8.94, Z:-2.48 [[ 9.84793077e-01 1.72892730e-01 1.70498884e-02 8.92840870e+01] [-1.72868474e-01 9.84940656e-01 -2.89756904e-03 -8.93794998e+00] [-1.72940969e-02 -9.38822515e-05 9.99850442e-01 -2.48258072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.608623853 meters 0.01541326212984862 Centerline is valid? [True, True] Translation: X:89.34, Y:-8.95, Z:-2.48 [[ 9.86009481e-01 1.65720623e-01 1.79437615e-02 8.93410918e+01] [-1.65692584e-01 9.86172740e-01 -3.04855156e-03 -8.95383129e+00] [-1.82008563e-02 3.27525346e-05 9.99834350e-01 -2.48203676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.668623853 meters 0.01974210265769319 Centerline is valid? [True, True] Translation: X:89.40, Y:-8.98, Z:-2.48 [[ 9.87596786e-01 1.55740588e-01 1.99363193e-02 8.93971186e+01] [-1.55703962e-01 9.87797961e-01 -3.38593573e-03 -8.97646715e+00] [-2.02203831e-02 2.39775355e-04 9.99795518e-01 -2.47919823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.728623853 meters 0.02545843658500924 Centerline is valid? [True, True] Translation: X:89.46, Y:-9.00, Z:-2.48 [[ 9.88690338e-01 1.48526971e-01 2.07642659e-02 8.94550457e+01] [-1.48485676e-01 9.88908275e-01 -3.52515242e-03 -8.99778540e+00] [-2.10575346e-02 4.02088071e-04 9.99778185e-01 -2.47966065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78862385299999 meters 0.033704899915156225 Centerline is valid? [True, True] Translation: X:89.51, Y:-9.03, Z:-2.48 [[ 9.89973849e-01 1.39848749e-01 1.98521076e-02 8.95114547e+01] [-1.39809257e-01 9.90172719e-01 -3.37029032e-03 -9.02505754e+00] [-2.01283462e-02 5.60990864e-04 9.99797247e-01 -2.48336715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84862385299999 meters 0.04000355210641312 Centerline is valid? [True, True] Translation: X:89.57, Y:-9.05, Z:-2.48 [[ 9.90694814e-01 1.34729048e-01 1.92838894e-02 8.95688335e+01] [-1.34690815e-01 9.90882267e-01 -3.27381402e-03 -9.04723219e+00] [-1.95491419e-02 6.45987792e-04 9.99808689e-01 -2.48014266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.908623853 meters 0.04131973425744805 Centerline is valid? [True, True] Translation: X:89.63, Y:-9.07, Z:-2.49 [[ 9.90829273e-01 1.33736779e-01 1.92827742e-02 8.96268577e+01] [-1.33698386e-01 9.91016666e-01 -3.27244568e-03 -9.07107950e+00] [-1.95471970e-02 6.64359178e-04 9.99808715e-01 -2.48758637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.968623853 meters 0.03692497826316839 Centerline is valid? [True, True] Translation: X:89.69, Y:-9.08, Z:-2.49 [[ 9.90627385e-01 1.35168505e-01 1.96687337e-02 8.96882394e+01] [-1.35128781e-01 9.90822411e-01 -3.34100184e-03 -9.08202635e+00] [-1.99398204e-02 6.51875918e-04 9.99800970e-01 -2.48706060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.028623853 meters 0.03848943776166291 Centerline is valid? [True, True] Translation: X:89.75, Y:-9.10, Z:-2.48 [[ 9.90135630e-01 1.38714138e-01 1.97439128e-02 8.97459687e+01] [-1.38674718e-01 9.90332289e-01 -3.35852142e-03 -9.10073777e+00] [-2.00189088e-02 5.87410175e-04 9.99799429e-01 -2.48467800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.088623853 meters 0.02725394855348419 Centerline is valid? [True, True] Translation: X:89.81, Y:-9.11, Z:-2.49 [[ 9.89119894e-01 1.45720312e-01 2.01847731e-02 8.98059508e+01] [-1.45680568e-01 9.89325721e-01 -3.43349410e-03 -9.10606986e+00] [-2.04696450e-02 4.55608106e-04 9.99790371e-01 -2.48858819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14862385299999 meters 0.020379305578932094 Centerline is valid? [True, True] Translation: X:89.87, Y:-9.11, Z:-2.49 [[ 9.87609775e-01 1.55747668e-01 1.92248671e-02 8.98652934e+01] [-1.55713509e-01 9.87796846e-01 -3.27030832e-03 -9.11282057e+00] [-1.94996060e-02 2.36216946e-04 9.99809837e-01 -2.49197313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20862385299999 meters 0.015341864070874624 Centerline is valid? [True, True] Translation: X:89.93, Y:-9.11, Z:-2.50 [[ 9.85612613e-01 1.68009230e-01 1.84574179e-02 8.99252853e+01] [-1.67979885e-01 9.85785422e-01 -3.13999366e-03 -9.11119384e+00] [-1.87226015e-02 -5.65759472e-06 9.99824717e-01 -2.49510061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.268623853 meters 0.018479553814134412 Centerline is valid? [True, True] Translation: X:89.99, Y:-9.11, Z:-2.50 [[ 9.84118167e-01 1.76527462e-01 1.86946075e-02 8.99853950e+01] [-1.76498903e-01 9.84295701e-01 -3.17976723e-03 -9.10957171e+00] [-1.89623380e-02 -1.70311022e-04 9.99820184e-01 -2.49554992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.328623853 meters 0.02810699676943562 Centerline is valid? [True, True] Translation: X:90.05, Y:-9.10, Z:-2.50 [[ 9.82036458e-01 1.87731705e-01 1.90053114e-02 9.00469199e+01] [-1.87704307e-01 9.82220266e-01 -3.23132094e-03 -9.10458331e+00] [-1.92740235e-02 -3.94103842e-04 9.99814161e-01 -2.49665869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.388623853 meters 0.03524612958182988 Centerline is valid? [True, True] Translation: X:90.11, Y:-9.10, Z:-2.50 [[ 9.80598236e-01 1.95203703e-01 1.79614647e-02 9.01080801e+01] [-1.95180485e-01 9.80762587e-01 -3.05371253e-03 -9.10484355e+00] [-1.82120286e-02 -5.11262280e-04 9.99834017e-01 -2.49949108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.448623853 meters 0.04260780910367207 Centerline is valid? [True, True] Translation: X:90.17, Y:-9.10, Z:-2.50 [[ 9.79940156e-01 1.98519933e-01 1.75250528e-02 9.01676881e+01] [-1.98498352e-01 9.80096691e-01 -2.97993799e-03 -9.10459372e+00] [-1.77678234e-02 -5.58533214e-04 9.99841984e-01 -2.50368135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50862385299999 meters 0.04231218551388369 Centerline is valid? [True, True] Translation: X:90.23, Y:-9.11, Z:-2.50 [[ 9.79359702e-01 2.01257378e-01 1.87094205e-02 9.02268604e+01] [-2.01233305e-01 9.79538179e-01 -3.18002486e-03 -9.11236219e+00] [-1.89665952e-02 -6.50570326e-04 9.99819906e-01 -2.50141455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56862385299999 meters 0.043624700164891804 Centerline is valid? [True, True] Translation: X:90.28, Y:-9.12, Z:-2.50 [[ 9.79417901e-01 2.00962380e-01 1.88334215e-02 9.02848400e+01] [-2.00937935e-01 9.79598744e-01 -3.20094581e-03 -9.11758316e+00] [-1.90924657e-02 -6.49285207e-04 9.99817511e-01 -2.50382358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.628623853 meters 0.041528387941212656 Centerline is valid? [True, True] Translation: X:90.34, Y:-9.13, Z:-2.51 [[ 9.79931535e-01 1.98488492e-01 1.83440871e-02 9.03432920e+01] [-1.98464893e-01 9.80103043e-01 -3.11641760e-03 -9.12833066e+00] [-1.85976687e-02 -5.86781417e-04 9.99826876e-01 -2.50631263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.688623853 meters 0.034266308432020325 Centerline is valid? [True, True] Translation: X:90.40, Y:-9.15, Z:-2.51 [[ 9.81320699e-01 1.91501462e-01 1.83541912e-02 9.04010612e+01] [-1.91476626e-01 9.81492223e-01 -3.11751641e-03 -9.14659856e+00] [-1.86115049e-02 -4.55115223e-04 9.99826687e-01 -2.50852157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.748623853 meters 0.023183526725137772 Centerline is valid? [True, True] Translation: X:90.46, Y:-9.17, Z:-2.51 [[ 9.83200449e-01 1.81634822e-01 1.80462800e-02 9.04587690e+01] [-1.81609148e-01 9.83366016e-01 -3.06518481e-03 -9.17018738e+00] [-1.83028428e-02 -2.63678456e-04 9.99832454e-01 -2.50956156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.808623853 meters 0.01751757215133971 Centerline is valid? [True, True] Translation: X:90.52, Y:-9.19, Z:-2.51 [[ 9.84589174e-01 1.74034146e-01 1.72126534e-02 9.05154572e+01] [-1.74009616e-01 9.84739612e-01 -2.92415237e-03 -9.19103942e+00] [-1.74588840e-02 -1.16078450e-04 9.99847575e-01 -2.51221410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.868623853 meters 0.016744133472614133 Centerline is valid? [True, True] Translation: X:90.57, Y:-9.22, Z:-2.51 [[ 9.86550883e-01 1.62552306e-01 1.71494254e-02 9.05712929e+01] [-1.62526243e-01 9.86699924e-01 -2.91201482e-03 -9.21874129e+00] [-1.73946915e-02 8.56191124e-05 9.99848697e-01 -2.51397821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92862385299999 meters 0.022158130649528308 Centerline is valid? [True, True] Translation: X:90.63, Y:-9.24, Z:-2.51 [[ 9.88094592e-01 1.52808113e-01 1.78538017e-02 9.06296458e+01] [-1.52778289e-01 9.88255842e-01 -3.03068590e-03 -9.24325406e+00] [-1.81072372e-02 2.66931068e-04 9.99836015e-01 -2.51291279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98862385299999 meters 0.029378041158678772 Centerline is valid? [True, True] Translation: X:90.69, Y:-9.27, Z:-2.51 [[ 9.89028530e-01 1.46603635e-01 1.81642942e-02 9.06862884e+01] [-1.46571704e-01 9.89195241e-01 -3.08409341e-03 -9.26616205e+00] [-1.84201727e-02 3.87884805e-04 9.99830259e-01 -2.51407910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.048623853 meters 0.030869052773577335 Centerline is valid? [True, True] Translation: X:90.75, Y:-9.28, Z:-2.52 [[ 9.89067988e-01 1.46359790e-01 1.79812744e-02 9.07455308e+01] [-1.46328475e-01 9.89231349e-01 -3.05218065e-03 -9.27997657e+00] [-1.82343568e-02 3.87641727e-04 9.99833665e-01 -2.51611025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.108623853 meters 0.025418539300687028 Centerline is valid? [True, True] Translation: X:90.81, Y:-9.28, Z:-2.52 [[ 9.88633360e-01 1.49283883e-01 1.78438238e-02 9.08075605e+01] [-1.49253507e-01 9.88794322e-01 -3.02962827e-03 -9.28457951e+00] [-1.80961463e-02 3.31938296e-04 9.99836196e-01 -2.51544035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.168623853 meters 0.023259029138535513 Centerline is valid? [True, True] Translation: X:90.87, Y:-9.29, Z:-2.52 [[ 9.88207377e-01 1.52071206e-01 1.79033139e-02 9.08685003e+01] [-1.52041002e-01 9.88369499e-01 -3.04424027e-03 -9.29165858e+00] [-1.81580307e-02 2.86302914e-04 9.99835088e-01 -2.51735202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.228623853 meters 0.02061681304373737 Centerline is valid? [True, True] Translation: X:90.93, Y:-9.30, Z:-2.52 [[ 9.87618594e-01 1.55845724e-01 1.79338292e-02 9.09290204e+01] [-1.55816031e-01 9.87781384e-01 -3.04987214e-03 -9.29848377e+00] [-1.81900121e-02 2.17732360e-04 9.99834524e-01 -2.51864148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28862385299999 meters 0.019027828111211714 Centerline is valid? [True, True] Translation: X:90.99, Y:-9.31, Z:-2.52 [[ 9.87212871e-01 1.58432900e-01 1.76001039e-02 9.09896687e+01] [-1.58404701e-01 9.87369732e-01 -2.99373460e-03 -9.30531156e+00] [-1.78521159e-02 1.67514122e-04 9.99840624e-01 -2.52160611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34862385299999 meters 0.03088452824378038 Centerline is valid? [True, True] Translation: X:91.05, Y:-9.31, Z:-2.52 [[ 9.86486744e-01 1.62976547e-01 1.68091675e-02 9.10493197e+01] [-1.62951479e-01 9.86629940e-01 -2.85956778e-03 -9.30944286e+00] [-1.70504704e-02 8.18470008e-05 9.99854627e-01 -2.51537754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.408623853 meters 0.01528379000370037 Centerline is valid? [True, True] Translation: X:91.11, Y:-9.31, Z:-2.52 [[ 9.85363576e-01 1.69371288e-01 1.92870456e-02 9.11077245e+01] [-1.69339512e-01 9.85552315e-01 -3.28082087e-03 -9.30914347e+00] [-1.95640693e-02 -3.32575079e-05 9.99808605e-01 -2.52125991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.468623853 meters 0.016467768131817072 Centerline is valid? [True, True] Translation: X:91.17, Y:-9.31, Z:-2.52 [[ 9.84675751e-01 1.73301835e-01 1.94971528e-02 9.11664132e+01] [-1.73270158e-01 9.84868753e-01 -3.31533360e-03 -9.31227989e+00] [-1.97766900e-02 -1.13746148e-04 9.99804416e-01 -2.52155516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.528623853 meters 0.019821622796855867 Centerline is valid? [True, True] Translation: X:91.23, Y:-9.31, Z:-2.53 [[ 9.83872633e-01 1.77974714e-01 1.78785685e-02 9.12262344e+01] [-1.77948869e-01 9.84035042e-01 -3.03903613e-03 -9.31131020e+00] [-1.81340095e-02 -1.91446553e-04 9.99835547e-01 -2.52734546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.588623853 meters 0.023525835138344785 Centerline is valid? [True, True] Translation: X:91.29, Y:-9.31, Z:-2.53 [[ 9.83421329e-01 1.80644815e-01 1.58095119e-02 9.12850193e+01] [-1.80624960e-01 9.83548375e-01 -2.68672601e-03 -9.31215815e+00] [-1.60347628e-02 -2.13408785e-04 9.99871412e-01 -2.53454041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64862385299999 meters 0.022790810355288346 Centerline is valid? [True, True] Translation: X:91.34, Y:-9.32, Z:-2.54 [[ 9.83485281e-01 1.80329257e-01 1.54292507e-02 9.13421480e+01] [-1.80310314e-01 9.83606282e-01 -2.62167357e-03 -9.31992709e+00] [-1.56490724e-02 -2.03675673e-04 9.99877525e-01 -2.53589637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70862385299999 meters 0.02009565863737821 Centerline is valid? [True, True] Translation: X:91.40, Y:-9.33, Z:-2.54 [[ 9.84099155e-01 1.76864679e-01 1.63627169e-02 9.14001732e+01] [-1.76842923e-01 9.84235165e-01 -2.77860524e-03 -9.33213197e+00] [-1.65961985e-02 -1.59207620e-04 9.99862261e-01 -2.53667457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.768623853 meters 0.016513574802498893 Centerline is valid? [True, True] Translation: X:91.46, Y:-9.35, Z:-2.54 [[ 9.85215686e-01 1.70458204e-01 1.71479406e-02 9.14561728e+01] [-1.70433346e-01 9.85364906e-01 -2.91151220e-03 -9.34954053e+00] [-1.73932700e-02 -5.41133918e-05 9.99848724e-01 -2.53710081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.828623853 meters 0.016191457742824607 Centerline is valid? [True, True] Translation: X:91.51, Y:-9.37, Z:-2.54 [[ 9.86027122e-01 1.65708941e-01 1.70605331e-02 9.15130576e+01] [-1.65683642e-01 9.86174704e-01 -2.89559759e-03 -9.36541889e+00] [-1.73044925e-02 2.84864998e-05 9.99850266e-01 -2.53953812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.888623853 meters 0.02053594661542329 Centerline is valid? [True, True] Translation: X:91.57, Y:-9.39, Z:-2.54 [[ 9.87379408e-01 1.57510678e-01 1.65012461e-02 9.15695608e+01] [-1.57485881e-01 9.87517270e-01 -2.79970199e-03 -9.38972198e+00] [-1.67362485e-02 1.65654803e-04 9.99859925e-01 -2.54252520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.948623853 meters 0.027921011894493468 Centerline is valid? [True, True] Translation: X:91.63, Y:-9.41, Z:-2.54 [[ 9.88556194e-01 1.49935342e-01 1.66145820e-02 9.16260373e+01] [-1.49909153e-01 9.88695760e-01 -2.81774033e-03 -9.41414838e+00] [-1.68492456e-02 2.94816754e-04 9.99857998e-01 -2.54375088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00862385299999 meters 0.03465724933775301 Centerline is valid? [True, True] Translation: X:91.68, Y:-9.44, Z:-2.54 [[ 9.89377918e-01 1.44364727e-01 1.70341127e-02 9.16832607e+01] [-1.44336349e-01 9.89524464e-01 -2.89023511e-03 -9.43849123e+00] [-1.72729193e-02 4.00893151e-04 9.99850732e-01 -2.54438529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06862385299999 meters 0.03752680787573931 Centerline is valid? [True, True] Translation: X:91.74, Y:-9.46, Z:-2.55 [[ 9.89670755e-01 1.42344788e-01 1.70222942e-02 9.17425719e+01] [-1.42316171e-01 9.89817040e-01 -2.88705401e-03 -9.45670375e+00] [-1.72599139e-02 4.34685200e-04 9.99850942e-01 -2.54611290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.128623853 meters 0.03995770613444317 Centerline is valid? [True, True] Translation: X:91.80, Y:-9.48, Z:-2.55 [[ 9.89824418e-01 1.41094059e-01 1.84415030e-02 9.18017366e+01] [-1.41060198e-01 9.89996070e-01 -3.13073277e-03 -9.47612112e+00] [-1.86987433e-02 4.97513682e-04 9.99825039e-01 -2.54507208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.188623853 meters 0.03535293050964683 Centerline is valid? [True, True] Translation: X:91.86, Y:-9.49, Z:-2.55 [[ 9.89651558e-01 1.42359788e-01 1.79856676e-02 9.18628982e+01] [-1.42327748e-01 9.89814869e-01 -3.05560890e-03 -9.48694266e+00] [-1.82374771e-02 4.64128540e-04 9.99833576e-01 -2.54608737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.248623853 meters 0.03508454347322879 Centerline is valid? [True, True] Translation: X:91.92, Y:-9.50, Z:-2.55 [[ 9.89055770e-01 1.46559562e-01 1.69993874e-02 9.19214555e+01] [-1.46531500e-01 9.89201779e-01 -2.89150913e-03 -9.50267573e+00] [-1.72396025e-02 3.68918057e-04 9.99851319e-01 -2.55081978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.308623853 meters 0.030958915648063117 Centerline is valid? [True, True] Translation: X:91.98, Y:-9.51, Z:-2.55 [[ 9.88526344e-01 1.50166382e-01 1.63010971e-02 9.19819491e+01] [-1.50141042e-01 9.88660695e-01 -2.77429225e-03 -9.51104747e+00] [-1.65328594e-02 2.94997270e-04 9.99863279e-01 -2.55424585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.368623853 meters 0.02064905210677019 Centerline is valid? [True, True] Translation: X:92.04, Y:-9.51, Z:-2.55 [[ 9.87676139e-01 1.55611577e-01 1.67595202e-02 9.20439906e+01] [-1.55585569e-01 9.87818300e-01 -2.85265208e-03 -9.51213639e+00] [-1.69992664e-02 2.09956917e-04 9.99855480e-01 -2.54912986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42862385299999 meters 0.023653575055560632 Centerline is valid? [True, True] Translation: X:92.11, Y:-9.52, Z:-2.54 [[ 9.86794272e-01 1.61072182e-01 1.71119017e-02 9.21064918e+01] [-1.61045888e-01 9.86942622e-01 -2.91267192e-03 -9.51986385e+00] [-1.73576156e-02 1.18406559e-04 9.99849338e-01 -2.54263131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48862385299999 meters 0.01669795875725982 Centerline is valid? [True, True] Translation: X:92.17, Y:-9.53, Z:-2.56 [[ 9.86078683e-01 1.65350678e-01 1.75494728e-02 9.21664479e+01] [-1.65323696e-01 9.86234836e-01 -2.98732355e-03 -9.53036472e+00] [-1.78018574e-02 4.43923557e-05 9.99841533e-01 -2.55630839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.548623853 meters 0.015275253443526328 Centerline is valid? [True, True] Translation: X:92.23, Y:-9.54, Z:-2.55 [[ 9.85255156e-01 1.70080328e-01 1.85731039e-02 9.22270880e+01] [-1.70050856e-01 9.85430201e-01 -3.16635286e-03 -9.53678119e+00] [-1.88410319e-02 -3.87067411e-05 9.99822491e-01 -2.55198827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.608623853 meters 0.016338807283776173 Centerline is valid? [True, True] Translation: X:92.29, Y:-9.55, Z:-2.55 [[ 9.84707182e-01 1.73393530e-01 1.69248133e-02 9.22871363e+01] [-1.73369551e-01 9.84852616e-01 -2.88508996e-03 -9.54696523e+00] [-1.71687026e-02 -9.32784804e-05 9.99852603e-01 -2.55473687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.668623853 meters 0.020200296524240817 Centerline is valid? [True, True] Translation: X:92.35, Y:-9.55, Z:-2.56 [[ 9.83950205e-01 1.77679540e-01 1.64916700e-02 9.23461679e+01] [-1.77657359e-01 9.84088387e-01 -2.81219019e-03 -9.55142523e+00] [-1.67289296e-02 -1.62811415e-04 9.99860048e-01 -2.55939934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.728623853 meters 0.023662031620801816 Centerline is valid? [True, True] Translation: X:92.41, Y:-9.55, Z:-2.56 [[ 9.82703114e-01 1.84401090e-01 1.70536823e-02 9.24062101e+01] [-1.84378389e-01 9.82851034e-01 -2.90758352e-03 -9.55472395e+00] [-1.72973908e-02 -2.87039092e-04 9.99850348e-01 -2.55717111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78862385299999 meters 0.028096112653718024 Centerline is valid? [True, True] Translation: X:92.47, Y:-9.56, Z:-2.56 [[ 9.81794259e-01 1.89150631e-01 1.73802329e-02 9.24662321e+01] [-1.89127803e-01 9.81948011e-01 -2.96281117e-03 -9.55707849e+00] [-1.76269027e-02 -3.78214263e-04 9.99844563e-01 -2.55829976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84862385299999 meters 0.033228287314260224 Centerline is valid? [True, True] Translation: X:92.53, Y:-9.56, Z:-2.56 [[ 9.80690684e-01 1.94770634e-01 1.76119770e-02 9.25271126e+01] [-1.94748108e-01 9.80848696e-01 -3.00175417e-03 -9.55639844e+00] [-1.78593382e-02 -4.86106838e-04 9.99840391e-01 -2.55882095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.908623853 meters 0.038918314993218066 Centerline is valid? [True, True] Translation: X:92.59, Y:-9.55, Z:-2.56 [[ 9.79998398e-01 1.98169254e-01 1.82232407e-02 9.25868485e+01] [-1.98145722e-01 9.80167652e-01 -3.10603427e-03 -9.55379366e+00] [-1.84773516e-02 -5.66948584e-04 9.99829118e-01 -2.56006043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.968623853 meters 0.04074359870298728 Centerline is valid? [True, True] Translation: X:92.65, Y:-9.56, Z:-2.56 [[ 9.79874528e-01 1.98772270e-01 1.83164924e-02 9.26450233e+01] [-1.98748617e-01 9.80045533e-01 -3.12111635e-03 -9.55707598e+00] [-1.85713879e-02 -5.82075124e-04 9.99827367e-01 -2.56225787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.028623853 meters 0.03819540723612126 Centerline is valid? [True, True] Translation: X:92.70, Y:-9.57, Z:-2.56 [[ 9.79837737e-01 1.98893540e-01 1.89570233e-02 9.27020738e+01] [-1.98868247e-01 9.80020914e-01 -3.22921215e-03 -9.56586314e+00] [-1.92205487e-02 -6.05846064e-04 9.99815085e-01 -2.56197438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.088623853 meters 0.03519771769443698 Centerline is valid? [True, True] Translation: X:92.76, Y:-9.57, Z:-2.57 [[ 9.80030256e-01 1.98076827e-01 1.75005057e-02 9.27607913e+01] [-1.98055165e-01 9.80186346e-01 -2.97976760e-03 -9.57325769e+00] [-1.77439797e-02 -5.45803140e-04 9.99842414e-01 -2.56516305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14862385299999 meters 0.047135706186893465 Centerline is valid? [True, True] Translation: X:92.82, Y:-9.57, Z:-2.56 [[ 9.80050888e-01 1.98066053e-01 1.64346019e-02 9.28196029e+01] [-1.98046954e-01 9.80188541e-01 -2.79791670e-03 -9.57286943e+00] [-1.66631808e-02 -5.12722111e-04 9.99861028e-01 -2.56250351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20862385299999 meters 0.0374993445792533 Centerline is valid? [True, True] Translation: X:92.88, Y:-9.58, Z:-2.57 [[ 9.80439450e-01 1.96003165e-01 1.79233096e-02 9.28786667e+01] [-1.95980146e-01 9.80603123e-01 -3.04905221e-03 -9.57782163e+00] [-1.81732772e-02 -5.23201759e-04 9.99834715e-01 -2.56922011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.268623853 meters 0.0357363289618777 Centerline is valid? [True, True] Translation: X:92.94, Y:-9.58, Z:-2.57 [[ 9.81178837e-01 1.92338188e-01 1.71496514e-02 9.29377172e+01] [-1.92316560e-01 9.81328605e-01 -2.91705649e-03 -9.58124413e+00] [-1.73905049e-02 -4.36007872e-04 9.99848679e-01 -2.57360887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.328623853 meters 0.029309658985000684 Centerline is valid? [True, True] Translation: X:92.99, Y:-9.60, Z:-2.57 [[ 9.81795912e-01 1.89174865e-01 1.70193499e-02 9.29948484e+01] [-1.89153092e-01 9.81943343e-01 -2.89476550e-03 -9.59578520e+00] [-1.72596542e-02 -3.77193727e-04 9.99850970e-01 -2.57416353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.388623853 meters 0.027618595998996163 Centerline is valid? [True, True] Translation: X:93.05, Y:-9.60, Z:-2.58 [[ 9.82436225e-01 1.85807714e-01 1.71626829e-02 9.30533524e+01] [-1.85785074e-01 9.82586073e-01 -2.91829463e-03 -9.60030717e+00] [-1.74060549e-02 -3.21531960e-04 9.99848451e-01 -2.57567749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.448623853 meters 0.02736777988743448 Centerline is valid? [True, True] Translation: X:93.11, Y:-9.60, Z:-2.58 [[ 9.82761689e-01 1.84122865e-01 1.66803386e-02 9.31119051e+01] [-1.84101248e-01 9.82903195e-01 -2.83562321e-03 -9.60292584e+00] [-1.69172612e-02 -2.84129294e-04 9.99856853e-01 -2.57934052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50862385299999 meters 0.02408187458598916 Centerline is valid? [True, True] Translation: X:93.17, Y:-9.61, Z:-2.58 [[ 9.83052054e-01 1.82573294e-01 1.66027608e-02 9.31695500e+01] [-1.82551675e-01 9.83192212e-01 -2.82136992e-03 -9.61258276e+00] [-1.68388119e-02 -2.57308301e-04 9.99858184e-01 -2.57938345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56862385299999 meters 0.02068388833784923 Centerline is valid? [True, True] Translation: X:93.23, Y:-9.62, Z:-2.58 [[ 9.83757518e-01 1.78752607e-01 1.63905966e-02 9.32278901e+01] [-1.78731018e-01 9.83894034e-01 -2.78455341e-03 -9.62126034e+00] [-1.66243564e-02 -1.90182673e-04 9.99861788e-01 -2.58111860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.628623853 meters 0.017031095999026816 Centerline is valid? [True, True] Translation: X:93.29, Y:-9.63, Z:-2.58 [[ 9.84800089e-01 1.72930505e-01 1.62426874e-02 9.32861679e+01] [-1.72908525e-01 9.84934024e-01 -2.75865084e-03 -9.63124282e+00] [-1.64750303e-02 -9.17795256e-05 9.99864273e-01 -2.58239216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.688623853 meters 0.015645380346965408 Centerline is valid? [True, True] Translation: X:93.34, Y:-9.65, Z:-2.58 [[ 9.86088002e-01 1.65356189e-01 1.69641890e-02 9.33424674e+01] [-1.65331105e-01 9.86233912e-01 -2.88029514e-03 -9.64882619e+00] [-1.72069331e-02 3.55163650e-05 9.99851949e-01 -2.58223656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.748623853 meters 0.017458864004851932 Centerline is valid? [True, True] Translation: X:93.40, Y:-9.66, Z:-2.58 [[ 9.86832992e-01 1.60784794e-01 1.75754286e-02 9.33983258e+01] [-1.60757157e-01 9.86989481e-01 -2.98338317e-03 -9.66237611e+00] [-1.78264458e-02 1.18725007e-04 9.99841089e-01 -2.58360931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.808623853 meters 0.02107089815519389 Centerline is valid? [True, True] Translation: X:93.46, Y:-9.68, Z:-2.58 [[ 9.87775606e-01 1.54885178e-01 1.76049660e-02 9.34566728e+01] [-1.54856542e-01 9.87932453e-01 -2.98662274e-03 -9.67724167e+00] [-1.78551008e-02 2.23868941e-04 9.99840560e-01 -2.58466516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.868623853 meters 0.022798365142449303 Centerline is valid? [True, True] Translation: X:93.51, Y:-9.69, Z:-2.59 [[ 9.88339874e-01 1.51304075e-01 1.70695692e-02 9.35147335e+01] [-1.51276625e-01 9.88487227e-01 -2.89554388e-03 -9.68914010e+00] [-1.73111587e-02 2.79554651e-04 9.99850112e-01 -2.58552539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92862385299999 meters 0.02593436805959956 Centerline is valid? [True, True] Translation: X:93.57, Y:-9.70, Z:-2.59 [[ 9.88747519e-01 1.48657639e-01 1.67107988e-02 9.35711343e+01] [-1.48630968e-01 9.88888672e-01 -2.83377787e-03 -9.70356655e+00] [-1.69463824e-02 3.18148641e-04 9.99856349e-01 -2.58868962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98862385299999 meters 0.02929408977123471 Centerline is valid? [True, True] Translation: X:93.63, Y:-9.72, Z:-2.59 [[ 9.88989911e-01 1.47007462e-01 1.69635699e-02 9.36280396e+01] [-1.46979733e-01 9.89135321e-01 -2.87676725e-03 -9.71884048e+00] [-1.72021724e-02 3.51792814e-04 9.99851970e-01 -2.59067330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.048623853 meters 0.027887522671962126 Centerline is valid? [True, True] Translation: X:93.69, Y:-9.73, Z:-2.59 [[ 9.89117021e-01 1.46089983e-01 1.74709777e-02 9.36867950e+01] [-1.46060441e-01 9.89271234e-01 -2.96204206e-03 -9.72776592e+00] [-1.77162603e-02 3.77987519e-04 9.99842983e-01 -2.58940498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.108623853 meters 0.030377791506334746 Centerline is valid? [True, True] Translation: X:93.74, Y:-9.74, Z:-2.59 [[ 9.89396127e-01 1.44144969e-01 1.78194068e-02 9.37444829e+01] [-1.44113931e-01 9.89556492e-01 -3.02055463e-03 -9.74329507e+00] [-1.80687075e-02 4.20500287e-04 9.99836659e-01 -2.59078294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.168623853 meters 0.039476567587050135 Centerline is valid? [True, True] Translation: X:93.80, Y:-9.76, Z:-2.59 [[ 9.89613585e-01 1.42703254e-01 1.73416887e-02 9.38031700e+01] [-1.42673642e-01 9.89765423e-01 -2.93925872e-03 -9.75907832e+00] [-1.75836456e-02 4.34528471e-04 9.99845301e-01 -2.58547577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.228623853 meters 0.033133898377127026 Centerline is valid? [True, True] Translation: X:93.86, Y:-9.78, Z:-2.59 [[ 9.89786462e-01 1.41355110e-01 1.84795079e-02 9.38609964e+01] [-1.41321251e-01 9.89958835e-01 -3.13204883e-03 -9.77611346e+00] [-1.87366832e-02 4.88512363e-04 9.99824334e-01 -2.59323959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28862385299999 meters 0.033619205337014436 Centerline is valid? [True, True] Translation: X:93.92, Y:-9.79, Z:-2.60 [[ 9.89795698e-01 1.41394006e-01 1.76694862e-02 9.39196897e+01] [-1.41363054e-01 9.89953290e-01 -2.99493646e-03 -9.78929252e+00] [-1.79154320e-02 4.66562695e-04 9.99839397e-01 -2.59662538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34862385299999 meters 0.0326062751646397 Centerline is valid? [True, True] Translation: X:93.98, Y:-9.80, Z:-2.60 [[ 9.89742088e-01 1.41837152e-01 1.71120420e-02 9.39791681e+01] [-1.41808193e-01 9.89889906e-01 -2.90020670e-03 -9.80344047e+00] [-1.73503947e-02 4.43828871e-04 9.99849372e-01 -2.59903567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.408623853 meters 0.03458446482568568 Centerline is valid? [True, True] Translation: X:94.04, Y:-9.82, Z:-2.60 [[ 9.89600701e-01 1.42802192e-01 1.72622931e-02 9.40373125e+01] [-1.42772884e-01 9.89751155e-01 -2.92477856e-03 -9.82409340e+00] [-1.75030393e-02 4.29775545e-04 9.99846718e-01 -2.60203836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.468623853 meters 0.034155661399584564 Centerline is valid? [True, True] Translation: X:94.10, Y:-9.84, Z:-2.60 [[ 9.89452060e-01 1.43807511e-01 1.74361638e-02 9.40954321e+01] [-1.43777692e-01 9.89605590e-01 -2.95836677e-03 -9.84282993e+00] [-1.76803605e-02 4.20230701e-04 9.99843602e-01 -2.60346871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.528623853 meters 0.03239842404480153 Centerline is valid? [True, True] Translation: X:94.16, Y:-9.86, Z:-2.61 [[ 9.89224727e-01 1.45424776e-01 1.69137294e-02 9.41556116e+01] [-1.45396953e-01 9.89369239e-01 -2.86979006e-03 -9.85599586e+00] [-1.71512622e-02 3.79662576e-04 9.99852834e-01 -2.60554198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.588623853 meters 0.024309270076099853 Centerline is valid? [True, True] Translation: X:94.22, Y:-9.86, Z:-2.61 [[ 9.88356157e-01 1.51262961e-01 1.64810278e-02 9.42161139e+01] [-1.51237344e-01 9.88493522e-01 -2.79697370e-03 -9.86171397e+00] [-1.67144677e-02 2.71859306e-04 9.99860267e-01 -2.60621899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64862385299999 meters 0.017346548846042958 Centerline is valid? [True, True] Translation: X:94.28, Y:-9.86, Z:-2.61 [[ 9.86875070e-01 1.60622196e-01 1.66765305e-02 9.42767805e+01] [-1.60597300e-01 9.87015956e-01 -2.83028061e-03 -9.86343803e+00] [-1.69146076e-02 1.14927599e-04 9.99856931e-01 -2.60678699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70862385299999 meters 0.015366928764948561 Centerline is valid? [True, True] Translation: X:94.34, Y:-9.86, Z:-2.61 [[ 9.85650744e-01 1.67944032e-01 1.69532706e-02 9.43362346e+01] [-1.67919380e-01 9.85796532e-01 -2.87741441e-03 -9.86470650e+00] [-1.71957199e-02 -1.06570477e-05 9.99852143e-01 -2.60861103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.768623853 meters 0.020606659782044432 Centerline is valid? [True, True] Translation: X:94.40, Y:-9.86, Z:-2.61 [[ 9.83842935e-01 1.78241816e-01 1.68206230e-02 9.43964325e+01] [-1.78219067e-01 9.83986697e-01 -2.85397334e-03 -9.86131438e+00] [-1.70599666e-02 -1.89894232e-04 9.99854450e-01 -2.61063286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.828623853 meters 0.031930397471089146 Centerline is valid? [True, True] Translation: X:94.46, Y:-9.86, Z:-2.60 [[ 9.82228221e-01 1.86858734e-01 1.76503665e-02 9.44585041e+01] [-1.86835089e-01 9.82386729e-01 -2.99387500e-03 -9.85694622e+00] [-1.78989175e-02 -3.57039275e-04 9.99839738e-01 -2.60476620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.888623853 meters 0.03346720140026328 Centerline is valid? [True, True] Translation: X:94.52, Y:-9.86, Z:-2.61 [[ 9.81030938e-01 1.92969428e-01 1.84688282e-02 9.45189621e+01] [-1.92944627e-01 9.81204647e-01 -3.13237980e-03 -9.85709792e+00] [-1.87261536e-02 -4.90499661e-04 9.99824530e-01 -2.60912692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.948623853 meters 0.0379832523285182 Centerline is valid? [True, True] Translation: X:94.58, Y:-9.86, Z:-2.61 [[ 9.80726126e-01 1.94563842e-01 1.79214232e-02 9.45775253e+01] [-1.94540750e-01 9.80889727e-01 -3.03977804e-03 -9.85908081e+00] [-1.81703708e-02 -5.05257378e-04 9.99834778e-01 -2.61276781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00862385299999 meters 0.039546867425415515 Centerline is valid? [True, True] Translation: X:94.64, Y:-9.86, Z:-2.61 [[ 9.80137916e-01 1.97538707e-01 1.75535149e-02 9.46375841e+01] [-1.97517054e-01 9.80294934e-01 -2.97601901e-03 -9.86268542e+00] [-1.77955006e-02 -5.50209474e-04 9.99841496e-01 -2.61435357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06862385299999 meters 0.04077686556837046 Centerline is valid? [True, True] Translation: X:94.70, Y:-9.86, Z:-2.61 [[ 9.80040334e-01 1.97970802e-01 1.81247270e-02 9.46964421e+01] [-1.97947794e-01 9.80207748e-01 -3.07273390e-03 -9.86310762e+00] [-1.83743095e-02 -5.76346567e-04 9.99831012e-01 -2.61460651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.128623853 meters 0.04202449697597221 Centerline is valid? [True, True] Translation: X:94.76, Y:-9.86, Z:-2.62 [[ 9.80341844e-01 1.96396264e-01 1.89308491e-02 9.47550558e+01] [-1.96370893e-01 9.80524441e-01 -3.20821128e-03 -9.86124960e+00] [-1.91922409e-02 -5.72323969e-04 9.99815648e-01 -2.61554503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.188623853 meters 0.04021682436030348 Centerline is valid? [True, True] Translation: X:94.81, Y:-9.87, Z:-2.62 [[ 9.80774963e-01 1.94313741e-01 1.79622387e-02 9.48136514e+01] [-1.94290570e-01 9.80939302e-01 -3.04297030e-03 -9.86745613e+00] [-1.82111569e-02 -5.05424523e-04 9.99834035e-01 -2.61979591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.248623853 meters 0.029625474016275515 Centerline is valid? [True, True] Translation: X:94.87, Y:-9.88, Z:-2.62 [[ 9.81690998e-01 1.89705043e-01 1.71691844e-02 9.48720997e+01] [-1.89683186e-01 9.81841044e-01 -2.90758231e-03 -9.88340735e+00] [-1.74089930e-02 -4.02358219e-04 9.99848371e-01 -2.62049341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.308623853 meters 0.024659118088734597 Centerline is valid? [True, True] Translation: X:94.93, Y:-9.89, Z:-2.62 [[ 9.82907729e-01 1.83344273e-01 1.66515661e-02 9.49311331e+01] [-1.83322802e-01 9.83048726e-01 -2.81985934e-03 -9.88980360e+00] [-1.68863059e-02 -2.80950217e-04 9.99857377e-01 -2.62316908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.368623853 meters 0.019286592736060194 Centerline is valid? [True, True] Translation: X:94.99, Y:-9.91, Z:-2.62 [[ 9.84097790e-01 1.76845611e-01 1.66484354e-02 9.49890800e+01] [-1.76823225e-01 9.84238589e-01 -2.81891635e-03 -9.90522924e+00] [-1.68845455e-02 -1.69740681e-04 9.99857431e-01 -2.62456664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42862385299999 meters 0.015945401596398116 Centerline is valid? [True, True] Translation: X:95.05, Y:-9.93, Z:-2.62 [[ 9.86674499e-01 1.61675394e-01 1.82893599e-02 9.50454777e+01] [-1.61645771e-01 9.86843988e-01 -3.09635650e-03 -9.92740537e+00] [-1.85493496e-02 9.86983014e-05 9.99827941e-01 -2.62199578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48862385299999 meters 0.02133043027975505 Centerline is valid? [True, True] Translation: X:95.10, Y:-9.95, Z:-2.63 [[ 9.87870010e-01 1.54253495e-01 1.78522691e-02 9.51017769e+01] [-1.54224069e-01 9.88031278e-01 -3.02172341e-03 -9.94751774e+00] [-1.81047117e-02 2.31820347e-04 9.99836069e-01 -2.62503053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.548623853 meters 0.030605346258012846 Centerline is valid? [True, True] Translation: X:95.16, Y:-9.97, Z:-2.62 [[ 9.89471510e-01 1.43512386e-01 1.87170108e-02 9.51589864e+01] [-1.43478137e-01 9.89648419e-01 -3.16706718e-03 -9.97408547e+00] [-1.89777735e-02 4.48240913e-04 9.99819805e-01 -2.62473699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.608623853 meters 0.04667874341062652 Centerline is valid? [True, True] Translation: X:95.21, Y:-10.01, Z:-2.63 [[ 9.90690668e-01 1.34784314e-01 1.91099215e-02 9.52136735e+01] [-1.34746986e-01 9.90874762e-01 -3.23356541e-03 -1.00078884e+01] [-1.93713729e-02 6.28458740e-04 9.99812160e-01 -2.62761760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.668623853 meters 0.04487383250215113 Centerline is valid? [True, True] Translation: X:95.27, Y:-10.02, Z:-2.63 [[ 9.91231301e-01 1.30858664e-01 1.83444303e-02 9.52741438e+01] [-1.30823602e-01 9.91400803e-01 -3.10370417e-03 -1.00185586e+01] [-1.85928295e-02 6.76604286e-04 9.99826909e-01 -2.62813515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.728623853 meters 0.04721096967263801 Centerline is valid? [True, True] Translation: X:95.33, Y:-10.04, Z:-2.63 [[ 9.91503065e-01 1.28891187e-01 1.75708138e-02 9.53324448e+01] [-1.28858702e-01 9.91658507e-01 -2.97330380e-03 -1.00381906e+01] [-1.78074796e-02 6.83887576e-04 9.99841200e-01 -2.63131917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78862385299999 meters 0.04594095001500771 Centerline is valid? [True, True] Translation: X:95.39, Y:-10.05, Z:-2.63 [[ 9.91234026e-01 1.30919764e-01 1.77516511e-02 9.53910054e+01] [-1.30886928e-01 9.91392751e-01 -3.00411456e-03 -1.00531049e+01] [-1.79921562e-02 6.54321487e-04 9.99837914e-01 -2.63215001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84862385299999 meters 0.03683461123896117 Centerline is valid? [True, True] Translation: X:95.45, Y:-10.06, Z:-2.63 [[ 9.90559795e-01 1.35838505e-01 1.84171817e-02 9.54513592e+01] [-1.35804004e-01 9.90730819e-01 -3.11704001e-03 -1.00579061e+01] [-1.86698836e-02 5.86487494e-04 9.99825531e-01 -2.63120993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.908623853 meters 0.0335194063742159 Centerline is valid? [True, True] Translation: X:95.51, Y:-10.07, Z:-2.63 [[ 9.89963550e-01 1.40174309e-01 1.79814686e-02 9.55101247e+01] [-1.40142133e-01 9.90126719e-01 -3.04338925e-03 -1.00685166e+01] [-1.82305375e-02 4.92883065e-04 9.99833688e-01 -2.63352180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.968623853 meters 0.02560194218491212 Centerline is valid? [True, True] Translation: X:95.57, Y:-10.08, Z:-2.63 [[ 9.88937475e-01 1.47251674e-01 1.78777746e-02 9.55709880e+01] [-1.47221025e-01 9.89098991e-01 -3.02574984e-03 -1.00750038e+01] [-1.81284355e-02 3.60293100e-04 9.99835601e-01 -2.63477333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.028623853 meters 0.02106495323334522 Centerline is valid? [True, True] Translation: X:95.63, Y:-10.08, Z:-2.64 [[ 9.87882530e-01 1.54198987e-01 1.76289227e-02 9.56301561e+01] [-1.54170285e-01 9.88039786e-01 -2.98388573e-03 -1.00845908e+01] [-1.78781892e-02 2.29872531e-04 9.99840146e-01 -2.63759549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.088623853 meters 0.017100851923859708 Centerline is valid? [True, True] Translation: X:95.69, Y:-10.09, Z:-2.64 [[ 9.86949318e-01 1.60120592e-01 1.71008566e-02 9.56891552e+01] [-1.60094468e-01 9.87097453e-01 -2.89475316e-03 -1.00924369e+01] [-1.73437216e-02 1.19222126e-04 9.99849579e-01 -2.64037810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14862385299999 meters 0.015741176257236165 Centerline is valid? [True, True] Translation: X:95.75, Y:-10.10, Z:-2.64 [[ 9.86467526e-01 1.63022634e-01 1.74768525e-02 9.57481628e+01] [-1.62995811e-01 9.86622327e-01 -2.95796486e-03 -1.01022138e+01] [-1.77252681e-02 6.92825254e-05 9.99842893e-01 -2.64125724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20862385299999 meters 0.014842342558205858 Centerline is valid? [True, True] Translation: X:95.81, Y:-10.11, Z:-2.64 [[ 9.85877624e-01 1.66533436e-01 1.76613754e-02 9.58072170e+01] [-1.66506615e-01 9.86035808e-01 -2.98876363e-03 -1.01126318e+01] [-1.79124776e-02 5.81936858e-06 9.99839559e-01 -2.64205093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.268623853 meters 0.015243901998669452 Centerline is valid? [True, True] Translation: X:95.86, Y:-10.12, Z:-2.65 [[ 9.85558114e-01 1.68456779e-01 1.72487119e-02 9.58645879e+01] [-1.68431496e-01 9.85709041e-01 -2.91863751e-03 -1.01235425e+01] [-1.74938755e-02 -2.87394686e-05 9.99846970e-01 -2.64504964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.328623853 meters 0.015178549165841968 Centerline is valid? [True, True] Translation: X:95.92, Y:-10.14, Z:-2.65 [[ 9.85603381e-01 1.68245038e-01 1.67206986e-02 9.59227809e+01] [-1.68221261e-01 9.85745204e-01 -2.82857400e-03 -1.01376913e+01] [-1.69582420e-02 -2.49249103e-05 9.99856198e-01 -2.64676631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.388623853 meters 0.015103466500013676 Centerline is valid? [True, True] Translation: X:95.98, Y:-10.15, Z:-2.65 [[ 9.85567159e-01 1.68480803e-01 1.64800953e-02 9.59806703e+01] [-1.68457745e-01 9.85704935e-01 -2.78748367e-03 -1.01504082e+01] [-1.67141488e-02 -2.89473193e-05 9.99860308e-01 -2.64753082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.448623853 meters 0.014933843746838524 Centerline is valid? [True, True] Translation: X:96.04, Y:-10.16, Z:-2.65 [[ 9.85581817e-01 1.68234233e-01 1.80478724e-02 9.60382817e+01] [-1.68206554e-01 9.85747048e-01 -3.05174008e-03 -1.01644010e+01] [-1.83040441e-02 -2.80308935e-05 9.99832467e-01 -2.64883187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50862385299999 meters 0.014810044580160305 Centerline is valid? [True, True] Translation: X:96.10, Y:-10.18, Z:-2.65 [[ 9.85829751e-01 1.66787526e-01 1.79338470e-02 9.60975964e+01] [-1.66759948e-01 9.85992861e-01 -3.03290800e-03 -1.01789386e+01] [-1.81884963e-02 -7.16458547e-07 9.99834576e-01 -2.65048964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56862385299999 meters 0.014989651070869076 Centerline is valid? [True, True] Translation: X:96.16, Y:-10.20, Z:-2.65 [[ 9.86265580e-01 1.64225768e-01 1.76097302e-02 9.61565567e+01] [-1.64198774e-01 9.86422777e-01 -2.97785119e-03 -1.01957198e+01] [-1.78596789e-02 4.54560181e-05 9.99840502e-01 -2.65245144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.628623853 meters 0.016014124733139932 Centerline is valid? [True, True] Translation: X:96.22, Y:-10.21, Z:-2.65 [[ 9.86749082e-01 1.61353440e-01 1.70680106e-02 9.62163277e+01] [-1.61327672e-01 9.86896681e-01 -2.88509500e-03 -1.02143230e+01] [-1.73098830e-02 9.33224315e-05 9.99850168e-01 -2.65439342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.688623853 meters 0.016576655623600264 Centerline is valid? [True, True] Translation: X:96.28, Y:-10.23, Z:-2.66 [[ 9.86847435e-01 1.60766595e-01 1.69186850e-02 9.62771100e+01] [-1.60741141e-01 9.86992447e-01 -2.86266774e-03 -1.02291123e+01] [-1.71588357e-02 1.05487585e-04 9.99852771e-01 -2.65653603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.748623853 meters 0.01615573389408214 Centerline is valid? [True, True] Translation: X:96.34, Y:-10.24, Z:-2.66 [[ 9.86660836e-01 1.61915191e-01 1.68483176e-02 9.63380913e+01] [-1.61890059e-01 9.86804673e-01 -2.85405251e-03 -1.02402443e+01] [-1.70881130e-02 8.84066956e-05 9.99853984e-01 -2.65800284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.808623853 meters 0.015670318028743975 Centerline is valid? [True, True] Translation: X:96.40, Y:-10.25, Z:-2.66 [[ 9.86475124e-01 1.62997936e-01 1.72772581e-02 9.63980606e+01] [-1.62971594e-01 9.86626407e-01 -2.93129015e-03 -1.02529001e+01] [-1.75239933e-02 7.59425389e-05 9.99846440e-01 -2.65949566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.868623853 meters 0.015701105759113963 Centerline is valid? [True, True] Translation: X:96.46, Y:-10.26, Z:-2.66 [[ 9.86418174e-01 1.63335987e-01 1.73361431e-02 9.64581871e+01] [-1.63309534e-01 9.86570499e-01 -2.94037686e-03 -1.02647290e+01] [-1.75835967e-02 6.92837281e-05 9.99845394e-01 -2.66147657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92862385299999 meters 0.015219295726290103 Centerline is valid? [True, True] Translation: X:96.52, Y:-10.27, Z:-2.66 [[ 9.86097698e-01 1.65349423e-01 1.64589644e-02 9.65186308e+01] [-1.65325795e-01 9.86235047e-01 -2.79540751e-03 -1.02749202e+01] [-1.66946266e-02 3.54535314e-05 9.99860634e-01 -2.66414787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98862385299999 meters 0.01535715684806817 Centerline is valid? [True, True] Translation: X:96.58, Y:-10.28, Z:-2.67 [[ 9.85568957e-01 1.68556701e-01 1.55714193e-02 9.65787040e+01] [-1.68535943e-01 9.85691959e-01 -2.64528533e-03 -1.02829520e+01] [-1.57945034e-02 -1.72327361e-05 9.99875259e-01 -2.66773141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.048623853 meters 0.01666793845950525 Centerline is valid? [True, True] Translation: X:96.64, Y:-10.29, Z:-2.67 [[ 9.84782287e-01 1.73022690e-01 1.63399934e-02 9.66371595e+01] [-1.73000440e-01 9.84917834e-01 -2.77624263e-03 -1.02864184e+01] [-1.65739039e-02 -9.28314799e-05 9.99862639e-01 -2.66807591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.108623853 meters 0.020911182598258127 Centerline is valid? [True, True] Translation: X:96.70, Y:-10.29, Z:-2.67 [[ 9.83802418e-01 1.78492582e-01 1.65287602e-02 9.66964006e+01] [-1.78470597e-01 9.83941240e-01 -2.80766483e-03 -1.02857192e+01] [-1.67644761e-02 -1.87710252e-04 9.99859449e-01 -2.67034433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.168623853 meters 0.02146696958501982 Centerline is valid? [True, True] Translation: X:96.76, Y:-10.29, Z:-2.67 [[ 9.83047164e-01 1.82647778e-01 1.60643368e-02 9.67560508e+01] [-1.82627575e-01 9.83178379e-01 -2.72825319e-03 -1.02916007e+01] [-1.62924180e-02 -2.51789304e-04 9.99867238e-01 -2.66927665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.228623853 meters 0.031498733552383244 Centerline is valid? [True, True] Translation: X:96.82, Y:-10.28, Z:-2.68 [[ 9.82018121e-01 1.88187979e-01 1.50231403e-02 9.68167514e+01] [-1.88170966e-01 9.82132975e-01 -2.55079817e-03 -1.02840422e+01] [-1.52347510e-02 -3.21988798e-04 9.99883893e-01 -2.67749278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28862385299999 meters 0.029507999814668513 Centerline is valid? [True, True] Translation: X:96.88, Y:-10.29, Z:-2.67 [[ 9.81514464e-01 1.90744228e-01 1.56842625e-02 9.68756126e+01] [-1.90726003e-01 9.81639698e-01 -2.66354669e-03 -1.02878034e+01] [-1.59043509e-02 -3.77087105e-04 9.99873447e-01 -2.67396043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34862385299999 meters 0.029944523036941686 Centerline is valid? [True, True] Translation: X:96.93, Y:-10.29, Z:-2.67 [[ 9.81514841e-01 1.90646515e-01 1.68084025e-02 9.69339996e+01] [-1.90625581e-01 9.81658670e-01 -2.85374359e-03 -1.02896525e+01] [-1.70441703e-02 -4.03119806e-04 9.99854656e-01 -2.67399878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.408623853 meters 0.03114300046014496 Centerline is valid? [True, True] Translation: X:96.99, Y:-10.29, Z:-2.68 [[ 9.81666960e-01 1.89820531e-01 1.72669014e-02 9.69920781e+01] [-1.89798337e-01 9.81818723e-01 -2.93019601e-03 -1.02914173e+01] [-1.75091784e-02 -4.00752554e-04 9.99846622e-01 -2.67576245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.468623853 meters 0.026956846112561418 Centerline is valid? [True, True] Translation: X:97.05, Y:-10.30, Z:-2.68 [[ 9.82268768e-01 1.86606292e-01 1.80598959e-02 9.70505086e+01] [-1.86581493e-01 9.82434711e-01 -3.06347689e-03 -1.02983819e+01] [-1.83143326e-02 -3.60484652e-04 9.99832214e-01 -2.67595617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.528623853 meters 0.02031695898772784 Centerline is valid? [True, True] Translation: X:97.11, Y:-10.31, Z:-2.68 [[ 9.83455846e-01 1.80231697e-01 1.81970791e-02 9.71090960e+01] [-1.80205449e-01 9.83624154e-01 -3.08554705e-03 -1.03114273e+01] [-1.84551999e-02 -2.44713526e-04 9.99829658e-01 -2.67683397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.588623853 meters 0.015201929174534636 Centerline is valid? [True, True] Translation: X:97.17, Y:-10.33, Z:-2.68 [[ 9.85025898e-01 1.71477141e-01 1.78765287e-02 9.71662636e+01] [-1.71450365e-01 9.85188096e-01 -3.03121240e-03 -1.03257126e+01] [-1.81315269e-02 -7.91146573e-05 9.99835607e-01 -2.67843980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64862385299999 meters 0.015573677408293948 Centerline is valid? [True, True] Translation: X:97.22, Y:-10.34, Z:-2.68 [[ 9.86655706e-01 1.61814241e-01 1.80739731e-02 9.72236548e+01] [-1.61785262e-01 9.86821231e-01 -3.06388355e-03 -1.03445378e+01] [-1.83315604e-02 9.88957148e-05 9.99831958e-01 -2.68001062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70862385299999 meters 0.019251565764515605 Centerline is valid? [True, True] Translation: X:97.28, Y:-10.36, Z:-2.68 [[ 9.87644321e-01 1.55613111e-01 1.85271177e-02 9.72819327e+01] [-1.55581581e-01 9.87818056e-01 -3.14000508e-03 -1.03614220e+01] [-1.87900474e-02 2.18729912e-04 9.99823428e-01 -2.68072157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.768623853 meters 0.02596995983123353 Centerline is valid? [True, True] Translation: X:97.34, Y:-10.38, Z:-2.69 [[ 9.88781594e-01 1.48374574e-01 1.72030629e-02 9.73401136e+01] [-1.48346296e-01 9.88931179e-01 -2.91547916e-03 -1.03811768e+01] [-1.74452283e-02 3.30761458e-04 9.99847766e-01 -2.68516913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.828623853 meters 0.029509952444903793 Centerline is valid? [True, True] Translation: X:97.40, Y:-10.40, Z:-2.69 [[ 9.89222042e-01 1.45501497e-01 1.64032250e-02 9.73995318e+01] [-1.45475416e-01 9.89357965e-01 -2.77853674e-03 -1.03972662e+01] [-1.66329425e-02 3.62323810e-04 9.99861597e-01 -2.68941210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.888623853 meters 0.027115648122060063 Centerline is valid? [True, True] Translation: X:97.46, Y:-10.40, Z:-2.69 [[ 9.88807694e-01 1.48383074e-01 1.55501449e-02 9.74598952e+01] [-1.48359928e-01 9.88929913e-01 -2.63807023e-03 -1.04029590e+01] [-1.57694484e-02 3.01525764e-04 9.99875609e-01 -2.69184739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.948623853 meters 0.021884605275597394 Centerline is valid? [True, True] Translation: X:97.52, Y:-10.40, Z:-2.69 [[ 9.87733331e-01 1.55344628e-01 1.58402605e-02 9.75196389e+01] [-1.55321500e-01 9.87860318e-01 -2.68755929e-03 -1.04031033e+01] [-1.60654627e-02 1.94258873e-04 9.99870923e-01 -2.69400803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00862385299999 meters 0.017216409499665245 Centerline is valid? [True, True] Translation: X:97.58, Y:-10.40, Z:-2.69 [[ 9.86899224e-01 1.60575527e-01 1.56659204e-02 9.75800234e+01] [-1.60553566e-01 9.87023550e-01 -2.65775602e-03 -1.04018006e+01] [-1.58894030e-02 1.07717954e-04 9.99873750e-01 -2.69484024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06862385299999 meters 0.015176387851778 Centerline is valid? [True, True] Translation: X:97.64, Y:-10.39, Z:-2.70 [[ 9.85658210e-01 1.67974633e-01 1.61992294e-02 9.76403115e+01] [-1.67952158e-01 9.85791318e-01 -2.74775491e-03 -1.03949782e+01] [-1.64306129e-02 -1.23483542e-05 9.99865008e-01 -2.69586330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.128623853 meters 0.017834726426931305 Centerline is valid? [True, True] Translation: X:97.70, Y:-10.39, Z:-2.70 [[ 9.84695965e-01 1.73590499e-01 1.54982350e-02 9.76995281e+01] [-1.73570631e-01 9.84817916e-01 -2.62831044e-03 -1.03924115e+01] [-1.57191892e-02 -1.01951733e-04 9.99876441e-01 -2.70064666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.188623853 meters 0.019643229093723118 Centerline is valid? [True, True] Translation: X:97.76, Y:-10.39, Z:-2.70 [[ 9.84160251e-01 1.76657133e-01 1.48613023e-02 9.77588503e+01] [-1.76639227e-01 9.84272440e-01 -2.51938435e-03 -1.03929550e+01] [-1.50726375e-02 -1.45611018e-04 9.99886391e-01 -2.70172666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.248623853 meters 0.017119530470851695 Centerline is valid? [True, True] Translation: X:97.82, Y:-10.40, Z:-2.70 [[ 9.84539839e-01 1.74336740e-01 1.69707738e-02 9.78168507e+01] [-1.74313062e-01 9.84686084e-01 -2.87601814e-03 -1.04030643e+01] [-1.72122805e-02 -1.26673110e-04 9.99851850e-01 -2.69855606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.308623853 meters 0.014792276553008066 Centerline is valid? [True, True] Translation: X:97.87, Y:-10.42, Z:-2.70 [[ 9.85492176e-01 1.68810219e-01 1.75579069e-02 9.78739253e+01] [-1.68784012e-01 9.85648573e-01 -2.97461749e-03 -1.04200570e+01] [-1.78080717e-02 -3.20317055e-05 9.99841423e-01 -2.69891103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36862385299999 meters 0.01583537793185168 Centerline is valid? [True, True] Translation: X:97.93, Y:-10.44, Z:-2.70 [[ 9.86717074e-01 1.61442092e-01 1.80517627e-02 9.79295177e+01] [-1.61413170e-01 9.86882182e-01 -3.05747014e-03 -1.04401443e+01] [-1.83085673e-02 1.03065757e-04 9.99832379e-01 -2.69943360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42862385299999 meters 0.018019376241507856 Centerline is valid? [True, True] Translation: X:97.99, Y:-10.46, Z:-2.70 [[ 9.87463432e-01 1.56765816e-01 1.84512614e-02 9.79865745e+01] [-1.56734809e-01 9.87635784e-01 -3.12378028e-03 -1.04578463e+01] [-1.87128280e-02 1.92663866e-04 9.99824881e-01 -2.70015686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48862385299999 meters 0.022836411024730364 Centerline is valid? [True, True] Translation: X:98.04, Y:-10.48, Z:-2.70 [[ 9.88265905e-01 1.51726748e-01 1.75924894e-02 9.80433043e+01] [-1.51697778e-01 9.88422440e-01 -2.97743767e-03 -1.04785339e+01] [-1.78405682e-02 2.73758581e-04 9.99840807e-01 -2.70341857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.548623853 meters 0.024625897700809207 Centerline is valid? [True, True] Translation: X:98.10, Y:-10.49, Z:-2.71 [[ 9.88602653e-01 1.49587081e-01 1.69853004e-02 9.81015783e+01] [-1.49559762e-01 9.88748509e-01 -2.87463112e-03 -1.04949509e+01] [-1.72241981e-02 3.01550472e-04 9.99851607e-01 -2.70630534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.608623853 meters 0.023454786660836544 Centerline is valid? [True, True] Translation: X:98.16, Y:-10.51, Z:-2.71 [[ 9.88345689e-01 1.51315205e-01 1.66285168e-02 9.81601806e+01] [-1.51289261e-01 9.88485527e-01 -2.81450433e-03 -1.05073523e+01] [-1.68629255e-02 2.65987195e-04 9.99857775e-01 -2.70818369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.668623853 meters 0.028427567968754154 Centerline is valid? [True, True] Translation: X:98.22, Y:-10.51, Z:-2.70 [[ 9.87721144e-01 1.55414903e-01 1.59106916e-02 9.82198356e+01] [-1.55391688e-01 9.87849266e-01 -2.69265460e-03 -1.05139086e+01] [-1.61358436e-02 1.87202662e-04 9.99869791e-01 -2.70419851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.728623853 meters 0.015344615646575086 Centerline is valid? [True, True] Translation: X:98.28, Y:-10.51, Z:-2.71 [[ 9.86229069e-01 1.64586664e-01 1.62312702e-02 9.82799181e+01] [-1.64563747e-01 9.86362625e-01 -2.74677079e-03 -1.05097151e+01] [-1.64620002e-02 3.78665516e-05 9.99864491e-01 -2.71237173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78862385299999 meters 0.015668731336647677 Centerline is valid? [True, True] Translation: X:98.34, Y:-10.51, Z:-2.71 [[ 9.85170336e-01 1.70748002e-01 1.68679823e-02 9.83390776e+01] [-1.70724163e-01 9.85314729e-01 -2.85393718e-03 -1.05096398e+01] [-1.71075755e-02 -6.81579094e-05 9.99853652e-01 -2.71237755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84862385299999 meters 0.01880419897296076 Centerline is valid? [True, True] Translation: X:98.40, Y:-10.51, Z:-2.71 [[ 9.84264570e-01 1.75861967e-01 1.71995783e-02 9.83975926e+01] [-1.75837987e-01 9.84414822e-01 -2.90863197e-03 -1.05091113e+01] [-1.74430376e-02 -1.61475834e-04 9.99847846e-01 -2.71405767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.908623853 meters 0.021753369837674053 Centerline is valid? [True, True] Translation: X:98.46, Y:-10.51, Z:-2.71 [[ 9.83256745e-01 1.81414943e-01 1.71694918e-02 9.84575490e+01] [-1.81391913e-01 9.83406605e-01 -2.90229681e-03 -1.05089182e+01] [-1.74111117e-02 -2.60704059e-04 9.99848381e-01 -2.71312715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.968623853 meters 0.023340035040977213 Centerline is valid? [True, True] Translation: X:98.52, Y:-10.51, Z:-2.71 [[ 9.82891368e-01 1.83278170e-01 1.82666675e-02 9.85170711e+01] [-1.83252436e-01 9.83061043e-01 -3.08711374e-03 -1.05118227e+01] [-1.85230497e-02 -3.13113862e-04 9.99828385e-01 -2.71318190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.028623853 meters 0.024348608255080846 Centerline is valid? [True, True] Translation: X:98.57, Y:-10.51, Z:-2.72 [[ 9.83018497e-01 1.82663696e-01 1.75672490e-02 9.85741211e+01] [-1.82639806e-01 9.83175411e-01 -2.96843924e-03 -1.05147453e+01] [-1.78139133e-02 -2.90448265e-04 9.99841277e-01 -2.71757663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.088623853 meters 0.020923907954289247 Centerline is valid? [True, True] Translation: X:98.63, Y:-10.53, Z:-2.72 [[ 9.83580087e-01 1.79688433e-01 1.68011581e-02 9.86315517e+01] [-1.79666176e-01 9.83723546e-01 -2.83723807e-03 -1.05258192e+01] [-1.70375136e-02 -2.27948953e-04 9.99854825e-01 -2.72032475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14862385299999 meters 0.018999278142476903 Centerline is valid? [True, True] Translation: X:98.69, Y:-10.54, Z:-2.72 [[ 9.84075039e-01 1.76961152e-01 1.67650872e-02 9.86891105e+01] [-1.76938610e-01 9.84217820e-01 -2.83031242e-03 -1.05355156e+01] [-1.70013529e-02 -1.81151407e-04 9.99855450e-01 -2.72222142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20862385299999 meters 0.016545752358389332 Centerline is valid? [True, True] Translation: X:98.75, Y:-10.55, Z:-2.72 [[ 9.84826015e-01 1.72710004e-01 1.69992839e-02 9.87453442e+01] [-1.72686203e-01 9.84972712e-01 -2.86927835e-03 -1.05477303e+01] [-1.72393839e-02 -1.09801832e-04 9.99851385e-01 -2.72352668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.268623853 meters 0.014746282379189053 Centerline is valid? [True, True] Translation: X:98.80, Y:-10.56, Z:-2.72 [[ 9.85482704e-01 1.68826261e-01 1.79313349e-02 9.88034918e+01] [-1.68799171e-01 9.85645825e-01 -3.02464934e-03 -1.05596685e+01] [-1.81845856e-02 -4.60548504e-05 9.99834646e-01 -2.72272219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.328623853 meters 0.014328154772004238 Centerline is valid? [True, True] Translation: X:98.86, Y:-10.57, Z:-2.72 [[ 9.85876182e-01 1.66320551e-01 1.96374273e-02 9.88603505e+01] [-1.66287574e-01 9.86071739e-01 -3.31188038e-03 -1.05687860e+01] [-1.99147459e-02 -3.56160879e-07 9.99801682e-01 -2.72375008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.388623853 meters 0.013938404898902147 Centerline is valid? [True, True] Translation: X:98.92, Y:-10.57, Z:-2.72 [[ 9.85760879e-01 1.67020469e-01 1.94846703e-02 9.89188642e+01] [-1.66988165e-01 9.85953428e-01 -3.28481590e-03 -1.05721890e+01] [-1.97596090e-02 -1.56663253e-05 9.99804760e-01 -2.72240307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.448623853 meters 0.015284042674372035 Centerline is valid? [True, True] Translation: X:98.98, Y:-10.57, Z:-2.73 [[ 9.85254392e-01 1.70159155e-01 1.78785938e-02 9.89779721e+01] [-1.70132497e-01 9.85416590e-01 -3.01279416e-03 -1.05684727e+01] [-1.81305175e-02 -7.33611173e-05 9.99835626e-01 -2.72718691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50862385299999 meters 0.016781637070677435 Centerline is valid? [True, True] Translation: X:99.04, Y:-10.57, Z:-2.73 [[ 9.84697630e-01 1.73461480e-01 1.67837088e-02 9.90374147e+01] [-1.73438484e-01 9.84840646e-01 -2.82726642e-03 -1.05674215e+01] [-1.70197004e-02 -1.26938461e-04 9.99855146e-01 -2.73024649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56862385299999 meters 0.016748058671856268 Centerline is valid? [True, True] Translation: X:99.10, Y:-10.57, Z:-2.73 [[ 9.84723966e-01 1.73296944e-01 1.69375185e-02 9.90956468e+01] [-1.73273510e-01 9.84869612e-01 -2.85258095e-03 -1.05726605e+01] [-1.71755908e-02 -1.25818448e-04 9.99852481e-01 -2.73169558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.628623853 meters 0.014882811339153403 Centerline is valid? [True, True] Translation: X:99.15, Y:-10.58, Z:-2.73 [[ 9.85442524e-01 1.69098242e-01 1.75731932e-02 9.91528934e+01] [-1.69072375e-01 9.85599199e-01 -2.95814920e-03 -1.05790531e+01] [-1.78203430e-02 -5.60555054e-05 9.99841204e-01 -2.73314616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.688623853 meters 0.015009543125080167 Centerline is valid? [True, True] Translation: X:99.21, Y:-10.59, Z:-2.73 [[ 9.86769027e-01 1.61048161e-01 1.87183635e-02 9.92096213e+01] [-1.61017388e-01 9.86946544e-01 -3.14956814e-03 -1.05943913e+01] [-1.89812564e-02 9.39142847e-05 9.99819835e-01 -2.73181212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.748623853 meters 0.021286458117798064 Centerline is valid? [True, True] Translation: X:99.27, Y:-10.62, Z:-2.73 [[ 9.88309463e-01 1.51412289e-01 1.78528496e-02 9.92662785e+01] [-1.51382738e-01 9.88470661e-01 -3.00303089e-03 -1.06158235e+01] [-1.81017139e-02 2.65310580e-04 9.99836115e-01 -2.73470384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.808623853 meters 0.030610503705327814 Centerline is valid? [True, True] Translation: X:99.32, Y:-10.64, Z:-2.73 [[ 9.89610342e-01 1.42827984e-01 1.64784324e-02 9.93239163e+01] [-1.42801633e-01 9.89747450e-01 -2.77094122e-03 -1.06354220e+01] [-1.67052544e-02 3.89005043e-04 9.99860382e-01 -2.73466970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86862385299999 meters 0.03167512029808225 Centerline is valid? [True, True] Translation: X:99.38, Y:-10.65, Z:-2.74 [[ 9.90274619e-01 1.38150743e-01 1.64484295e-02 9.93827422e+01] [-1.38123843e-01 9.90411104e-01 -2.76582791e-03 -1.06497149e+01] [-1.66728084e-02 4.67008880e-04 9.99860890e-01 -2.73844944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92862385299999 meters 0.036570691624105894 Centerline is valid? [True, True] Translation: X:99.44, Y:-10.67, Z:-2.74 [[ 9.91004471e-01 1.32681538e-01 1.74856299e-02 9.94409495e+01] [-1.32650287e-01 9.91158543e-01 -2.94023369e-03 -1.06689343e+01] [-1.77211461e-02 5.94310919e-04 9.99842792e-01 -2.73818690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98862385299999 meters 0.04343577231925707 Centerline is valid? [True, True] Translation: X:99.50, Y:-10.69, Z:-2.74 [[ 9.91142197e-01 1.31440181e-01 1.89901190e-02 9.94974349e+01] [-1.31403094e-01 9.91323878e-01 -3.19317888e-03 -1.06908050e+01] [-1.92450704e-02 6.69533935e-04 9.99814572e-01 -2.73832649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.048623853 meters 0.03640581495734881 Centerline is valid? [True, True] Translation: X:99.56, Y:-10.69, Z:-2.74 [[ 9.90755106e-01 1.34420060e-01 1.83184750e-02 9.95571813e+01] [-1.34386052e-01 9.90924265e-01 -3.08058617e-03 -1.06939783e+01] [-1.85663140e-02 5.90358937e-04 9.99827457e-01 -2.73987602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.108623853 meters 0.031999748253111915 Centerline is valid? [True, True] Translation: X:99.62, Y:-10.70, Z:-2.75 [[ 9.90009705e-01 1.40033840e-01 1.64714300e-02 9.96156966e+01] [-1.40007127e-01 9.90146622e-01 -2.76963659e-03 -1.07000144e+01] [-1.66969736e-02 4.35849522e-04 9.99860501e-01 -2.74570183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.168623853 meters 0.02811677211930437 Centerline is valid? [True, True] Translation: X:99.68, Y:-10.71, Z:-2.75 [[ 9.89344609e-01 1.44783681e-01 1.53274358e-02 9.96757735e+01] [-1.44761122e-01 9.89463277e-01 -2.57702817e-03 -1.07058062e+01] [-1.55390465e-02 3.30752120e-04 9.99879207e-01 -2.74979410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.228623853 meters 0.021315428599004538 Centerline is valid? [True, True] Translation: X:99.74, Y:-10.71, Z:-2.75 [[ 9.88185665e-01 1.52409530e-01 1.61377307e-02 9.97362565e+01] [-1.52385551e-01 9.88317401e-01 -2.71254275e-03 -1.07064935e+01] [-1.63626174e-02 2.21338895e-04 9.99866099e-01 -2.75064488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28862385299999 meters 0.016319319129653953 Centerline is valid? [True, True] Translation: X:99.80, Y:-10.71, Z:-2.75 [[ 9.87067685e-01 1.59436607e-01 1.66539524e-02 9.97962892e+01] [-1.59412068e-01 9.87208163e-01 -2.79923736e-03 -1.07093179e+01] [-1.68872187e-02 1.08195729e-04 9.99857395e-01 -2.75167183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34862385299999 meters 0.01620173737263209 Centerline is valid? [True, True] Translation: X:99.85, Y:-10.71, Z:-2.75 [[ 9.86021474e-01 1.65645869e-01 1.79749357e-02 9.98549025e+01] [-1.65618312e-01 9.86185300e-01 -3.02134725e-03 -1.07117586e+01] [-1.82270911e-02 2.13475787e-06 9.99833873e-01 -2.74890160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.408623853 meters 0.015756498979589615 Centerline is valid? [True, True] Translation: X:99.91, Y:-10.72, Z:-2.75 [[ 9.85215580e-01 1.70406945e-01 1.76560039e-02 9.99139782e+01] [-1.70381153e-01 9.85373769e-01 -2.96598280e-03 -1.07159320e+01] [-1.79031872e-02 -8.61178419e-05 9.99839721e-01 -2.75413391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.468623853 meters 0.01766045065778014 Centerline is valid? [True, True] Translation: X:99.97, Y:-10.72, Z:-2.76 [[ 9.84566172e-01 1.74176809e-01 1.70848284e-02 9.99728838e+01] [-1.74153239e-01 9.84714383e-01 -2.86930458e-03 -1.07208214e+01] [-1.73234426e-02 -1.50357975e-04 9.99849927e-01 -2.75578875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.528623853 meters 0.019156527985233998 Centerline is valid? [True, True] Translation: X:100.03, Y:-10.73, Z:-2.76 [[ 9.84165463e-01 1.76492918e-01 1.63887883e-02 1.00031342e+02] [-1.76471562e-01 9.84301893e-01 -2.75168277e-03 -1.07275234e+01] [-1.66171679e-02 -1.84043919e-04 9.99861908e-01 -2.75825032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.588623853 meters 0.0235238653251808 Centerline is valid? [True, True] Translation: X:100.09, Y:-10.73, Z:-2.76 [[ 9.83749583e-01 1.78726107e-01 1.71387454e-02 1.00090078e+02] [-1.78703104e-01 9.83898839e-01 -2.87681573e-03 -1.07282648e+01] [-1.73769538e-02 -2.32680736e-04 9.99848982e-01 -2.76151871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64862385299999 meters 0.023570041019151434 Centerline is valid? [True, True] Translation: X:100.15, Y:-10.74, Z:-2.76 [[ 9.83706187e-01 1.78961661e-01 1.71715130e-02 1.00148430e+02] [-1.78938627e-01 9.83856020e-01 -2.88110562e-03 -1.07363854e+01] [-1.74099039e-02 -2.38485527e-04 9.99848408e-01 -2.76293679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70862385299999 meters 0.02017186247310232 Centerline is valid? [True, True] Translation: X:100.21, Y:-10.75, Z:-2.76 [[ 9.83987294e-01 1.77480741e-01 1.64192339e-02 1.00205515e+02] [-1.77459486e-01 9.84124253e-01 -2.75423382e-03 -1.07507178e+01] [-1.66473897e-02 -2.03617721e-04 9.99861402e-01 -2.76354065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.768623853 meters 0.01885801619483119 Centerline is valid? [True, True] Translation: X:100.26, Y:-10.76, Z:-2.77 [[ 9.84667697e-01 1.73563023e-01 1.74757913e-02 1.00262150e+02] [-1.73538341e-01 9.84822753e-01 -2.93063556e-03 -1.07603134e+01] [-1.77192069e-02 -1.47017669e-04 9.99842992e-01 -2.76567115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.828623853 meters 0.0147143649971966 Centerline is valid? [True, True] Translation: X:100.32, Y:-10.78, Z:-2.76 [[ 9.85548556e-01 1.68308770e-01 1.91363802e-02 1.00318812e+02] [-1.68278211e-01 9.85734322e-01 -3.20765936e-03 -1.07784669e+01] [-1.94032639e-02 -5.89317658e-05 9.99811737e-01 -2.76263494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.888623853 meters 0.014120852422495838 Centerline is valid? [True, True] Translation: X:100.38, Y:-10.80, Z:-2.76 [[ 9.86478436e-01 1.62779236e-01 1.90582032e-02 1.00375081e+02] [-1.62747907e-01 9.86662515e-01 -3.19391423e-03 -1.07967147e+01] [-1.93239176e-02 4.90448397e-05 9.99813274e-01 -2.76247093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.948623853 meters 0.016610202993601355 Centerline is valid? [True, True] Translation: X:100.43, Y:-10.82, Z:-2.77 [[ 9.87315099e-01 1.57701399e-01 1.84163823e-02 1.00430857e+02] [-1.57671286e-01 9.87486835e-01 -3.08496358e-03 -1.08150333e+01] [-1.86724382e-02 1.42096431e-04 9.99825645e-01 -2.76604292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00862385299999 meters 0.02254532457241032 Centerline is valid? [True, True] Translation: X:100.49, Y:-10.83, Z:-2.77 [[ 9.87982682e-01 1.53617153e-01 1.70877147e-02 1.00488023e+02] [-1.53590635e-01 9.88130421e-01 -2.86137159e-03 -1.08320824e+01] [-1.73244465e-02 2.02472624e-04 9.99849900e-01 -2.76639114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06862385299999 meters 0.02138778534228606 Centerline is valid? [True, True] Translation: X:100.54, Y:-10.85, Z:-2.77 [[ 9.88266600e-01 1.51805211e-01 1.68613706e-02 1.00543529e+02] [-1.51779137e-01 9.88410403e-01 -2.82293047e-03 -1.08473689e+01] [-1.70944897e-02 2.30603626e-04 9.99853852e-01 -2.77129993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.128623853 meters 0.02083743167768268 Centerline is valid? [True, True] Translation: X:100.60, Y:-10.86, Z:-2.77 [[ 9.88133836e-01 1.52721169e-01 1.63635520e-02 1.00600766e+02] [-1.52696758e-01 9.88269296e-01 -2.73834956e-03 -1.08571513e+01] [-1.65897999e-02 2.07194521e-04 9.99862358e-01 -2.77460482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.188623853 meters 0.01779301300113084 Centerline is valid? [True, True] Translation: X:100.66, Y:-10.86, Z:-2.78 [[ 9.87485883e-01 1.56867233e-01 1.62573933e-02 1.00659525e+02] [-1.56843717e-01 9.87619690e-01 -2.71951578e-03 -1.08628394e+01] [-1.64827246e-02 1.35613446e-04 9.99864141e-01 -2.77591811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.248623853 meters 0.015496786906476918 Centerline is valid? [True, True] Translation: X:100.72, Y:-10.87, Z:-2.78 [[ 9.86807561e-01 1.61045763e-01 1.65861536e-02 1.00718922e+02] [-1.61021891e-01 9.86946938e-01 -2.77359974e-03 -1.08674545e+01] [-1.68163300e-02 6.62753828e-05 9.99858593e-01 -2.77774649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.308623853 meters 0.014284177216881659 Centerline is valid? [True, True] Translation: X:100.78, Y:-10.87, Z:-2.78 [[ 9.86488105e-01 1.62953290e-01 1.69541453e-02 1.00777736e+02] [-1.62928636e-01 9.86633784e-01 -2.83468999e-03 -1.08749608e+01] [-1.71894546e-02 3.40721921e-05 9.99852250e-01 -2.77576026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36862385299999 meters 0.014346206740076861 Centerline is valid? [True, True] Translation: X:100.83, Y:-10.88, Z:-2.78 [[ 9.86159571e-01 1.64816025e-01 1.80271651e-02 1.00834771e+02] [-1.64788478e-01 9.86324327e-01 -3.01322286e-03 -1.08831077e+01] [-1.82772589e-02 8.49468959e-07 9.99832957e-01 -2.77787607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42862385299999 meters 0.014421162946383478 Centerline is valid? [True, True] Translation: X:100.89, Y:-10.89, Z:-2.78 [[ 9.85868415e-01 1.66591067e-01 1.76319020e-02 1.00892683e+02] [-1.66565020e-01 9.86026072e-01 -2.94596641e-03 -1.08932964e+01] [-1.78762868e-02 -3.25228677e-05 9.99840206e-01 -2.77893933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48862385299999 meters 0.014909978995804523 Centerline is valid? [True, True] Translation: X:100.95, Y:-10.90, Z:-2.78 [[ 9.85514827e-01 1.68742608e-01 1.69250741e-02 1.00951037e+02] [-1.68718937e-01 9.85660148e-01 -2.82715060e-03 -1.09012392e+01] [-1.71594318e-02 -6.93816812e-05 9.99852764e-01 -2.78032614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.548623853 meters 0.01635413010203237 Centerline is valid? [True, True] Translation: X:101.01, Y:-10.91, Z:-2.78 [[ 9.85158986e-01 1.70850826e-01 1.64853582e-02 1.01007961e+02] [-1.70828675e-01 9.85296902e-01 -2.75304273e-03 -1.09089439e+01] [-1.67133319e-02 -1.03987101e-04 9.99860317e-01 -2.78399139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.608623853 meters 0.017885279116285627 Centerline is valid? [True, True] Translation: X:101.07, Y:-10.92, Z:-2.78 [[ 9.84647010e-01 1.73701754e-01 1.72617002e-02 1.01066567e+02] [-1.73677928e-01 9.84798291e-01 -2.88139688e-03 -1.09162042e+01] [-1.74997966e-02 -1.60817516e-04 9.99846854e-01 -2.78402419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.668623853 meters 0.019129395374653514 Centerline is valid? [True, True] Translation: X:101.12, Y:-10.92, Z:-2.79 [[ 9.84326865e-01 1.75495195e-01 1.73798356e-02 1.01124464e+02] [-1.75471330e-01 9.84480268e-01 -2.90066399e-03 -1.09234555e+01] [-1.76191579e-02 -1.94461371e-04 9.99844752e-01 -2.78538706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.728623853 meters 0.022132661592737614 Centerline is valid? [True, True] Translation: X:101.18, Y:-10.93, Z:-2.79 [[ 9.83905939e-01 1.77883884e-01 1.69241352e-02 1.01182529e+02] [-1.77861636e-01 9.84051457e-01 -2.82288279e-03 -1.09301168e+01] [-1.71563653e-02 -2.32703228e-04 9.99852792e-01 -2.78528738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78862385299999 meters 0.021447485492778025 Centerline is valid? [True, True] Translation: X:101.24, Y:-10.94, Z:-2.79 [[ 9.83984597e-01 1.77474242e-01 1.66494869e-02 1.01238669e+02] [-1.77452665e-01 9.84125421e-01 -2.77631949e-03 -1.09370162e+01] [-1.68779085e-02 -2.22640210e-04 9.99857533e-01 -2.79097254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84862385299999 meters 0.020557896095013222 Centerline is valid? [True, True] Translation: X:101.30, Y:-10.94, Z:-2.79 [[ 9.84099536e-01 1.76767953e-01 1.73549637e-02 1.01297056e+02] [-1.76744433e-01 9.84252530e-01 -2.89198185e-03 -1.09446563e+01] [-1.75928767e-02 -2.21395230e-04 9.99845209e-01 -2.79083276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.908623853 meters 0.018903916473951243 Centerline is valid? [True, True] Translation: X:101.36, Y:-10.95, Z:-2.79 [[ 9.84233717e-01 1.75947166e-01 1.80716569e-02 1.01355563e+02] [-1.75921544e-01 9.84399588e-01 -3.01036932e-03 -1.09546742e+01] [-1.83193976e-02 -2.16286791e-04 9.99832162e-01 -2.78915073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.968623853 meters 0.018848138554520527 Centerline is valid? [True, True] Translation: X:101.41, Y:-10.96, Z:-2.79 [[ 9.84425068e-01 1.74867210e-01 1.81313325e-02 1.01412908e+02] [-1.74841239e-01 9.84592007e-01 -3.02010128e-03 -1.09612244e+01] [-1.83800818e-02 -1.97041244e-04 9.99831053e-01 -2.79167083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.028623853 meters 0.015615182189248226 Centerline is valid? [True, True] Translation: X:101.47, Y:-10.97, Z:-2.79 [[ 9.85314951e-01 1.69823318e-01 1.77338230e-02 1.01470497e+02] [-1.69797692e-01 9.85474520e-01 -2.95193065e-03 -1.09746962e+01] [-1.79775374e-02 -1.02580807e-04 9.99838386e-01 -2.79312381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.088623853 meters 0.014940022770859311 Centerline is valid? [True, True] Translation: X:101.53, Y:-10.99, Z:-2.80 [[ 9.85901973e-01 1.66389543e-01 1.76584371e-02 1.01527521e+02] [-1.66363596e-01 9.86060099e-01 -2.93862717e-03 -1.09856080e+01] [-1.79012371e-02 -4.05227775e-05 9.99839759e-01 -2.79727288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14862385299999 meters 0.014417117446576568 Centerline is valid? [True, True] Translation: X:101.58, Y:-11.00, Z:-2.80 [[ 9.86614150e-01 1.62151733e-01 1.73012581e-02 1.01584976e+02] [-1.62126194e-01 9.86765836e-01 -2.87804881e-03 -1.09995126e+01] [-1.75389710e-02 3.45365667e-05 9.99846180e-01 -2.79681498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20862385299999 meters 0.014848108256779598 Centerline is valid? [True, True] Translation: X:101.64, Y:-11.01, Z:-2.80 [[ 9.87053057e-01 1.59299636e-01 1.87053045e-02 1.01642533e+02] [-1.59269289e-01 9.87230276e-01 -3.11058174e-03 -1.10116219e+01] [-1.89619574e-02 9.11286670e-05 9.99820202e-01 -2.79638715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.268623853 meters 0.02280955540786858 Centerline is valid? [True, True] Translation: X:101.70, Y:-11.02, Z:-2.79 [[ 9.87398894e-01 1.57211102e-01 1.81133337e-02 1.01700984e+02] [-1.57182310e-01 9.87565012e-01 -3.01130093e-03 -1.10218951e+01] [-1.83615046e-02 1.26259567e-04 9.99831405e-01 -2.79449578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.328623853 meters 0.0176286100077064 Centerline is valid? [True, True] Translation: X:101.76, Y:-11.03, Z:-2.80 [[ 9.87847011e-01 1.54430264e-01 1.75948118e-02 1.01758284e+02] [-1.54402670e-01 9.88003676e-01 -2.92430362e-03 -1.10338737e+01] [-1.78353397e-02 1.72078668e-04 9.99840923e-01 -2.80171803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.388623853 meters 0.02186341534029569 Centerline is valid? [True, True] Translation: X:101.81, Y:-11.05, Z:-2.81 [[ 9.88603118e-01 1.49586265e-01 1.69654035e-02 1.01814537e+02] [-1.49559912e-01 9.88748647e-01 -2.81879334e-03 -1.10517098e+01] [-1.71961726e-02 2.49323624e-04 9.99852104e-01 -2.80515466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.448623853 meters 0.03593325426512649 Centerline is valid? [True, True] Translation: X:101.87, Y:-11.08, Z:-2.80 [[ 9.89502351e-01 1.43511140e-01 1.70191158e-02 1.01870829e+02] [-1.43483736e-01 9.89648638e-01 -2.82686160e-03 -1.10760343e+01] [-1.72486309e-02 3.55219877e-04 9.99851168e-01 -2.80212088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50862385299999 meters 0.03473168945654407 Centerline is valid? [True, True] Translation: X:101.93, Y:-11.10, Z:-2.81 [[ 9.90250282e-01 1.38190122e-01 1.75462190e-02 1.01927058e+02] [-1.38160162e-01 9.90405612e-01 -2.91419356e-03 -1.10994117e+01] [-1.77805865e-02 4.61592527e-04 9.99841806e-01 -2.80808972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56862385299999 meters 0.03417716327369397 Centerline is valid? [True, True] Translation: X:101.99, Y:-11.11, Z:-2.81 [[ 9.90551963e-01 1.36018585e-01 1.74857946e-02 1.01985572e+02] [-1.35988496e-01 9.90706160e-01 -2.90396451e-03 -1.11140464e+01] [-1.77182775e-02 4.98660839e-04 9.99842895e-01 -2.80799281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.628623853 meters 0.035743814464396104 Centerline is valid? [True, True] Translation: X:102.04, Y:-11.13, Z:-2.81 [[ 9.90554623e-01 1.36031844e-01 1.72300872e-02 1.02043409e+02] [-1.36002634e-01 9.90704344e-01 -2.86129652e-03 -1.11306806e+01] [-1.74591497e-02 4.90933254e-04 9.99847457e-01 -2.81053217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.688623853 meters 0.027986584296629164 Centerline is valid? [True, True] Translation: X:102.10, Y:-11.14, Z:-2.81 [[ 9.90008477e-01 1.39901560e-01 1.76286650e-02 1.02103085e+02] [-1.39871597e-01 9.90165323e-01 -2.92739655e-03 -1.11358589e+01] [-1.78648401e-02 4.32397863e-04 9.99840318e-01 -2.80859145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.748623853 meters 0.02235724873251631 Centerline is valid? [True, True] Translation: X:102.16, Y:-11.14, Z:-2.81 [[ 9.88951027e-01 1.47028554e-01 1.89333408e-02 1.02162050e+02] [-1.46995307e-01 9.89132195e-01 -3.14346454e-03 -1.11429552e+01] [-1.91897560e-02 3.25620235e-04 9.99815807e-01 -2.80806909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.808623853 meters 0.016994212083245325 Centerline is valid? [True, True] Translation: X:102.22, Y:-11.15, Z:-2.81 [[ 9.87685736e-01 1.55429492e-01 1.78482681e-02 1.02221228e+02] [-1.55401321e-01 9.87846977e-01 -2.96308380e-03 -1.11482680e+01] [-1.80919083e-02 1.52951164e-04 9.99836316e-01 -2.81218314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86862385299999 meters 0.014474849148960816 Centerline is valid? [True, True] Translation: X:102.28, Y:-11.15, Z:-2.82 [[ 9.86619827e-01 1.62116612e-01 1.73066613e-02 1.02280803e+02] [-1.62091157e-01 9.86771607e-01 -2.87288147e-03 -1.11514771e+01] [-1.75434637e-02 2.91850774e-05 9.99846101e-01 -2.81559425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92862385299999 meters 0.01444482407095176 Centerline is valid? [True, True] Translation: X:102.34, Y:-11.16, Z:-2.82 [[ 9.86035945e-01 1.65601985e-01 1.75811627e-02 1.02338757e+02] [-1.65576275e-01 9.86192670e-01 -2.91815820e-03 -1.11570041e+01] [-1.78216666e-02 -3.36145479e-05 9.99841181e-01 -2.81698273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98862385299999 meters 0.016943169567062773 Centerline is valid? [True, True] Translation: X:102.40, Y:-11.16, Z:-2.81 [[ 9.84802949e-01 1.72542851e-01 1.98019026e-02 1.02397657e+02] [-1.72511670e-01 9.85001996e-01 -3.28513040e-03 -1.11593741e+01] [-2.00717394e-02 -1.80853174e-04 9.99798526e-01 -2.81384026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.048623853 meters 0.02027564847850421 Centerline is valid? [True, True] Translation: X:102.46, Y:-11.16, Z:-2.82 [[ 9.84189856e-01 1.75983519e-01 2.00032138e-02 1.02455753e+02] [-1.75952446e-01 9.84393080e-01 -3.31677496e-03 -1.11618165e+01] [-2.02747229e-02 -2.55278110e-04 9.99794414e-01 -2.81546876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.108623853 meters 0.02322217603570549 Centerline is valid? [True, True] Translation: X:102.52, Y:-11.17, Z:-2.82 [[ 9.83539856e-01 1.79607009e-01 1.97654687e-02 1.02515341e+02] [-1.79577431e-01 9.83738387e-01 -3.27586180e-03 -1.11653684e+01] [-2.00324180e-02 -3.27491450e-04 9.99799277e-01 -2.81744131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.168623853 meters 0.02430716634955701 Centerline is valid? [True, True] Translation: X:102.57, Y:-11.17, Z:-2.82 [[ 9.83429085e-01 1.80235235e-01 1.95574611e-02 1.02574275e+02] [-1.80206406e-01 9.83623478e-01 -3.24110287e-03 -1.11719535e+01] [-1.98213388e-02 -3.36984937e-04 9.99803481e-01 -2.81966989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.228623853 meters 0.023310196125281263 Centerline is valid? [True, True] Translation: X:102.63, Y:-11.18, Z:-2.82 [[ 9.83682734e-01 1.78905790e-01 1.89999369e-02 1.02632361e+02] [-1.78878350e-01 9.83866163e-01 -3.14782549e-03 -1.11821627e+01] [-1.92565592e-02 -3.02215782e-04 9.99814530e-01 -2.82247832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28862385299999 meters 0.022808354323210527 Centerline is valid? [True, True] Translation: X:102.69, Y:-11.19, Z:-2.82 [[ 9.83820220e-01 1.78068037e-01 1.97370183e-02 1.02690601e+02] [-1.78038278e-01 9.84018133e-01 -3.26893265e-03 -1.11888491e+01] [-2.00036763e-02 -2.97902717e-04 9.99799862e-01 -2.82335765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34862385299999 meters 0.023053708588097195 Centerline is valid? [True, True] Translation: X:102.75, Y:-11.20, Z:-2.83 [[ 9.83828006e-01 1.78053976e-01 1.94740114e-02 1.02749027e+02] [-1.78025020e-01 9.84020678e-01 -3.22446019e-03 -1.11952598e+01] [-1.97369579e-02 -2.94547046e-04 9.99805164e-01 -2.82601089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.408623853 meters 0.020557651671469734 Centerline is valid? [True, True] Translation: X:102.81, Y:-11.20, Z:-2.83 [[ 9.84100080e-01 1.76681007e-01 1.81894006e-02 1.02806966e+02] [-1.76655525e-01 9.84268134e-01 -3.01100547e-03 -1.12043803e+01] [-1.84352348e-02 -2.50127376e-04 9.99830025e-01 -2.82874391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.468623853 meters 0.01972426064269715 Centerline is valid? [True, True] Translation: X:102.86, Y:-11.21, Z:-2.83 [[ 9.84657563e-01 1.73533983e-01 1.83150565e-02 1.02864575e+02] [-1.73507618e-01 9.84827863e-01 -3.03098533e-03 -1.12093636e+01] [-1.85631569e-02 -1.93319208e-04 9.99827671e-01 -2.83234579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.528623853 meters 0.014757330530615596 Centerline is valid? [True, True] Translation: X:102.92, Y:-11.22, Z:-2.83 [[ 9.85480172e-01 1.68628220e-01 1.98331506e-02 1.02922203e+02] [-1.68596341e-01 9.85679720e-01 -3.28066467e-03 -1.12247508e+01] [-2.01023469e-02 -1.10766632e-04 9.99797921e-01 -2.82877114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.588623853 meters 0.013841640563008985 Centerline is valid? [True, True] Translation: X:102.98, Y:-11.24, Z:-2.83 [[ 9.86235246e-01 1.64140694e-01 1.99467141e-02 1.02979031e+02] [-1.64107542e-01 9.86436938e-01 -3.29885742e-03 -1.12356895e+01] [-2.02176523e-02 -1.99567583e-05 9.99795602e-01 -2.83088699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64862385299999 meters 0.014009462096602983 Centerline is valid? [True, True] Translation: X:103.04, Y:-11.24, Z:-2.83 [[ 9.86759601e-01 1.61014608e-01 1.94880696e-02 1.03037189e+02] [-1.60982379e-01 9.86952022e-01 -3.22170316e-03 -1.12442970e+01] [-1.97525310e-02 4.18107072e-05 9.99804899e-01 -2.83380996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70862385299999 meters 0.014773765831714872 Centerline is valid? [True, True] Translation: X:103.10, Y:-11.25, Z:-2.84 [[ 9.87214166e-01 1.58164284e-01 1.98052992e-02 1.03095184e+02] [-1.58130443e-01 9.87412806e-01 -3.27316633e-03 -1.12542420e+01] [-2.00737041e-02 9.94954213e-05 9.99798498e-01 -2.83568252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.768623853 meters 0.015728733994710944 Centerline is valid? [True, True] Translation: X:103.15, Y:-11.26, Z:-2.83 [[ 9.87678218e-01 1.55082095e-01 2.10067214e-02 1.03153254e+02] [-1.55043349e-01 9.87901571e-01 -3.47065184e-03 -1.12633958e+01] [-2.12908091e-02 1.70934778e-04 9.99773310e-01 -2.83447729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.828623853 meters 0.01694473487880915 Centerline is valid? [True, True] Translation: X:103.21, Y:-11.27, Z:-2.84 [[ 9.88005803e-01 1.53027973e-01 2.06633101e-02 1.03210704e+02] [-1.52990055e-01 9.88221835e-01 -3.41291249e-03 -1.12740601e+01] [-2.09422053e-02 2.10696398e-04 9.99780666e-01 -2.83668085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.888623853 meters 0.017647589533632 Centerline is valid? [True, True] Translation: X:103.27, Y:-11.28, Z:-2.84 [[ 9.88186909e-01 1.51767042e-01 2.12931281e-02 1.03269056e+02] [-1.51726509e-01 9.88416261e-01 -3.51582871e-03 -1.12824478e+01] [-2.15800610e-02 2.43563927e-04 9.99767094e-01 -2.83706293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.948623853 meters 0.017151361113951023 Centerline is valid? [True, True] Translation: X:103.33, Y:-11.29, Z:-2.84 [[ 9.88072014e-01 1.52515914e-01 2.12741870e-02 1.03327671e+02] [-1.52475648e-01 9.88300989e-01 -3.51164972e-03 -1.12894883e+01] [-2.15608826e-02 2.25967353e-04 9.99767512e-01 -2.83818376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00862385299999 meters 0.016146722225141234 Centerline is valid? [True, True] Translation: X:103.39, Y:-11.30, Z:-2.84 [[ 9.87808229e-01 1.54190640e-01 2.14510861e-02 1.03385360e+02] [-1.54150119e-01 9.88041097e-01 -3.53984134e-03 -1.12950641e+01] [-2.17403650e-02 1.89996931e-04 9.99763632e-01 -2.83989872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06862385299999 meters 0.014769959278045645 Centerline is valid? [True, True] Translation: X:103.44, Y:-11.30, Z:-2.84 [[ 9.87342144e-01 1.57206225e-01 2.10165233e-02 1.03443426e+02] [-1.57168038e-01 9.87565789e-01 -3.46691813e-03 -1.12968918e+01] [-2.13002206e-02 1.19908653e-04 9.99773117e-01 -2.84263442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.128623853 meters 0.013420183864337971 Centerline is valid? [True, True] Translation: X:103.50, Y:-11.30, Z:-2.84 [[ 9.86787777e-01 1.60618215e-01 2.12525738e-02 1.03502647e+02] [-1.60579985e-01 9.87016609e-01 -3.50448406e-03 -1.12966209e+01] [-2.15395273e-02 4.54440538e-05 9.99767996e-01 -2.84368131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.188623853 meters 0.01337691035871274 Centerline is valid? [True, True] Translation: X:103.56, Y:-11.30, Z:-2.85 [[ 9.86532769e-01 1.62251029e-01 2.06808717e-02 1.03561029e+02] [-1.62215204e-01 9.86749514e-01 -3.40939889e-03 -1.12991962e+01] [-2.09600185e-02 8.73190737e-06 9.99780315e-01 -2.84631340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.248623853 meters 0.013442340736834932 Centerline is valid? [True, True] Translation: X:103.62, Y:-11.30, Z:-2.85 [[ 9.86510613e-01 1.62388781e-01 2.06565730e-02 1.03617843e+02] [-1.62353095e-01 9.86726854e-01 -3.40422430e-03 -1.13046026e+01] [-2.09352031e-02 4.64482974e-06 9.99780835e-01 -2.84838602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.308623853 meters 0.013501952401858731 Centerline is valid? [True, True] Translation: X:103.67, Y:-11.31, Z:-2.85 [[ 9.86716684e-01 1.61075823e-01 2.10894253e-02 1.03674396e+02] [-1.61038388e-01 9.86942034e-01 -3.47266430e-03 -1.13105095e+01] [-2.13734026e-02 3.03287542e-05 9.99771562e-01 -2.84946072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36862385299999 meters 0.01435331000206524 Centerline is valid? [True, True] Translation: X:103.73, Y:-11.32, Z:-2.85 [[ 9.87265973e-01 1.57496748e-01 2.23757176e-02 1.03730846e+02] [-1.57453731e-01 9.87519499e-01 -3.68250368e-03 -1.13225532e+01] [-2.26764398e-02 1.12470353e-04 9.99742850e-01 -2.84836513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42862385299999 meters 0.01742005220027076 Centerline is valid? [True, True] Translation: X:103.79, Y:-11.34, Z:-2.85 [[ 9.88339499e-01 1.50361913e-01 2.40068617e-02 1.03787552e+02] [-1.50310345e-01 9.88630977e-01 -3.94863522e-03 -1.13405357e+01] [-2.43276515e-02 2.94112503e-04 9.99703996e-01 -2.84672930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48862385299999 meters 0.02247211331090228 Centerline is valid? [True, True] Translation: X:103.84, Y:-11.36, Z:-2.85 [[ 9.89246751e-01 1.44273301e-01 2.40016889e-02 1.03843419e+02] [-1.44219993e-01 9.89537780e-01 -3.94651107e-03 -1.13588073e+01] [-2.43199542e-02 4.42549845e-04 9.99704128e-01 -2.84808580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.548623853 meters 0.029296102840094578 Centerline is valid? [True, True] Translation: X:103.90, Y:-11.38, Z:-2.85 [[ 9.90031046e-01 1.38803533e-01 2.39187817e-02 1.03900404e+02] [-1.38749017e-01 9.90319771e-01 -3.93200548e-03 -1.13795775e+01] [-2.42330187e-02 5.74100049e-04 9.99706172e-01 -2.85025073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.608623853 meters 0.033719160707215076 Centerline is valid? [True, True] Translation: X:103.96, Y:-11.40, Z:-2.85 [[ 9.90896244e-01 1.32645495e-01 2.30175320e-02 1.03958523e+02] [-1.32593358e-01 9.91163300e-01 -3.78349034e-03 -1.14007036e+01] [-2.33159959e-02 6.97074521e-04 9.99727902e-01 -2.85325384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.668623853 meters 0.03688957969759534 Centerline is valid? [True, True] Translation: X:104.02, Y:-11.42, Z:-2.86 [[ 9.91389813e-01 1.29003741e-01 2.24560209e-02 1.04016476e+02] [-1.28953178e-01 9.91643813e-01 -3.69139979e-03 -1.14222344e+01] [-2.27445786e-02 7.63840894e-04 9.99741017e-01 -2.85555537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.728623853 meters 0.03866646574318346 Centerline is valid? [True, True] Translation: X:104.07, Y:-11.44, Z:-2.86 [[ 9.91476868e-01 1.28161029e-01 2.34173146e-02 1.04073828e+02] [-1.28105808e-01 9.91753036e-01 -3.84946857e-03 -1.14410900e+01] [-2.37175447e-02 8.16765023e-04 9.99718366e-01 -2.85618327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78862385299999 meters 0.03545386099818088 Centerline is valid? [True, True] Translation: X:104.13, Y:-11.46, Z:-2.86 [[ 9.91140638e-01 1.30763253e-01 2.32638836e-02 1.04132923e+02] [-1.30709477e-01 9.91413340e-01 -3.82391878e-03 -1.14553015e+01] [-2.35641526e-02 7.49231242e-04 9.99722046e-01 -2.85748100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84862385299999 meters 0.030447686020497716 Centerline is valid? [True, True] Translation: X:104.19, Y:-11.47, Z:-2.86 [[ 9.90466452e-01 1.35806582e-01 2.30820022e-02 1.04192340e+02] [-1.35755012e-01 9.90735173e-01 -3.79396983e-03 -1.14684206e+01] [-2.33833975e-02 6.24302361e-04 9.99726376e-01 -2.85954420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.908623853 meters 0.025510950484618915 Centerline is valid? [True, True] Translation: X:104.25, Y:-11.48, Z:-2.86 [[ 9.89814292e-01 1.40520339e-01 2.28408038e-02 1.04252572e+02] [-1.40471089e-01 9.90077662e-01 -3.75457617e-03 -1.14767287e+01] [-2.31417640e-02 5.07860576e-04 9.99732065e-01 -2.86127685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.968623853 meters 0.019238534532854897 Centerline is valid? [True, True] Translation: X:104.31, Y:-11.48, Z:-2.86 [[ 9.88512650e-01 1.49457882e-01 2.24740361e-02 1.04310957e+02] [-1.49412492e-01 9.88768049e-01 -3.69493572e-03 -1.14826284e+01] [-2.27738461e-02 2.94588953e-04 9.99740599e-01 -2.86352028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.028623853 meters 0.013960538795848916 Centerline is valid? [True, True] Translation: X:104.37, Y:-11.49, Z:-2.87 [[ 9.87160873e-01 1.58200899e-01 2.20428370e-02 1.04369435e+02] [-1.58159426e-01 9.87406941e-01 -3.62334520e-03 -1.14877910e+01] [-2.23384667e-02 9.05421736e-05 9.99750461e-01 -2.86599701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.088623853 meters 0.014123114741405051 Centerline is valid? [True, True] Translation: X:104.43, Y:-11.49, Z:-2.87 [[ 9.85858009e-01 1.66131366e-01 2.20080778e-02 1.04427762e+02] [-1.66092018e-01 9.86103626e-01 -3.61665578e-03 -1.14915578e+01] [-2.23030853e-02 -8.98570020e-05 9.99751251e-01 -2.86780348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14862385299999 meters 0.019163990736683786 Centerline is valid? [True, True] Translation: X:104.49, Y:-11.49, Z:-2.87 [[ 9.84587344e-01 1.73423098e-01 2.26316609e-02 1.04486808e+02] [-1.73383447e-01 9.84847379e-01 -3.71760504e-03 -1.14942619e+01] [-2.29334505e-02 -2.63648515e-04 9.99736959e-01 -2.86895007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20862385299999 meters 0.02433891032465228 Centerline is valid? [True, True] Translation: X:104.55, Y:-11.50, Z:-2.87 [[ 9.83573910e-01 1.79100692e-01 2.24789959e-02 1.04545952e+02] [-1.79063074e-01 9.83830670e-01 -3.69173065e-03 -1.14999781e+01] [-2.27767171e-02 -3.94068151e-04 9.99740499e-01 -2.87084135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.268623853 meters 0.027641137191192395 Centerline is valid? [True, True] Translation: X:104.61, Y:-11.51, Z:-2.87 [[ 9.82864371e-01 1.83078938e-01 2.14413440e-02 1.04605123e+02] [-1.83045676e-01 9.83098106e-01 -3.52051850e-03 -1.15070932e+01] [-2.17234774e-02 -4.64553095e-04 9.99763909e-01 -2.87484984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.328623853 meters 0.029870417349052315 Centerline is valid? [True, True] Translation: X:104.66, Y:-11.51, Z:-2.88 [[ 9.82642014e-01 1.84326556e-01 2.09378585e-02 1.04662484e+02] [-1.84295126e-01 9.82864940e-01 -3.43758348e-03 -1.15137752e+01] [-2.12127250e-02 -4.80831322e-04 9.99774869e-01 -2.87804553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.388623853 meters 0.028170321426661295 Centerline is valid? [True, True] Translation: X:104.72, Y:-11.53, Z:-2.88 [[ 9.82873545e-01 1.83177731e-01 2.01373731e-02 1.04719945e+02] [-1.83148442e-01 9.83079715e-01 -3.30491473e-03 -1.15270399e+01] [-2.04020298e-02 -4.39815264e-04 9.99791760e-01 -2.88138208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.448623853 meters 0.028198092788078295 Centerline is valid? [True, True] Translation: X:104.78, Y:-11.54, Z:-2.88 [[ 9.82936109e-01 1.82754446e-01 2.09145219e-02 1.04776711e+02] [-1.82722779e-01 9.83158487e-01 -3.43146058e-03 -1.15359750e+01] [-2.11894044e-02 -4.48653058e-04 9.99775379e-01 -2.88140661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50862385299999 meters 0.027991981998578015 Centerline is valid? [True, True] Translation: X:104.84, Y:-11.54, Z:-2.88 [[ 9.82967577e-01 1.82513189e-01 2.15332135e-02 1.04835063e+02] [-1.82479593e-01 9.83203299e-01 -3.53155069e-03 -1.15428855e+01] [-2.18160811e-02 -4.57972216e-04 9.99761896e-01 -2.88274994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56862385299999 meters 0.02724155084786766 Centerline is valid? [True, True] Translation: X:104.89, Y:-11.55, Z:-2.89 [[ 9.83352843e-01 1.80470146e-01 2.11592130e-02 1.04892341e+02] [-1.80437254e-01 9.83580379e-01 -3.46929170e-03 -1.15506889e+01] [-2.14378903e-02 -4.06372435e-04 9.99770099e-01 -2.88566587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.628623853 meters 0.02289884894461945 Centerline is valid? [True, True] Translation: X:104.95, Y:-11.56, Z:-2.89 [[ 9.84010464e-01 1.76933333e-01 2.04450867e-02 1.04949667e+02] [-1.76901887e-01 9.84222787e-01 -3.35095460e-03 -1.15629313e+01] [-2.07154158e-02 -3.19400023e-04 9.99785362e-01 -2.88867186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.688623853 meters 0.020312845834945543 Centerline is valid? [True, True] Translation: X:105.01, Y:-11.57, Z:-2.89 [[ 9.84434574e-01 1.74491713e-01 2.10050362e-02 1.05007549e+02] [-1.74457986e-01 9.84658604e-01 -3.44169431e-03 -1.15733818e+01] [-2.12833368e-02 -2.76373451e-04 9.99773446e-01 -2.88863185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.748623853 meters 0.017296102171267286 Centerline is valid? [True, True] Translation: X:105.07, Y:-11.58, Z:-2.89 [[ 9.85073526e-01 1.70762407e-01 2.16875255e-02 1.05065510e+02] [-1.70725573e-01 9.85312214e-01 -3.55242525e-03 -1.15830278e+01] [-2.19756045e-02 -2.03215148e-04 9.99758487e-01 -2.88874279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.808623853 meters 0.015323526315503452 Centerline is valid? [True, True] Translation: X:105.12, Y:-11.59, Z:-2.89 [[ 9.85513136e-01 1.68228870e-01 2.15152358e-02 1.05122819e+02] [-1.68192037e-01 9.85747953e-01 -3.52317900e-03 -1.15949892e+01] [-2.18013000e-02 -1.46552142e-04 9.99762313e-01 -2.89058185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86862385299999 meters 0.01347107373251742 Centerline is valid? [True, True] Translation: X:105.18, Y:-11.61, Z:-2.89 [[ 9.86307369e-01 1.63454228e-01 2.19200769e-02 1.05180525e+02] [-1.63414841e-01 9.86550918e-01 -3.58835680e-03 -1.16075789e+01] [-2.22118040e-02 -4.28431247e-05 9.99753287e-01 -2.89171818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92862385299999 meters 0.014021186434168978 Centerline is valid? [True, True] Translation: X:105.24, Y:-11.62, Z:-2.90 [[ 9.87215585e-01 1.58027227e-01 2.08034581e-02 1.05236645e+02] [-1.57990563e-01 9.87434752e-01 -3.40470680e-03 -1.16210961e+01] [-2.10800939e-02 7.44295522e-05 9.99777787e-01 -2.89520686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98862385299999 meters 0.015321427680966738 Centerline is valid? [True, True] Translation: X:105.29, Y:-11.63, Z:-2.90 [[ 9.87749470e-01 1.54715684e-01 2.03480250e-02 1.05294680e+02] [-1.54679935e-01 9.87959026e-01 -3.32869173e-03 -1.16331939e+01] [-2.06180157e-02 1.40482303e-04 9.99787416e-01 -2.89709592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.048623853 meters 0.015810019313221266 Centerline is valid? [True, True] Translation: X:105.35, Y:-11.64, Z:-2.90 [[ 9.87910028e-01 1.53560315e-01 2.12839535e-02 1.05352977e+02] [-1.53520958e-01 9.88139262e-01 -3.48066732e-03 -1.16432508e+01] [-2.15660024e-02 1.71053209e-04 9.99767412e-01 -2.89693999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.108623853 meters 0.015910027464326067 Centerline is valid? [True, True] Translation: X:105.41, Y:-11.65, Z:-2.90 [[ 9.87992898e-01 1.52967785e-01 2.17000218e-02 1.05411427e+02] [-1.52926755e-01 9.88231158e-01 -3.54762178e-03 -1.16504020e+01] [-2.19873095e-02 1.86511209e-04 9.99758232e-01 -2.89701797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.168623853 meters 0.01765506980759242 Centerline is valid? [True, True] Translation: X:105.47, Y:-11.66, Z:-2.90 [[ 9.88380939e-01 1.50357529e-01 2.22650571e-02 1.05469304e+02] [-1.50313697e-01 9.88631656e-01 -3.63884608e-03 -1.16620324e+01] [-2.25590682e-02 2.49823055e-04 9.99745481e-01 -2.89824827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.228623853 meters 0.021849804393565608 Centerline is valid? [True, True] Translation: X:105.53, Y:-11.68, Z:-2.90 [[ 9.89132272e-01 1.45271039e-01 2.26643875e-02 1.05526182e+02] [-1.45224314e-01 9.89391827e-01 -3.70290126e-03 -1.16795312e+01] [-2.29618841e-02 3.71239016e-04 9.99736272e-01 -2.89959931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28862385299999 meters 0.0271846456714622 Centerline is valid? [True, True] Translation: X:105.58, Y:-11.70, Z:-2.90 [[ 9.89939811e-01 1.39889403e-01 2.12161581e-02 1.05584855e+02] [-1.39847244e-01 9.90167026e-01 -3.46529791e-03 -1.16991071e+01] [-2.14922986e-02 4.63415130e-04 9.99768906e-01 -2.90441263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34862385299999 meters 0.03025723235601939 Centerline is valid? [True, True] Translation: X:105.64, Y:-11.72, Z:-2.91 [[ 9.90317676e-01 1.37318200e-01 2.03620550e-02 1.05643340e+02] [-1.37278819e-01 9.90526861e-01 -3.32602742e-03 -1.17164068e+01] [-2.06258866e-02 4.98544870e-04 9.99787139e-01 -2.90809672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.408623853 meters 0.030859243329091523 Centerline is valid? [True, True] Translation: X:105.70, Y:-11.73, Z:-2.91 [[ 9.90331059e-01 1.37112564e-01 2.10840640e-02 1.05702874e+02] [-1.37070286e-01 9.90555336e-01 -3.44429962e-03 -1.17298342e+01] [-2.13571889e-02 5.20998191e-04 9.99771773e-01 -2.90819266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.468623853 meters 0.03199365115836554 Centerline is valid? [True, True] Translation: X:105.76, Y:-11.75, Z:-2.91 [[ 9.90376974e-01 1.36664144e-01 2.18257193e-02 1.05761551e+02] [-1.36618731e-01 9.90617287e-01 -3.56545666e-03 -1.17452784e+01] [-2.21082049e-02 5.49344110e-04 9.99755433e-01 -2.90888196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.528623853 meters 0.03319939466545775 Centerline is valid? [True, True] Translation: X:105.82, Y:-11.76, Z:-2.91 [[ 9.90494599e-01 1.35693285e-01 2.25340224e-02 1.05820899e+02] [-1.35644642e-01 9.90750718e-01 -3.68042680e-03 -1.17647356e+01] [-2.28250081e-02 5.88823474e-04 9.99739302e-01 -2.90907179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.588623853 meters 0.03402816119971718 Centerline is valid? [True, True] Translation: X:105.88, Y:-11.78, Z:-2.91 [[ 9.90427313e-01 1.36273317e-01 2.19845763e-02 1.05879956e+02] [-1.36227081e-01 9.90671118e-01 -3.59424765e-03 -1.17813924e+01] [-2.22692848e-02 5.64946386e-04 9.99751849e-01 -2.91176581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64862385299999 meters 0.03117638308868355 Centerline is valid? [True, True] Translation: X:105.94, Y:-11.79, Z:-2.92 [[ 9.90039491e-01 1.39215725e-01 2.09949509e-02 1.05939805e+02] [-1.39174171e-01 9.90261962e-01 -3.43470952e-03 -1.17938129e+01] [-2.12686668e-02 4.78543189e-04 9.99773682e-01 -2.91570168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70862385299999 meters 0.021733101585569757 Centerline is valid? [True, True] Translation: X:106.00, Y:-11.80, Z:-2.92 [[ 9.89268660e-01 1.44538282e-01 2.13589078e-02 1.06001948e+02] [-1.44496505e-01 9.89499140e-01 -3.49465827e-03 -1.17966840e+01] [-2.16397328e-02 3.70868390e-04 9.99765765e-01 -2.91501196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.768623853 meters 0.018687230165876176 Centerline is valid? [True, True] Translation: X:106.06, Y:-11.81, Z:-2.92 [[ 9.88404663e-01 1.50343055e-01 2.12882220e-02 1.06061544e+02] [-1.50302877e-01 9.88633859e-01 -3.48406281e-03 -1.18069087e+01] [-2.15700617e-02 2.43982911e-04 9.99767309e-01 -2.91785951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.828623853 meters 0.015165296243335792 Centerline is valid? [True, True] Translation: X:106.12, Y:-11.81, Z:-2.92 [[ 9.87555562e-01 1.55870507e-01 2.09379169e-02 1.06121426e+02] [-1.55832874e-01 9.87777490e-01 -3.42715357e-03 -1.18131379e+01] [-2.12161952e-02 1.21688806e-04 9.99774904e-01 -2.91949366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.888623853 meters 0.013672786905167933 Centerline is valid? [True, True] Translation: X:106.18, Y:-11.82, Z:-2.92 [[ 9.86697560e-01 1.61198476e-01 2.10469876e-02 1.06180564e+02] [-1.61161664e-01 9.86922009e-01 -3.44482559e-03 -1.18181187e+01] [-2.13270359e-02 7.03345492e-06 9.99772553e-01 -2.92127186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.948623853 meters 0.021966252441918088 Centerline is valid? [True, True] Translation: X:106.24, Y:-11.82, Z:-2.92 [[ 9.86012633e-01 1.65414734e-01 2.04218981e-02 1.06239579e+02] [-1.65380986e-01 9.86224092e-01 -3.34221842e-03 -1.18242464e+01] [-2.06934201e-02 -8.19240554e-05 9.99785865e-01 -2.91749218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00862385299999 meters 0.015827560484032513 Centerline is valid? [True, True] Translation: X:106.30, Y:-11.83, Z:-2.92 [[ 9.85518787e-01 1.68251644e-01 2.10737986e-02 1.06297976e+02] [-1.68216378e-01 9.85744065e-01 -3.44783672e-03 -1.18320364e+01] [-2.13534761e-02 -1.47050214e-04 9.99771978e-01 -2.92392680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06862385299999 meters 0.017839175611729912 Centerline is valid? [True, True] Translation: X:106.36, Y:-11.84, Z:-2.92 [[ 9.84851054e-01 1.72103929e-01 2.11811097e-02 1.06357060e+02] [-1.72069216e-01 9.85078770e-01 -3.46429021e-03 -1.18377068e+01] [-2.14612794e-02 -2.32807078e-04 9.99769653e-01 -2.92440813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.128623853 meters 0.02114422399701938 Centerline is valid? [True, True] Translation: X:106.42, Y:-11.84, Z:-2.93 [[ 9.84220793e-01 1.75662726e-01 2.12611621e-02 1.06415012e+02] [-1.75628595e-01 9.84450359e-01 -3.47672918e-03 -1.18427600e+01] [-2.15412904e-02 -3.12198867e-04 9.99767911e-01 -2.92605674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.188623853 meters 0.024709009616864952 Centerline is valid? [True, True] Translation: X:106.48, Y:-11.84, Z:-2.93 [[ 9.83493876e-01 1.79611620e-01 2.18966171e-02 1.06475213e+02] [-1.79576431e-01 9.83737514e-01 -3.57901963e-03 -1.18438977e+01] [-2.21833572e-02 -4.12172471e-04 9.99753834e-01 -2.92660583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.248623853 meters 0.02684000144504265 Centerline is valid? [True, True] Translation: X:106.53, Y:-11.85, Z:-2.93 [[ 9.83262890e-01 1.81018025e-01 2.06534455e-02 1.06532390e+02] [-1.80987034e-01 9.83479689e-01 -3.37553452e-03 -1.18485680e+01] [-2.09232767e-02 -4.18968015e-04 9.99780996e-01 -2.93112815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.308623853 meters 0.02591852303126789 Centerline is valid? [True, True] Translation: X:106.59, Y:-11.86, Z:-2.93 [[ 9.83460088e-01 1.79901676e-01 2.10152956e-02 1.06591436e+02] [-1.79869361e-01 9.83684515e-01 -3.43347256e-03 -1.18553736e+01] [-2.12901083e-02 -4.03324557e-04 9.99773259e-01 -2.93181544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36862385299999 meters 0.02189227756743308 Centerline is valid? [True, True] Translation: X:106.65, Y:-11.87, Z:-2.93 [[ 9.84260250e-01 1.75410822e-01 2.15128536e-02 1.06650359e+02] [-1.75375903e-01 9.84495274e-01 -3.51395763e-03 -1.18688578e+01] [-2.17956889e-02 -3.14187303e-04 9.99762396e-01 -2.93242994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42862385299999 meters 0.015873405428493793 Centerline is valid? [True, True] Translation: X:106.71, Y:-11.89, Z:-2.93 [[ 9.85578272e-01 1.67709317e-01 2.25622602e-02 1.06706484e+02] [-1.67668906e-01 9.85836478e-01 -3.68453766e-03 -1.18876893e+01] [-2.28606304e-02 -1.51589234e-04 9.99738650e-01 -2.93284947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48862385299999 meters 0.016508920294166927 Centerline is valid? [True, True] Translation: X:106.76, Y:-11.91, Z:-2.93 [[ 9.87284503e-01 1.57383272e-01 2.23565404e-02 1.06762695e+02] [-1.57340962e-01 9.87537593e-01 -3.65009929e-03 -1.19138215e+01] [-2.26523887e-02 8.60868731e-05 9.99743398e-01 -2.93222841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.548623853 meters 0.01974826998032648 Centerline is valid? [True, True] Translation: X:106.82, Y:-11.94, Z:-2.94 [[ 9.88416130e-01 1.50200894e-01 2.17542000e-02 1.06819540e+02] [-1.50159106e-01 9.88655467e-01 -3.55113726e-03 -1.19360939e+01] [-2.20407928e-02 2.43410116e-04 9.99757043e-01 -2.93847754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.608623853 meters 0.027124729535416 Centerline is valid? [True, True] Translation: X:106.88, Y:-11.96, Z:-2.94 [[ 9.89820128e-01 1.40714252e-01 2.13450840e-02 1.06876577e+02] [-1.40671816e-01 9.90050150e-01 -3.48427014e-03 -1.19615018e+01] [-2.16229901e-02 4.46148996e-04 9.99766096e-01 -2.93968050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.668623853 meters 0.030908474622534807 Centerline is valid? [True, True] Translation: X:106.94, Y:-11.98, Z:-2.94 [[ 9.90621246e-01 1.34868243e-01 2.19112546e-02 1.06935595e+02] [-1.34822090e-01 9.90863366e-01 -3.57693992e-03 -1.19807480e+01] [-2.21934750e-02 5.89271561e-04 9.99753521e-01 -2.93927314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.728623853 meters 0.035710873272706486 Centerline is valid? [True, True] Translation: X:106.99, Y:-12.00, Z:-2.94 [[ 9.90883922e-01 1.32968402e-01 2.16438681e-02 1.06993754e+02] [-1.32922911e-01 9.91120081e-01 -3.53347054e-03 -1.20018263e+01] [-2.19215122e-02 6.24293186e-04 9.99759500e-01 -2.94198663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78862385299999 meters 0.034720402380540895 Centerline is valid? [True, True] Translation: X:107.05, Y:-12.02, Z:-2.94 [[ 9.90786993e-01 1.33777092e-01 2.10908525e-02 1.07054624e+02] [-1.33734053e-01 9.91011271e-01 -3.44442277e-03 -1.20154134e+01] [-2.13620574e-02 5.92124097e-04 9.99771630e-01 -2.94470426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84862385299999 meters 0.03257978442923189 Centerline is valid? [True, True] Translation: X:107.12, Y:-12.03, Z:-2.95 [[ 9.90478667e-01 1.35959040e-01 2.16136393e-02 1.07115359e+02] [-1.35914261e-01 9.90714299e-01 -3.53426466e-03 -1.20276331e+01] [-2.18934567e-02 5.63011939e-04 9.99760151e-01 -2.94518251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.908623853 meters 0.03100030665417265 Centerline is valid? [True, True] Translation: X:107.18, Y:-12.04, Z:-2.95 [[ 9.90210842e-01 1.37918019e-01 2.14734113e-02 1.07176228e+02] [-1.37874281e-01 9.90443513e-01 -3.51132328e-03 -1.20409227e+01] [-2.17524757e-02 5.16319248e-04 9.99763254e-01 -2.94702429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.968623853 meters 0.028920417603318344 Centerline is valid? [True, True] Translation: X:107.24, Y:-12.05, Z:-2.95 [[ 9.89972897e-01 1.39615457e-01 2.14752557e-02 1.07237569e+02] [-1.39572033e-01 9.90205681e-01 -3.51517505e-03 -1.20525886e+01] [-2.17556930e-02 4.82582931e-04 9.99763200e-01 -2.94812743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.028623853 meters 0.026420750633846392 Centerline is valid? [True, True] Translation: X:107.30, Y:-12.07, Z:-2.95 [[ 9.89527248e-01 1.42618041e-01 2.22692483e-02 1.07296494e+02] [-1.42571999e-01 9.89777704e-01 -3.64984486e-03 -1.20651524e+01] [-2.25621392e-02 4.36649688e-04 9.99745347e-01 -2.94832125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.088623853 meters 0.022977634985692778 Centerline is valid? [True, True] Translation: X:107.36, Y:-12.08, Z:-2.95 [[ 9.88944097e-01 1.46650243e-01 2.19835997e-02 1.07356341e+02] [-1.46606366e-01 9.89188349e-01 -3.60322083e-03 -1.20760171e+01] [-2.22743339e-02 3.40448323e-04 9.99751838e-01 -2.95104379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14862385299999 meters 0.01955574534908531 Centerline is valid? [True, True] Translation: X:107.42, Y:-12.09, Z:-2.95 [[ 9.88313794e-01 1.51007233e-01 2.08004747e-02 1.07417046e+02] [-1.50968925e-01 9.88532631e-01 -3.40883479e-03 -1.20881217e+01] [-2.10767067e-02 2.28773130e-04 9.99777835e-01 -2.95457497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20862385299999 meters 0.01494710445344265 Centerline is valid? [True, True] Translation: X:107.48, Y:-12.09, Z:-2.96 [[ 9.87437988e-01 1.56708034e-01 2.02191071e-02 1.07479404e+02] [-1.56672969e-01 9.87644967e-01 -3.31662748e-03 -1.20936553e+01] [-2.04890415e-02 1.07176429e-04 9.99790072e-01 -2.95597501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.268623853 meters 0.014281818240421707 Centerline is valid? [True, True] Translation: X:107.54, Y:-12.10, Z:-2.96 [[ 9.87043843e-01 1.59174416e-01 2.01979453e-02 1.07540287e+02] [-1.59139865e-01 9.87250476e-01 -3.31685023e-03 -1.21025699e+01] [-2.04683888e-02 5.95783009e-05 9.99790499e-01 -2.95837084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.328623853 meters 0.016780936337634833 Centerline is valid? [True, True] Translation: X:107.60, Y:-12.11, Z:-2.96 [[ 9.85784677e-01 1.66873764e-01 1.95375909e-02 1.07602383e+02] [-1.66842885e-01 9.85978265e-01 -3.21146750e-03 -1.21052894e+01] [-1.97995496e-02 -9.38925774e-05 9.99803965e-01 -2.95764395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.388623853 meters 0.018301669139658614 Centerline is valid? [True, True] Translation: X:107.66, Y:-12.11, Z:-2.97 [[ 9.84993584e-01 1.71485070e-01 1.95066677e-02 1.07663045e+02] [-1.71455108e-01 9.85186702e-01 -3.21069909e-03 -1.21093407e+01] [-1.97682966e-02 -1.81999811e-04 9.99804572e-01 -2.96540105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.448623853 meters 0.017047485813890293 Centerline is valid? [True, True] Translation: X:107.72, Y:-12.12, Z:-2.97 [[ 9.84946655e-01 1.71784559e-01 1.92393328e-02 1.07723763e+02] [-1.71755483e-01 9.85134524e-01 -3.16594156e-03 -1.21232045e+01] [-1.94971908e-02 -1.86177355e-04 9.99809894e-01 -2.96597992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50862385299999 meters 0.015658773572791218 Centerline is valid? [True, True] Translation: X:107.78, Y:-12.14, Z:-2.97 [[ 9.85499402e-01 1.68613981e-01 1.89803429e-02 1.07783326e+02] [-1.68585030e-01 9.85682155e-01 -3.12671775e-03 -1.21400806e+01] [-1.92357936e-02 -1.18423201e-04 9.99814968e-01 -2.96909640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56862385299999 meters 0.01640952375787968 Centerline is valid? [True, True] Translation: X:107.84, Y:-12.16, Z:-2.97 [[ 9.86176960e-01 1.64555454e-01 1.94037576e-02 1.07843056e+02] [-1.64524348e-01 9.86367833e-01 -3.19965169e-03 -1.21590544e+01] [-1.96657625e-02 -3.69677952e-05 9.99806610e-01 -2.96742369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.628623853 meters 0.020135279985742636 Centerline is valid? [True, True] Translation: X:107.90, Y:-12.18, Z:-2.97 [[ 9.86707022e-01 1.61291303e-01 1.98586829e-02 1.07903845e+02] [-1.61257994e-01 9.86906842e-01 -3.27794402e-03 -1.21771008e+01] [-2.01273739e-02 3.19990159e-05 9.99797423e-01 -2.96650143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.688623853 meters 0.01803803667830806 Centerline is valid? [True, True] Translation: X:107.96, Y:-12.21, Z:-2.97 [[ 9.87982725e-01 1.53110359e-01 2.11507402e-02 1.07962180e+02] [-1.53070598e-01 9.88209073e-01 -3.49584844e-03 -1.22064552e+01] [-2.14366040e-02 2.16281420e-04 9.99770186e-01 -2.97128953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.748623853 meters 0.020885940946549834 Centerline is valid? [True, True] Translation: X:108.02, Y:-12.23, Z:-2.97 [[ 9.88464339e-01 1.49913683e-01 2.15438822e-02 1.08020898e+02] [-1.49871584e-01 9.88699045e-01 -3.56474310e-03 -1.22255764e+01] [-2.18348195e-02 2.94805682e-04 9.99761548e-01 -2.97316307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.808623853 meters 0.023041000841245107 Centerline is valid? [True, True] Translation: X:108.08, Y:-12.25, Z:-2.97 [[ 9.88790795e-01 1.47852484e-01 2.07944033e-02 1.08080331e+02] [-1.47812743e-01 9.89009370e-01 -3.44382498e-03 -1.22460222e+01] [-2.10750378e-02 3.31544636e-04 9.99777842e-01 -2.97493824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86862385299999 meters 0.022721297136953304 Centerline is valid? [True, True] Translation: X:108.14, Y:-12.26, Z:-2.98 [[ 9.88654145e-01 1.48790354e-01 2.06012527e-02 1.08139578e+02] [-1.48751477e-01 9.88868714e-01 -3.41539099e-03 -1.22604384e+01] [-2.08801115e-02 3.12173679e-04 9.99781938e-01 -2.97736637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92862385299999 meters 0.021336441192679318 Centerline is valid? [True, True] Translation: X:108.20, Y:-12.27, Z:-2.98 [[ 9.88339250e-01 1.50887518e-01 2.04568982e-02 1.08200541e+02] [-1.50849569e-01 9.88550901e-01 -3.39457192e-03 -1.22739059e+01] [-2.07348837e-02 2.69074396e-04 9.99784973e-01 -2.97978341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98862385299999 meters 0.019239971663040065 Centerline is valid? [True, True] Translation: X:108.26, Y:-12.29, Z:-2.98 [[ 9.87906020e-01 1.53641892e-01 2.08773509e-02 1.08260673e+02] [-1.53602903e-01 9.88126571e-01 -3.46799672e-03 -1.22862206e+01] [-2.11622948e-02 2.19233112e-04 9.99776030e-01 -2.98138035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.048623853 meters 0.017641684563434425 Centerline is valid? [True, True] Translation: X:108.32, Y:-12.30, Z:-2.98 [[ 9.87558276e-01 1.55896595e-01 2.06132062e-02 1.08321541e+02] [-1.55859014e-01 9.87773366e-01 -3.42715892e-03 -1.22973041e+01] [-2.08954585e-02 1.71765154e-04 9.99781651e-01 -2.98414253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.108623853 meters 0.015079301249892433 Centerline is valid? [True, True] Translation: X:108.38, Y:-12.31, Z:-2.99 [[ 9.86805296e-01 1.60662526e-01 2.00713979e-02 1.08381820e+02] [-1.60627813e-01 9.87009396e-01 -3.34035894e-03 -1.23053122e+01] [-2.03473288e-02 7.22591327e-05 9.99792969e-01 -2.98667351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.168623853 meters 0.014507459848672459 Centerline is valid? [True, True] Translation: X:108.45, Y:-12.31, Z:-2.99 [[ 9.85681466e-01 1.67424830e-01 2.00243236e-02 1.08445203e+02] [-1.67391617e-01 9.85884842e-01 -3.33530169e-03 -1.23111071e+01] [-2.03000894e-02 -6.43588452e-05 9.99793930e-01 -2.98787477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.228623853 meters 0.018559764377061264 Centerline is valid? [True, True] Translation: X:108.51, Y:-12.31, Z:-2.99 [[ 9.84545480e-01 1.74070661e-01 1.92250750e-02 1.08507950e+02] [-1.74041242e-01 9.84733146e-01 -3.20580702e-03 -1.23128584e+01] [-1.94896056e-02 -1.89693124e-04 9.99810042e-01 -2.99171392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28862385299999 meters 0.020218979147061368 Centerline is valid? [True, True] Translation: X:108.57, Y:-12.32, Z:-2.99 [[ 9.83881484e-01 1.77771434e-01 1.93530951e-02 1.08568718e+02] [-1.77742278e-01 9.84071770e-01 -3.23018777e-03 -1.23229726e+01] [-1.96190697e-02 -2.61741278e-04 9.99807493e-01 -2.99200084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34862385299999 meters 0.021097321673506315 Centerline is valid? [True, True] Translation: X:108.63, Y:-12.33, Z:-2.99 [[ 9.83692182e-01 1.78788938e-01 1.96011829e-02 1.08629876e+02] [-1.78759170e-01 9.83887410e-01 -3.27468020e-03 -1.23335241e+01] [-1.98708337e-02 -2.82613870e-04 9.99802516e-01 -2.99326785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.408623853 meters 0.020329775977909817 Centerline is valid? [True, True] Translation: X:108.69, Y:-12.35, Z:-2.99 [[ 9.83859527e-01 1.77753434e-01 2.05948406e-02 1.08689994e+02] [-1.77720256e-01 9.84075019e-01 -3.44489024e-03 -1.23472286e+01] [-2.08792092e-02 -2.70832249e-04 9.99781969e-01 -2.99332515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.468623853 meters 0.01750696678822409 Centerline is valid? [True, True] Translation: X:108.75, Y:-12.37, Z:-2.99 [[ 9.84350760e-01 1.74903955e-01 2.14985709e-02 1.08749939e+02] [-1.74867083e-01 9.84585476e-01 -3.59779084e-03 -1.23661606e+01] [-2.17964485e-02 -2.17904239e-04 9.99762405e-01 -2.99335448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.528623853 meters 0.015539677631924185 Centerline is valid? [True, True] Translation: X:108.81, Y:-12.38, Z:-2.99 [[ 9.84873413e-01 1.71840360e-01 2.22542509e-02 1.08810341e+02] [-1.71799970e-01 9.85124798e-01 -3.72859806e-03 -1.23849219e+01] [-2.25639380e-02 -1.51082546e-04 9.99745391e-01 -2.99420244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.588623853 meters 0.014645242100035684 Centerline is valid? [True, True] Translation: X:108.87, Y:-12.40, Z:-3.00 [[ 9.85268052e-01 1.69610084e-01 2.18925697e-02 1.08870433e+02] [-1.69570410e-01 9.85511243e-01 -3.66959874e-03 -1.24023611e+01] [-2.21977745e-02 -9.67936110e-05 9.99753594e-01 -2.99668972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64862385299999 meters 0.014374040877020397 Centerline is valid? [True, True] Translation: X:108.93, Y:-12.42, Z:-3.00 [[ 9.85408429e-01 1.68827329e-01 2.16231726e-02 1.08931876e+02] [-1.68788359e-01 9.85645640e-01 -3.62800656e-03 -1.24167849e+01] [-2.19252925e-02 -7.46715849e-05 9.99759609e-01 -2.99908941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70862385299999 meters 0.015254440163600471 Centerline is valid? [True, True] Translation: X:108.99, Y:-12.43, Z:-3.01 [[ 9.85381748e-01 1.69066447e-01 2.09605951e-02 1.08992960e+02] [-1.69029797e-01 9.85604652e-01 -3.52091749e-03 -1.24283190e+01] [-2.12541290e-02 -7.35172891e-05 9.99774103e-01 -3.00521712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.768623853 meters 0.014814322901838222 Centerline is valid? [True, True] Translation: X:109.05, Y:-12.44, Z:-3.00 [[ 9.85153310e-01 1.70315223e-01 2.15796458e-02 1.09054762e+02] [-1.70276587e-01 9.85389626e-01 -3.62892638e-03 -1.24395911e+01] [-2.18824205e-02 -9.94596086e-05 9.99760546e-01 -3.00251022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.828623853 meters 0.016310750170456367 Centerline is valid? [True, True] Translation: X:109.12, Y:-12.44, Z:-3.00 [[ 9.84562274e-01 1.73694169e-01 2.16209099e-02 1.09115826e+02] [-1.73656090e-01 9.84799628e-01 -3.64080509e-03 -1.24449794e+01] [-2.19246506e-02 -1.70003347e-04 9.99759612e-01 -3.00481491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.888623853 meters 0.019601643306837696 Centerline is valid? [True, True] Translation: X:109.18, Y:-12.45, Z:-3.01 [[ 9.83651027e-01 1.78765347e-01 2.17625322e-02 1.09178153e+02] [-1.78727972e-01 9.83891697e-01 -3.66627832e-03 -1.24486658e+01] [-2.20673783e-02 -2.83234802e-04 9.99756446e-01 -3.00573600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.948623853 meters 0.025270024959599315 Centerline is valid? [True, True] Translation: X:109.24, Y:-12.45, Z:-3.01 [[ 9.82705080e-01 1.84021758e-01 2.06571737e-02 1.09239077e+02] [-1.83989152e-01 9.82922098e-01 -3.48439590e-03 -1.24467673e+01] [-2.09455972e-02 -3.76562324e-04 9.99780546e-01 -3.00987637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00862385299999 meters 0.027771797313366927 Centerline is valid? [True, True] Translation: X:109.30, Y:-12.45, Z:-3.01 [[ 9.82305294e-01 1.86124249e-01 2.08344061e-02 1.09300532e+02] [-1.86091575e-01 9.82526123e-01 -3.51329060e-03 -1.24488047e+01] [-2.11242569e-02 -4.25983498e-04 9.99776767e-01 -3.01194872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06862385299999 meters 0.025037698204112543 Centerline is valid? [True, True] Translation: X:109.36, Y:-12.46, Z:-3.01 [[ 9.82711171e-01 1.84012275e-01 2.04508657e-02 1.09361336e+02] [-1.83980274e-01 9.82923876e-01 -3.45157896e-03 -1.24622348e+01] [-2.07367771e-02 -3.70650668e-04 9.99784901e-01 -3.01404900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.128623853 meters 0.019741942930892705 Centerline is valid? [True, True] Translation: X:109.42, Y:-12.48, Z:-3.01 [[ 9.83571923e-01 1.79285980e-01 2.10430521e-02 1.09420657e+02] [-1.79250921e-01 9.83796962e-01 -3.55602778e-03 -1.24775992e+01] [-2.13396366e-02 -2.74377387e-04 9.99772246e-01 -3.01458723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.188623853 meters 0.01828219620009502 Centerline is valid? [True, True] Translation: X:109.48, Y:-12.49, Z:-3.02 [[ 9.83888549e-01 1.77560058e-01 2.08745927e-02 1.09481516e+02] [-1.77525179e-01 9.84109938e-01 -3.52710597e-03 -1.24899314e+01] [-2.11691672e-02 -2.35486625e-04 9.99775880e-01 -3.01595927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.248623853 meters 0.015831226168249515 Centerline is valid? [True, True] Translation: X:109.54, Y:-12.50, Z:-3.02 [[ 9.84661189e-01 1.73074852e-01 2.20780012e-02 1.09541563e+02] [-1.73034606e-01 9.84908663e-01 -3.73492369e-03 -1.25032882e+01] [-2.23912360e-02 -1.42623834e-04 9.99749275e-01 -3.01643717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.308623853 meters 0.014303101332446994 Centerline is valid? [True, True] Translation: X:109.60, Y:-12.52, Z:-3.02 [[ 9.85470351e-01 1.68419386e-01 2.19794916e-02 1.09601128e+02] [-1.68378292e-01 9.85715430e-01 -3.72042996e-03 -1.25195087e+01] [-2.22921166e-02 -3.44958371e-05 9.99751499e-01 -3.01907609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36862385299999 meters 0.01475375522789447 Centerline is valid? [True, True] Translation: X:109.66, Y:-12.54, Z:-3.02 [[ 9.86230170e-01 1.63990423e-01 2.13820795e-02 1.09662769e+02] [-1.63950463e-01 9.86461929e-01 -3.62059188e-03 -1.25354988e+01] [-2.16863498e-02 6.51351089e-05 9.99764821e-01 -3.02032569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42862385299999 meters 0.01594478887947389 Centerline is valid? [True, True] Translation: X:109.72, Y:-12.55, Z:-3.02 [[ 9.86694773e-01 1.61143559e-01 2.15911453e-02 1.09723418e+02] [-1.61102033e-01 9.86930968e-01 -3.66053123e-03 -1.25500649e+01] [-2.18988410e-02 1.33449624e-04 9.99760183e-01 -3.02193085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48862385299999 meters 0.01860921362451085 Centerline is valid? [True, True] Translation: X:109.78, Y:-12.57, Z:-3.02 [[ 9.87402817e-01 1.56725672e-01 2.17426145e-02 1.09783946e+02] [-1.56682405e-01 9.87642146e-01 -3.69002320e-03 -1.25672050e+01] [-2.20522438e-02 2.36854160e-04 9.99756792e-01 -3.02334516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.548623853 meters 0.020505949850403528 Centerline is valid? [True, True] Translation: X:109.84, Y:-12.58, Z:-3.02 [[ 9.87698887e-01 1.54808632e-01 2.20271684e-02 1.09843542e+02] [-1.54763658e-01 9.87944434e-01 -3.74234419e-03 -1.25836014e+01] [-2.23409656e-02 2.87304022e-04 9.99750368e-01 -3.02440000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.608623853 meters 0.020850586561065695 Centerline is valid? [True, True] Translation: X:109.90, Y:-12.60, Z:-3.03 [[ 9.87536642e-01 1.55834645e-01 2.20667902e-02 1.09903091e+02] [-1.55789684e-01 9.87783120e-01 -3.75270681e-03 -1.25962891e+01] [-2.23820046e-02 2.68157208e-04 9.99749456e-01 -3.02667028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.668623853 meters 0.018843678532701726 Centerline is valid? [True, True] Translation: X:109.96, Y:-12.60, Z:-3.03 [[ 9.87263219e-01 1.57542744e-01 2.21725189e-02 1.09964456e+02] [-1.57497703e-01 9.87512141e-01 -3.77419314e-03 -1.26048669e+01] [-2.24902283e-02 2.34001283e-04 9.99747035e-01 -3.02788252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.728623853 meters 0.018194538570082013 Centerline is valid? [True, True] Translation: X:110.03, Y:-12.62, Z:-3.03 [[ 9.87224513e-01 1.57754587e-01 2.23886409e-02 1.10025625e+02] [-1.57708634e-01 9.87478321e-01 -3.81469755e-03 -1.26188860e+01] [-2.27100836e-02 2.35080964e-04 9.99742065e-01 -3.02914149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78862385299999 meters 0.01875199115307478 Centerline is valid? [True, True] Translation: X:110.09, Y:-12.64, Z:-3.03 [[ 9.87295111e-01 1.57264668e-01 2.27197636e-02 1.10086709e+02] [-1.57217106e-01 9.87556459e-01 -3.87586711e-03 -1.26351219e+01] [-2.30465863e-02 2.54689169e-04 9.99734360e-01 -3.03078054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84862385299999 meters 0.019872773536336503 Centerline is valid? [True, True] Translation: X:110.15, Y:-12.65, Z:-3.03 [[ 9.87122956e-01 1.58427542e-01 2.21129986e-02 1.10146855e+02] [-1.58382678e-01 9.87370580e-01 -3.77683148e-03 -1.26501959e+01] [-2.24320783e-02 2.25881135e-04 9.99748344e-01 -3.03062408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.908623853 meters 0.017672397278736676 Centerline is valid? [True, True] Translation: X:110.21, Y:-12.67, Z:-3.04 [[ 9.86689668e-01 1.61246113e-01 2.10520612e-02 1.10206508e+02] [-1.61206015e-01 9.86914214e-01 -3.59922582e-03 -1.26652815e+01] [-2.13569396e-02 1.57600036e-04 9.99771902e-01 -3.03856774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.968623853 meters 0.028180505095481985 Centerline is valid? [True, True] Translation: X:110.27, Y:-12.67, Z:-3.03 [[ 9.85986033e-01 1.65572528e-01 2.04274433e-02 1.10268396e+02] [-1.65535637e-01 9.86197614e-01 -3.49558302e-03 -1.26714617e+01] [-2.07242684e-02 6.51261981e-05 9.99785227e-01 -3.03337369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.028623853 meters 0.014501219312612772 Centerline is valid? [True, True] Translation: X:110.33, Y:-12.68, Z:-3.04 [[ 9.85110483e-01 1.70558068e-01 2.16166826e-02 1.10329893e+02] [-1.70517868e-01 9.85347626e-01 -3.70307627e-03 -1.26822769e+01] [-2.19315364e-02 -3.80913664e-05 9.99759474e-01 -3.03972058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.088623853 meters 0.016350212136653518 Centerline is valid? [True, True] Translation: X:110.39, Y:-12.69, Z:-3.04 [[ 9.84161923e-01 1.76020890e-01 2.10227585e-02 1.10391644e+02] [-1.75984039e-01 9.84386420e-01 -3.60479975e-03 -1.26893690e+01] [-2.13290380e-02 -1.51963304e-04 9.99772499e-01 -3.04242407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14862385299999 meters 0.01999965976261676 Centerline is valid? [True, True] Translation: X:110.45, Y:-12.69, Z:-3.04 [[ 9.83059327e-01 1.82004914e-01 2.16464835e-02 1.10453691e+02] [-1.81967195e-01 9.83297579e-01 -3.71623211e-03 -1.26935978e+01] [-2.19613073e-02 -2.85673237e-04 9.99758781e-01 -3.04272166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20862385299999 meters 0.023026011586305243 Centerline is valid? [True, True] Translation: X:110.52, Y:-12.70, Z:-3.04 [[ 9.82307270e-01 1.85970796e-01 2.20746351e-02 1.10516100e+02] [-1.85932545e-01 9.82555199e-01 -3.79084630e-03 -1.26988430e+01] [-2.23945342e-02 -3.80617199e-04 9.99749139e-01 -3.04387970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.268623853 meters 0.02842290567319626 Centerline is valid? [True, True] Translation: X:110.58, Y:-12.70, Z:-3.05 [[ 9.81299197e-01 1.91204534e-01 2.21971064e-02 1.10576557e+02] [-1.91167171e-01 9.81550087e-01 -3.81293321e-03 -1.26995901e+01] [-2.25166219e-02 -5.01729748e-04 9.99746343e-01 -3.04581464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.328623853 meters 0.03205192891328156 Centerline is valid? [True, True] Translation: X:110.64, Y:-12.70, Z:-3.05 [[ 9.80556865e-01 1.94999995e-01 2.19826229e-02 1.10638201e+02] [-1.94964272e-01 9.80803071e-01 -3.77748321e-03 -1.27036538e+01] [-2.22972332e-02 -5.81788965e-04 9.99751217e-01 -3.04735891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.388623853 meters 0.035907160094596366 Centerline is valid? [True, True] Translation: X:110.70, Y:-12.70, Z:-3.05 [[ 9.80199027e-01 1.96876252e-01 2.12039962e-02 1.10700099e+02] [-1.96843450e-01 9.80428161e-01 -3.64381330e-03 -1.27047420e+01] [-2.15063753e-02 -6.02205508e-04 9.99768530e-01 -3.05159004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.448623853 meters 0.03414366302138404 Centerline is valid? [True, True] Translation: X:110.76, Y:-12.71, Z:-3.05 [[ 9.80390643e-01 1.95900221e-01 2.13843591e-02 1.10761297e+02] [-1.95866599e-01 9.80623660e-01 -3.67608190e-03 -1.27142861e+01] [-2.16901537e-02 -5.84485385e-04 9.99764570e-01 -3.05234381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50862385299999 meters 0.030495514645564503 Centerline is valid? [True, True] Translation: X:110.82, Y:-12.73, Z:-3.05 [[ 9.81283276e-01 1.91358137e-01 2.15683938e-02 1.10819730e+02] [-1.91322737e-01 9.81520162e-01 -3.71227674e-03 -1.27257236e+01] [-2.18801877e-02 -4.83729044e-04 9.99760483e-01 -3.05458615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56862385299999 meters 0.02232863231585522 Centerline is valid? [True, True] Translation: X:110.88, Y:-12.75, Z:-3.06 [[ 9.82596632e-01 1.84550575e-01 2.10937094e-02 1.10877674e+02] [-1.84515154e-01 9.82822965e-01 -3.63017301e-03 -1.27464909e+01] [-2.14013326e-02 -3.25113278e-04 9.99770912e-01 -3.05635911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.628623853 meters 0.018301067540769447 Centerline is valid? [True, True] Translation: X:110.94, Y:-12.76, Z:-3.06 [[ 9.83547430e-01 1.79498338e-01 2.03666430e-02 1.10937184e+02] [-1.79464229e-01 9.83758255e-01 -3.50527762e-03 -1.27634722e+01] [-2.06650447e-02 -2.07477084e-04 9.99786434e-01 -3.06031101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.688623853 meters 0.014809276052795627 Centerline is valid? [True, True] Translation: X:111.00, Y:-12.79, Z:-3.06 [[ 9.85118113e-01 1.70772755e-01 1.94671214e-02 1.10997033e+02] [-1.70739883e-01 9.85310441e-01 -3.35061404e-03 -1.27850190e+01] [-1.97533515e-02 -2.30634499e-05 9.99804883e-01 -3.06330382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.748623853 meters 0.019443963459165842 Centerline is valid? [True, True] Translation: X:111.06, Y:-12.80, Z:-3.06 [[ 9.86129734e-01 1.64852534e-01 1.92818585e-02 1.11057061e+02] [-1.64819147e-01 9.86318221e-01 -3.31899466e-03 -1.28040994e+01] [-1.95651930e-02 9.49398572e-05 9.99808579e-01 -3.06109049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.808623853 meters 0.020225865498399057 Centerline is valid? [True, True] Translation: X:111.12, Y:-12.83, Z:-3.07 [[ 9.87188556e-01 1.58424449e-01 1.89855160e-02 1.11116657e+02] [-1.58390810e-01 9.87371077e-01 -3.27216323e-03 -1.28251316e+01] [-1.92641400e-02 2.23110832e-04 9.99814404e-01 -3.06713434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86862385299999 meters 0.02403902480145209 Centerline is valid? [True, True] Translation: X:111.18, Y:-12.84, Z:-3.07 [[ 9.87783236e-01 1.54579123e-01 1.97376351e-02 1.11175592e+02] [-1.54541994e-01 9.87980364e-01 -3.40197873e-03 -1.28436260e+01] [-2.00262708e-02 3.10124065e-04 9.99799406e-01 -3.06816007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92862385299999 meters 0.023201923756773272 Centerline is valid? [True, True] Translation: X:111.24, Y:-12.86, Z:-3.07 [[ 9.87715189e-01 1.55054442e-01 1.94119667e-02 1.11237767e+02] [-1.55018568e-01 9.87905882e-01 -3.34853139e-03 -1.28550403e+01] [-1.96964008e-02 2.98180034e-04 9.99805963e-01 -3.06968294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98862385299999 meters 0.02638032993528955 Centerline is valid? [True, True] Translation: X:111.30, Y:-12.86, Z:-3.07 [[ 9.87148454e-01 1.58721647e-01 1.85840840e-02 1.11299010e+02] [-1.58689347e-01 9.87323347e-01 -3.20938174e-03 -1.28631897e+01] [-1.88578983e-02 2.19040064e-04 9.99822150e-01 -3.06790236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.048623853 meters 0.0171196288730941 Centerline is valid? [True, True] Translation: X:111.36, Y:-12.87, Z:-3.07 [[ 9.86409641e-01 1.63207111e-01 1.89593896e-02 1.11361534e+02] [-1.63174240e-01 9.86591820e-01 -3.27842598e-03 -1.28688522e+01] [-1.92402411e-02 1.40187002e-04 9.99814880e-01 -3.07271901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.108623853 meters 0.015567682127588188 Centerline is valid? [True, True] Translation: X:111.42, Y:-12.88, Z:-3.07 [[ 9.85873142e-01 1.66386359e-01 1.92283196e-02 1.11423911e+02] [-1.66353130e-01 9.86060634e-01 -3.32614257e-03 -1.28759751e+01] [-1.95137137e-02 8.04634877e-05 9.99809586e-01 -3.07396986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.168623853 meters 0.014651939459915537 Centerline is valid? [True, True] Translation: X:111.49, Y:-12.88, Z:-3.07 [[ 9.85364468e-01 1.69297311e-01 1.98817858e-02 1.11486018e+02] [-1.69262368e-01 9.85565026e-01 -3.43963790e-03 -1.28841639e+01] [-2.01771142e-02 2.40588293e-05 9.99796421e-01 -3.07463717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22862385299999 meters 0.022427765864321735 Centerline is valid? [True, True] Translation: X:111.55, Y:-12.89, Z:-3.07 [[ 9.84693880e-01 1.73133098e-01 2.00721840e-02 1.11548029e+02] [-1.73098209e-01 9.84898435e-01 -3.47594670e-03 -1.28906510e+01] [-2.03708641e-02 -5.17156714e-05 9.99792491e-01 -3.07068459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28862385299999 meters 0.01585545806378076 Centerline is valid? [True, True] Translation: X:111.61, Y:-12.90, Z:-3.08 [[ 9.84070072e-01 1.76593180e-01 2.05168570e-02 1.11609240e+02] [-1.76557399e-01 9.84283919e-01 -3.55683215e-03 -1.28978663e+01] [-2.08225247e-02 -1.22230823e-04 9.99783180e-01 -3.07739424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34862385299999 meters 0.018708829356459754 Centerline is valid? [True, True] Translation: X:111.67, Y:-12.90, Z:-3.08 [[ 9.83388333e-01 1.80497625e-01 1.91831426e-02 1.11669855e+02] [-1.80467009e-01 9.83575402e-01 -3.32964586e-03 -1.29026689e+01] [-1.94690604e-02 -1.87589467e-04 9.99810442e-01 -3.08229750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.408623853 meters 0.019401862894275607 Centerline is valid? [True, True] Translation: X:111.73, Y:-12.91, Z:-3.08 [[ 9.83103232e-01 1.82135860e-01 1.82910880e-02 1.11731175e+02] [-1.82108325e-01 9.83273352e-01 -3.17389134e-03 -1.29118586e+01] [-1.85632188e-02 -2.10696568e-04 9.99827666e-01 -3.08452767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.468623853 meters 0.01904251931160855 Centerline is valid? [True, True] Translation: X:111.79, Y:-12.92, Z:-3.09 [[ 9.83143335e-01 1.81898957e-01 1.84919634e-02 1.11792213e+02] [-1.81870713e-01 9.83317206e-01 -3.21191624e-03 -1.29239001e+01] [-1.87677100e-02 -2.05372515e-04 9.99823850e-01 -3.08625581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.528623853 meters 0.02477743218064877 Centerline is valid? [True, True] Translation: X:111.85, Y:-12.94, Z:-3.08 [[ 9.83261492e-01 1.81231454e-01 1.87616385e-02 1.11853521e+02] [-1.81202198e-01 9.83440452e-01 -3.26194700e-03 -1.29359294e+01] [-1.90421216e-02 -1.92303256e-04 9.99818664e-01 -3.08135580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.588623853 meters 0.017947463780560304 Centerline is valid? [True, True] Translation: X:111.91, Y:-12.95, Z:-3.09 [[ 9.83297931e-01 1.81063105e-01 1.84751680e-02 1.11914896e+02] [-1.81034639e-01 9.83471463e-01 -3.21570739e-03 -1.29465104e+01] [-1.87520464e-02 -1.82646937e-04 9.99824148e-01 -3.08896101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64862385299999 meters 0.019860279168898102 Centerline is valid? [True, True] Translation: X:111.98, Y:-12.95, Z:-3.09 [[ 9.83127865e-01 1.81834167e-01 1.98981842e-02 1.11975414e+02] [-1.81801246e-01 9.83329188e-01 -3.46628201e-03 -1.29535241e+01] [-2.01967538e-02 -2.09716254e-04 9.99796003e-01 -3.09027256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70862385299999 meters 0.01832714831498407 Centerline is valid? [True, True] Translation: X:112.04, Y:-12.96, Z:-3.09 [[ 9.82760449e-01 1.83665828e-01 2.11840627e-02 1.12037296e+02] [-1.83628903e-01 9.82988706e-01 -3.69195384e-03 -1.29627668e+01] [-2.15017801e-02 -2.61699989e-04 9.99768776e-01 -3.08624479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.768623853 meters 0.019404320277306094 Centerline is valid? [True, True] Translation: X:112.10, Y:-12.97, Z:-3.09 [[ 9.82521172e-01 1.84897819e-01 2.15625188e-02 1.12098286e+02] [-1.84859773e-01 9.82757708e-01 -3.76189955e-03 -1.29702894e+01] [-2.18862986e-02 -2.89896371e-04 9.99760424e-01 -3.08785624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.828623853 meters 0.019680771704904804 Centerline is valid? [True, True] Translation: X:112.16, Y:-12.97, Z:-3.09 [[ 9.82472173e-01 1.85138968e-01 2.17253651e-02 1.12160538e+02] [-1.85100328e-01 9.82712306e-01 -3.79374292e-03 -1.29735077e+01] [-2.20521532e-02 -2.94125348e-04 9.99756778e-01 -3.08945373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.888623853 meters 0.019095405060769278 Centerline is valid? [True, True] Translation: X:112.22, Y:-12.98, Z:-3.09 [[ 9.82629895e-01 1.84321460e-01 2.15427211e-02 1.12222012e+02] [-1.84283183e-01 9.82865976e-01 -3.76587780e-03 -1.29827946e+01] [-2.18677397e-02 -2.69497092e-04 9.99760836e-01 -3.09224685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.948623853 meters 0.01750952466259926 Centerline is valid? [True, True] Translation: X:112.28, Y:-13.00, Z:-3.10 [[ 9.83223678e-01 1.81219263e-01 2.07551904e-02 1.12281556e+02] [-1.81182969e-01 9.83442699e-01 -3.63167310e-03 -1.29951547e+01] [-2.10696696e-02 -1.89740028e-04 9.99777992e-01 -3.09593752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00862385299999 meters 0.014640831145849631 Centerline is valid? [True, True] Translation: X:112.34, Y:-13.01, Z:-3.09 [[ 9.83898201e-01 1.77396157e-01 2.17929698e-02 1.12342807e+02] [-1.77355111e-01 9.84139518e-01 -3.81742649e-03 -1.30090507e+01] [-2.21245196e-02 -1.09135534e-04 9.99755217e-01 -3.09468950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06862385299999 meters 0.0138890655124771 Centerline is valid? [True, True] Translation: X:112.40, Y:-13.02, Z:-3.10 [[ 9.84365405e-01 1.74792397e-01 2.17340129e-02 1.12403868e+02] [-1.74750923e-01 9.84605309e-01 -3.80781066e-03 -1.30219103e+01] [-2.20650008e-02 -4.97617243e-05 9.99756537e-01 -3.09666947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.128623853 meters 0.013832452141070276 Centerline is valid? [True, True] Translation: X:112.46, Y:-13.03, Z:-3.10 [[ 9.84587507e-01 1.73603986e-01 2.11919230e-02 1.12464539e+02] [-1.73564205e-01 9.84815544e-01 -3.71631090e-03 -1.30316550e+01] [-2.15153015e-02 -1.91259750e-05 9.99768519e-01 -3.09965143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.188623853 meters 0.0201863407597412 Centerline is valid? [True, True] Translation: X:112.53, Y:-13.04, Z:-3.10 [[ 9.84719585e-01 1.73010936e-01 1.98634127e-02 1.12526527e+02] [-1.72975798e-01 9.84919903e-01 -3.48672476e-03 -1.30394396e+01] [-2.01671121e-02 -2.44350869e-06 9.99796623e-01 -3.09880044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.248623853 meters 0.014326666583053668 Centerline is valid? [True, True] Translation: X:112.59, Y:-13.05, Z:-3.11 [[ 9.84836671e-01 1.72399508e-01 1.93685566e-02 1.12587801e+02] [-1.72365918e-01 9.85027111e-01 -3.40304741e-03 -1.30502571e+01] [-1.96652370e-02 1.29668503e-05 9.99806620e-01 -3.10572033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.308623853 meters 0.014568865154755846 Centerline is valid? [True, True] Translation: X:112.65, Y:-13.06, Z:-3.11 [[ 9.85040836e-01 1.71168498e-01 1.98971796e-02 1.12650356e+02] [-1.71132721e-01 9.85241769e-01 -3.49972511e-03 -1.30607902e+01] [-2.02025751e-02 4.23136604e-05 9.99795906e-01 -3.10670431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36862385299999 meters 0.01621644520907179 Centerline is valid? [True, True] Translation: X:112.71, Y:-13.08, Z:-3.11 [[ 9.85684558e-01 1.67347909e-01 2.05092373e-02 1.12711055e+02] [-1.67308980e-01 9.85897896e-01 -3.61167970e-03 -1.30767501e+01] [-2.08244210e-02 1.28597337e-04 9.99783140e-01 -3.10805789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42862385299999 meters 0.018530652876588775 Centerline is valid? [True, True] Translation: X:112.77, Y:-13.09, Z:-3.11 [[ 9.86130062e-01 1.64749665e-01 2.01258091e-02 1.12770504e+02] [-1.64711567e-01 9.86335396e-01 -3.54758076e-03 -1.30915125e+01] [-2.04352606e-02 1.83422480e-04 9.99791161e-01 -3.11108671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48862385299999 meters 0.02047838717325434 Centerline is valid? [True, True] Translation: X:112.83, Y:-13.11, Z:-3.11 [[ 9.86483714e-01 1.62705800e-01 1.94088869e-02 1.12830465e+02] [-1.62669916e-01 9.86674604e-01 -3.42409713e-03 -1.31063886e+01] [-1.97073762e-02 2.20574061e-04 9.99805766e-01 -3.11404487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.548623853 meters 0.019794936226414157 Centerline is valid? [True, True] Translation: X:112.89, Y:-13.12, Z:-3.11 [[ 9.86407325e-01 1.63117899e-01 1.98277479e-02 1.12892197e+02] [-1.63080455e-01 9.86606559e-01 -3.50184593e-03 -1.31172509e+01] [-2.01333999e-02 2.20728332e-04 9.99797278e-01 -3.11393168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.608623853 meters 0.017761018096472233 Centerline is valid? [True, True] Translation: X:112.95, Y:-13.13, Z:-3.11 [[ 9.85996878e-01 1.65503674e-01 2.04619095e-02 1.12953812e+02] [-1.65464299e-01 9.86209157e-01 -3.61437842e-03 -1.31251592e+01] [-2.07779154e-02 1.78050336e-04 9.99784100e-01 -3.11416544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.668623853 meters 0.016564762941929045 Centerline is valid? [True, True] Translation: X:113.01, Y:-13.14, Z:-3.12 [[ 9.85700181e-01 1.67240341e-01 2.06354415e-02 1.13014633e+02] [-1.67200602e-01 9.85916146e-01 -3.64855234e-03 -1.31363115e+01] [-2.09550001e-02 1.46120471e-04 9.99780409e-01 -3.11621561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72862385299999 meters 0.015550057854354246 Centerline is valid? [True, True] Translation: X:113.08, Y:-13.15, Z:-3.12 [[ 9.85276885e-01 1.69850123e-01 1.95037248e-02 1.13075620e+02] [-1.69815073e-01 9.85469902e-01 -3.45154868e-03 -1.31470599e+01] [-1.98065797e-02 8.87047023e-05 9.99803827e-01 -3.11931985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78862385299999 meters 0.014595618084412789 Centerline is valid? [True, True] Translation: X:113.14, Y:-13.15, Z:-3.12 [[ 9.84379723e-01 1.74983143e-01 1.94283636e-02 1.13137043e+02] [-1.74949293e-01 9.84571429e-01 -3.44170728e-03 -1.31526578e+01] [-1.97308525e-02 -1.10316287e-05 9.99805328e-01 -3.12215998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84862385299999 meters 0.01711819331169004 Centerline is valid? [True, True] Translation: X:113.20, Y:-13.15, Z:-3.12 [[ 9.82964816e-01 1.82780100e-01 1.92770747e-02 1.13200343e+02] [-1.82748214e-01 9.83153807e-01 -3.41787611e-03 -1.31521473e+01] [-1.95770491e-02 -1.63199024e-04 9.99808338e-01 -3.12337292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.908623853 meters 0.02259276069383034 Centerline is valid? [True, True] Translation: X:113.26, Y:-13.15, Z:-3.12 [[ 9.81333611e-01 1.91368174e-01 1.90411677e-02 1.13263298e+02] [-1.91338592e-01 9.81518271e-01 -3.38046991e-03 -1.31489862e+01] [-1.93361684e-02 -3.25941468e-04 9.99812986e-01 -3.12425110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.968623853 meters 0.030076364379326048 Centerline is valid? [True, True] Translation: X:113.33, Y:-13.14, Z:-3.13 [[ 9.80302602e-01 1.96530028e-01 1.95641733e-02 1.13325240e+02] [-1.96499812e-01 9.80497708e-01 -3.47393521e-03 -1.31446024e+01] [-1.98653597e-02 -4.38848643e-04 9.99802568e-01 -3.12709625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.028623853 meters 0.03250859346213868 Centerline is valid? [True, True] Translation: X:113.39, Y:-13.15, Z:-3.13 [[ 9.79607385e-01 1.99960645e-01 1.96242518e-02 1.13386958e+02] [-1.99930928e-01 9.79803797e-01 -3.48476001e-03 -1.31474833e+01] [-1.99247313e-02 -5.09798234e-04 9.99801353e-01 -3.12743193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.088623853 meters 0.033897736695113805 Centerline is valid? [True, True] Translation: X:113.45, Y:-13.15, Z:-3.13 [[ 9.79356909e-01 2.01202767e-01 1.94291240e-02 1.13448509e+02] [-2.01173874e-01 9.79549471e-01 -3.45056792e-03 -1.31497138e+01] [-1.97260520e-02 -5.29294603e-04 9.99805282e-01 -3.13004865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14862385299999 meters 0.030293769578932553 Centerline is valid? [True, True] Translation: X:113.51, Y:-13.16, Z:-3.13 [[ 9.80217830e-01 1.96932611e-01 1.97624157e-02 1.13507548e+02] [-1.96901836e-01 9.80416924e-01 -3.51041915e-03 -1.31589247e+01] [-2.00667228e-02 -4.50280479e-04 9.99798542e-01 -3.13170181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20862385299999 meters 0.02297225809594024 Centerline is valid? [True, True] Translation: X:113.57, Y:-13.18, Z:-3.13 [[ 9.81185080e-01 1.92001647e-01 2.02782396e-02 1.13566993e+02] [-1.91968196e-01 9.81394538e-01 -3.60177963e-03 -1.31783640e+01] [-2.05925012e-02 -3.58764641e-04 9.99787888e-01 -3.13077316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.268623853 meters 0.017636994996870874 Centerline is valid? [True, True] Translation: X:113.63, Y:-13.19, Z:-3.13 [[ 9.82518172e-01 1.84897712e-01 2.16997157e-02 1.13626314e+02] [-1.84857651e-01 9.82757745e-01 -3.85522414e-03 -1.31921869e+01] [-2.20383858e-02 -2.23530706e-04 9.99757100e-01 -3.13062490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.328623853 meters 0.01548962096762847 Centerline is valid? [True, True] Translation: X:113.69, Y:-13.21, Z:-3.14 [[ 9.83361718e-01 1.80581523e-01 1.97495357e-02 1.13686071e+02] [-1.80547481e-01 9.83560013e-01 -3.50814902e-03 -1.32051324e+01] [-2.00583605e-02 -1.15949479e-04 9.99798804e-01 -3.13651961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.388623853 meters 0.014658061221569372 Centerline is valid? [True, True] Translation: X:113.75, Y:-13.22, Z:-3.14 [[ 9.83891738e-01 1.77772982e-01 1.88099577e-02 1.13747542e+02] [-1.77741542e-01 9.84071524e-01 -3.34370409e-03 -1.32171508e+01] [-1.91047640e-02 -5.34680458e-05 9.99817486e-01 -3.13962514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.448623853 meters 0.014344387173859049 Centerline is valid? [True, True] Translation: X:113.81, Y:-13.23, Z:-3.14 [[ 9.84429689e-01 1.74641743e-01 1.99611978e-02 1.13807912e+02] [-1.74605599e-01 9.84632044e-01 -3.55293043e-03 -1.32295421e+01] [-2.02749250e-02 1.22732980e-05 9.99794443e-01 -3.13954118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50862385299999 meters 0.015327927613567504 Centerline is valid? [True, True] Translation: X:113.87, Y:-13.24, Z:-3.14 [[ 9.85085631e-01 1.70797227e-01 2.08472021e-02 1.13868683e+02] [-1.70756862e-01 9.85306195e-01 -3.71441674e-03 -1.32442310e+01] [-2.11752895e-02 9.92157465e-05 9.99775773e-01 -3.14021954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56862385299999 meters 0.017307160316965962 Centerline is valid? [True, True] Translation: X:113.93, Y:-13.26, Z:-3.14 [[ 9.85583449e-01 1.68042931e-01 1.96682263e-02 1.13927313e+02] [-1.68006405e-01 9.85779666e-01 -3.50683111e-03 -1.32602518e+01] [-1.99778357e-02 1.51886719e-04 9.99800412e-01 -3.14488118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.628623853 meters 0.01798284824599363 Centerline is valid? [True, True] Translation: X:113.99, Y:-13.27, Z:-3.15 [[ 9.85687163e-01 1.67517851e-01 1.89363971e-02 1.13987764e+02] [-1.67483868e-01 9.85869030e-01 -3.37778351e-03 -1.32720986e+01] [-1.92346465e-02 1.57896811e-04 9.99814985e-01 -3.14767889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.688623853 meters 0.01799730871189639 Centerline is valid? [True, True] Translation: X:114.05, Y:-13.28, Z:-3.15 [[ 9.85600237e-01 1.68118294e-01 1.81221579e-02 1.14048570e+02] [-1.68087258e-01 9.85766818e-01 -3.23330677e-03 -1.32824245e+01] [-1.84077999e-02 1.40644099e-04 9.99830552e-01 -3.15103783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.748623853 meters 0.017049094756215816 Centerline is valid? [True, True] Translation: X:114.11, Y:-13.29, Z:-3.15 [[ 9.85225978e-01 1.70356272e-01 1.75645236e-02 1.14109541e+02] [-1.70327415e-01 9.85382530e-01 -3.13701834e-03 -1.32906354e+01] [-1.78421854e-02 9.89520683e-05 9.99840811e-01 -3.15364018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.808623853 meters 0.015186602813666197 Centerline is valid? [True, True] Translation: X:114.17, Y:-13.29, Z:-3.15 [[ 9.84499163e-01 1.74452955e-01 1.80987534e-02 1.14171317e+02] [-1.74422954e-01 9.84665510e-01 -3.23531933e-03 -1.32949029e+01] [-1.83856293e-02 2.83311403e-05 9.99830970e-01 -3.15472998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86862385299999 meters 0.015317076366050387 Centerline is valid? [True, True] Translation: X:114.23, Y:-13.30, Z:-3.16 [[ 9.83713010e-01 1.78777605e-01 1.86355100e-02 1.14232978e+02] [-1.78746522e-01 9.83889509e-01 -3.33400218e-03 -1.32999549e+01] [-1.89313277e-02 -5.13312795e-05 9.99820785e-01 -3.15537437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92862385299999 meters 0.017209650647328923 Centerline is valid? [True, True] Translation: X:114.30, Y:-13.30, Z:-3.16 [[ 9.82992232e-01 1.82717133e-01 1.84586272e-02 1.14295041e+02] [-1.82687248e-01 9.83165517e-01 -3.30677913e-03 -1.33034883e+01] [-1.87520910e-02 -1.21617609e-04 9.99824157e-01 -3.15797852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98862385299999 meters 0.020836077339198927 Centerline is valid? [True, True] Translation: X:114.35, Y:-13.30, Z:-3.16 [[ 9.82155521e-01 1.87107434e-01 1.90089534e-02 1.14354724e+02] [-1.87076555e-01 9.82339434e-01 -3.40573217e-03 -1.33049004e+01] [-1.93104823e-02 -2.11170858e-04 9.99813513e-01 -3.15833231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.048623853 meters 0.025411249240300318 Centerline is valid? [True, True] Translation: X:114.41, Y:-13.30, Z:-3.16 [[ 9.81283814e-01 1.91474607e-01 2.04829355e-02 1.14413926e+02] [-1.91439677e-01 9.81497516e-01 -3.67107073e-03 -1.33040761e+01] [-2.08068671e-02 -3.18884262e-04 9.99783463e-01 -3.15636794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.108623853 meters 0.028676938353579727 Centerline is valid? [True, True] Translation: X:114.47, Y:-13.31, Z:-3.16 [[ 9.80793651e-01 1.93945857e-01 2.07079561e-02 1.14472942e+02] [-1.93910725e-01 9.81012163e-01 -3.71047273e-03 -1.33065505e+01] [-2.10343876e-02 -3.76286690e-04 9.99778682e-01 -3.15752184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.168623853 meters 0.03172704578096528 Centerline is valid? [True, True] Translation: X:114.53, Y:-13.31, Z:-3.16 [[ 9.80322393e-01 1.96320013e-01 2.06508440e-02 1.14533301e+02] [-1.96285623e-01 9.80539785e-01 -3.69919705e-03 -1.33073696e+01] [-2.09752005e-02 -4.27058079e-04 9.99779905e-01 -3.15905426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22862385299999 meters 0.0321032186474212 Centerline is valid? [True, True] Translation: X:114.59, Y:-13.31, Z:-3.16 [[ 9.80130546e-01 1.97296968e-01 2.04455054e-02 1.14592311e+02] [-1.97263477e-01 9.80343669e-01 -3.66213172e-03 -1.33100079e+01] [-2.07661492e-02 -4.43784312e-04 9.99784262e-01 -3.16116360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28862385299999 meters 0.025542789017057393 Centerline is valid? [True, True] Translation: X:114.65, Y:-13.32, Z:-3.16 [[ 9.80441687e-01 1.95775979e-01 2.01460619e-02 1.14650589e+02] [-1.95743162e-01 9.80648561e-01 -3.60748799e-03 -1.33228671e+01] [-2.04624661e-02 -4.06522248e-04 9.99790539e-01 -3.16084798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34862385299999 meters 0.029471951237419584 Centerline is valid? [True, True] Translation: X:114.71, Y:-13.33, Z:-3.16 [[ 9.81307144e-01 1.91343333e-01 2.05916796e-02 1.14708582e+02] [-1.91308081e-01 9.81523115e-01 -3.68683789e-03 -1.33315916e+01] [-2.09166614e-02 -3.21434345e-04 9.99781171e-01 -3.15685144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.408623853 meters 0.016413970668976634 Centerline is valid? [True, True] Translation: X:114.77, Y:-13.35, Z:-3.16 [[ 9.82638862e-01 1.84252698e-01 2.17211831e-02 1.14767593e+02] [-1.84211762e-01 9.82878889e-01 -3.88793516e-03 -1.33479314e+01] [-2.20656549e-02 -1.80861231e-04 9.99756507e-01 -3.16199637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.468623853 meters 0.014048786664841873 Centerline is valid? [True, True] Translation: X:114.83, Y:-13.36, Z:-3.17 [[ 9.83844408e-01 1.77781351e-01 2.10706374e-02 1.14827162e+02] [-1.77741361e-01 9.84070013e-01 -3.77073812e-03 -1.33647245e+01] [-2.14053494e-02 -3.53041666e-05 9.99770879e-01 -3.16506846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.528623853 meters 0.014313510066143405 Centerline is valid? [True, True] Translation: X:114.89, Y:-13.38, Z:-3.17 [[ 9.84422442e-01 1.74671236e-01 2.00602839e-02 1.14887708e+02] [-1.74634278e-01 9.84626812e-01 -3.59317315e-03 -1.33769553e+01] [-2.03795173e-02 3.39870953e-05 9.99792315e-01 -3.16887853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.588623853 meters 0.01473617767610393 Centerline is valid? [True, True] Translation: X:114.95, Y:-13.39, Z:-3.17 [[ 9.84680413e-01 1.73280809e-01 1.94485276e-02 1.14949376e+02] [-1.73245736e-01 9.84872457e-01 -3.48679188e-03 -1.33857324e+01] [-1.97585133e-02 6.40011858e-05 9.99804779e-01 -3.17141895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64862385299999 meters 0.014871731922416117 Centerline is valid? [True, True] Translation: X:115.01, Y:-13.39, Z:-3.18 [[ 9.84507939e-01 1.74309383e-01 1.89830724e-02 1.15009255e+02] [-1.74276077e-01 9.84690935e-01 -3.40761830e-03 -1.33913109e+01] [-1.92864392e-02 4.65318741e-05 9.99813998e-01 -3.17507053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70862385299999 meters 0.014930129842247413 Centerline is valid? [True, True] Translation: X:115.07, Y:-13.40, Z:-3.18 [[ 9.84386612e-01 1.75079113e-01 1.81742277e-02 1.15068048e+02] [-1.75048684e-01 9.84554368e-01 -3.26417655e-03 -1.33972341e+01] [-1.84650044e-02 3.18370474e-05 9.99829507e-01 -3.17910214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.768623853 meters 0.01455860249344289 Centerline is valid? [True, True] Translation: X:115.13, Y:-13.41, Z:-3.18 [[ 9.84386624e-01 1.74910803e-01 1.97277999e-02 1.15126876e+02] [-1.74874926e-01 9.84584283e-01 -3.54267576e-03 -1.34057034e+01] [-2.00433340e-02 3.74650708e-05 9.99799112e-01 -3.17829180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.828623853 meters 0.014660860511280493 Centerline is valid? [True, True] Translation: X:115.18, Y:-13.42, Z:-3.18 [[ 9.84465943e-01 1.74447084e-01 1.98751429e-02 1.15184967e+02] [-1.74410582e-01 9.84666549e-01 -3.56874587e-03 -1.34152796e+01] [-2.01929457e-02 4.68735164e-05 9.99796101e-01 -3.17985966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.888623853 meters 0.01472254776613779 Centerline is valid? [True, True] Translation: X:115.24, Y:-13.42, Z:-3.18 [[ 9.84424554e-01 1.74727113e-01 1.94610572e-02 1.15244037e+02] [-1.74692187e-01 9.84616897e-01 -3.49363055e-03 -1.34238017e+01] [-1.97721178e-02 3.95210500e-05 9.99804512e-01 -3.18261473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.948623853 meters 0.014687847781737802 Centerline is valid? [True, True] Translation: X:115.30, Y:-13.43, Z:-3.19 [[ 9.84020600e-01 1.77030007e-01 1.90744743e-02 1.15301773e+02] [-1.76996890e-01 9.84205454e-01 -3.42408370e-03 -1.34278075e+01] [-1.93793672e-02 -6.75374413e-06 9.99812202e-01 -3.18507493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00862385299999 meters 0.01575313750442292 Centerline is valid? [True, True] Translation: X:115.36, Y:-13.43, Z:-3.19 [[ 9.83377949e-01 1.80609946e-01 1.86509403e-02 1.15361461e+02] [-1.80578949e-01 9.83554798e-01 -3.34691858e-03 -1.34269599e+01] [-1.89487086e-02 -7.66812605e-05 9.99820454e-01 -3.18781849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06862385299999 meters 0.017331560072675584 Centerline is valid? [True, True] Translation: X:115.42, Y:-13.43, Z:-3.19 [[ 9.82526561e-01 1.85054020e-01 1.99139994e-02 1.15421089e+02] [-1.85019611e-01 9.82728335e-01 -3.57270246e-03 -1.34257363e+01] [-2.02311944e-02 -1.74205360e-04 9.99795313e-01 -3.18542557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.128623853 meters 0.018601698523696707 Centerline is valid? [True, True] Translation: X:115.48, Y:-13.43, Z:-3.19 [[ 9.82224108e-01 1.86637881e-01 2.00524857e-02 1.15480002e+02] [-1.86603349e-01 9.82428754e-01 -3.59621349e-03 -1.34297851e+01] [-2.03713282e-02 -2.09573398e-04 9.99792461e-01 -3.18647758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.188623853 meters 0.020502617162077373 Centerline is valid? [True, True] Translation: X:115.54, Y:-13.43, Z:-3.19 [[ 9.82178522e-01 1.86825900e-01 2.05288494e-02 1.15538308e+02] [-1.86789765e-01 9.82393015e-01 -3.68085723e-03 -1.34298966e+01] [-2.08550778e-02 -2.19320044e-04 9.99782485e-01 -3.18897300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.248623853 meters 0.018754161238994458 Centerline is valid? [True, True] Translation: X:115.60, Y:-13.44, Z:-3.19 [[ 9.82562152e-01 1.84824107e-01 2.02895656e-02 1.15596946e+02] [-1.84788423e-01 9.82771600e-01 -3.63599023e-03 -1.34371376e+01] [-2.06120275e-02 -1.76690453e-04 9.99787534e-01 -3.19171779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.308623853 meters 0.01636220152521202 Centerline is valid? [True, True] Translation: X:115.65, Y:-13.45, Z:-3.19 [[ 9.83168102e-01 1.81573420e-01 2.02873509e-02 1.15653952e+02] [-1.81537068e-01 9.83377385e-01 -3.63477311e-03 -1.34460230e+01] [-2.06101002e-02 -1.09313213e-04 9.99787583e-01 -3.19368411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36862385299999 meters 0.014386670946944962 Centerline is valid? [True, True] Translation: X:115.71, Y:-13.46, Z:-3.19 [[ 9.84113904e-01 1.76381668e-01 2.02319206e-02 1.15710538e+02] [-1.76344441e-01 9.84321851e-01 -3.62368408e-03 -1.34620806e+01] [-2.05538730e-02 -1.66884215e-06 9.99788747e-01 -3.19388412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42862385299999 meters 0.016213419333761817 Centerline is valid? [True, True] Translation: X:115.77, Y:-13.48, Z:-3.19 [[ 9.85314201e-01 1.69565717e-01 2.00846492e-02 1.15767379e+02] [-1.69527630e-01 9.85518873e-01 -3.59639780e-03 -1.34777764e+01] [-2.04036266e-02 1.38678851e-04 9.99791815e-01 -3.19409355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48862385299999 meters 0.019956442170764872 Centerline is valid? [True, True] Translation: X:115.83, Y:-13.49, Z:-3.19 [[ 9.86210603e-01 1.64213939e-01 2.05530800e-02 1.15825125e+02] [-1.64172917e-01 9.86424715e-01 -3.67908341e-03 -1.34949175e+01] [-2.08782229e-02 2.54091966e-04 9.99781994e-01 -3.19476977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.548623853 meters 0.02687223264975812 Centerline is valid? [True, True] Translation: X:115.88, Y:-13.52, Z:-3.20 [[ 9.87324788e-01 1.57465130e-01 1.98619167e-02 1.15881676e+02] [-1.57425467e-01 9.87524474e-01 -3.55473138e-03 -1.35172161e+01] [-2.01738750e-02 3.82902887e-04 9.99796413e-01 -3.19827884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.608623853 meters 0.029709935473826346 Centerline is valid? [True, True] Translation: X:115.94, Y:-13.53, Z:-3.20 [[ 9.87859614e-01 1.54058407e-01 1.99847620e-02 1.15941237e+02] [-1.54017558e-01 9.88061638e-01 -3.57654218e-03 -1.35345057e+01] [-2.02971731e-02 4.55117343e-04 9.99793888e-01 -3.19872566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.668623853 meters 0.03220588260857074 Centerline is valid? [True, True] Translation: X:116.00, Y:-13.55, Z:-3.20 [[ 9.88026657e-01 1.52930386e-01 2.03868303e-02 1.15999510e+02] [-1.52887624e-01 9.88236843e-01 -3.64908096e-03 -1.35513853e+01] [-2.07050722e-02 4.88495199e-04 9.99785508e-01 -3.20066379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72862385299999 meters 0.0316013716358666 Centerline is valid? [True, True] Translation: X:116.06, Y:-13.57, Z:-3.20 [[ 9.88027787e-01 1.52925570e-01 2.03681731e-02 1.16058872e+02] [-1.52882883e-01 9.88237589e-01 -3.64589957e-03 -1.35660037e+01] [-2.06861455e-02 4.88305068e-04 9.99785900e-01 -3.20212558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78862385299999 meters 0.029872706904808834 Centerline is valid? [True, True] Translation: X:116.12, Y:-13.58, Z:-3.20 [[ 9.88000209e-01 1.53212418e-01 1.95331192e-02 1.16121027e+02] [-1.53173234e-01 9.88193170e-01 -3.49552337e-03 -1.35781756e+01] [-1.98380525e-02 4.61626793e-04 9.99803100e-01 -3.20433420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84862385299999 meters 0.030381052817951913 Centerline is valid? [True, True] Translation: X:116.18, Y:-13.59, Z:-3.21 [[ 9.87668057e-01 1.55604152e-01 1.72961688e-02 1.16179955e+02] [-1.55573740e-01 9.87819423e-01 -3.09834117e-03 -1.35931891e+01] [-1.75676062e-02 3.69302929e-04 9.99845609e-01 -3.21121091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.908623853 meters 0.022013038082637503 Centerline is valid? [True, True] Translation: X:116.24, Y:-13.59, Z:-3.21 [[ 9.86633393e-01 1.62058173e-01 1.70791313e-02 1.16241146e+02] [-1.62029410e-01 9.86781173e-01 -3.06381644e-03 -1.35937654e+01] [-1.73498817e-02 2.55542044e-04 9.99849447e-01 -3.21084388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.968623853 meters 0.016609660025449183 Centerline is valid? [True, True] Translation: X:116.30, Y:-13.60, Z:-3.21 [[ 9.85306858e-01 1.69873175e-01 1.77059308e-02 1.16301808e+02] [-1.69843526e-01 9.85465925e-01 -3.17602646e-03 -1.35953300e+01] [-1.79881132e-02 1.22122927e-04 9.99838193e-01 -3.21220810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.028623853 meters 0.015205693239467707 Centerline is valid? [True, True] Translation: X:116.36, Y:-13.60, Z:-3.21 [[ 9.84740608e-01 1.73093324e-01 1.80176630e-02 1.16359736e+02] [-1.73063158e-01 9.84905425e-01 -3.23205549e-03 -1.36029627e+01] [-1.83051413e-02 6.45426214e-05 9.99832445e-01 -3.21345417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.088623853 meters 0.015055989828253768 Centerline is valid? [True, True] Translation: X:116.42, Y:-13.62, Z:-3.21 [[ 9.84745223e-01 1.73033461e-01 1.83375857e-02 1.16418146e+02] [-1.73002225e-01 9.84915944e-01 -3.28832044e-03 -1.36152038e+01] [-1.86299700e-02 6.57147260e-05 9.99826445e-01 -3.21460249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14862385299999 meters 0.015264940852520073 Centerline is valid? [True, True] Translation: X:116.48, Y:-13.63, Z:-3.22 [[ 9.84964674e-01 1.71806080e-01 1.80903655e-02 1.16476235e+02] [-1.71775481e-01 9.85130785e-01 -3.24355858e-03 -1.36306077e+01] [-1.83786391e-02 8.73093735e-05 9.99831095e-01 -3.21555914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20862385299999 meters 0.021842956049421776 Centerline is valid? [True, True] Translation: X:116.53, Y:-13.65, Z:-3.21 [[ 9.85351741e-01 1.69649984e-01 1.73444384e-02 1.16532897e+02] [-1.69621530e-01 9.85504373e-01 -3.10939989e-03 -1.36494842e+01] [-1.76205296e-02 1.21862410e-04 9.99844739e-01 -3.21406107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.268623853 meters 0.025071626250888178 Centerline is valid? [True, True] Translation: X:116.59, Y:-13.66, Z:-3.21 [[ 9.85459655e-01 1.69013049e-01 1.74315164e-02 1.16591899e+02] [-1.68984222e-01 9.85613804e-01 -3.12431783e-03 -1.36647339e+01] [-1.77087937e-02 1.33237938e-04 9.99843178e-01 -3.21384561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.328623853 meters 0.01772259444059961 Centerline is valid? [True, True] Translation: X:116.65, Y:-13.68, Z:-3.22 [[ 9.85164792e-01 1.70688133e-01 1.77733818e-02 1.16651127e+02] [-1.70658436e-01 9.85325099e-01 -3.18559169e-03 -1.36776596e+01] [-1.80563019e-02 1.05155225e-04 9.99836966e-01 -3.21763444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.388623853 meters 0.015100563684006127 Centerline is valid? [True, True] Translation: X:116.71, Y:-13.69, Z:-3.22 [[ 9.84684223e-01 1.73410040e-01 1.80537707e-02 1.16709778e+02] [-1.73379856e-01 9.84849712e-01 -3.23584687e-03 -1.36898107e+01] [-1.83413793e-02 5.61271888e-05 9.99831781e-01 -3.22250655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.448623853 meters 0.014537497786037287 Centerline is valid? [True, True] Translation: X:116.77, Y:-13.70, Z:-3.22 [[ 9.84283687e-01 1.75602326e-01 1.86934941e-02 1.16769475e+02] [-1.75570356e-01 9.84461184e-01 -3.35072365e-03 -1.36974272e+01] [-1.89914142e-02 1.60392151e-05 9.99819647e-01 -3.22256135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50862385299999 meters 0.014991368188916051 Centerline is valid? [True, True] Translation: X:116.83, Y:-13.70, Z:-3.23 [[ 9.83661458e-01 1.79040365e-01 1.88330356e-02 1.16828136e+02] [-1.79008552e-01 9.83841728e-01 -3.37536094e-03 -1.37044743e+01] [-1.91330521e-02 -5.10619642e-05 9.99816945e-01 -3.22610597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56862385299999 meters 0.016476989410759858 Centerline is valid? [True, True] Translation: X:116.89, Y:-13.71, Z:-3.23 [[ 9.82887290e-01 1.83322477e-01 1.80401132e-02 1.16887319e+02] [-1.83294019e-01 9.83052823e-01 -3.23262400e-03 -1.37099848e+01] [-1.83269968e-02 -1.29339802e-04 9.99832038e-01 -3.22658021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.628623853 meters 0.020606921159594945 Centerline is valid? [True, True] Translation: X:116.95, Y:-13.71, Z:-3.23 [[ 9.81954891e-01 1.88256101e-01 1.80064601e-02 1.16946010e+02] [-1.88228584e-01 9.82119948e-01 -3.22624670e-03 -1.37104312e+01] [-1.82918643e-02 -2.21301757e-04 9.99832665e-01 -3.22967774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.688623853 meters 0.024988298005956245 Centerline is valid? [True, True] Translation: X:117.01, Y:-13.71, Z:-3.23 [[ 9.80842743e-01 1.94000618e-01 1.76429335e-02 1.17006324e+02] [-1.93975157e-01 9.81001354e-01 -3.15951856e-03 -1.37087244e+01] [-1.79206902e-02 -3.23299933e-04 9.99839359e-01 -3.23090078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.748623853 meters 0.028309946705939514 Centerline is valid? [True, True] Translation: X:117.06, Y:-13.71, Z:-3.23 [[ 9.80292180e-01 1.96743658e-01 1.78654484e-02 1.17064655e+02] [-1.96718014e-01 9.80454889e-01 -3.19891803e-03 -1.37109618e+01] [-1.81456331e-02 -3.78581201e-04 9.99835283e-01 -3.23232463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.808623853 meters 0.029485297779035673 Centerline is valid? [True, True] Translation: X:117.12, Y:-13.72, Z:-3.24 [[ 9.80042477e-01 1.98028304e-01 1.73647154e-02 1.17123439e+02] [-1.98004299e-01 9.80196224e-01 -3.10813473e-03 -1.37156913e+01] [-1.76363271e-02 -3.92184234e-04 9.99844391e-01 -3.23528487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86862385299999 meters 0.03250260492769984 Centerline is valid? [True, True] Translation: X:117.18, Y:-13.72, Z:-3.24 [[ 9.80025975e-01 1.98062034e-01 1.79030256e-02 1.17182156e+02] [-1.98036538e-01 9.80189403e-01 -3.20368641e-03 -1.37181605e+01] [-1.81828846e-02 -4.05757318e-04 9.99834595e-01 -3.23813464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92862385299999 meters 0.026622057690585937 Centerline is valid? [True, True] Translation: X:117.24, Y:-13.73, Z:-3.24 [[ 9.80514057e-01 1.95631837e-01 1.78988066e-02 1.17239570e+02] [-1.95605970e-01 9.80677344e-01 -3.20176462e-03 -1.37309469e+01] [-1.81793212e-02 -3.61738201e-04 9.99834677e-01 -3.23728405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98862385299999 meters 0.024154673921833434 Centerline is valid? [True, True] Translation: X:117.30, Y:-13.74, Z:-3.24 [[ 9.81143422e-01 1.92451054e-01 1.78935027e-02 1.17298107e+02] [-1.92424689e-01 9.81306527e-01 -3.19992800e-03 -1.37382891e+01] [-1.81748405e-02 -3.03563386e-04 9.99834778e-01 -3.23892245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.048623853 meters 0.022225019610457305 Centerline is valid? [True, True] Translation: X:117.36, Y:-13.74, Z:-3.24 [[ 9.81417486e-01 1.90972230e-01 1.86902579e-02 1.17357045e+02] [-1.90943215e-01 9.81595397e-01 -3.34144408e-03 -1.37438446e+01] [-1.89843941e-02 -2.89426270e-04 9.99819738e-01 -3.23837777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.108623853 meters 0.02088042531659973 Centerline is valid? [True, True] Translation: X:117.42, Y:-13.75, Z:-3.24 [[ 9.81782344e-01 1.89077647e-01 1.87902426e-02 1.17415090e+02] [-1.89047991e-01 9.81962106e-01 -3.35836907e-03 -1.37512026e+01] [-1.90862987e-02 -2.55070161e-04 9.99817807e-01 -3.24005909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.168623853 meters 0.016890922051954946 Centerline is valid? [True, True] Translation: X:117.47, Y:-13.77, Z:-3.24 [[ 9.82957876e-01 1.82967301e-01 1.77983173e-02 1.17471380e+02] [-1.82939704e-01 9.83118991e-01 -3.18038616e-03 -1.37653624e+01] [-1.80797704e-02 -1.29833257e-04 9.99836539e-01 -3.24492181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22862385299999 meters 0.014957601217312091 Centerline is valid? [True, True] Translation: X:117.53, Y:-13.78, Z:-3.25 [[ 9.84306248e-01 1.75648921e-01 1.69902192e-02 1.17528589e+02] [-1.75622700e-01 9.84452872e-01 -3.03488589e-03 -1.37806526e+01] [-1.72591445e-02 3.38896363e-06 9.99851050e-01 -3.24809566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28862385299999 meters 0.017347301580464075 Centerline is valid? [True, True] Translation: X:117.58, Y:-13.80, Z:-3.25 [[ 9.85645030e-01 1.67899992e-01 1.77050305e-02 1.17584616e+02] [-1.67870281e-01 9.85804023e-01 -3.16177811e-03 -1.37985484e+01] [-1.79845528e-02 1.44242434e-04 9.99838254e-01 -3.24858136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34862385299999 meters 0.019763513925616823 Centerline is valid? [True, True] Translation: X:117.64, Y:-13.81, Z:-3.25 [[ 9.86414803e-01 1.63258504e-01 1.82345202e-02 1.17642532e+02] [-1.63226224e-01 9.86583299e-01 -3.25483257e-03 -1.38124229e+01] [-1.85212522e-02 2.34263164e-04 9.99828439e-01 -3.24733389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.408623853 meters 0.02747346309881898 Centerline is valid? [True, True] Translation: X:117.70, Y:-13.83, Z:-3.25 [[ 9.87478979e-01 1.56529292e-01 1.95920279e-02 1.17698801e+02] [-1.56490711e-01 9.87673241e-01 -3.49659910e-03 -1.38328471e+01] [-1.98978418e-02 3.86847731e-04 9.99801944e-01 -3.24817246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.468623853 meters 0.032017847693260985 Centerline is valid? [True, True] Translation: X:117.76, Y:-13.85, Z:-3.25 [[ 9.88266041e-01 1.51507482e-01 1.93833528e-02 1.17757939e+02] [-1.51468770e-01 9.88455993e-01 -3.45849590e-03 -1.38510312e+01] [-1.96835792e-02 4.81941461e-04 9.99806143e-01 -3.25039236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.528623853 meters 0.03557699114089237 Centerline is valid? [True, True] Translation: X:117.82, Y:-13.87, Z:-3.25 [[ 9.88692432e-01 1.48829804e-01 1.83566033e-02 1.17816537e+02] [-1.48794618e-01 9.88862696e-01 -3.27556790e-03 -1.38680406e+01] [-1.86396624e-02 5.07165402e-04 9.99826138e-01 -3.25446480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.588623853 meters 0.03414497300947954 Centerline is valid? [True, True] Translation: X:117.88, Y:-13.88, Z:-3.26 [[ 9.88984128e-01 1.47079867e-01 1.66705289e-02 1.17877739e+02] [-1.47050593e-01 9.89124498e-01 -2.97511189e-03 -1.38800611e+01] [-1.69268076e-02 4.90927273e-04 9.99856611e-01 -3.25801625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64862385299999 meters 0.03744236069042442 Centerline is valid? [True, True] Translation: X:117.94, Y:-13.90, Z:-3.26 [[ 9.88705633e-01 1.48895505e-01 1.70675238e-02 1.17936907e+02] [-1.48865095e-01 9.88852824e-01 -3.04571706e-03 -1.38978503e+01] [-1.73307627e-02 4.70559064e-04 9.99849700e-01 -3.25974745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70862385299999 meters 0.03119381640153557 Centerline is valid? [True, True] Translation: X:118.00, Y:-13.90, Z:-3.26 [[ 9.87757735e-01 1.54748664e-01 1.96852384e-02 1.17997076e+02] [-1.54709269e-01 9.87953778e-01 -3.51788684e-03 -1.39025918e+01] [-1.99924939e-02 4.29331095e-04 9.99800038e-01 -3.25647738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.768623853 meters 0.02286462428483321 Centerline is valid? [True, True] Translation: X:118.06, Y:-13.90, Z:-3.26 [[ 9.86460262e-01 1.62686001e-01 2.07223509e-02 1.18057747e+02] [-1.62644092e-01 9.86677853e-01 -3.70325649e-03 -1.39029029e+01] [-2.10487527e-02 2.82747425e-04 9.99778410e-01 -3.25611458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.828623853 meters 0.018953578526503805 Centerline is valid? [True, True] Translation: X:118.12, Y:-13.91, Z:-3.26 [[ 9.85741519e-01 1.67020834e-01 2.04376793e-02 1.18115833e+02] [-1.66980999e-01 9.85953349e-01 -3.65237661e-03 -1.39073064e+01] [-2.07606214e-02 1.87595139e-04 9.99784457e-01 -3.25874489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.888623853 meters 0.016598460535096667 Centerline is valid? [True, True] Translation: X:118.17, Y:-13.91, Z:-3.26 [[ 9.85131624e-01 1.70772527e-01 1.87730401e-02 1.18174152e+02] [-1.70739618e-01 9.85310476e-01 -3.35387370e-03 -1.39127960e+01] [-1.90700225e-02 9.87053646e-05 9.99818146e-01 -3.26456859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.948623853 meters 0.015774468051760478 Centerline is valid? [True, True] Translation: X:118.23, Y:-13.92, Z:-3.27 [[ 9.84806365e-01 1.72653455e-01 1.86335024e-02 1.18230898e+02] [-1.72621383e-01 9.84982630e-01 -3.32825852e-03 -1.39221532e+01] [-1.89283115e-02 6.11492127e-05 9.99820842e-01 -3.26634210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00862385299999 meters 0.01523277704450647 Centerline is valid? [True, True] Translation: X:118.29, Y:-13.93, Z:-3.27 [[ 9.84413870e-01 1.74873462e-01 1.86709414e-02 1.18290014e+02] [-1.74841684e-01 9.84590916e-01 -3.33369413e-03 -1.39282124e+01] [-1.89662139e-02 1.72759003e-05 9.99820125e-01 -3.26692445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06862385299999 meters 0.014799250879333519 Centerline is valid? [True, True] Translation: X:118.35, Y:-13.94, Z:-3.27 [[ 9.84096942e-01 1.76563183e-01 1.94589571e-02 1.18348938e+02] [-1.76529014e-01 9.84289308e-01 -3.47351751e-03 -1.39353666e+01] [-1.97665387e-02 -1.67925426e-05 9.99804623e-01 -3.26584285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.128623853 meters 0.014719079619063248 Centerline is valid? [True, True] Translation: X:118.41, Y:-13.95, Z:-3.27 [[ 9.84117610e-01 1.76402540e-01 1.98663755e-02 1.18406733e+02] [-1.76366911e-01 9.84318111e-01 -3.54530600e-03 -1.39465121e+01] [-2.01802342e-02 -1.47732144e-05 9.99796358e-01 -3.26672653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.188623853 meters 0.015075991099991476 Centerline is valid? [True, True] Translation: X:118.46, Y:-13.96, Z:-3.27 [[ 9.84532251e-01 1.74101730e-01 1.96171937e-02 1.18462917e+02] [-1.74066548e-01 9.84727671e-01 -3.50003225e-03 -1.39601997e+01] [-1.99269551e-02 3.11974552e-05 9.99801438e-01 -3.26950773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.248623853 meters 0.01702938513555042 Centerline is valid? [True, True] Translation: X:118.52, Y:-13.98, Z:-3.27 [[ 9.85324282e-01 1.69592041e-01 1.93545725e-02 1.18518106e+02] [-1.69556945e-01 9.85514346e-01 -3.45208696e-03 -1.39796898e+01] [-1.96596553e-02 1.19722925e-04 9.99806723e-01 -3.27205426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.308623853 meters 0.01838675500474223 Centerline is valid? [True, True] Translation: X:118.58, Y:-14.00, Z:-3.27 [[ 9.85985944e-01 1.65828448e-01 1.82385193e-02 1.18576505e+02] [-1.65796666e-01 9.86154599e-01 -3.25158967e-03 -1.39972586e+01] [-1.85252058e-02 1.82136012e-04 9.99828377e-01 -3.27343683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36862385299999 meters 0.01889690276910336 Centerline is valid? [True, True] Translation: X:118.63, Y:-14.01, Z:-3.28 [[ 9.86124835e-01 1.65038903e-01 1.78877014e-02 1.18634556e+02] [-1.65008198e-01 9.86287039e-01 -3.18927962e-03 -1.40115020e+01] [-1.81687633e-02 1.93410455e-04 9.99834916e-01 -3.27574193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42862385299999 meters 0.017836054893435788 Centerline is valid? [True, True] Translation: X:118.69, Y:-14.02, Z:-3.28 [[ 9.85777285e-01 1.67076439e-01 1.81275580e-02 1.18693653e+02] [-1.67045260e-01 9.85943933e-01 -3.23147112e-03 -1.40228728e+01] [-1.84126585e-02 1.57388186e-04 9.99830460e-01 -3.27712251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48862385299999 meters 0.016619663130107196 Centerline is valid? [True, True] Translation: X:118.75, Y:-14.03, Z:-3.28 [[ 9.85062980e-01 1.71248421e-01 1.80250940e-02 1.18751571e+02] [-1.71218291e-01 9.85227878e-01 -3.21321230e-03 -1.40296054e+01] [-1.83090826e-02 7.89907076e-05 9.99832372e-01 -3.28201068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.548623853 meters 0.015032632375786316 Centerline is valid? [True, True] Translation: X:118.81, Y:-14.03, Z:-3.28 [[ 9.84392941e-01 1.75015953e-01 1.84378459e-02 1.18811128e+02] [-1.74985095e-01 9.84565598e-01 -3.28642216e-03 -1.40340373e+01] [-1.87284450e-02 8.78256559e-06 9.99824607e-01 -3.28062633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.608623853 meters 0.01593649196463086 Centerline is valid? [True, True] Translation: X:118.87, Y:-14.04, Z:-3.28 [[ 9.83641746e-01 1.79198673e-01 1.83507820e-02 1.18868774e+02] [-1.79168860e-01 9.83812904e-01 -3.26943786e-03 -1.40390217e+01] [-1.86396150e-02 -7.19331259e-05 9.99826265e-01 -3.28297977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.668623853 meters 0.017466700281827726 Centerline is valid? [True, True] Translation: X:118.93, Y:-14.04, Z:-3.28 [[ 9.83020958e-01 1.82548276e-01 1.85989838e-02 1.18927755e+02] [-1.82518274e-01 9.83196881e-01 -3.31238746e-03 -1.40434001e+01] [-1.88911334e-02 -1.38508128e-04 9.99821537e-01 -3.28396833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72862385299999 meters 0.018910871226383873 Centerline is valid? [True, True] Translation: X:118.98, Y:-14.05, Z:-3.29 [[ 9.82708987e-01 1.84181976e-01 1.89749064e-02 1.18984968e+02] [-1.84151069e-01 9.82892145e-01 -3.37848313e-03 -1.40496173e+01] [-1.92725422e-02 -1.74183582e-04 9.99814252e-01 -3.28559330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78862385299999 meters 0.021465406389515603 Centerline is valid? [True, True] Translation: X:119.04, Y:-14.05, Z:-3.29 [[ 9.81912233e-01 1.88261993e-01 2.01442162e-02 1.19043852e+02] [-1.88228046e-01 9.82118806e-01 -3.58529011e-03 -1.40528441e+01] [-2.04589874e-02 -2.71266229e-04 9.99790656e-01 -3.28584214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84862385299999 meters 0.022198858431996836 Centerline is valid? [True, True] Translation: X:119.10, Y:-14.06, Z:-3.29 [[ 9.81977142e-01 1.87967823e-01 1.97228282e-02 1.19100351e+02] [-1.87935235e-01 9.82175152e-01 -3.50962720e-03 -1.40606865e+01] [-2.00309688e-02 -2.60240679e-04 9.99799326e-01 -3.28947691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.908623853 meters 0.01962132033160032 Centerline is valid? [True, True] Translation: X:119.16, Y:-14.07, Z:-3.29 [[ 9.82254192e-01 1.86486617e-01 1.99860842e-02 1.19157687e+02] [-1.86452887e-01 9.82457473e-01 -3.55450265e-03 -1.40733072e+01] [-2.02983449e-02 -2.35037961e-04 9.99793940e-01 -3.28951304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.968623853 meters 0.018224213739594056 Centerline is valid? [True, True] Translation: X:119.21, Y:-14.09, Z:-3.29 [[ 9.82668211e-01 1.84167560e-01 2.11068130e-02 1.19214380e+02] [-1.84129429e-01 9.82894842e-01 -3.75276489e-03 -1.40861059e+01] [-2.14369151e-02 -1.98662646e-04 9.99770183e-01 -3.28985766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.028623853 meters 0.01745554370996276 Centerline is valid? [True, True] Translation: X:119.27, Y:-14.10, Z:-3.29 [[ 9.83000851e-01 1.82212884e-01 2.25342571e-02 1.19270871e+02] [-1.82168940e-01 9.83259089e-01 -4.00505371e-03 -1.40973216e+01] [-2.28867855e-02 -1.68070539e-04 9.99738049e-01 -3.29026819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.088623853 meters 0.015358734142317249 Centerline is valid? [True, True] Translation: X:119.33, Y:-14.11, Z:-3.29 [[ 9.83559616e-01 1.79111194e-01 2.30143737e-02 1.19328174e+02] [-1.79064544e-01 9.83828832e-01 -4.08886550e-03 -1.41121389e+01] [-2.33745660e-02 -9.94153455e-05 9.99726773e-01 -3.28980609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14862385299999 meters 0.014484349773629683 Centerline is valid? [True, True] Translation: X:119.39, Y:-14.12, Z:-3.29 [[ 9.84007915e-01 1.76628072e-01 2.30423083e-02 1.19385838e+02] [-1.76580654e-01 9.84277665e-01 -4.09271292e-03 -1.41245378e+01] [-2.34029174e-02 -4.15639577e-05 9.99726113e-01 -3.29159216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20862385299999 meters 0.014504482331902461 Centerline is valid? [True, True] Translation: X:119.44, Y:-14.14, Z:-3.29 [[ 9.84327642e-01 1.74875056e-01 2.27554140e-02 1.19443959e+02] [-1.74828371e-01 9.84590633e-01 -4.04052594e-03 -1.41369639e+01] [-2.31113546e-02 -1.09057573e-06 9.99732897e-01 -3.29398120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.268623853 meters 0.014480359785301468 Centerline is valid? [True, True] Translation: X:119.50, Y:-14.15, Z:-3.30 [[ 9.84492305e-01 1.73872519e-01 2.33077131e-02 1.19501417e+02] [-1.73823272e-01 9.84768169e-01 -4.13804705e-03 -1.41479286e+01] [-2.36721866e-02 2.24525135e-05 9.99719774e-01 -3.29543375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.328623853 meters 0.014317904344241789 Centerline is valid? [True, True] Translation: X:119.56, Y:-14.16, Z:-3.30 [[ 9.84362439e-01 1.74476278e-01 2.42614524e-02 1.19559616e+02] [-1.74423123e-01 9.84661378e-01 -4.30647598e-03 -1.41556277e+01] [-2.46406931e-02 7.37490165e-06 9.99696372e-01 -3.29534546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.388623853 meters 0.014510901342275761 Centerline is valid? [True, True] Translation: X:119.62, Y:-14.16, Z:-3.30 [[ 9.83929365e-01 1.76917741e-01 2.41478095e-02 1.19618664e+02] [-1.76865846e-01 9.84225640e-01 -4.28514568e-03 -1.41610663e+01] [-2.45250115e-02 -5.46420855e-05 9.99699215e-01 -3.29739195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.448623853 meters 0.017924387050887208 Centerline is valid? [True, True] Translation: X:119.68, Y:-14.16, Z:-3.30 [[ 9.83077332e-01 1.81666035e-01 2.35883679e-02 1.19678208e+02] [-1.81617909e-01 9.83360271e-01 -4.18478879e-03 -1.41584567e+01] [-2.39560979e-02 -1.70099046e-04 9.99712997e-01 -3.30157904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50862385299999 meters 0.018810879389425477 Centerline is valid? [True, True] Translation: X:119.74, Y:-14.16, Z:-3.30 [[ 9.82525781e-01 1.84646967e-01 2.34219585e-02 1.19737056e+02] [-1.84600405e-01 9.82804883e-01 -4.15353862e-03 -1.41634012e+01] [-2.37861535e-02 -2.42744245e-04 9.99717040e-01 -3.30240243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56862385299999 meters 0.0211987972920946 Centerline is valid? [True, True] Translation: X:119.80, Y:-14.16, Z:-3.30 [[ 9.81868257e-01 1.88040076e-01 2.39928073e-02 1.19796231e+02] [-1.87992257e-01 9.82161299e-01 -4.25361683e-03 -1.41633481e+01] [-2.43646573e-02 -3.33970647e-04 9.99703082e-01 -3.30373192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.628623853 meters 0.022577588058283263 Centerline is valid? [True, True] Translation: X:119.86, Y:-14.17, Z:-3.31 [[ 9.81639745e-01 1.89282504e-01 2.35699972e-02 1.19855511e+02] [-1.89236748e-01 9.81922606e-01 -4.17718937e-03 -1.41652819e+01] [-2.39345820e-02 -3.59814513e-04 9.99713462e-01 -3.30681150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.688623853 meters 0.021187313658489443 Centerline is valid? [True, True] Translation: X:119.91, Y:-14.17, Z:-3.31 [[ 9.81949624e-01 1.87660538e-01 2.36317154e-02 1.19913804e+02] [-1.87614100e-01 9.82233892e-01 -4.18697819e-03 -1.41715602e+01] [-2.39976024e-02 -3.22241359e-04 9.99711964e-01 -3.30804594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.748623853 meters 0.01916604506860736 Centerline is valid? [True, True] Translation: X:119.97, Y:-14.18, Z:-3.31 [[ 9.82315289e-01 1.85701061e-01 2.39121177e-02 1.19972475e+02] [-1.85652962e-01 9.82606248e-01 -4.23547876e-03 -1.41792565e+01] [-2.42827291e-02 -2.78779939e-04 9.99705092e-01 -3.30854615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.808623853 meters 0.016058715639043396 Centerline is valid? [True, True] Translation: X:120.03, Y:-14.19, Z:-3.31 [[ 9.83257697e-01 1.80472263e-01 2.51806104e-02 1.20029446e+02] [-1.80417243e-01 9.83580061e-01 -4.45886568e-03 -1.41911987e+01] [-2.55718479e-02 -1.58802311e-04 9.99672974e-01 -3.30858541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86862385299999 meters 0.01436593200432283 Centerline is valid? [True, True] Translation: X:120.08, Y:-14.21, Z:-3.31 [[ 9.84740786e-01 1.72089542e-01 2.58993064e-02 1.20084881e+02] [-1.72028478e-01 9.85081309e-01 -4.58439578e-03 -1.42096693e+01] [-2.63018492e-02 5.90232488e-05 9.99654045e-01 -3.30967621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92862385299999 meters 0.02119117822671199 Centerline is valid? [True, True] Translation: X:120.14, Y:-14.23, Z:-3.31 [[ 9.85872206e-01 1.65601619e-01 2.51415456e-02 1.20141705e+02] [-1.65542002e-01 9.86192706e-01 -4.44880219e-03 -1.42273524e+01] [-2.55311377e-02 2.23968623e-04 9.99674002e-01 -3.30814379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98862385299999 meters 0.02491255871507734 Centerline is valid? [True, True] Translation: X:120.20, Y:-14.25, Z:-3.32 [[ 9.87372614e-01 1.56484485e-01 2.46561844e-02 1.20198710e+02] [-1.56424335e-01 9.87680314e-01 -4.36165332e-03 -1.42497132e+01] [-2.50349590e-02 4.49749812e-04 9.99686475e-01 -3.31628435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.048623853 meters 0.030747380675753687 Centerline is valid? [True, True] Translation: X:120.26, Y:-14.27, Z:-3.32 [[ 9.88129835e-01 1.51612786e-01 2.47586708e-02 1.20256423e+02] [-1.51550613e-01 9.88439797e-01 -4.37944924e-03 -1.42693455e+01] [-2.51364360e-02 5.75272715e-04 9.99683864e-01 -3.31821624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.108623853 meters 0.028529054853932655 Centerline is valid? [True, True] Translation: X:120.32, Y:-14.28, Z:-3.32 [[ 9.88188606e-01 1.51113909e-01 2.54531989e-02 1.20316705e+02] [-1.51048008e-01 9.88516171e-01 -4.50327157e-03 -1.42766592e+01] [-2.58414056e-02 6.05426671e-04 9.99665872e-01 -3.31775677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.168623853 meters 0.028664153540835673 Centerline is valid? [True, True] Translation: X:120.38, Y:-14.29, Z:-3.32 [[ 9.88014459e-01 1.52264106e-01 2.53588267e-02 1.20375481e+02] [-1.52199071e-01 9.88339675e-01 -4.48657490e-03 -1.42886923e+01] [-2.57462788e-02 5.73211016e-04 9.99668345e-01 -3.31947373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22862385299999 meters 0.026109937032014995 Centerline is valid? [True, True] Translation: X:120.43, Y:-14.30, Z:-3.32 [[ 9.87559682e-01 1.55306222e-01 2.46140386e-02 1.20434720e+02] [-1.55245894e-01 9.87866260e-01 -4.35486873e-03 -1.42962651e+01] [-2.49917165e-02 4.79464342e-04 9.99687543e-01 -3.32157535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28862385299999 meters 0.020957052275018817 Centerline is valid? [True, True] Translation: X:120.49, Y:-14.30, Z:-3.32 [[ 9.86928704e-01 1.59096060e-01 2.56939167e-02 1.20494429e+02] [-1.59031621e-01 9.87263027e-01 -4.54529409e-03 -1.43001697e+01] [-2.60897924e-02 3.99735968e-04 9.99659524e-01 -3.32182156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34862385299999 meters 0.017849608501906148 Centerline is valid? [True, True] Translation: X:120.55, Y:-14.31, Z:-3.32 [[ 9.86113038e-01 1.64144136e-01 2.52542669e-02 1.20552874e+02] [-1.64083553e-01 9.86436331e-01 -4.46692076e-03 -1.43066934e+01] [-2.56449453e-02 2.61078963e-04 9.99671080e-01 -3.32459048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.408623853 meters 0.015894762901215324 Centerline is valid? [True, True] Translation: X:120.61, Y:-14.31, Z:-3.33 [[ 9.85560912e-01 1.67574414e-01 2.42591057e-02 1.20611149e+02] [-1.67519571e-01 9.85859416e-01 -4.29007052e-03 -1.43127622e+01] [-2.46349738e-02 1.64250850e-04 9.99696499e-01 -3.32804953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.468623853 meters 0.014434020418467355 Centerline is valid? [True, True] Translation: X:120.67, Y:-14.32, Z:-3.33 [[ 9.84578031e-01 1.73104578e-01 2.53161353e-02 1.20669300e+02] [-1.73046710e-01 9.84903449e-01 -4.47568299e-03 -1.43152110e+01] [-2.57087102e-02 2.57852324e-05 9.99669476e-01 -3.32886045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.528623853 meters 0.015469619257028595 Centerline is valid? [True, True] Translation: X:120.73, Y:-14.32, Z:-3.33 [[ 9.83377727e-01 1.79625096e-01 2.65154788e-02 1.20728657e+02] [-1.79564030e-01 9.83735128e-01 -4.68591411e-03 -1.43165925e+01] [-2.69259157e-02 -1.53202642e-04 9.99637420e-01 -3.32802744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.588623853 meters 0.017034566603450603 Centerline is valid? [True, True] Translation: X:120.79, Y:-14.32, Z:-3.33 [[ 9.82865729e-01 1.82275073e-01 2.73999440e-02 1.20786156e+02] [-1.82210933e-01 9.83247549e-01 -4.84078722e-03 -1.43219830e+01] [-2.78232826e-02 -2.34725508e-04 9.99612830e-01 -3.32785797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64862385299999 meters 0.01703003361478315 Centerline is valid? [True, True] Translation: X:120.84, Y:-14.33, Z:-3.33 [[ 9.82845370e-01 1.82313703e-01 2.78692184e-02 1.20843271e+02] [-1.82247413e-01 9.83240385e-01 -4.92190388e-03 -1.43323248e+01] [-2.82994716e-02 -2.41622518e-04 9.99599461e-01 -3.32878129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70862385299999 meters 0.015936254303785227 Centerline is valid? [True, True] Translation: X:120.90, Y:-14.35, Z:-3.33 [[ 9.83184344e-01 1.80495762e-01 2.77457338e-02 1.20900681e+02] [-1.80429391e-01 9.83575744e-01 -4.89807487e-03 -1.43461262e+01] [-2.81741125e-02 -1.90435317e-04 9.99603013e-01 -3.33137936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.768623853 meters 0.014718899369300837 Centerline is valid? [True, True] Translation: X:120.96, Y:-14.36, Z:-3.34 [[ 9.83914627e-01 1.76756774e-01 2.58660064e-02 1.20956452e+02] [-1.76697832e-01 9.84254559e-01 -4.56505049e-03 -1.43626456e+01] [-2.62656384e-02 -7.88473114e-05 9.99654995e-01 -3.33759267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.828623853 meters 0.014288381362509749 Centerline is valid? [True, True] Translation: X:121.01, Y:-14.38, Z:-3.34 [[ 9.84307956e-01 1.74597583e-01 2.55642704e-02 1.21013602e+02] [-1.74539321e-01 9.84639875e-01 -4.51021028e-03 -1.43778060e+01] [-2.59590719e-02 -2.25345275e-05 9.99663006e-01 -3.33949731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.888623853 meters 0.014426119834649804 Centerline is valid? [True, True] Translation: X:121.07, Y:-14.39, Z:-3.34 [[ 9.84831636e-01 1.71442044e-01 2.67259137e-02 1.21070882e+02] [-1.71377240e-01 9.85194205e-01 -4.71379633e-03 -1.43940267e+01] [-2.71383582e-02 6.20824180e-05 9.99631685e-01 -3.33947517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.948623853 meters 0.015620053135898766 Centerline is valid? [True, True] Translation: X:121.13, Y:-14.41, Z:-3.34 [[ 9.85412632e-01 1.68136181e-01 2.63091157e-02 1.21127221e+02] [-1.68072238e-01 9.85763766e-01 -4.63903319e-03 -1.44115671e+01] [-2.67145622e-02 1.49529956e-04 9.99643091e-01 -3.34216793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00862385299999 meters 0.01669750539031222 Centerline is valid? [True, True] Translation: X:121.18, Y:-14.43, Z:-3.35 [[ 9.85742009e-01 1.66305207e-01 2.55982457e-02 1.21184878e+02] [-1.66244088e-01 9.86074308e-01 -4.51245409e-03 -1.44267398e+01] [-2.59922170e-02 1.92558561e-04 9.99662127e-01 -3.34503568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06862385299999 meters 0.01849339841849603 Centerline is valid? [True, True] Translation: X:121.24, Y:-14.45, Z:-3.35 [[ 9.86129047e-01 1.64109702e-01 2.48497082e-02 1.21240911e+02] [-1.64051422e-01 9.86442065e-01 -4.37995938e-03 -1.44453910e+01] [-2.52315913e-02 2.42575216e-04 9.99681603e-01 -3.34812249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.128623853 meters 0.018179293593400675 Centerline is valid? [True, True] Translation: X:121.30, Y:-14.46, Z:-3.35 [[ 9.86262585e-01 1.63237399e-01 2.52915843e-02 1.21299532e+02] [-1.63176765e-01 9.86586782e-01 -4.45691124e-03 -1.44586036e+01] [-2.56798773e-02 2.68685897e-04 9.99670181e-01 -3.34820131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.188623853 meters 0.029580266894319144 Centerline is valid? [True, True] Translation: X:121.36, Y:-14.47, Z:-3.34 [[ 9.85835618e-01 1.65867340e-01 2.48225522e-02 1.21357158e+02] [-1.65809781e-01 9.86148055e-01 -4.37368838e-03 -1.44690019e+01] [-2.52041636e-02 1.95915836e-04 9.99682305e-01 -3.34253280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.248623853 meters 0.01436523876658703 Centerline is valid? [True, True] Translation: X:121.42, Y:-14.47, Z:-3.35 [[ 9.84780532e-01 1.71933874e-01 2.54174426e-02 1.21415234e+02] [-1.71875565e-01 9.85108492e-01 -4.47759999e-03 -1.44724049e+01] [-2.58087896e-02 4.08160067e-05 9.99666897e-01 -3.35104277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.308623853 meters 0.01458314551849783 Centerline is valid? [True, True] Translation: X:121.47, Y:-14.48, Z:-3.35 [[ 9.83924232e-01 1.76724171e-01 2.57230208e-02 1.21474508e+02] [-1.76666128e-01 9.84260413e-01 -4.52983459e-03 -1.44751801e+01] [-2.61186824e-02 -8.73724793e-05 9.99658845e-01 -3.35211198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36862385299999 meters 0.019137603149653504 Centerline is valid? [True, True] Translation: X:121.53, Y:-14.47, Z:-3.36 [[ 9.82487550e-01 1.84626558e-01 2.51246341e-02 1.21534393e+02] [-1.84573796e-01 9.82808704e-01 -4.42320769e-03 -1.44723528e+01] [-2.55093507e-02 -2.91602616e-04 9.99674541e-01 -3.35554166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42862385299999 meters 0.025594579084113004 Centerline is valid? [True, True] Translation: X:121.59, Y:-14.47, Z:-3.36 [[ 9.81451369e-01 1.90191552e-01 2.40911434e-02 1.21594460e+02] [-1.90144737e-01 9.81746911e-01 -4.24040647e-03 -1.44694422e+01] [-2.44578951e-02 -4.19051389e-04 9.99700773e-01 -3.35973196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48862385299999 meters 0.02709381565360221 Centerline is valid? [True, True] Translation: X:121.65, Y:-14.48, Z:-3.36 [[ 9.81199691e-01 1.91461014e-01 2.42867728e-02 1.21653089e+02] [-1.91413845e-01 9.81500114e-01 -4.27396870e-03 -1.44751885e+01] [-2.46557686e-02 -4.55207801e-04 9.99695897e-01 -3.36108507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.548623853 meters 0.024729842582564714 Centerline is valid? [True, True] Translation: X:121.71, Y:-14.49, Z:-3.36 [[ 9.81399976e-01 1.90359980e-01 2.48427979e-02 1.21710674e+02] [-1.90310304e-01 9.81714259e-01 -4.37063568e-03 -1.44850978e+01] [-2.52205230e-02 -4.38498650e-04 9.99681816e-01 -3.36143437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.608623853 meters 0.02157997517756588 Centerline is valid? [True, True] Translation: X:121.77, Y:-14.50, Z:-3.36 [[ 9.81964466e-01 1.87350225e-01 2.54102643e-02 1.21768332e+02] [-1.87297278e-01 9.82293111e-01 -4.46921499e-03 -1.44965702e+01] [-2.57976360e-02 -3.70663013e-04 9.99667117e-01 -3.36215076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.668623853 meters 0.019256389763801472 Centerline is valid? [True, True] Translation: X:121.83, Y:-14.51, Z:-3.37 [[ 9.82719200e-01 1.83422266e-01 2.48846766e-02 1.21825353e+02] [-1.83370256e-01 9.83034182e-01 -4.37561222e-03 -1.45064533e+01] [-2.52650724e-02 -2.63111377e-04 9.99680752e-01 -3.36504446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72862385299999 meters 0.016354005058647824 Centerline is valid? [True, True] Translation: X:121.88, Y:-14.52, Z:-3.37 [[ 9.83320191e-01 1.80149950e-01 2.50479043e-02 1.21883183e+02] [-1.80096234e-01 9.83639142e-01 -4.40275468e-03 -1.45192328e+01] [-2.54312551e-02 -1.81715642e-04 9.99676557e-01 -3.36688659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78862385299999 meters 0.013995419043174162 Centerline is valid? [True, True] Translation: X:121.94, Y:-14.54, Z:-3.37 [[ 9.84494841e-01 1.73624060e-01 2.49918677e-02 1.21939183e+02] [-1.73568509e-01 9.84812005e-01 -4.39169141e-03 -1.45370316e+01] [-2.53747946e-02 -1.42036818e-05 9.99678008e-01 -3.36856771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84862385299999 meters 0.01555588770070609 Centerline is valid? [True, True] Translation: X:122.00, Y:-14.56, Z:-3.37 [[ 9.85613514e-01 1.67077957e-01 2.55138712e-02 1.21996190e+02] [-1.67017898e-01 9.85943676e-01 -4.48216537e-03 -1.45551224e+01] [-2.59041110e-02 1.56409600e-04 9.99664420e-01 -3.36821933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.908623853 meters 0.02012312727949658 Centerline is valid? [True, True] Translation: X:122.05, Y:-14.57, Z:-3.37 [[ 9.86625962e-01 1.60966633e-01 2.56701141e-02 1.22052728e+02] [-1.60903800e-01 9.86959798e-01 -4.50834963e-03 -1.45739835e+01] [-2.60610645e-02 3.17635892e-04 9.99660302e-01 -3.36967988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.968623853 meters 0.021602113921316706 Centerline is valid? [True, True] Translation: X:122.11, Y:-14.59, Z:-3.37 [[ 9.87211897e-01 1.57444162e-01 2.49801300e-02 1.22111074e+02] [-1.57383549e-01 9.87527811e-01 -4.38657771e-03 -1.45885684e+01] [-2.53592142e-02 3.99020186e-04 9.99678324e-01 -3.37168801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.028623853 meters 0.022613213247573635 Centerline is valid? [True, True] Translation: X:122.17, Y:-14.60, Z:-3.38 [[ 9.87310282e-01 1.57010974e-01 2.37899474e-02 1.22169214e+02] [-1.56955881e-01 9.87596781e-01 -4.17729864e-03 -1.46006469e+01] [-2.41507572e-02 3.90317745e-04 9.99708252e-01 -3.37596043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.088623853 meters 0.030799969430103703 Centerline is valid? [True, True] Translation: X:122.23, Y:-14.61, Z:-3.37 [[ 9.87065917e-01 1.58749748e-01 2.23471089e-02 1.22227128e+02] [-1.58701586e-01 9.87318799e-01 -3.92373686e-03 -1.46087095e+01] [-2.26866130e-02 3.26465289e-04 9.99742572e-01 -3.37373033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14862385299999 meters 0.019850355421121246 Centerline is valid? [True, True] Translation: X:122.29, Y:-14.62, Z:-3.38 [[ 9.86748807e-01 1.60690516e-01 2.24799996e-02 1.22285107e+02] [-1.60642291e-01 9.87004801e-01 -3.94673372e-03 -1.46158381e+01] [-2.28220702e-02 2.83196159e-04 9.99739503e-01 -3.38279463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20862385299999 meters 0.019694114318769107 Centerline is valid? [True, True] Translation: X:122.34, Y:-14.63, Z:-3.38 [[ 9.86645385e-01 1.61245712e-01 2.30370413e-02 1.22342522e+02] [-1.61195243e-01 9.86914254e-01 -4.04343978e-03 -1.46258429e+01] [-2.33875717e-02 2.75979730e-04 9.99726435e-01 -3.38380371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.268623853 meters 0.01964812095613413 Centerline is valid? [True, True] Translation: X:122.40, Y:-14.64, Z:-3.39 [[ 9.86595290e-01 1.61587744e-01 2.27845369e-02 1.22399954e+02] [-1.61538500e-01 9.86858314e-01 -3.99772534e-03 -1.46371254e+01] [-2.31310931e-02 2.63557084e-04 9.99732406e-01 -3.38636729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.328623853 meters 0.01856316188846692 Centerline is valid? [True, True] Translation: X:122.46, Y:-14.65, Z:-3.39 [[ 9.86418461e-01 1.62772847e-01 2.19913626e-02 1.22458336e+02] [-1.62727288e-01 9.86663544e-01 -3.85757563e-03 -1.46471655e+01] [-2.23259844e-02 2.26589010e-04 9.99750718e-01 -3.38898850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.388623853 meters 0.01564033415610733 Centerline is valid? [True, True] Translation: X:122.52, Y:-14.65, Z:-3.39 [[ 9.85667857e-01 1.67281524e-01 2.18120829e-02 1.22517902e+02] [-1.67237831e-01 9.85909163e-01 -3.82504035e-03 -1.46504554e+01] [-2.21445910e-02 1.22413885e-04 9.99754771e-01 -3.39054891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.448623853 meters 0.014195946307014411 Centerline is valid? [True, True] Translation: X:122.58, Y:-14.65, Z:-3.39 [[ 9.84807933e-01 1.72014672e-01 2.37547242e-02 1.22576611e+02] [-1.71964245e-01 9.85094388e-01 -4.16485077e-03 -1.46520142e+01] [-2.41170609e-02 1.66148647e-05 9.99709141e-01 -3.38973319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50862385299999 meters 0.01406593968437954 Centerline is valid? [True, True] Translation: X:122.63, Y:-14.66, Z:-3.39 [[ 9.84586124e-01 1.73262137e-01 2.38829685e-02 1.22634615e+02] [-1.73211568e-01 9.84875744e-01 -4.18585423e-03 -1.46598476e+01] [-2.42470065e-02 -1.54724309e-05 9.99705998e-01 -3.39065881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56862385299999 meters 0.014329148675336864 Centerline is valid? [True, True] Translation: X:122.69, Y:-14.67, Z:-3.39 [[ 9.84262620e-01 1.75041352e-01 2.42408590e-02 1.22692954e+02] [-1.74989823e-01 9.84561080e-01 -4.24740990e-03 -1.46663765e+01] [-2.46100787e-02 -6.13368439e-05 9.99697124e-01 -3.39221098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.628623853 meters 0.014908843543372772 Centerline is valid? [True, True] Translation: X:122.75, Y:-14.67, Z:-3.40 [[ 9.84054135e-01 1.76279067e-01 2.37307962e-02 1.22750224e+02] [-1.76230070e-01 9.84340227e-01 -4.15697878e-03 -1.46721553e+01] [-2.40919656e-02 -9.13877115e-05 9.99709742e-01 -3.39549499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.688623853 meters 0.015532410118326822 Centerline is valid? [True, True] Translation: X:122.81, Y:-14.68, Z:-3.40 [[ 9.83957448e-01 1.76989162e-01 2.24182271e-02 1.22808185e+02] [-1.76945649e-01 9.84212795e-01 -3.92575894e-03 -1.46799288e+01] [-2.27591227e-02 -1.04027995e-04 9.99740972e-01 -3.40010723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.748623853 meters 0.015483365059255997 Centerline is valid? [True, True] Translation: X:122.86, Y:-14.69, Z:-3.40 [[ 9.84058758e-01 1.76486362e-01 2.19299828e-02 1.22864161e+02] [-1.76444615e-01 9.84303081e-01 -3.83953901e-03 -1.46876677e+01] [-2.22633760e-02 -9.10953924e-05 9.99752136e-01 -3.40242785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.808623853 meters 0.01494853770277823 Centerline is valid? [True, True] Translation: X:122.92, Y:-14.70, Z:-3.40 [[ 9.84201376e-01 1.75710994e-01 2.17553989e-02 1.22921119e+02] [-1.75669768e-01 9.84441792e-01 -3.80679337e-03 -1.46973466e+01] [-2.20858194e-02 -7.51146152e-05 9.99756076e-01 -3.40350519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86862385299999 meters 0.014644433435601263 Centerline is valid? [True, True] Translation: X:122.98, Y:-14.70, Z:-3.41 [[ 9.84450759e-01 1.74263005e-01 2.21158146e-02 1.22978112e+02] [-1.74220074e-01 9.84699144e-01 -3.86816130e-03 -1.47048673e+01] [-2.24515011e-02 -4.50045287e-05 9.99747932e-01 -3.40581672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92862385299999 meters 0.014938298389641691 Centerline is valid? [True, True] Translation: X:123.04, Y:-14.71, Z:-3.41 [[ 9.84411000e-01 1.74536425e-01 2.17260211e-02 1.23036932e+02] [-1.74495090e-01 9.84650717e-01 -3.79863516e-03 -1.47099005e+01] [-2.20555425e-02 -5.16657897e-05 9.99756746e-01 -3.40854502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98862385299999 meters 0.014826028522682803 Centerline is valid? [True, True] Translation: X:123.10, Y:-14.71, Z:-3.41 [[ 9.84330060e-01 1.75080327e-01 2.10050515e-02 1.23096256e+02] [-1.75041833e-01 9.84554151e-01 -3.67170926e-03 -1.47140922e+01] [-2.13234547e-02 -6.25889193e-05 9.99772627e-01 -3.41005118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.048623853 meters 0.014535470905781245 Centerline is valid? [True, True] Translation: X:123.15, Y:-14.72, Z:-3.41 [[ 9.84470457e-01 1.74247886e-01 2.13446395e-02 1.23154306e+02] [-1.74207964e-01 9.84701819e-01 -3.73001636e-03 -1.47209937e+01] [-2.16680528e-02 -4.63152772e-05 9.99765219e-01 -3.41092208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.108623853 meters 0.01457303590464982 Centerline is valid? [True, True] Translation: X:123.21, Y:-14.73, Z:-3.41 [[ 9.85330667e-01 1.69297528e-01 2.14900999e-02 1.23210279e+02] [-1.69255901e-01 9.85564987e-01 -3.75457098e-03 -1.47322278e+01] [-2.18155296e-02 6.21677003e-05 9.99762011e-01 -3.41241359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.168623853 meters 0.017252472818593507 Centerline is valid? [True, True] Translation: X:123.27, Y:-14.75, Z:-3.42 [[ 9.86344698e-01 1.63337279e-01 2.10967014e-02 1.23267589e+02] [-1.63295841e-01 9.86570270e-01 -3.68384442e-03 -1.47471180e+01] [-2.14150875e-02 1.88536819e-04 9.99770653e-01 -3.41506010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22862385299999 meters 0.021804139568724568 Centerline is valid? [True, True] Translation: X:123.32, Y:-14.76, Z:-3.42 [[ 9.87202907e-01 1.58078118e-01 2.10173263e-02 1.23324497e+02] [-1.58035822e-01 9.87426563e-01 -3.66888629e-03 -1.47621513e+01] [-2.13330369e-02 3.00444786e-04 9.99772380e-01 -3.41648033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28862385299999 meters 0.024112553899881446 Centerline is valid? [True, True] Translation: X:123.38, Y:-14.77, Z:-3.42 [[ 9.87836505e-01 1.53999100e-01 2.15247720e-02 1.23383004e+02] [-1.53953787e-01 9.88070908e-01 -3.75659721e-03 -1.47728095e+01] [-2.18465136e-02 3.97083703e-04 9.99761258e-01 -3.41677302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34862385299999 meters 0.024912634437077644 Centerline is valid? [True, True] Translation: X:123.44, Y:-14.78, Z:-3.42 [[ 9.88069238e-01 1.52440164e-01 2.19357682e-02 1.23441543e+02] [-1.52392728e-01 9.88312604e-01 -3.82791123e-03 -1.47809189e+01] [-2.22629236e-02 4.39389765e-04 9.99752054e-01 -3.41724742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.408623853 meters 0.026916735552728548 Centerline is valid? [True, True] Translation: X:123.50, Y:-14.79, Z:-3.42 [[ 9.88303978e-01 1.50815625e-01 2.25808514e-02 1.23498121e+02] [-1.50764959e-01 9.88561788e-01 -3.93938376e-03 -1.47920400e+01] [-2.29166875e-02 4.88907502e-04 9.99737259e-01 -3.41867066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.468623853 meters 0.02893493155475989 Centerline is valid? [True, True] Translation: X:123.56, Y:-14.80, Z:-3.42 [[ 9.88553603e-01 1.49205965e-01 2.23462176e-02 1.23555664e+02] [-1.49155970e-01 9.88806002e-01 -3.89698342e-03 -1.48031325e+01] [-2.26775273e-02 5.19305247e-04 9.99742697e-01 -3.42137484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.528623853 meters 0.029044543984034943 Centerline is valid? [True, True] Translation: X:123.61, Y:-14.81, Z:-3.42 [[ 9.88619355e-01 1.48783133e-01 2.22564628e-02 1.23613288e+02] [-1.48733446e-01 9.88869710e-01 -3.88065109e-03 -1.48120412e+01] [-2.25861173e-02 5.26206367e-04 9.99744763e-01 -3.42292237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.588623853 meters 0.03048744759497111 Centerline is valid? [True, True] Translation: X:123.67, Y:-14.82, Z:-3.43 [[ 9.88785119e-01 1.47696409e-01 2.21304995e-02 1.23670876e+02] [-1.47647042e-01 9.89032594e-01 -3.85730338e-03 -1.48230858e+01] [-2.24574952e-02 5.46541390e-04 9.99747649e-01 -3.42501722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64862385299999 meters 0.03166535306957672 Centerline is valid? [True, True] Translation: X:123.73, Y:-14.83, Z:-3.42 [[ 9.88919904e-01 1.46872204e-01 2.15865685e-02 1.23728495e+02] [-1.46825059e-01 9.89155323e-01 -3.76157868e-03 -1.48326397e+01] [-2.19049405e-02 5.50450846e-04 9.99759906e-01 -3.42455299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70862385299999 meters 0.03064437329975601 Centerline is valid? [True, True] Translation: X:123.79, Y:-14.84, Z:-3.43 [[ 9.88819313e-01 1.47492186e-01 2.19640878e-02 1.23785485e+02] [-1.47443560e-01 9.89063071e-01 -3.82602187e-03 -1.48432886e+01] [-2.22881764e-02 5.44781024e-04 9.99751439e-01 -3.42868642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.768623853 meters 0.03411087749359586 Centerline is valid? [True, True] Translation: X:123.84, Y:-14.86, Z:-3.43 [[ 9.88633327e-01 1.48856796e-01 2.11139741e-02 1.23841997e+02] [-1.48812201e-01 9.88858641e-01 -3.67660988e-03 -1.48576823e+01] [-2.14260241e-02 4.92802103e-04 9.99770315e-01 -3.43437445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.828623853 meters 0.02734682890688272 Centerline is valid? [True, True] Translation: X:123.90, Y:-14.86, Z:-3.43 [[ 9.88456592e-01 1.50048731e-01 2.09509995e-02 1.23901992e+02] [-1.50005110e-01 9.88678494e-01 -3.64727728e-03 -1.48585007e+01] [-2.12610720e-02 4.62418285e-04 9.99773851e-01 -3.43482121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.888623853 meters 0.027785544339798875 Centerline is valid? [True, True] Translation: X:123.96, Y:-14.87, Z:-3.44 [[ 9.88594260e-01 1.49110396e-01 2.11537140e-02 1.23959459e+02] [-1.49065733e-01 9.88820435e-01 -3.68152850e-03 -1.48700166e+01] [-2.14661789e-02 4.86244048e-04 9.99769457e-01 -3.43641281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.948623853 meters 0.02914730787578949 Centerline is valid? [True, True] Translation: X:124.02, Y:-14.88, Z:-3.44 [[ 9.88936754e-01 1.46913868e-01 2.05039525e-02 1.24017699e+02] [-1.46871459e-01 9.89149154e-01 -3.56732176e-03 -1.48834269e+01] [-2.08055563e-02 5.16410175e-04 9.99783408e-01 -3.43887314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.008623853 meters 0.03132540401017083 Centerline is valid? [True, True] Translation: X:124.07, Y:-14.90, Z:-3.44 [[ 9.89328882e-01 1.44314616e-01 2.00413332e-02 1.24074915e+02] [-1.44273575e-01 9.89531698e-01 -3.48644610e-03 -1.49003544e+01] [-2.03346796e-02 5.57807035e-04 9.99793073e-01 -3.44107368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.068623853 meters 0.04019726132670861 Centerline is valid? [True, True] Translation: X:124.13, Y:-14.93, Z:-3.44 [[ 9.89531702e-01 1.42790073e-01 2.09286111e-02 1.24130208e+02] [-1.42744996e-01 9.89752806e-01 -3.63981480e-03 -1.49275137e+01] [-2.12338810e-02 6.14257632e-04 9.99774347e-01 -3.44290600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.128623853 meters 0.034543028896482475 Centerline is valid? [True, True] Translation: X:124.19, Y:-14.94, Z:-3.44 [[ 9.89534003e-01 1.42658902e-01 2.17001173e-02 1.24189134e+02] [-1.42610414e-01 9.89771705e-01 -3.77378017e-03 -1.49353496e+01] [-2.20165255e-02 6.39621086e-04 9.99757402e-01 -3.44141337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.188623853 meters 0.03564306686799395 Centerline is valid? [True, True] Translation: X:124.25, Y:-14.95, Z:-3.44 [[ 9.89472681e-01 1.43113636e-01 2.15011969e-02 1.24246944e+02] [-1.43066153e-01 9.89706067e-01 -3.73860521e-03 -1.49520122e+01] [-2.18149104e-02 6.23154210e-04 9.99761832e-01 -3.44455853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.248623853 meters 0.03534820741334869 Centerline is valid? [True, True] Translation: X:124.30, Y:-14.97, Z:-3.45 [[ 9.89232875e-01 1.44691931e-01 2.19673462e-02 1.24304167e+02] [-1.44642765e-01 9.89476571e-01 -3.81919986e-03 -1.49697134e+01] [-2.22887818e-02 6.00660358e-04 9.99751394e-01 -3.44579581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.308623853 meters 0.030652762903493995 Centerline is valid? [True, True] Translation: X:124.36, Y:-14.98, Z:-3.45 [[ 9.88915714e-01 1.46845892e-01 2.19543926e-02 1.24363993e+02] [-1.46797301e-01 9.89159228e-01 -3.81752727e-03 -1.49809920e+01] [-2.22769783e-02 5.52367111e-04 9.99751685e-01 -3.44680971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.368623853 meters 0.028176689297467156 Centerline is valid? [True, True] Translation: X:124.42, Y:-14.99, Z:-3.45 [[ 9.88643957e-01 1.48777028e-01 2.11783372e-02 1.24423921e+02] [-1.48732250e-01 9.88870646e-01 -3.68282437e-03 -1.49926882e+01] [-2.14905557e-02 4.91100326e-04 9.99768931e-01 -3.44929843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.428623853 meters 0.024821599646731293 Centerline is valid? [True, True] Translation: X:124.48, Y:-15.00, Z:-3.45 [[ 9.88085854e-01 1.52484200e-01 2.08545813e-02 1.24482906e+02] [-1.52441597e-01 9.88305826e-01 -3.62693281e-03 -1.50040019e+01] [-2.11637542e-02 4.04615334e-04 9.99775941e-01 -3.45115401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.488623853 meters 0.02346463216243306 Centerline is valid? [True, True] Translation: X:124.54, Y:-15.01, Z:-3.45 [[ 9.87831358e-01 1.54104183e-01 2.10026038e-02 1.24542155e+02] [-1.54061344e-01 9.88054534e-01 -3.65241475e-03 -1.50142861e+01] [-2.13145703e-02 3.72280462e-04 9.99772749e-01 -3.45275493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54862385299998 meters 0.019409289767875898 Centerline is valid? [True, True] Translation: X:124.60, Y:-15.02, Z:-3.45 [[ 9.87022184e-01 1.59123807e-01 2.16060703e-02 1.24601070e+02] [-1.59079676e-01 9.87258599e-01 -3.75715416e-03 -1.50240718e+01] [-2.19286314e-02 2.71307836e-04 9.99759502e-01 -3.45338885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60862385299998 meters 0.016837315016420225 Centerline is valid? [True, True] Translation: X:124.66, Y:-15.03, Z:-3.45 [[ 9.86332082e-01 1.63332516e-01 2.17143422e-02 1.24659293e+02] [-1.63288972e-01 9.86571061e-01 -3.77544076e-03 -1.50342685e+01] [-2.20393939e-02 1.78125729e-04 9.99757087e-01 -3.45498638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66862385299999 meters 0.01522026364524178 Centerline is valid? [True, True] Translation: X:124.72, Y:-15.04, Z:-3.45 [[ 9.85853835e-01 1.66044194e-01 2.28372694e-02 1.24717832e+02] [-1.65996765e-01 9.86118305e-01 -3.97031040e-03 -1.50440693e+01] [-2.31794964e-02 1.23232892e-04 9.99731312e-01 -3.45459060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.728623853 meters 0.014814887764216637 Centerline is valid? [True, True] Translation: X:124.78, Y:-15.05, Z:-3.46 [[ 9.85602240e-01 1.67537386e-01 2.27914328e-02 1.24775594e+02] [-1.67490590e-01 9.85865719e-01 -3.96049951e-03 -1.50547327e+01] [-2.31328240e-02 8.61266669e-05 9.99732397e-01 -3.45681841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.788623853 meters 0.01424817887537521 Centerline is valid? [True, True] Translation: X:124.83, Y:-15.06, Z:-3.46 [[ 9.85128944e-01 1.70359054e-01 2.23328663e-02 1.24832477e+02] [-1.70314863e-01 9.85382054e-01 -3.88011605e-03 -1.50636602e+01] [-2.26674185e-02 1.87955681e-05 9.99743061e-01 -3.45986693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.848623853 meters 0.01442878522510903 Centerline is valid? [True, True] Translation: X:124.89, Y:-15.07, Z:-3.46 [[ 9.84733104e-01 1.72719362e-01 2.16503265e-02 1.24890708e+02] [-1.72678429e-01 9.84971076e-01 -3.76021417e-03 -1.50722474e+01] [-2.19744071e-02 -3.57369958e-05 9.99758533e-01 -3.46262850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.908623853 meters 0.015363916588519879 Centerline is valid? [True, True] Translation: X:124.95, Y:-15.08, Z:-3.46 [[ 9.84152886e-01 1.75987808e-01 2.17115070e-02 1.24948890e+02] [-1.75947461e-01 9.84392340e-01 -3.76980617e-03 -1.50791278e+01] [-2.20360811e-02 -1.10018909e-04 9.99757170e-01 -3.46364923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.968623853 meters 0.016871567166352196 Centerline is valid? [True, True] Translation: X:125.01, Y:-15.09, Z:-3.46 [[ 9.83579479e-01 1.79039215e-01 2.27237391e-02 1.25007610e+02] [-1.78995859e-01 9.83841920e-01 -3.94438547e-03 -1.50867564e+01] [-2.30627668e-02 -1.87838586e-04 9.99734001e-01 -3.46303546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.028623853 meters 0.020151202921602676 Centerline is valid? [True, True] Translation: X:125.07, Y:-15.09, Z:-3.46 [[ 9.82826134e-01 1.83056430e-01 2.33052108e-02 1.25065550e+02] [-1.83011982e-01 9.83102364e-01 -4.04418365e-03 -1.50897283e+01] [-2.36517217e-02 -2.90403441e-04 9.99720217e-01 -3.46325021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.088623853 meters 0.02132658755430151 Centerline is valid? [True, True] Translation: X:125.12, Y:-15.10, Z:-3.46 [[ 9.82292277e-01 1.85905090e-01 2.32632741e-02 1.25123973e+02] [-1.85861634e-01 9.82567641e-01 -4.03545195e-03 -1.50959598e+01] [-2.36079514e-02 -3.59756848e-04 9.99721229e-01 -3.46458212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.148623853 meters 0.023116445319217242 Centerline is valid? [True, True] Translation: X:125.18, Y:-15.10, Z:-3.47 [[ 9.81865969e-01 1.88109922e-01 2.35345747e-02 1.25182793e+02] [-1.88066108e-01 9.82147892e-01 -4.08130504e-03 -1.51017892e+01] [-2.38821669e-02 -4.18761328e-04 9.99714693e-01 -3.46672478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.208623853 meters 0.025267136110128922 Centerline is valid? [True, True] Translation: X:125.24, Y:-15.11, Z:-3.47 [[ 9.81910333e-01 1.88076161e-01 2.18964850e-02 1.25240997e+02] [-1.88038247e-01 9.82154370e-01 -3.79627934e-03 -1.51053529e+01] [-2.22197181e-02 -3.89770750e-04 9.99753036e-01 -3.47198809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.268623853 meters 0.023063274171747698 Centerline is valid? [True, True] Translation: X:125.30, Y:-15.12, Z:-3.48 [[ 9.82378673e-01 1.85760072e-01 2.06237287e-02 1.25299278e+02] [-1.85725955e-01 9.82595081e-01 -3.57432048e-03 -1.51151035e+01] [-2.09287405e-02 -3.19025517e-04 9.99780919e-01 -3.47642869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32862385299998 meters 0.02114214267400957 Centerline is valid? [True, True] Translation: X:125.36, Y:-15.13, Z:-3.48 [[ 9.82832798e-01 1.83306048e-01 2.09424013e-02 1.25357624e+02] [-1.83270335e-01 9.83055857e-01 -3.62844193e-03 -1.51258596e+01] [-2.12526656e-02 -2.71969171e-04 9.99774100e-01 -3.47831287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38862385299998 meters 0.017577676878561186 Centerline is valid? [True, True] Translation: X:125.41, Y:-15.14, Z:-3.48 [[ 9.83833001e-01 1.77706365e-01 2.22052873e-02 1.25413979e+02] [-1.77664802e-01 9.84083544e-01 -3.84654578e-03 -1.51382107e+01] [-2.25354135e-02 -1.60739308e-04 9.99746032e-01 -3.47820425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.448623853 meters 0.014147920761408738 Centerline is valid? [True, True] Translation: X:125.47, Y:-15.16, Z:-3.48 [[ 9.85323074e-01 1.69088003e-01 2.34027239e-02 1.25469879e+02] [-1.69039443e-01 9.85600957e-01 -4.05228176e-03 -1.51601831e+01] [-2.37509393e-02 3.68233078e-05 9.99717906e-01 -3.47637821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.508623853 meters 0.017264462039205924 Centerline is valid? [True, True] Translation: X:125.53, Y:-15.18, Z:-3.48 [[ 9.86534833e-01 1.61784207e-01 2.39769521e-02 1.25526407e+02] [-1.61731104e-01 9.86826136e-01 -4.15048051e-03 -1.51801443e+01] [-2.43325652e-02 2.16774656e-04 9.99703896e-01 -3.47656957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.568623853 meters 0.028489496385331 Centerline is valid? [True, True] Translation: X:125.58, Y:-15.21, Z:-3.48 [[ 9.88487610e-01 1.49465174e-01 2.35033347e-02 1.25581098e+02] [-1.49410684e-01 9.88766860e-01 -4.06756539e-03 -1.52106361e+01] [-2.38472778e-02 5.09088684e-04 9.99715484e-01 -3.48016686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.628623853 meters 0.0409895197892368 Centerline is valid? [True, True] Translation: X:125.64, Y:-15.24, Z:-3.48 [[ 9.90108148e-01 1.38295968e-01 2.36660244e-02 1.25636311e+02] [-1.38237535e-01 9.90390636e-01 -4.09542580e-03 -1.52426593e+01] [-2.40049898e-02 7.83381586e-04 9.99711532e-01 -3.48147942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.688623853 meters 0.05062953993464063 Centerline is valid? [True, True] Translation: X:125.69, Y:-15.27, Z:-3.48 [[ 9.91182134e-01 1.30566935e-01 2.25887848e-02 1.25692341e+02] [-1.30511691e-01 9.91439064e-01 -3.90915041e-03 -1.52714095e+01] [-2.29058094e-02 9.26579535e-04 9.99737198e-01 -3.48497316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.748623853 meters 0.05362534862562528 Centerline is valid? [True, True] Translation: X:125.75, Y:-15.29, Z:-3.49 [[ 9.91469673e-01 1.28591484e-01 2.12630649e-02 1.25750742e+02] [-1.28542085e-01 9.91697229e-01 -3.67957228e-03 -1.52905076e+01] [-2.15596841e-02 9.14985632e-04 9.99767144e-01 -3.48947338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.808623853 meters 0.04628691100053014 Centerline is valid? [True, True] Translation: X:125.81, Y:-15.30, Z:-3.49 [[ 9.91149144e-01 1.30931455e-01 2.19163924e-02 1.25811644e+02] [-1.30879529e-01 9.91391022e-01 -3.79335089e-03 -1.52984524e+01] [-2.22243836e-02 8.91369384e-04 9.99752611e-01 -3.48897394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.868623853 meters 0.039901603768635316 Centerline is valid? [True, True] Translation: X:125.87, Y:-15.31, Z:-3.49 [[ 9.90409719e-01 1.36418875e-01 2.18741623e-02 1.25871106e+02] [-1.36368469e-01 9.90650948e-01 -3.78669738e-03 -1.53078835e+01] [-2.21862366e-02 7.67435882e-04 9.99753561e-01 -3.49062741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.928623853 meters 0.03295947227024895 Centerline is valid? [True, True] Translation: X:125.93, Y:-15.31, Z:-3.49 [[ 9.89707016e-01 1.41372422e-01 2.22229876e-02 1.25932292e+02] [-1.41321643e-01 9.89956258e-01 -3.84701986e-03 -1.53137486e+01] [-2.25436482e-02 6.66833415e-04 9.99745637e-01 -3.49124077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.988623853 meters 0.028487725344898567 Centerline is valid? [True, True] Translation: X:125.99, Y:-15.32, Z:-3.49 [[ 9.88560938e-01 1.49163864e-01 2.23027616e-02 1.25990388e+02] [-1.49114690e-01 9.88812368e-01 -3.86123164e-03 -1.53244824e+01] [-2.26292028e-02 4.91393388e-04 9.99743806e-01 -3.49329384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04862385299998 meters 0.021915293956200833 Centerline is valid? [True, True] Translation: X:126.05, Y:-15.33, Z:-3.49 [[ 9.87504968e-01 1.55961022e-01 2.25853427e-02 1.26050333e+02] [-1.55912376e-01 9.87763152e-01 -3.90982539e-03 -1.53323750e+01] [-2.29187496e-02 3.39637566e-04 9.99737273e-01 -3.49390426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10862385299998 meters 0.01861130867291851 Centerline is valid? [True, True] Translation: X:126.11, Y:-15.34, Z:-3.50 [[ 9.86826677e-01 1.60186183e-01 2.26604351e-02 1.26111539e+02] [-1.60138345e-01 9.87086789e-01 -3.92202003e-03 -1.53421410e+01] [-2.29960695e-02 2.41549424e-04 9.99735526e-01 -3.49566166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16862385299999 meters 0.014888629789729659 Centerline is valid? [True, True] Translation: X:126.17, Y:-15.35, Z:-3.50 [[ 9.85693505e-01 1.67026701e-01 2.25919431e-02 1.26173233e+02] [-1.66980857e-01 9.85952369e-01 -3.91402901e-03 -1.53491092e+01] [-2.29283272e-02 8.56109586e-05 9.99737108e-01 -3.49668572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.228623853 meters 0.014724561817278492 Centerline is valid? [True, True] Translation: X:126.23, Y:-15.35, Z:-3.50 [[ 9.84372102e-01 1.74573452e-01 2.31446563e-02 1.26234701e+02] [-1.74527308e-01 9.84644150e-01 -4.01456283e-03 -1.53514728e+01] [-2.34900865e-02 -8.75508924e-05 9.99724066e-01 -3.49740185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.288623853 meters 0.016707555766668908 Centerline is valid? [True, True] Translation: X:126.30, Y:-15.36, Z:-3.50 [[ 9.83655921e-01 1.78587061e-01 2.29715182e-02 1.26295109e+02] [-1.78542698e-01 9.83924097e-01 -3.98453111e-03 -1.53584649e+01] [-2.33138160e-02 -1.81989211e-04 9.99728179e-01 -3.49961039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.348623853 meters 0.018717908154469155 Centerline is valid? [True, True] Translation: X:126.35, Y:-15.37, Z:-3.50 [[ 9.83171648e-01 1.81239768e-01 2.29272045e-02 1.26354168e+02] [-1.81196296e-01 9.83438908e-01 -3.97689812e-03 -1.53652985e+01] [-2.32682770e-02 -2.44351040e-04 9.99729227e-01 -3.50150257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.408623853 meters 0.019758077966941994 Centerline is valid? [True, True] Translation: X:126.41, Y:-15.37, Z:-3.50 [[ 9.82944370e-01 1.82386611e-01 2.35688253e-02 1.26413106e+02] [-1.82341006e-01 9.83226854e-01 -4.08794340e-03 -1.53733125e+01] [-2.39190881e-02 -2.79342360e-04 9.99713859e-01 -3.50142632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.468623853 meters 0.01826948412802676 Centerline is valid? [True, True] Translation: X:126.47, Y:-15.39, Z:-3.50 [[ 9.83122127e-01 1.81442731e-01 2.34396895e-02 1.26472124e+02] [-1.81397372e-01 9.83401480e-01 -4.06489252e-03 -1.53867562e+01] [-2.37881705e-02 -2.55612300e-04 9.99716989e-01 -3.50297540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.528623853 meters 0.015439300674035195 Centerline is valid? [True, True] Translation: X:126.53, Y:-15.41, Z:-3.51 [[ 9.84099200e-01 1.76103426e-01 2.31591852e-02 1.26531280e+02] [-1.76057684e-01 9.84371661e-01 -4.01551888e-03 -1.54068251e+01] [-2.35043923e-02 -1.25683592e-04 9.99723726e-01 -3.50578758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.588623853 meters 0.014943523015972677 Centerline is valid? [True, True] Translation: X:126.59, Y:-15.43, Z:-3.51 [[ 9.85549552e-01 1.67860363e-01 2.26931647e-02 1.26590739e+02] [-1.67814169e-01 9.85810780e-01 -3.93845177e-03 -1.54316398e+01] [-2.30322763e-02 7.33048043e-05 9.99734719e-01 -3.50872886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.648623853 meters 0.018874519250346233 Centerline is valid? [True, True] Translation: X:126.65, Y:-15.45, Z:-3.51 [[ 9.86688175e-01 1.61109260e-01 2.21416180e-02 1.26648596e+02] [-1.61063484e-01 9.86936550e-01 -3.84717959e-03 -1.54548046e+01] [-2.24721883e-02 2.29760492e-04 9.99747442e-01 -3.51122424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.708623853 meters 0.02736752662846841 Centerline is valid? [True, True] Translation: X:126.71, Y:-15.49, Z:-3.51 [[ 9.88267707e-01 1.51167846e-01 2.17995853e-02 1.26705187e+02] [-1.51120958e-01 9.88508006e-01 -3.79196601e-03 -1.54854276e+01] [-2.21222880e-02 4.53103329e-04 9.99755170e-01 -3.51372851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.768623853 meters 0.037178830696967285 Centerline is valid? [True, True] Translation: X:126.76, Y:-15.51, Z:-3.51 [[ 9.89200584e-01 1.44931980e-01 2.18386482e-02 1.26762894e+02] [-1.44883398e-01 9.89441443e-01 -3.79899522e-03 -1.55091397e+01] [-2.21586595e-02 5.93910718e-04 9.99754290e-01 -3.50897141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82862385299998 meters 0.03695826672313636 Centerline is valid? [True, True] Translation: X:126.82, Y:-15.53, Z:-3.52 [[ 9.89525674e-01 1.42535363e-01 2.28607034e-02 1.26820686e+02] [-1.42481482e-01 9.89789478e-01 -3.97701604e-03 -1.55294894e+01] [-2.31941491e-02 6.78132571e-04 9.99730750e-01 -3.51569149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88862385299998 meters 0.03568208738470715 Centerline is valid? [True, True] Translation: X:126.88, Y:-15.54, Z:-3.52 [[ 9.89535254e-01 1.42445843e-01 2.30035634e-02 1.26882282e+02] [-1.42391267e-01 9.89802361e-01 -4.00168113e-03 -1.55425843e+01] [-2.33390042e-02 6.84298024e-04 9.99727374e-01 -3.51597068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.948623853 meters 0.03578722406580002 Centerline is valid? [True, True] Translation: X:126.94, Y:-15.56, Z:-3.52 [[ 9.89335892e-01 1.43928976e-01 2.23370058e-02 1.26941575e+02] [-1.43877796e-01 9.89587817e-01 -3.89011554e-03 -1.55581288e+01] [-2.26643291e-02 6.34831769e-04 9.99742930e-01 -3.51887759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.008623853 meters 0.032213226114314174 Centerline is valid? [True, True] Translation: X:127.00, Y:-15.57, Z:-3.52 [[ 9.88832774e-01 1.47387845e-01 2.20582736e-02 1.27002387e+02] [-1.47338703e-01 9.89078621e-01 -3.84562171e-03 -1.55679154e+01] [-2.23841647e-02 5.52639348e-04 9.99749290e-01 -3.52063206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.068623853 meters 0.025875003067255205 Centerline is valid? [True, True] Translation: X:127.06, Y:-15.57, Z:-3.52 [[ 9.88044240e-01 1.52480505e-01 2.27656612e-02 1.27062768e+02] [-1.52429487e-01 9.88306375e-01 -3.96995748e-03 -1.55729848e+01] [-2.31047893e-02 4.52335561e-04 9.99732946e-01 -3.52086788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.128623853 meters 0.023159534600458748 Centerline is valid? [True, True] Translation: X:127.12, Y:-15.58, Z:-3.52 [[ 9.87405770e-01 1.56571748e-01 2.26965397e-02 1.27122937e+02] [-1.56522122e-01 9.87666523e-01 -3.95779004e-03 -1.55811825e+01] [-2.30362905e-02 3.55434177e-04 9.99734566e-01 -3.52288763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.188623853 meters 0.01789415669748282 Centerline is valid? [True, True] Translation: X:127.18, Y:-15.58, Z:-3.53 [[ 9.86410442e-01 1.62798000e-01 2.21641749e-02 1.27184516e+02] [-1.62752232e-01 9.86659399e-01 -3.86548397e-03 -1.55849330e+01] [-2.24977846e-02 2.05684806e-04 9.99746872e-01 -3.52571665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.248623853 meters 0.01463154926699849 Centerline is valid? [True, True] Translation: X:127.25, Y:-15.58, Z:-3.53 [[ 9.85183945e-01 1.70111606e-01 2.17861258e-02 1.27247947e+02] [-1.70069179e-01 9.85424802e-01 -3.79926518e-03 -1.55843684e+01] [-2.21148878e-02 3.78265324e-05 9.99755435e-01 -3.52810886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.308623853 meters 0.014520101138374458 Centerline is valid? [True, True] Translation: X:127.31, Y:-15.59, Z:-3.53 [[ 9.84525483e-01 1.73828073e-01 2.22120326e-02 1.27310429e+02] [-1.73784832e-01 9.84776015e-01 -3.87726086e-03 -1.55902441e+01] [-2.25478537e-02 -4.28522185e-05 9.99745764e-01 -3.52909602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.368623853 meters 0.01751353341012794 Centerline is valid? [True, True] Translation: X:127.37, Y:-15.59, Z:-3.53 [[ 9.83867886e-01 1.77523970e-01 2.21183762e-02 1.27372365e+02] [-1.77481927e-01 9.84116469e-01 -3.86532624e-03 -1.55946706e+01] [-2.24532463e-02 -1.22641658e-04 9.99747887e-01 -3.52728073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.428623853 meters 0.015951724605417297 Centerline is valid? [True, True] Translation: X:127.43, Y:-15.60, Z:-3.53 [[ 9.83596320e-01 1.78873492e-01 2.32927673e-02 1.27434722e+02] [-1.78827152e-01 9.83872069e-01 -4.07437077e-03 -1.56027766e+01] [-2.36459001e-02 -1.57843153e-04 9.99720384e-01 -3.53011419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.488623853 meters 0.01608788785065104 Centerline is valid? [True, True] Translation: X:127.50, Y:-15.61, Z:-3.53 [[ 9.83587703e-01 1.79042603e-01 2.23378045e-02 1.27496859e+02] [-1.78999934e-01 9.83841310e-01 -3.91154209e-03 -1.56098839e+01] [-2.26771876e-02 -1.51120845e-04 9.99742828e-01 -3.53354384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54862385299998 meters 0.01603290991892869 Centerline is valid? [True, True] Translation: X:127.56, Y:-15.62, Z:-3.53 [[ 9.83630421e-01 1.78820275e-01 2.22374285e-02 1.27558627e+02] [-1.78777841e-01 9.83881746e-01 -3.89798357e-03 -1.56184846e+01] [-2.25760384e-02 -1.41384226e-04 9.99745119e-01 -3.53496721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60862385299998 meters 0.016528054903868706 Centerline is valid? [True, True] Translation: X:127.62, Y:-15.63, Z:-3.54 [[ 9.83510534e-01 1.79383132e-01 2.29939497e-02 1.27620805e+02] [-1.79337815e-01 9.83779278e-01 -4.03488661e-03 -1.56253086e+01] [-2.33447618e-02 -1.55331208e-04 9.99727462e-01 -3.53554534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66862385299999 meters 0.01650200440189291 Centerline is valid? [True, True] Translation: X:127.68, Y:-15.63, Z:-3.54 [[ 9.83485568e-01 1.79379848e-01 2.40625748e-02 1.27680739e+02] [-1.79330096e-01 9.83779877e-01 -4.22744751e-03 -1.56301945e+01] [-2.44305958e-02 -1.57510223e-04 9.99701516e-01 -3.53526671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.728623853 meters 0.015723203431839226 Centerline is valid? [True, True] Translation: X:127.74, Y:-15.64, Z:-3.54 [[ 9.83742189e-01 1.77961794e-01 2.41019812e-02 1.27741967e+02] [-1.77911448e-01 9.84037390e-01 -4.23460807e-03 -1.56370773e+01] [-2.44708491e-02 -1.22255752e-04 9.99700536e-01 -3.53789137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.788623853 meters 0.015339262686641231 Centerline is valid? [True, True] Translation: X:127.80, Y:-15.65, Z:-3.54 [[ 9.84005962e-01 1.76642801e-01 2.30127742e-02 1.27801667e+02] [-1.76596529e-01 9.84275019e-01 -4.04377393e-03 -1.56473297e+01] [-2.33652023e-02 -8.48783977e-05 9.99726993e-01 -3.54236899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.848623853 meters 0.014725717834126555 Centerline is valid? [True, True] Translation: X:127.86, Y:-15.66, Z:-3.55 [[ 9.84482945e-01 1.74152982e-01 2.15422757e-02 1.27864389e+02] [-1.74111858e-01 9.84718609e-01 -3.78454380e-03 -1.56555608e+01] [-2.18721693e-02 -2.49468210e-05 9.99760775e-01 -3.54531637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.908623853 meters 0.014674616293894811 Centerline is valid? [True, True] Translation: X:127.93, Y:-15.67, Z:-3.55 [[ 9.84753451e-01 1.72577124e-01 2.18581165e-02 1.27925776e+02] [-1.72534299e-01 9.84996008e-01 -3.84445112e-03 -1.56656478e+01] [-2.21936218e-02 1.45617091e-05 9.99753691e-01 -3.54580574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.968623853 meters 0.015357949947583634 Centerline is valid? [True, True] Translation: X:127.99, Y:-15.68, Z:-3.55 [[ 9.85284321e-01 1.69429957e-01 2.25454497e-02 1.27987309e+02] [-1.69383483e-01 9.85542227e-01 -3.96920448e-03 -1.56767994e+01] [-2.28919948e-02 9.19681373e-05 9.99737940e-01 -3.54642500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.028623853 meters 0.01648175994674561 Centerline is valid? [True, True] Translation: X:128.05, Y:-15.69, Z:-3.55 [[ 9.85793308e-01 1.66326153e-01 2.33915585e-02 1.28048016e+02] [-1.66275135e-01 9.86070779e-01 -4.12299837e-03 -1.56891727e+01] [-2.37514947e-02 1.74989649e-04 9.99717878e-01 -3.54623832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.088623853 meters 0.019927368197644277 Centerline is valid? [True, True] Translation: X:128.11, Y:-15.71, Z:-3.55 [[ 9.86675593e-01 1.61020488e-01 2.33168912e-02 1.28108079e+02] [-1.60968204e-01 9.86951016e-01 -4.11446288e-03 -1.57054597e+01] [-2.36751422e-02 3.06362021e-04 9.99719658e-01 -3.54796959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.148623853 meters 0.028448686931835717 Centerline is valid? [True, True] Translation: X:128.17, Y:-15.73, Z:-3.55 [[ 9.87197901e-01 1.57852114e-01 2.28694953e-02 1.28165666e+02] [-1.57800945e-01 9.87462692e-01 -4.03648010e-03 -1.57276308e+01] [-2.32199403e-02 3.75976715e-04 9.99730310e-01 -3.55265190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.208623853 meters 0.024614696653488435 Centerline is valid? [True, True] Translation: X:128.23, Y:-15.73, Z:-3.55 [[ 9.87420513e-01 1.56512877e-01 2.24599718e-02 1.28227452e+02] [-1.56463142e-01 9.87675836e-01 -3.96575840e-03 -1.57324792e+01] [-2.28038637e-02 4.01713426e-04 9.99739877e-01 -3.55259150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.268623853 meters 0.024399314682766692 Centerline is valid? [True, True] Translation: X:128.29, Y:-15.74, Z:-3.55 [[ 9.87393344e-01 1.56664366e-01 2.25977843e-02 1.28289245e+02] [-1.56613980e-01 9.87651818e-01 -3.99351894e-03 -1.57432227e+01] [-2.29443849e-02 4.04045084e-04 9.99736661e-01 -3.55402841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32862385299998 meters 0.024270977329447437 Centerline is valid? [True, True] Translation: X:128.35, Y:-15.75, Z:-3.56 [[ 9.87250293e-01 1.57622214e-01 2.21832634e-02 1.28348986e+02] [-1.57573801e-01 9.87499415e-01 -3.92472972e-03 -1.57539351e+01] [-2.25245842e-02 3.79189450e-04 9.99746217e-01 -3.55683713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38862385299998 meters 0.025018928591403693 Centerline is valid? [True, True] Translation: X:128.41, Y:-15.76, Z:-3.56 [[ 9.86853352e-01 1.60222770e-01 2.11926012e-02 1.28411097e+02] [-1.60179118e-01 9.87080832e-01 -3.75255243e-03 -1.57601512e+01] [-2.15200548e-02 3.08606775e-04 9.99768369e-01 -3.55610475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.448623853 meters 0.02058008622594817 Centerline is valid? [True, True] Translation: X:128.47, Y:-15.77, Z:-3.56 [[ 9.86544436e-01 1.62115059e-01 2.11845184e-02 1.28472898e+02] [-1.62071800e-01 9.86771825e-01 -3.75465350e-03 -1.57674152e+01] [-2.15129717e-02 2.70719500e-04 9.99768533e-01 -3.56267118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.508623853 meters 0.018346187311051542 Centerline is valid? [True, True] Translation: X:128.54, Y:-15.77, Z:-3.56 [[ 9.86045081e-01 1.65144255e-01 2.10350698e-02 1.28535285e+02] [-1.65102217e-01 9.86269401e-01 -3.73171807e-03 -1.57735823e+01] [-2.13625175e-02 2.06705594e-04 9.99771774e-01 -3.56437517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.568623853 meters 0.017033528478981666 Centerline is valid? [True, True] Translation: X:128.60, Y:-15.78, Z:-3.57 [[ 9.85666908e-01 1.67382602e-01 2.10668033e-02 1.28597554e+02] [-1.67340858e-01 9.85892001e-01 -3.74150490e-03 -1.57811528e+01] [-2.13958557e-02 1.62540629e-04 9.99771069e-01 -3.56532952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.628623853 meters 0.016153506349117084 Centerline is valid? [True, True] Translation: X:128.66, Y:-15.79, Z:-3.57 [[ 9.85342202e-01 1.69239773e-01 2.14159713e-02 1.28658354e+02] [-1.69197020e-01 9.85574900e-01 -3.80591358e-03 -1.57864472e+01] [-2.17511557e-02 1.26608739e-04 9.99763408e-01 -3.56709004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.688623853 meters 0.016177798716034884 Centerline is valid? [True, True] Translation: X:128.72, Y:-15.80, Z:-3.57 [[ 9.85290419e-01 1.69500919e-01 2.17308268e-02 1.28718962e+02] [-1.69456952e-01 9.85530021e-01 -3.86240808e-03 -1.57967866e+01] [-2.20710639e-02 1.23154005e-04 9.99756397e-01 -3.56930341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.748623853 meters 0.01691757172802109 Centerline is valid? [True, True] Translation: X:128.78, Y:-15.81, Z:-3.57 [[ 9.85508260e-01 1.68122524e-01 2.25451856e-02 1.28778606e+02] [-1.68074840e-01 9.85766094e-01 -4.00708914e-03 -1.58099885e+01] [-2.28979615e-02 1.59740987e-04 9.99737795e-01 -3.56862895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.808623853 meters 0.018210115175500842 Centerline is valid? [True, True] Translation: X:128.84, Y:-15.82, Z:-3.57 [[ 9.85797965e-01 1.66390473e-01 2.27284457e-02 1.28838942e+02] [-1.66341469e-01 9.86059921e-01 -4.04318238e-03 -1.58245199e+01] [-2.30843564e-02 2.05077920e-04 9.99733500e-01 -3.56982178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.868623853 meters 0.02186202008908855 Centerline is valid? [True, True] Translation: X:128.90, Y:-15.84, Z:-3.57 [[ 9.86443937e-01 1.62462154e-01 2.31172559e-02 1.28898850e+02] [-1.62410287e-01 9.86714728e-01 -4.11626869e-03 -1.58445726e+01] [-2.34788748e-02 3.05988122e-04 9.99724286e-01 -3.57113570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.928623853 meters 0.025220016969401418 Centerline is valid? [True, True] Translation: X:128.96, Y:-15.86, Z:-3.57 [[ 9.86964018e-01 1.59262711e-01 2.31822262e-02 1.28958241e+02] [-1.59209579e-01 9.87236162e-01 -4.13168393e-03 -1.58628474e+01] [-2.35443552e-02 3.86990907e-04 9.99722718e-01 -3.57322265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.988623853 meters 0.030443944375504774 Centerline is valid? [True, True] Translation: X:129.01, Y:-15.89, Z:-3.57 [[ 9.87685529e-01 1.54718196e-01 2.32287856e-02 1.29014780e+02] [-1.54663496e-01 9.87958516e-01 -4.14411302e-03 -1.58859464e+01] [-2.35902463e-02 5.00435261e-04 9.99721586e-01 -3.57497353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04862385299998 meters 0.03588957452784759 Centerline is valid? [True, True] Translation: X:129.07, Y:-15.91, Z:-3.58 [[ 9.88322614e-01 1.50808238e-01 2.18010654e-02 1.29071206e+02] [-1.50759105e-01 9.88562879e-01 -3.88940172e-03 -1.59099708e+01] [-2.21382778e-02 5.57274568e-04 9.99754763e-01 -3.57944811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10862385299998 meters 0.03822589004815905 Centerline is valid? [True, True] Translation: X:129.13, Y:-15.93, Z:-3.58 [[ 9.88546909e-01 1.49386023e-01 2.14202009e-02 1.29129573e+02] [-1.49338277e-01 9.88778783e-01 -3.82059620e-03 -1.59307252e+01] [-2.17505839e-02 5.77982664e-04 9.99763261e-01 -3.58209287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16862385299999 meters 0.03798180723409349 Centerline is valid? [True, True] Translation: X:129.19, Y:-15.95, Z:-3.58 [[ 9.88406757e-01 1.50230464e-01 2.19747891e-02 1.29190340e+02] [-1.50180349e-01 9.88650836e-01 -3.92275839e-03 -1.59453631e+01] [-2.23147114e-02 5.77099400e-04 9.99750829e-01 -3.58286533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.228623853 meters 0.035483604181311405 Centerline is valid? [True, True] Translation: X:129.25, Y:-15.96, Z:-3.58 [[ 9.87996486e-01 1.52853634e-01 2.23318051e-02 1.29248482e+02] [-1.52802451e-01 9.88248696e-01 -3.99071458e-03 -1.59612363e+01] [-2.26793725e-02 5.30457428e-04 9.99742649e-01 -3.58351220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.288623853 meters 0.032212139131370346 Centerline is valid? [True, True] Translation: X:129.31, Y:-15.98, Z:-3.59 [[ 9.87526847e-01 1.55962667e-01 2.15956903e-02 1.29308427e+02] [-1.55915543e-01 9.87762851e-01 -3.85927579e-03 -1.59761306e+01] [-2.19333236e-02 4.44034670e-04 9.99759337e-01 -3.58676624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.348623853 meters 0.029189785346690072 Centerline is valid? [True, True] Translation: X:129.37, Y:-15.99, Z:-3.59 [[ 9.87070577e-01 1.58831288e-01 2.15475569e-02 1.29369354e+02] [-1.58785057e-01 9.87305666e-01 -3.85069240e-03 -1.59892546e+01] [-2.18856355e-02 3.79475125e-04 9.99760409e-01 -3.58910319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.408623853 meters 0.02526084617488332 Centerline is valid? [True, True] Translation: X:129.43, Y:-16.00, Z:-3.59 [[ 9.86471711e-01 1.62618867e-01 2.07042678e-02 1.29429191e+02] [-1.62576937e-01 9.86688918e-01 -3.70378644e-03 -1.60029743e+01] [-2.10309771e-02 2.87644110e-04 9.99778783e-01 -3.59293849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.468623853 meters 0.02202639883557472 Centerline is valid? [True, True] Translation: X:129.49, Y:-16.02, Z:-3.60 [[ 9.85922378e-01 1.65951543e-01 2.04242531e-02 1.29489664e+02] [-1.65911465e-01 9.86133885e-01 -3.65323403e-03 -1.60189413e+01] [-2.07473079e-02 2.13187430e-04 9.99784729e-01 -3.59527197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.528623853 meters 0.016865776294371 Centerline is valid? [True, True] Translation: X:129.55, Y:-16.03, Z:-3.59 [[ 9.85370966e-01 1.69117912e-01 2.10520852e-02 1.29551176e+02] [-1.69075986e-01 9.85595814e-01 -3.76868067e-03 -1.60265177e+01] [-2.13861985e-02 1.54146440e-04 9.99771277e-01 -3.59195522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.588623853 meters 0.023920235134201655 Centerline is valid? [True, True] Translation: X:129.61, Y:-16.04, Z:-3.59 [[ 9.84360095e-01 1.74871753e-01 2.13324361e-02 1.29612160e+02] [-1.74829969e-01 9.84591219e-01 -3.82269236e-03 -1.60373035e+01] [-2.16722102e-02 3.33566798e-05 9.99765130e-01 -3.58578704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.648623853 meters 0.015047721169889566 Centerline is valid? [True, True] Translation: X:129.67, Y:-16.05, Z:-3.59 [[ 9.83548544e-01 1.79331903e-01 2.17331620e-02 1.29673642e+02] [-1.79289538e-01 9.83788628e-01 -3.89835807e-03 -1.60466628e+01] [-2.20799376e-02 -6.23041614e-05 9.99756207e-01 -3.59453458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.708623853 meters 0.01786074079686558 Centerline is valid? [True, True] Translation: X:129.74, Y:-16.05, Z:-3.60 [[ 9.82502013e-01 1.85150829e-01 2.02228638e-02 1.29735028e+02] [-1.85115304e-01 9.82710099e-01 -3.63106998e-03 -1.60538864e+01] [-2.05455082e-02 -1.76028030e-04 9.99788903e-01 -3.59902836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.768623853 meters 0.021660662283437878 Centerline is valid? [True, True] Translation: X:129.80, Y:-16.06, Z:-3.60 [[ 9.81904215e-01 1.88359520e-01 1.96164018e-02 1.29795391e+02] [-1.88326676e-01 9.82100116e-01 -3.52508566e-03 -1.60615686e+01] [-1.99292539e-02 -2.32995273e-04 9.99801366e-01 -3.60304384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82862385299998 meters 0.020571658092751362 Centerline is valid? [True, True] Translation: X:129.86, Y:-16.08, Z:-3.60 [[ 9.81491176e-01 1.90471117e-01 1.98953355e-02 1.29855205e+02] [-1.90437705e-01 9.81692761e-01 -3.57821778e-03 -1.60780735e+01] [-2.02126540e-02 -2.76832861e-04 9.99795665e-01 -3.60060106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88862385299998 meters 0.024498078067695793 Centerline is valid? [True, True] Translation: X:129.92, Y:-16.08, Z:-3.60 [[ 9.81415418e-01 1.90764278e-01 2.08030716e-02 1.29916700e+02] [-1.90727741e-01 9.81635831e-01 -3.74488073e-03 -1.60843445e+01] [-2.11354300e-02 -2.92439180e-04 9.99776579e-01 -3.60413696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.948623853 meters 0.02206858234428124 Centerline is valid? [True, True] Translation: X:129.98, Y:-16.10, Z:-3.61 [[ 9.81844055e-01 1.88525010e-01 2.09897976e-02 1.29976212e+02] [-1.88487214e-01 9.82068359e-01 -3.78264986e-03 -1.61029233e+01] [-2.13265402e-02 -2.42336186e-04 9.99772534e-01 -3.60517802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.008623853 meters 0.01796661958367403 Centerline is valid? [True, True] Translation: X:130.04, Y:-16.12, Z:-3.60 [[ 9.82143592e-01 1.86894562e-01 2.15496385e-02 1.30035754e+02] [-1.86854259e-01 9.82379957e-01 -3.88676309e-03 -1.61229569e+01] [-2.18963478e-02 -2.09282266e-04 9.99760224e-01 -3.60329477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.068623853 meters 0.025598675229534025 Centerline is valid? [True, True] Translation: X:130.10, Y:-16.14, Z:-3.60 [[ 9.82362560e-01 1.85769653e-01 2.12940416e-02 1.30096137e+02] [-1.85729960e-01 9.82593306e-01 -3.84421420e-03 -1.61375646e+01] [-2.16375211e-02 -1.78529381e-04 9.99765865e-01 -3.59769629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.128623853 meters 0.017099039851817172 Centerline is valid? [True, True] Translation: X:130.16, Y:-16.15, Z:-3.60 [[ 9.82245488e-01 1.86288886e-01 2.21416547e-02 1.30157515e+02] [-1.86246016e-01 9.82494994e-01 -4.00105684e-03 -1.61490382e+01] [-2.24994173e-02 -1.93774947e-04 9.99746837e-01 -3.60465035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.188623853 meters 0.018709475305811067 Centerline is valid? [True, True] Translation: X:130.22, Y:-16.16, Z:-3.61 [[ 9.81981764e-01 1.87652803e-01 2.23212870e-02 1.30218258e+02] [-1.87609473e-01 9.82235398e-01 -4.03848692e-03 -1.61566164e+01] [-2.26825916e-02 -2.21964377e-04 9.99742692e-01 -3.60673802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.248623853 meters 0.018630603656479793 Centerline is valid? [True, True] Translation: X:130.28, Y:-16.17, Z:-3.61 [[ 9.81912759e-01 1.88040347e-01 2.20943658e-02 1.30280167e+02] [-1.87997957e-01 9.82161278e-01 -3.99896874e-03 -1.61672461e+01] [-2.24521981e-02 -2.27057213e-04 9.99747892e-01 -3.60821429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.308623853 meters 0.017607562094203742 Centerline is valid? [True, True] Translation: X:130.34, Y:-16.18, Z:-3.61 [[ 9.82079099e-01 1.87215295e-01 2.17042940e-02 1.30341456e+02] [-1.87174095e-01 9.82318886e-01 -3.93256013e-03 -1.61787350e+01] [-2.20567733e-02 -2.00396472e-04 9.99756700e-01 -3.61076525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.368623853 meters 0.016771791351431854 Centerline is valid? [True, True] Translation: X:130.40, Y:-16.19, Z:-3.61 [[ 9.82374976e-01 1.85698107e-01 2.13452521e-02 1.30402660e+02] [-1.85657809e-01 9.82606833e-01 -3.87173136e-03 -1.61924293e+01] [-2.16929638e-02 -1.59420755e-04 9.99764667e-01 -3.61229547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.428623853 meters 0.015862989062023703 Centerline is valid? [True, True] Translation: X:130.46, Y:-16.20, Z:-3.61 [[ 9.82678864e-01 1.83963798e-01 2.23510750e-02 1.30463448e+02] [-1.83919143e-01 9.82933011e-01 -4.05508786e-03 -1.62045350e+01] [-2.27155988e-02 -1.25941434e-04 9.99741960e-01 -3.61240161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.488623853 meters 0.019323048714131843 Centerline is valid? [True, True] Translation: X:130.53, Y:-16.22, Z:-3.61 [[ 9.82941829e-01 1.82613998e-01 2.18515123e-02 1.30525648e+02] [-1.82570905e-01 9.83184682e-01 -3.96795100e-03 -1.62161078e+01] [-2.22086756e-02 -8.91853740e-05 9.99753353e-01 -3.60981595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54862385299998 meters 0.015163801264969459 Centerline is valid? [True, True] Translation: X:130.59, Y:-16.23, Z:-3.62 [[ 9.83158059e-01 1.81515197e-01 2.12712221e-02 1.30586288e+02] [-1.81474015e-01 9.83388138e-01 -3.86680568e-03 -1.62262219e+01] [-2.16197515e-02 -5.84928994e-05 9.99766264e-01 -3.61825497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60862385299998 meters 0.015269193164880845 Centerline is valid? [True, True] Translation: X:130.65, Y:-16.24, Z:-3.62 [[ 9.83227126e-01 1.81164142e-01 2.10706507e-02 1.30648564e+02] [-1.81123569e-01 9.83452872e-01 -3.83419052e-03 -1.62368754e+01] [-2.14166098e-02 -4.65113411e-05 9.99770637e-01 -3.62022097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66862385299999 meters 0.01516110942840062 Centerline is valid? [True, True] Translation: X:130.71, Y:-16.25, Z:-3.62 [[ 9.83306408e-01 1.80794296e-01 2.05409584e-02 1.30711336e+02] [-1.80755577e-01 9.83520931e-01 -3.74169720e-03 -1.62453784e+01] [-2.08789400e-02 -3.36579408e-05 9.99782011e-01 -3.62247063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.728623853 meters 0.014954111984938906 Centerline is valid? [True, True] Translation: X:130.77, Y:-16.26, Z:-3.62 [[ 9.83589797e-01 1.79125256e-01 2.15697421e-02 1.30773171e+02] [-1.79082046e-01 9.83826277e-01 -3.93424469e-03 -1.62558648e+01] [-2.19256016e-02 6.92940155e-06 9.99759605e-01 -3.62213602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.788623853 meters 0.015301770539747513 Centerline is valid? [True, True] Translation: X:130.83, Y:-16.27, Z:-3.62 [[ 9.83931412e-01 1.77190614e-01 2.19650528e-02 1.30834760e+02] [-1.77145289e-01 9.84176551e-01 -4.00789529e-03 -1.62695272e+01] [-2.23276513e-02 5.24884490e-05 9.99750706e-01 -3.62343189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.848623853 meters 0.01702455802508703 Centerline is valid? [True, True] Translation: X:130.89, Y:-16.29, Z:-3.63 [[ 9.84626257e-01 1.73295307e-01 2.19059568e-02 1.30893896e+02] [-1.73249160e-01 9.84869898e-01 -4.00161852e-03 -1.62858787e+01] [-2.22679791e-02 1.44910057e-04 9.99752027e-01 -3.62531582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.908623853 meters 0.018284149275184573 Centerline is valid? [True, True] Translation: X:130.95, Y:-16.30, Z:-3.63 [[ 9.84947578e-01 1.71418975e-01 2.22216851e-02 1.30954234e+02] [-1.71370932e-01 9.85198202e-01 -4.06280533e-03 -1.63002913e+01] [-2.25892061e-02 1.93499389e-04 9.99744813e-01 -3.62608496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.968623853 meters 0.01954977689503416 Centerline is valid? [True, True] Translation: X:131.02, Y:-16.31, Z:-3.63 [[ 9.85190878e-01 1.69972098e-01 2.25481479e-02 1.31015288e+02] [-1.69922164e-01 9.85448848e-01 -4.12636379e-03 -1.63135500e+01] [-2.29214131e-02 2.33825868e-04 9.99737243e-01 -3.62673271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.028623853 meters 0.020081063831309517 Centerline is valid? [True, True] Translation: X:131.08, Y:-16.33, Z:-3.63 [[ 9.85214117e-01 1.69887665e-01 2.21658386e-02 1.31075919e+02] [-1.69839308e-01 9.85463407e-01 -4.05997529e-03 -1.63264475e+01] [-2.25333625e-02 2.35314272e-04 9.99746064e-01 -3.62869049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.088623853 meters 0.01974734233576642 Centerline is valid? [True, True] Translation: X:131.14, Y:-16.34, Z:-3.63 [[ 9.85084456e-01 1.70665427e-01 2.19528209e-02 1.31136291e+02] [-1.70618100e-01 9.85329013e-01 -4.02492563e-03 -1.63357566e+01] [-2.23176670e-02 2.19343092e-04 9.99750906e-01 -3.63028589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.148623853 meters 0.01859833003757599 Centerline is valid? [True, True] Translation: X:131.20, Y:-16.34, Z:-3.63 [[ 9.84789748e-01 1.72345720e-01 2.20477716e-02 1.31197744e+02] [-1.72298329e-01 9.85036506e-01 -4.04563654e-03 -1.63448593e+01] [-2.24151081e-02 1.85307175e-04 9.99748733e-01 -3.63152510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.208623853 meters 0.017223258714742916 Centerline is valid? [True, True] Translation: X:131.26, Y:-16.35, Z:-3.63 [[ 9.84629407e-01 1.73244444e-01 2.21651549e-02 1.31259059e+02] [-1.73196695e-01 9.84878842e-01 -4.07073244e-03 -1.63537377e+01] [-2.25352239e-02 1.69231290e-04 9.99746035e-01 -3.63184666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.268623853 meters 0.017338773299439395 Centerline is valid? [True, True] Translation: X:131.32, Y:-16.37, Z:-3.63 [[ 9.84369602e-01 1.74690325e-01 2.23556986e-02 1.31319346e+02] [-1.74642033e-01 9.84623415e-01 -4.10972681e-03 -1.63662211e+01] [-2.27298738e-02 1.41245487e-04 9.99741633e-01 -3.63421653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32862385299998 meters 0.01630770257962827 Centerline is valid? [True, True] Translation: X:131.38, Y:-16.38, Z:-3.63 [[ 9.84181928e-01 1.75737640e-01 2.24101501e-02 1.31380803e+02] [-1.75689302e-01 9.84437031e-01 -4.12331034e-03 -1.63750080e+01] [-2.27860024e-02 1.20863890e-04 9.99740358e-01 -3.63466872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38862385299998 meters 0.015038233316686264 Centerline is valid? [True, True] Translation: X:131.44, Y:-16.38, Z:-3.64 [[ 9.83659500e-01 1.78562147e-01 2.30118835e-02 1.31442362e+02] [-1.78511859e-01 9.83928634e-01 -4.23796364e-03 -1.63831495e+01] [-2.33987910e-02 6.08190908e-05 9.99726209e-01 -3.63548414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.448623853 meters 0.014806154528339112 Centerline is valid? [True, True] Translation: X:131.50, Y:-16.39, Z:-3.64 [[ 9.83356744e-01 1.80284067e-01 2.25204279e-02 1.31504550e+02] [-1.80236273e-01 9.83614586e-01 -4.15105373e-03 -1.63929040e+01] [-2.28997902e-02 2.29686940e-05 9.99737765e-01 -3.63727610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.508623853 meters 0.014938726933424672 Centerline is valid? [True, True] Translation: X:131.57, Y:-16.41, Z:-3.64 [[ 9.83376866e-01 1.80217388e-01 2.21727878e-02 1.31565741e+02] [-1.80170945e-01 9.83626805e-01 -4.09122848e-03 -1.64057332e+01] [-2.25470589e-02 2.83273048e-05 9.99745782e-01 -3.64028268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.568623853 meters 0.015637071064207666 Centerline is valid? [True, True] Translation: X:131.63, Y:-16.42, Z:-3.64 [[ 9.83784346e-01 1.77998733e-01 2.20184170e-02 1.31625253e+02] [-1.77952281e-01 9.84030713e-01 -4.06713911e-03 -1.64223630e+01] [-2.23907442e-02 8.29602640e-05 9.99749292e-01 -3.64284119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.628623853 meters 0.02739206316532276 Centerline is valid? [True, True] Translation: X:131.68, Y:-16.44, Z:-3.64 [[ 9.84836402e-01 1.72158663e-01 2.14162373e-02 1.31684376e+02] [-1.72113252e-01 9.85069210e-01 -3.95974950e-03 -1.64442605e+01] [-2.17781812e-02 2.13687211e-04 9.99762804e-01 -3.63895423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.688623853 meters 0.022840664551910195 Centerline is valid? [True, True] Translation: X:131.74, Y:-16.47, Z:-3.65 [[ 9.85536201e-01 1.68093675e-01 2.15154323e-02 1.31742224e+02] [-1.68046788e-01 9.85770978e-01 -3.98196934e-03 -1.64674253e+01] [-2.18786326e-02 3.08775663e-04 9.99760586e-01 -3.64852758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.748623853 meters 0.026186666259576854 Centerline is valid? [True, True] Translation: X:131.80, Y:-16.49, Z:-3.65 [[ 9.86377127e-01 1.63107102e-01 2.13597164e-02 1.31800457e+02] [-1.63059630e-01 9.86608279e-01 -3.95737182e-03 -1.64902836e+01] [-2.17191484e-02 4.20553595e-04 9.99764023e-01 -3.65023084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.808623853 meters 0.028169552677473113 Centerline is valid? [True, True] Translation: X:131.86, Y:-16.51, Z:-3.65 [[ 9.86692747e-01 1.61190190e-01 2.13341402e-02 1.31860164e+02] [-1.61142391e-01 9.86923254e-01 -3.95227431e-03 -1.65093193e+01] [-2.16922270e-02 4.61846025e-04 9.99764589e-01 -3.65139571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.868623853 meters 0.033704118989416006 Centerline is valid? [True, True] Translation: X:131.92, Y:-16.54, Z:-3.65 [[ 9.87022329e-01 1.59177930e-01 2.11968924e-02 1.31917253e+02] [-1.59130199e-01 9.87249781e-01 -3.93061517e-03 -1.65354290e+01] [-2.15522946e-02 5.06539233e-04 9.99767594e-01 -3.65441212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.928623853 meters 0.03556085487301089 Centerline is valid? [True, True] Translation: X:131.97, Y:-16.56, Z:-3.65 [[ 9.87132207e-01 1.58393950e-01 2.19399775e-02 1.31974965e+02] [-1.58342536e-01 9.87375845e-01 -4.07213932e-03 -1.65583152e+01] [-2.23080060e-02 5.45708198e-04 9.99750997e-01 -3.65474676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.988623853 meters 0.031110868756441916 Centerline is valid? [True, True] Translation: X:132.04, Y:-16.57, Z:-3.65 [[ 9.87002731e-01 1.59104780e-01 2.26114611e-02 1.32035983e+02] [-1.59050279e-01 9.87261550e-01 -4.20014943e-03 -1.65707040e+01] [-2.29916900e-02 5.49199748e-04 9.99735505e-01 -3.65341283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04862385299998 meters 0.03079085068517594 Centerline is valid? [True, True] Translation: X:132.10, Y:-16.59, Z:-3.65 [[ 9.86899221e-01 1.59663850e-01 2.31815138e-02 1.32096416e+02] [-1.59606623e-01 9.87171286e-01 -4.31015976e-03 -1.65850648e+01] [-2.35723015e-02 5.53770170e-04 9.99721981e-01 -3.65424298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10862385299998 meters 0.029190983051251066 Centerline is valid? [True, True] Translation: X:132.16, Y:-16.60, Z:-3.66 [[ 9.86623389e-01 1.61329730e-01 2.33881850e-02 1.32156398e+02] [-1.61271850e-01 9.86900423e-01 -4.35264562e-03 -1.66039605e+01] [-2.37840208e-02 5.22566119e-04 9.99716984e-01 -3.65609224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16862385299999 meters 0.027199780432408262 Centerline is valid? [True, True] Translation: X:132.22, Y:-16.62, Z:-3.66 [[ 9.86251549e-01 1.63669145e-01 2.28099399e-02 1.32216390e+02] [-1.63614628e-01 9.86515180e-01 -4.24886299e-03 -1.66193250e+01] [-2.31977597e-02 4.58407890e-04 9.99730791e-01 -3.65866197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.228623853 meters 0.022057231809923798 Centerline is valid? [True, True] Translation: X:132.28, Y:-16.63, Z:-3.66 [[ 9.85277310e-01 1.69454505e-01 2.26670267e-02 1.32276282e+02] [-1.69402092e-01 9.85537957e-01 -4.22682860e-03 -1.66321685e+01] [-2.30554704e-02 3.24756569e-04 9.99734135e-01 -3.66071021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.288623853 meters 0.01856535621314406 Centerline is valid? [True, True] Translation: X:132.34, Y:-16.64, Z:-3.66 [[ 9.84357343e-01 1.74752281e-01 2.24112090e-02 1.32336143e+02] [-1.74702403e-01 9.84612411e-01 -4.17967330e-03 -1.66422831e+01] [-2.27967619e-02 1.99000046e-04 9.99740100e-01 -3.66331114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.348623853 meters 0.015013829406902622 Centerline is valid? [True, True] Translation: X:132.40, Y:-16.65, Z:-3.67 [[ 9.82569041e-01 1.84563663e-01 2.22336355e-02 1.32399110e+02] [-1.84517072e-01 9.82820560e-01 -4.14691561e-03 -1.66456148e+01] [-2.26170440e-02 -2.78544197e-05 9.99744202e-01 -3.66561370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.408623853 meters 0.016649941091410023 Centerline is valid? [True, True] Translation: X:132.46, Y:-16.65, Z:-3.67 [[ 9.81458808e-01 1.90399885e-01 2.20565563e-02 1.32461221e+02] [-1.90355488e-01 9.81706605e-01 -4.11460095e-03 -1.66535462e+01] [-2.24364865e-02 -1.60275194e-04 9.99748258e-01 -3.66735999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.468623853 meters 0.021375394418613334 Centerline is valid? [True, True] Translation: X:132.52, Y:-16.66, Z:-3.67 [[ 9.80119723e-01 1.97122856e-01 2.25368185e-02 1.32522819e+02] [-1.97078177e-01 9.80378743e-01 -4.20867790e-03 -1.66610602e+01] [-2.29242444e-02 -3.16506869e-04 9.99737155e-01 -3.66831337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.528623853 meters 0.02358278160501082 Centerline is valid? [True, True] Translation: X:132.58, Y:-16.67, Z:-3.67 [[ 9.79512184e-01 2.00073434e-01 2.29456324e-02 1.32583634e+02] [-2.00027912e-01 9.79780826e-01 -4.28567203e-03 -1.66712382e+01] [-2.33391398e-02 -3.91898961e-04 9.99727528e-01 -3.66960965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.588623853 meters 0.028173630042133777 Centerline is valid? [True, True] Translation: X:132.64, Y:-16.68, Z:-3.67 [[ 9.78630264e-01 2.04318199e-01 2.31706857e-02 1.32643346e+02] [-2.04272873e-01 9.78904403e-01 -4.33173969e-03 -1.66783964e+01] [-2.35669395e-02 -4.93970978e-04 9.99722139e-01 -3.67169180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.648623853 meters 0.031645827976981004 Centerline is valid? [True, True] Translation: X:132.70, Y:-16.69, Z:-3.67 [[ 9.78005443e-01 2.07381260e-01 2.23241212e-02 1.32704970e+02] [-2.07339953e-01 9.78260045e-01 -4.17479723e-03 -1.66860086e+01] [-2.27045705e-02 -5.45707805e-04 9.99742069e-01 -3.67493071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.708623853 meters 0.036981965013424545 Centerline is valid? [True, True] Translation: X:132.77, Y:-16.69, Z:-3.68 [[ 9.77114743e-01 2.11678905e-01 2.09480318e-02 1.32765245e+02] [-2.11643495e-01 9.77339079e-01 -3.91862538e-03 -1.66875863e+01] [-2.13028205e-02 -6.04568029e-04 9.99772886e-01 -3.67956696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.768623853 meters 0.04006113743503555 Centerline is valid? [True, True] Translation: X:132.83, Y:-16.69, Z:-3.68 [[ 9.76657889e-01 2.13779003e-01 2.09261813e-02 1.32827636e+02] [-2.13744154e-01 9.76881833e-01 -3.91425145e-03 -1.66931005e+01] [-2.12791911e-02 -6.49964353e-04 9.99773361e-01 -3.68249870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82862385299998 meters 0.041425269365859906 Centerline is valid? [True, True] Translation: X:132.89, Y:-16.70, Z:-3.68 [[ 9.76429716e-01 2.14771640e-01 2.14044816e-02 1.32889175e+02] [-2.14735410e-01 9.76664052e-01 -4.00405419e-03 -1.67013283e+01] [-2.17649450e-02 -6.86622634e-04 9.99762880e-01 -3.68360187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88862385299998 meters 0.03366834967119008 Centerline is valid? [True, True] Translation: X:132.95, Y:-16.72, Z:-3.68 [[ 9.76720660e-01 2.13405874e-01 2.17872953e-02 1.32948802e+02] [-2.13367921e-01 9.76963403e-01 -4.07906199e-03 -1.67206716e+01] [-2.21558859e-02 -6.64605788e-04 9.99754307e-01 -3.68341491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.948623853 meters 0.03309005823980332 Centerline is valid? [True, True] Translation: X:133.01, Y:-16.73, Z:-3.69 [[ 9.77076133e-01 2.11772269e-01 2.17884626e-02 1.33009141e+02] [-2.11733822e-01 9.77318841e-01 -4.08311066e-03 -1.67313891e+01] [-2.21589646e-02 -6.23844478e-04 9.99754265e-01 -3.68571240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.008623853 meters 0.031403251005141054 Centerline is valid? [True, True] Translation: X:133.07, Y:-16.74, Z:-3.69 [[ 9.77470359e-01 2.10012703e-01 2.11272829e-02 1.33070396e+02] [-2.09976076e-01 9.77698495e-01 -3.96236700e-03 -1.67413803e+01] [-2.14882601e-02 -5.63127667e-04 9.99768942e-01 -3.68899619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.068623853 meters 0.0302399295257157 Centerline is valid? [True, True] Translation: X:133.13, Y:-16.75, Z:-3.69 [[ 9.77597523e-01 2.09467953e-01 2.06460599e-02 1.33131985e+02] [-2.09432782e-01 9.77815366e-01 -3.87549761e-03 -1.67515038e+01] [-2.09998271e-02 -5.35284894e-04 9.99779336e-01 -3.69178896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.128623853 meters 0.0356562142604697 Centerline is valid? [True, True] Translation: X:133.19, Y:-16.75, Z:-3.69 [[ 9.77568762e-01 2.09499243e-01 2.16652376e-02 1.33194426e+02] [-2.09460433e-01 9.77808650e-01 -4.07085429e-03 -1.67519356e+01] [-2.20372976e-02 -5.58470053e-04 9.99756993e-01 -3.69345893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.188623853 meters 0.03219533598599727 Centerline is valid? [True, True] Translation: X:133.26, Y:-16.76, Z:-3.69 [[ 9.77283150e-01 2.10770582e-01 2.22127723e-02 1.33255620e+02] [-2.10730032e-01 9.77535372e-01 -4.17732476e-03 -1.67644804e+01] [-2.25942278e-02 -5.98469126e-04 9.99744539e-01 -3.69282463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.248623853 meters 0.034141750755383254 Centerline is valid? [True, True] Translation: X:133.32, Y:-16.77, Z:-3.69 [[ 9.76877490e-01 2.12650261e-01 2.21412843e-02 1.33318365e+02] [-2.12610370e-01 9.77128171e-01 -4.16761475e-03 -1.67662835e+01] [-2.25211170e-02 -6.36217603e-04 9.99746165e-01 -3.69498111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.308623853 meters 0.034716920178967596 Centerline is valid? [True, True] Translation: X:133.38, Y:-16.77, Z:-3.70 [[ 9.76626778e-01 2.13774458e-01 2.23745019e-02 1.33380500e+02] [-2.13733933e-01 9.76882817e-01 -4.21519349e-03 -1.67717258e+01] [-2.27583671e-02 -6.65519445e-04 9.99740773e-01 -3.69662914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.368623853 meters 0.035718409957947235 Centerline is valid? [True, True] Translation: X:133.44, Y:-16.78, Z:-3.70 [[ 9.76515179e-01 2.14343785e-01 2.17909940e-02 1.33443120e+02] [-2.14305409e-01 9.76758061e-01 -4.10882192e-03 -1.67761514e+01] [-2.21652295e-02 -6.57600900e-04 9.99754105e-01 -3.69917455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.428623853 meters 0.034510355467207904 Centerline is valid? [True, True] Translation: X:133.51, Y:-16.78, Z:-3.70 [[ 9.76616058e-01 2.13844997e-01 2.21673726e-02 1.33506021e+02] [-2.13805058e-01 9.76867386e-01 -4.18411218e-03 -1.67808741e+01] [-2.25493348e-02 -6.53225250e-04 9.99745518e-01 -3.70016764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.488623853 meters 0.030006545033609666 Centerline is valid? [True, True] Translation: X:133.57, Y:-16.79, Z:-3.70 [[ 9.77218262e-01 2.10990142e-01 2.29701414e-02 1.33567155e+02] [-2.10946433e-01 9.77488001e-01 -4.33718062e-03 -1.67894555e+01] [-2.33681399e-02 -6.07097271e-04 9.99726743e-01 -3.69958253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54862385299998 meters 0.028267144878529007 Centerline is valid? [True, True] Translation: X:133.63, Y:-16.80, Z:-3.70 [[ 9.77995365e-01 2.07299303e-01 2.34960667e-02 1.33626867e+02] [-2.07252480e-01 9.78277424e-01 -4.43748815e-03 -1.67975203e+01] [-2.39055599e-02 -5.29775255e-04 9.99714081e-01 -3.70154120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60862385299998 meters 0.024447778221420743 Centerline is valid? [True, True] Translation: X:133.69, Y:-16.81, Z:-3.70 [[ 9.78931102e-01 2.02817733e-01 2.36403146e-02 1.33687033e+02] [-2.02769020e-01 9.79216416e-01 -4.46498639e-03 -1.68102226e+01] [-2.40545626e-02 -4.22609375e-04 9.99710558e-01 -3.70325470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66862385299999 meters 0.019747190413352936 Centerline is valid? [True, True] Translation: X:133.75, Y:-16.82, Z:-3.71 [[ 9.80221011e-01 1.96622559e-01 2.25019942e-02 1.33746617e+02] [-1.96576778e-01 9.80479221e-01 -4.25050725e-03 -1.68233370e+01] [-2.28984834e-02 -2.56933024e-04 9.99737762e-01 -3.70716398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.728623853 meters 0.01787423942674716 Centerline is valid? [True, True] Translation: X:133.81, Y:-16.84, Z:-3.71 [[ 9.80905314e-01 1.93253147e-01 2.18629044e-02 1.33806798e+02] [-1.93209098e-01 9.81148914e-01 -4.12958343e-03 -1.68357747e+01] [-2.22488199e-02 -1.73381699e-04 9.99752449e-01 -3.71018718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.788623853 meters 0.01591176993794787 Centerline is valid? [True, True] Translation: X:133.87, Y:-16.85, Z:-3.71 [[ 9.81884410e-01 1.88267698e-01 2.14074781e-02 1.33867277e+02] [-1.88224210e-01 9.82117748e-01 -4.04673690e-03 -1.68489789e+01] [-2.17865340e-02 -5.59777658e-05 9.99762644e-01 -3.71292689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.848623853 meters 0.015697396972151178 Centerline is valid? [True, True] Translation: X:133.93, Y:-16.86, Z:-3.71 [[ 9.82436193e-01 1.85307985e-01 2.19106735e-02 1.33928627e+02] [-1.85261608e-01 9.82680493e-01 -4.14557070e-03 -1.68621512e+01] [-2.22993988e-02 1.35520843e-05 9.99751337e-01 -3.71372138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.908623853 meters 0.016152372441373266 Centerline is valid? [True, True] Translation: X:133.99, Y:-16.87, Z:-3.71 [[ 9.82905303e-01 1.82703277e-01 2.27305380e-02 1.33990884e+02] [-1.82652561e-01 9.83168097e-01 -4.30530028e-03 -1.68744131e+01] [-2.31345323e-02 7.99114856e-05 9.99732358e-01 -3.71378264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.968623853 meters 0.016059896622114374 Centerline is valid? [True, True] Translation: X:134.05, Y:-16.88, Z:-3.71 [[ 9.82870887e-01 1.82858142e-01 2.29721393e-02 1.34052955e+02] [-1.82806280e-01 9.83139305e-01 -4.35553654e-03 -1.68847835e+01] [-2.33812584e-02 8.14787240e-05 9.99726618e-01 -3.71432893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.028623853 meters 0.015914156748851875 Centerline is valid? [True, True] Translation: X:134.12, Y:-16.89, Z:-3.72 [[ 9.82612239e-01 1.84253367e-01 2.28885377e-02 1.34115200e+02] [-1.84202152e-01 9.82878779e-01 -4.34435154e-03 -1.68910154e+01] [-2.32971194e-02 5.26950943e-05 9.99728584e-01 -3.71666671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.088623853 meters 0.01575361523161717 Centerline is valid? [True, True] Translation: X:134.18, Y:-16.89, Z:-3.72 [[ 9.81812060e-01 1.88602654e-01 2.17742261e-02 1.34179276e+02] [-1.88557289e-01 9.82053480e-01 -4.13662942e-03 -1.68894842e+01] [-2.21636338e-02 -4.42963801e-05 9.99754356e-01 -3.72023776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.148623853 meters 0.01624642115390947 Centerline is valid? [True, True] Translation: X:134.24, Y:-16.89, Z:-3.72 [[ 9.81316343e-01 1.91140012e-01 2.19939010e-02 1.34242293e+02] [-1.91094266e-01 9.81562778e-01 -4.18273768e-03 -1.68936612e+01] [-2.23878831e-02 -9.83195239e-05 9.99749355e-01 -3.72211149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.208623853 meters 0.016555495569006328 Centerline is valid? [True, True] Translation: X:134.31, Y:-16.90, Z:-3.72 [[ 9.80965451e-01 1.92825347e-01 2.29165996e-02 1.34305615e+02] [-1.92776032e-01 9.81233085e-01 -4.36287265e-03 -1.68972519e+01] [-2.33277982e-02 -1.37943820e-04 9.99727860e-01 -3.72131627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.268623853 meters 0.016167348649487608 Centerline is valid? [True, True] Translation: X:134.37, Y:-16.91, Z:-3.72 [[ 9.81073062e-01 1.92206907e-01 2.34979068e-02 1.34367238e+02] [-1.92154764e-01 9.81354416e-01 -4.47843345e-03 -1.69057570e+01] [-2.39205604e-02 -1.21564312e-04 9.99713855e-01 -3.72234442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32862385299998 meters 0.015418309063973373 Centerline is valid? [True, True] Translation: X:134.43, Y:-16.92, Z:-3.72 [[ 9.81738061e-01 1.88741945e-01 2.38087767e-02 1.34427444e+02] [-1.88687290e-01 9.82026719e-01 -4.54198121e-03 -1.69162622e+01] [-2.42381172e-02 -3.33777089e-05 9.99706213e-01 -3.72420298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38862385299998 meters 0.015785619757085135 Centerline is valid? [True, True] Translation: X:134.49, Y:-16.93, Z:-3.73 [[ 9.82393628e-01 1.85236710e-01 2.42924238e-02 1.34487773e+02] [-1.85178641e-01 9.82693929e-01 -4.63819438e-03 -1.69306510e+01] [-2.47311812e-02 5.80945745e-05 9.99694136e-01 -3.72612144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.448623853 meters 0.018319992310993783 Centerline is valid? [True, True] Translation: X:134.55, Y:-16.95, Z:-3.73 [[ 9.83653619e-01 1.78398028e-01 2.44887977e-02 1.34547690e+02] [-1.78336783e-01 9.83958377e-01 -4.68017792e-03 -1.69477857e+01] [-2.49308921e-02 2.36420556e-04 9.99689149e-01 -3.72683180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.508623853 meters 0.022495038943103087 Centerline is valid? [True, True] Translation: X:134.61, Y:-16.97, Z:-3.73 [[ 9.84540350e-01 1.73474027e-01 2.42293645e-02 1.34605683e+02] [-1.73412466e-01 9.84838378e-01 -4.63526626e-03 -1.69670619e+01] [-2.46661063e-02 3.61932814e-04 9.99695680e-01 -3.72920747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.568623853 meters 0.029341164314500016 Centerline is valid? [True, True] Translation: X:134.66, Y:-16.99, Z:-3.73 [[ 9.85731384e-01 1.66590924e-01 2.41060871e-02 1.34662682e+02] [-1.66527871e-01 9.86025953e-01 -4.61398368e-03 -1.69892925e+01] [-2.45378753e-02 5.33813131e-04 9.99698758e-01 -3.73132616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.628623853 meters 0.032166545940120216 Centerline is valid? [True, True] Translation: X:134.72, Y:-17.01, Z:-3.73 [[ 9.86430718e-01 1.62433496e-01 2.38704358e-02 1.34721136e+02] [-1.62370424e-01 9.86719291e-01 -4.57008309e-03 -1.70067247e+01] [-2.42957541e-02 6.32217557e-04 9.99704615e-01 -3.73299456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.688623853 meters 0.037561170378527846 Centerline is valid? [True, True] Translation: X:134.78, Y:-17.03, Z:-3.73 [[ 9.87360731e-01 1.56769118e-01 2.32858305e-02 1.34778202e+02] [-1.56707503e-01 9.87634991e-01 -4.45898385e-03 -1.70296333e+01] [-2.36969319e-02 7.53561199e-04 9.99718904e-01 -3.73491539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.748623853 meters 0.04119904774452343 Centerline is valid? [True, True] Translation: X:134.84, Y:-17.05, Z:-3.74 [[ 9.87814284e-01 1.53880436e-01 2.33184907e-02 1.34836053e+02] [-1.53817839e-01 9.88089132e-01 -4.46546933e-03 -1.70488911e+01] [-2.37278956e-02 8.24254535e-04 9.99718114e-01 -3.73646404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.808623853 meters 0.042663661356751335 Centerline is valid? [True, True] Translation: X:134.90, Y:-17.07, Z:-3.74 [[ 9.88049169e-01 1.52232353e-01 2.41692139e-02 1.34896122e+02] [-1.52164607e-01 9.88344327e-01 -4.62857782e-03 -1.70658962e+01] [-2.45921247e-02 8.95563549e-04 9.99697167e-01 -3.73678723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.868623853 meters 0.04346038529671578 Centerline is valid? [True, True] Translation: X:134.96, Y:-17.09, Z:-3.74 [[ 9.88046339e-01 1.52157458e-01 2.47495551e-02 1.34956934e+02] [-1.52086373e-01 9.88355838e-01 -4.74060391e-03 -1.70850203e+01] [-2.51826855e-02 9.19866290e-04 9.99682443e-01 -3.73733604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.928623853 meters 0.041855325103802445 Centerline is valid? [True, True] Translation: X:135.02, Y:-17.10, Z:-3.74 [[ 9.87773154e-01 1.54004008e-01 2.42272796e-02 1.35017169e+02] [-1.53936321e-01 9.88069849e-01 -4.64566842e-03 -1.70991507e+01] [-2.46536961e-02 8.59408267e-04 9.99695682e-01 -3.74038118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.988623853 meters 0.03842445880961463 Centerline is valid? [True, True] Translation: X:135.08, Y:-17.11, Z:-3.74 [[ 9.87070032e-01 1.58564252e-01 2.34548661e-02 1.35075992e+02] [-1.58502074e-01 9.87348396e-01 -4.49852090e-03 -1.71119249e+01] [-2.38714290e-02 7.22710238e-04 9.99714776e-01 -3.74354557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04862385299998 meters 0.03541024699814734 Centerline is valid? [True, True] Translation: X:135.14, Y:-17.12, Z:-3.74 [[ 9.86522491e-01 1.61898438e-01 2.37122590e-02 1.35136210e+02] [-1.61835851e-01 9.86807213e-01 -4.54780235e-03 -1.71231787e+01] [-2.41357103e-02 6.49015682e-04 9.99708481e-01 -3.74499418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10862385299998 meters 0.032288149458151755 Centerline is valid? [True, True] Translation: X:135.20, Y:-17.13, Z:-3.75 [[ 9.85928412e-01 1.65442180e-01 2.39593805e-02 1.35195360e+02] [-1.65379313e-01 9.86219327e-01 -4.59581891e-03 -1.71343250e+01] [-2.43895464e-02 5.68762565e-04 9.99702369e-01 -3.74577024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16862385299999 meters 0.026002568671282297 Centerline is valid? [True, True] Translation: X:135.26, Y:-17.14, Z:-3.75 [[ 9.85066909e-01 1.70402324e-01 2.46217884e-02 1.35256371e+02] [-1.70337474e-01 9.85374466e-01 -4.72307211e-03 -1.71445015e+01] [-2.50665041e-02 4.58528807e-04 9.99685681e-01 -3.74629668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.228623853 meters 0.025576269655726232 Centerline is valid? [True, True] Translation: X:135.32, Y:-17.16, Z:-3.75 [[ 9.84592621e-01 1.73131335e-01 2.45542376e-02 1.35315485e+02] [-1.73067658e-01 9.84898670e-01 -4.71131427e-03 -1.71595372e+01] [-2.49991121e-02 3.89180868e-04 9.99687398e-01 -3.74873243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.288623853 meters 0.023650191512161883 Centerline is valid? [True, True] Translation: X:135.38, Y:-17.18, Z:-3.75 [[ 9.84208024e-01 1.75410985e-01 2.37813432e-02 1.35375711e+02] [-1.75351871e-01 9.84495242e-01 -4.56502799e-03 -1.71752150e+01] [-2.42133753e-02 3.22834170e-04 9.99706761e-01 -3.75294218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.348623853 meters 0.021166587700455302 Centerline is valid? [True, True] Translation: X:135.44, Y:-17.19, Z:-3.75 [[ 9.83996277e-01 1.76423371e-01 2.50224236e-02 1.35436094e+02] [-1.76358143e-01 9.84314327e-01 -4.80749447e-03 -1.71913322e+01] [-2.54780844e-02 3.17648502e-04 9.99675330e-01 -3.75140534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.408623853 meters 0.021806330340693354 Centerline is valid? [True, True] Translation: X:135.49, Y:-17.21, Z:-3.75 [[ 9.83905588e-01 1.76866703e-01 2.54551113e-02 1.35494579e+02] [-1.76799228e-01 9.84234763e-01 -4.89525270e-03 -1.72095644e+01] [-2.59196126e-02 3.16022466e-04 9.99663980e-01 -3.75303253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.468623853 meters 0.02062561015723966 Centerline is valid? [True, True] Translation: X:135.56, Y:-17.22, Z:-3.76 [[ 9.83767617e-01 1.77688054e-01 2.50645249e-02 1.35555178e+02] [-1.77622844e-01 9.84086821e-01 -4.82234930e-03 -1.72241108e+01] [-2.55225425e-02 2.92038884e-04 9.99674204e-01 -3.75507712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.528623853 meters 0.019165310003329664 Centerline is valid? [True, True] Translation: X:135.62, Y:-17.24, Z:-3.76 [[ 9.83368565e-01 1.79885428e-01 2.50499225e-02 1.35615096e+02] [-1.79820897e-01 9.83687540e-01 -4.82382456e-03 -1.72404012e+01] [-2.55090324e-02 2.39097900e-04 9.99674563e-01 -3.75732380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.588623853 meters 0.01808415410673728 Centerline is valid? [True, True] Translation: X:135.67, Y:-17.26, Z:-3.76 [[ 9.83014888e-01 1.81870221e-01 2.45957665e-02 1.35674384e+02] [-1.81808526e-01 9.83322524e-01 -4.74053763e-03 -1.72550178e+01] [-2.50477338e-02 1.88299018e-04 9.99686239e-01 -3.75953580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.648623853 meters 0.016577363315349272 Centerline is valid? [True, True] Translation: X:135.74, Y:-17.27, Z:-3.76 [[ 9.82393165e-01 1.85201281e-01 2.45795557e-02 1.35735315e+02] [-1.85140605e-01 9.82700602e-01 -4.74155257e-03 -1.72694679e+01] [-2.50324858e-02 1.07395029e-04 9.99686632e-01 -3.76204580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.708623853 meters 0.016022399762081127 Centerline is valid? [True, True] Translation: X:135.80, Y:-17.28, Z:-3.76 [[ 9.81979391e-01 1.87409145e-01 2.43780354e-02 1.35796175e+02] [-1.87350112e-01 9.82281940e-01 -4.70380157e-03 -1.72833846e+01] [-2.48276394e-02 5.18085319e-05 9.99691745e-01 -3.76394085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76862385299998 meters 0.016159901349422884 Centerline is valid? [True, True] Translation: X:135.86, Y:-17.29, Z:-3.77 [[ 9.81023461e-01 1.92431702e-01 2.37277944e-02 1.35856900e+02] [-1.92377150e-01 9.81310366e-01 -4.58226708e-03 -1.72944971e+01] [-2.41661041e-02 -6.93739361e-05 9.99707955e-01 -3.76723486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82862385299998 meters 0.018645278976625632 Centerline is valid? [True, True] Translation: X:135.92, Y:-17.30, Z:-3.77 [[ 9.79893969e-01 1.98096821e-01 2.37794036e-02 1.35918161e+02] [-1.98043588e-01 9.80182436e-01 -4.59669073e-03 -1.73003641e+01] [-2.42187436e-02 -2.05088893e-04 9.99706662e-01 -3.76881590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88862385299998 meters 0.02382844755277181 Centerline is valid? [True, True] Translation: X:135.98, Y:-17.30, Z:-3.77 [[ 9.78496385e-01 2.04864921e-01 2.39830806e-02 1.35979989e+02] [-2.04812702e-01 9.78790185e-01 -4.64017274e-03 -1.73028763e+01] [-2.44250125e-02 -3.71647282e-04 9.99701596e-01 -3.76990339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.948623853 meters 0.029763672486645684 Centerline is valid? [True, True] Translation: X:136.04, Y:-17.30, Z:-3.77 [[ 9.77057783e-01 2.11667612e-01 2.35565587e-02 1.36041808e+02] [-2.11619193e-01 9.77341568e-01 -4.55823302e-03 -1.73045932e+01] [-2.39876343e-02 -5.31362900e-04 9.99712114e-01 -3.77248362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.008623853 meters 0.038734632841972455 Centerline is valid? [True, True] Translation: X:136.10, Y:-17.30, Z:-3.78 [[ 9.75362499e-01 2.19482657e-01 2.22566672e-02 1.36103500e+02] [-2.19441458e-01 9.75616162e-01 -4.30696758e-03 -1.73005326e+01] [-2.26592689e-02 -6.83180847e-04 9.99743012e-01 -3.77695406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.068623853 meters 0.0392964783584476 Centerline is valid? [True, True] Translation: X:136.16, Y:-17.31, Z:-3.78 [[ 9.74764874e-01 2.22122639e-01 2.22480210e-02 1.36163989e+02] [-2.22082155e-01 9.75018451e-01 -4.30545142e-03 -1.73073154e+01] [-2.26485692e-02 -7.44085626e-04 9.99743211e-01 -3.77782612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.128623853 meters 0.038407928130425095 Centerline is valid? [True, True] Translation: X:136.23, Y:-17.31, Z:-3.78 [[ 9.74538993e-01 2.22970817e-01 2.36170729e-02 1.36225755e+02] [-2.22925452e-01 9.74824783e-01 -4.57011602e-03 -1.73136231e+01] [-2.40415105e-02 -8.11090394e-04 9.99710632e-01 -3.77721171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.188623853 meters 0.036917743291691986 Centerline is valid? [True, True] Translation: X:136.29, Y:-17.32, Z:-3.78 [[ 9.74851783e-01 2.21577905e-01 2.38166357e-02 1.36287066e+02] [-2.21531256e-01 9.75142361e-01 -4.61282781e-03 -1.73236900e+01] [-2.42467111e-02 -7.79305811e-04 9.99705702e-01 -3.77837602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.248623853 meters 0.035829941989943555 Centerline is valid? [True, True] Translation: X:136.35, Y:-17.33, Z:-3.78 [[ 9.75751601e-01 2.17693453e-01 2.27678418e-02 1.36346475e+02] [-2.17649661e-01 9.76016977e-01 -4.41412944e-03 -1.73304155e+01] [-2.31827273e-02 -6.48319199e-04 9.99731034e-01 -3.78257677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.308623853 meters 0.03047209443930481 Centerline is valid? [True, True] Translation: X:136.41, Y:-17.34, Z:-3.79 [[ 9.76566390e-01 2.14101830e-01 2.18744668e-02 1.36406615e+02] [-2.14060512e-01 9.76811196e-01 -4.24072945e-03 -1.73442207e+01] [-2.22751721e-02 -5.41105718e-04 9.99751731e-01 -3.78520046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.368623853 meters 0.02485121963555144 Centerline is valid? [True, True] Translation: X:136.47, Y:-17.36, Z:-3.79 [[ 9.77933372e-01 2.07742191e-01 2.21246966e-02 1.36466385e+02] [-2.07698271e-01 9.78183532e-01 -4.29018451e-03 -1.73568506e+01] [-2.25332662e-02 -3.99746642e-04 9.99746014e-01 -3.78691931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.428623853 meters 0.020318486831813653 Centerline is valid? [True, True] Translation: X:136.53, Y:-17.37, Z:-3.79 [[ 9.78874948e-01 2.03176148e-01 2.28755273e-02 1.36526023e+02] [-2.03127944e-01 9.79142155e-01 -4.43600805e-03 -1.73723718e+01] [-2.32996841e-02 -3.04361676e-04 9.99728479e-01 -3.78623821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.488623853 meters 0.01674504820049043 Centerline is valid? [True, True] Translation: X:136.59, Y:-17.38, Z:-3.79 [[ 9.80198233e-01 1.96541106e-01 2.41457507e-02 1.36585228e+02] [-1.96485367e-01 9.80495574e-01 -4.68302196e-03 -1.73846276e+01] [-2.45952080e-02 -1.53996851e-04 9.99697480e-01 -3.78516950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54862385299998 meters 0.015623552569063759 Centerline is valid? [True, True] Translation: X:136.65, Y:-17.40, Z:-3.79 [[ 9.80867104e-01 1.93175244e-01 2.41464249e-02 1.36645098e+02] [-1.93118485e-01 9.81164268e-01 -4.68299461e-03 -1.73959440e+01] [-2.45962479e-02 -6.97256321e-05 9.99697464e-01 -3.78723502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60862385299998 meters 0.015451154708972608 Centerline is valid? [True, True] Translation: X:136.71, Y:-17.41, Z:-3.79 [[ 9.81347294e-01 1.90749000e-01 2.39229373e-02 1.36705496e+02] [-1.90692475e-01 9.81638843e-01 -4.64339413e-03 -1.74074618e+01] [-2.43694073e-02 -5.14185487e-06 9.99703022e-01 -3.78962181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66862385299999 meters 0.016051572386143402 Centerline is valid? [True, True] Translation: X:136.77, Y:-17.42, Z:-3.79 [[ 9.82010500e-01 1.87382187e-01 2.33086493e-02 1.36767386e+02] [-1.87327480e-01 9.82287081e-01 -4.52831100e-03 -1.74169119e+01] [-2.37443099e-02 8.04984193e-05 9.99718061e-01 -3.79259127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.728623853 meters 0.016674918067234548 Centerline is valid? [True, True] Translation: X:136.83, Y:-17.43, Z:-3.80 [[ 9.82319197e-01 1.85814002e-01 2.28506253e-02 1.36828215e+02] [-1.85760909e-01 9.82584929e-01 -4.44323877e-03 -1.74268941e+01] [-2.32782961e-02 1.19925811e-04 9.99729017e-01 -3.79569030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.788623853 meters 0.017906365666023508 Centerline is valid? [True, True] Translation: X:136.89, Y:-17.44, Z:-3.80 [[ 9.82684583e-01 1.83983762e-01 2.19313950e-02 1.36890206e+02] [-1.83934327e-01 9.82929270e-01 -4.26776320e-03 -1.74353132e+01] [-2.23422092e-02 1.59928741e-04 9.99750369e-01 -3.79900223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.848623853 meters 0.018645343113068816 Centerline is valid? [True, True] Translation: X:136.95, Y:-17.44, Z:-3.80 [[ 9.82864056e-01 1.82973712e-01 2.23353530e-02 1.36951622e+02] [-1.82922089e-01 9.83117788e-01 -4.35025099e-03 -1.74431711e+01] [-2.27542645e-02 1.90075889e-04 9.99741070e-01 -3.80043652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.908623853 meters 0.019192830476310655 Centerline is valid? [True, True] Translation: X:137.01, Y:-17.45, Z:-3.80 [[ 9.82965096e-01 1.82416768e-01 2.24442336e-02 1.37014136e+02] [-1.82364402e-01 9.83221277e-01 -4.37555601e-03 -1.74517577e+01] [-2.28658228e-02 2.07989603e-04 9.99738521e-01 -3.80221117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.968623853 meters 0.020211144352256166 Centerline is valid? [True, True] Translation: X:137.08, Y:-17.46, Z:-3.80 [[ 9.83221419e-01 1.81041348e-01 2.23533528e-02 1.37075646e+02] [-1.80988949e-01 9.83475455e-01 -4.36228313e-03 -1.74630767e+01] [-2.27737274e-02 2.43380398e-04 9.99740615e-01 -3.80353052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.028623853 meters 0.027758594543197602 Centerline is valid? [True, True] Translation: X:137.14, Y:-17.47, Z:-3.80 [[ 9.83628887e-01 1.78817634e-01 2.23263582e-02 1.37136304e+02] [-1.78764700e-01 9.83882190e-01 -4.36090242e-03 -1.74738558e+01] [-2.27463125e-02 2.98344875e-04 9.99741225e-01 -3.79946614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.088623853 meters 0.023399519697674547 Centerline is valid? [True, True] Translation: X:137.20, Y:-17.49, Z:-3.81 [[ 9.83771307e-01 1.77997743e-01 2.26012848e-02 1.37196923e+02] [-1.77943198e-01 9.84030842e-01 -4.41815880e-03 -1.74851282e+01] [-2.30267836e-02 3.24712953e-04 9.99734796e-01 -3.80682080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.148623853 meters 0.022959044697750838 Centerline is valid? [True, True] Translation: X:137.26, Y:-17.49, Z:-3.81 [[ 9.83628510e-01 1.78789196e-01 2.25693805e-02 1.37257756e+02] [-1.78734926e-01 9.83887355e-01 -4.41574177e-03 -1.74924035e+01] [-2.29952150e-02 3.09512951e-04 9.99735527e-01 -3.80867714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.208623853 meters 0.022547961847851135 Centerline is valid? [True, True] Translation: X:137.32, Y:-17.50, Z:-3.81 [[ 9.83448062e-01 1.79892891e-01 2.16438660e-02 1.37319879e+02] [-1.79843180e-01 9.83686165e-01 -4.23775465e-03 -1.75006624e+01] [-2.20531135e-02 2.75109917e-04 9.99756763e-01 -3.81252300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26862385299998 meters 0.022220861524285745 Centerline is valid? [True, True] Translation: X:137.38, Y:-17.51, Z:-3.82 [[ 9.83311593e-01 1.80712867e-01 2.10040442e-02 1.37383031e+02] [-1.80666172e-01 9.83535864e-01 -4.11564294e-03 -1.75075055e+01] [-2.14019804e-02 2.52239160e-04 9.99770920e-01 -3.81602892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32862385299998 meters 0.021368397920607397 Centerline is valid? [True, True] Translation: X:137.44, Y:-17.52, Z:-3.82 [[ 9.83394387e-01 1.80295973e-01 2.07084721e-02 1.37444841e+02] [-1.80250409e-01 9.83612370e-01 -4.06158710e-03 -1.75157754e+01] [-2.11013971e-02 2.61431403e-04 9.99777307e-01 -3.81740506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38862385299998 meters 0.021312921044136318 Centerline is valid? [True, True] Translation: X:137.51, Y:-17.53, Z:-3.82 [[ 9.83306789e-01 1.80673643e-01 2.15590893e-02 1.37506494e+02] [-1.80624262e-01 9.83543066e-01 -4.23234521e-03 -1.75255052e+01] [-2.19689660e-02 2.67599177e-04 9.99758617e-01 -3.81690439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.448623853 meters 0.02065139002186185 Centerline is valid? [True, True] Translation: X:137.57, Y:-17.53, Z:-3.82 [[ 9.83066877e-01 1.81888028e-01 2.22769070e-02 1.37567635e+02] [-1.81835524e-01 9.83319216e-01 -4.37730030e-03 -1.75315592e+01] [-2.27014893e-02 2.52445873e-04 9.99742256e-01 -3.81724540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.508623853 meters 0.020502606871095324 Centerline is valid? [True, True] Translation: X:137.63, Y:-17.54, Z:-3.82 [[ 9.82979796e-01 1.82377948e-01 2.21134562e-02 1.37629694e+02] [-1.82326247e-01 9.83228470e-01 -4.34912507e-03 -1.75405606e+01] [-2.25357643e-02 2.43238596e-04 9.99746008e-01 -3.81910882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.568623853 meters 0.021694550373888722 Centerline is valid? [True, True] Translation: X:137.69, Y:-17.55, Z:-3.82 [[ 9.83144346e-01 1.81639901e-01 2.08360342e-02 1.37689786e+02] [-1.81593824e-01 9.83365083e-01 -4.09844155e-03 -1.75520458e+01] [-2.12338690e-02 2.45664529e-04 9.99774506e-01 -3.82447482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.628623853 meters 0.022985666776973574 Centerline is valid? [True, True] Translation: X:137.75, Y:-17.57, Z:-3.83 [[ 9.83371390e-01 1.80470391e-01 2.02767747e-02 1.37750957e+02] [-1.80426445e-01 9.83580382e-01 -3.99136844e-03 -1.75651573e+01] [-2.06641616e-02 2.66531166e-04 9.99786438e-01 -3.82688096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.688623853 meters 0.023446916553197462 Centerline is valid? [True, True] Translation: X:137.81, Y:-17.58, Z:-3.83 [[ 9.83597482e-01 1.79261239e-01 2.00350370e-02 1.37811636e+02] [-1.79218018e-01 9.83801465e-01 -3.94699167e-03 -1.75770153e+01] [-2.04180414e-02 2.91611441e-04 9.99791488e-01 -3.82805947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.748623853 meters 0.02370812146236046 Centerline is valid? [True, True] Translation: X:137.87, Y:-17.59, Z:-3.83 [[ 9.83596367e-01 1.79248788e-01 2.02004466e-02 1.37873102e+02] [-1.79204781e-01 9.83803732e-01 -3.98285898e-03 -1.75899840e+01] [-2.05871974e-02 2.97509013e-04 9.99788017e-01 -3.82942009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.808623853 meters 0.0218204742475631 Centerline is valid? [True, True] Translation: X:137.94, Y:-17.60, Z:-3.83 [[ 9.83388540e-01 1.80269215e-01 2.12129452e-02 1.37935389e+02] [-1.80220812e-01 9.83617265e-01 -4.18759174e-03 -1.75980584e+01] [-2.16203130e-02 2.95015528e-04 9.99766210e-01 -3.82815866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.868623853 meters 0.021277583793642293 Centerline is valid? [True, True] Translation: X:138.00, Y:-17.61, Z:-3.83 [[ 9.83056061e-01 1.82055783e-01 2.13652068e-02 1.37995332e+02] [-1.82007087e-01 9.83288170e-01 -4.21841480e-03 -1.76085202e+01] [-2.17761419e-02 2.58319192e-04 9.99762838e-01 -3.82985705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.928623853 meters 0.018281440233022955 Centerline is valid? [True, True] Translation: X:138.06, Y:-17.61, Z:-3.83 [[ 9.82373912e-01 1.85625717e-01 2.20134283e-02 1.38058110e+02] [-1.85574836e-01 9.82620506e-01 -4.34997899e-03 -1.76115366e+01] [-2.24383140e-02 1.88167528e-04 9.99748212e-01 -3.82960578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.988623853 meters 0.01690889087373612 Centerline is valid? [True, True] Translation: X:138.12, Y:-17.62, Z:-3.83 [[ 9.81886312e-01 1.88159648e-01 2.22534569e-02 1.38119151e+02] [-1.88108205e-01 9.82138447e-01 -4.40169072e-03 -1.76191263e+01] [-2.26841962e-02 1.35902042e-04 9.99742671e-01 -3.83132353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04862385299998 meters 0.015959360324435085 Centerline is valid? [True, True] Translation: X:138.18, Y:-17.62, Z:-3.83 [[ 9.81323813e-01 1.91125965e-01 2.17816198e-02 1.38180325e+02] [-1.91077356e-01 9.81565515e-01 -4.31084929e-03 -1.76245224e+01] [-2.22040021e-02 6.83647600e-05 9.99753458e-01 -3.83360535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10862385299998 meters 0.025677289520328085 Centerline is valid? [True, True] Translation: X:138.24, Y:-17.63, Z:-3.83 [[ 9.80916138e-01 1.93198926e-01 2.18564884e-02 1.38240764e+02] [-1.93150481e-01 9.81159607e-01 -4.32632969e-03 -1.76295867e+01] [-2.22805458e-02 2.21753764e-05 9.99751758e-01 -3.82739198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16862385299999 meters 0.015637203604135518 Centerline is valid? [True, True] Translation: X:138.30, Y:-17.64, Z:-3.84 [[ 9.80640985e-01 1.94546485e-01 2.22468895e-02 1.38300290e+02] [-1.94496638e-01 9.80893300e-01 -4.40372665e-03 -1.76351393e+01] [-2.26785544e-02 -8.47036574e-06 9.99742808e-01 -3.83635745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.228623853 meters 0.015741872207176683 Centerline is valid? [True, True] Translation: X:138.36, Y:-17.64, Z:-3.84 [[ 9.80703705e-01 1.94252753e-01 2.20479026e-02 1.38358588e+02] [-1.94203730e-01 9.80951511e-01 -4.36387374e-03 -1.76447675e+01] [-2.24756179e-02 -2.11778059e-06 9.99747391e-01 -3.83827934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.288623853 meters 0.01607595432007029 Centerline is valid? [True, True] Translation: X:138.42, Y:-17.66, Z:-3.84 [[ 9.81235079e-01 1.91578915e-01 2.17999710e-02 1.38417473e+02] [-1.91530349e-01 9.81477211e-01 -4.31383920e-03 -1.76577054e+01] [-2.22226154e-02 5.75342975e-05 9.99753046e-01 -3.84148342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.348623853 meters 0.016851507096935933 Centerline is valid? [True, True] Translation: X:138.48, Y:-17.67, Z:-3.84 [[ 9.81779302e-01 1.88724386e-01 2.21925453e-02 1.38476942e+02] [-1.88673329e-01 9.82030086e-01 -4.39139730e-03 -1.76721573e+01] [-2.26225109e-02 1.24241584e-04 9.99744071e-01 -3.84121433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.408623853 meters 0.01967283450868274 Centerline is valid? [True, True] Translation: X:138.54, Y:-17.69, Z:-3.84 [[ 9.82422448e-01 1.85332868e-01 2.23128070e-02 1.38535345e+02] [-1.85280375e-01 9.82675779e-01 -4.41545116e-03 -1.76894010e+01] [-2.27445832e-02 2.03713088e-04 9.99741288e-01 -3.84332909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.468623853 meters 0.022087562919696064 Centerline is valid? [True, True] Translation: X:138.60, Y:-17.71, Z:-3.85 [[ 9.82899202e-01 1.82821627e-01 2.20320422e-02 1.38595482e+02] [-1.82769782e-01 9.83146065e-01 -4.36137801e-03 -1.77053253e+01] [-2.24580698e-02 2.60003408e-04 9.99747752e-01 -3.84572246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.528623853 meters 0.024446651134526487 Centerline is valid? [True, True] Translation: X:138.66, Y:-17.72, Z:-3.84 [[ 9.83668079e-01 1.78527960e-01 2.29102302e-02 1.38655670e+02] [-1.78470632e-01 9.83934767e-01 -4.53956918e-03 -1.77210812e+01] [-2.33526120e-02 3.76626037e-04 9.99727220e-01 -3.84457654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.588623853 meters 0.027274866661972947 Centerline is valid? [True, True] Translation: X:138.72, Y:-17.74, Z:-3.85 [[ 9.84301672e-01 1.74997539e-01 2.29364232e-02 1.38715740e+02] [-1.74939095e-01 9.84568762e-01 -4.54587125e-03 -1.77383316e+01] [-2.33780021e-02 4.62031546e-04 9.99726590e-01 -3.84685032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.648623853 meters 0.027937459056858207 Centerline is valid? [True, True] Translation: X:138.78, Y:-17.75, Z:-3.85 [[ 9.84384853e-01 1.74649464e-01 2.20005746e-02 1.38776309e+02] [-1.74595598e-01 9.84630571e-01 -4.36078099e-03 -1.77512868e+01] [-2.24240464e-02 4.51483275e-04 9.99748448e-01 -3.85000793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.708623853 meters 0.03387832742128325 Centerline is valid? [True, True] Translation: X:138.84, Y:-17.76, Z:-3.85 [[ 9.83952680e-01 1.77240978e-01 2.05610945e-02 1.38838337e+02] [-1.77194419e-01 9.84167414e-01 -4.07917220e-03 -1.77607020e+01] [-2.09585556e-02 3.70401246e-04 9.99780277e-01 -3.84695717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76862385299998 meters 0.022902812107922912 Centerline is valid? [True, True] Translation: X:138.90, Y:-17.77, Z:-3.86 [[ 9.83266945e-01 1.80924374e-01 2.12717394e-02 1.38899513e+02] [-1.80875347e-01 9.83496964e-01 -4.22261414e-03 -1.77674025e+01] [-2.16846649e-02 3.04423656e-04 9.99764814e-01 -3.85517146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82862385299998 meters 0.018700783881441828 Centerline is valid? [True, True] Translation: X:138.96, Y:-17.77, Z:-3.86 [[ 9.82314881e-01 1.86057608e-01 2.09771746e-02 1.38961269e+02] [-1.86011086e-01 9.82538819e-01 -4.16473382e-03 -1.77693671e+01] [-2.13857687e-02 1.89092987e-04 9.99771280e-01 -3.85779645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88862385299998 meters 0.016963049971805613 Centerline is valid? [True, True] Translation: X:139.02, Y:-17.77, Z:-3.86 [[ 9.81701352e-01 1.89303491e-01 2.06553666e-02 1.39022020e+02] [-1.89259099e-01 9.81918619e-01 -4.10108768e-03 -1.77746431e+01] [-2.10582393e-02 1.16827248e-04 9.99778244e-01 -3.85963436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.948623853 meters 0.016296875339701287 Centerline is valid? [True, True] Translation: X:139.08, Y:-17.78, Z:-3.86 [[ 9.80888122e-01 1.93552631e-01 1.98965219e-02 1.39080776e+02] [-1.93512308e-01 9.81089893e-01 -3.95069314e-03 -1.77775085e+01] [-2.02849436e-02 2.49661028e-05 9.99794239e-01 -3.86417356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.008623853 meters 0.016311153407943632 Centerline is valid? [True, True] Translation: X:139.14, Y:-17.78, Z:-3.87 [[ 9.80517941e-01 1.95421531e-01 1.98744299e-02 1.39139209e+02] [-1.95381695e-01 9.80719341e-01 -3.94563802e-03 -1.77847086e+01] [-2.02623004e-02 -1.43309392e-05 9.99794698e-01 -3.86583250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.068623853 meters 0.016350738749822482 Centerline is valid? [True, True] Translation: X:139.20, Y:-17.79, Z:-3.87 [[ 9.80437029e-01 1.95864727e-01 1.94997546e-02 1.39197374e+02] [-1.95826485e-01 9.80630923e-01 -3.87037081e-03 -1.77938303e+01] [-1.98801315e-02 -2.39135360e-05 9.99802370e-01 -3.86782510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.128623853 meters 0.016066310988897384 Centerline is valid? [True, True] Translation: X:139.26, Y:-17.81, Z:-3.87 [[ 9.80650607e-01 1.94713807e-01 2.02711678e-02 1.39255471e+02] [-1.94672255e-01 9.80860099e-01 -4.02240866e-03 -1.78060869e+01] [-2.06663981e-02 -1.65643936e-06 9.99786427e-01 -3.86730218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.188623853 meters 0.016394186994050215 Centerline is valid? [True, True] Translation: X:139.31, Y:-17.82, Z:-3.87 [[ 9.81213597e-01 1.91759085e-01 2.11737964e-02 1.39312428e+02] [-1.91713079e-01 9.81442026e-01 -4.20069570e-03 -1.78207740e+01] [-2.15863752e-02 6.24860460e-05 9.99766985e-01 -3.86845785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.248623853 meters 0.017064675974092308 Centerline is valid? [True, True] Translation: X:139.37, Y:-17.84, Z:-3.87 [[ 9.81730823e-01 1.89082367e-01 2.12708625e-02 1.39370743e+02] [-1.89035332e-01 9.81961223e-01 -4.21895884e-03 -1.78357177e+01] [-2.16848929e-02 1.20937377e-04 9.99764848e-01 -3.86849668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.308623853 meters 0.019211521947055426 Centerline is valid? [True, True] Translation: X:139.43, Y:-17.85, Z:-3.87 [[ 9.82140173e-01 1.86929130e-01 2.14051612e-02 1.39427949e+02] [-1.86880985e-01 9.82373387e-01 -4.24566761e-03 -1.78520698e+01] [-2.18214997e-02 1.69623102e-04 9.99761868e-01 -3.87167243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.368623853 meters 0.017973377513952275 Centerline is valid? [True, True] Translation: X:139.49, Y:-17.86, Z:-3.87 [[ 9.82094140e-01 1.87126138e-01 2.17923876e-02 1.39488149e+02] [-1.87076291e-01 9.82335880e-01 -4.32213355e-03 -1.78616196e+01] [-2.22162284e-02 1.67902982e-04 9.99753175e-01 -3.87090582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.428623853 meters 0.01720651637151357 Centerline is valid? [True, True] Translation: X:139.55, Y:-17.87, Z:-3.87 [[ 9.81872488e-01 1.88224776e-01 2.23125873e-02 1.39547424e+02] [-1.88172802e-01 9.82125966e-01 -4.42542547e-03 -1.78707773e+01] [-2.27467461e-02 1.46581444e-04 9.99741249e-01 -3.87166190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.488623853 meters 0.017023984123211874 Centerline is valid? [True, True] Translation: X:139.61, Y:-17.88, Z:-3.87 [[ 9.81763176e-01 1.88822399e-01 2.20718750e-02 1.39607453e+02] [-1.88771706e-01 9.82011245e-01 -4.37702861e-03 -1.78813810e+01] [-2.25013105e-02 1.30660011e-04 9.99746805e-01 -3.87367946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54862385299998 meters 0.016716289596062594 Centerline is valid? [True, True] Translation: X:139.67, Y:-17.89, Z:-3.88 [[ 9.81627535e-01 1.89511316e-01 2.22000748e-02 1.39666324e+02] [-1.89460206e-01 9.81878530e-01 -4.40257358e-03 -1.78915466e+01] [-2.26321143e-02 1.15656726e-04 9.99743854e-01 -3.87504189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60862385299998 meters 0.0164171407578867 Centerline is valid? [True, True] Translation: X:139.73, Y:-17.90, Z:-3.87 [[ 9.81533479e-01 1.89891254e-01 2.30941956e-02 1.39725689e+02] [-1.89836062e-01 9.81805123e-01 -4.57930518e-03 -1.79013092e+01] [-2.35435695e-02 1.10630200e-04 9.99722806e-01 -3.87495907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66862385299999 meters 0.016161156216429363 Centerline is valid? [True, True] Translation: X:139.78, Y:-17.91, Z:-3.88 [[ 9.81437982e-01 1.90326199e-01 2.35674507e-02 1.39784938e+02] [-1.90268861e-01 9.81720901e-01 -4.67255203e-03 -1.79116266e+01] [-2.40259680e-02 1.01668016e-04 9.99711330e-01 -3.87624939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.728623853 meters 0.02598904950427353 Centerline is valid? [True, True] Translation: X:139.84, Y:-17.92, Z:-3.87 [[ 9.81364263e-01 1.90807390e-01 2.27315553e-02 1.39842985e+02] [-1.90754188e-01 9.81627492e-01 -4.50634166e-03 -1.79215146e+01] [-2.31737629e-02 8.62232788e-05 9.99731449e-01 -3.87160388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.788623853 meters 0.015728569736298312 Centerline is valid? [True, True] Translation: X:139.90, Y:-17.93, Z:-3.88 [[ 9.81116715e-01 1.92066217e-01 2.28157651e-02 1.39901453e+02] [-1.92012981e-01 9.81381967e-01 -4.52214345e-03 -1.79300304e+01] [-2.32595314e-02 5.58274450e-05 9.99729459e-01 -3.88135647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.848623853 meters 0.01946871850019594 Centerline is valid? [True, True] Translation: X:139.96, Y:-17.94, Z:-3.88 [[ 9.80891477e-01 1.93299181e-01 2.20756969e-02 1.39958803e+02] [-1.93249662e-01 9.81139861e-01 -4.37515812e-03 -1.79374638e+01] [-2.25050607e-02 2.54343444e-05 9.99746729e-01 -3.87967431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.908623853 meters 0.015842743143499708 Centerline is valid? [True, True] Translation: X:140.02, Y:-17.95, Z:-3.89 [[ 9.80754637e-01 1.94034670e-01 2.16999726e-02 1.40016894e+02] [-1.93987035e-01 9.80994672e-01 -4.29923320e-03 -1.79455921e+01] [-2.21217578e-02 6.97956715e-06 9.99755284e-01 -3.88774062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.968623853 meters 0.015907593368624476 Centerline is valid? [True, True] Translation: X:140.07, Y:-17.96, Z:-3.89 [[ 9.81026349e-01 1.92677503e-01 2.15100373e-02 1.40073907e+02] [-1.92630395e-01 9.81262135e-01 -4.26059860e-03 -1.79590884e+01] [-2.19279066e-02 3.62725184e-05 9.99759554e-01 -3.88996033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.028623853 meters 0.01705242431627462 Centerline is valid? [True, True] Translation: X:140.13, Y:-17.98, Z:-3.89 [[ 9.81820911e-01 1.88472253e-01 2.24923913e-02 1.40130528e+02] [-1.88419667e-01 9.82078506e-01 -4.45395227e-03 -1.79762281e+01] [-2.29287404e-02 1.34974603e-04 9.99737093e-01 -3.88995639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.088623853 meters 0.01936720402587276 Centerline is valid? [True, True] Translation: X:140.19, Y:-17.99, Z:-3.89 [[ 9.82506490e-01 1.84848278e-01 2.26298852e-02 1.40187890e+02] [-1.84794109e-01 9.82767046e-01 -4.48014686e-03 -1.79941501e+01] [-2.30680529e-02 2.19903894e-04 9.99733873e-01 -3.89128134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.148623853 meters 0.023540193707170663 Centerline is valid? [True, True] Translation: X:140.25, Y:-18.02, Z:-3.89 [[ 9.83428894e-01 1.79828497e-01 2.30069949e-02 1.40246203e+02] [-1.79771130e-01 9.83697918e-01 -4.55490378e-03 -1.80161971e+01] [-2.34510344e-02 3.43430530e-04 9.99724928e-01 -3.89239728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.208623853 meters 0.034776538953551546 Centerline is valid? [True, True] Translation: X:140.31, Y:-18.04, Z:-3.89 [[ 9.84003380e-01 1.76645611e-01 2.31014473e-02 1.40305113e+02] [-1.76586895e-01 9.84274429e-01 -4.57362104e-03 -1.80361195e+01] [-2.35460739e-02 4.21045719e-04 9.99722664e-01 -3.88580778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26862385299998 meters 0.028644134129626 Centerline is valid? [True, True] Translation: X:140.36, Y:-18.05, Z:-3.90 [[ 9.84184716e-01 1.75570541e-01 2.35675493e-02 1.40364934e+02] [-1.75509035e-01 9.84466746e-01 -4.66954301e-03 -1.80526499e+01] [-2.40213028e-02 4.59375035e-04 9.99711341e-01 -3.89507712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32862385299998 meters 0.03041180909236978 Centerline is valid? [True, True] Translation: X:140.42, Y:-18.07, Z:-3.90 [[ 9.84463568e-01 1.74060643e-01 2.31165589e-02 1.40424903e+02] [-1.74000966e-01 9.84734813e-01 -4.58385500e-03 -1.80701168e+01] [-2.35615490e-02 4.90334671e-04 9.99722268e-01 -3.89746269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38862385299998 meters 0.03157339430420612 Centerline is valid? [True, True] Translation: X:140.48, Y:-18.09, Z:-3.90 [[ 9.84574544e-01 1.73406878e-01 2.33028283e-02 1.40483920e+02] [-1.73345960e-01 9.84850136e-01 -4.62467563e-03 -1.80853891e+01] [-2.37517442e-02 5.13886747e-04 9.99717755e-01 -3.89885521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.448623853 meters 0.03427845076240424 Centerline is valid? [True, True] Translation: X:140.54, Y:-18.11, Z:-3.90 [[ 9.84837610e-01 1.71800050e-01 2.40754155e-02 1.40542414e+02] [-1.71734448e-01 9.85131673e-01 -4.78195856e-03 -1.81060639e+01] [-2.45389951e-02 5.74874446e-04 9.99698708e-01 -3.89911448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.508623853 meters 0.03707984444798935 Centerline is valid? [True, True] Translation: X:140.60, Y:-18.13, Z:-3.90 [[ 9.85090073e-01 1.70287507e-01 2.44890460e-02 1.40601139e+02] [-1.70219111e-01 9.85394223e-01 -4.86621108e-03 -1.81253952e+01] [-2.49600194e-02 6.25152592e-04 9.99688255e-01 -3.89963259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.568623853 meters 0.04055164526290561 Centerline is valid? [True, True] Translation: X:140.66, Y:-18.15, Z:-3.90 [[ 9.85575073e-01 1.67426726e-01 2.46995416e-02 1.40658585e+02] [-1.67356197e-01 9.85884270e-01 -4.91019924e-03 -1.81488276e+01] [-2.51729881e-02 7.05748620e-04 9.99682861e-01 -3.90200722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.628623853 meters 0.04263696285421618 Centerline is valid? [True, True] Translation: X:140.72, Y:-18.17, Z:-3.91 [[ 9.85710915e-01 1.66733143e-01 2.39593644e-02 1.40717207e+02] [-1.66666559e-01 9.86001808e-01 -4.76364848e-03 -1.81686603e+01] [-2.44182347e-02 7.02355489e-04 9.99701584e-01 -3.90538787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.688623853 meters 0.034056248009385386 Centerline is valid? [True, True] Translation: X:140.78, Y:-18.18, Z:-3.91 [[ 9.85424815e-01 1.68499148e-01 2.33660261e-02 1.40779187e+02] [-1.68436271e-01 9.85701589e-01 -4.64764269e-03 -1.81777985e+01] [-2.38150529e-02 6.44216143e-04 9.99716174e-01 -3.90682821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.748623853 meters 0.030528024651512983 Centerline is valid? [True, True] Translation: X:140.84, Y:-18.19, Z:-3.91 [[ 9.84947432e-01 1.71272413e-01 2.33306103e-02 1.40839075e+02] [-1.71210466e-01 9.85223542e-01 -4.64216392e-03 -1.81901212e+01] [-2.37809411e-02 5.77842786e-04 9.99717026e-01 -3.90856392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.808623853 meters 0.02644186574486933 Centerline is valid? [True, True] Translation: X:140.90, Y:-18.20, Z:-3.91 [[ 9.84182111e-01 1.75560907e-01 2.37474425e-02 1.40898657e+02] [-1.75497958e-01 9.84468453e-01 -4.72570795e-03 -1.82046190e+01] [-2.42082576e-02 4.83329553e-04 9.99706820e-01 -3.90930168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.868623853 meters 0.02333157767706278 Centerline is valid? [True, True] Translation: X:140.96, Y:-18.22, Z:-3.91 [[ 9.83567422e-01 1.78959911e-01 2.38427654e-02 1.40958888e+02] [-1.78897438e-01 9.83856285e-01 -4.74527968e-03 -1.82168665e+01] [-2.43070694e-02 4.01892852e-04 9.99704459e-01 -3.91172401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.928623853 meters 0.019094820731116343 Centerline is valid? [True, True] Translation: X:141.02, Y:-18.23, Z:-3.91 [[ 9.82321258e-01 1.85767977e-01 2.31345041e-02 1.41018554e+02] [-1.85711033e-01 9.82593612e-01 -4.60488941e-03 -1.82272620e+01] [-2.35872569e-02 2.27148106e-04 9.99721756e-01 -3.91478608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.988623853 meters 0.01610770698579875 Centerline is valid? [True, True] Translation: X:141.08, Y:-18.23, Z:-3.92 [[ 9.81173701e-01 1.91752271e-01 2.30051236e-02 1.41080127e+02] [-1.91697606e-01 9.81443355e-01 -4.57909729e-03 -1.82333727e+01] [-2.34562780e-02 8.28626998e-05 9.99724860e-01 -3.91713321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04862385299998 meters 0.01669787215124997 Centerline is valid? [True, True] Translation: X:141.14, Y:-18.23, Z:-3.92 [[ 9.79425567e-01 2.00555240e-01 2.24311091e-02 1.41143545e+02] [-2.00505489e-01 9.79682388e-01 -4.46857014e-03 -1.82345133e+01] [-2.28715577e-02 -1.20928660e-04 9.99738404e-01 -3.91993237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10862385299998 meters 0.018550111150760402 Centerline is valid? [True, True] Translation: X:141.21, Y:-18.24, Z:-3.92 [[ 9.78408369e-01 2.05376225e-01 2.31877070e-02 1.41205500e+02] [-2.05324316e-01 9.78683069e-01 -4.62336045e-03 -1.82420179e+01] [-2.36429446e-02 -2.37465525e-04 9.99720438e-01 -3.91964816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16862385299999 meters 0.0217296166724621 Centerline is valid? [True, True] Translation: X:141.27, Y:-18.25, Z:-3.92 [[ 9.77489319e-01 2.09668679e-01 2.35303278e-02 1.41266027e+02] [-2.09616350e-01 9.77772432e-01 -4.69651431e-03 -1.82491296e+01] [-2.39920178e-02 -3.41548863e-04 9.99712092e-01 -3.92136124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.228623853 meters 0.02333901616784445 Centerline is valid? [True, True] Translation: X:141.33, Y:-18.26, Z:-3.92 [[ 9.77175609e-01 2.11092156e-01 2.38313169e-02 1.41325988e+02] [-2.11038887e-01 9.77466090e-01 -4.75724711e-03 -1.82568711e+01] [-2.42985217e-02 -3.80668759e-04 9.99704675e-01 -3.92288207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.288623853 meters 0.0231294693914506 Centerline is valid? [True, True] Translation: X:141.39, Y:-18.27, Z:-3.92 [[ 9.77303487e-01 2.10456220e-01 2.42089424e-02 1.41385439e+02] [-2.10401047e-01 9.77603213e-01 -4.83293346e-03 -1.82675405e+01] [-2.46838608e-02 -3.70344098e-04 9.99695238e-01 -3.92416752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.348623853 meters 0.0201285657575805 Centerline is valid? [True, True] Translation: X:141.44, Y:-18.29, Z:-3.93 [[ 9.78004280e-01 2.07267257e-01 2.34075415e-02 1.41444783e+02] [-2.07214770e-01 9.78284317e-01 -4.67260702e-03 -1.82860234e+01] [-2.38677092e-02 -2.80558675e-04 9.99715086e-01 -3.92728779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.408623853 meters 0.01772688106068767 Centerline is valid? [True, True] Translation: X:141.50, Y:-18.30, Z:-3.93 [[ 9.78779808e-01 2.03571347e-01 2.34263380e-02 1.41504929e+02] [-2.03517621e-01 9.79060096e-01 -4.68039246e-03 -1.83033630e+01] [-2.38885866e-02 -1.86598950e-04 9.99714610e-01 -3.92918818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.468623853 meters 0.015940379262350216 Centerline is valid? [True, True] Translation: X:141.56, Y:-18.32, Z:-3.93 [[ 9.79543149e-01 1.99840235e-01 2.36452999e-02 1.41564748e+02] [-1.99784313e-01 9.79828491e-01 -4.72823396e-03 -1.83213149e+01] [-2.41132299e-02 -9.24508190e-05 9.99709230e-01 -3.93105316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.528623853 meters 0.015380125028273583 Centerline is valid? [True, True] Translation: X:141.62, Y:-18.34, Z:-3.93 [[ 9.80376383e-01 1.95634614e-01 2.42743634e-02 1.41623686e+02] [-1.95574280e-01 9.80676857e-01 -4.85834347e-03 -1.83400976e+01] [-2.47557666e-02 1.55640439e-05 9.99693529e-01 -3.93144043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.588623853 meters 0.015432318055823666 Centerline is valid? [True, True] Translation: X:141.69, Y:-18.35, Z:-3.93 [[ 9.80489921e-01 1.95068736e-01 2.42425871e-02 1.41685480e+02] [-1.95008295e-01 9.80789573e-01 -4.85568550e-03 -1.83540533e+01] [-2.47240691e-02 3.34451196e-05 9.99694313e-01 -3.93319032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.648623853 meters 0.015714131059005838 Centerline is valid? [True, True] Translation: X:141.75, Y:-18.37, Z:-3.93 [[ 9.80747607e-01 1.93746104e-01 2.44249521e-02 1.41745305e+02] [-1.93684221e-01 9.81051702e-01 -4.89701216e-03 -1.83685644e+01] [-2.49109179e-02 7.20051379e-05 9.99689672e-01 -3.93441189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.708623853 meters 0.01589573337070402 Centerline is valid? [True, True] Translation: X:141.81, Y:-18.38, Z:-3.94 [[ 9.80710359e-01 1.93997998e-01 2.39158533e-02 1.41807310e+02] [-1.93938641e-01 9.81001923e-01 -4.79909767e-03 -1.83806043e+01] [-2.43925135e-02 6.83166994e-05 9.99702456e-01 -3.93646315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76862385299998 meters 0.01571804211121159 Centerline is valid? [True, True] Translation: X:141.87, Y:-18.39, Z:-3.94 [[ 9.80598761e-01 1.94566712e-01 2.38718507e-02 1.41868350e+02] [-1.94507631e-01 9.80889286e-01 -4.79481495e-03 -1.83911368e+01] [-2.43485540e-02 5.85324701e-05 9.99703528e-01 -3.93814489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82862385299998 meters 0.015576541217929684 Centerline is valid? [True, True] Translation: X:141.93, Y:-18.40, Z:-3.94 [[ 9.80513882e-01 1.94864330e-01 2.49082195e-02 1.41930953e+02] [-1.94799987e-01 9.80830204e-01 -5.00755180e-03 -1.84014113e+01] [-2.54065273e-02 5.78532230e-05 9.99677200e-01 -3.93852272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88862385299998 meters 0.015919276072047524 Centerline is valid? [True, True] Translation: X:141.99, Y:-18.41, Z:-3.94 [[ 9.80601098e-01 1.94428567e-01 2.48801008e-02 1.41992829e+02] [-1.94364112e-01 9.80916677e-01 -5.00650168e-03 -1.84142109e+01] [-2.53787127e-02 7.35823419e-05 9.99677906e-01 -3.93996960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.948623853 meters 0.01639864683667316 Centerline is valid? [True, True] Translation: X:142.05, Y:-18.43, Z:-3.94 [[ 9.80781270e-01 1.93481350e-01 2.51608417e-02 1.42052786e+02] [-1.93414999e-01 9.81103948e-01 -5.06773443e-03 -1.84278914e+01] [-2.56659132e-02 1.03854845e-04 9.99670571e-01 -3.94139530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.008623853 meters 0.016593641119922127 Centerline is valid? [True, True] Translation: X:142.11, Y:-18.44, Z:-3.94 [[ 9.80798573e-01 1.93462977e-01 2.46218583e-02 1.42114795e+02] [-1.93399337e-01 9.81107571e-01 -4.96295555e-03 -1.84401876e+01] [-2.51168398e-02 1.05808643e-04 9.99684517e-01 -3.94384913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.068623853 meters 0.017541074846472254 Centerline is valid? [True, True] Translation: X:142.17, Y:-18.46, Z:-3.95 [[ 9.81083343e-01 1.91975762e-01 2.49154680e-02 1.42174197e+02] [-1.91909998e-01 9.81399656e-01 -5.02678792e-03 -1.84555672e+01] [-2.54170531e-02 1.50170497e-04 9.99676923e-01 -3.94543363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.128623853 meters 0.018596064673454666 Centerline is valid? [True, True] Translation: X:142.23, Y:-18.47, Z:-3.95 [[ 9.81364160e-01 1.90551927e-01 2.47860462e-02 1.42233923e+02] [-1.90486296e-01 9.81677099e-01 -5.00441303e-03 -1.84712638e+01] [-2.52854945e-02 1.89749457e-04 9.99680253e-01 -3.94797402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.188623853 meters 0.020714913869661636 Centerline is valid? [True, True] Translation: X:142.29, Y:-18.49, Z:-3.95 [[ 9.81772314e-01 1.88491331e-01 2.43750269e-02 1.42293837e+02] [-1.88427177e-01 9.82074824e-01 -4.92327070e-03 -1.84891436e+01] [-2.48660941e-02 2.40613346e-04 9.99690762e-01 -3.95082499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.248623853 meters 0.02086384109282544 Centerline is valid? [True, True] Translation: X:142.35, Y:-18.50, Z:-3.95 [[ 9.81737977e-01 1.88685739e-01 2.42535870e-02 1.42354345e+02] [-1.88622191e-01 9.82037492e-01 -4.90243811e-03 -1.85026204e+01] [-2.47429519e-02 2.38144941e-04 9.99693818e-01 -3.95304428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.308623853 meters 0.017755643093933793 Centerline is valid? [True, True] Translation: X:142.42, Y:-18.51, Z:-3.96 [[ 9.81365329e-01 1.90804765e-01 2.27075301e-02 1.42416636e+02] [-1.90749550e-01 9.81627990e-01 -4.59330645e-03 -1.85094682e+01] [-2.31667719e-02 1.76260536e-04 9.99731599e-01 -3.95507178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.368623853 meters 0.0175457580408925 Centerline is valid? [True, True] Translation: X:142.48, Y:-18.52, Z:-3.96 [[ 9.81077089e-01 1.92286633e-01 2.26626854e-02 1.42476384e+02] [-1.92231938e-01 9.81338795e-01 -4.58826084e-03 -1.85213344e+01] [-2.31220336e-02 1.44945654e-04 9.99732640e-01 -3.95842340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.428623853 meters 0.0161869702690658 Centerline is valid? [True, True] Translation: X:142.54, Y:-18.53, Z:-3.96 [[ 9.80647666e-01 1.94395664e-01 2.32482510e-02 1.42537706e+02] [-1.94338608e-01 9.80923196e-01 -4.71062224e-03 -1.85308128e+01] [-2.37204732e-02 1.01427969e-04 9.99718625e-01 -3.95910397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.488623853 meters 0.01582645249433303 Centerline is valid? [True, True] Translation: X:142.60, Y:-18.54, Z:-3.96 [[ 9.80351160e-01 1.95865104e-01 2.34193279e-02 1.42598297e+02] [-1.95807524e-01 9.80630846e-01 -4.74947679e-03 -1.85408620e+01] [-2.38959721e-02 7.04744886e-05 9.99714448e-01 -3.96063243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54862385299998 meters 0.015428527872991295 Centerline is valid? [True, True] Translation: X:142.66, Y:-18.55, Z:-3.96 [[ 9.79958468e-01 1.97808983e-01 2.35161035e-02 1.42659410e+02] [-1.97751396e-01 9.80240586e-01 -4.77281860e-03 -1.85502685e+01] [-2.39955454e-02 2.68217135e-05 9.99712065e-01 -3.96261020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60862385299998 meters 0.015343444536802827 Centerline is valid? [True, True] Translation: X:142.72, Y:-18.56, Z:-3.96 [[ 9.79693514e-01 1.99162847e-01 2.31253038e-02 1.42721209e+02] [-1.99107439e-01 9.79966408e-01 -4.69758512e-03 -1.85614960e+01] [-2.35976053e-02 -2.22635375e-06 9.99721538e-01 -3.96431170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66862385299999 meters 0.015737995728297084 Centerline is valid? [True, True] Translation: X:142.78, Y:-18.57, Z:-3.97 [[ 9.79214660e-01 2.01554801e-01 2.26784391e-02 1.42782642e+02] [-2.01502052e-01 9.79477238e-01 -4.61128917e-03 -1.85692595e+01] [-2.31424424e-02 -5.43100553e-05 9.99732176e-01 -3.96729079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.728623853 meters 0.015753292062875478 Centerline is valid? [True, True] Translation: X:142.85, Y:-18.58, Z:-3.97 [[ 9.78996907e-01 2.02630652e-01 2.24916797e-02 1.42845217e+02] [-2.02578958e-01 9.79255234e-01 -4.57737337e-03 -1.85795595e+01] [-2.29526112e-02 -7.51066616e-05 9.99736551e-01 -3.96910145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.788623853 meters 0.01598193015948017 Centerline is valid? [True, True] Translation: X:142.91, Y:-18.59, Z:-3.97 [[ 9.78992268e-01 2.02645370e-01 2.25608715e-02 1.42906788e+02] [-2.02593256e-01 9.79252189e-01 -4.59605146e-03 -1.85891445e+01] [-2.30241513e-02 -7.11815611e-05 9.99734907e-01 -3.97196915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.848623853 meters 0.01569441639845925 Centerline is valid? [True, True] Translation: X:142.97, Y:-18.60, Z:-3.97 [[ 9.79189788e-01 2.01706088e-01 2.24056645e-02 1.42967322e+02] [-2.01654347e-01 9.79446095e-01 -4.56863256e-03 -1.86009698e+01] [-2.28666616e-02 -4.46412865e-05 9.99738523e-01 -3.97448647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.908623853 meters 0.0157581330150737 Centerline is valid? [True, True] Translation: X:143.03, Y:-18.62, Z:-3.98 [[ 9.79734319e-01 1.99068431e-01 2.21906249e-02 1.43028227e+02] [-1.99016921e-01 9.79985591e-01 -4.52832278e-03 -1.86166904e+01] [-2.26479387e-02 2.02434052e-05 9.99743502e-01 -3.97548044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.968623853 meters 0.01627444031897384 Centerline is valid? [True, True] Translation: X:143.09, Y:-18.63, Z:-3.98 [[ 9.80149113e-01 1.97048700e-01 2.18980979e-02 1.43088676e+02] [-1.96997936e-01 9.80393699e-01 -4.47306360e-03 -1.86314610e+01] [-2.23501685e-02 7.03892299e-05 9.99750201e-01 -3.97869698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.028623853 meters 0.01789162314527266 Centerline is valid? [True, True] Translation: X:143.15, Y:-18.65, Z:-3.98 [[ 9.80912268e-01 1.93057336e-01 2.32376367e-02 1.43148082e+02] [-1.92998936e-01 9.81187461e-01 -4.75148307e-03 -1.86490200e+01] [-2.37177865e-02 1.75948866e-04 9.99718678e-01 -3.97820502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.088623853 meters 0.02042762501450786 Centerline is valid? [True, True] Translation: X:143.21, Y:-18.67, Z:-3.98 [[ 9.81523521e-01 1.89853913e-01 2.38132339e-02 1.43206912e+02] [-1.89791539e-01 9.81812315e-01 -4.87334466e-03 -1.86669654e+01] [-2.43053498e-02 2.63752097e-04 9.99704547e-01 -3.97913167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.148623853 meters 0.02361532884386394 Centerline is valid? [True, True] Translation: X:143.27, Y:-18.69, Z:-3.98 [[ 9.82294265e-01 1.85867398e-01 2.34795206e-02 1.43266320e+02] [-1.85805566e-01 9.82574771e-01 -4.80731582e-03 -1.86862258e+01] [-2.39639079e-02 3.59573128e-04 9.99712760e-01 -3.98145567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.208623853 meters 0.02564027325089698 Centerline is valid? [True, True] Translation: X:143.33, Y:-18.70, Z:-3.98 [[ 9.82580391e-01 1.84374635e-01 2.32759167e-02 1.43325172e+02] [-1.84313436e-01 9.82855961e-01 -4.76632895e-03 -1.87027345e+01] [-2.37556636e-02 3.93237185e-04 9.99717717e-01 -3.98340575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26862385299998 meters 0.02606533974635212 Centerline is valid? [True, True] Translation: X:143.39, Y:-18.72, Z:-3.99 [[ 9.82616737e-01 1.84225795e-01 2.29173460e-02 1.43386228e+02] [-1.84166349e-01 9.82883870e-01 -4.69626773e-03 -1.87165916e+01] [-2.33902634e-02 3.94027328e-04 9.99726333e-01 -3.98571554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32862385299998 meters 0.025927537151911022 Centerline is valid? [True, True] Translation: X:143.45, Y:-18.73, Z:-3.99 [[ 9.82529216e-01 1.84638324e-01 2.33458462e-02 1.43446597e+02] [-1.84576639e-01 9.82806457e-01 -4.78871659e-03 -1.87299158e+01] [-2.38286290e-02 3.95956132e-04 9.99715979e-01 -3.98697117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38862385299998 meters 0.024748262684851485 Centerline is valid? [True, True] Translation: X:143.51, Y:-18.74, Z:-3.99 [[ 9.82194312e-01 1.86377880e-01 2.36139809e-02 1.43506951e+02] [-1.86315170e-01 9.82478068e-01 -4.84793089e-03 -1.87413203e+01] [-2.41037654e-02 3.61967261e-04 9.99709397e-01 -3.98812400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.448623853 meters 0.023646375833012462 Centerline is valid? [True, True] Translation: X:143.57, Y:-18.75, Z:-3.99 [[ 9.81908499e-01 1.87820885e-01 2.40627444e-02 1.43568059e+02] [-1.87756150e-01 9.82203239e-01 -4.94215489e-03 -1.87527297e+01] [-2.45627454e-02 3.34815638e-04 9.99698234e-01 -3.98903674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.508623853 meters 0.02147008279730474 Centerline is valid? [True, True] Translation: X:143.63, Y:-18.76, Z:-3.99 [[ 9.81775832e-01 1.88614232e-01 2.32569612e-02 1.43630300e+02] [-1.88553901e-01 9.82051209e-01 -4.78015152e-03 -1.87630791e+01] [-2.37411315e-02 3.07846492e-04 9.99718092e-01 -3.99176077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.568623853 meters 0.02291706217751625 Centerline is valid? [True, True] Translation: X:143.69, Y:-18.78, Z:-3.99 [[ 9.81595477e-01 1.89582539e-01 2.29952235e-02 1.43689698e+02] [-1.89523712e-01 9.81864746e-01 -4.73109258e-03 -1.87792063e+01] [-2.34751318e-02 2.85878951e-04 9.99724380e-01 -3.99464876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.628623853 meters 0.020210694133723683 Centerline is valid? [True, True] Translation: X:143.75, Y:-18.79, Z:-4.00 [[ 9.81291745e-01 1.91173208e-01 2.27885176e-02 1.43751890e+02] [-1.91115768e-01 9.81556286e-01 -4.69264371e-03 -1.87880268e+01] [-2.32653205e-02 2.49607479e-04 9.99729295e-01 -3.99543947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.688623853 meters 0.019462895691868987 Centerline is valid? [True, True] Translation: X:143.81, Y:-18.80, Z:-4.00 [[ 9.81044962e-01 1.92403867e-01 2.30550358e-02 1.43812764e+02] [-1.92345392e-01 9.81315801e-01 -4.74850308e-03 -1.88006107e+01] [-2.35379013e-02 2.23965126e-04 9.99722920e-01 -3.99665232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.748623853 meters 0.02007423815274894 Centerline is valid? [True, True] Translation: X:143.87, Y:-18.82, Z:-4.00 [[ 9.80863630e-01 1.93332039e-01 2.30056942e-02 1.43872158e+02] [-1.93273975e-01 9.81133365e-01 -4.74233326e-03 -1.88157166e+01] [-2.34884991e-02 2.05180248e-04 9.99724086e-01 -3.99906358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.808623853 meters 0.017538677594185845 Centerline is valid? [True, True] Translation: X:143.93, Y:-18.83, Z:-4.00 [[ 9.80474652e-01 1.95349819e-01 2.25367513e-02 1.43933363e+02] [-1.95294554e-01 9.80733615e-01 -4.64902925e-03 -1.88260646e+01] [-2.30107366e-02 1.56950553e-04 9.99735206e-01 -4.00028749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.868623853 meters 0.017255902877957367 Centerline is valid? [True, True] Translation: X:143.99, Y:-18.84, Z:-4.00 [[ 9.80230466e-01 1.96572201e-01 2.25300659e-02 1.43994539e+02] [-1.96517199e-01 9.80489343e-01 -4.65171594e-03 -1.88385607e+01] [-2.30048875e-02 1.32208253e-04 9.99735344e-01 -4.00150237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.928623853 meters 0.017091476280154512 Centerline is valid? [True, True] Translation: X:144.05, Y:-18.85, Z:-4.00 [[ 9.80074912e-01 1.97287973e-01 2.30352508e-02 1.44054285e+02] [-1.97230575e-01 9.80345572e-01 -4.76019326e-03 -1.88542634e+01] [-2.35216350e-02 1.22090244e-04 9.99723321e-01 -4.00195981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.988623853 meters 0.017327133490936963 Centerline is valid? [True, True] Translation: X:144.12, Y:-18.87, Z:-4.00 [[ 9.80160783e-01 1.96785223e-01 2.36731106e-02 1.44115383e+02] [-1.96724344e-01 9.80446610e-01 -4.89659936e-03 -1.88711488e+01] [-2.41737995e-02 1.42377498e-04 9.99707761e-01 -4.00272640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04862385299998 meters 0.017790229375137055 Centerline is valid? [True, True] Translation: X:144.18, Y:-18.89, Z:-4.00 [[ 9.80323552e-01 1.95988753e-01 2.35402028e-02 1.44176332e+02] [-1.95928216e-01 9.80606130e-01 -4.87368599e-03 -1.88886711e+01] [-2.40388548e-02 1.65599221e-04 9.99711011e-01 -4.00433142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10862385299998 meters 0.01888118296176287 Centerline is valid? [True, True] Translation: X:144.24, Y:-18.91, Z:-4.01 [[ 9.80606199e-01 1.94629541e-01 2.30396298e-02 1.44235582e+02] [-1.94571069e-01 9.80876803e-01 -4.77460849e-03 -1.89083323e+01] [-2.35283182e-02 1.99165288e-04 9.99723151e-01 -4.00769829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16862385299999 meters 0.019474356499372493 Centerline is valid? [True, True] Translation: X:144.30, Y:-18.93, Z:-4.01 [[ 9.80776623e-01 1.93880206e-01 2.20835310e-02 1.44295580e+02] [-1.93826216e-01 9.81025189e-01 -4.58006798e-03 -1.89259106e+01] [-2.25524847e-02 2.11656339e-04 9.99745638e-01 -4.01027671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.228623853 meters 0.0213102699760354 Centerline is valid? [True, True] Translation: X:144.35, Y:-18.95, Z:-4.01 [[ 9.81062220e-01 1.92500445e-01 2.14592535e-02 1.44354068e+02] [-1.92449055e-01 9.81296857e-01 -4.45424824e-03 -1.89458317e+01] [-2.19153428e-02 2.40081606e-04 9.99759801e-01 -4.01450879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.288623853 meters 0.022013447021103704 Centerline is valid? [True, True] Translation: X:144.41, Y:-18.96, Z:-4.02 [[ 9.81179182e-01 1.91925519e-01 2.12604923e-02 1.44414122e+02] [-1.91874870e-01 9.81409461e-01 -4.41627754e-03 -1.89631841e+01] [-2.17128447e-02 2.53805390e-04 9.99764216e-01 -4.01665717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.348623853 meters 0.022560767584545005 Centerline is valid? [True, True] Translation: X:144.47, Y:-18.98, Z:-4.02 [[ 9.81345105e-01 1.91004105e-01 2.18910082e-02 1.44473812e+02] [-1.90950093e-01 9.81589196e-01 -4.55103201e-03 -1.89828148e+01] [-2.23572429e-02 2.86042932e-04 9.99750005e-01 -4.01619882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.408623853 meters 0.022747712840022097 Centerline is valid? [True, True] Translation: X:144.53, Y:-19.00, Z:-4.02 [[ 9.81490661e-01 1.90227897e-01 2.21230485e-02 1.44534188e+02] [-1.90172452e-01 9.81739910e-01 -4.60302648e-03 -1.89998492e+01] [-2.25947037e-02 3.10633132e-04 9.99744659e-01 -4.01720260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.468623853 meters 0.023286432239928948 Centerline is valid? [True, True] Translation: X:144.59, Y:-19.02, Z:-4.02 [[ 9.81618110e-01 1.89563084e-01 2.21748531e-02 1.44594029e+02] [-1.89507122e-01 9.81868488e-01 -4.61765265e-03 -1.90170747e+01] [-2.26481260e-02 3.30478877e-04 9.99743444e-01 -4.01810547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.528623853 meters 0.023892598989588787 Centerline is valid? [True, True] Translation: X:144.65, Y:-19.04, Z:-4.02 [[ 9.81779157e-01 1.88672766e-01 2.26334963e-02 1.44653550e+02] [-1.88614134e-01 9.82039946e-01 -4.71720749e-03 -1.90374581e+01] [-2.31170060e-02 3.62258682e-04 9.99732701e-01 -4.01927803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.588623853 meters 0.026666761824208317 Centerline is valid? [True, True] Translation: X:144.71, Y:-19.06, Z:-4.02 [[ 9.81910934e-01 1.87999163e-01 2.25218079e-02 1.44710955e+02] [-1.87940840e-01 9.82169115e-01 -4.69792660e-03 -1.90610220e+01] [-2.30034304e-02 3.80177995e-04 9.99735314e-01 -4.02202075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.648623853 meters 0.025823453602581627 Centerline is valid? [True, True] Translation: X:144.77, Y:-19.08, Z:-4.03 [[ 9.81973775e-01 1.87764132e-01 2.17286966e-02 1.44771200e+02] [-1.87709715e-01 9.82214075e-01 -4.53577145e-03 -1.90764188e+01] [-2.21938868e-02 3.75321167e-04 9.99753615e-01 -4.02524301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.708623853 meters 0.026559043197656125 Centerline is valid? [True, True] Translation: X:144.83, Y:-19.10, Z:-4.03 [[ 9.81980852e-01 1.87892117e-01 2.02523530e-02 1.44829516e+02] [-1.87844803e-01 9.82189610e-01 -4.23085816e-03 -1.90963668e+01] [-2.06865956e-02 3.50322440e-04 9.99785948e-01 -4.02959275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76862385299998 meters 0.027029005408510845 Centerline is valid? [True, True] Translation: X:144.89, Y:-19.11, Z:-4.03 [[ 9.81875279e-01 1.88495835e-01 1.97549055e-02 1.44888360e+02] [-1.88450870e-01 9.82073933e-01 -4.13042069e-03 -1.91141400e+01] [-2.01793448e-02 3.32728857e-04 9.99796321e-01 -4.03260840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82862385299998 meters 0.024162966303808858 Centerline is valid? [True, True] Translation: X:144.95, Y:-19.13, Z:-4.03 [[ 9.81349043e-01 1.91148630e-01 2.04023945e-02 1.44948865e+02] [-1.91101209e-01 9.81561062e-01 -4.26732226e-03 -1.91283036e+01] [-2.08418888e-02 2.88810357e-04 9.99782743e-01 -4.03226578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88862385299998 meters 0.022060573747359508 Centerline is valid? [True, True] Translation: X:145.01, Y:-19.14, Z:-4.03 [[ 9.80797227e-01 1.93962515e-01 2.03799467e-02 1.45008604e+02] [-1.93915733e-01 9.81008914e-01 -4.26613166e-03 -1.91395553e+01] [-2.08203790e-02 2.32217800e-04 9.99783205e-01 -4.03420582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.948623853 meters 0.02070280599478817 Centerline is valid? [True, True] Translation: X:145.07, Y:-19.15, Z:-4.04 [[ 9.80466982e-01 1.95592938e-01 2.06857331e-02 1.45069231e+02] [-1.95545036e-01 9.80685149e-01 -4.33329905e-03 -1.91532845e+01] [-2.11337540e-02 2.03664206e-04 9.99776637e-01 -4.03557940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.008623853 meters 0.02126610213531754 Centerline is valid? [True, True] Translation: X:145.13, Y:-19.18, Z:-4.04 [[ 9.80529480e-01 1.95294976e-01 2.05380331e-02 1.45129211e+02] [-1.95247623e-01 9.80744527e-01 -4.30559329e-03 -1.91754518e+01] [-2.09834243e-02 2.11759012e-04 9.99779801e-01 -4.03777979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.068623853 meters 0.02283856824791592 Centerline is valid? [True, True] Translation: X:145.19, Y:-19.20, Z:-4.04 [[ 9.80815332e-01 1.93815338e-01 2.09021349e-02 1.45186825e+02] [-1.93765863e-01 9.81037997e-01 -4.38622018e-03 -1.91969438e+01] [-2.13559053e-02 2.51951787e-04 9.99771905e-01 -4.03868567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.128623853 meters 0.024055284750646003 Centerline is valid? [True, True] Translation: X:145.24, Y:-19.22, Z:-4.04 [[ 9.81412541e-01 1.90779899e-01 2.07955179e-02 1.45244792e+02] [-1.90730181e-01 9.81632787e-01 -4.36694490e-03 -1.92204327e+01] [-2.12466875e-02 3.19441603e-04 9.99774213e-01 -4.04066605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.188623853 meters 0.02565941928426417 Centerline is valid? [True, True] Translation: X:145.30, Y:-19.24, Z:-4.04 [[ 9.81675747e-01 1.89391684e-01 2.10598502e-02 1.45302904e+02] [-1.89340299e-01 9.81901554e-01 -4.42595161e-03 -1.92419450e+01] [-2.15169381e-02 3.57371020e-04 9.99768420e-01 -4.04162075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.248623853 meters 0.025293787508992537 Centerline is valid? [True, True] Translation: X:145.36, Y:-19.26, Z:-4.04 [[ 9.81505441e-01 1.90224249e-01 2.14896411e-02 1.45361895e+02] [-1.90170867e-01 9.81740604e-01 -4.51977496e-03 -1.92623077e+01] [-2.19570241e-02 3.49480025e-04 9.99758854e-01 -4.04233422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.308623853 meters 0.0261642978015935 Centerline is valid? [True, True] Translation: X:145.42, Y:-19.28, Z:-4.04 [[ 9.81180962e-01 1.91928505e-01 2.11510822e-02 1.45422109e+02] [-1.91877111e-01 9.81408861e-01 -4.45213640e-03 -1.92781559e+01] [-2.16123514e-02 3.09942925e-04 9.99766378e-01 -4.03919250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.368623853 meters 0.02215849312222969 Centerline is valid? [True, True] Translation: X:145.48, Y:-19.29, Z:-4.04 [[ 9.80651039e-01 1.94476987e-01 2.24107169e-02 1.45480970e+02] [-1.94419857e-01 9.80907043e-01 -4.72146466e-03 -1.92935326e+01] [-2.29010462e-02 2.73020850e-04 9.99737699e-01 -4.04360630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.428623853 meters 0.02023044654455885 Centerline is valid? [True, True] Translation: X:145.54, Y:-19.31, Z:-4.04 [[ 9.80073663e-01 1.97268765e-01 2.32518920e-02 1.45541190e+02] [-1.97207960e-01 9.80349421e-01 -4.90244936e-03 -1.93078238e+01] [-2.37620790e-02 2.19303305e-04 9.99717618e-01 -4.04375369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.488623853 meters 0.01760030308396793 Centerline is valid? [True, True] Translation: X:145.60, Y:-19.32, Z:-4.05 [[ 9.79118009e-01 2.02004071e-01 2.28534221e-02 1.45601073e+02] [-2.01946533e-01 9.79384676e-01 -4.82223469e-03 -1.93202043e+01] [-2.33564024e-02 1.06367471e-04 9.99727196e-01 -4.04677959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54862385299998 meters 0.016765445740096637 Centerline is valid? [True, True] Translation: X:145.66, Y:-19.33, Z:-4.05 [[ 9.78310757e-01 2.05982266e-01 2.18945076e-02 1.45662595e+02] [-2.05930381e-01 9.78555724e-01 -4.62303043e-03 -1.93305689e+01] [-2.23772580e-02 1.40161113e-05 9.99749598e-01 -4.05009471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60862385299998 meters 0.01733090605051518 Centerline is valid? [True, True] Translation: X:145.72, Y:-19.34, Z:-4.05 [[ 9.77102135e-01 2.11713716e-01 2.11830004e-02 1.45724440e+02] [-2.11666423e-01 9.77331720e-01 -4.47604170e-03 -1.93389936e+01] [-2.16504577e-02 -1.10180036e-04 9.99765595e-01 -4.05207462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66862385299999 meters 0.018761090176392475 Centerline is valid? [True, True] Translation: X:145.79, Y:-19.35, Z:-4.05 [[ 9.76366970e-01 2.15135743e-01 2.05949584e-02 1.45785510e+02] [-2.15091727e-01 9.76584139e-01 -4.35525964e-03 -1.93510891e+01] [-2.10496818e-02 -1.77473533e-04 9.99778415e-01 -4.05430172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.728623853 meters 0.020555893804398737 Centerline is valid? [True, True] Translation: X:145.85, Y:-19.36, Z:-4.06 [[ 9.75548062e-01 2.18811183e-01 2.06795533e-02 1.45846193e+02] [-2.18767552e-01 9.75767186e-01 -4.37682350e-03 -1.93617033e+01] [-2.11361275e-02 -2.54213584e-04 9.99776575e-01 -4.05589850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.788623853 meters 0.02195256184070699 Centerline is valid? [True, True] Translation: X:145.91, Y:-19.37, Z:-4.06 [[ 9.75124371e-01 2.20640929e-01 2.12141767e-02 1.45906241e+02] [-2.20595368e-01 9.75355059e-01 -4.49353755e-03 -1.93717079e+01] [-2.16828128e-02 -2.97991127e-04 9.99764856e-01 -4.05747810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.848623853 meters 0.022741496419860917 Centerline is valid? [True, True] Translation: X:145.97, Y:-19.38, Z:-4.06 [[ 9.74730640e-01 2.22329473e-01 2.16745343e-02 1.45967294e+02] [-2.22282253e-01 9.74971533e-01 -4.59454283e-03 -1.93832749e+01] [-2.21535562e-02 -3.39422642e-04 9.99754522e-01 -4.05832224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.908623853 meters 0.024292525739674133 Centerline is valid? [True, True] Translation: X:146.03, Y:-19.39, Z:-4.06 [[ 9.74436920e-01 2.23580145e-01 2.20137917e-02 1.46027050e+02] [-2.23531662e-01 9.74685479e-01 -4.67051321e-03 -1.93939192e+01] [-2.25007571e-02 -3.69658948e-04 9.99746758e-01 -4.05868694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.968623853 meters 0.02794527661704194 Centerline is valid? [True, True] Translation: X:146.09, Y:-19.40, Z:-4.06 [[ 9.74211555e-01 2.24502518e-01 2.25934646e-02 1.46088317e+02] [-2.24451627e-01 9.74473427e-01 -4.79652358e-03 -1.93997753e+01] [-2.30935626e-02 -3.98311194e-04 9.99733229e-01 -4.06012982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.028623853 meters 0.025073350460622847 Centerline is valid? [True, True] Translation: X:146.15, Y:-19.41, Z:-4.06 [[ 9.74255343e-01 2.24270863e-01 2.30023223e-02 1.46149034e+02] [-2.24217964e-01 9.74526769e-01 -4.88689145e-03 -1.94149973e+01] [-2.35123662e-02 -3.96453787e-04 9.99723467e-01 -4.06024454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.088623853 meters 0.025746384858538227 Centerline is valid? [True, True] Translation: X:146.21, Y:-19.43, Z:-4.06 [[ 9.74734862e-01 2.22189321e-01 2.28878489e-02 1.46209349e+02] [-2.22136284e-01 9.75003482e-01 -4.86638193e-03 -1.94251008e+01] [-2.33969904e-02 -3.40789587e-04 9.99726195e-01 -4.06274898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.148623853 meters 0.02112691432748121 Centerline is valid? [True, True] Translation: X:146.27, Y:-19.44, Z:-4.06 [[ 9.75067620e-01 2.20708241e-01 2.30436485e-02 1.46269137e+02] [-2.20653984e-01 9.75339828e-01 -4.90295829e-03 -1.94445403e+01] [-2.35575115e-02 -3.03956996e-04 9.99722437e-01 -4.06243122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.208623853 meters 0.0196097038927371 Centerline is valid? [True, True] Translation: X:146.33, Y:-19.46, Z:-4.06 [[ 9.75514204e-01 2.18725132e-01 2.30511347e-02 1.46329948e+02] [-2.18670194e-01 9.75786479e-01 -4.90849703e-03 -1.94562683e+01] [-2.35665972e-02 -2.52287530e-04 9.99722237e-01 -4.06395628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26862385299998 meters 0.018890673217535837 Centerline is valid? [True, True] Translation: X:146.39, Y:-19.47, Z:-4.07 [[ 9.75804188e-01 2.17432931e-01 2.30023169e-02 1.46391219e+02] [-2.17377775e-01 9.76075240e-01 -4.90200671e-03 -1.94689665e+01] [-2.35178497e-02 -2.16793782e-04 9.99723394e-01 -4.06554435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32862385299998 meters 0.01744934403076248 Centerline is valid? [True, True] Translation: X:146.45, Y:-19.48, Z:-4.07 [[ 9.76472913e-01 2.14446098e-01 2.26610060e-02 1.46451909e+02] [-2.14391673e-01 9.76735815e-01 -4.83307168e-03 -1.94794579e+01] [-2.31702495e-02 -1.38967406e-04 9.99731524e-01 -4.06794413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38862385299998 meters 0.016550706552160618 Centerline is valid? [True, True] Translation: X:146.51, Y:-19.49, Z:-4.07 [[ 9.77090304e-01 2.11678233e-01 2.20649952e-02 1.46512520e+02] [-2.11625847e-01 9.77339409e-01 -4.70956133e-03 -1.94939090e+01] [-2.25619010e-02 -6.78565891e-05 9.99745446e-01 -4.07065205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.448623853 meters 0.016693538207970367 Centerline is valid? [True, True] Translation: X:146.57, Y:-19.51, Z:-4.07 [[ 9.78108334e-01 2.06906217e-01 2.22239431e-02 1.46571658e+02] [-2.06851755e-01 9.78360780e-01 -4.74724339e-03 -1.95113522e+01] [-2.27252684e-02 4.62566938e-05 9.99741747e-01 -4.07195391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.508623853 meters 0.017667703837052406 Centerline is valid? [True, True] Translation: X:146.63, Y:-19.53, Z:-4.07 [[ 9.78711725e-01 2.03942884e-01 2.30360572e-02 1.46631896e+02] [-2.03883443e-01 9.78982781e-01 -4.92511357e-03 -1.95260530e+01] [-2.35563452e-02 1.23595746e-04 9.99722503e-01 -4.07248580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.568623853 meters 0.01881847595693039 Centerline is valid? [True, True] Translation: X:146.69, Y:-19.54, Z:-4.07 [[ 9.79121651e-01 2.01987415e-01 2.28446176e-02 1.46691746e+02] [-2.01928335e-01 9.79388102e-01 -4.88806524e-03 -1.95390270e+01] [-2.33610743e-02 1.73034912e-04 9.99727078e-01 -4.07462701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.628623853 meters 0.020609668860890024 Centerline is valid? [True, True] Translation: X:146.75, Y:-19.55, Z:-4.08 [[ 9.79745248e-01 1.99007558e-01 2.22540074e-02 1.46751927e+02] [-1.98950650e-01 9.79997925e-01 -4.76496065e-03 -1.95530428e+01] [-2.27571443e-02 2.40998311e-04 9.99740994e-01 -4.07683181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.688623853 meters 0.027667071132092175 Centerline is valid? [True, True] Translation: X:146.81, Y:-19.56, Z:-4.07 [[ 9.80129200e-01 1.97283134e-01 2.06425981e-02 1.46813006e+02] [-1.97233722e-01 9.80346518e-01 -4.42308426e-03 -1.95642454e+01] [-2.11094991e-02 2.63777584e-04 9.99777135e-01 -4.07045191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.748623853 meters 0.022948147698109923 Centerline is valid? [True, True] Translation: X:146.87, Y:-19.58, Z:-4.08 [[ 9.80456258e-01 1.95452242e-01 2.24487715e-02 1.46871954e+02] [-1.95393208e-01 9.80713164e-01 -4.81507834e-03 -1.95786849e+01] [-2.29569236e-02 3.34636210e-04 9.99736399e-01 -4.07827642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.808623853 meters 0.02559182430094188 Centerline is valid? [True, True] Translation: X:146.93, Y:-19.59, Z:-4.08 [[ 9.80983353e-01 1.92707513e-01 2.31403502e-02 1.46931191e+02] [-1.92643971e-01 9.81256156e-01 -4.96555271e-03 -1.95940444e+01] [-2.36635104e-02 4.13275590e-04 9.99719895e-01 -4.07898856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.868623853 meters 0.02799135416087485 Centerline is valid? [True, True] Translation: X:146.99, Y:-19.61, Z:-4.08 [[ 9.81389557e-01 1.90584483e-01 2.34966564e-02 1.46990370e+02] [-1.90518267e-01 9.81670682e-01 -5.04590285e-03 -1.96116030e+01] [-2.40276496e-02 4.75454092e-04 9.99711181e-01 -4.07996064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.928623853 meters 0.031450375602645575 Centerline is valid? [True, True] Translation: X:147.05, Y:-19.63, Z:-4.08 [[ 9.81926113e-01 1.87887930e-01 2.27867193e-02 1.47048912e+02] [-1.87824839e-01 9.82190331e-01 -4.89732778e-03 -1.96302686e+01] [-2.33010441e-02 5.28902159e-04 9.99728354e-01 -4.08287331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.988623853 meters 0.030860304789621484 Centerline is valid? [True, True] Translation: X:147.11, Y:-19.64, Z:-4.09 [[ 9.81963984e-01 1.87828791e-01 2.16120304e-02 1.47109671e+02] [-1.87771998e-01 9.82201655e-01 -4.64603099e-03 -1.96421434e+01] [-2.21000304e-02 5.04100955e-04 9.99755637e-01 -4.08584180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04862385299998 meters 0.030572156806222394 Centerline is valid? [True, True] Translation: X:147.17, Y:-19.65, Z:-4.09 [[ 9.81753145e-01 1.88978348e-01 2.11647198e-02 1.47169258e+02] [-1.88924069e-01 9.81981141e-01 -4.55356254e-03 -1.96545412e+01] [-2.16438804e-02 4.71949368e-04 9.99765632e-01 -4.08855179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10862385299998 meters 0.029775599011586128 Centerline is valid? [True, True] Translation: X:147.23, Y:-19.67, Z:-4.09 [[ 9.81255479e-01 1.91522485e-01 2.13734231e-02 1.47229758e+02] [-1.91467658e-01 9.81488135e-01 -4.60189014e-03 -1.96664743e+01] [-2.18591266e-02 4.23310660e-04 9.99760971e-01 -4.09036261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16862385299999 meters 0.027913520205762193 Centerline is valid? [True, True] Translation: X:147.29, Y:-19.68, Z:-4.09 [[ 9.81052421e-01 1.92546415e-01 2.14947751e-02 1.47290778e+02] [-1.92491128e-01 9.81287783e-01 -4.63171365e-03 -1.96774584e+01] [-2.19843800e-02 4.06400391e-04 9.99758232e-01 -4.09127592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.228623853 meters 0.026441097348584342 Centerline is valid? [True, True] Translation: X:147.35, Y:-19.69, Z:-4.09 [[ 9.80858034e-01 1.93579962e-01 2.10787881e-02 1.47351475e+02] [-1.93526958e-01 9.81084428e-01 -4.54555179e-03 -1.96905294e+01] [-2.15599985e-02 3.79227252e-04 9.99767484e-01 -4.09320536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.288623853 meters 0.027391169678582464 Centerline is valid? [True, True] Translation: X:147.41, Y:-19.71, Z:-4.10 [[ 9.80775263e-01 1.93972538e-01 2.13199224e-02 1.47410229e+02] [-1.93918323e-01 9.81006886e-01 -4.60138970e-03 -1.97058926e+01] [-2.18075339e-02 3.78605608e-04 9.99762116e-01 -4.09577802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.348623853 meters 0.02428312647949987 Centerline is valid? [True, True] Translation: X:147.47, Y:-19.72, Z:-4.10 [[ 9.80479221e-01 1.95548527e-01 2.05248959e-02 1.47471984e+02] [-1.95498546e-01 9.80693970e-01 -4.43355906e-03 -1.97166550e+01] [-2.09956176e-02 3.34425208e-04 9.99779512e-01 -4.09686474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.408623853 meters 0.02329067997449534 Centerline is valid? [True, True] Translation: X:147.53, Y:-19.73, Z:-4.10 [[ 9.79947270e-01 1.98267929e-01 1.98286705e-02 1.47531895e+02] [-1.98221820e-01 9.80147824e-01 -4.28408781e-03 -1.97290897e+01] [-2.02844254e-02 2.67705006e-04 9.99794214e-01 -4.10093071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.468623853 meters 0.020206169126892597 Centerline is valid? [True, True] Translation: X:147.59, Y:-19.74, Z:-4.10 [[ 9.79211250e-01 2.01893411e-01 1.96055661e-02 1.47593873e+02] [-2.01849032e-01 9.79407481e-01 -4.23726422e-03 -1.97379780e+01] [-2.00573138e-02 1.91812255e-04 9.99798813e-01 -4.10150550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.528623853 meters 0.01684907487326669 Centerline is valid? [True, True] Translation: X:147.66, Y:-19.74, Z:-4.10 [[ 9.77767060e-01 2.08671100e-01 2.06869202e-02 1.47655712e+02] [-2.08623122e-01 9.77985873e-01 -4.47488828e-03 -1.97418648e+01] [-2.11652956e-02 5.96284771e-05 9.99775988e-01 -4.10188996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.588623853 meters 0.016147862894056033 Centerline is valid? [True, True] Translation: X:147.72, Y:-19.75, Z:-4.10 [[ 9.76913825e-01 2.12593685e-01 2.10547773e-02 1.47717889e+02] [-2.12544823e-01 9.77140688e-01 -4.55781164e-03 -1.97487165e+01] [-2.15424416e-02 -2.24947036e-05 9.99767934e-01 -4.10156312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.648623853 meters 0.016931445367516413 Centerline is valid? [True, True] Translation: X:147.78, Y:-19.75, Z:-4.10 [[ 9.76007215e-01 2.16652983e-01 2.17117795e-02 1.47781116e+02] [-2.16601946e-01 9.76248673e-01 -4.70369572e-03 -1.97542915e+01] [-2.22151657e-02 -1.11972731e-04 9.99753206e-01 -4.10198957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.708623853 meters 0.017820783841042933 Centerline is valid? [True, True] Translation: X:147.84, Y:-19.76, Z:-4.11 [[ 9.75666839e-01 2.18233052e-01 2.11791193e-02 1.47841302e+02] [-2.18184763e-01 9.75896673e-01 -4.59279896e-03 -1.97645142e+01] [-2.16709326e-02 -1.39919493e-04 9.99765148e-01 -4.10562316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76862385299998 meters 0.018261872301419527 Centerline is valid? [True, True] Translation: X:147.90, Y:-19.77, Z:-4.11 [[ 9.75507506e-01 2.18990253e-01 2.06972080e-02 1.47902176e+02] [-2.18944280e-01 9.75727035e-01 -4.48956055e-03 -1.97741670e+01] [-2.11779954e-02 -1.51935304e-04 9.99775710e-01 -4.10852181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82862385299998 meters 0.017959847918309166 Centerline is valid? [True, True] Translation: X:147.96, Y:-19.79, Z:-4.11 [[ 9.75635326e-01 2.18451559e-01 2.03624024e-02 1.47963280e+02] [-2.18406874e-01 9.75847784e-01 -4.42032506e-03 -1.97886575e+01] [-2.08362322e-02 -1.34663369e-04 9.99782893e-01 -4.11106968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88862385299998 meters 0.01703809252577398 Centerline is valid? [True, True] Translation: X:148.02, Y:-19.80, Z:-4.11 [[ 9.75981281e-01 2.16842570e-01 2.09723556e-02 1.48024004e+02] [-2.16794706e-01 9.76206582e-01 -4.55689465e-03 -1.98030534e+01] [-2.14614803e-02 -9.92517935e-05 9.99769671e-01 -4.11102800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.948623853 meters 0.016159373047577367 Centerline is valid? [True, True] Translation: X:148.08, Y:-19.82, Z:-4.11 [[ 9.76369445e-01 2.15070661e-01 2.11498934e-02 1.48083668e+02] [-2.15021496e-01 9.76598488e-01 -4.59878500e-03 -1.98193942e+01] [-2.16440177e-02 -5.75685668e-05 9.99765739e-01 -4.11088876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.008623853 meters 0.016246223353046752 Centerline is valid? [True, True] Translation: X:148.14, Y:-19.84, Z:-4.11 [[ 9.77207424e-01 2.11300712e-01 2.04367046e-02 1.48143996e+02] [-2.11253915e-01 9.77421101e-01 -4.44693130e-03 -1.98379747e+01] [-2.09149061e-02 2.82404150e-05 9.99781259e-01 -4.11357117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.068623853 meters 0.016820399261338333 Centerline is valid? [True, True] Translation: X:148.20, Y:-19.86, Z:-4.12 [[ 9.77711211e-01 2.08953270e-01 2.04772585e-02 1.48202749e+02] [-2.08905671e-01 9.77925623e-01 -4.46056981e-03 -1.98554575e+01] [-2.09572864e-02 8.33336923e-05 9.99780368e-01 -4.11526895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.128623853 meters 0.016918841248036137 Centerline is valid? [True, True] Translation: X:148.26, Y:-19.87, Z:-4.12 [[ 9.77796529e-01 2.08552114e-01 2.04930205e-02 1.48263769e+02] [-2.08504327e-01 9.78011251e-01 -4.46529025e-03 -1.98691149e+01] [-2.09736504e-02 9.32618526e-05 9.99780024e-01 -4.11686259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.188623853 meters 0.01651653424960726 Centerline is valid? [True, True] Translation: X:148.32, Y:-19.88, Z:-4.12 [[ 9.77447703e-01 2.10166141e-01 2.06441572e-02 1.48323903e+02] [-2.10117912e-01 9.77665684e-01 -4.50265692e-03 -1.98798866e+01] [-2.11293901e-02 6.34044634e-05 9.99776748e-01 -4.11870786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.248623853 meters 0.016006124144572732 Centerline is valid? [True, True] Translation: X:148.39, Y:-19.89, Z:-4.12 [[ 9.76608592e-01 2.14065203e-01 2.02915328e-02 1.48386695e+02] [-2.14019388e-01 9.76819374e-01 -4.42866120e-03 -1.98891095e+01] [-2.07691846e-02 -1.77128512e-05 9.99784297e-01 -4.12014279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.308623853 meters 0.016497814150469563 Centerline is valid? [True, True] Translation: X:148.45, Y:-19.90, Z:-4.12 [[ 9.76092751e-01 2.16464260e-01 1.96511006e-02 1.48447026e+02] [-2.16421696e-01 9.76290541e-01 -4.29293108e-03 -1.98984826e+01] [-2.01144498e-02 -6.26256028e-05 9.99797682e-01 -4.12333253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.368623853 meters 0.01739288610055141 Centerline is valid? [True, True] Translation: X:148.51, Y:-19.90, Z:-4.13 [[ 9.75415059e-01 2.19450643e-01 2.01712275e-02 1.48508676e+02] [-2.19406364e-01 9.75623595e-01 -4.40991011e-03 -1.99046722e+01] [-2.06472831e-02 -1.24202954e-04 9.99786814e-01 -4.12507330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.428623853 meters 0.017723021903294636 Centerline is valid? [True, True] Translation: X:148.57, Y:-19.92, Z:-4.12 [[ 9.74944722e-01 2.21468139e-01 2.08483153e-02 1.48570789e+02] [-2.21421232e-01 9.75167593e-01 -4.56109237e-03 -1.99157997e+01] [-2.13407381e-02 -1.69446710e-04 9.99772246e-01 -4.12390580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.488623853 meters 0.01938575853656683 Centerline is valid? [True, True] Translation: X:148.63, Y:-19.92, Z:-4.13 [[ 9.74504330e-01 2.23396940e-01 2.08594985e-02 1.48631154e+02] [-2.23350327e-01 9.74727533e-01 -4.56805904e-03 -1.99237661e+01] [-2.13528179e-02 -2.07382501e-04 9.99771981e-01 -4.12585576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54862385299998 meters 0.01965592262745588 Centerline is valid? [True, True] Translation: X:148.69, Y:-19.93, Z:-4.13 [[ 9.74245368e-01 2.24579842e-01 2.02449267e-02 1.48692706e+02] [-2.24536141e-01 9.74455666e-01 -4.43586394e-03 -1.99343448e+01] [-2.07239892e-02 -2.24097819e-04 9.99785210e-01 -4.12841306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60862385299998 meters 0.018813296353182407 Centerline is valid? [True, True] Translation: X:148.75, Y:-19.95, Z:-4.13 [[ 9.74376423e-01 2.24008325e-01 2.02695823e-02 1.48753493e+02] [-2.23964323e-01 9.74587208e-01 -4.44469680e-03 -1.99475965e+01] [-2.07501247e-02 -2.08855497e-04 9.99784671e-01 -4.12932212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66862385299999 meters 0.018433285597798384 Centerline is valid? [True, True] Translation: X:148.81, Y:-19.96, Z:-4.13 [[ 9.74685199e-01 2.22686250e-01 1.99899136e-02 1.48812655e+02] [-2.22643103e-01 9.74890150e-01 -4.38689446e-03 -1.99610063e+01] [-2.04648709e-02 -1.74775305e-04 9.99790557e-01 -4.13185128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.728623853 meters 0.017037577534867746 Centerline is valid? [True, True] Translation: X:148.87, Y:-19.98, Z:-4.13 [[ 9.75203467e-01 2.20342583e-01 2.06722813e-02 1.48873071e+02] [-2.20295841e-01 9.75422539e-01 -4.54008122e-03 -1.99761664e+01] [-2.11645824e-02 -1.26514664e-04 9.99775997e-01 -4.13211208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.788623853 meters 0.016590954560919028 Centerline is valid? [True, True] Translation: X:148.93, Y:-19.99, Z:-4.13 [[ 9.75422759e-01 2.19383883e-01 2.05219934e-02 1.48933933e+02] [-2.19337538e-01 9.75638612e-01 -4.51030517e-03 -1.99903770e+01] [-2.10115374e-02 -1.01789187e-04 9.99779228e-01 -4.13355742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.848623853 meters 0.015862708186876004 Centerline is valid? [True, True] Translation: X:149.00, Y:-20.01, Z:-4.13 [[ 9.75835410e-01 2.17581855e-01 2.00845543e-02 1.48995038e+02] [-2.17537008e-01 9.76042075e-01 -4.41782093e-03 -2.00061000e+01] [-2.05646078e-02 -5.80677564e-05 9.99788524e-01 -4.13442581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.908623853 meters 0.015627321575890266 Centerline is valid? [True, True] Translation: X:149.05, Y:-20.02, Z:-4.14 [[ 9.76164500e-01 2.16036431e-01 2.07636544e-02 1.49054599e+02] [-2.15988054e-01 9.76385303e-01 -4.57173085e-03 -2.00216933e+01] [-2.12609875e-02 -2.19399556e-05 9.99773959e-01 -4.13549244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.968623853 meters 0.015621791513668718 Centerline is valid? [True, True] Translation: X:149.12, Y:-20.04, Z:-4.14 [[ 9.76553901e-01 2.14234899e-01 2.11160099e-02 1.49115286e+02] [-2.14184375e-01 9.76782170e-01 -4.65249754e-03 -2.00379930e+01] [-2.16224694e-02 2.06952317e-05 9.99766207e-01 -4.13533491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.028623853 meters 0.015967261185357184 Centerline is valid? [True, True] Translation: X:149.18, Y:-20.05, Z:-4.14 [[ 9.76896687e-01 2.12657733e-01 2.12026339e-02 1.49175360e+02] [-2.12606327e-01 9.77126750e-01 -4.67595206e-03 -2.00537221e+01] [-2.17120381e-02 6.01079462e-05 9.99764264e-01 -4.13696455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.088623853 meters 0.016086840619156738 Centerline is valid? [True, True] Translation: X:149.24, Y:-20.07, Z:-4.14 [[ 9.76983252e-01 2.12332063e-01 2.04650791e-02 1.49236838e+02] [-2.12284027e-01 9.77197570e-01 -4.51680461e-03 -2.00681698e+01] [-2.09574880e-02 6.84330375e-05 9.99780365e-01 -4.13871480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.148623853 meters 0.016484065790072177 Centerline is valid? [True, True] Translation: X:149.30, Y:-20.08, Z:-4.14 [[ 9.76867835e-01 2.12962298e-01 1.93982587e-02 1.49296849e+02] [-2.12919172e-01 9.77060416e-01 -4.28600325e-03 -2.00814136e+01] [-1.98660278e-02 5.65975255e-05 9.99802649e-01 -4.14307441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.208623853 meters 0.016389353146712145 Centerline is valid? [True, True] Translation: X:149.36, Y:-20.09, Z:-4.15 [[ 9.76705590e-01 2.13742758e-01 1.89795711e-02 1.49357657e+02] [-2.13701598e-01 9.76889979e-01 -4.19469420e-03 -2.00941468e+01] [-1.94375383e-02 4.10166012e-05 9.99811072e-01 -4.14584642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26862385299998 meters 0.016061673957836434 Centerline is valid? [True, True] Translation: X:149.42, Y:-20.10, Z:-4.15 [[ 9.76212793e-01 2.15945312e-01 1.93960230e-02 1.49419162e+02] [-2.15902686e-01 9.76405460e-01 -4.29048919e-03 -2.01033165e+01] [-1.98648938e-02 7.76990129e-07 9.99802674e-01 -4.14586632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32862385299998 meters 0.016130506850919678 Centerline is valid? [True, True] Translation: X:149.48, Y:-20.12, Z:-4.15 [[ 9.76078892e-01 2.16497454e-01 1.99712057e-02 1.49480245e+02] [-2.16452305e-01 9.76283182e-01 -4.42127375e-03 -2.01155494e+01] [-2.04547467e-02 -7.30150683e-06 9.99790780e-01 -4.14793990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38862385299998 meters 0.01635304849352701 Centerline is valid? [True, True] Translation: X:149.54, Y:-20.13, Z:-4.15 [[ 9.76361270e-01 2.15262230e-01 1.95151832e-02 1.49541028e+02] [-2.15218803e-01 9.76556282e-01 -4.32377317e-03 -2.01328638e+01] [-1.99884198e-02 2.15302973e-05 9.99800211e-01 -4.15027393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.448623853 meters 0.01654229209225837 Centerline is valid? [True, True] Translation: X:149.60, Y:-20.15, Z:-4.15 [[ 9.76467258e-01 2.14895509e-01 1.82102753e-02 1.49601775e+02] [-2.14857571e-01 9.76637046e-01 -4.03793992e-03 -2.01464888e+01] [-1.86525646e-02 3.03006082e-05 9.99826025e-01 -4.15317330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.508623853 meters 0.016614698718359733 Centerline is valid? [True, True] Translation: X:149.66, Y:-20.16, Z:-4.16 [[ 9.76332032e-01 2.15504179e-01 1.82677790e-02 1.49662550e+02] [-2.15466046e-01 9.76502918e-01 -4.05396427e-03 -2.01587521e+01] [-1.87121857e-02 2.19290577e-05 9.99824911e-01 -4.15609448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.568623853 meters 0.016362758940848838 Centerline is valid? [True, True] Translation: X:149.72, Y:-20.17, Z:-4.16 [[ 9.76140366e-01 2.16327411e-01 1.87733184e-02 1.49724342e+02] [-2.16287219e-01 9.76320875e-01 -4.16988859e-03 -2.01702334e+01] [-1.92308438e-02 9.96775838e-06 9.99815070e-01 -4.15551566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.628623853 meters 0.01628936273891468 Centerline is valid? [True, True] Translation: X:149.78, Y:-20.18, Z:-4.16 [[ 9.76154633e-01 2.16211861e-01 1.93536373e-02 1.49784790e+02] [-2.16169037e-01 9.76346471e-01 -4.30305107e-03 -2.01843828e+01] [-1.98262262e-02 1.67860850e-05 9.99803441e-01 -4.15714404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.688623853 meters 0.016435228498604668 Centerline is valid? [True, True] Translation: X:149.85, Y:-20.20, Z:-4.16 [[ 9.76164082e-01 2.16137777e-01 1.97014274e-02 1.49845068e+02] [-2.16093306e-01 9.76362874e-01 -4.38430418e-03 -2.01983428e+01] [-2.01833561e-02 2.24536692e-05 9.99796295e-01 -4.15821907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.748623853 meters 0.016148089290166926 Centerline is valid? [True, True] Translation: X:149.91, Y:-20.21, Z:-4.16 [[ 9.76065055e-01 2.16562380e-01 1.99435048e-02 1.49906458e+02] [-2.16516827e-01 9.76268782e-01 -4.44165365e-03 -2.02111425e+01] [-2.04321162e-02 1.72385479e-05 9.99791242e-01 -4.15844009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.808623853 meters 0.016138713821833607 Centerline is valid? [True, True] Translation: X:149.97, Y:-20.22, Z:-4.16 [[ 9.75985983e-01 2.16957566e-01 1.95134581e-02 1.49967768e+02] [-2.16913961e-01 9.76181036e-01 -4.34960676e-03 -2.02241109e+01] [-1.99923479e-02 1.24137378e-05 9.99800133e-01 -4.16127986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.868623853 meters 0.0160275499705724 Centerline is valid? [True, True] Translation: X:150.03, Y:-20.24, Z:-4.16 [[ 9.75735368e-01 2.18057762e-01 1.97814221e-02 1.50029544e+02] [-2.18013095e-01 9.75935865e-01 -4.41338393e-03 -2.02352700e+01] [-2.02677719e-02 -6.31427131e-06 9.99794588e-01 -4.16241300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.928623853 meters 0.01595025186292286 Centerline is valid? [True, True] Translation: X:150.09, Y:-20.25, Z:-4.16 [[ 9.75659672e-01 2.18386439e-01 1.98888606e-02 1.50089739e+02] [-2.18341270e-01 9.75862369e-01 -4.44145941e-03 -2.02477799e+01] [-2.03787451e-02 -9.20625068e-06 9.99792332e-01 -4.16427501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.988623853 meters 0.015945606773517328 Centerline is valid? [True, True] Translation: X:150.15, Y:-20.26, Z:-4.17 [[ 9.75770311e-01 2.17916127e-01 1.96178907e-02 1.50150915e+02] [-2.17872018e-01 9.75967500e-01 -4.38434682e-03 -2.02622258e+01] [-2.01018437e-02 3.92602303e-06 9.99797938e-01 -4.16572432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04862385299998 meters 0.01612712511174966 Centerline is valid? [True, True] Translation: X:150.21, Y:-20.28, Z:-4.17 [[ 9.75937116e-01 2.17127746e-01 2.00570854e-02 1.50210925e+02] [-2.17081383e-01 9.76143197e-01 -4.48686688e-03 -2.02773923e+01] [-2.05528108e-02 2.48800829e-05 9.99788768e-01 -4.16763698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10862385299998 meters 0.02216730885494189 Centerline is valid? [True, True] Translation: X:150.27, Y:-20.30, Z:-4.16 [[ 9.76699592e-01 2.13685740e-01 1.99075679e-02 1.50270647e+02] [-2.13639271e-01 9.76902449e-01 -4.45732029e-03 -2.02966907e+01] [-2.04002176e-02 1.00424629e-04 9.99791889e-01 -4.16247348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16862385299999 meters 0.018799252589499174 Centerline is valid? [True, True] Translation: X:150.33, Y:-20.32, Z:-4.17 [[ 9.77371872e-01 2.10602393e-01 1.97700624e-02 1.50329754e+02] [-2.10555863e-01 9.77571790e-01 -4.42996814e-03 -2.03162667e+01] [-2.02596172e-02 1.67023714e-04 9.99794739e-01 -4.17130447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.228623853 meters 0.022354208013039008 Centerline is valid? [True, True] Translation: X:150.39, Y:-20.34, Z:-4.18 [[ 9.78089296e-01 2.07263272e-01 1.95771380e-02 1.50387565e+02] [-2.07216906e-01 9.78285173e-01 -4.39024368e-03 -2.03379268e+01] [-2.00619601e-02 2.37336404e-04 9.99798710e-01 -4.17566084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.288623853 meters 0.033303292693637916 Centerline is valid? [True, True] Translation: X:150.45, Y:-20.35, Z:-4.17 [[ 9.78194740e-01 2.06797576e-01 1.92305471e-02 1.50448122e+02] [-2.06752689e-01 9.78383719e-01 -4.31548403e-03 -2.03529058e+01] [-1.97072858e-02 2.45416462e-04 9.99805762e-01 -4.16740678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.348623853 meters 0.02168795725391198 Centerline is valid? [True, True] Translation: X:150.51, Y:-20.37, Z:-4.18 [[ 9.78078182e-01 2.07247766e-01 2.02838315e-02 1.50508408e+02] [-2.07197846e-01 9.78288454e-01 -4.55557260e-03 -2.03690349e+01] [-2.07875704e-02 2.52939981e-04 9.99783883e-01 -4.17603646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.408623853 meters 0.021020338618589804 Centerline is valid? [True, True] Translation: X:150.57, Y:-20.38, Z:-4.18 [[ 9.77826637e-01 2.08419603e-01 2.04043454e-02 1.50569103e+02] [-2.08369269e-01 9.78039475e-01 -4.58619624e-03 -2.03828081e+01] [-2.09121085e-02 2.32866312e-04 9.99781291e-01 -4.17771793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.468623853 meters 0.01957689044444919 Centerline is valid? [True, True] Translation: X:150.63, Y:-20.40, Z:-4.18 [[ 9.77344992e-01 2.10695407e-01 2.01050324e-02 1.50629030e+02] [-2.10646939e-01 9.77551743e-01 -4.52280357e-03 -2.03954734e+01] [-2.06066434e-02 1.85275879e-04 9.99787643e-01 -4.18002365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.528623853 meters 0.01763756134518339 Centerline is valid? [True, True] Translation: X:150.69, Y:-20.41, Z:-4.18 [[ 9.76639215e-01 2.13899083e-01 2.05676010e-02 1.50690907e+02] [-2.13849021e-01 9.76855756e-01 -4.62915402e-03 -2.04054555e+01] [-2.10817512e-02 1.22652011e-04 9.99777748e-01 -4.18137073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.588623853 meters 0.01646269528718067 Centerline is valid? [True, True] Translation: X:150.75, Y:-20.42, Z:-4.18 [[ 9.76046842e-01 2.16535088e-01 2.10978046e-02 1.50752572e+02] [-2.16483012e-01 9.76274834e-01 -4.74915709e-03 -2.04161777e+01] [-2.16256148e-02 6.80834935e-05 9.99766137e-01 -4.18186626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.648623853 meters 0.015772522042044736 Centerline is valid? [True, True] Translation: X:150.81, Y:-20.42, Z:-4.18 [[ 9.75017499e-01 2.21079858e-01 2.15539712e-02 1.50814194e+02] [-2.21026533e-01 9.75255708e-01 -4.85552193e-03 -2.04244732e+01] [-2.20940916e-02 -2.97806916e-05 9.99755895e-01 -4.18195319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.708623853 meters 0.016674910133309687 Centerline is valid? [True, True] Translation: X:150.87, Y:-20.43, Z:-4.19 [[ 9.74303470e-01 2.24248701e-01 2.11013807e-02 1.50874718e+02] [-2.24198255e-01 9.74531944e-01 -4.75726026e-03 -2.04331632e+01] [-2.16307790e-02 -9.58775599e-05 9.99766023e-01 -4.18564167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76862385299998 meters 0.018026122224518066 Centerline is valid? [True, True] Translation: X:150.94, Y:-20.44, Z:-4.19 [[ 9.73498045e-01 2.27705912e-01 2.12502516e-02 1.50936688e+02] [-2.27655500e-01 9.73729936e-01 -4.79423690e-03 -2.04410888e+01] [-2.17836823e-02 -1.70556423e-04 9.99762693e-01 -4.18646390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82862385299998 meters 0.019119918983566544 Centerline is valid? [True, True] Translation: X:151.00, Y:-20.45, Z:-4.19 [[ 9.73111376e-01 2.29396274e-01 2.07749884e-02 1.50998309e+02] [-2.29348405e-01 9.73333093e-01 -4.69041746e-03 -2.04517753e+01] [-2.12969480e-02 -2.00411872e-04 9.99773174e-01 -4.18866515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88862385299998 meters 0.028386124146799512 Centerline is valid? [True, True] Translation: X:151.06, Y:-20.46, Z:-4.18 [[ 9.72822834e-01 2.30678641e-01 2.00772931e-02 1.51059246e+02] [-2.30634141e-01 9.73029967e-01 -4.53602940e-03 -2.04642469e+01] [-2.05821729e-02 -2.17756268e-04 9.99788141e-01 -4.18280130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.948623853 meters 0.0185676053344788 Centerline is valid? [True, True] Translation: X:151.12, Y:-20.48, Z:-4.19 [[ 9.72886981e-01 2.30345253e-01 2.07842857e-02 1.51119969e+02] [-2.30297394e-01 9.73108945e-01 -4.70021407e-03 -2.04789530e+01] [-2.13080463e-02 -2.13789736e-04 9.99772935e-01 -4.19050730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.008623853 meters 0.019266792334103992 Centerline is valid? [True, True] Translation: X:151.18, Y:-20.49, Z:-4.19 [[ 9.72857655e-01 2.30429902e-01 2.12142059e-02 1.51181296e+02] [-2.30380039e-01 9.73088902e-01 -4.79847292e-03 -2.04887483e+01] [-2.17490200e-02 -2.19098468e-04 9.99763438e-01 -4.19287390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.068623853 meters 0.018613142055085366 Centerline is valid? [True, True] Translation: X:151.24, Y:-20.50, Z:-4.19 [[ 9.72791923e-01 2.30716672e-01 2.11114394e-02 1.51242254e+02] [-2.30667310e-01 9.73020949e-01 -4.77745790e-03 -2.05033089e+01] [-2.16441120e-02 -2.22246486e-04 9.99765714e-01 -4.19331028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.128623853 meters 0.019138179549688217 Centerline is valid? [True, True] Translation: X:151.30, Y:-20.52, Z:-4.20 [[ 9.72738868e-01 2.30919482e-01 2.13374605e-02 1.51302721e+02] [-2.30869008e-01 9.72972837e-01 -4.83308226e-03 -2.05154701e+01] [-2.18768224e-02 -2.24831376e-04 9.99760648e-01 -4.19537072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.188623853 meters 0.019333162483518858 Centerline is valid? [True, True] Translation: X:151.36, Y:-20.53, Z:-4.20 [[ 9.72775196e-01 2.30754350e-01 2.14673519e-02 1.51363594e+02] [-2.30703129e-01 9.73012016e-01 -4.86662636e-03 -2.05258592e+01] [-2.20109865e-02 -2.18451832e-04 9.99757705e-01 -4.19681588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.248623853 meters 0.01865972982238297 Centerline is valid? [True, True] Translation: X:151.43, Y:-20.54, Z:-4.20 [[ 9.72665064e-01 2.31238721e-01 2.12444809e-02 1.51425736e+02] [-2.31188593e-01 9.72897016e-01 -4.81978501e-03 -2.05383947e+01] [-2.17832130e-02 -2.23445158e-04 9.99762693e-01 -4.19829723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.308623853 meters 0.019462201592503628 Centerline is valid? [True, True] Translation: X:151.49, Y:-20.55, Z:-4.20 [[ 9.72374199e-01 2.32544470e-01 2.02851141e-02 1.51487564e+02] [-2.32498969e-01 9.72585736e-01 -4.60613868e-03 -2.05459420e+01] [-2.08001447e-02 -2.37377683e-04 9.99783625e-01 -4.20124322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.368623853 meters 0.021292024540343953 Centerline is valid? [True, True] Translation: X:151.55, Y:-20.55, Z:-4.20 [[ 9.72037153e-01 2.33938778e-01 2.04063916e-02 1.51548498e+02] [-2.33892960e-01 9.72251293e-01 -4.63742048e-03 -2.05517543e+01] [-2.09250131e-02 -2.65166332e-04 9.99781013e-01 -4.20385514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.428623853 meters 0.02065777558547053 Centerline is valid? [True, True] Translation: X:151.61, Y:-20.56, Z:-4.20 [[ 9.71917125e-01 2.34431494e-01 2.04689230e-02 1.51611022e+02] [-2.34385438e-01 9.72132604e-01 -4.65473036e-03 -2.05600859e+01] [-2.09897228e-02 -2.73605333e-04 9.99779654e-01 -4.20490922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.488623853 meters 0.020188370547744455 Centerline is valid? [True, True] Translation: X:151.67, Y:-20.57, Z:-4.21 [[ 9.72145031e-01 2.33469238e-01 2.06435129e-02 1.51671300e+02] [-2.33422083e-01 9.72364156e-01 -4.69884676e-03 -2.05705913e+01] [-2.11700481e-02 -2.50691241e-04 9.99775858e-01 -4.20674333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54862385299998 meters 0.017344098401556617 Centerline is valid? [True, True] Translation: X:151.73, Y:-20.59, Z:-4.21 [[ 9.73104398e-01 2.29407180e-01 2.09803618e-02 1.51732311e+02] [-2.29357441e-01 9.73330530e-01 -4.77956616e-03 -2.05851399e+01] [-2.15172935e-02 -1.60985253e-04 9.99768463e-01 -4.20832235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60862385299998 meters 0.015867342527171327 Centerline is valid? [True, True] Translation: X:151.79, Y:-20.60, Z:-4.21 [[ 9.74005259e-01 2.25556192e-01 2.09322650e-02 1.51791677e+02] [-2.25505776e-01 9.74230157e-01 -4.76930650e-03 -2.06010285e+01] [-2.14685904e-02 -7.50170549e-05 9.99769520e-01 -4.21001297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66862385299999 meters 0.015996972290919207 Centerline is valid? [True, True] Translation: X:151.85, Y:-20.62, Z:-4.21 [[ 9.75391947e-01 2.19526380e-01 2.04625850e-02 1.51851115e+02] [-2.19476810e-01 9.75606563e-01 -4.66529877e-03 -2.06197689e+01] [-2.09875884e-02 5.94319692e-05 9.99779735e-01 -4.21322276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.728623853 meters 0.019368530333495657 Centerline is valid? [True, True] Translation: X:151.91, Y:-20.64, Z:-4.21 [[ 9.76208329e-01 2.15910469e-01 1.99991828e-02 1.51910475e+02] [-2.15862283e-01 9.76413156e-01 -4.56336431e-03 -2.06366531e+01] [-2.05127433e-02 1.37725002e-04 9.99789582e-01 -4.21332987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.788623853 meters 0.022975650997966026 Centerline is valid? [True, True] Translation: X:151.97, Y:-20.66, Z:-4.22 [[ 9.77551512e-01 2.09781503e-01 1.96153708e-02 1.51968937e+02] [-2.09733838e-01 9.77748255e-01 -4.47958092e-03 -2.06592056e+01] [-2.01186278e-02 2.65014097e-04 9.99797565e-01 -4.22018428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.848623853 meters 0.024889822168221155 Centerline is valid? [True, True] Translation: X:152.03, Y:-20.68, Z:-4.22 [[ 9.78435940e-01 2.05597837e-01 1.98151621e-02 1.52028884e+02] [-2.05548318e-01 9.78636502e-01 -4.52614699e-03 -2.06753763e+01] [-2.03224070e-02 3.55571647e-04 9.99793415e-01 -4.22001404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.908623853 meters 0.0316362535198608 Centerline is valid? [True, True] Translation: X:152.09, Y:-20.70, Z:-4.22 [[ 9.79628142e-01 1.99761557e-01 2.05918388e-02 1.52085125e+02] [-1.99706760e-01 9.79844413e-01 -4.70491800e-03 -2.06997238e+01] [-2.11166599e-02 4.96740663e-04 9.99776895e-01 -4.22123214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.968623853 meters 0.03282944593056797 Centerline is valid? [True, True] Translation: X:152.14, Y:-20.72, Z:-4.22 [[ 9.80272306e-01 1.96522838e-01 2.10945386e-02 1.52144288e+02] [-1.96464597e-01 9.80499076e-01 -4.81913347e-03 -2.07169219e+01] [-2.16302453e-02 5.79733070e-04 9.99765871e-01 -4.22138843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.028623853 meters 0.04082301382058228 Centerline is valid? [True, True] Translation: X:152.20, Y:-20.74, Z:-4.22 [[ 9.81102139e-01 1.92332378e-01 2.11387853e-02 1.52199859e+02] [-1.92272824e-01 9.81329607e-01 -4.83368948e-03 -2.07441175e+01] [-2.16737908e-02 6.77929154e-04 9.99764866e-01 -4.22443340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.088623853 meters 0.04359863467193206 Centerline is valid? [True, True] Translation: X:152.26, Y:-20.77, Z:-4.23 [[ 9.81473275e-01 1.90514634e-01 2.03564405e-02 1.52258928e+02] [-1.90459016e-01 9.81684112e-01 -4.65480546e-03 -2.07652425e+01] [-2.08704028e-02 6.91499515e-04 9.99781950e-01 -4.22792507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.148623853 meters 0.03960894849734285 Centerline is valid? [True, True] Translation: X:152.32, Y:-20.78, Z:-4.23 [[ 9.81427422e-01 1.90791006e-01 1.99751877e-02 1.52319959e+02] [-1.90737513e-01 9.81630450e-01 -4.56746201e-03 -2.07787427e+01] [-2.04796832e-02 6.72614836e-04 9.99790043e-01 -4.22929197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.208623853 meters 0.03599931038235384 Centerline is valid? [True, True] Translation: X:152.38, Y:-20.79, Z:-4.23 [[ 9.80698130e-01 1.94458851e-01 2.04189222e-02 1.52379924e+02] [-1.94403633e-01 9.80910484e-01 -4.67443008e-03 -2.07909375e+01] [-2.09381191e-02 6.14692198e-04 9.99780585e-01 -4.23055833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26862385299998 meters 0.03165978560132091 Centerline is valid? [True, True] Translation: X:152.44, Y:-20.80, Z:-4.23 [[ 9.80253199e-01 1.96660302e-01 2.06976291e-02 1.52440654e+02] [-1.96604054e-01 9.80471516e-01 -4.73832662e-03 -2.08022221e+01] [-2.12252765e-02 5.75522040e-04 9.99774553e-01 -4.23125556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32862385299998 meters 0.0371088067573071 Centerline is valid? [True, True] Translation: X:152.50, Y:-20.82, Z:-4.23 [[ 9.79802002e-01 1.98939624e-01 2.02746860e-02 1.52498783e+02] [-1.98886141e-01 9.80011612e-01 -4.64139917e-03 -2.08212971e+01] [-2.07927859e-02 5.15298147e-04 9.99783674e-01 -4.22670650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38862385299998 meters 0.03129027802615843 Centerline is valid? [True, True] Translation: X:152.56, Y:-20.84, Z:-4.24 [[ 9.79381298e-01 2.00934234e-01 2.09214233e-02 1.52556814e+02] [-2.00877649e-01 9.79604610e-01 -4.79360742e-03 -2.08396109e+01] [-2.14579225e-02 4.92123142e-04 9.99769631e-01 -4.23531708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.448623853 meters 0.027503462142378754 Centerline is valid? [True, True] Translation: X:152.62, Y:-20.85, Z:-4.24 [[ 9.78537091e-01 2.05031790e-01 2.06670324e-02 1.52616598e+02] [-2.04977436e-01 9.78755233e-01 -4.73766777e-03 -2.08548801e+01] [-2.11993386e-02 3.99708319e-04 9.99775189e-01 -4.23732002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.508623853 meters 0.022389046331696794 Centerline is valid? [True, True] Translation: X:152.68, Y:-20.86, Z:-4.24 [[ 9.77721690e-01 2.08907271e-01 2.04462644e-02 1.52677227e+02] [-2.08854892e-01 9.77935404e-01 -4.68831031e-03 -2.08638345e+01] [-2.09745480e-02 3.13560322e-04 9.99779961e-01 -4.23821928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.568623853 meters 0.019596828862744636 Centerline is valid? [True, True] Translation: X:152.74, Y:-20.88, Z:-4.24 [[ 9.76825635e-01 2.12978684e-01 2.12546130e-02 1.52737705e+02] [-2.12923051e-01 9.77056818e-01 -4.87336530e-03 -2.08757743e+01] [-2.18048875e-02 2.34831107e-04 9.99762218e-01 -4.23873197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.628623853 meters 0.01742980922362659 Centerline is valid? [True, True] Translation: X:152.80, Y:-20.89, Z:-4.24 [[ 9.75825039e-01 2.17448751e-01 2.19438780e-02 1.52797283e+02] [-2.17390486e-01 9.76071729e-01 -5.03552250e-03 -2.08903538e+01] [-2.25137670e-02 1.43398644e-04 9.99746523e-01 -4.23995601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.688623853 meters 0.01564250080382537 Centerline is valid? [True, True] Translation: X:152.86, Y:-20.90, Z:-4.24 [[ 9.74992798e-01 2.21114555e-01 2.23024190e-02 1.52858081e+02] [-2.21055245e-01 9.75247840e-01 -5.12144472e-03 -2.09030537e+01] [-2.28828119e-02 6.33050138e-05 9.99738152e-01 -4.24098816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.748623853 meters 0.015188139807106251 Centerline is valid? [True, True] Translation: X:152.92, Y:-20.92, Z:-4.24 [[ 9.74354518e-01 2.23914912e-01 2.22572453e-02 1.52919574e+02] [-2.23856490e-01 9.74608697e-01 -5.11466934e-03 -2.09158871e+01] [-2.28373556e-02 1.07236344e-06 9.99739194e-01 -4.24207084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.808623853 meters 0.016042222706304527 Centerline is valid? [True, True] Translation: X:152.98, Y:-20.93, Z:-4.24 [[ 9.73290254e-01 2.28514256e-01 2.20752279e-02 1.52979774e+02] [-2.28457856e-01 9.73540561e-01 -5.07777177e-03 -2.09251000e+01] [-2.26514730e-02 -1.01113446e-04 9.99743417e-01 -4.24446414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.868623853 meters 0.017326306780706235 Centerline is valid? [True, True] Translation: X:153.04, Y:-20.94, Z:-4.25 [[ 9.72621162e-01 2.31406268e-01 2.14292831e-02 1.53040924e+02] [-2.31353788e-01 9.72857190e-01 -4.93073469e-03 -2.09364646e+01] [-2.19886351e-02 -1.62008905e-04 9.99758208e-01 -4.24742105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.928623853 meters 0.018602232301782828 Centerline is valid? [True, True] Translation: X:153.10, Y:-20.95, Z:-4.25 [[ 9.71970439e-01 2.34183099e-01 2.07783781e-02 1.53102590e+02] [-2.34134320e-01 9.72192486e-01 -4.78438401e-03 -2.09470669e+01] [-2.13210049e-02 -2.14651590e-04 9.99772658e-01 -4.25013720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.988623853 meters 0.01905154465501694 Centerline is valid? [True, True] Translation: X:153.16, Y:-20.96, Z:-4.25 [[ 9.71738151e-01 2.35126361e-01 2.09895329e-02 1.53163724e+02] [-2.35076729e-01 9.71964783e-01 -4.83655798e-03 -2.09601067e+01] [-2.15382891e-02 -2.34282818e-04 9.99767997e-01 -4.25182950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04862385299998 meters 0.019716379747483893 Centerline is valid? [True, True] Translation: X:153.22, Y:-20.97, Z:-4.25 [[ 9.71641928e-01 2.35519932e-01 2.10315322e-02 1.53223987e+02] [-2.35470101e-01 9.71869489e-01 -4.85051706e-03 -2.09730672e+01] [-2.15822979e-02 -2.39331264e-04 9.99767046e-01 -4.25398508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10862385299998 meters 0.019000053800782523 Centerline is valid? [True, True] Translation: X:153.29, Y:-20.99, Z:-4.26 [[ 9.71697298e-01 2.35299671e-01 2.09386338e-02 1.53285055e+02] [-2.35250146e-01 9.71922843e-01 -4.83287536e-03 -2.09886831e+01] [-2.14879105e-02 -2.29724742e-04 9.99769082e-01 -4.25574582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16862385299999 meters 0.018591616249102796 Centerline is valid? [True, True] Translation: X:153.34, Y:-21.00, Z:-4.26 [[ 9.71982512e-01 2.34102513e-01 2.11189473e-02 1.53343741e+02] [-2.34051752e-01 9.72211897e-01 -4.87894173e-03 -2.10046659e+01] [-2.16742643e-02 -2.00680577e-04 9.99765065e-01 -4.25789419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.228623853 meters 0.017107494777571126 Centerline is valid? [True, True] Translation: X:153.40, Y:-21.02, Z:-4.26 [[ 9.72416056e-01 2.32205844e-01 2.20785034e-02 1.53403985e+02] [-2.32149794e-01 9.72666654e-01 -5.10425120e-03 -2.10213180e+01] [-2.26602610e-02 -1.62064196e-04 9.99743210e-01 -4.25676923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.288623853 meters 0.016530158669304237 Centerline is valid? [True, True] Translation: X:153.46, Y:-21.04, Z:-4.26 [[ 9.72504217e-01 2.31777797e-01 2.26847979e-02 1.53464284e+02] [-2.31718417e-01 9.72768744e-01 -5.24837215e-03 -2.10350515e+01] [-2.32835185e-02 -1.52421420e-04 9.99728891e-01 -4.25764435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.348623853 meters 0.017523759569495118 Centerline is valid? [True, True] Translation: X:153.52, Y:-21.04, Z:-4.26 [[ 9.72200239e-01 2.33085038e-01 2.23172619e-02 1.53524858e+02] [-2.33027815e-01 9.72456340e-01 -5.16754777e-03 -2.10440106e+01] [-2.29070409e-02 -1.76651605e-04 9.99737584e-01 -4.26066231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.408623853 meters 0.017799810270167075 Centerline is valid? [True, True] Translation: X:153.59, Y:-21.06, Z:-4.26 [[ 9.71954077e-01 2.34140075e-01 2.19931232e-02 1.53585977e+02] [-2.34084735e-01 9.72202853e-01 -5.09415773e-03 -2.10551403e+01] [-2.25745236e-02 -1.96967041e-04 9.99745144e-01 -4.26265565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.468623853 meters 0.01836438375294319 Centerline is valid? [True, True] Translation: X:153.65, Y:-21.06, Z:-4.26 [[ 9.71698709e-01 2.35209240e-01 2.18685375e-02 1.53647703e+02] [-2.35154710e-01 9.71944734e-01 -5.06908366e-03 -2.10644204e+01] [-2.24473052e-02 -2.16867568e-04 9.99748004e-01 -4.26437268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.528623853 meters 0.0191443023538908 Centerline is valid? [True, True] Translation: X:153.71, Y:-21.07, Z:-4.27 [[ 9.71560936e-01 2.35856561e-01 2.10007311e-02 1.53708385e+02] [-2.35806348e-01 9.71787855e-01 -4.87147525e-03 -2.10717063e+01] [-2.15572249e-02 -2.19170673e-04 9.99767592e-01 -4.26845708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.588623853 meters 0.01791279232551001 Centerline is valid? [True, True] Translation: X:153.77, Y:-21.09, Z:-4.27 [[ 9.71825381e-01 2.34792993e-01 2.06803932e-02 1.53768407e+02] [-2.34743994e-01 9.72045377e-01 -4.80028396e-03 -2.10859591e+01] [-2.12293536e-02 -1.89560300e-04 9.99774614e-01 -4.27037043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.648623853 meters 0.01606899650986281 Centerline is valid? [True, True] Translation: X:153.83, Y:-21.10, Z:-4.27 [[ 9.72749052e-01 2.30860049e-01 2.15155672e-02 1.53828092e+02] [-2.30805961e-01 9.72986961e-01 -4.99817300e-03 -2.11020166e+01] [-2.20882448e-02 -1.03953110e-04 9.99756020e-01 -4.27070509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.708623853 meters 0.015500447870445692 Centerline is valid? [True, True] Translation: X:153.89, Y:-21.12, Z:-4.27 [[ 9.73931880e-01 2.25837612e-01 2.13088241e-02 1.53887138e+02] [-2.25783263e-01 9.74164962e-01 -4.95430324e-03 -2.11192061e+01] [-2.18771778e-02 1.39780219e-05 9.99760666e-01 -4.27371289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76862385299998 meters 0.016534536722929784 Centerline is valid? [True, True] Translation: X:153.95, Y:-21.14, Z:-4.28 [[ 9.74807413e-01 2.21986172e-01 2.17404648e-02 1.53946334e+02] [-2.21928600e-01 9.75049808e-01 -5.05646363e-03 -2.11381220e+01] [-2.23205010e-02 1.04247321e-04 9.99750861e-01 -4.27512628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82862385299998 meters 0.019951725079589654 Centerline is valid? [True, True] Translation: X:154.00, Y:-21.16, Z:-4.28 [[ 9.76257108e-01 2.15542235e-01 2.15314497e-02 1.54004902e+02] [-2.15484100e-01 9.76494486e-01 -5.01219112e-03 -2.11619027e+01] [-2.21056808e-02 2.53502151e-04 9.99755607e-01 -4.27641658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88862385299998 meters 0.0234123648673471 Centerline is valid? [True, True] Translation: X:154.06, Y:-21.18, Z:-4.28 [[ 9.77103508e-01 2.11701307e-01 2.12436404e-02 1.54062674e+02] [-2.11643798e-01 9.77334356e-01 -4.94560184e-03 -2.11829615e+01] [-2.18091300e-02 3.36280159e-04 9.99762096e-01 -4.27845761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.948623853 meters 0.02775493012199501 Centerline is valid? [True, True] Translation: X:154.12, Y:-21.21, Z:-4.28 [[ 9.78109417e-01 2.07001287e-01 2.12705256e-02 1.54120017e+02] [-2.06942427e-01 9.78340569e-01 -4.95619030e-03 -2.12066207e+01] [-2.18357558e-02 4.45922232e-04 9.99761472e-01 -4.28063158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.008623853 meters 0.030562953945092362 Centerline is valid? [True, True] Translation: X:154.18, Y:-21.23, Z:-4.28 [[ 9.78480796e-01 2.05200768e-01 2.16327845e-02 1.54178121e+02] [-2.05139440e-01 9.78719776e-01 -5.04080373e-03 -2.12270709e+01] [-2.22068108e-02 4.94592345e-04 9.99753276e-01 -4.28254916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.068623853 meters 0.029908742466324603 Centerline is valid? [True, True] Translation: X:154.24, Y:-21.24, Z:-4.28 [[ 9.78564218e-01 2.04792621e-01 2.17267844e-02 1.54237837e+02] [-2.04730625e-01 9.78805254e-01 -5.06424109e-03 -2.12429931e+01] [-2.23034099e-02 5.07546980e-04 9.99751119e-01 -4.28329766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.128623853 meters 0.02882984482689819 Centerline is valid? [True, True] Translation: X:154.30, Y:-21.26, Z:-4.29 [[ 9.78135357e-01 2.06873919e-01 2.13167998e-02 1.54296814e+02] [-2.06814650e-01 9.78367505e-01 -4.97250245e-03 -2.12588571e+01] [-2.18843453e-02 4.55153955e-04 9.99760405e-01 -4.28558366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.188623853 meters 0.024065188708284068 Centerline is valid? [True, True] Translation: X:154.36, Y:-21.27, Z:-4.29 [[ 9.76994212e-01 2.12212123e-01 2.11736865e-02 1.54356269e+02] [-2.12154806e-01 9.77223567e-01 -4.94341208e-03 -2.12703221e+01] [-2.17404774e-02 3.37585626e-04 9.99763591e-01 -4.28775464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.248623853 meters 0.020169349329524 Centerline is valid? [True, True] Translation: X:154.42, Y:-21.28, Z:-4.29 [[ 9.75880426e-01 2.17253469e-01 2.14085242e-02 1.54416338e+02] [-2.17196071e-01 9.76115197e-01 -4.99885403e-03 -2.12792043e+01] [-2.19832042e-02 2.28436455e-04 9.99758314e-01 -4.28886142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.308623853 meters 0.01556712701726645 Centerline is valid? [True, True] Translation: X:154.48, Y:-21.28, Z:-4.29 [[ 9.73639736e-01 2.26963574e-01 2.26539238e-02 1.54479596e+02] [-2.26901921e-01 9.73903248e-01 -5.28984321e-03 -2.12797325e+01] [-2.32633317e-02 1.01827212e-05 9.99729372e-01 -4.28801733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.368623853 meters 0.01697919105625615 Centerline is valid? [True, True] Translation: X:154.54, Y:-21.28, Z:-4.29 [[ 9.72121338e-01 2.33367544e-01 2.27967777e-02 1.54540998e+02] [-2.33306860e-01 9.72388589e-01 -5.32353508e-03 -2.12840072e+01] [-2.34096668e-02 -1.43522580e-04 9.99725946e-01 -4.29036601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.428623853 meters 0.02058580279568232 Centerline is valid? [True, True] Translation: X:154.60, Y:-21.29, Z:-4.29 [[ 9.70792781e-01 2.38826838e-01 2.28717728e-02 1.54603446e+02] [-2.38767184e-01 9.71062134e-01 -5.34457383e-03 -2.12908227e+01] [-2.34863401e-02 -2.72555093e-04 9.99724121e-01 -4.29208906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.488623853 meters 0.024051537295130942 Centerline is valid? [True, True] Translation: X:154.66, Y:-21.30, Z:-4.29 [[ 9.69298065e-01 2.44857925e-01 2.24912603e-02 1.54664756e+02] [-2.44801762e-01 9.69558884e-01 -5.25995634e-03 -2.12981018e+01] [-2.30945432e-02 -4.07434639e-04 9.99733202e-01 -4.29383451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54862385299998 meters 0.029783160392476467 Centerline is valid? [True, True] Translation: X:154.73, Y:-21.30, Z:-4.30 [[ 9.68604562e-01 2.47649762e-01 2.17898674e-02 1.54726083e+02] [-2.47597748e-01 9.68849516e-01 -5.09612745e-03 -2.13013164e+01] [-2.23731572e-02 -4.58989800e-04 9.99749584e-01 -4.29828670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60862385299998 meters 0.03311913798934381 Centerline is valid? [True, True] Translation: X:154.79, Y:-21.31, Z:-4.30 [[ 9.67885533e-01 2.50476054e-01 2.14322704e-02 1.54787403e+02] [-2.50426393e-01 9.68122659e-01 -5.01396988e-03 -2.13064224e+01] [-2.20049460e-02 -5.14257265e-04 9.99757730e-01 -4.30099347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66862385299999 meters 0.03451956487096716 Centerline is valid? [True, True] Translation: X:154.85, Y:-21.32, Z:-4.30 [[ 9.67603581e-01 2.51507155e-01 2.20785096e-02 1.54849407e+02] [-2.51454645e-01 9.67855283e-01 -5.16851883e-03 -2.13154994e+01] [-2.26687217e-02 -5.50666477e-04 9.99742880e-01 -4.30171293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.728623853 meters 0.0334895117531469 Centerline is valid? [True, True] Translation: X:154.91, Y:-21.33, Z:-4.30 [[ 9.67829533e-01 2.50649424e-01 2.19285335e-02 1.54911431e+02] [-2.50597316e-01 9.68077782e-01 -5.13736489e-03 -2.13251609e+01] [-2.25162036e-02 -5.23138171e-04 9.99746341e-01 -4.30421981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.788623853 meters 0.029081360881378065 Centerline is valid? [True, True] Translation: X:154.97, Y:-21.34, Z:-4.31 [[ 9.68273095e-01 2.48910610e-01 2.21522364e-02 1.54971250e+02] [-2.48856962e-01 9.68526340e-01 -5.19050364e-03 -2.13415002e+01] [-2.27469958e-02 -4.86913221e-04 9.99741135e-01 -4.30526688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.848623853 meters 0.02476050846802061 Centerline is valid? [True, True] Translation: X:155.03, Y:-21.36, Z:-4.31 [[ 9.69456230e-01 2.44190242e-01 2.29291203e-02 1.55030146e+02] [-2.44131336e-01 9.69727270e-01 -5.37710313e-03 -2.13562942e+01] [-2.35480293e-02 -3.84850635e-04 9.99722633e-01 -4.30597514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.908623853 meters 0.02498036065074217 Centerline is valid? [True, True] Translation: X:155.09, Y:-21.37, Z:-4.31 [[ 9.69813793e-01 2.42734735e-01 2.32606083e-02 1.55090139e+02] [-2.42673693e-01 9.70092636e-01 -5.45491668e-03 -2.13677334e+01] [-2.38890426e-02 -3.54484270e-04 9.99714553e-01 -4.30794883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.968623853 meters 0.019482195260786924 Centerline is valid? [True, True] Translation: X:155.15, Y:-21.38, Z:-4.31 [[ 9.71165725e-01 2.37288104e-01 2.30540631e-02 1.55148904e+02] [-2.37226510e-01 9.71439298e-01 -5.41047108e-03 -2.13846919e+01] [-2.36794633e-02 -2.14570869e-04 9.99719579e-01 -4.30965691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.028623853 meters 0.016821154358607985 Centerline is valid? [True, True] Translation: X:155.21, Y:-21.40, Z:-4.31 [[ 9.72142550e-01 2.33233593e-01 2.32583883e-02 1.55208165e+02] [-2.33169740e-01 9.72420731e-01 -5.45849251e-03 -2.14008985e+01] [-2.38900427e-02 -1.16719499e-04 9.99714585e-01 -4.31163727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.088623853 meters 0.01545282510154177 Centerline is valid? [True, True] Translation: X:155.27, Y:-21.42, Z:-4.31 [[ 9.73532688e-01 2.27442340e-01 2.24519009e-02 1.55267042e+02] [-2.27381227e-01 9.73791549e-01 -5.27222887e-03 -2.14202727e+01] [-2.30625995e-02 2.75463540e-05 9.99734023e-01 -4.31387568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.148623853 meters 0.016802598681465594 Centerline is valid? [True, True] Translation: X:155.33, Y:-21.44, Z:-4.32 [[ 9.74448160e-01 2.23517106e-01 2.21559428e-02 1.55327144e+02] [-2.23456496e-01 9.74699999e-01 -5.20638322e-03 -2.14373240e+01] [-2.27591131e-02 1.22461226e-04 9.99740970e-01 -4.31622299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.208623853 meters 0.020908875179503524 Centerline is valid? [True, True] Translation: X:155.39, Y:-21.46, Z:-4.32 [[ 9.75901083e-01 2.17105108e-01 2.19646927e-02 1.55386596e+02] [-2.17043813e-01 9.76148194e-01 -5.16589247e-03 -2.14568458e+01] [-2.25623368e-02 2.74099409e-04 9.99745401e-01 -4.31831221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26862385299998 meters 0.02520369048228762 Centerline is valid? [True, True] Translation: X:155.44, Y:-21.48, Z:-4.32 [[ 9.76837570e-01 2.12839719e-01 2.20820350e-02 1.55444916e+02] [-2.12776655e-01 9.77087055e-01 -5.19445113e-03 -2.14763695e+01] [-2.26816561e-02 3.75593484e-04 9.99742668e-01 -4.32006163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32862385299998 meters 0.03218483702557232 Centerline is valid? [True, True] Translation: X:155.50, Y:-21.50, Z:-4.32 [[ 9.77954108e-01 2.07611501e-01 2.24327158e-02 1.55500726e+02] [-2.07544993e-01 9.78211229e-01 -5.27901240e-03 -2.15000493e+01] [-2.30399182e-02 5.06834014e-04 9.99734417e-01 -4.32083758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38862385299998 meters 0.03308235047792327 Centerline is valid? [True, True] Translation: X:155.56, Y:-21.52, Z:-4.32 [[ 9.78428855e-01 2.05394182e-01 2.21405765e-02 1.55560274e+02] [-2.05328802e-01 9.78679173e-01 -5.21138000e-03 -2.15159718e+01] [-2.27389082e-02 5.52866509e-04 9.99741285e-01 -4.32246520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.448623853 meters 0.03461549479550336 Centerline is valid? [True, True] Translation: X:155.62, Y:-21.53, Z:-4.32 [[ 9.78659995e-01 2.04262232e-01 2.23954005e-02 1.55619828e+02] [-2.04195007e-01 9.78916031e-01 -5.27289146e-03 -2.15321596e+01] [-2.30002692e-02 5.87338951e-04 9.99735286e-01 -4.32358681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.508623853 meters 0.0317654409783012 Centerline is valid? [True, True] Translation: X:155.68, Y:-21.54, Z:-4.32 [[ 9.78533891e-01 2.04818941e-01 2.28172241e-02 1.55681492e+02] [-2.04749226e-01 9.78799701e-01 -5.37579448e-03 -2.15428585e+01] [-2.34345567e-02 5.88588102e-04 9.99725200e-01 -4.32427976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.568623853 meters 0.03443637774796649 Centerline is valid? [True, True] Translation: X:155.74, Y:-21.56, Z:-4.33 [[ 9.78353348e-01 2.05649063e-01 2.30908936e-02 1.55740027e+02] [-2.05577797e-01 9.78625632e-01 -5.44449075e-03 -2.15624428e+01] [-2.37169947e-02 5.79660721e-04 9.99718544e-01 -4.32630836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.628623853 meters 0.03663826321064328 Centerline is valid? [True, True] Translation: X:155.80, Y:-21.58, Z:-4.33 [[ 9.78137850e-01 2.06719706e-01 2.26563406e-02 1.55798504e+02] [-2.06651299e-01 9.78400053e-01 -5.34570901e-03 -2.15806811e+01] [-2.32720283e-02 5.46878104e-04 9.99729020e-01 -4.32986335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.688623853 meters 0.030858888872234518 Centerline is valid? [True, True] Translation: X:155.86, Y:-21.59, Z:-4.33 [[ 9.77459955e-01 2.09895337e-01 2.27152815e-02 1.55859985e+02] [-2.09827336e-01 9.77723744e-01 -5.36364560e-03 -2.15882656e+01] [-2.33350743e-02 4.76461769e-04 9.99727587e-01 -4.33085348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.748623853 meters 0.027956909993365194 Centerline is valid? [True, True] Translation: X:155.92, Y:-21.60, Z:-4.33 [[ 9.76812081e-01 2.12867149e-01 2.29289369e-02 1.55920140e+02] [-2.12798667e-01 9.77081066e-01 -5.41463792e-03 -2.15986630e+01] [-2.35560286e-02 4.09836533e-04 9.99722434e-01 -4.33271987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.808623853 meters 0.02510180847994884 Centerline is valid? [True, True] Translation: X:155.98, Y:-21.61, Z:-4.34 [[ 9.76148405e-01 2.15957059e-01 2.22899223e-02 1.55981262e+02] [-2.15893150e-01 9.76402807e-01 -5.26358731e-03 -2.16090675e+01] [-2.29006515e-02 3.25800819e-04 9.99737693e-01 -4.33570933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.868623853 meters 0.01995810370968701 Centerline is valid? [True, True] Translation: X:156.04, Y:-21.62, Z:-4.33 [[ 9.75313163e-01 2.19580911e-01 2.34191575e-02 1.56043426e+02] [-2.19511310e-01 9.75594259e-01 -5.53417037e-03 -2.16161947e+01] [-2.40627938e-02 2.56779260e-04 9.99710416e-01 -4.33408394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.928623853 meters 0.018612525665180644 Centerline is valid? [True, True] Translation: X:156.11, Y:-21.63, Z:-4.34 [[ 9.74952071e-01 2.21180860e-01 2.33984371e-02 1.56105006e+02] [-2.21111736e-01 9.75232781e-01 -5.53373259e-03 -2.16280948e+01] [-2.40428786e-02 2.21455015e-04 9.99710904e-01 -4.33541581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.988623853 meters 0.02536741736672341 Centerline is valid? [True, True] Translation: X:156.17, Y:-21.64, Z:-4.33 [[ 9.74478037e-01 2.23356466e-01 2.24598559e-02 1.56165300e+02] [-2.23293334e-01 9.74736817e-01 -5.31265807e-03 -2.16392142e+01] [-2.30790649e-02 1.61932524e-04 9.99733630e-01 -4.33277652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04862385299998 meters 0.016912492362099678 Centerline is valid? [True, True] Translation: X:156.23, Y:-21.65, Z:-4.34 [[ 9.74250344e-01 2.24326930e-01 2.26648422e-02 1.56225466e+02] [-2.24262819e-01 9.74513934e-01 -5.36475552e-03 -2.16529497e+01] [-2.32906637e-02 1.43733528e-04 9.99728725e-01 -4.34142852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10862385299998 meters 0.016908975911765736 Centerline is valid? [True, True] Translation: X:156.29, Y:-21.67, Z:-4.34 [[ 9.74224833e-01 2.24468841e-01 2.23542761e-02 1.56286029e+02] [-2.24406425e-01 9.74481257e-01 -5.29501591e-03 -2.16683988e+01] [-2.29723891e-02 1.42092822e-04 9.99736090e-01 -4.34348647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16862385299999 meters 0.017621260272102923 Centerline is valid? [True, True] Translation: X:156.35, Y:-21.69, Z:-4.35 [[ 9.74395081e-01 2.23733661e-01 2.23041307e-02 1.56345047e+02] [-2.23671216e-01 9.74650307e-01 -5.28820848e-03 -2.16851901e+01] [-2.29218781e-02 1.64012287e-04 9.99737246e-01 -4.34566598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.228623853 meters 0.018517650632547525 Centerline is valid? [True, True] Translation: X:156.40, Y:-21.70, Z:-4.35 [[ 9.74670008e-01 2.22516284e-01 2.24694914e-02 1.56404928e+02] [-2.22452542e-01 9.74928954e-01 -5.32930181e-03 -2.17013339e+01] [-2.30920142e-02 1.95915145e-04 9.99733325e-01 -4.34785203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.288623853 meters 0.018656247922660133 Centerline is valid? [True, True] Translation: X:156.47, Y:-21.72, Z:-4.35 [[ 9.74701220e-01 2.22361908e-01 2.26431595e-02 1.56466139e+02] [-2.22297046e-01 9.74964174e-01 -5.37432113e-03 -2.17168433e+01] [-2.32713136e-02 2.04849894e-04 9.99729165e-01 -4.34855842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.348623853 meters 0.018251241047038003 Centerline is valid? [True, True] Translation: X:156.53, Y:-21.73, Z:-4.35 [[ 9.74443759e-01 2.23496344e-01 2.25553608e-02 1.56526037e+02] [-2.23432180e-01 9.74704751e-01 -5.35813028e-03 -2.17295425e+01] [-2.31823399e-02 1.81603157e-04 9.99731237e-01 -4.35074479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.408623853 meters 0.01759292276106885 Centerline is valid? [True, True] Translation: X:156.59, Y:-21.74, Z:-4.35 [[ 9.74138922e-01 2.24842372e-01 2.23443336e-02 1.56587039e+02] [-2.24779676e-01 9.74395138e-01 -5.31151554e-03 -2.17408995e+01] [-2.29664638e-02 1.51601935e-04 9.99736224e-01 -4.35273779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.468623853 meters 0.01655122566572475 Centerline is valid? [True, True] Translation: X:156.65, Y:-21.75, Z:-4.36 [[ 9.73617288e-01 2.27126977e-01 2.19707311e-02 1.56647326e+02] [-2.27066860e-01 9.73865148e-01 -5.22638204e-03 -2.17497664e+01] [-2.25835817e-02 9.96709869e-05 9.99744953e-01 -4.35560439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.528623853 meters 0.01581163119602045 Centerline is valid? [True, True] Translation: X:156.71, Y:-21.76, Z:-4.36 [[ 9.73336039e-01 2.28351955e-01 2.17333907e-02 1.56708975e+02] [-2.28293367e-01 9.73578646e-01 -5.17295038e-03 -2.17608812e+01] [-2.23404184e-02 7.34301085e-05 9.99750419e-01 -4.35686519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.588623853 meters 0.01597666687618228 Centerline is valid? [True, True] Translation: X:156.77, Y:-21.77, Z:-4.36 [[ 9.73290869e-01 2.28490814e-01 2.22897301e-02 1.56769454e+02] [-2.28429112e-01 9.73546066e-01 -5.31023997e-03 -2.17738984e+01] [-2.29134201e-02 7.67848200e-05 9.99737450e-01 -4.35772281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.648623853 meters 0.0166445691337687 Centerline is valid? [True, True] Translation: X:156.83, Y:-21.79, Z:-4.36 [[ 9.73576785e-01 2.27279008e-01 2.21922759e-02 1.56828972e+02] [-2.27217432e-01 9.73829678e-01 -5.29130743e-03 -2.17899066e+01] [-2.28141000e-02 1.09022131e-04 9.99739719e-01 -4.36026355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.708623853 meters 0.0175815710886003 Centerline is valid? [True, True] Translation: X:156.89, Y:-21.81, Z:-4.36 [[ 9.74123955e-01 2.24941839e-01 2.19929201e-02 1.56888707e+02] [-2.24880677e-01 9.74372178e-01 -5.24783062e-03 -2.18069610e+01] [-2.26097461e-02 1.66254766e-04 9.99744353e-01 -4.36138679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76862385299998 meters 0.018719522855199507 Centerline is valid? [True, True] Translation: X:156.95, Y:-21.83, Z:-4.36 [[ 9.74503605e-01 2.23312311e-01 2.17792309e-02 1.56948441e+02] [-2.23251839e-01 9.74746926e-01 -5.20068397e-03 -2.18251000e+01] [-2.23906151e-02 2.05831928e-04 9.99749278e-01 -4.36342218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82862385299998 meters 0.020235546389121707 Centerline is valid? [True, True] Translation: X:157.01, Y:-21.84, Z:-4.37 [[ 9.74890239e-01 2.21615970e-01 2.18032876e-02 1.57006777e+02] [-2.21554851e-01 9.75133991e-01 -5.21040712e-03 -2.18429896e+01] [-2.24158362e-02 2.48950925e-04 9.99748703e-01 -4.36513222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88862385299998 meters 0.02175638330953148 Centerline is valid? [True, True] Translation: X:157.07, Y:-21.86, Z:-4.37 [[ 9.75302122e-01 2.19788962e-01 2.18765475e-02 1.57066028e+02] [-2.19726881e-01 9.75547397e-01 -5.23190367e-03 -2.18605640e+01] [-2.24915237e-02 2.95821182e-04 9.99746990e-01 -4.36646851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.948623853 meters 0.022860860743305303 Centerline is valid? [True, True] Translation: X:157.13, Y:-21.88, Z:-4.37 [[ 9.75516546e-01 2.18818717e-01 2.20417465e-02 1.57125728e+02] [-2.18755409e-01 9.75765477e-01 -5.27312315e-03 -2.18791749e+01] [-2.26614333e-02 3.22267627e-04 9.99743145e-01 -4.36815976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.008623853 meters 0.02326163842871069 Centerline is valid? [True, True] Translation: X:157.19, Y:-21.90, Z:-4.37 [[ 9.75513909e-01 2.18829298e-01 2.20534091e-02 1.57185768e+02] [-2.18765832e-01 9.75763102e-01 -5.28001633e-03 -2.18963426e+01] [-2.26743251e-02 3.26196983e-04 9.99742851e-01 -4.36972476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.068623853 meters 0.022434713803416436 Centerline is valid? [True, True] Translation: X:157.24, Y:-21.91, Z:-4.37 [[ 9.75140342e-01 2.20473149e-01 2.22014309e-02 1.57244968e+02] [-2.20409195e-01 9.75393000e-01 -5.31806050e-03 -2.19111567e+01] [-2.28276098e-02 2.92455818e-04 9.99739373e-01 -4.37166388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.128623853 meters 0.01863929013280861 Centerline is valid? [True, True] Translation: X:157.31, Y:-21.92, Z:-4.37 [[ 9.74089957e-01 2.25063633e-01 2.22512372e-02 1.57307131e+02] [-2.25000496e-01 9.74344049e-01 -5.33398711e-03 -2.19206579e+01] [-2.28808471e-02 1.89243854e-04 9.99738181e-01 -4.37338512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.188623853 meters 0.016153014385635215 Centerline is valid? [True, True] Translation: X:157.37, Y:-21.93, Z:-4.37 [[ 9.73145228e-01 2.29082216e-01 2.25766208e-02 1.57368596e+02] [-2.29018279e-01 9.73407073e-01 -5.41285561e-03 -2.19297098e+01] [-2.32162314e-02 9.70357660e-05 9.99730462e-01 -4.37377194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.248623853 meters 0.028569366577109498 Centerline is valid? [True, True] Translation: X:157.43, Y:-21.94, Z:-4.37 [[ 9.71744812e-01 2.34995342e-01 2.21180708e-02 1.57431667e+02] [-2.34935419e-01 9.71996496e-01 -5.30670255e-03 -2.19356034e+01] [-2.27457377e-02 -3.95575760e-05 9.99741281e-01 -4.36692385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.308623853 meters 0.016368004993610682 Centerline is valid? [True, True] Translation: X:157.49, Y:-21.95, Z:-4.38 [[ 9.70894183e-01 2.38429595e-01 2.27115276e-02 1.57491832e+02] [-2.38367246e-01 9.71159778e-01 -5.45363927e-03 -2.19454786e+01] [-2.33568311e-02 -1.18777633e-04 9.99727185e-01 -4.37663616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.368623853 meters 0.01907253481349502 Centerline is valid? [True, True] Translation: X:157.55, Y:-21.95, Z:-4.38 [[ 9.69829433e-01 2.42724287e-01 2.27110301e-02 1.57553079e+02] [-2.42663064e-01 9.70095290e-01 -5.45577223e-03 -2.19517238e+01] [-2.33561118e-02 -2.19959661e-04 9.99727185e-01 -4.37951093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.428623853 meters 0.020905471535919186 Centerline is valid? [True, True] Translation: X:157.61, Y:-21.96, Z:-4.38 [[ 9.69070866e-01 2.45739772e-01 2.26632130e-02 1.57614192e+02] [-2.45679590e-01 9.69335793e-01 -5.44600042e-03 -2.19613633e+01] [-2.33065625e-02 -2.90328545e-04 9.99728323e-01 -4.38066207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.488623853 meters 0.02522930615922357 Centerline is valid? [True, True] Translation: X:157.68, Y:-21.96, Z:-4.38 [[ 9.68150842e-01 2.49324507e-01 2.28306067e-02 1.57675388e+02] [-2.49264332e-01 9.68419924e-01 -5.49033529e-03 -2.19646193e+01] [-2.34784895e-02 -3.75383181e-04 9.99724272e-01 -4.38225348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54862385299998 meters 0.02451442871371067 Centerline is valid? [True, True] Translation: X:157.74, Y:-21.98, Z:-4.38 [[ 9.67615230e-01 2.51361197e-01 2.32016325e-02 1.57736606e+02] [-2.51299620e-01 9.67893260e-01 -5.58016135e-03 -2.19767949e+01] [-2.38593397e-02 -4.31112321e-04 9.99715232e-01 -4.38252437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60862385299998 meters 0.026230837271951926 Centerline is valid? [True, True] Translation: X:157.80, Y:-21.98, Z:-4.38 [[ 9.67374022e-01 2.52253748e-01 2.35700643e-02 1.57797584e+02] [-2.52190349e-01 9.67661015e-01 -5.67352432e-03 -2.19812243e+01] [-2.42390001e-02 -4.55722691e-04 9.99706088e-01 -4.38378875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66862385299999 meters 0.024666675832732035 Centerline is valid? [True, True] Translation: X:157.86, Y:-21.99, Z:-4.39 [[ 9.67697643e-01 2.51027816e-01 2.33732336e-02 1.57858064e+02] [-2.50965108e-01 9.67979782e-01 -5.62638716e-03 -2.19932863e+01] [-2.40371973e-02 -4.21224522e-04 9.99710976e-01 -4.38551813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.728623853 meters 0.020738055327621893 Centerline is valid? [True, True] Translation: X:157.92, Y:-22.01, Z:-4.39 [[ 9.68905393e-01 2.46313537e-01 2.34942887e-02 1.57917538e+02] [-2.46248777e-01 9.69190151e-01 -5.65610695e-03 -2.20086998e+01] [-2.41636089e-02 -3.05207312e-04 9.99707971e-01 -4.38756506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.788623853 meters 0.018046798282856956 Centerline is valid? [True, True] Translation: X:157.98, Y:-22.02, Z:-4.39 [[ 9.69929331e-01 2.42294210e-01 2.30349344e-02 1.57976942e+02] [-2.42230824e-01 9.70202801e-01 -5.54549689e-03 -2.20246493e+01] [-2.36921996e-02 -2.01031036e-04 9.99719280e-01 -4.39098917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.848623853 meters 0.015261165684385045 Centerline is valid? [True, True] Translation: X:158.04, Y:-22.04, Z:-4.39 [[ 9.71340084e-01 2.36572199e-01 2.30659064e-02 1.58036637e+02] [-2.36506934e-01 9.71613911e-01 -5.55686615e-03 -2.20431636e+01] [-2.37257556e-02 -5.76399617e-05 9.99718503e-01 -4.39226746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.908623853 meters 0.015229314955977026 Centerline is valid? [True, True] Translation: X:158.10, Y:-22.06, Z:-4.40 [[ 9.71960042e-01 2.34076866e-01 2.23985883e-02 1.58098153e+02] [-2.34014574e-01 9.72218093e-01 -5.39986218e-03 -2.20575622e+01] [-2.30402956e-02 6.85418858e-06 9.99734537e-01 -4.39546921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.968623853 meters 0.0212507960149538 Centerline is valid? [True, True] Translation: X:158.16, Y:-22.07, Z:-4.39 [[ 9.72558327e-01 2.31641768e-01 2.17345742e-02 1.58158716e+02] [-2.31582404e-01 9.72801155e-01 -5.24434232e-03 -2.20690322e+01] [-2.23582277e-02 6.70838362e-05 9.99750021e-01 -4.39277913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.028623853 meters 0.016336160993472564 Centerline is valid? [True, True] Translation: X:158.22, Y:-22.08, Z:-4.40 [[ 9.72944325e-01 2.29989432e-01 2.20045917e-02 1.58219384e+02] [-2.29928081e-01 9.73193120e-01 -5.31302718e-03 -2.20834151e+01] [-2.26366574e-02 1.09806095e-04 9.99743752e-01 -4.40023615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.088623853 meters 0.019097734949129166 Centerline is valid? [True, True] Translation: X:158.28, Y:-22.10, Z:-4.40 [[ 9.74016882e-01 2.25345095e-01 2.25987330e-02 1.58278721e+02] [-2.25279022e-01 9.74278983e-01 -5.46134670e-03 -2.21008068e+01] [-2.32481583e-02 2.28423421e-04 9.99729699e-01 -4.40155891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.148623853 meters 0.022270483770784485 Centerline is valid? [True, True] Translation: X:158.34, Y:-22.12, Z:-4.40 [[ 9.74860289e-01 2.21595058e-01 2.33033687e-02 1.58337377e+02] [-2.21523618e-01 9.75138718e-01 -5.63622075e-03 -2.21195861e+01] [-2.39729758e-02 3.32281253e-04 9.99712552e-01 -4.40231376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.208623853 meters 0.02642297873687061 Centerline is valid? [True, True] Translation: X:158.40, Y:-22.14, Z:-4.40 [[ 9.76052378e-01 2.16275230e-01 2.33833345e-02 1.58395675e+02] [-2.16201713e-01 9.76332324e-01 -5.65794829e-03 -2.21397372e+01] [-2.40535794e-02 4.66936892e-04 9.99710562e-01 -4.40319175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26862385299998 meters 0.030599263982690982 Centerline is valid? [True, True] Translation: X:158.45, Y:-22.16, Z:-4.41 [[ 9.76688465e-01 2.13399380e-01 2.32453841e-02 1.58453090e+02] [-2.13325899e-01 9.76964901e-01 -5.62515565e-03 -2.21604559e+01] [-2.39103291e-02 5.35182173e-04 9.99713964e-01 -4.40539694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32862385299998 meters 0.033155263630824355 Centerline is valid? [True, True] Translation: X:158.51, Y:-22.18, Z:-4.41 [[ 9.77335930e-01 2.10351331e-01 2.38074932e-02 1.58512757e+02] [-2.10273335e-01 9.77625658e-01 -5.76172322e-03 -2.21788345e+01] [-2.44868023e-02 6.25058131e-04 9.99699958e-01 -4.40670312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38862385299998 meters 0.033524886818931614 Centerline is valid? [True, True] Translation: X:158.57, Y:-22.19, Z:-4.41 [[ 9.77481818e-01 2.09667520e-01 2.38500853e-02 1.58573186e+02] [-2.09589023e-01 9.77772528e-01 -5.77282349e-03 -2.21945074e+01] [-2.45303318e-02 6.44113923e-04 9.99698879e-01 -4.40825524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.448623853 meters 0.03367960027955516 Centerline is valid? [True, True] Translation: X:158.63, Y:-22.21, Z:-4.41 [[ 9.77076797e-01 2.11521197e-01 2.40772728e-02 1.58632766e+02] [-2.11441654e-01 9.77373222e-01 -5.83204361e-03 -2.22100565e+01] [-2.47660825e-02 6.07416103e-04 9.99693089e-01 -4.40990247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.508623853 meters 0.02990682696110327 Centerline is valid? [True, True] Translation: X:158.69, Y:-22.22, Z:-4.41 [[ 9.76522630e-01 2.14095871e-01 2.38015032e-02 1.58693402e+02] [-2.14018794e-01 9.76812503e-01 -5.76973833e-03 -2.22208803e+01] [-2.44848831e-02 5.40311038e-04 9.99700054e-01 -4.41124778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.568623853 meters 0.023292226434334085 Centerline is valid? [True, True] Translation: X:158.76, Y:-22.23, Z:-4.41 [[ 9.75395481e-01 2.19148358e-01 2.40343908e-02 1.58755393e+02] [-2.19071283e-01 9.75691459e-01 -5.82669726e-03 -2.22264795e+01] [-2.47270610e-02 4.18089346e-04 9.99694152e-01 -4.41277353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.628623853 meters 0.02046615832785343 Centerline is valid? [True, True] Translation: X:158.82, Y:-22.24, Z:-4.41 [[ 9.74502516e-01 2.23067134e-01 2.42053929e-02 1.58816532e+02] [-2.22990140e-01 9.74803031e-01 -5.86920085e-03 -2.22363380e+01] [-2.49047162e-02 3.21987045e-04 9.99689778e-01 -4.41433590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.688623853 meters 0.017337835877971993 Centerline is valid? [True, True] Translation: X:158.88, Y:-22.24, Z:-4.42 [[ 9.73304197e-01 2.28220523e-01 2.43789692e-02 1.58877928e+02] [-2.28143922e-01 9.73609447e-01 -5.91574840e-03 -2.22440424e+01] [-2.50856899e-02 1.95909079e-04 9.99685285e-01 -4.41655611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.748623853 meters 0.016401558142796757 Centerline is valid? [True, True] Translation: X:158.94, Y:-22.26, Z:-4.42 [[ 9.72969151e-01 2.29629586e-01 2.45210977e-02 1.58938680e+02] [-2.29552426e-01 9.73278083e-01 -5.95463289e-03 -2.22557567e+01] [-2.52332069e-02 1.64796636e-04 9.99681578e-01 -4.41769741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.808623853 meters 0.015470538329239461 Centerline is valid? [True, True] Translation: X:159.00, Y:-22.27, Z:-4.42 [[ 9.72299818e-01 2.32459133e-01 2.44093454e-02 1.58999273e+02] [-2.32383453e-01 9.72606160e-01 -5.93198572e-03 -2.22667422e+01] [-2.51196240e-02 9.53406628e-05 9.99684448e-01 -4.41972771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.868623853 meters 0.014781342896834825 Centerline is valid? [True, True] Translation: X:159.06, Y:-22.28, Z:-4.42 [[ 9.71568784e-01 2.35579399e-01 2.35890961e-02 1.59060031e+02] [-2.35509534e-01 9.71855106e-01 -5.73696581e-03 -2.22750457e+01] [-2.42766945e-02 1.83998496e-05 9.99705277e-01 -4.42271380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.928623853 meters 0.014664675000529209 Centerline is valid? [True, True] Translation: X:159.12, Y:-22.29, Z:-4.42 [[ 9.71398725e-01 2.36242237e-01 2.39608670e-02 1.59119988e+02] [-2.36170338e-01 9.71694193e-01 -5.82800263e-03 -2.22865385e+01] [-2.46594557e-02 2.46825376e-06 9.99695909e-01 -4.42454776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.988623853 meters 0.014691500066439375 Centerline is valid? [True, True] Translation: X:159.18, Y:-22.30, Z:-4.43 [[ 9.71687807e-01 2.35015630e-01 2.42993903e-02 1.59179472e+02] [-2.34941286e-01 9.71991591e-01 -5.91096059e-03 -2.22999352e+01] [-2.50079712e-02 3.46783216e-05 9.99687251e-01 -4.42559595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04862385299998 meters 0.016156089982996318 Centerline is valid? [True, True] Translation: X:159.24, Y:-22.32, Z:-4.43 [[ 9.72530731e-01 2.31575757e-01 2.35933540e-02 1.59237982e+02] [-2.31504656e-01 9.72816866e-01 -5.73932296e-03 -2.23195665e+01] [-2.42811008e-02 1.19696635e-04 9.99705163e-01 -4.42933314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10862385299998 meters 0.017900086617065457 Centerline is valid? [True, True] Translation: X:159.30, Y:-22.34, Z:-4.43 [[ 9.73252555e-01 2.28516527e-01 2.36571657e-02 1.59296709e+02] [-2.28444044e-01 9.73540013e-01 -5.75865383e-03 -2.23389577e+01] [-2.43471450e-02 2.00285943e-04 9.99703544e-01 -4.43137904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16862385299999 meters 0.02276772340236191 Centerline is valid? [True, True] Translation: X:159.35, Y:-22.36, Z:-4.43 [[ 9.74594845e-01 2.22730132e-01 2.35833838e-02 1.59354317e+02] [-2.22656312e-01 9.74880079e-01 -5.74450238e-03 -2.23633995e+01] [-2.42704449e-02 3.47573147e-04 9.99705369e-01 -4.43383843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.228623853 meters 0.025627009400537852 Centerline is valid? [True, True] Translation: X:159.41, Y:-22.38, Z:-4.44 [[ 9.75321485e-01 2.19514124e-01 2.36970691e-02 1.59413416e+02] [-2.19438538e-01 9.75609226e-01 -5.77638979e-03 -2.23829647e+01] [-2.43870783e-02 4.33786875e-04 9.99702497e-01 -4.43506708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.288623853 meters 0.02850086412835062 Centerline is valid? [True, True] Translation: X:159.47, Y:-22.40, Z:-4.44 [[ 9.75949185e-01 2.16681579e-01 2.39223988e-02 1.59471891e+02] [-2.16603669e-01 9.76242200e-01 -5.83251866e-03 -2.24045372e+01] [-2.46178546e-02 5.10562497e-04 9.99696804e-01 -4.43580897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.348623853 meters 0.02860746162201712 Centerline is valid? [True, True] Translation: X:159.53, Y:-22.42, Z:-4.44 [[ 9.75973583e-01 2.16560307e-01 2.40249612e-02 1.59532375e+02] [-2.16481671e-01 9.76269106e-01 -5.85832064e-03 -2.24202314e+01] [-2.47235071e-02 5.16602450e-04 9.99694194e-01 -4.43715072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.408623853 meters 0.0283059547814007 Centerline is valid? [True, True] Translation: X:159.59, Y:-22.44, Z:-4.44 [[ 9.75536850e-01 2.18537543e-01 2.38578274e-02 1.59591208e+02] [-2.18460477e-01 9.75828429e-01 -5.82205128e-03 -2.24353526e+01] [-2.45534831e-02 4.67633198e-04 9.99698408e-01 -4.43955832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.468623853 meters 0.02885116454866685 Centerline is valid? [True, True] Translation: X:159.65, Y:-22.45, Z:-4.44 [[ 9.75470548e-01 2.18904726e-01 2.31933599e-02 1.59651512e+02] [-2.18831914e-01 9.75746135e-01 -5.66339942e-03 -2.24511994e+01] [-2.38705762e-02 4.49032003e-04 9.99714956e-01 -4.44329449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.528623853 meters 0.026050303198764457 Centerline is valid? [True, True] Translation: X:159.71, Y:-22.46, Z:-4.44 [[ 9.75652316e-01 2.18138539e-01 2.27626097e-02 1.59711743e+02] [-2.18068106e-01 9.75917703e-01 -5.56218332e-03 -2.24644215e+01] [-2.34277603e-02 4.62957868e-04 9.99725425e-01 -4.44492218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.588623853 meters 0.02721642242835919 Centerline is valid? [True, True] Translation: X:159.77, Y:-22.48, Z:-4.45 [[ 9.75728833e-01 2.17699815e-01 2.36650510e-02 1.59769934e+02] [-2.17623454e-01 9.76015647e-01 -5.78687690e-03 -2.24831880e+01] [-2.43572621e-02 4.96352498e-04 9.99703195e-01 -4.44508393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.648623853 meters 0.028277082169470655 Centerline is valid? [True, True] Translation: X:159.83, Y:-22.50, Z:-4.45 [[ 9.75798671e-01 2.17270531e-01 2.47077061e-02 1.59828726e+02] [-2.17187045e-01 9.76111280e-01 -6.04614752e-03 -2.25045557e+01] [-2.54311203e-02 5.33629051e-04 9.99676434e-01 -4.44536867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.708623853 meters 0.033558967729318386 Centerline is valid? [True, True] Translation: X:159.89, Y:-22.53, Z:-4.45 [[ 9.75917551e-01 2.16819932e-01 2.39593374e-02 1.59885455e+02] [-2.16741190e-01 9.76211470e-01 -5.86712716e-03 -2.25300752e+01] [-2.46614901e-02 5.32857057e-04 9.99695717e-01 -4.44913850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76862385299998 meters 0.030148783571062803 Centerline is valid? [True, True] Translation: X:159.95, Y:-22.55, Z:-4.45 [[ 9.75952254e-01 2.16641522e-01 2.41588260e-02 1.59946583e+02] [-2.16561313e-01 9.76251071e-01 -5.91983510e-03 -2.25466332e+01] [-2.48675618e-02 5.45609326e-04 9.99690605e-01 -4.45044630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82862385299998 meters 0.029005760386060477 Centerline is valid? [True, True] Translation: X:160.01, Y:-22.56, Z:-4.45 [[ 9.75775671e-01 2.17458556e-01 2.39502899e-02 1.60006255e+02] [-2.17379856e-01 9.76069414e-01 -5.87343706e-03 -2.25638151e+01] [-2.46543745e-02 5.24846422e-04 9.99695897e-01 -4.45252294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88862385299998 meters 0.02767121234681941 Centerline is valid? [True, True] Translation: X:160.06, Y:-22.58, Z:-4.46 [[ 9.75181893e-01 2.20204596e-01 2.30263412e-02 1.60064623e+02] [-2.20132525e-01 9.75453608e-01 -5.65072693e-03 -2.25807684e+01] [-2.37054437e-02 4.41639951e-04 9.99718889e-01 -4.45662241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.948623853 meters 0.026058979475059585 Centerline is valid? [True, True] Translation: X:160.12, Y:-22.60, Z:-4.46 [[ 9.74715297e-01 2.22241069e-01 2.32163263e-02 1.60124709e+02] [-2.22168291e-01 9.74991666e-01 -5.70108035e-03 -2.25975302e+01] [-2.39027388e-02 3.98998682e-04 9.99714209e-01 -4.45804675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.008623853 meters 0.022904111146583108 Centerline is valid? [True, True] Translation: X:160.19, Y:-22.61, Z:-4.46 [[ 9.74075705e-01 2.24998007e-01 2.35035655e-02 1.60185357e+02] [-2.24924114e-01 9.74359164e-01 -5.77596647e-03 -2.26133636e+01] [-2.42004954e-02 3.39709974e-04 9.99707067e-01 -4.45903401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.068623853 meters 0.02095744735738367 Centerline is valid? [True, True] Translation: X:160.25, Y:-22.63, Z:-4.46 [[ 9.73705983e-01 2.26627131e-01 2.31689986e-02 1.60245875e+02] [-2.26555765e-01 9.73981548e-01 -5.69470268e-03 -2.26279075e+01] [-2.38567512e-02 2.95895869e-04 9.99715343e-01 -4.46190525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.128623853 meters 0.02053692806645312 Centerline is valid? [True, True] Translation: X:160.31, Y:-22.65, Z:-4.46 [[ 9.73517994e-01 2.27468327e-01 2.28226966e-02 1.60305103e+02] [-2.27399216e-01 9.73785441e-01 -5.61352673e-03 -2.26474192e+01] [-2.35013092e-02 2.75005961e-04 9.99723768e-01 -4.46452280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.188623853 meters 0.02061706129502639 Centerline is valid? [True, True] Translation: X:160.37, Y:-22.67, Z:-4.47 [[ 9.73420757e-01 2.27913917e-01 2.25227719e-02 1.60365039e+02] [-2.27846643e-01 9.73681250e-01 -5.54353063e-03 -2.26666035e+01] [-2.31934484e-02 2.64449814e-04 9.99730961e-01 -4.46691053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.248623853 meters 0.020324907158265647 Centerline is valid? [True, True] Translation: X:160.42, Y:-22.69, Z:-4.47 [[ 9.73199891e-01 2.28835667e-01 2.27202456e-02 1.60423064e+02] [-2.28767348e-01 9.73465036e-01 -5.59686430e-03 -2.26852803e+01] [-2.33981269e-02 2.49217394e-04 9.99726195e-01 -4.46882919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.308623853 meters 0.019653859812799563 Centerline is valid? [True, True] Translation: X:160.48, Y:-22.70, Z:-4.47 [[ 9.72927861e-01 2.29987493e-01 2.27405048e-02 1.60481699e+02] [-2.29919281e-01 9.73193559e-01 -5.60551526e-03 -2.27041604e+01] [-2.34201112e-02 2.25281464e-04 9.99725686e-01 -4.47106307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.368623853 meters 0.01924404479193187 Centerline is valid? [True, True] Translation: X:160.54, Y:-22.72, Z:-4.47 [[ 9.72775567e-01 2.30654779e-01 2.24960050e-02 1.60542504e+02] [-2.30588128e-01 9.73035626e-01 -5.54852673e-03 -2.27222862e+01] [-2.31692085e-02 2.10159556e-04 9.99731536e-01 -4.47340146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.428623853 meters 0.01809059223700608 Centerline is valid? [True, True] Translation: X:160.60, Y:-22.74, Z:-4.47 [[ 9.72506126e-01 2.31789684e-01 2.24806065e-02 1.60601884e+02] [-2.31723326e-01 9.72765906e-01 -5.54912086e-03 -2.27404899e+01] [-2.31545965e-02 1.87273122e-04 9.99731879e-01 -4.47486678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.488623853 meters 0.028105064423932437 Centerline is valid? [True, True] Translation: X:160.66, Y:-22.76, Z:-4.47 [[ 9.72310886e-01 2.32679282e-01 2.17231011e-02 1.60663185e+02] [-2.32617465e-01 9.72553507e-01 -5.36563001e-03 -2.27573003e+01] [-2.23753491e-02 1.63887752e-04 9.99749627e-01 -4.47003120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54862385299998 meters 0.017709284907174376 Centerline is valid? [True, True] Translation: X:160.72, Y:-22.78, Z:-4.48 [[ 9.72217384e-01 2.32995606e-01 2.25034464e-02 1.60721243e+02] [-2.32929241e-01 9.72477773e-01 -5.56315575e-03 -2.27782679e+01] [-2.31802923e-02 1.66886048e-04 9.99731287e-01 -4.47924700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60862385299998 meters 0.017937124366874446 Centerline is valid? [True, True] Translation: X:160.78, Y:-22.80, Z:-4.48 [[ 9.72247694e-01 2.32858732e-01 2.26104474e-02 1.60781829e+02] [-2.32791618e-01 9.72510555e-01 -5.59303623e-03 -2.27962933e+01] [-2.32912860e-02 1.74293946e-04 9.99728706e-01 -4.48066267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66862385299999 meters 0.017940577164424938 Centerline is valid? [True, True] Translation: X:160.84, Y:-22.82, Z:-4.48 [[ 9.72097582e-01 2.33519511e-01 2.22470188e-02 1.60840844e+02] [-2.33454612e-01 9.72352103e-01 -5.50743164e-03 -2.28168111e+01] [-2.29180283e-02 1.60091837e-04 9.99737335e-01 -4.48273589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.728623853 meters 0.017091431090736235 Centerline is valid? [True, True] Translation: X:160.90, Y:-22.83, Z:-4.48 [[ 9.71749198e-01 2.34946118e-01 2.24458659e-02 1.60900663e+02] [-2.34880339e-01 9.72008387e-01 -5.56079231e-03 -2.28326595e+01] [-2.31240565e-02 1.31602885e-04 9.99732595e-01 -4.48458945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.788623853 meters 0.020988504367276867 Centerline is valid? [True, True] Translation: X:160.96, Y:-22.84, Z:-4.48 [[ 9.70942358e-01 2.38297304e-01 2.20302479e-02 1.60962330e+02] [-2.38234720e-01 9.71192253e-01 -5.46134425e-03 -2.28441584e+01] [-2.26970297e-02 5.42805374e-05 9.99742388e-01 -4.47970028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.848623853 meters 0.01518858742509647 Centerline is valid? [True, True] Translation: X:161.02, Y:-22.86, Z:-4.49 [[ 9.70445391e-01 2.40267129e-01 2.25266530e-02 1.61022843e+02] [-2.40202131e-01 9.70706808e-01 -5.58836515e-03 -2.28597667e+01] [-2.32094759e-02 1.22531372e-05 9.99730624e-01 -4.48667989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.908623853 meters 0.015203433611027564 Centerline is valid? [True, True] Translation: X:161.08, Y:-22.87, Z:-4.49 [[ 9.69869326e-01 2.42555528e-01 2.28102310e-02 1.61083670e+02] [-2.42489406e-01 9.70137523e-01 -5.66336227e-03 -2.28742945e+01] [-2.35027409e-02 -3.85180344e-05 9.99723772e-01 -4.48809079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.968623853 meters 0.015461509128230516 Centerline is valid? [True, True] Translation: X:161.14, Y:-22.89, Z:-4.49 [[ 9.69552362e-01 2.43871278e-01 2.22489691e-02 1.61143997e+02] [-2.43808612e-01 9.69807608e-01 -5.52853051e-03 -2.28886764e+01] [-2.29254693e-02 -6.42904610e-05 9.99737175e-01 -4.49165168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.028623853 meters 0.01654346807092043 Centerline is valid? [True, True] Translation: X:161.20, Y:-22.90, Z:-4.49 [[ 9.68850812e-01 2.46709409e-01 2.15075043e-02 1.61204754e+02] [-2.46651458e-01 9.69089497e-01 -5.34842063e-03 -2.28993628e+01] [-2.21622022e-02 -1.23035629e-04 9.99754381e-01 -4.49484602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.088623853 meters 0.017152092975153504 Centerline is valid? [True, True] Translation: X:161.27, Y:-22.91, Z:-4.50 [[ 9.68345936e-01 2.48640528e-01 2.20008327e-02 1.61265426e+02] [-2.48580305e-01 9.68595819e-01 -5.47467420e-03 -2.29114074e+01] [-2.26711404e-02 -1.67595202e-04 9.99742963e-01 -4.49507728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.148623853 meters 0.02166038007512906 Centerline is valid? [True, True] Translation: X:161.33, Y:-22.92, Z:-4.49 [[ 9.67749205e-01 2.50881495e-01 2.28024651e-02 1.61327061e+02] [-2.50817329e-01 9.68017781e-01 -5.67824850e-03 -2.29217429e+01] [-2.34977591e-02 -2.24132912e-04 9.99723864e-01 -4.48895220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.208623853 meters 0.01852895876227391 Centerline is valid? [True, True] Translation: X:161.39, Y:-22.94, Z:-4.50 [[ 9.67524173e-01 2.51686928e-01 2.34662509e-02 1.61387455e+02] [-2.51619103e-01 9.67808674e-01 -5.84784549e-03 -2.29350609e+01] [-2.41826674e-02 -2.46625128e-04 9.99707526e-01 -4.49500257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26862385299998 meters 0.017931890437073557 Centerline is valid? [True, True] Translation: X:161.45, Y:-22.95, Z:-4.50 [[ 9.67615401e-01 2.51386092e-01 2.29230857e-02 1.61449049e+02] [-2.51321188e-01 9.67886863e-01 -5.71667264e-03 -2.29497995e+01] [-2.36240455e-02 -2.29516632e-04 9.99720887e-01 -4.49745619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32862385299998 meters 0.01747348438175657 Centerline is valid? [True, True] Translation: X:161.51, Y:-22.96, Z:-4.50 [[ 9.67960980e-01 2.50065416e-01 2.27778239e-02 1.61508941e+02] [-2.50000853e-01 9.68228925e-01 -5.68526772e-03 -2.29639205e+01] [-2.34758368e-02 -1.91358112e-04 9.99724386e-01 -4.49987701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38862385299998 meters 0.01591242631880371 Centerline is valid? [True, True] Translation: X:161.57, Y:-22.98, Z:-4.50 [[ 9.68767192e-01 2.46895934e-01 2.30765261e-02 1.61568785e+02] [-2.46828675e-01 9.69041994e-01 -5.76366941e-03 -2.29822441e+01] [-2.37851494e-02 -1.12294542e-04 9.99717087e-01 -4.50041410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.448623853 meters 0.015164289250736106 Centerline is valid? [True, True] Translation: X:161.63, Y:-23.00, Z:-4.50 [[ 9.69699377e-01 2.43180996e-01 2.33692476e-02 1.61627813e+02] [-2.43110842e-01 9.69980929e-01 -5.84085659e-03 -2.30002893e+01] [-2.40881098e-02 -1.74424542e-05 9.99709839e-01 -4.50225841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.508623853 meters 0.015352499103260184 Centerline is valid? [True, True] Translation: X:161.69, Y:-23.02, Z:-4.50 [[ 9.70265735e-01 2.40897390e-01 2.35127818e-02 1.61688166e+02] [-2.40825605e-01 9.70550589e-01 -5.88068988e-03 -2.30183506e+01] [-2.42369871e-02 4.33519907e-05 9.99706240e-01 -4.50383352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.568623853 meters 0.01605632226006257 Centerline is valid? [True, True] Translation: X:161.75, Y:-23.04, Z:-4.50 [[ 9.70879544e-01 2.38392001e-01 2.37100215e-02 1.61748074e+02] [-2.38318143e-01 9.71169008e-01 -5.93474956e-03 -2.30365246e+01] [-2.44412349e-02 1.11398636e-04 9.99701262e-01 -4.50491116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.628623853 meters 0.016725493375488516 Centerline is valid? [True, True] Translation: X:161.81, Y:-23.05, Z:-4.51 [[ 9.71133522e-01 2.37324261e-01 2.40182944e-02 1.61808254e+02] [-2.37248041e-01 9.71430478e-01 -6.01601770e-03 -2.30538217e+01] [-2.47598502e-02 1.44063154e-04 9.99693418e-01 -4.50599472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.688623853 meters 0.0169982227724811 Centerline is valid? [True, True] Translation: X:161.87, Y:-23.07, Z:-4.51 [[ 9.71292732e-01 2.36645907e-01 2.42722802e-02 1.61869173e+02] [-2.36567735e-01 9.71595948e-01 -6.08439451e-03 -2.30681666e+01] [-2.50226962e-02 1.67689801e-04 9.99686869e-01 -4.50726551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.748623853 meters 0.01792336227062482 Centerline is valid? [True, True] Translation: X:161.93, Y:-23.08, Z:-4.51 [[ 9.71361628e-01 2.36421905e-01 2.36911678e-02 1.61928409e+02] [-2.36347252e-01 9.71650479e-01 -5.94338527e-03 -2.30846614e+01] [-2.44246810e-02 1.73833988e-04 9.99701658e-01 -4.51053429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.808623853 meters 0.017358002808308966 Centerline is valid? [True, True] Translation: X:161.99, Y:-23.10, Z:-4.51 [[ 9.71260346e-01 2.36879665e-01 2.32672344e-02 1.61989830e+02] [-2.36807691e-01 9.71538984e-01 -5.84123874e-03 -2.30986887e+01] [-2.39886960e-02 1.63503501e-04 9.99712216e-01 -4.51256742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.868623853 meters 0.01672185311783465 Centerline is valid? [True, True] Translation: X:162.05, Y:-23.11, Z:-4.51 [[ 9.71113138e-01 2.37439098e-01 2.37054355e-02 1.62050960e+02] [-2.37364439e-01 9.71402414e-01 -5.95592027e-03 -2.31125207e+01] [-2.44416856e-02 1.57045040e-04 9.99701245e-01 -4.51232116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.928623853 meters 0.015585764522908711 Centerline is valid? [True, True] Translation: X:162.11, Y:-23.12, Z:-4.51 [[ 9.70435468e-01 2.40104194e-01 2.45963086e-02 1.62111438e+02] [-2.40024536e-01 9.70747118e-01 -6.18511744e-03 -2.31234595e+01] [-2.53618683e-02 9.85397702e-05 9.99678331e-01 -4.51248990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.988623853 meters 0.019039163617276828 Centerline is valid? [True, True] Translation: X:162.17, Y:-23.13, Z:-4.51 [[ 9.69678278e-01 2.43184719e-01 2.41915238e-02 1.62173748e+02] [-2.43108523e-01 9.69979996e-01 -6.08722274e-03 -2.31325969e+01] [-2.49456137e-02 2.14820577e-05 9.99688810e-01 -4.50969115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04862385299998 meters 0.015560400456994923 Centerline is valid? [True, True] Translation: X:162.24, Y:-23.14, Z:-4.52 [[ 9.68153188e-01 2.49107874e-01 2.49934360e-02 1.62236250e+02] [-2.49028393e-01 9.68475735e-01 -6.29363562e-03 -2.31391451e+01] [-2.57733305e-02 -1.30871792e-04 9.99667804e-01 -4.51527606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10862385299998 meters 0.01746534981421028 Centerline is valid? [True, True] Translation: X:162.30, Y:-23.15, Z:-4.52 [[ 9.67177978e-01 2.52898601e-01 2.46790597e-02 1.62297632e+02] [-2.52822229e-01 9.67492763e-01 -6.21881881e-03 -2.31464072e+01] [-2.54495422e-02 -2.24710265e-04 9.99676083e-01 -4.51752312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16862385299999 meters 0.022176523620660492 Centerline is valid? [True, True] Translation: X:162.36, Y:-23.15, Z:-4.52 [[ 9.66109316e-01 2.57041099e-01 2.37205194e-02 1.62360141e+02] [-2.56971701e-01 9.66400420e-01 -5.98097082e-03 -2.31491758e+01] [-2.44608753e-02 -3.17230609e-04 9.99700738e-01 -4.52159531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.228623853 meters 0.023813221690682687 Centerline is valid? [True, True] Translation: X:162.42, Y:-23.16, Z:-4.52 [[ 9.65718710e-01 2.58487725e-01 2.39054183e-02 1.62420077e+02] [-2.58417577e-01 9.66014478e-01 -6.03191741e-03 -2.31582217e+01] [-2.46521568e-02 -3.52444775e-04 9.99696027e-01 -4.52259668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.288623853 meters 0.022414127020755622 Centerline is valid? [True, True] Translation: X:162.48, Y:-23.17, Z:-4.52 [[ 9.65508239e-01 2.59189832e-01 2.47885162e-02 1.62481987e+02] [-2.59114647e-01 9.65826321e-01 -6.25433137e-03 -2.31703964e+01] [-2.55624605e-02 -3.84459140e-04 9.99673153e-01 -4.52272234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.348623853 meters 0.022581968367591163 Centerline is valid? [True, True] Translation: X:162.54, Y:-23.18, Z:-4.52 [[ 9.65495762e-01 2.59239583e-01 2.47542548e-02 1.62542912e+02] [-2.59164497e-01 9.65812970e-01 -6.25056082e-03 -2.31783559e+01] [-2.55283731e-02 -3.80534015e-04 9.99674026e-01 -4.52437662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.408623853 meters 0.022310699160389896 Centerline is valid? [True, True] Translation: X:162.60, Y:-23.19, Z:-4.53 [[ 9.65471212e-01 2.59358652e-01 2.44627842e-02 1.62603657e+02] [-2.59285268e-01 9.65781004e-01 -6.18071150e-03 -2.31904324e+01] [-2.52287133e-02 -3.75540536e-04 9.99681635e-01 -4.52674538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.468623853 meters 0.02686346053172984 Centerline is valid? [True, True] Translation: X:162.67, Y:-23.20, Z:-4.52 [[ 9.65660942e-01 2.58764175e-01 2.32389225e-02 1.62665570e+02] [-2.58697677e-01 9.65940468e-01 -5.87575193e-03 -2.31971347e+01] [-2.39678498e-02 -3.37871131e-04 9.99712673e-01 -4.52484686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.528623853 meters 0.021634192586271268 Centerline is valid? [True, True] Translation: X:162.72, Y:-23.21, Z:-4.53 [[ 9.65804415e-01 2.58213367e-01 2.34027458e-02 1.62724291e+02] [-2.58145750e-01 9.66087859e-01 -5.91782792e-03 -2.32105577e+01] [-2.41371708e-02 -3.25855024e-04 9.99708603e-01 -4.53179665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.588623853 meters 0.028183635168721 Centerline is valid? [True, True] Translation: X:162.78, Y:-23.22, Z:-4.53 [[ 9.66235711e-01 2.56588759e-01 2.34682863e-02 1.62783623e+02] [-2.56520282e-01 9.66520629e-01 -5.93448342e-03 -2.32215402e+01] [-2.42053046e-02 -2.85981609e-04 9.99706968e-01 -4.52651063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.648623853 meters 0.01731978749013652 Centerline is valid? [True, True] Translation: X:162.84, Y:-23.24, Z:-4.54 [[ 9.67391529e-01 2.52181130e-01 2.36285445e-02 1.62840512e+02] [-2.52110413e-01 9.67680033e-01 -5.97439986e-03 -2.32379385e+01] [-2.43715016e-02 -1.77418290e-04 9.99702955e-01 -4.53542846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.708623853 meters 0.01493723430927284 Centerline is valid? [True, True] Translation: X:162.90, Y:-23.26, Z:-4.54 [[ 9.68770697e-01 2.46852351e-01 2.33934507e-02 1.62898147e+02] [-2.46781486e-01 9.69053102e-01 -5.91464223e-03 -2.32552479e+01] [-2.41295394e-02 -4.31384675e-05 9.99708839e-01 -4.53778764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76862385299998 meters 0.015258804060255622 Centerline is valid? [True, True] Translation: X:162.96, Y:-23.27, Z:-4.54 [[ 9.69710415e-01 2.43206590e-01 2.26332745e-02 1.62956571e+02] [-2.43139265e-01 9.69974511e-01 -5.72234443e-03 -2.32734148e+01] [-2.33454113e-02 4.59792525e-05 9.99727458e-01 -4.54103822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82862385299998 meters 0.016897345157672695 Centerline is valid? [True, True] Translation: X:163.01, Y:-23.29, Z:-4.54 [[ 9.70505774e-01 2.40092963e-01 2.17695129e-02 1.63014840e+02] [-2.40029885e-01 9.70749893e-01 -5.50444528e-03 -2.32911323e+01] [-2.24543309e-02 1.16762254e-04 9.99747863e-01 -4.54473716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88862385299998 meters 0.01970173237644025 Centerline is valid? [True, True] Translation: X:163.07, Y:-23.31, Z:-4.55 [[ 9.71387082e-01 2.36447018e-01 2.23594471e-02 1.63073465e+02] [-2.36379502e-01 9.71644361e-01 -5.65385959e-03 -2.33100419e+01] [-2.30622690e-02 2.06771205e-04 9.99734009e-01 -4.54516261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.948623853 meters 0.02282057732334215 Centerline is valid? [True, True] Translation: X:163.13, Y:-23.33, Z:-4.55 [[ 9.72074741e-01 2.33510091e-01 2.33181485e-02 1.63131692e+02] [-2.33435770e-01 9.72354335e-01 -5.89817444e-03 -2.33279014e+01] [-2.40507861e-02 2.90176438e-04 9.99710696e-01 -4.54526884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.008623853 meters 0.024336712037079853 Centerline is valid? [True, True] Translation: X:163.19, Y:-23.34, Z:-4.55 [[ 9.72351314e-01 2.32350417e-01 2.33710557e-02 1.63191626e+02] [-2.32275340e-01 9.72632088e-01 -5.91500200e-03 -2.33449349e+01] [-2.41057919e-02 3.22940067e-04 9.99709361e-01 -4.54666589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.068623853 meters 0.03532188522745259 Centerline is valid? [True, True] Translation: X:163.25, Y:-23.36, Z:-4.54 [[ 9.72357882e-01 2.32557721e-01 2.09058755e-02 1.63251475e+02] [-2.32497633e-01 9.72582554e-01 -5.29402985e-03 -2.33591869e+01] [-2.15638573e-02 2.87125102e-04 9.99767432e-01 -4.54489982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.128623853 meters 0.024644713971056425 Centerline is valid? [True, True] Translation: X:163.31, Y:-23.37, Z:-4.56 [[ 9.72243565e-01 2.33046247e-01 2.07821568e-02 1.63309782e+02] [-2.32986896e-01 9.72465613e-01 -5.26659848e-03 -2.33734309e+01] [-2.14372939e-02 2.78446270e-04 9.99770156e-01 -4.55621216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.188623853 meters 0.029882271951868593 Centerline is valid? [True, True] Translation: X:163.37, Y:-23.38, Z:-4.55 [[ 9.71801556e-01 2.34871030e-01 2.09125837e-02 1.63371258e+02] [-2.34811357e-01 9.72026513e-01 -5.29950640e-03 -2.33808005e+01] [-2.15722863e-02 2.39556425e-04 9.99767262e-01 -4.54795761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.248623853 meters 0.01789615330173049 Centerline is valid? [True, True] Translation: X:163.43, Y:-23.39, Z:-4.55 [[ 9.71068405e-01 2.37718626e-01 2.27157952e-02 1.63432020e+02] [-2.37648996e-01 9.71334040e-01 -5.75643598e-03 -2.33919596e+01] [-2.34330372e-02 1.91507186e-04 9.99725390e-01 -4.55349628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.308623853 meters 0.01606833747263171 Centerline is valid? [True, True] Translation: X:163.49, Y:-23.40, Z:-4.55 [[ 9.70355150e-01 2.40516022e-01 2.37260507e-02 1.63492677e+02] [-2.40440778e-01 9.70645159e-01 -6.01726961e-03 -2.34026522e+01] [-2.44768260e-02 1.34178473e-04 9.99700389e-01 -4.55261218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.368623853 meters 0.014628217944072671 Centerline is valid? [True, True] Translation: X:163.55, Y:-23.41, Z:-4.55 [[ 9.69040726e-01 2.45762177e-01 2.36859384e-02 1.63551941e+02] [-2.45688732e-01 9.69330157e-01 -6.00788035e-03 -2.34077021e+01] [-2.44360041e-02 2.51256493e-06 9.99701396e-01 -4.55437510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.428623853 meters 0.015007381056205344 Centerline is valid? [True, True] Translation: X:163.61, Y:-23.42, Z:-4.56 [[ 9.68331052e-01 2.48570508e-01 2.34024949e-02 1.63610350e+02] [-2.48499649e-01 9.68613802e-01 -5.93517815e-03 -2.34166858e+01] [-2.41432898e-02 -6.82944754e-05 9.99708506e-01 -4.55716144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.488623853 meters 0.015526983261299502 Centerline is valid? [True, True] Translation: X:163.67, Y:-23.43, Z:-4.56 [[ 9.68042907e-01 2.49715189e-01 2.31355852e-02 1.63666343e+02] [-2.49646289e-01 9.68319325e-01 -5.86642783e-03 -2.34293582e+01] [-2.38675703e-02 -9.67591405e-05 9.99715124e-01 -4.56024465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54862385299998 meters 0.015297895298763188 Centerline is valid? [True, True] Translation: X:163.72, Y:-23.45, Z:-4.56 [[ 9.68133771e-01 2.49334077e-01 2.34418101e-02 1.63723309e+02] [-2.49263266e-01 9.68417529e-01 -5.94261334e-03 -2.34454200e+01] [-2.41831558e-02 -8.99374728e-05 9.99707541e-01 -4.56084399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60862385299998 meters 0.01514583860000683 Centerline is valid? [True, True] Translation: X:163.78, Y:-23.46, Z:-4.56 [[ 9.67992740e-01 2.49815317e-01 2.41322055e-02 1.63781386e+02] [-2.49740454e-01 9.68293497e-01 -6.11631585e-03 -2.34610428e+01] [-2.48950070e-02 -1.06238624e-04 9.99690066e-01 -4.56064700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66862385299999 meters 0.01598420184069774 Centerline is valid? [True, True] Translation: X:163.84, Y:-23.47, Z:-4.56 [[ 9.67531593e-01 2.51582564e-01 2.42658142e-02 1.63839623e+02] [-2.51507423e-01 9.67835828e-01 -6.15027839e-03 -2.34718969e+01] [-2.50326272e-02 -1.52443741e-04 9.99686623e-01 -4.56181298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.728623853 meters 0.018868669325121382 Centerline is valid? [True, True] Translation: X:163.90, Y:-23.48, Z:-4.56 [[ 9.66380211e-01 2.55990197e-01 2.40480053e-02 1.63898354e+02] [-2.55917782e-01 9.66679341e-01 -6.09426978e-03 -2.34778181e+01] [-2.48067833e-02 -2.64930473e-04 9.99692229e-01 -4.56346551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.788623853 meters 0.02195521465713313 Centerline is valid? [True, True] Translation: X:163.96, Y:-23.48, Z:-4.57 [[ 9.65494203e-01 2.59377806e-01 2.33259058e-02 1.63957010e+02] [-2.59310700e-01 9.65775873e-01 -5.90969260e-03 -2.34840394e+01] [-2.40604402e-02 -3.42883030e-04 9.99710447e-01 -4.56695993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.848623853 meters 0.028095000701428396 Centerline is valid? [True, True] Translation: X:164.02, Y:-23.48, Z:-4.57 [[ 9.63906592e-01 2.65153404e-01 2.40365359e-02 1.64017016e+02] [-2.65083977e-01 9.64206108e-01 -6.08817192e-03 -2.34838638e+01] [-2.47904742e-02 -5.03271481e-04 9.99692542e-01 -4.56691889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.908623853 meters 0.03162942717629425 Centerline is valid? [True, True] Translation: X:164.08, Y:-23.49, Z:-4.57 [[ 9.63091033e-01 2.68079200e-01 2.42735270e-02 1.64076559e+02] [-2.68009356e-01 9.63396699e-01 -6.14698254e-03 -2.34897211e+01] [-2.50329139e-02 -5.85428571e-04 9.99686456e-01 -4.56817902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.968623853 meters 0.032904305892399385 Centerline is valid? [True, True] Translation: X:164.13, Y:-23.50, Z:-4.57 [[ 9.62973211e-01 2.68588416e-01 2.32993247e-02 1.64134689e+02] [-2.68524232e-01 9.63254863e-01 -5.89956688e-03 -2.34969052e+01] [-2.40277431e-02 -5.75308402e-04 9.99711127e-01 -4.57174224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.028623853 meters 0.031126010476167185 Centerline is valid? [True, True] Translation: X:164.19, Y:-23.51, Z:-4.57 [[ 9.63550925e-01 2.66534575e-01 2.29986050e-02 1.64192165e+02] [-2.66471485e-01 9.63825218e-01 -5.82203834e-03 -2.35094301e+01] [-2.37184100e-02 -5.18642011e-04 9.99718544e-01 -4.57472852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.088623853 meters 0.024783129994570604 Centerline is valid? [True, True] Translation: X:164.25, Y:-23.53, Z:-4.58 [[ 9.65254975e-01 2.60299027e-01 2.29619138e-02 1.64248674e+02] [-2.60234399e-01 9.65527981e-01 -5.81158580e-03 -2.35283470e+01] [-2.36831204e-02 -3.65817741e-04 9.99719449e-01 -4.57705538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.148623853 meters 0.016831090287814793 Centerline is valid? [True, True] Translation: X:164.30, Y:-23.55, Z:-4.58 [[ 9.67240758e-01 2.52865759e-01 2.24549166e-02 1.64303848e+02] [-2.52801960e-01 9.67501357e-01 -5.68276888e-03 -2.35535473e+01] [-2.31621400e-02 -1.80041248e-04 9.99731705e-01 -4.57836916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.208623853 meters 0.014882155442602222 Centerline is valid? [True, True] Translation: X:164.36, Y:-23.57, Z:-4.58 [[ 9.68458429e-01 2.48116322e-01 2.29469219e-02 1.64359911e+02] [-2.48048373e-01 9.68730244e-01 -5.80678656e-03 -2.35726126e+01] [-2.36701357e-02 -6.83152415e-05 9.99719821e-01 -4.57965383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26862385299998 meters 0.01478705350810469 Centerline is valid? [True, True] Translation: X:164.42, Y:-23.59, Z:-4.58 [[ 9.69456073e-01 2.44177631e-01 2.30696119e-02 1.64415094e+02] [-2.44107863e-01 9.69730521e-01 -5.83673529e-03 -2.35901470e+01] [-2.37965070e-02 2.69848111e-05 9.99716823e-01 -4.58134731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32862385299998 meters 0.015561464617378068 Centerline is valid? [True, True] Translation: X:164.47, Y:-23.61, Z:-4.58 [[ 9.70274391e-01 2.40874700e-01 2.33877193e-02 1.64471980e+02] [-2.40802076e-01 9.70556215e-01 -5.91546467e-03 -2.36052951e+01] [-2.41239821e-02 1.07812518e-04 9.99708969e-01 -4.58112213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38862385299998 meters 0.016033237940161142 Centerline is valid? [True, True] Translation: X:164.53, Y:-23.62, Z:-4.58 [[ 9.70624561e-01 2.39445893e-01 2.35292532e-02 1.64529139e+02] [-2.39371997e-01 9.70909699e-01 -5.95008212e-03 -2.36184834e+01] [-2.42695029e-02 1.43051529e-04 9.99705442e-01 -4.58193207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.448623853 meters 0.016488689908585485 Centerline is valid? [True, True] Translation: X:164.59, Y:-23.63, Z:-4.58 [[ 9.70742234e-01 2.38983241e-01 2.33779034e-02 1.64585583e+02] [-2.38910186e-01 9.71023680e-01 -5.91066144e-03 -2.36319395e+01] [-2.41130468e-02 1.52509450e-04 9.99709227e-01 -4.58436722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.508623853 meters 0.017581562108613554 Centerline is valid? [True, True] Translation: X:164.64, Y:-23.64, Z:-4.59 [[ 9.71064135e-01 2.37750811e-01 2.25609694e-02 1.64642275e+02] [-2.37682473e-01 9.71326166e-01 -5.70273426e-03 -2.36447372e+01] [-2.32698896e-02 1.75373712e-04 9.99729204e-01 -4.58844023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.568623853 meters 0.016963290340367865 Centerline is valid? [True, True] Translation: X:164.70, Y:-23.66, Z:-4.59 [[ 9.71157825e-01 2.37398976e-01 2.22307113e-02 1.64701204e+02] [-2.37332566e-01 9.71412216e-01 -5.61775336e-03 -2.36554978e+01] [-2.29288334e-02 1.79653390e-04 9.99737084e-01 -4.58904800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.628623853 meters 0.01714096527504148 Centerline is valid? [True, True] Translation: X:164.76, Y:-23.67, Z:-4.59 [[ 9.71120410e-01 2.37563292e-01 2.21095348e-02 1.64758528e+02] [-2.37497656e-01 9.71372046e-01 -5.58673722e-03 -2.36663968e+01] [-2.28037877e-02 1.74431860e-04 9.99739945e-01 -4.59123501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.688623853 meters 0.01783662554627131 Centerline is valid? [True, True] Translation: X:164.82, Y:-23.68, Z:-4.60 [[ 9.71262426e-01 2.37054553e-01 2.13175692e-02 1.64815042e+02] [-2.36993442e-01 9.71496324e-01 -5.38527894e-03 -2.36784376e+01] [-2.19865450e-02 1.78394981e-04 9.99758251e-01 -4.59500835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.748623853 meters 0.01836864605330105 Centerline is valid? [True, True] Translation: X:164.87, Y:-23.69, Z:-4.60 [[ 9.71623776e-01 2.35560355e-01 2.14139305e-02 1.64871823e+02] [-2.35498359e-01 9.71859699e-01 -5.40819161e-03 -2.36932198e+01] [-2.20852916e-02 2.11782046e-04 9.99756068e-01 -4.59683075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.808623853 meters 0.01958408270916593 Centerline is valid? [True, True] Translation: X:164.93, Y:-23.71, Z:-4.60 [[ 9.72038779e-01 2.33815044e-01 2.17057200e-02 1.64928573e+02] [-2.33750937e-01 9.72281061e-01 -5.48074628e-03 -2.37088660e+01] [-2.23855414e-02 2.53765542e-04 9.99749380e-01 -4.59759441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.868623853 meters 0.02232181603676477 Centerline is valid? [True, True] Translation: X:164.98, Y:-23.73, Z:-4.60 [[ 9.72751750e-01 2.30774351e-01 2.22986913e-02 1.64984551e+02] [-2.30705922e-01 9.73007240e-01 -5.62923899e-03 -2.37279899e+01] [-2.29958721e-02 3.31411943e-04 9.99735505e-01 -4.59866260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.928623853 meters 0.02545767187546386 Centerline is valid? [True, True] Translation: X:165.04, Y:-23.75, Z:-4.60 [[ 9.73255927e-01 2.28623897e-01 2.24502691e-02 1.65040042e+02] [-2.28553982e-01 9.73514749e-01 -5.66664779e-03 -2.37481298e+01] [-2.31511992e-02 3.84000141e-04 9.99731901e-01 -4.60080467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98862385299998 meters 0.026741637554175707 Centerline is valid? [True, True] Translation: X:165.10, Y:-23.77, Z:-4.60 [[ 9.74055641e-01 2.25242462e-01 2.19417547e-02 1.65097236e+02] [-2.25174843e-01 9.74302637e-01 -5.53731832e-03 -2.37679274e+01] [-2.26251487e-02 4.52924967e-04 9.99743916e-01 -4.60288962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04862385299998 meters 0.028894370999923966 Centerline is valid? [True, True] Translation: X:165.15, Y:-23.79, Z:-4.61 [[ 9.74506310e-01 2.23342345e-01 2.13459090e-02 1.65154773e+02] [-2.23277895e-01 9.74739946e-01 -5.38687786e-03 -2.37883678e+01] [-2.20098281e-02 4.83476852e-04 9.99757637e-01 -4.60574776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10862385299998 meters 0.029664654434879343 Centerline is valid? [True, True] Translation: X:165.21, Y:-23.81, Z:-4.61 [[ 9.74734834e-01 2.22307834e-01 2.17078550e-02 1.65212745e+02] [-2.22240918e-01 9.74976390e-01 -5.47843198e-03 -2.38084603e+01] [-2.23825444e-02 5.15644868e-04 9.99749346e-01 -4.60617932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16862385299999 meters 0.028898564574407457 Centerline is valid? [True, True] Translation: X:165.27, Y:-23.83, Z:-4.61 [[ 9.74470244e-01 2.23429797e-01 2.20651113e-02 1.65271289e+02] [-2.23360934e-01 9.74719897e-01 -5.56916378e-03 -2.38259000e+01] [-2.27516201e-02 4.98500521e-04 9.99741024e-01 -4.60703522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.228623853 meters 0.02448271162460426 Centerline is valid? [True, True] Translation: X:165.33, Y:-23.84, Z:-4.61 [[ 9.73547111e-01 2.27415918e-01 2.20912247e-02 1.65331059e+02] [-2.27347904e-01 9.73797635e-01 -5.57636689e-03 -2.38373083e+01] [-2.27805370e-02 4.06462247e-04 9.99740407e-01 -4.60818664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.288623853 meters 0.021855577972794863 Centerline is valid? [True, True] Translation: X:165.39, Y:-23.85, Z:-4.61 [[ 9.72754256e-01 2.30789621e-01 2.20297364e-02 1.65390234e+02] [-2.30722840e-01 9.73003620e-01 -5.56118777e-03 -2.38506975e+01] [-2.27184777e-02 3.26905710e-04 9.99741849e-01 -4.60973835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.348623853 meters 0.01984807697937827 Centerline is valid? [True, True] Translation: X:165.45, Y:-23.86, Z:-4.61 [[ 9.72067125e-01 2.33695885e-01 2.17195268e-02 1.65447620e+02] [-2.33631692e-01 9.72309708e-01 -5.48307405e-03 -2.38634821e+01] [-2.23994786e-02 2.55546224e-04 9.99749068e-01 -4.61244981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.408623853 meters 0.016553607807180248 Centerline is valid? [True, True] Translation: X:165.51, Y:-23.87, Z:-4.61 [[ 9.70961437e-01 2.38218231e-01 2.20445561e-02 1.65506352e+02] [-2.38153288e-01 9.71211641e-01 -5.56422327e-03 -2.38742504e+01] [-2.27354289e-02 1.52662712e-04 9.99741505e-01 -4.61290319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.468623853 meters 0.0149150394458767 Centerline is valid? [True, True] Translation: X:165.57, Y:-23.88, Z:-4.62 [[ 9.69756436e-01 2.43093662e-01 2.18615331e-02 1.65565034e+02] [-2.43031039e-01 9.70002820e-01 -5.51760786e-03 -2.38827878e+01] [-2.25470443e-02 3.77046336e-05 9.99745782e-01 -4.61501307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.528623853 meters 0.01490024966341678 Centerline is valid? [True, True] Translation: X:165.62, Y:-23.89, Z:-4.62 [[ 9.68836093e-01 2.46772000e-01 2.14523847e-02 1.65623344e+02] [-2.46712624e-01 9.69073567e-01 -5.41326354e-03 -2.38928471e+01] [-2.21247809e-02 -4.80090240e-05 9.99755216e-01 -4.61693101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.588623853 meters 0.016435249505092196 Centerline is valid? [True, True] Translation: X:165.68, Y:-23.90, Z:-4.62 [[ 9.67841592e-01 2.50522775e-01 2.28252362e-02 1.65681228e+02] [-2.50456625e-01 9.68110695e-01 -5.75848256e-03 -2.39011285e+01] [-2.35399863e-02 -1.43432698e-04 9.99722886e-01 -4.61670126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.648623853 meters 0.022147713438513097 Centerline is valid? [True, True] Translation: X:165.74, Y:-23.91, Z:-4.61 [[ 9.67547738e-01 2.51656568e-01 2.28110942e-02 1.65739007e+02] [-2.51590850e-01 9.67816585e-01 -5.75343878e-03 -2.39141583e+01] [-2.35248460e-02 -1.72335918e-04 9.99723238e-01 -4.61124925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.708623853 meters 0.016295561114803514 Centerline is valid? [True, True] Translation: X:165.80, Y:-23.93, Z:-4.62 [[ 9.67640828e-01 2.51173875e-01 2.41435630e-02 1.65795120e+02] [-2.51100136e-01 9.67941969e-01 -6.08821759e-03 -2.39282949e+01] [-2.48987691e-02 -1.71244055e-04 9.99689963e-01 -4.61729404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76862385299998 meters 0.015279549773818782 Centerline is valid? [True, True] Translation: X:165.85, Y:-23.95, Z:-4.62 [[ 9.68321874e-01 2.48556576e-01 2.39243872e-02 1.65850650e+02] [-2.48483412e-01 9.68617374e-01 -6.03129609e-03 -2.39465422e+01] [-2.46726954e-02 -1.04577406e-04 9.99695577e-01 -4.61964180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82862385299998 meters 0.014851113197075815 Centerline is valid? [True, True] Translation: X:165.91, Y:-23.96, Z:-4.62 [[ 9.68732774e-01 2.46994395e-01 2.34644581e-02 1.65907486e+02] [-2.46923586e-01 9.69016906e-01 -5.91418991e-03 -2.39625686e+01] [-2.41982284e-02 -6.46585545e-05 9.99707178e-01 -4.62218334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88862385299998 meters 0.014656127578515874 Centerline is valid? [True, True] Translation: X:165.96, Y:-23.98, Z:-4.62 [[ 9.68974572e-01 2.46094902e-01 2.29255004e-02 1.65964575e+02] [-2.46027084e-01 9.69245736e-01 -5.77722269e-03 -2.39765400e+01] [-2.36421886e-02 -4.23121338e-05 9.99720484e-01 -4.62376194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.948623853 meters 0.014870857313638856 Centerline is valid? [True, True] Translation: X:166.02, Y:-23.99, Z:-4.63 [[ 9.68974577e-01 2.46119205e-01 2.26628933e-02 1.66021391e+02] [-2.46052965e-01 9.69239565e-01 -5.70993903e-03 -2.39875336e+01] [-2.33710985e-02 -4.34863352e-05 9.99726858e-01 -4.62693594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.008623853 meters 0.0145775625339571 Centerline is valid? [True, True] Translation: X:166.08, Y:-24.00, Z:-4.63 [[ 9.69230171e-01 2.45052513e-01 2.32839335e-02 1.66078889e+02] [-2.44982322e-01 9.69509807e-01 -5.86482803e-03 -2.40006803e+01] [-2.40111928e-02 -1.97838325e-05 9.99711690e-01 -4.62753420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.068623853 meters 0.014744429099403437 Centerline is valid? [True, True] Translation: X:166.13, Y:-24.02, Z:-4.63 [[ 9.69722322e-01 2.43118295e-01 2.30675708e-02 1.66134843e+02] [-2.43048882e-01 9.69996646e-01 -5.80921631e-03 -2.40159394e+01] [-2.37877931e-02 2.67794209e-05 9.99717030e-01 -4.63021485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.128623853 meters 0.015585204237465415 Centerline is valid? [True, True] Translation: X:166.19, Y:-24.03, Z:-4.63 [[ 9.70540008e-01 2.39844946e-01 2.29454567e-02 1.66191281e+02] [-2.39775386e-01 9.70811202e-01 -5.77697571e-03 -2.40331029e+01] [-2.36612848e-02 1.05030322e-04 9.99720027e-01 -4.63108856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.188623853 meters 0.016196615332328988 Centerline is valid? [True, True] Translation: X:166.25, Y:-24.05, Z:-4.63 [[ 9.70931073e-01 2.38240102e-01 2.31193821e-02 1.66248109e+02] [-2.38169056e-01 9.71206277e-01 -5.81959150e-03 -2.40473926e+01] [-2.38401491e-02 1.44100810e-04 9.99715773e-01 -4.63203797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.248623853 meters 0.017559682759938685 Centerline is valid? [True, True] Translation: X:166.30, Y:-24.06, Z:-4.63 [[ 9.71469634e-01 2.36064357e-01 2.28116109e-02 1.66304629e+02] [-2.35994617e-01 9.71737404e-01 -5.74098368e-03 -2.40628370e+01] [-2.35221372e-02 1.93773933e-04 9.99723297e-01 -4.63476448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.308623853 meters 0.019129673871408532 Centerline is valid? [True, True] Translation: X:166.36, Y:-24.08, Z:-4.64 [[ 9.71952044e-01 2.34066244e-01 2.28520900e-02 1.66360151e+02] [-2.33995729e-01 9.72220621e-01 -5.75007375e-03 -2.40790233e+01] [-2.35631713e-02 2.41504459e-04 9.99722321e-01 -4.63610678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.368623853 meters 0.02692466391993647 Centerline is valid? [True, True] Translation: X:166.42, Y:-24.09, Z:-4.63 [[ 9.72224665e-01 2.32994439e-01 2.21989297e-02 1.66418139e+02] [-2.32927654e-01 9.72478033e-01 -5.58422298e-03 -2.40934025e+01] [-2.28890644e-02 2.58374706e-04 9.99737978e-01 -4.63145979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.428623853 meters 0.023573109516552525 Centerline is valid? [True, True] Translation: X:166.47, Y:-24.12, Z:-4.64 [[ 9.73236475e-01 2.28727634e-01 2.22358358e-02 1.66473553e+02] [-2.28659526e-01 9.73490391e-01 -5.59288819e-03 -2.41150944e+01] [-2.29256205e-02 3.58767105e-04 9.99737109e-01 -4.64008148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48862385299998 meters 0.027576553721808145 Centerline is valid? [True, True] Translation: X:166.53, Y:-24.14, Z:-4.64 [[ 9.74087475e-01 2.25121146e-01 2.17729283e-02 1.66529843e+02] [-2.25054951e-01 9.74330684e-01 -5.47612756e-03 -2.41366143e+01] [-2.24468242e-02 4.34121957e-04 9.99747944e-01 -4.64276757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54862385299998 meters 0.027615091827276936 Centerline is valid? [True, True] Translation: X:166.59, Y:-24.15, Z:-4.64 [[ 9.74436703e-01 2.23593257e-01 2.18899050e-02 1.66589346e+02] [-2.23525983e-01 9.74682427e-01 -5.50465236e-03 -2.41534552e+01] [-2.25665089e-02 4.70972756e-04 9.99745233e-01 -4.64348224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60862385299998 meters 0.028368511901724534 Centerline is valid? [True, True] Translation: X:166.65, Y:-24.17, Z:-4.64 [[ 9.74537828e-01 2.23124354e-01 2.21707836e-02 1.66647931e+02] [-2.23055128e-01 9.74789865e-01 -5.57935909e-03 -2.41707994e+01] [-2.28567461e-02 4.91989512e-04 9.99738629e-01 -4.64439792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66862385299999 meters 0.028852632507032804 Centerline is valid? [True, True] Translation: X:166.71, Y:-24.19, Z:-4.65 [[ 9.74461058e-01 2.23429206e-01 2.24730052e-02 1.66706032e+02] [-2.23358073e-01 9.74720034e-01 -5.65917644e-03 -2.41894486e+01] [-2.31693137e-02 4.95119916e-04 9.99731433e-01 -4.64527744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.728623853 meters 0.032721013187116045 Centerline is valid? [True, True] Translation: X:166.76, Y:-24.21, Z:-4.64 [[ 9.74336160e-01 2.24039639e-01 2.18011039e-02 1.66764178e+02] [-2.23972756e-01 9.74579919e-01 -5.49413417e-03 -2.42057645e+01] [-2.24778219e-02 4.70280260e-04 9.99747231e-01 -4.64130898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.788623853 meters 0.027139895468731343 Centerline is valid? [True, True] Translation: X:166.82, Y:-24.22, Z:-4.65 [[ 9.73844332e-01 2.26219632e-01 2.12578341e-02 1.66822281e+02] [-2.26156555e-01 9.74076234e-01 -5.35747857e-03 -2.42214412e+01] [-2.19187179e-02 4.09751603e-04 9.99759672e-01 -4.65031673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.848623853 meters 0.02476038963813813 Centerline is valid? [True, True] Translation: X:166.88, Y:-24.23, Z:-4.65 [[ 9.73206677e-01 2.29019396e-01 2.04665464e-02 1.66880310e+02] [-2.28961536e-01 9.73421802e-01 -5.15852711e-03 -2.42339815e+01] [-2.11039852e-02 3.34261123e-04 9.99777230e-01 -4.65343342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.908623853 meters 0.01952518210330276 Centerline is valid? [True, True] Translation: X:166.94, Y:-24.24, Z:-4.65 [[ 9.71788045e-01 2.34912342e-01 2.10757275e-02 1.66939236e+02] [-2.34852381e-01 9.72016536e-01 -5.31154035e-03 -2.42429912e+01] [-2.17337020e-02 2.12006637e-04 9.99763773e-01 -4.65295349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.968623853 meters 0.016063102337513208 Centerline is valid? [True, True] Translation: X:167.00, Y:-24.25, Z:-4.65 [[ 9.70547576e-01 2.39912929e-01 2.18903864e-02 1.66997792e+02] [-2.39849523e-01 9.70794404e-01 -5.51642173e-03 -2.42507125e+01] [-2.25745255e-02 1.03551002e-04 9.99745158e-01 -4.65254803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.028623853 meters 0.014800384283403979 Centerline is valid? [True, True] Translation: X:167.06, Y:-24.26, Z:-4.65 [[ 9.69251033e-01 2.45103281e-01 2.18361342e-02 1.67056968e+02] [-2.45041526e-01 9.69496973e-01 -5.50173060e-03 -2.42564722e+01] [-2.25185583e-02 -1.82015909e-05 9.99746425e-01 -4.65309401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.088623853 meters 0.017895796604172086 Centerline is valid? [True, True] Translation: X:167.12, Y:-24.26, Z:-4.66 [[ 9.67287940e-01 2.52782860e-01 2.13275931e-02 1.67115820e+02] [-2.52725833e-01 9.67523017e-01 -5.37260855e-03 -2.42579257e+01] [-2.19930405e-02 -1.93174274e-04 9.99758105e-01 -4.65557672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.148623853 meters 0.023384832485328737 Centerline is valid? [True, True] Translation: X:167.18, Y:-24.26, Z:-4.66 [[ 9.65778049e-01 2.58525949e-01 2.09067913e-02 1.67175451e+02] [-2.58472525e-01 9.66004261e-01 -5.26515766e-03 -2.42610266e+01] [-2.15572293e-02 -3.18857435e-04 9.99767565e-01 -4.65884097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.208623853 meters 0.02664657359741311 Centerline is valid? [True, True] Translation: X:167.23, Y:-24.27, Z:-4.66 [[ 9.65051777e-01 2.61231117e-01 2.08175570e-02 1.67233359e+02] [-2.61178790e-01 9.65276209e-01 -5.24205395e-03 -2.42674055e+01] [-2.14640801e-02 -3.78250870e-04 9.99769549e-01 -4.66046211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26862385299998 meters 0.026023941202022335 Centerline is valid? [True, True] Translation: X:167.29, Y:-24.28, Z:-4.66 [[ 9.64506715e-01 2.63219350e-01 2.10326186e-02 1.67290982e+02] [-2.63166437e-01 9.64735918e-01 -5.29489026e-03 -2.42795449e+01] [-2.16846402e-02 -4.28122088e-04 9.99764769e-01 -4.66035972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32862385299998 meters 0.02739742318020544 Centerline is valid? [True, True] Translation: X:167.35, Y:-24.29, Z:-4.66 [[ 9.64256832e-01 2.64097664e-01 2.14752374e-02 1.67348967e+02] [-2.64042742e-01 9.64495834e-01 -5.40525751e-03 -2.42871774e+01] [-2.21402929e-02 -4.58324081e-04 9.99754769e-01 -4.66087874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38862385299998 meters 0.027380568984799656 Centerline is valid? [True, True] Translation: X:167.41, Y:-24.30, Z:-4.66 [[ 9.64473542e-01 2.63306243e-01 2.14618344e-02 1.67406080e+02] [-2.63251223e-01 9.64712200e-01 -5.40051890e-03 -2.42975301e+01] [-2.21264838e-02 -4.41196565e-04 9.99755082e-01 -4.66243890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.448623853 meters 0.02421437400721901 Centerline is valid? [True, True] Translation: X:167.46, Y:-24.31, Z:-4.66 [[ 9.65107330e-01 2.60993681e-01 2.12165118e-02 1.67463474e+02] [-2.60939383e-01 9.65340432e-01 -5.33742337e-03 -2.43108023e+01] [-2.18741905e-02 -3.85037092e-04 9.99760657e-01 -4.66479064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.508623853 meters 0.02601697911685985 Centerline is valid? [True, True] Translation: X:167.52, Y:-24.32, Z:-4.67 [[ 9.65627931e-01 2.59085256e-01 2.09171818e-02 1.67520742e+02] [-2.59032053e-01 9.65854397e-01 -5.26114568e-03 -2.43189054e+01] [-2.15660373e-02 -3.37911324e-04 9.99767369e-01 -4.66940293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.568623853 meters 0.02535995265294604 Centerline is valid? [True, True] Translation: X:167.58, Y:-24.34, Z:-4.66 [[ 9.66526962e-01 2.55728172e-01 2.07058746e-02 1.67577926e+02] [-2.55675298e-01 9.66748692e-01 -5.20654058e-03 -2.43360447e+01] [-2.13488363e-02 -2.61718804e-04 9.99772053e-01 -4.66289421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.628623853 meters 0.020392324699506564 Centerline is valid? [True, True] Translation: X:167.63, Y:-24.35, Z:-4.67 [[ 9.67173818e-01 2.53215783e-01 2.13675887e-02 1.67634670e+02] [-2.53158878e-01 9.67409800e-01 -5.37223556e-03 -2.43480729e+01] [-2.20315495e-02 -2.13509205e-04 9.99757253e-01 -4.67106365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.688623853 meters 0.016497745298259217 Centerline is valid? [True, True] Translation: X:167.69, Y:-24.37, Z:-4.67 [[ 9.68336334e-01 2.48739115e-01 2.12978123e-02 1.67690472e+02] [-2.48681527e-01 9.68570514e-01 -5.35330452e-03 -2.43672322e+01] [-2.19600093e-02 -1.12573231e-04 9.99758844e-01 -4.67188816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.748623853 meters 0.015215254760494573 Centerline is valid? [True, True] Translation: X:167.75, Y:-24.38, Z:-4.67 [[ 9.69257921e-01 2.45112695e-01 2.14207584e-02 1.67746637e+02] [-2.45053576e-01 9.69494593e-01 -5.38320917e-03 -2.43845252e+01] [-2.20868023e-02 -3.15153099e-05 9.99756056e-01 -4.67193565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.808623853 meters 0.01644903936964286 Centerline is valid? [True, True] Translation: X:167.80, Y:-24.41, Z:-4.67 [[ 9.70812738e-01 2.38895582e-01 2.12491963e-02 1.67801227e+02] [-2.38835935e-01 9.71045256e-01 -5.33921460e-03 -2.44052874e+01] [-2.19094460e-02 1.08305875e-04 9.99759953e-01 -4.67469240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.868623853 meters 0.020067946412332213 Centerline is valid? [True, True] Translation: X:167.86, Y:-24.43, Z:-4.68 [[ 9.72092011e-01 2.33626589e-01 2.13480330e-02 1.67855330e+02] [-2.33565154e-01 9.72326368e-01 -5.36222403e-03 -2.44266776e+01] [-2.20100135e-02 2.26418537e-04 9.99757725e-01 -4.67575750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.928623853 meters 0.02217011756029229 Centerline is valid? [True, True] Translation: X:167.91, Y:-24.44, Z:-4.68 [[ 9.72617352e-01 2.31417273e-01 2.14833279e-02 1.67911617e+02] [-2.31354556e-01 9.72854547e-01 -5.39446072e-03 -2.44438134e+01] [-2.21485246e-02 2.76480317e-04 9.99754653e-01 -4.67653700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98862385299998 meters 0.024302446788446792 Centerline is valid? [True, True] Translation: X:167.97, Y:-24.46, Z:-4.68 [[ 9.73093617e-01 2.29368978e-01 2.18788536e-02 1.67966995e+02] [-2.29303435e-01 9.73339491e-01 -5.49277497e-03 -2.44605409e+01] [-2.25554244e-02 3.28087984e-04 9.99745540e-01 -4.67742293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04862385299998 meters 0.023073753565661114 Centerline is valid? [True, True] Translation: X:168.02, Y:-24.47, Z:-4.68 [[ 9.73369237e-01 2.28192099e-01 2.19247595e-02 1.68024061e+02] [-2.28126012e-01 9.73616064e-01 -5.50297184e-03 -2.44745812e+01] [-2.26020327e-02 3.54815568e-04 9.99744478e-01 -4.67748157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10862385299998 meters 0.02315177123340029 Centerline is valid? [True, True] Translation: X:168.08, Y:-24.49, Z:-4.68 [[ 9.73723923e-01 2.26729014e-01 2.13465509e-02 1.68080561e+02] [-2.26666038e-01 9.73957808e-01 -5.35680896e-03 -2.44897202e+01] [-2.20051839e-02 3.77514921e-04 9.99757785e-01 -4.67917814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16862385299999 meters 0.02934739020093762 Centerline is valid? [True, True] Translation: X:168.13, Y:-24.51, Z:-4.68 [[ 9.73993322e-01 2.25593288e-01 2.10873651e-02 1.68134834e+02] [-2.25531593e-01 9.74221490e-01 -5.29056485e-03 -2.45145237e+01] [-2.17372802e-02 3.97107794e-04 9.99763639e-01 -4.68421957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.228623853 meters 0.029504815680356164 Centerline is valid? [True, True] Translation: X:168.19, Y:-24.53, Z:-4.69 [[ 9.74014070e-01 2.25502229e-01 2.11029953e-02 1.68190679e+02] [-2.25440432e-01 9.74242570e-01 -5.29393477e-03 -2.45295242e+01] [-2.17532305e-02 3.98898562e-04 9.99763291e-01 -4.68567655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.288623853 meters 0.029102073805116514 Centerline is valid? [True, True] Translation: X:168.25, Y:-24.55, Z:-4.69 [[ 9.73878445e-01 2.26050577e-01 2.14921145e-02 1.68246583e+02] [-2.25986650e-01 9.74115487e-01 -5.38993813e-03 -2.45466337e+01] [-2.21542002e-02 3.92213614e-04 9.99754489e-01 -4.68650050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.348623853 meters 0.02846878784246858 Centerline is valid? [True, True] Translation: X:168.30, Y:-24.56, Z:-4.69 [[ 9.73743386e-01 2.26633030e-01 2.14775932e-02 1.68303708e+02] [-2.26569352e-01 9.73980147e-01 -5.38533654e-03 -2.45619950e+01] [-2.21392445e-02 3.77771460e-04 9.99754826e-01 -4.68824480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.408623853 meters 0.02353675051898419 Centerline is valid? [True, True] Translation: X:168.36, Y:-24.57, Z:-4.69 [[ 9.73599702e-01 2.27331900e-01 2.05870522e-02 1.68361529e+02] [-2.27273567e-01 9.73817276e-01 -5.16121284e-03 -2.45718420e+01] [-2.12213354e-02 3.46062489e-04 9.99774742e-01 -4.68901655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.468623853 meters 0.023356043070804473 Centerline is valid? [True, True] Translation: X:168.42, Y:-24.59, Z:-4.69 [[ 9.73595794e-01 2.27379043e-01 2.02484732e-02 1.68418766e+02] [-2.27322648e-01 9.73806273e-01 -5.07515119e-03 -2.45881285e+01] [-2.08720733e-02 3.38209297e-04 9.99782097e-01 -4.69147301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.528623853 meters 0.02256157511950543 Centerline is valid? [True, True] Translation: X:168.47, Y:-24.60, Z:-4.69 [[ 9.73260927e-01 2.28805580e-01 2.02774406e-02 1.68474532e+02] [-2.28749339e-01 9.73472091e-01 -5.08214144e-03 -2.46027498e+01] [-2.09023448e-02 3.07798570e-04 9.99781475e-01 -4.69260034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.588623853 meters 0.021415528445603738 Centerline is valid? [True, True] Translation: X:168.53, Y:-24.62, Z:-4.69 [[ 9.72794229e-01 2.30761705e-01 2.05042206e-02 1.68531373e+02] [-2.30704663e-01 9.73010259e-01 -5.13756888e-03 -2.46159847e+01] [-2.11363711e-02 2.67378070e-04 9.99776566e-01 -4.69409277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.648623853 meters 0.01873504499317953 Centerline is valid? [True, True] Translation: X:168.59, Y:-24.63, Z:-4.70 [[ 9.72055142e-01 2.33875329e-01 2.02763921e-02 1.68589219e+02] [-2.33820245e-01 9.72266574e-01 -5.07949690e-03 -2.46262608e+01] [-2.09020273e-02 1.96520107e-04 9.99781509e-01 -4.69559849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.708623853 meters 0.01772879726275886 Centerline is valid? [True, True] Translation: X:168.65, Y:-24.64, Z:-4.70 [[ 9.71732556e-01 2.35207475e-01 2.03293922e-02 1.68646885e+02] [-2.35152415e-01 9.71945171e-01 -5.09174973e-03 -2.46392198e+01] [-2.09566722e-02 1.67313315e-04 9.99780371e-01 -4.69730907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76862385299998 meters 0.01765220339456117 Centerline is valid? [True, True] Translation: X:168.70, Y:-24.65, Z:-4.70 [[ 9.71601322e-01 2.35768178e-01 2.01056707e-02 1.68702768e+02] [-2.35714463e-01 9.71809314e-01 -5.03477922e-03 -2.46534257e+01] [-2.07259187e-02 1.52600787e-04 9.99785183e-01 -4.69981905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82862385299998 meters 0.017102069975547064 Centerline is valid? [True, True] Translation: X:168.76, Y:-24.67, Z:-4.70 [[ 9.71345329e-01 2.36832403e-01 1.99665767e-02 1.68760393e+02] [-2.36779681e-01 9.71550512e-01 -4.99859795e-03 -2.46670850e+01] [-2.05823678e-02 1.27685115e-04 9.99788152e-01 -4.70143738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88862385299998 meters 0.01637596590370386 Centerline is valid? [True, True] Translation: X:168.82, Y:-24.68, Z:-4.70 [[ 9.70846743e-01 2.38931769e-01 1.91888087e-02 1.68816528e+02] [-2.38883502e-01 9.71036355e-01 -4.80306199e-03 -2.46792265e+01] [-1.97806349e-02 7.91472875e-05 9.99804341e-01 -4.70389334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.948623853 meters 0.01608895959276135 Centerline is valid? [True, True] Translation: X:168.87, Y:-24.69, Z:-4.71 [[ 9.70391451e-01 2.40780347e-01 1.91116991e-02 1.68872977e+02] [-2.40732845e-01 9.70579632e-01 -4.78271918e-03 -2.46905083e+01] [-1.97010107e-02 4.02961058e-05 9.99805915e-01 -4.70671941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.008623853 meters 0.015578051926533406 Centerline is valid? [True, True] Translation: X:168.93, Y:-24.70, Z:-4.71 [[ 9.69870100e-01 2.42799270e-01 2.00126034e-02 1.68931127e+02] [-2.42747654e-01 9.70076551e-01 -5.00622338e-03 -2.47002373e+01] [-2.06292647e-02 -2.62614834e-06 9.99787194e-01 -4.70659990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.068623853 meters 0.015720742777230214 Centerline is valid? [True, True] Translation: X:168.99, Y:-24.71, Z:-4.71 [[ 9.69904382e-01 2.42723846e-01 1.92516186e-02 1.68988166e+02] [-2.42676083e-01 9.70095425e-01 -4.81500977e-03 -2.47131183e+01] [-1.98446248e-02 -1.80831325e-06 9.99803076e-01 -4.70906375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.128623853 meters 0.01575497672961044 Centerline is valid? [True, True] Translation: X:169.05, Y:-24.73, Z:-4.71 [[ 9.70190922e-01 2.41626299e-01 1.86093072e-02 1.69045525e+02] [-2.41581484e-01 9.70369379e-01 -4.65352523e-03 -2.47269748e+01] [-1.91823160e-02 1.91438783e-05 9.99816002e-01 -4.71114344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.188623853 meters 0.01602104293209384 Centerline is valid? [True, True] Translation: X:169.10, Y:-24.74, Z:-4.71 [[ 9.70495472e-01 2.40438045e-01 1.81131476e-02 1.69102955e+02] [-2.40395398e-01 9.70664486e-01 -4.52856484e-03 -2.47415972e+01] [-1.86706284e-02 4.06343509e-05 9.99825688e-01 -4.71363526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.248623853 meters 0.017323023423111577 Centerline is valid? [True, True] Translation: X:169.16, Y:-24.76, Z:-4.72 [[ 9.71252647e-01 2.37335286e-01 1.84460912e-02 1.69157912e+02] [-2.37290513e-01 9.71427790e-01 -4.61092968e-03 -2.47580781e+01] [-1.90133820e-02 1.01295214e-04 9.99819224e-01 -4.71646203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.308623853 meters 0.01888743698553359 Centerline is valid? [True, True] Translation: X:169.21, Y:-24.77, Z:-4.72 [[ 9.71916076e-01 2.34577973e-01 1.87700745e-02 1.69214094e+02] [-2.34531125e-01 9.72097295e-01 -4.69056414e-03 -2.47742310e+01] [-1.93466417e-02 1.56668005e-04 9.99812824e-01 -4.71740934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.368623853 meters 0.021997410823815216 Centerline is valid? [True, True] Translation: X:169.27, Y:-24.79, Z:-4.71 [[ 9.73249373e-01 2.28792781e-01 2.09647672e-02 1.69270831e+02] [-2.28733019e-01 9.73475101e-01 -5.23772168e-03 -2.47948857e+01] [-2.16070318e-02 3.02274852e-04 9.99766495e-01 -4.71369253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.428623853 meters 0.025504273467459444 Centerline is valid? [True, True] Translation: X:169.33, Y:-24.82, Z:-4.71 [[ 9.74226117e-01 2.24555975e-01 2.14029762e-02 1.69327307e+02] [-2.24492678e-01 9.74461108e-01 -5.34664975e-03 -2.48157095e+01] [-2.20569901e-02 4.04034370e-04 9.99756633e-01 -4.71462041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48862385299998 meters 0.031730358455839484 Centerline is valid? [True, True] Translation: X:169.38, Y:-24.84, Z:-4.72 [[ 9.75354715e-01 2.19672171e-01 2.06716667e-02 1.69382951e+02] [-2.19612043e-01 9.75573622e-01 -5.16330476e-03 -2.48403783e+01] [-2.13009671e-02 4.96306691e-04 9.99772985e-01 -4.71829110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54862385299998 meters 0.03327893569961503 Centerline is valid? [True, True] Translation: X:169.44, Y:-24.86, Z:-4.72 [[ 9.75776213e-01 2.17822445e-01 2.03510414e-02 1.69440325e+02] [-2.17763764e-01 9.75988270e-01 -5.08330044e-03 -2.48579995e+01] [-2.09696347e-02 5.28444278e-04 9.99779973e-01 -4.72039538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60862385299998 meters 0.031986943702361534 Centerline is valid? [True, True] Translation: X:169.50, Y:-24.87, Z:-4.72 [[ 9.75810071e-01 2.17686950e-01 2.01766562e-02 1.69500134e+02] [-2.17629252e-01 9.76018501e-01 -5.03924555e-03 -2.48735237e+01] [-2.07897677e-02 5.26315952e-04 9.99783731e-01 -4.72121370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66862385299999 meters 0.03105860228651812 Centerline is valid? [True, True] Translation: X:169.56, Y:-24.89, Z:-4.72 [[ 9.75492136e-01 2.19112137e-01 2.01237278e-02 1.69558473e+02] [-2.19055032e-01 9.75699557e-01 -5.02661884e-03 -2.48884332e+01] [-2.07361055e-02 4.95223314e-04 9.99784861e-01 -4.72327261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.728623853 meters 0.026848473059336204 Centerline is valid? [True, True] Translation: X:169.62, Y:-24.90, Z:-4.73 [[ 9.74767355e-01 2.22345708e-01 1.97734383e-02 1.69617981e+02] [-2.22291232e-01 9.74967800e-01 -4.93945148e-03 -2.48988232e+01] [-2.03767315e-02 4.19354106e-04 9.99792285e-01 -4.72559796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.788623853 meters 0.02424647823290016 Centerline is valid? [True, True] Translation: X:169.68, Y:-24.91, Z:-4.73 [[ 9.73737574e-01 2.26815512e-01 1.97449118e-02 1.69675253e+02] [-2.26762104e-01 9.73937687e-01 -4.93260073e-03 -2.49106258e+01] [-2.03491041e-02 3.25660922e-04 9.99792883e-01 -4.72767852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.848623853 meters 0.021113642191413536 Centerline is valid? [True, True] Translation: X:169.73, Y:-24.92, Z:-4.73 [[ 9.72950396e-01 2.30175610e-01 1.96650542e-02 1.69733003e+02] [-2.30123333e-01 9.73149076e-01 -4.91199016e-03 -2.49207063e+01] [-2.02676497e-02 2.53734962e-04 9.99794558e-01 -4.72931026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.908623853 meters 0.018920058429350583 Centerline is valid? [True, True] Translation: X:169.79, Y:-24.93, Z:-4.73 [[ 9.72168615e-01 2.33464437e-01 1.95586311e-02 1.69790091e+02] [-2.33413406e-01 9.72365324e-01 -4.88451806e-03 -2.49312703e+01] [-2.01584959e-02 1.83328455e-04 9.99796780e-01 -4.73087738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.968623853 meters 0.016729450506750267 Centerline is valid? [True, True] Translation: X:169.85, Y:-24.94, Z:-4.73 [[ 9.71243680e-01 2.37313344e-01 1.91857029e-02 1.69847981e+02] [-2.37265017e-01 9.71433151e-01 -4.79012312e-03 -2.49406003e+01] [-1.97743879e-02 1.00280693e-04 9.99804463e-01 -4.73373840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.028623853 meters 0.016236787447481943 Centerline is valid? [True, True] Translation: X:169.91, Y:-24.95, Z:-4.74 [[ 9.70891715e-01 2.38782715e-01 1.87641146e-02 1.69905568e+02] [-2.38736780e-01 9.71073020e-01 -4.68396938e-03 -2.49537151e+01] [-1.93397764e-02 6.79427688e-05 9.99812967e-01 -4.73626754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.088623853 meters 0.015863966761847866 Centerline is valid? [True, True] Translation: X:169.96, Y:-24.97, Z:-4.74 [[ 9.70577953e-01 2.40053555e-01 1.87810275e-02 1.69961937e+02] [-2.40007791e-01 9.70759645e-01 -4.68736934e-03 -2.49678882e+01] [-1.93570833e-02 4.18644227e-05 9.99812633e-01 -4.73792960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.148623853 meters 0.01592622766096138 Centerline is valid? [True, True] Translation: X:170.02, Y:-24.98, Z:-4.74 [[ 9.70560829e-01 2.40109248e-01 1.89532706e-02 1.70017551e+02] [-2.40062678e-01 9.70745872e-01 -4.72899946e-03 -2.49818602e+01] [-1.95342856e-02 3.98087479e-05 9.99809187e-01 -4.73974927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.208623853 meters 0.01569185066990545 Centerline is valid? [True, True] Translation: X:170.07, Y:-25.00, Z:-4.74 [[ 9.70568562e-01 2.40072777e-01 1.90191749e-02 1.70074077e+02] [-2.40025900e-01 9.70754892e-01 -4.74417089e-03 -2.49969351e+01] [-1.96019033e-02 3.94485556e-05 9.99807863e-01 -4.74029909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26862385299998 meters 0.029368491417375624 Centerline is valid? [True, True] Translation: X:170.13, Y:-25.01, Z:-4.73 [[ 9.70582874e-01 2.40032689e-01 1.87934476e-02 1.70131279e+02] [-2.39986929e-01 9.70764805e-01 -4.68691544e-03 -2.50110019e+01] [-1.93690304e-02 3.88580653e-05 9.99812402e-01 -4.73393984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32862385299998 meters 0.015468700891149614 Centerline is valid? [True, True] Translation: X:170.19, Y:-25.03, Z:-4.74 [[ 9.70335996e-01 2.40915673e-01 2.01914249e-02 1.70187224e+02] [-2.40863064e-01 9.70546051e-01 -5.03450188e-03 -2.50251902e+01] [-2.08095982e-02 2.17899142e-05 9.99783457e-01 -4.74156692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38862385299998 meters 0.015212842097301974 Centerline is valid? [True, True] Translation: X:170.24, Y:-25.04, Z:-4.74 [[ 9.70324224e-01 2.40925250e-01 2.06379151e-02 1.70244773e+02] [-2.40870321e-01 9.70543674e-01 -5.14440635e-03 -2.50392138e+01] [-2.12694154e-02 2.06808682e-05 9.99773780e-01 -4.74127098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.448623853 meters 0.01526181641154949 Centerline is valid? [True, True] Translation: X:170.30, Y:-25.05, Z:-4.74 [[ 9.70348413e-01 2.40870666e-01 2.01315530e-02 1.70301797e+02] [-2.40818408e-01 9.70557222e-01 -5.01721161e-03 -2.50540447e+01] [-2.07473233e-02 2.03947899e-05 9.99784751e-01 -4.74379353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.508623853 meters 0.015318645959198567 Centerline is valid? [True, True] Translation: X:170.36, Y:-25.07, Z:-4.75 [[ 9.70406719e-01 2.40633747e-01 2.01543774e-02 1.70358486e+02] [-2.40581341e-01 9.70615990e-01 -5.02188129e-03 -2.50687624e+01] [-2.07705951e-02 2.45002034e-05 9.99784268e-01 -4.74524399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.568623853 meters 0.015285596529935854 Centerline is valid? [True, True] Translation: X:170.42, Y:-25.08, Z:-4.75 [[ 9.70425337e-01 2.40593134e-01 1.97385089e-02 1.70415183e+02] [-2.40542880e-01 9.70626057e-01 -4.91728566e-03 -2.50824777e+01] [-2.03417763e-02 2.39008028e-05 9.99793084e-01 -4.74760100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.628623853 meters 0.015446334891115552 Centerline is valid? [True, True] Translation: X:170.47, Y:-25.10, Z:-4.75 [[ 9.70481259e-01 2.40367489e-01 1.97381791e-02 1.70471318e+02] [-2.40317209e-01 9.70681961e-01 -4.91627248e-03 -2.50976620e+01] [-2.03412065e-02 2.77261961e-05 9.99793096e-01 -4.74999949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.688623853 meters 0.01527719445585431 Centerline is valid? [True, True] Translation: X:170.53, Y:-25.11, Z:-4.75 [[ 9.70443731e-01 2.40461232e-01 2.04294185e-02 1.70528976e+02] [-2.40407419e-01 9.70658743e-01 -5.08699165e-03 -2.51110292e+01] [-2.10532179e-02 2.52553751e-05 9.99778356e-01 -4.75068057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.748623853 meters 0.015252482026677616 Centerline is valid? [True, True] Translation: X:170.59, Y:-25.13, Z:-4.75 [[ 9.70516907e-01 2.40146183e-01 2.06577559e-02 1.70585898e+02] [-2.40091112e-01 9.70736735e-01 -5.14278566e-03 -2.51268320e+01] [-2.12882629e-02 3.14168524e-05 9.99773379e-01 -4.75180841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.808623853 meters 0.015281123535671707 Centerline is valid? [True, True] Translation: X:170.64, Y:-25.14, Z:-4.75 [[ 9.70565460e-01 2.39975192e-01 2.03616140e-02 1.70642878e+02] [-2.39921672e-01 9.70779020e-01 -5.06805574e-03 -2.51401795e+01] [-2.09828353e-02 3.36873833e-05 9.99779836e-01 -4.75342348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.868623853 meters 0.015405112976218804 Centerline is valid? [True, True] Translation: X:170.70, Y:-25.15, Z:-4.76 [[ 9.70603009e-01 2.39841319e-01 2.01479924e-02 1.70699858e+02] [-2.39788908e-01 9.70812104e-01 -5.01388543e-03 -2.51549408e+01] [-2.07624518e-02 3.52271929e-05 9.99784436e-01 -4.75575858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.928623853 meters 0.015193311151706685 Centerline is valid? [True, True] Translation: X:170.76, Y:-25.17, Z:-4.76 [[ 9.70459123e-01 2.40401492e-01 2.04013036e-02 1.70757340e+02] [-2.40347900e-01 9.70673541e-01 -5.07589316e-03 -2.51669923e+01] [-2.10232579e-02 2.25363413e-05 9.99778987e-01 -4.75631693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98862385299998 meters 0.015111667759547346 Centerline is valid? [True, True] Translation: X:170.81, Y:-25.18, Z:-4.76 [[ 9.70369045e-01 2.40740485e-01 2.06865890e-02 1.70813705e+02] [-2.40685481e-01 9.70589521e-01 -5.14589123e-03 -2.51793574e+01] [-2.13170109e-02 1.44519252e-05 9.99772767e-01 -4.75813098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04862385299998 meters 0.015016386077412031 Centerline is valid? [True, True] Translation: X:170.87, Y:-25.19, Z:-4.76 [[ 9.70461861e-01 2.40362888e-01 2.07233736e-02 1.70871000e+02] [-2.40307628e-01 9.70683101e-01 -5.15383263e-03 -2.51908011e+01] [-2.13546186e-02 2.16132534e-05 9.99771964e-01 -4.76031316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10862385299998 meters 0.01540831583979589 Centerline is valid? [True, True] Translation: X:170.93, Y:-25.21, Z:-4.76 [[ 9.70851170e-01 2.38805397e-01 2.04936014e-02 1.70927200e+02] [-2.38751044e-01 9.71067443e-01 -5.09503957e-03 -2.52065611e+01] [-2.11173920e-02 5.36564067e-05 9.99777002e-01 -4.76199435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16862385299999 meters 0.01729857339467881 Centerline is valid? [True, True] Translation: X:170.98, Y:-25.23, Z:-4.76 [[ 9.71791956e-01 2.34977713e-01 2.01461727e-02 1.70981834e+02] [-2.34924383e-01 9.72000749e-01 -5.00777028e-03 -2.52266630e+01] [-2.07588093e-02 1.33683690e-04 9.99784504e-01 -4.76471445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.228623853 meters 0.018728801958091634 Centerline is valid? [True, True] Translation: X:171.04, Y:-25.24, Z:-4.76 [[ 9.72433349e-01 2.32275749e-01 2.05269976e-02 1.71037695e+02] [-2.32219808e-01 9.72649957e-01 -5.10114823e-03 -2.52440197e+01] [-2.11504564e-02 1.93751207e-04 9.99776285e-01 -4.76475552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.288623853 meters 0.023654728864824923 Centerline is valid? [True, True] Translation: X:171.09, Y:-25.27, Z:-4.77 [[ 9.73522427e-01 2.27696016e-01 2.02140470e-02 1.71091840e+02] [-2.27640809e-01 9.73732223e-01 -5.02199337e-03 -2.52683227e+01] [-2.08265568e-02 2.87481163e-04 9.99783062e-01 -4.76826874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.348623853 meters 0.02338741777855593 Centerline is valid? [True, True] Translation: X:171.15, Y:-25.28, Z:-4.77 [[ 9.74233197e-01 2.24618641e-01 2.03996036e-02 1.71151356e+02] [-2.24561766e-01 9.74446684e-01 -5.06693285e-03 -2.52849519e+01] [-2.10164537e-02 3.55403193e-04 9.99779067e-01 -4.76738449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.408623853 meters 0.026172177937483068 Centerline is valid? [True, True] Translation: X:171.21, Y:-25.31, Z:-4.77 [[ 9.74935570e-01 2.21516833e-01 2.07587658e-02 1.71208828e+02] [-2.21457240e-01 9.75156453e-01 -5.15581747e-03 -2.53091739e+01] [-2.13851448e-02 4.29410850e-04 9.99771219e-01 -4.76798130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.468623853 meters 0.02884375749164037 Centerline is valid? [True, True] Translation: X:171.27, Y:-25.33, Z:-4.77 [[ 9.75106461e-01 2.20738556e-01 2.10209477e-02 1.71266016e+02] [-2.20677172e-01 9.75332908e-01 -5.22537205e-03 -2.53306506e+01] [-2.16558632e-02 4.56450750e-04 9.99765380e-01 -4.77007278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.528623853 meters 0.02753446831558551 Centerline is valid? [True, True] Translation: X:171.33, Y:-25.35, Z:-4.77 [[ 9.75076849e-01 2.20786788e-01 2.18708238e-02 1.71326070e+02] [-2.20720358e-01 9.75321983e-01 -5.43631129e-03 -2.53498901e+01] [-2.25313610e-02 4.73485218e-04 9.99746025e-01 -4.76949676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.588623853 meters 0.02667609371954085 Centerline is valid? [True, True] Translation: X:171.39, Y:-25.37, Z:-4.77 [[ 9.74804370e-01 2.21982087e-01 2.19178540e-02 1.71385581e+02] [-2.21915568e-01 9.75050639e-01 -5.45265105e-03 -2.53683207e+01] [-2.25814084e-02 4.51355062e-04 9.99744906e-01 -4.77097433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.648623853 meters 0.024270219559752323 Centerline is valid? [True, True] Translation: X:171.44, Y:-25.39, Z:-4.77 [[ 9.74024147e-01 2.25403372e-01 2.16859520e-02 1.71443234e+02] [-2.25338995e-01 9.74265457e-01 -5.39966032e-03 -2.53856500e+01] [-2.23449755e-02 3.72708914e-04 9.99750250e-01 -4.77295232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.708623853 meters 0.021320569816662926 Centerline is valid? [True, True] Translation: X:171.50, Y:-25.40, Z:-4.78 [[ 9.73147382e-01 2.29204957e-01 2.11957835e-02 1.71503044e+02] [-2.29144371e-01 9.73378143e-01 -5.27701483e-03 -2.53996486e+01] [-2.18410304e-02 2.78418675e-04 9.99761417e-01 -4.77551564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76862385299998 meters 0.01694237899549742 Centerline is valid? [True, True] Translation: X:171.56, Y:-25.41, Z:-4.78 [[ 9.71725682e-01 2.35206625e-01 2.06650170e-02 1.71561919e+02] [-2.35150301e-01 9.71945380e-01 -5.14912442e-03 -2.54121901e+01] [-2.12963759e-02 1.44151481e-04 9.99773196e-01 -4.77781583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82862385299998 meters 0.014723674447910206 Centerline is valid? [True, True] Translation: X:171.62, Y:-25.42, Z:-4.78 [[ 9.70498493e-01 2.40144546e-01 2.15237443e-02 1.71621179e+02] [-2.40084653e-01 9.70737140e-01 -5.36316165e-03 -2.54234464e+01] [-2.21818320e-02 3.74196108e-05 9.99753952e-01 -4.77762066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88862385299998 meters 0.015628222243772506 Centerline is valid? [True, True] Translation: X:171.68, Y:-25.43, Z:-4.78 [[ 9.68697003e-01 2.47221274e-01 2.25334875e-02 1.71679638e+02] [-2.47157543e-01 9.68959042e-01 -5.61463320e-03 -2.54312659e+01] [-2.32220832e-02 -1.30443050e-04 9.99730323e-01 -4.77673619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.948623853 meters 0.019081561733700778 Centerline is valid? [True, True] Translation: X:171.74, Y:-25.44, Z:-4.78 [[ 9.67285015e-01 2.52777720e-01 2.15203355e-02 1.71737908e+02] [-2.52720989e-01 9.67524346e-01 -5.36111011e-03 -2.54413455e+01] [-2.21766177e-02 -2.52918999e-04 9.99754037e-01 -4.78024617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.008623853 meters 0.022301496171680864 Centerline is valid? [True, True] Translation: X:171.80, Y:-25.45, Z:-4.78 [[ 9.66429830e-01 2.56090327e-01 2.07636170e-02 1.71796027e+02] [-2.56038295e-01 9.66652804e-01 -5.17184315e-03 -2.54516379e+01] [-2.13956676e-02 -3.18057602e-04 9.99771036e-01 -4.78349040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.068623853 meters 0.022430198564558582 Centerline is valid? [True, True] Translation: X:171.85, Y:-25.47, Z:-4.78 [[ 9.65996221e-01 2.57709052e-01 2.09128144e-02 1.71852933e+02] [-2.57656664e-01 9.66222499e-01 -5.20830289e-03 -2.54655866e+01] [-2.15486586e-02 -3.57125101e-04 9.99767737e-01 -4.78445578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.128623853 meters 0.027224963627025405 Centerline is valid? [True, True] Translation: X:171.91, Y:-25.47, Z:-4.79 [[ 9.65076878e-01 2.61132737e-01 2.08881167e-02 1.71911614e+02] [-2.61081299e-01 9.65302805e-01 -5.20098692e-03 -2.54717266e+01] [-2.15215055e-02 -4.34144405e-04 9.99768291e-01 -4.78673445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.188623853 meters 0.0275187416872513 Centerline is valid? [True, True] Translation: X:171.97, Y:-25.48, Z:-4.79 [[ 9.64756449e-01 2.62287178e-01 2.12233417e-02 1.71968726e+02] [-2.62234371e-01 9.64989750e-01 -5.28368263e-03 -2.54845865e+01] [-2.18661494e-02 -4.68022774e-04 9.99760798e-01 -4.78792241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.248623853 meters 0.029321415050678833 Centerline is valid? [True, True] Translation: X:172.03, Y:-25.49, Z:-4.79 [[ 9.64551186e-01 2.63060949e-01 2.09749267e-02 1.72025727e+02] [-2.63009575e-01 9.64779097e-01 -5.22087621e-03 -2.54944450e+01] [-2.16095795e-02 -4.80804222e-04 9.99766370e-01 -4.79016388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.308623853 meters 0.02847684779012565 Centerline is valid? [True, True] Translation: X:172.08, Y:-25.51, Z:-4.79 [[ 9.64631544e-01 2.62768135e-01 2.09497317e-02 1.72082633e+02] [-2.62716845e-01 9.64858892e-01 -5.21323361e-03 -2.55089704e+01] [-2.15834066e-02 -4.74997843e-04 9.99766938e-01 -4.79180640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.368623853 meters 0.026816450882978633 Centerline is valid? [True, True] Translation: X:172.14, Y:-25.52, Z:-4.80 [[ 9.65274451e-01 2.60454303e-01 2.02185418e-02 1.72139711e+02] [-2.60406043e-01 9.65486089e-01 -5.03031689e-03 -2.55233158e+01] [-2.08308885e-02 -4.09394096e-04 9.99782930e-01 -4.79561960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.428623853 meters 0.023673217166950603 Centerline is valid? [True, True] Translation: X:172.20, Y:-25.54, Z:-4.80 [[ 9.65956436e-01 2.57914178e-01 2.02099197e-02 1.72195966e+02] [-2.57865424e-01 9.66167765e-01 -5.02719183e-03 -2.55412443e+01] [-2.08227570e-02 -3.55391215e-04 9.99783120e-01 -4.79657047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48862385299998 meters 0.02121051482990148 Centerline is valid? [True, True] Translation: X:172.25, Y:-25.56, Z:-4.80 [[ 9.66966413e-01 2.54080556e-01 2.04701404e-02 1.72251761e+02] [-2.54029699e-01 9.67183020e-01 -5.09094828e-03 -2.55559953e+01] [-2.10918832e-02 -2.77247604e-04 9.99777503e-01 -4.79866805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54862385299998 meters 0.01890095697809869 Centerline is valid? [True, True] Translation: X:172.31, Y:-25.57, Z:-4.80 [[ 9.67644889e-01 2.51455789e-01 2.08171959e-02 1.72307759e+02] [-2.51402616e-01 9.67868759e-01 -5.17584738e-03 -2.55732646e+01] [-2.14498104e-02 -2.25115249e-04 9.99769901e-01 -4.79969524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60862385299998 meters 0.016558445969666886 Centerline is valid? [True, True] Translation: X:172.36, Y:-25.59, Z:-4.80 [[ 9.68569252e-01 2.47877701e-01 2.07424388e-02 1.72363556e+02] [-2.47824110e-01 9.68791321e-01 -5.15624362e-03 -2.55914732e+01] [-2.13732125e-02 -1.46297402e-04 9.99771556e-01 -4.80118939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66862385299999 meters 0.01581433854609141 Centerline is valid? [True, True] Translation: X:172.42, Y:-25.61, Z:-4.80 [[ 9.69026151e-01 2.46059594e-01 2.10474268e-02 1.72419500e+02] [-2.46004007e-01 9.69254695e-01 -5.23111223e-03 -2.56067055e+01] [-2.16874826e-02 -1.08666771e-04 9.99764793e-01 -4.80257615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.728623853 meters 0.015271368041583773 Centerline is valid? [True, True] Translation: X:172.48, Y:-25.62, Z:-4.80 [[ 9.69360456e-01 2.44747249e-01 2.09544972e-02 1.72476644e+02] [-2.44691877e-01 9.69586911e-01 -5.20651191e-03 -2.56213724e+01] [-2.15914857e-02 -8.04085115e-05 9.99766873e-01 -4.80485369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.788623853 meters 0.015229567572155467 Centerline is valid? [True, True] Translation: X:172.53, Y:-25.63, Z:-4.81 [[ 9.69264181e-01 2.45097682e-01 2.13090057e-02 1.72533961e+02] [-2.45040527e-01 9.69498385e-01 -5.29355589e-03 -2.56345343e+01] [-2.19564849e-02 -9.07158850e-05 9.99758923e-01 -4.80572623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.848623853 meters 0.016036423880693543 Centerline is valid? [True, True] Translation: X:172.59, Y:-25.64, Z:-4.81 [[ 9.68676824e-01 2.47371493e-01 2.17383327e-02 1.72592345e+02] [-2.47312609e-01 9.68920700e-01 -5.39909536e-03 -2.56422350e+01] [-2.23983029e-02 -1.46185247e-04 9.99749116e-01 -4.80594807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.908623853 meters 0.01710326709028169 Centerline is valid? [True, True] Translation: X:172.65, Y:-25.65, Z:-4.81 [[ 9.68223429e-01 2.49173996e-01 2.13474118e-02 1.72650297e+02] [-2.49117671e-01 9.68458716e-01 -5.30103365e-03 -2.56506299e+01] [-2.19949668e-02 -1.85432531e-04 9.99758064e-01 -4.80902499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.968623853 meters 0.01865410048653036 Centerline is valid? [True, True] Translation: X:172.71, Y:-25.66, Z:-4.81 [[ 9.67767467e-01 2.50990640e-01 2.07323287e-02 1.72708310e+02] [-2.50937960e-01 9.67989488e-01 -5.14691640e-03 -2.56581159e+01] [-2.13605041e-02 -2.21510028e-04 9.99771814e-01 -4.81216433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.028623853 meters 0.019592479246650127 Centerline is valid? [True, True] Translation: X:172.77, Y:-25.67, Z:-4.81 [[ 9.67512335e-01 2.51976937e-01 2.06761997e-02 1.72766862e+02] [-2.51924801e-01 9.67733209e-01 -5.13139452e-03 -2.56673469e+01] [-2.13020381e-02 -2.44159993e-04 9.99773056e-01 -4.81480725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.088623853 meters 0.028240487480618467 Centerline is valid? [True, True] Translation: X:172.83, Y:-25.67, Z:-4.81 [[ 9.67161565e-01 2.53325149e-01 2.06125175e-02 1.72825940e+02] [-2.53273660e-01 9.67381152e-01 -5.11457400e-03 -2.56736298e+01] [-2.12358111e-02 -2.73988356e-04 9.99774457e-01 -4.80974077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.148623853 meters 0.03238270135951332 Centerline is valid? [True, True] Translation: X:172.88, Y:-25.69, Z:-4.81 [[ 9.67232927e-01 2.53027863e-01 2.09132704e-02 1.72883604e+02] [-2.52974815e-01 9.67458953e-01 -5.18812966e-03 -2.56862069e+01] [-2.15454720e-02 -2.72400854e-04 9.99767832e-01 -4.81018081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.208623853 meters 0.017676829961182288 Centerline is valid? [True, True] Translation: X:172.94, Y:-25.70, Z:-4.82 [[ 9.68188886e-01 2.49295514e-01 2.14948466e-02 1.72939076e+02] [-2.49238577e-01 9.68427441e-01 -5.33134459e-03 -2.57017609e+01] [-2.21452796e-02 -1.95596396e-04 9.99754744e-01 -4.81892458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26862385299998 meters 0.015855930142953344 Centerline is valid? [True, True] Translation: X:172.99, Y:-25.72, Z:-4.82 [[ 9.69178702e-01 2.45410457e-01 2.15951757e-02 1.72994125e+02] [-2.45352052e-01 9.69419257e-01 -5.35485933e-03 -2.57188435e+01] [-2.22489177e-02 -1.08605064e-04 9.99752456e-01 -4.82131632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32862385299998 meters 0.014842037687510889 Centerline is valid? [True, True] Translation: X:173.05, Y:-25.74, Z:-4.82 [[ 9.70805512e-01 2.38879749e-01 2.17513856e-02 1.73048332e+02] [-2.38818886e-01 9.71049156e-01 -5.39216539e-03 -2.57426545e+01] [-2.24097438e-02 4.01021928e-05 9.99748869e-01 -4.82277910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38862385299998 meters 0.018311626962221435 Centerline is valid? [True, True] Translation: X:173.10, Y:-25.77, Z:-4.83 [[ 9.72289829e-01 2.32784348e-01 2.15391880e-02 1.73102644e+02] [-2.32723195e-01 9.72528362e-01 -5.33843209e-03 -2.57683055e+01] [-2.21901746e-02 1.77834586e-04 9.99753752e-01 -4.82627691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.448623853 meters 0.01924325830910861 Centerline is valid? [True, True] Translation: X:173.16, Y:-25.79, Z:-4.83 [[ 9.72894488e-01 2.30282326e-01 2.11273887e-02 1.73160603e+02] [-2.30222920e-01 9.73123835e-01 -5.23538918e-03 -2.57869086e+01] [-2.17651831e-02 2.29472152e-04 9.99763084e-01 -4.82754155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.508623853 meters 0.021761235338413776 Centerline is valid? [True, True] Translation: X:173.22, Y:-25.81, Z:-4.83 [[ 9.73180369e-01 2.29036460e-01 2.15004355e-02 1.73217093e+02] [-2.28974634e-01 9.73417809e-01 -5.32778662e-03 -2.58076137e+01] [-2.21491642e-02 2.61843001e-04 9.99754643e-01 -4.82976922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.568623853 meters 0.01951026975147449 Centerline is valid? [True, True] Translation: X:173.28, Y:-25.82, Z:-4.83 [[ 9.73013984e-01 2.29678386e-01 2.21726523e-02 1.73276153e+02] [-2.29612795e-01 9.73266548e-01 -5.49458550e-03 -2.58198989e+01] [-2.28418883e-02 2.55183859e-04 9.99739057e-01 -4.82828094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.628623853 meters 0.018155037516687293 Centerline is valid? [True, True] Translation: X:173.33, Y:-25.83, Z:-4.83 [[ 9.72524339e-01 2.31756632e-01 2.20289162e-02 1.73334469e+02] [-2.31692422e-01 9.72773777e-01 -5.45896638e-03 -2.58335716e+01] [-2.26943037e-02 2.05044718e-04 9.99742430e-01 -4.83069578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.688623853 meters 0.017027466935383172 Centerline is valid? [True, True] Translation: X:173.39, Y:-25.85, Z:-4.83 [[ 9.72044710e-01 2.33753531e-01 2.20990744e-02 1.73392019e+02] [-2.33689423e-01 9.72295871e-01 -5.47653177e-03 -2.58467598e+01] [-2.27669974e-02 1.59113809e-04 9.99740786e-01 -4.83263967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.748623853 meters 0.01480880819029609 Centerline is valid? [True, True] Translation: X:173.45, Y:-25.86, Z:-4.83 [[ 9.71032883e-01 2.37872174e-01 2.26267470e-02 1.73450974e+02] [-2.37806105e-01 9.71296466e-01 -5.60638669e-03 -2.58563277e+01] [-2.33108828e-02 6.32072545e-05 9.99728262e-01 -4.83327841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.808623853 meters 0.014442683373339748 Centerline is valid? [True, True] Translation: X:173.51, Y:-25.87, Z:-4.83 [[ 9.70286318e-01 2.40917577e-01 2.24317284e-02 1.73508422e+02] [-2.40853465e-01 9.70545579e-01 -5.55766847e-03 -2.58661160e+01] [-2.31099549e-02 -1.02298312e-05 9.99732929e-01 -4.83498686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.868623853 meters 0.02802207958157384 Centerline is valid? [True, True] Translation: X:173.57, Y:-25.87, Z:-4.83 [[ 9.68800186e-01 2.46838308e-01 2.22946096e-02 1.73567820e+02] [-2.46776576e-01 9.69056668e-01 -5.52222523e-03 -2.58707163e+01] [-2.29678368e-02 -1.51854582e-04 9.99736193e-01 -4.83055197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.928623853 meters 0.020212362026719805 Centerline is valid? [True, True] Translation: X:173.63, Y:-25.88, Z:-4.84 [[ 9.67457851e-01 2.52060705e-01 2.21519266e-02 1.73626830e+02] [-2.52001151e-01 9.67711385e-01 -5.48583044e-03 -2.58755960e+01] [-2.28194339e-02 -2.75001286e-04 9.99739565e-01 -4.83851461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98862385299998 meters 0.022321361735790923 Centerline is valid? [True, True] Translation: X:173.68, Y:-25.89, Z:-4.84 [[ 9.67114229e-01 2.53372124e-01 2.21953627e-02 1.73684406e+02] [-2.53312705e-01 9.67368840e-01 -5.49554668e-03 -2.58850074e+01] [-2.28635206e-02 -3.07545990e-04 9.99738548e-01 -4.84058501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04862385299998 meters 0.02347658815649927 Centerline is valid? [True, True] Translation: X:173.74, Y:-25.90, Z:-4.84 [[ 9.66683849e-01 2.54984441e-01 2.24782430e-02 1.73742739e+02] [-2.54923967e-01 9.66945092e-01 -5.56414225e-03 -2.58954224e+01] [-2.31539965e-02 -3.51476439e-04 9.99731849e-01 -4.84185807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10862385299998 meters 0.023909675969652294 Centerline is valid? [True, True] Translation: X:173.80, Y:-25.91, Z:-4.85 [[ 9.66909814e-01 2.54170610e-01 2.19707246e-02 1.73799703e+02] [-2.54112648e-01 9.67159343e-01 -5.43754161e-03 -2.59058126e+01] [-2.26312549e-02 -3.25426670e-04 9.99743827e-01 -4.84546946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16862385299999 meters 0.022146324365839055 Centerline is valid? [True, True] Translation: X:173.86, Y:-25.92, Z:-4.85 [[ 9.67386482e-01 2.52350232e-01 2.19716679e-02 1.73856704e+02] [-2.52291827e-01 9.67635923e-01 -5.43640089e-03 -2.59210312e+01] [-2.26324522e-02 -2.84171505e-04 9.99743813e-01 -4.84705330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.228623853 meters 0.019513199306426372 Centerline is valid? [True, True] Translation: X:173.91, Y:-25.94, Z:-4.85 [[ 9.68136696e-01 2.49392513e-01 2.26872875e-02 1.73912360e+02] [-2.49329453e-01 9.68402460e-01 -5.61243186e-03 -2.59371732e+01] [-2.33701235e-02 -2.23007736e-04 9.99726856e-01 -4.84777804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.288623853 meters 0.01685135633362212 Centerline is valid? [True, True] Translation: X:173.97, Y:-25.95, Z:-4.85 [[ 9.68566873e-01 2.47669281e-01 2.31978438e-02 1.73968940e+02] [-2.47602889e-01 9.68844617e-01 -5.73736125e-03 -2.59546614e+01] [-2.38960742e-02 -1.86835081e-04 9.99714431e-01 -4.84676259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.348623853 meters 0.015608218491845693 Centerline is valid? [True, True] Translation: X:174.03, Y:-25.97, Z:-4.85 [[ 9.69290982e-01 2.44888176e-01 2.24671757e-02 1.74025016e+02] [-2.44825177e-01 9.69551323e-01 -5.55561785e-03 -2.59692481e+01] [-2.31435850e-02 -1.15519982e-04 9.99732145e-01 -4.85076894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.408623853 meters 0.014994064526221294 Centerline is valid? [True, True] Translation: X:174.08, Y:-25.99, Z:-4.85 [[ 9.69817114e-01 2.42870180e-01 2.16527354e-02 1.74081853e+02] [-2.42811193e-01 9.70058798e-01 -5.35287667e-03 -2.59857797e+01] [-2.23044806e-02 -6.62151251e-05 9.99751222e-01 -4.85438038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.468623853 meters 0.014734727711639235 Centerline is valid? [True, True] Translation: X:174.14, Y:-26.00, Z:-4.86 [[ 9.70787583e-01 2.38932113e-01 2.19752901e-02 1.74136646e+02] [-2.38870369e-01 9.71036274e-01 -5.43157956e-03 -2.60044044e+01] [-2.26365825e-02 2.36643541e-05 9.99743759e-01 -4.85634201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.528623853 meters 0.016229529749620254 Centerline is valid? [True, True] Translation: X:174.19, Y:-26.02, Z:-4.86 [[ 9.71664963e-01 2.35298864e-01 2.23974159e-02 1.74192698e+02] [-2.35233792e-01 9.71923059e-01 -5.53444914e-03 -2.60246857e+01] [-2.30708146e-02 1.09001248e-04 9.99733827e-01 -4.85680721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.588623853 meters 0.01655799192869615 Centerline is valid? [True, True] Translation: X:174.25, Y:-26.04, Z:-4.86 [[ 9.72068901e-01 2.33640112e-01 2.22339610e-02 1.74249412e+02] [-2.33575575e-01 9.72323134e-01 -5.49309511e-03 -2.60412076e+01] [-2.29020020e-02 1.46356706e-04 9.99737704e-01 -4.85752094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.648623853 meters 0.018005644419914507 Centerline is valid? [True, True] Translation: X:174.30, Y:-26.06, Z:-4.86 [[ 9.72195662e-01 2.33126915e-01 2.20779705e-02 1.74304737e+02] [-2.33063171e-01 9.72446305e-01 -5.45357078e-03 -2.60589011e+01] [-2.27410150e-02 1.56376041e-04 9.99741377e-01 -4.86074790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.708623853 meters 0.015923084559152683 Centerline is valid? [True, True] Translation: X:174.36, Y:-26.07, Z:-4.86 [[ 9.71922929e-01 2.34334081e-01 2.12922144e-02 1.74363664e+02] [-2.34275114e-01 9.72156121e-01 -5.25809730e-03 -2.60684179e+01] [-2.19315079e-02 1.22229374e-04 9.99759468e-01 -4.86123585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76862385299998 meters 0.015591461714680508 Centerline is valid? [True, True] Translation: X:174.42, Y:-26.08, Z:-4.86 [[ 9.71553369e-01 2.35890213e-01 2.09728179e-02 1.74419714e+02] [-2.35833370e-01 9.71779708e-01 -5.17892398e-03 -2.60816969e+01] [-2.16026164e-02 8.55107036e-05 9.99766633e-01 -4.86471896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82862385299998 meters 0.015288489520999841 Centerline is valid? [True, True] Translation: X:174.48, Y:-26.10, Z:-4.87 [[ 9.71514472e-01 2.36073092e-01 2.07153697e-02 1.74476269e+02] [-2.36017707e-01 9.71735298e-01 -5.11398482e-03 -2.60964228e+01] [-2.13371302e-02 7.91162049e-05 9.99772334e-01 -4.86571373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88862385299998 meters 0.015792457137397197 Centerline is valid? [True, True] Translation: X:174.53, Y:-26.11, Z:-4.87 [[ 9.71675636e-01 2.35429702e-01 2.04771354e-02 1.74531294e+02] [-2.35375462e-01 9.71891376e-01 -5.05422511e-03 -2.61149212e+01] [-2.10914661e-02 9.12521960e-05 9.99777546e-01 -4.86851087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.948623853 meters 0.01570515769334865 Centerline is valid? [True, True] Translation: X:174.59, Y:-26.13, Z:-4.87 [[ 9.71720549e-01 2.35258973e-01 2.03074027e-02 1.74588278e+02] [-2.35205618e-01 9.71932717e-01 -5.01098489e-03 -2.61310957e+01] [-2.09163083e-02 9.28617749e-05 9.99781226e-01 -4.87078014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.008623853 meters 0.0153927950139204 Centerline is valid? [True, True] Translation: X:174.64, Y:-26.15, Z:-4.87 [[ 9.71445519e-01 2.36390943e-01 2.03205932e-02 1.74644774e+02] [-2.36337788e-01 9.71658025e-01 -5.01322294e-03 -2.61467973e+01] [-2.09297479e-02 6.75489175e-05 9.99780947e-01 -4.87214623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.068623853 meters 0.014912854941363513 Centerline is valid? [True, True] Translation: X:174.70, Y:-26.16, Z:-4.87 [[ 9.70940207e-01 2.38467650e-01 2.02062894e-02 1.74703300e+02] [-2.38415565e-01 9.71150441e-01 -4.98386562e-03 -2.61595023e+01] [-2.08118376e-02 2.15416132e-05 9.99783410e-01 -4.87358710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.128623853 meters 0.015087853236166722 Centerline is valid? [True, True] Translation: X:174.76, Y:-26.17, Z:-4.87 [[ 9.69874901e-01 2.42672748e-01 2.12747175e-02 1.74760985e+02] [-2.42616029e-01 9.70108206e-01 -5.24695324e-03 -2.61695996e+01] [-2.19120706e-02 -7.26992158e-05 9.99759899e-01 -4.87316971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.188623853 meters 0.016209631486342847 Centerline is valid? [True, True] Translation: X:174.82, Y:-26.18, Z:-4.87 [[ 9.69150410e-01 2.45467463e-01 2.22082634e-02 1.74817820e+02] [-2.45406415e-01 9.69404820e-01 -5.47604999e-03 -2.61807414e+01] [-2.28729897e-02 -1.42934231e-04 9.99738369e-01 -4.87341320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.248623853 meters 0.01757653488635247 Centerline is valid? [True, True] Translation: X:174.88, Y:-26.19, Z:-4.87 [[ 9.68496141e-01 2.47986084e-01 2.27624193e-02 1.74875686e+02] [-2.47922682e-01 9.68763572e-01 -5.61115691e-03 -2.61933933e+01] [-2.34428915e-02 -2.08936245e-04 9.99725156e-01 -4.87371590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.308623853 meters 0.017964053156138412 Centerline is valid? [True, True] Translation: X:174.93, Y:-26.21, Z:-4.88 [[ 9.68193248e-01 2.49270531e-01 2.15878931e-02 1.74933494e+02] [-2.49213849e-01 9.68433864e-01 -5.32049179e-03 -2.62095578e+01] [-2.22326886e-02 -2.28737718e-04 9.99752797e-01 -4.87733176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.368623853 meters 0.01883341559603129 Centerline is valid? [True, True] Translation: X:174.99, Y:-26.22, Z:-4.88 [[ 9.68134770e-01 2.49571060e-01 2.07208266e-02 1.74989252e+02] [-2.49518914e-01 9.68356460e-01 -5.10654840e-03 -2.62231692e+01] [-2.13395930e-02 -2.26411085e-04 9.99772259e-01 -4.88108862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.428623853 meters 0.019743811446428294 Centerline is valid? [True, True] Translation: X:175.05, Y:-26.24, Z:-4.88 [[ 9.67974641e-01 2.50141563e-01 2.13141603e-02 1.75045876e+02] [-2.50086560e-01 9.68209243e-01 -5.25121626e-03 -2.62356695e+01] [-2.19501144e-02 -2.47340838e-04 9.99759037e-01 -4.88210904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48862385299998 meters 0.020001017123138676 Centerline is valid? [True, True] Translation: X:175.10, Y:-26.25, Z:-4.88 [[ 9.67777426e-01 2.50879266e-01 2.15973929e-02 1.75102857e+02] [-2.50823007e-01 9.68018348e-01 -5.31954673e-03 -2.62495804e+01] [-2.22412365e-02 -2.68985781e-04 9.99752597e-01 -4.88308319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54862385299998 meters 0.02183181362974143 Centerline is valid? [True, True] Translation: X:175.16, Y:-26.26, Z:-4.88 [[ 9.67212418e-01 2.53080002e-01 2.12285230e-02 1.75161267e+02] [-2.53026201e-01 9.67445303e-01 -5.22765204e-03 -2.62594168e+01] [-2.18604490e-02 -3.15122552e-04 9.99760982e-01 -4.88495888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60862385299998 meters 0.023852606122967128 Centerline is valid? [True, True] Translation: X:175.22, Y:-26.27, Z:-4.89 [[ 9.66703642e-01 2.54994093e-01 2.14960599e-02 1.75219835e+02] [-2.54939424e-01 9.66942542e-01 -5.29243837e-03 -2.62667156e+01] [-2.21349953e-02 -3.63973676e-04 9.99754925e-01 -4.88682451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66862385299999 meters 0.023688933651290236 Centerline is valid? [True, True] Translation: X:175.28, Y:-26.28, Z:-4.89 [[ 9.66755004e-01 2.54766312e-01 2.18835094e-02 1.75277155e+02] [-2.54709622e-01 9.67002581e-01 -5.38671895e-03 -2.62797845e+01] [-2.25337646e-02 -3.66302895e-04 9.99746015e-01 -4.88761237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.728623853 meters 0.021951583885369764 Centerline is valid? [True, True] Translation: X:175.33, Y:-26.30, Z:-4.89 [[ 9.67299257e-01 2.52683049e-01 2.19869336e-02 1.75334282e+02] [-2.52625307e-01 9.67549055e-01 -5.41108423e-03 -2.62953763e+01] [-2.26407261e-02 -3.20318114e-04 9.99743615e-01 -4.88935459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.788623853 meters 0.020208319076741116 Centerline is valid? [True, True] Translation: X:175.39, Y:-26.31, Z:-4.89 [[ 9.67935069e-01 2.50244801e-01 2.18916024e-02 1.75390119e+02] [-2.50186957e-01 9.68182561e-01 -5.38664375e-03 -2.63107718e+01] [-2.25430473e-02 -2.63072008e-04 9.99745839e-01 -4.89202641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.848623853 meters 0.017204128697047592 Centerline is valid? [True, True] Translation: X:175.45, Y:-26.33, Z:-4.89 [[ 9.68708076e-01 2.47245802e-01 2.17756114e-02 1.75446503e+02] [-2.47187847e-01 9.68952773e-01 -5.35651439e-03 -2.63294780e+01] [-2.24239148e-02 -1.93767763e-04 9.99748534e-01 -4.89354238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.908623853 meters 0.015556768980385261 Centerline is valid? [True, True] Translation: X:175.50, Y:-26.35, Z:-4.90 [[ 9.69675688e-01 2.43438213e-01 2.16077995e-02 1.75501285e+02] [-2.43380217e-01 9.69916401e-01 -5.31454428e-03 -2.63486309e+01] [-2.22515222e-02 -1.05526554e-04 9.99752399e-01 -4.89533657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.968623853 meters 0.014563481074573727 Centerline is valid? [True, True] Translation: X:175.56, Y:-26.37, Z:-4.90 [[ 9.70903586e-01 2.38472050e-01 2.18473915e-02 1.75556240e+02] [-2.38411539e-01 9.71149361e-01 -5.37186462e-03 -2.63694191e+01] [-2.24981198e-02 6.89239584e-06 9.99746885e-01 -4.89721709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.028623853 meters 0.01473081991677924 Centerline is valid? [True, True] Translation: X:175.61, Y:-26.39, Z:-4.90 [[ 9.71317983e-01 2.36744095e-01 2.22173224e-02 1.75614814e+02] [-2.36681080e-01 9.71572041e-01 -5.46213862e-03 -2.63858959e+01] [-2.28788583e-02 4.70536047e-05 9.99738244e-01 -4.89805388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.088623853 meters 0.014646536571152871 Centerline is valid? [True, True] Translation: X:175.67, Y:-26.40, Z:-4.90 [[ 9.71267712e-01 2.36884296e-01 2.29098620e-02 1.75673108e+02] [-2.36817328e-01 9.71537868e-01 -5.63250397e-03 -2.63993049e+01] [-2.35920502e-02 4.52169568e-05 9.99721668e-01 -4.89885896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.148623853 meters 0.014424618301042962 Centerline is valid? [True, True] Translation: X:175.73, Y:-26.41, Z:-4.90 [[ 9.70919040e-01 2.38281751e-01 2.31953791e-02 1.75730929e+02] [-2.38213514e-01 9.71196070e-01 -5.70214141e-03 -2.64100787e+01] [-2.38859772e-02 1.08648964e-05 9.99714689e-01 -4.90009098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.208623853 meters 0.014432527060853741 Centerline is valid? [True, True] Translation: X:175.79, Y:-26.42, Z:-4.90 [[ 9.70497039e-01 2.39965186e-01 2.34990797e-02 1.75789037e+02] [-2.39895665e-01 9.70781494e-01 -5.77593360e-03 -2.64196296e+01] [-2.41984947e-02 -3.18008960e-05 9.99707173e-01 -4.90175776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26862385299998 meters 0.014628908822013172 Centerline is valid? [True, True] Translation: X:175.85, Y:-26.43, Z:-4.91 [[ 9.70449806e-01 2.40224365e-01 2.27909682e-02 1.75845871e+02] [-2.40159068e-01 9.70717391e-01 -5.60082000e-03 -2.64306205e+01] [-2.34690426e-02 -3.81429933e-05 9.99724563e-01 -4.90530786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32862385299998 meters 0.01434016910352271 Centerline is valid? [True, True] Translation: X:175.90, Y:-26.44, Z:-4.90 [[ 9.70734886e-01 2.38984894e-01 2.36643607e-02 1.75902797e+02] [-2.38914167e-01 9.71023285e-01 -5.81378914e-03 -2.64445131e+01] [-2.43680531e-02 -1.01030914e-05 9.99703055e-01 -4.90498223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38862385299998 meters 0.014399338275119593 Centerline is valid? [True, True] Translation: X:175.96, Y:-26.46, Z:-4.91 [[ 9.71152904e-01 2.37234899e-01 2.41172131e-02 1.75959224e+02] [-2.37160931e-01 9.71452316e-01 -5.92382157e-03 -2.64600119e+01] [-2.48340597e-02 3.32758208e-05 9.99691587e-01 -4.90582670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.448623853 meters 0.015272600139094315 Centerline is valid? [True, True] Translation: X:176.01, Y:-26.48, Z:-4.91 [[ 9.71899640e-01 2.34169426e-01 2.39952058e-02 1.76014459e+02] [-2.34095297e-01 9.72195797e-01 -5.89271204e-03 -2.64781938e+01] [-2.47079313e-02 1.09959875e-04 9.99694706e-01 -4.90844462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.508623853 meters 0.01697755152450681 Centerline is valid? [True, True] Translation: X:176.07, Y:-26.50, Z:-4.91 [[ 9.72791194e-01 2.30521032e-01 2.31807241e-02 1.76072162e+02] [-2.30450855e-01 9.73067324e-01 -5.69100024e-03 -2.64983950e+01] [-2.38683004e-02 1.94137247e-04 9.99715093e-01 -4.91177797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.568623853 meters 0.018844642415353493 Centerline is valid? [True, True] Translation: X:176.13, Y:-26.52, Z:-4.91 [[ 9.73336245e-01 2.28227840e-01 2.29914831e-02 1.76130326e+02] [-2.28158163e-01 9.73607720e-01 -5.64457332e-03 -2.65187708e+01] [-2.36729342e-02 2.48373241e-04 9.99719726e-01 -4.91447163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.628623853 meters 0.020967004365341112 Centerline is valid? [True, True] Translation: X:176.19, Y:-26.54, Z:-4.92 [[ 9.73919361e-01 2.25747633e-01 2.27834186e-02 1.76188898e+02] [-2.25678446e-01 9.74185768e-01 -5.59717794e-03 -2.65400712e+01] [-2.34588318e-02 3.09473461e-04 9.99724756e-01 -4.91655515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.688623853 meters 0.021060209086563544 Centerline is valid? [True, True] Translation: X:176.25, Y:-26.56, Z:-4.92 [[ 9.73870017e-01 2.26004408e-01 2.23427131e-02 1.76248700e+02] [-2.25937851e-01 9.74126232e-01 -5.49276471e-03 -2.65555584e+01] [-2.30060120e-02 3.01174266e-04 9.99735281e-01 -4.91885887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.748623853 meters 0.022055291301378076 Centerline is valid? [True, True] Translation: X:176.31, Y:-26.57, Z:-4.92 [[ 9.73455852e-01 2.27832616e-01 2.18175145e-02 1.76309114e+02] [-2.27769528e-01 9.73700279e-01 -5.36733299e-03 -2.65687343e+01] [-2.24665735e-02 2.55496734e-04 9.99747562e-01 -4.91595174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.808623853 meters 0.018598491383088153 Centerline is valid? [True, True] Translation: X:176.37, Y:-26.58, Z:-4.92 [[ 9.72965881e-01 2.29892215e-01 2.20672442e-02 1.76368513e+02] [-2.29828109e-01 9.73216072e-01 -5.43295593e-03 -2.65840319e+01] [-2.27251910e-02 2.14407762e-04 9.99741727e-01 -4.92270287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.868623853 meters 0.016577448586011533 Centerline is valid? [True, True] Translation: X:176.43, Y:-26.59, Z:-4.92 [[ 9.72282020e-01 2.32624325e-01 2.35286276e-02 1.76428133e+02] [-2.32552125e-01 9.72566654e-01 -5.79769009e-03 -2.65932451e+01] [-2.42318424e-02 1.65357473e-04 9.99706352e-01 -4.92140896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.928623853 meters 0.015577614917304342 Centerline is valid? [True, True] Translation: X:176.49, Y:-26.61, Z:-4.92 [[ 9.71996186e-01 2.33743694e-01 2.42342818e-02 1.76487863e+02] [-2.33667464e-01 9.72298239e-01 -5.97082270e-03 -2.66056198e+01] [-2.49585917e-02 1.40853725e-04 9.99688476e-01 -4.92143385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98862385299998 meters 0.015528231159705546 Centerline is valid? [True, True] Translation: X:176.55, Y:-26.62, Z:-4.92 [[ 9.71961283e-01 2.33878788e-01 2.43305586e-02 1.76545746e+02] [-2.33801976e-01 9.72265752e-01 -5.99521120e-03 -2.66215752e+01] [-2.50579216e-02 1.38580474e-04 9.99685991e-01 -4.92277836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04862385299998 meters 0.01606689750499013 Centerline is valid? [True, True] Translation: X:176.60, Y:-26.64, Z:-4.93 [[ 9.71971335e-01 2.33893965e-01 2.37768162e-02 1.76604222e+02] [-2.33820608e-01 9.72262102e-01 -5.85906441e-03 -2.66365954e+01] [-2.44876971e-02 1.35333030e-04 9.99700122e-01 -4.92585808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10862385299998 meters 0.015351172988186824 Centerline is valid? [True, True] Translation: X:176.66, Y:-26.65, Z:-4.93 [[ 9.71913270e-01 2.34096793e-01 2.41513405e-02 1.76664054e+02] [-2.34021161e-01 9.72213286e-01 -5.95162932e-03 -2.66491881e+01] [-2.48735114e-02 1.32542764e-04 9.99690598e-01 -4.92591295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16862385299999 meters 0.01607270878487389 Centerline is valid? [True, True] Translation: X:176.72, Y:-26.67, Z:-4.93 [[ 9.71899564e-01 2.34205904e-01 2.36396395e-02 1.76721964e+02] [-2.34133461e-01 9.72187008e-01 -5.82616846e-03 -2.66655558e+01] [-2.43466735e-02 1.27619979e-04 9.99703568e-01 -4.92978888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.228623853 meters 0.016128955519538326 Centerline is valid? [True, True] Translation: X:176.78, Y:-26.68, Z:-4.93 [[ 9.72136623e-01 2.33240079e-01 2.34403972e-02 1.76781140e+02] [-2.33168563e-01 9.72419170e-01 -5.77740505e-03 -2.66795416e+01] [-2.41414140e-02 1.50863291e-04 9.99708542e-01 -4.93112344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.288623853 meters 0.016291192759614027 Centerline is valid? [True, True] Translation: X:176.84, Y:-26.69, Z:-4.93 [[ 9.72331171e-01 2.32425728e-01 2.34600518e-02 1.76841280e+02] [-2.32353871e-01 9.72614133e-01 -5.78160630e-03 -2.66949730e+01] [-2.41613720e-02 1.70602195e-04 9.99708057e-01 -4.93217451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.348623853 meters 0.017032476563582966 Centerline is valid? [True, True] Translation: X:176.90, Y:-26.71, Z:-4.93 [[ 9.72424511e-01 2.32066328e-01 2.31471369e-02 1.76900113e+02] [-2.31996166e-01 9.72699947e-01 -5.70898697e-03 -2.67116679e+01] [-2.38400825e-02 1.81511850e-04 9.99715768e-01 -4.93452039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.408623853 meters 0.028219898594803654 Centerline is valid? [True, True] Translation: X:176.96, Y:-26.73, Z:-4.93 [[ 9.72581784e-01 2.31375850e-01 2.34497313e-02 1.76959960e+02] [-2.31303574e-01 9.72864417e-01 -5.78636830e-03 -2.67265379e+01] [-2.41522350e-02 2.03709743e-04 9.99708271e-01 -4.92748305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.468623853 meters 0.018625134571968373 Centerline is valid? [True, True] Translation: X:177.02, Y:-26.74, Z:-4.93 [[ 9.72845854e-01 2.30123383e-01 2.47825002e-02 1.77017592e+02] [-2.30042233e-01 9.73161429e-01 -6.11592496e-03 -2.67436058e+01] [-2.55247906e-02 2.48830572e-04 9.99674158e-01 -4.93443517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.528623853 meters 0.020168533072451447 Centerline is valid? [True, True] Translation: X:177.08, Y:-26.76, Z:-4.94 [[ 9.73359162e-01 2.27932178e-01 2.48769770e-02 1.77076122e+02] [-2.27849684e-01 9.73676963e-01 -6.13952454e-03 -2.67610875e+01] [-2.56215346e-02 3.07751101e-04 9.99671667e-01 -4.93584455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.588623853 meters 0.024332183398150548 Centerline is valid? [True, True] Translation: X:177.13, Y:-26.78, Z:-4.94 [[ 9.74295362e-01 2.23988354e-01 2.40367204e-02 1.77133900e+02] [-2.23910129e-01 9.74591740e-01 -5.93254374e-03 -2.67841357e+01] [-2.47548099e-02 3.97984676e-04 9.99693474e-01 -4.93977469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.648623853 meters 0.026602651795173377 Centerline is valid? [True, True] Translation: X:177.19, Y:-26.80, Z:-4.94 [[ 9.74661385e-01 2.22377093e-01 2.41580740e-02 1.77192008e+02] [-2.22297534e-01 9.74960631e-01 -5.96439566e-03 -2.68028172e+01] [-2.48795160e-02 4.42985859e-04 9.99690359e-01 -4.94100564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.708623853 meters 0.025797949834859998 Centerline is valid? [True, True] Translation: X:177.25, Y:-26.82, Z:-4.94 [[ 9.74975480e-01 2.20903414e-01 2.49899063e-02 1.77252050e+02] [-2.20817693e-01 9.75295561e-01 -6.17379935e-03 -2.68169249e+01] [-2.57363581e-02 5.01089520e-04 9.99668639e-01 -4.94069206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76862385299998 meters 0.029349946225581715 Centerline is valid? [True, True] Translation: X:177.31, Y:-26.84, Z:-4.94 [[ 9.75026719e-01 2.20652310e-01 2.52082511e-02 1.77311072e+02] [-2.20564892e-01 9.75352394e-01 -6.23192643e-03 -2.68374591e+01] [-2.59620170e-02 5.16239602e-04 9.99662797e-01 -4.94224326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82862385299998 meters 0.02939033721796005 Centerline is valid? [True, True] Translation: X:177.37, Y:-26.85, Z:-4.94 [[ 9.75371315e-01 2.19090539e-01 2.54977186e-02 1.77371204e+02] [-2.19000438e-01 9.75704367e-01 -6.30843128e-03 -2.68535690e+01] [-2.62603530e-02 5.69051363e-04 9.99654975e-01 -4.94364967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88862385299998 meters 0.029970723355124844 Centerline is valid? [True, True] Translation: X:177.43, Y:-26.87, Z:-4.95 [[ 9.75588241e-01 2.18177503e-01 2.50232072e-02 1.77430780e+02] [-2.18090317e-01 9.75908926e-01 -6.19523871e-03 -2.68704994e+01] [-2.57720330e-02 5.86682852e-04 9.99667674e-01 -4.94616275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.948623853 meters 0.030792213160408925 Centerline is valid? [True, True] Translation: X:177.49, Y:-26.89, Z:-4.95 [[ 9.75784153e-01 2.17310464e-01 2.49288599e-02 1.77490479e+02] [-2.17223540e-01 9.76102345e-01 -6.17619047e-03 -2.68887163e+01] [-2.56752694e-02 6.11493593e-04 9.99670149e-01 -4.94714059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.008623853 meters 0.03218141631332935 Centerline is valid? [True, True] Translation: X:177.55, Y:-26.91, Z:-4.95 [[ 9.75754526e-01 2.17389380e-01 2.53961261e-02 1.77549360e+02] [-2.17299074e-01 9.76084764e-01 -6.29649622e-03 -2.69075413e+01] [-2.61575631e-02 6.25280010e-04 9.99657637e-01 -4.94806784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.068623853 meters 0.030092455039933602 Centerline is valid? [True, True] Translation: X:177.61, Y:-26.92, Z:-4.95 [[ 9.75641528e-01 2.17881386e-01 2.55208029e-02 1.77609991e+02] [-2.17790232e-01 9.75975060e-01 -6.33223221e-03 -2.69221733e+01] [-2.62873427e-02 6.19807110e-04 9.99654236e-01 -4.94908386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.128623853 meters 0.029748829068983084 Centerline is valid? [True, True] Translation: X:177.67, Y:-26.94, Z:-4.95 [[ 9.75421160e-01 2.18897263e-01 2.52497454e-02 1.77669045e+02] [-2.18808257e-01 9.75747734e-01 -6.26953402e-03 -2.69392021e+01] [-2.60097657e-02 5.90583361e-04 9.99661514e-01 -4.95252045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.188623853 meters 0.02898157180800292 Centerline is valid? [True, True] Translation: X:177.73, Y:-26.96, Z:-4.95 [[ 9.75159368e-01 2.20121865e-01 2.47097618e-02 1.77728708e+02] [-2.20036962e-01 9.75472226e-01 -6.13771540e-03 -2.69552443e+01] [-2.54547317e-02 5.48189758e-04 9.99675826e-01 -4.95472025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.248623853 meters 0.0296793249389545 Centerline is valid? [True, True] Translation: X:177.79, Y:-26.97, Z:-4.95 [[ 9.74610856e-01 2.22701485e-01 2.31889701e-02 1.77789043e+02] [-2.22627353e-01 9.74886579e-01 -5.76368812e-03 -2.69701035e+01] [-2.38901977e-02 4.54853981e-04 9.99714485e-01 -4.95314896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.308623853 meters 0.024150054539815714 Centerline is valid? [True, True] Translation: X:177.85, Y:-26.99, Z:-4.96 [[ 9.73957548e-01 2.25501784e-01 2.35720369e-02 1.77848972e+02] [-2.25425898e-01 9.74242674e-01 -5.86311214e-03 -2.69854862e+01] [-2.42870265e-02 3.96674734e-04 9.99704948e-01 -4.96042351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.368623853 meters 0.02028955336864436 Centerline is valid? [True, True] Translation: X:177.91, Y:-27.00, Z:-4.96 [[ 9.72863208e-01 2.30086693e-01 2.44395707e-02 1.77909633e+02] [-2.30006442e-01 9.73170091e-01 -6.08370448e-03 -2.69978617e+01] [-2.51836387e-02 2.97353553e-04 9.99682798e-01 -4.96063869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.428623853 meters 0.017459496063748088 Centerline is valid? [True, True] Translation: X:177.97, Y:-27.01, Z:-4.96 [[ 9.71949885e-01 2.33823695e-01 2.52962443e-02 1.77970659e+02] [-2.33738962e-01 9.72278991e-01 -6.29771302e-03 -2.70097297e+01] [-2.60675614e-02 2.08343548e-04 9.99660162e-01 -4.96050888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48862385299998 meters 0.014630811955930838 Centerline is valid? [True, True] Translation: X:178.03, Y:-27.02, Z:-4.96 [[ 9.70490270e-01 2.39823310e-01 2.51677518e-02 1.78032671e+02] [-2.39741338e-01 9.70816552e-01 -6.27006094e-03 -2.70178200e+01] [-2.59369767e-02 5.12826448e-05 9.99663579e-01 -4.96239961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54862385299998 meters 0.014848339645936884 Centerline is valid? [True, True] Translation: X:178.09, Y:-27.03, Z:-4.97 [[ 9.69388321e-01 2.44355744e-01 2.40115300e-02 1.78093428e+02] [-2.44282410e-01 9.69685653e-01 -5.98645133e-03 -2.70274409e+01] [-2.47464599e-02 -6.23984186e-05 9.99693758e-01 -4.96693242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60862385299998 meters 0.015761229140511035 Centerline is valid? [True, True] Translation: X:178.15, Y:-27.04, Z:-4.97 [[ 9.68829672e-01 2.46581017e-01 2.38090180e-02 1.78152469e+02] [-2.46509571e-01 9.69122174e-01 -5.93659668e-03 -2.70394047e+01] [-2.45376993e-02 -1.17599792e-04 9.99698898e-01 -4.96980212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66862385299999 meters 0.01677435743964665 Centerline is valid? [True, True] Translation: X:178.21, Y:-27.05, Z:-4.97 [[ 9.68172967e-01 2.49199590e-01 2.32523248e-02 1.78211981e+02] [-2.49132193e-01 9.68452132e-01 -5.79811731e-03 -2.70517333e+01] [-2.39636520e-02 -1.79322228e-04 9.99712814e-01 -4.97153926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.728623853 meters 0.018159096432875322 Centerline is valid? [True, True] Translation: X:178.27, Y:-27.06, Z:-4.97 [[ 9.67778061e-01 2.50699460e-01 2.35670589e-02 1.78270092e+02] [-2.50630668e-01 9.68064942e-01 -5.87669914e-03 -2.70625653e+01] [-2.42877288e-02 -2.19287214e-04 9.99704986e-01 -4.97348827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.788623853 meters 0.018516094770092712 Centerline is valid? [True, True] Translation: X:178.33, Y:-27.08, Z:-4.97 [[ 9.67617031e-01 2.51209389e-01 2.47209203e-02 1.78328076e+02] [-2.51133881e-01 9.67932737e-01 -6.16363507e-03 -2.70755669e+01] [-2.54765511e-02 -2.44222409e-04 9.99675390e-01 -4.97280357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.848623853 meters 0.017787037028493467 Centerline is valid? [True, True] Translation: X:178.38, Y:-27.09, Z:-4.98 [[ 9.67994274e-01 2.49786434e-01 2.43684687e-02 1.78384099e+02] [-2.49712628e-01 9.68300932e-01 -6.07517519e-03 -2.70923778e+01] [-2.51135073e-02 -2.04379561e-04 9.99684585e-01 -4.97541131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.908623853 meters 0.016925411297039887 Centerline is valid? [True, True] Translation: X:178.44, Y:-27.11, Z:-4.98 [[ 9.68365508e-01 2.48329684e-01 2.45073812e-02 1.78440369e+02] [-2.48254581e-01 9.68675560e-01 -6.10926020e-03 -2.71085021e+01] [-2.52568119e-02 -1.68072799e-04 9.99680982e-01 -4.97641298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.968623853 meters 0.01635045666666875 Centerline is valid? [True, True] Translation: X:178.50, Y:-27.12, Z:-4.98 [[ 9.68614161e-01 2.47344682e-01 2.46417354e-02 1.78497372e+02] [-2.47268457e-01 9.68927545e-01 -6.14185187e-03 -2.71244765e+01] [-2.53952106e-02 -1.44039194e-04 9.99677479e-01 -4.97831220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.028623853 meters 0.016661219773051263 Centerline is valid? [True, True] Translation: X:178.55, Y:-27.14, Z:-4.98 [[ 9.68653753e-01 2.47224100e-01 2.42930271e-02 1.78553715e+02] [-2.47149994e-01 9.68958319e-01 -6.05440606e-03 -2.71392171e+01] [-2.50357258e-02 -1.39398343e-04 9.99686547e-01 -4.97964292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.088623853 meters 0.017052969027197367 Centerline is valid? [True, True] Translation: X:178.61, Y:-27.15, Z:-4.98 [[ 9.68435319e-01 2.48105416e-01 2.40153098e-02 1.78611523e+02] [-2.48033285e-01 9.68733026e-01 -5.98439362e-03 -2.71512087e+01] [-2.47491843e-02 -1.61098050e-04 9.99693679e-01 -4.98262438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.148623853 meters 0.016754875917523355 Centerline is valid? [True, True] Translation: X:178.67, Y:-27.16, Z:-4.98 [[ 9.68246559e-01 2.48858342e-01 2.38354007e-02 1.78670326e+02] [-2.48787546e-01 9.68539877e-01 -5.93833418e-03 -2.71649126e+01] [-2.45633400e-02 -1.80179206e-04 9.99698259e-01 -4.98360833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.208623853 meters 0.017475700585611577 Centerline is valid? [True, True] Translation: X:178.73, Y:-27.18, Z:-4.99 [[ 9.68050702e-01 2.49623294e-01 2.37917853e-02 1.78728839e+02] [-2.49552986e-01 9.68343003e-01 -5.92750676e-03 -2.71760601e+01] [-2.45182526e-02 -1.99184004e-04 9.99699363e-01 -4.98555326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26862385299998 meters 0.020881149481122647 Centerline is valid? [True, True] Translation: X:178.79, Y:-27.19, Z:-4.98 [[ 9.68044578e-01 2.49612966e-01 2.41467040e-02 1.78788211e+02] [-2.49540552e-01 9.68345665e-01 -6.01552088e-03 -2.71902434e+01] [-2.48839082e-02 -2.02289479e-04 9.99690327e-01 -4.98012517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32862385299998 meters 0.019031207117874198 Centerline is valid? [True, True] Translation: X:178.85, Y:-27.20, Z:-4.99 [[ 9.68022214e-01 2.49620503e-01 2.49518994e-02 1.78847123e+02] [-2.49543162e-01 9.68343720e-01 -6.21686747e-03 -2.71986866e+01] [-2.57138727e-02 -2.08510061e-04 9.99669322e-01 -4.98642997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38862385299998 meters 0.01686535954264873 Centerline is valid? [True, True] Translation: X:178.90, Y:-27.22, Z:-4.99 [[ 9.68120755e-01 2.49268026e-01 2.46506657e-02 1.78904831e+02] [-2.49192436e-01 9.68434516e-01 -6.14146915e-03 -2.72159820e+01] [-2.54034274e-02 -1.97075671e-04 9.99677261e-01 -4.98860575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.448623853 meters 0.016541483994994246 Centerline is valid? [True, True] Translation: X:178.96, Y:-27.23, Z:-4.99 [[ 9.68243675e-01 2.48819113e-01 2.43563956e-02 1.78964213e+02] [-2.48745176e-01 9.68549955e-01 -6.06808773e-03 -2.72312336e+01] [-2.51002420e-02 -1.83148346e-04 9.99684923e-01 -4.99077927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.508623853 meters 0.016552887583050443 Centerline is valid? [True, True] Translation: X:179.02, Y:-27.24, Z:-4.99 [[ 9.68364893e-01 2.48347550e-01 2.43501300e-02 1.79022771e+02] [-2.48273484e-01 9.68670979e-01 -6.06725801e-03 -2.72438555e+01] [-2.50940530e-02 -1.70171952e-04 9.99685080e-01 -4.99266839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.568623853 meters 0.016754648622424585 Centerline is valid? [True, True] Translation: X:179.08, Y:-27.26, Z:-4.99 [[ 9.68265317e-01 2.48733406e-01 2.43714724e-02 1.79081723e+02] [-2.48659339e-01 9.68571970e-01 -6.07229457e-03 -2.72556162e+01] [-2.51159075e-02 -1.80602005e-04 9.99684530e-01 -4.99399936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.628623853 meters 0.018279200871302005 Centerline is valid? [True, True] Translation: X:179.14, Y:-27.26, Z:-5.00 [[ 9.67862536e-01 2.50235447e-01 2.49866422e-02 1.79139461e+02] [-2.50158108e-01 9.68184988e-01 -6.22499760e-03 -2.72630043e+01] [-2.57494069e-02 -2.25669163e-04 9.99668404e-01 -4.99559398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.688623853 meters 0.017712823465098455 Centerline is valid? [True, True] Translation: X:179.20, Y:-27.28, Z:-5.00 [[ 9.67755500e-01 2.50617961e-01 2.52968447e-02 1.79197043e+02] [-2.50538864e-01 9.68086039e-01 -6.30063877e-03 -2.72770904e+01] [-2.60685754e-02 -2.40364903e-04 9.99660128e-01 -4.99620360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.748623853 meters 0.019104882823178466 Centerline is valid? [True, True] Translation: X:179.26, Y:-27.28, Z:-5.00 [[ 9.67302236e-01 2.52337924e-01 2.55334301e-02 1.79256191e+02] [-2.52257954e-01 9.67639131e-01 -6.35894665e-03 -2.72844324e+01] [-2.63117495e-02 -2.89987535e-04 9.99653744e-01 -4.99780086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.808623853 meters 0.01945969362379818 Centerline is valid? [True, True] Translation: X:179.31, Y:-27.29, Z:-5.00 [[ 9.67238545e-01 2.52641515e-01 2.49371648e-02 1.79314408e+02] [-2.52565370e-01 9.67559910e-01 -6.20922792e-03 -2.72949371e+01] [-2.56969097e-02 -2.92459693e-04 9.99669737e-01 -5.00089089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.868623853 meters 0.018739617040745064 Centerline is valid? [True, True] Translation: X:179.37, Y:-27.31, Z:-5.00 [[ 9.67515069e-01 2.51626699e-01 2.44662210e-02 1.79372411e+02] [-2.51553109e-01 9.67824331e-01 -6.09076574e-03 -2.73068410e+01] [-2.52116032e-02 -2.61646321e-04 9.99682103e-01 -5.00313354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.928623853 meters 0.017771242493968248 Centerline is valid? [True, True] Translation: X:179.43, Y:-27.32, Z:-5.00 [[ 9.67873087e-01 2.50257583e-01 2.43480874e-02 1.79429074e+02] [-2.50184299e-01 9.68179266e-01 -6.06014916e-03 -2.73207528e+01] [-2.50899117e-02 -2.26053915e-04 9.99685173e-01 -5.00477726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98862385299998 meters 0.01680464219843398 Centerline is valid? [True, True] Translation: X:179.49, Y:-27.33, Z:-5.01 [[ 9.68321073e-01 2.48480187e-01 2.47365512e-02 1.79485684e+02] [-2.48403997e-01 9.68636961e-01 -6.15559952e-03 -2.73329918e+01] [-2.54902823e-02 -1.84061443e-04 9.99675053e-01 -5.00664377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04862385299998 meters 0.02003218436408852 Centerline is valid? [True, True] Translation: X:179.54, Y:-27.35, Z:-5.00 [[ 9.68770480e-01 2.46745537e-01 2.45030044e-02 1.79543245e+02] [-2.46670268e-01 9.69080296e-01 -6.09575085e-03 -2.73469679e+01] [-2.52494781e-02 -1.38779185e-04 9.99681171e-01 -5.00352207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10862385299998 meters 0.015070264759800028 Centerline is valid? [True, True] Translation: X:179.60, Y:-27.36, Z:-5.01 [[ 9.69318088e-01 2.44468591e-01 2.56427724e-02 1.79600289e+02] [-2.44385395e-01 9.69657208e-01 -6.37792786e-03 -2.73620791e+01] [-2.64239021e-02 -8.44782192e-05 9.99650824e-01 -5.00824233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16862385299999 meters 0.014806620763114271 Centerline is valid? [True, True] Translation: X:179.66, Y:-27.38, Z:-5.01 [[ 9.69867582e-01 2.42333735e-01 2.51243956e-02 1.79656976e+02] [-2.42253184e-01 9.70192950e-01 -6.24774843e-03 -2.73765183e+01] [-2.58895517e-02 -2.69761856e-05 9.99664809e-01 -5.01124717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.228623853 meters 0.014858796502491467 Centerline is valid? [True, True] Translation: X:179.71, Y:-27.39, Z:-5.01 [[ 9.70168628e-01 2.41198426e-01 2.44162131e-02 1.79713831e+02] [-2.41122024e-01 9.70475821e-01 -6.07044791e-03 -2.73905230e+01] [-2.51595269e-02 2.07141063e-06 9.99683449e-01 -5.01477188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.288623853 meters 0.027045307437582572 Centerline is valid? [True, True] Translation: X:179.77, Y:-27.40, Z:-5.01 [[ 9.70399716e-01 2.40266916e-01 2.44172121e-02 1.79770348e+02] [-2.40190243e-01 9.70706860e-01 -6.06949014e-03 -2.74033879e+01] [-2.51602530e-02 2.50554021e-05 9.99683430e-01 -5.00806696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.348623853 meters 0.014936976479717718 Centerline is valid? [True, True] Translation: X:179.83, Y:-27.42, Z:-5.02 [[ 9.70473158e-01 2.39912167e-01 2.49800097e-02 1.79827132e+02] [-2.39831843e-01 9.70794598e-01 -6.20775830e-03 -2.74166722e+01] [-2.57397752e-02 3.34610426e-05 9.99668677e-01 -5.01716633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.408623853 meters 0.014952411052061283 Centerline is valid? [True, True] Translation: X:179.88, Y:-27.43, Z:-5.02 [[ 9.70485376e-01 2.39813482e-01 2.54485673e-02 1.79884878e+02] [-2.39730116e-01 9.70818980e-01 -6.32288418e-03 -2.74288787e+01] [-2.62222650e-02 3.54786317e-05 9.99656137e-01 -5.01853031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.468623853 meters 0.015026963765258673 Centerline is valid? [True, True] Translation: X:179.94, Y:-27.44, Z:-5.02 [[ 9.70604771e-01 2.39369408e-01 2.50731766e-02 1.79940917e+02] [-2.39288367e-01 9.70928568e-01 -6.22839667e-03 -2.74424412e+01] [-2.58351511e-02 4.55920296e-05 9.99666216e-01 -5.02138687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.528623853 meters 0.0149698407281519 Centerline is valid? [True, True] Translation: X:180.00, Y:-27.46, Z:-5.02 [[ 9.70604739e-01 2.39392742e-01 2.48506636e-02 1.79996849e+02] [-2.39313181e-01 9.70922815e-01 -6.17159289e-03 -2.74554421e+01] [-2.56055108e-02 4.30859600e-05 9.99672124e-01 -5.02343343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.588623853 meters 0.015103504675745293 Centerline is valid? [True, True] Translation: X:180.05, Y:-27.47, Z:-5.03 [[ 9.70443535e-01 2.40120043e-01 2.41186752e-02 1.80054837e+02] [-2.40045361e-01 9.70743202e-01 -5.98834764e-03 -2.74661484e+01] [-2.48509623e-02 2.17771522e-05 9.99691167e-01 -5.02695166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.648623853 meters 0.015060499287051101 Centerline is valid? [True, True] Translation: X:180.11, Y:-27.47, Z:-5.03 [[ 9.70049043e-01 2.41743676e-01 2.37665653e-02 1.80112294e+02] [-2.41671673e-01 9.70340144e-01 -5.89982095e-03 -2.74745385e+01] [-2.44878968e-02 -2.05899333e-05 9.99700126e-01 -5.02941881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.708623853 meters 0.015031434007611434 Centerline is valid? [True, True] Translation: X:180.17, Y:-27.49, Z:-5.03 [[ 9.69910256e-01 2.42255219e-01 2.42178647e-02 1.80169509e+02] [-2.42180650e-01 9.70212558e-01 -6.01039962e-03 -2.74860850e+01] [-2.49525271e-02 -3.55499810e-05 9.99688637e-01 -5.02964688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76862385299998 meters 0.014898611532545934 Centerline is valid? [True, True] Translation: X:180.23, Y:-27.50, Z:-5.03 [[ 9.70000549e-01 2.41845549e-01 2.46913868e-02 1.80226589e+02] [-2.41767953e-01 9.70314758e-01 -6.12597185e-03 -2.74999050e+01] [-2.54399560e-02 -2.73899742e-05 9.99676352e-01 -5.03054433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82862385299998 meters 0.01489264576838477 Centerline is valid? [True, True] Translation: X:180.28, Y:-27.52, Z:-5.03 [[ 9.70527620e-01 2.39692789e-01 2.49700804e-02 1.80283407e+02] [-2.39612751e-01 9.70848786e-01 -6.19384857e-03 -2.75171433e+01] [-2.57267931e-02 2.81514590e-05 9.99669011e-01 -5.03189475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88862385299998 meters 0.01543301539109835 Centerline is valid? [True, True] Translation: X:180.34, Y:-27.53, Z:-5.03 [[ 9.70986149e-01 2.37927297e-01 2.40104159e-02 1.80339931e+02] [-2.37852782e-01 9.71282964e-01 -5.95465911e-03 -2.75342719e+01] [-2.47376839e-02 7.09473028e-05 9.99693974e-01 -5.03464293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.948623853 meters 0.016355650410425516 Centerline is valid? [True, True] Translation: X:180.40, Y:-27.55, Z:-5.04 [[ 9.71489365e-01 2.35811100e-01 2.45262805e-02 1.80395007e+02] [-2.35732704e-01 9.71798904e-01 -6.08137121e-03 -2.75538200e+01] [-2.52686673e-02 1.26341028e-04 9.99680688e-01 -5.03573628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.008623853 meters 0.016427694420844685 Centerline is valid? [True, True] Translation: X:180.45, Y:-27.57, Z:-5.04 [[ 9.71754979e-01 2.34706403e-01 2.46001128e-02 1.80452291e+02] [-2.34627220e-01 9.72066294e-01 -6.09810761e-03 -2.75686450e+01] [-2.53442054e-02 1.54010352e-04 9.99678772e-01 -5.03666388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.068623853 meters 0.01720832872225968 Centerline is valid? [True, True] Translation: X:180.51, Y:-27.59, Z:-5.04 [[ 9.71970206e-01 2.33818506e-01 2.45524989e-02 1.80508532e+02] [-2.33739371e-01 9.72280245e-01 -6.08534821e-03 -2.75859596e+01] [-2.52947767e-02 1.75891518e-04 9.99680020e-01 -5.03926799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.128623853 meters 0.017716999948052384 Centerline is valid? [True, True] Translation: X:180.57, Y:-27.60, Z:-5.04 [[ 9.72203641e-01 2.32942290e-01 2.36213884e-02 1.80565364e+02] [-2.32868807e-01 9.72490542e-01 -5.85365394e-03 -2.76028911e+01] [-2.43351403e-02 1.90259132e-04 9.99703839e-01 -5.04294085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.188623853 meters 0.019029086230763118 Centerline is valid? [True, True] Translation: X:180.62, Y:-27.62, Z:-5.05 [[ 9.72657203e-01 2.31117282e-01 2.28641144e-02 1.80621832e+02] [-2.31047944e-01 9.72925871e-01 -5.66544103e-03 -2.76234489e+01] [-2.35544697e-02 2.27825391e-04 9.99722529e-01 -5.04574067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.248623853 meters 0.019270045391878998 Centerline is valid? [True, True] Translation: X:180.68, Y:-27.64, Z:-5.05 [[ 9.72942235e-01 2.29900100e-01 2.30076566e-02 1.80680556e+02] [-2.29829567e-01 9.73214199e-01 -5.70022965e-03 -2.76407300e+01] [-2.37018614e-02 2.58154414e-04 9.99719038e-01 -5.04673338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.308623853 meters 0.020136363681858876 Centerline is valid? [True, True] Translation: X:180.74, Y:-27.66, Z:-5.05 [[ 9.72995694e-01 2.29579220e-01 2.39324177e-02 1.80739055e+02] [-2.29502796e-01 9.73289939e-01 -5.92976377e-03 -2.76598598e+01] [-2.46545319e-02 2.77077846e-04 9.99695992e-01 -5.04670402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.368623853 meters 0.01978006586860807 Centerline is valid? [True, True] Translation: X:180.80, Y:-27.68, Z:-5.05 [[ 9.72845091e-01 2.30164362e-01 2.44293816e-02 1.80797464e+02] [-2.30084842e-01 9.73151732e-01 -6.05573844e-03 -2.76763218e+01] [-2.51673101e-02 2.70465014e-04 9.99683216e-01 -5.04777040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.428623853 meters 0.018522546501798964 Centerline is valid? [True, True] Translation: X:180.86, Y:-27.69, Z:-5.05 [[ 9.72512721e-01 2.31569759e-01 2.43814423e-02 1.80857013e+02] [-2.31490994e-01 9.72818273e-01 -6.04378992e-03 -2.76915963e+01] [-2.51182716e-02 2.33578259e-04 9.99684459e-01 -5.04922957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48862385299998 meters 0.017455165811583278 Centerline is valid? [True, True] Translation: X:180.92, Y:-27.71, Z:-5.05 [[ 9.72076118e-01 2.33400667e-01 2.43341179e-02 1.80915195e+02] [-2.33322763e-01 9.72380632e-01 -6.03277295e-03 -2.77056585e+01] [-2.50700782e-02 1.86610883e-04 9.99685679e-01 -5.05104513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54862385299998 meters 0.016248798432354657 Centerline is valid? [True, True] Translation: X:180.97, Y:-27.72, Z:-5.05 [[ 9.71436848e-01 2.36115203e-01 2.36656069e-02 1.80972559e+02] [-2.36042332e-01 9.71725063e-01 -5.86679028e-03 -2.77189308e+01] [-2.43817018e-02 1.13131203e-04 9.99702716e-01 -5.05380941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60862385299998 meters 0.015731875570987923 Centerline is valid? [True, True] Translation: X:181.03, Y:-27.73, Z:-5.05 [[ 9.71138819e-01 2.37302693e-01 2.40171943e-02 1.81031280e+02] [-2.37228018e-01 9.71435754e-01 -5.95336004e-03 -2.77319946e+01] [-2.47439097e-02 8.39876333e-05 9.99693819e-01 -5.05462279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66862385299999 meters 0.015180284502796852 Centerline is valid? [True, True] Translation: X:181.09, Y:-27.74, Z:-5.06 [[ 9.70172329e-01 2.41235510e-01 2.38972870e-02 1.81088427e+02] [-2.41162783e-01 9.70466603e-01 -5.92315476e-03 -2.77423075e+01] [-2.46203942e-02 -1.66553977e-05 9.99696872e-01 -5.05667679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.728623853 meters 0.015598040380374961 Centerline is valid? [True, True] Translation: X:181.15, Y:-27.75, Z:-5.06 [[ 9.69606632e-01 2.43546610e-01 2.34100148e-02 1.81146142e+02] [-2.43477527e-01 9.69889191e-01 -5.80091790e-03 -2.77536915e+01] [-2.41179143e-02 -7.52040528e-05 9.99709118e-01 -5.05952410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.788623853 meters 0.01643589056279226 Centerline is valid? [True, True] Translation: X:181.20, Y:-27.77, Z:-5.06 [[ 9.69122568e-01 2.45504663e-01 2.29980091e-02 1.81202236e+02] [-2.45438569e-01 9.69395402e-01 -5.69768771e-03 -2.77654567e+01] [-2.36929731e-02 -1.22840683e-04 9.99719275e-01 -5.06351554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.848623853 meters 0.016883206407476235 Centerline is valid? [True, True] Translation: X:181.26, Y:-27.78, Z:-5.07 [[ 9.68945087e-01 2.46213056e-01 2.29030196e-02 1.81258908e+02] [-2.46147727e-01 9.69215720e-01 -5.67321230e-03 -2.77796005e+01] [-2.35947856e-02 -1.40495045e-04 9.99721594e-01 -5.06507789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.908623853 meters 0.01767001280775183 Centerline is valid? [True, True] Translation: X:181.32, Y:-27.79, Z:-5.07 [[ 9.68647945e-01 2.47324711e-01 2.34871426e-02 1.81315728e+02] [-2.47256361e-01 9.68932638e-01 -5.81675733e-03 -2.77934047e+01] [-2.41960869e-02 -1.72955381e-04 9.99707217e-01 -5.06562918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.968623853 meters 0.01787022666747528 Centerline is valid? [True, True] Translation: X:181.37, Y:-27.81, Z:-5.07 [[ 9.68085164e-01 2.49490609e-01 2.37813121e-02 1.81374378e+02] [-2.49421218e-01 9.68377190e-01 -5.88841215e-03 -2.78059669e+01] [-2.44983837e-02 -2.31079387e-04 9.99699843e-01 -5.06514770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.028623853 meters 0.019480854388105685 Centerline is valid? [True, True] Translation: X:181.43, Y:-27.82, Z:-5.07 [[ 9.67617622e-01 2.51256346e-01 2.42154014e-02 1.81431159e+02] [-2.51184964e-01 9.67920539e-01 -5.99535626e-03 -2.78162638e+01] [-2.49449557e-02 -2.81332364e-04 9.99688787e-01 -5.06552593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.088623853 meters 0.024765321988272904 Centerline is valid? [True, True] Translation: X:181.49, Y:-27.82, Z:-5.07 [[ 9.66779602e-01 2.54426434e-01 2.45843802e-02 1.81490356e+02] [-2.54353924e-01 9.67092060e-01 -6.08509443e-03 -2.78193123e+01] [-2.53235678e-02 -3.70188407e-04 9.99679238e-01 -5.06704398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.148623853 meters 0.024092090236585553 Centerline is valid? [True, True] Translation: X:181.55, Y:-27.83, Z:-5.07 [[ 9.66306828e-01 2.56207511e-01 2.46743680e-02 1.81547373e+02] [-2.56135089e-01 9.66621712e-01 -6.10582579e-03 -2.78314216e+01] [-2.54151383e-02 -4.19870304e-04 9.99676895e-01 -5.06818645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.208623853 meters 0.025098373092568318 Centerline is valid? [True, True] Translation: X:181.61, Y:-27.84, Z:-5.07 [[ 9.65815728e-01 2.57971988e-01 2.55035740e-02 1.81605574e+02] [-2.57895274e-01 9.66152276e-01 -6.30937504e-03 -2.78395916e+01] [-2.62679781e-02 -4.83557555e-04 9.99654820e-01 -5.06867265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26862385299998 meters 0.02530962389066602 Centerline is valid? [True, True] Translation: X:181.66, Y:-27.85, Z:-5.07 [[ 9.65726917e-01 2.58321100e-01 2.53324167e-02 1.81663538e+02] [-2.58245565e-01 9.66058988e-01 -6.26576851e-03 -2.78508599e+01] [-2.60911890e-02 -4.90962945e-04 9.99659446e-01 -5.07019631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32862385299998 meters 0.025098359112747305 Centerline is valid? [True, True] Translation: X:181.72, Y:-27.86, Z:-5.07 [[ 9.65833373e-01 2.57968459e-01 2.48630109e-02 1.81722313e+02] [-2.57895613e-01 9.66153223e-01 -6.14840951e-03 -2.78600853e+01] [-2.56075739e-02 -4.73722357e-04 9.99671960e-01 -5.07298115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38862385299998 meters 0.03324802596517742 Centerline is valid? [True, True] Translation: X:181.78, Y:-27.86, Z:-5.07 [[ 9.66055877e-01 2.57198612e-01 2.41850449e-02 1.81781296e+02] [-2.57129464e-01 9.66358463e-01 -5.97993887e-03 -2.78641076e+01] [-2.49094548e-02 -4.41732536e-04 9.99689614e-01 -5.06760626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.448623853 meters 0.02298875274018731 Centerline is valid? [True, True] Translation: X:181.84, Y:-27.88, Z:-5.08 [[ 9.66344703e-01 2.56125037e-01 2.40391291e-02 1.81838474e+02] [-2.56056426e-01 9.66643572e-01 -5.94234602e-03 -2.78785451e+01] [-2.47592532e-02 -4.13018880e-04 9.99693357e-01 -5.07871239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.508623853 meters 0.02018181512485107 Centerline is valid? [True, True] Translation: X:181.90, Y:-27.89, Z:-5.08 [[ 9.67374229e-01 2.52285322e-01 2.32210459e-02 1.81895697e+02] [-2.52220223e-01 9.67652842e-01 -5.73896867e-03 -2.78905061e+01] [-2.39177686e-02 -3.05086980e-04 9.99713883e-01 -5.08219172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.568623853 meters 0.01827845092221637 Centerline is valid? [True, True] Translation: X:181.95, Y:-27.90, Z:-5.09 [[ 9.68481356e-01 2.48078431e-01 2.23820165e-02 1.81951715e+02] [-2.48016852e-01 9.68739931e-01 -5.53055403e-03 -2.79044077e+01] [-2.30543643e-02 -1.94878823e-04 9.99734194e-01 -5.08671954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.628623853 meters 0.015700997231695508 Centerline is valid? [True, True] Translation: X:182.01, Y:-27.93, Z:-5.09 [[ 9.70609347e-01 2.39691847e-01 2.15711360e-02 1.82006841e+02] [-2.39632606e-01 9.70849019e-01 -5.32878119e-03 -2.79251513e+01] [-2.22195816e-02 3.01730241e-06 9.99753115e-01 -5.08893205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.688623853 meters 0.01746486658146198 Centerline is valid? [True, True] Translation: X:182.06, Y:-27.95, Z:-5.09 [[ 9.72134138e-01 2.33427302e-01 2.16081471e-02 1.82061872e+02] [-2.33366331e-01 9.72374246e-01 -5.33683937e-03 -2.79459290e+01] [-2.22569697e-02 1.45509726e-04 9.99752272e-01 -5.09082762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.748623853 meters 0.023534619784032894 Centerline is valid? [True, True] Translation: X:182.12, Y:-27.97, Z:-5.09 [[ 9.74327941e-01 2.23998138e-01 2.25808974e-02 1.82117632e+02] [-2.23929048e-01 9.74589500e-01 -5.57572338e-03 -2.79710014e+01] [-2.32560571e-02 3.76064213e-04 9.99729471e-01 -5.09061854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.808623853 meters 0.028955036948835118 Centerline is valid? [True, True] Translation: X:182.17, Y:-27.99, Z:-5.09 [[ 9.75555418e-01 2.18569809e-01 2.27785895e-02 1.82174106e+02] [-2.18498038e-01 9.75821182e-01 -5.62393447e-03 -2.79931018e+01] [-2.34570524e-02 5.09382638e-04 9.99724716e-01 -5.09185416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.868623853 meters 0.03227542422376481 Centerline is valid? [True, True] Translation: X:182.23, Y:-28.01, Z:-5.09 [[ 9.76737791e-01 2.13217527e-01 2.28379887e-02 1.82232507e+02] [-2.13143881e-01 9.77004542e-01 -5.64012631e-03 -2.80131720e+01] [-2.35153925e-02 6.41146971e-04 9.99723269e-01 -5.09320166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.928623853 meters 0.037089038648020566 Centerline is valid? [True, True] Translation: X:182.29, Y:-28.04, Z:-5.10 [[ 9.76925494e-01 2.12389054e-01 2.25270560e-02 1.82290246e+02] [-2.12317180e-01 9.77184970e-01 -5.56328910e-03 -2.80356509e+01] [-2.31946823e-02 6.52037940e-04 9.99730755e-01 -5.09532469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98862385299998 meters 0.0318735407754298 Centerline is valid? [True, True] Translation: X:182.35, Y:-28.05, Z:-5.10 [[ 9.76451958e-01 2.14585667e-01 2.22388163e-02 1.82351806e+02] [-2.14516108e-01 9.76704990e-01 -5.49568868e-03 -2.80454002e+01] [-2.29000589e-02 5.95691654e-04 9.99737582e-01 -5.09608474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04862385299998 meters 0.028710233473227844 Centerline is valid? [True, True] Translation: X:182.41, Y:-28.06, Z:-5.10 [[ 9.75448656e-01 2.19068500e-01 2.25590583e-02 1.82410126e+02] [-2.18998005e-01 9.75709352e-01 -5.57977726e-03 -2.80565854e+01] [-2.32334376e-02 5.02397472e-04 9.99729941e-01 -5.09670245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10862385299998 meters 0.02664325679225671 Centerline is valid? [True, True] Translation: X:182.47, Y:-28.07, Z:-5.10 [[ 9.74632776e-01 2.22674269e-01 2.25193520e-02 1.82467920e+02] [-2.22604989e-01 9.74892813e-01 -5.56972544e-03 -2.80688132e+01] [-2.31941890e-02 4.15516860e-04 9.99730892e-01 -5.09851889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16862385299999 meters 0.02201329476031605 Centerline is valid? [True, True] Translation: X:182.53, Y:-28.08, Z:-5.10 [[ 9.73476714e-01 2.27762829e-01 2.16143885e-02 1.82527530e+02] [-2.27700270e-01 9.73716598e-01 -5.34539008e-03 -2.80770640e+01] [-2.22637700e-02 2.82010678e-04 9.99752092e-01 -5.10156846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.228623853 meters 0.01939328748051079 Centerline is valid? [True, True] Translation: X:182.59, Y:-28.09, Z:-5.10 [[ 9.72634172e-01 2.31340680e-01 2.15466300e-02 1.82585489e+02] [-2.31279398e-01 9.72872782e-01 -5.32823642e-03 -2.80871475e+01] [-2.21947677e-02 1.99133220e-04 9.99753646e-01 -5.10371402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.288623853 meters 0.016609298547917664 Centerline is valid? [True, True] Translation: X:182.64, Y:-28.09, Z:-5.10 [[ 9.71091384e-01 2.37702891e-01 2.18828722e-02 1.82644351e+02] [-2.37641318e-01 9.71337909e-01 -5.41027796e-03 -2.80928191e+01] [-2.25417020e-02 5.35997226e-05 9.99745902e-01 -5.10365631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.348623853 meters 0.016836832296617282 Centerline is valid? [True, True] Translation: X:182.70, Y:-28.10, Z:-5.10 [[ 9.69470909e-01 2.44120038e-01 2.30556546e-02 1.82701981e+02] [-2.44053522e-01 9.69745016e-01 -5.69928047e-03 -2.80959430e+01] [-2.37494147e-02 -1.01527080e-04 9.99717938e-01 -5.10248804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.408623853 meters 0.018771941989892925 Centerline is valid? [True, True] Translation: X:182.76, Y:-28.10, Z:-5.10 [[ 9.68603039e-01 2.47488645e-01 2.36119129e-02 1.82759310e+02] [-2.47419956e-01 9.68890775e-01 -5.83364641e-03 -2.81040402e+01] [-2.43211258e-02 -1.91570808e-04 9.99704179e-01 -5.10278806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.468623853 meters 0.019058655564424362 Centerline is valid? [True, True] Translation: X:182.82, Y:-28.12, Z:-5.10 [[ 9.68285311e-01 2.48681484e-01 2.41055128e-02 1.82817152e+02] [-2.48610301e-01 9.68585292e-01 -5.95405083e-03 -2.81172716e+01] [-2.48289074e-02 -2.27658831e-04 9.99691689e-01 -5.10288726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.528623853 meters 0.020116211782868928 Centerline is valid? [True, True] Translation: X:182.88, Y:-28.13, Z:-5.11 [[ 9.67738238e-01 2.50843084e-01 2.36738085e-02 1.82875280e+02] [-2.50775102e-01 9.68027721e-01 -5.84625421e-03 -2.81259816e+01] [-2.43833953e-02 -2.79157991e-04 9.99702642e-01 -5.10564520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.588623853 meters 0.03112142618258594 Centerline is valid? [True, True] Translation: X:182.93, Y:-28.14, Z:-5.10 [[ 9.67717520e-01 2.51002956e-01 2.28104763e-02 1.82932095e+02] [-2.50939913e-01 9.67986282e-01 -5.63197322e-03 -2.81364745e+01] [-2.34938701e-02 -2.73899781e-04 9.99723943e-01 -5.10134587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.648623853 meters 0.01979251533832785 Centerline is valid? [True, True] Translation: X:182.99, Y:-28.15, Z:-5.11 [[ 9.68023810e-01 2.49781142e-01 2.32224977e-02 1.82988991e+02] [-2.49715487e-01 9.68302287e-01 -5.73213314e-03 -2.81514002e+01] [-2.39181764e-02 -2.50175961e-04 9.99713888e-01 -5.10926202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.708623853 meters 0.02032757055341026 Centerline is valid? [True, True] Translation: X:183.05, Y:-28.16, Z:-5.11 [[ 9.68108974e-01 2.49418889e-01 2.35633651e-02 1.83045329e+02] [-2.49351213e-01 9.68395661e-01 -5.81508931e-03 -2.81630683e+01] [-2.42690537e-02 -2.45913545e-04 9.99705433e-01 -5.11086940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76862385299998 meters 0.019388117264463496 Centerline is valid? [True, True] Translation: X:183.10, Y:-28.18, Z:-5.11 [[ 9.68262091e-01 2.48760786e-01 2.42197010e-02 1.83103432e+02] [-2.48689122e-01 9.68564925e-01 -5.97545208e-03 -2.81751156e+01] [-2.49448111e-02 -2.37372446e-04 9.99688802e-01 -5.11154997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82862385299998 meters 0.018832977369770888 Centerline is valid? [True, True] Translation: X:183.16, Y:-28.19, Z:-5.11 [[ 9.68623147e-01 2.47432067e-01 2.33788583e-02 1.83160661e+02] [-2.47364932e-01 9.68905224e-01 -5.76688015e-03 -2.81877177e+01] [-2.40788090e-02 -1.97176112e-04 9.99710044e-01 -5.11484233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88862385299998 meters 0.01804484843982344 Centerline is valid? [True, True] Translation: X:183.22, Y:-28.20, Z:-5.12 [[ 9.68857984e-01 2.46545480e-01 2.30115876e-02 1.83217756e+02] [-2.46480214e-01 9.69131207e-01 -5.67517154e-03 -2.82015886e+01] [-2.37004355e-02 -1.73465781e-04 9.99719090e-01 -5.11697222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.948623853 meters 0.0179853382365523 Centerline is valid? [True, True] Translation: X:183.27, Y:-28.21, Z:-5.12 [[ 9.69116301e-01 2.45640551e-01 2.17787587e-02 1.83273877e+02] [-2.45581883e-01 9.69360975e-01 -5.37026986e-03 -2.82120017e+01] [-2.24306348e-02 -1.44052506e-04 9.99748391e-01 -5.12112844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.008623853 meters 0.018399262807967606 Centerline is valid? [True, True] Translation: X:183.33, Y:-28.22, Z:-5.13 [[ 9.69196760e-01 2.45430882e-01 2.05261554e-02 1.83330425e+02] [-2.45378758e-01 9.69414083e-01 -5.05971021e-03 -2.82225845e+01] [-2.11401533e-02 -1.32827778e-04 9.99776513e-01 -5.12543349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.068623853 meters 0.018048564129365455 Centerline is valid? [True, True] Translation: X:183.39, Y:-28.23, Z:-5.13 [[ 9.69452205e-01 2.44470513e-01 1.99145951e-02 1.83387488e+02] [-2.44421285e-01 9.69656721e-01 -4.90705457e-03 -2.82330179e+01] [-2.05099511e-02 -1.10396054e-04 9.99789643e-01 -5.12777496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.128623853 meters 0.017366747452742616 Centerline is valid? [True, True] Translation: X:183.44, Y:-28.25, Z:-5.13 [[ 9.69861741e-01 2.42773725e-01 2.07152431e-02 1.83444579e+02] [-2.42720110e-01 9.70082941e-01 -5.10255053e-03 -2.82468493e+01] [-2.13342691e-02 -7.92375382e-05 9.99772395e-01 -5.12774770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.188623853 meters 0.02202473476020684 Centerline is valid? [True, True] Translation: X:183.50, Y:-28.26, Z:-5.12 [[ 9.70500681e-01 2.40083370e-01 2.20998653e-02 1.83501576e+02] [-2.40021676e-01 9.70752273e-01 -5.44242491e-03 -2.82609902e+01] [-2.27601302e-02 -2.25696274e-05 9.99740954e-01 -5.12069662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.248623853 meters 0.016947876425286314 Centerline is valid? [True, True] Translation: X:183.56, Y:-28.28, Z:-5.13 [[ 9.71245008e-01 2.37150975e-01 2.10368544e-02 1.83557683e+02] [-2.37094407e-01 9.71472806e-01 -5.17966069e-03 -2.82772994e+01] [-2.16650935e-02 4.29990719e-05 9.99765283e-01 -5.13085248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.308623853 meters 0.01758799109960507 Centerline is valid? [True, True] Translation: X:183.61, Y:-28.29, Z:-5.13 [[ 9.71624089e-01 2.35648954e-01 2.04009647e-02 1.83613633e+02] [-2.35595442e-01 9.71838240e-01 -5.02220862e-03 -2.82925637e+01] [-2.10099159e-02 7.33245761e-05 9.99779265e-01 -5.13426372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.368623853 meters 0.01801385722566171 Centerline is valid? [True, True] Translation: X:183.67, Y:-28.31, Z:-5.14 [[ 9.71856679e-01 2.34731192e-01 1.98963008e-02 1.83670025e+02] [-2.34680127e-01 9.72060317e-01 -4.89679708e-03 -2.83066220e+01] [-2.04898354e-02 8.97185539e-05 9.99790057e-01 -5.13661655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.428623853 meters 0.018306281368970563 Centerline is valid? [True, True] Translation: X:183.73, Y:-28.32, Z:-5.14 [[ 9.72037006e-01 2.33957827e-01 2.01938924e-02 1.83726122e+02] [-2.33905080e-01 9.72246740e-01 -4.96888714e-03 -2.83201498e+01] [-2.07959561e-02 1.06488166e-04 9.99783735e-01 -5.13716409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48862385299998 meters 0.019037802414439458 Centerline is valid? [True, True] Translation: X:183.78, Y:-28.34, Z:-5.14 [[ 9.72400529e-01 2.32375999e-01 2.09429260e-02 1.83782883e+02] [-2.32318935e-01 9.72626020e-01 -5.15148673e-03 -2.83377788e+01] [-2.15667166e-02 1.43870163e-04 9.99767401e-01 -5.13714163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54862385299998 meters 0.019544400041865334 Centerline is valid? [True, True] Translation: X:183.84, Y:-28.35, Z:-5.14 [[ 9.72605986e-01 2.31491035e-01 2.12013522e-02 1.83839545e+02] [-2.31432367e-01 9.72837023e-01 -5.21402983e-03 -2.83539459e+01] [-2.18324615e-02 1.64517514e-04 9.99761630e-01 -5.13765461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60862385299998 meters 0.018646347077073286 Centerline is valid? [True, True] Translation: X:183.90, Y:-28.37, Z:-5.14 [[ 9.72591013e-01 2.31568690e-01 2.10395816e-02 1.83896268e+02] [-2.31510949e-01 9.72818542e-01 -5.17344720e-03 -2.83650031e+01] [-2.16657034e-02 1.60754762e-04 9.99765258e-01 -5.13809523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66862385299999 meters 0.018566882390211446 Centerline is valid? [True, True] Translation: X:183.95, Y:-28.38, Z:-5.14 [[ 9.72379014e-01 2.32526264e-01 2.02630381e-02 1.83951117e+02] [-2.32472944e-01 9.72590108e-01 -4.98109267e-03 -2.83782719e+01] [-2.08658653e-02 1.32901851e-04 9.99782275e-01 -5.14139247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.728623853 meters 0.017521097446406352 Centerline is valid? [True, True] Translation: X:184.01, Y:-28.39, Z:-5.14 [[ 9.71608434e-01 2.35747737e-01 2.00013778e-02 1.84008394e+02] [-2.35696508e-01 9.71814283e-01 -4.91481274e-03 -2.83878166e+01] [-2.05962806e-02 6.10186227e-05 9.99787872e-01 -5.14384677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.788623853 meters 0.017003659634036723 Centerline is valid? [True, True] Translation: X:184.07, Y:-28.40, Z:-5.14 [[ 9.70953924e-01 2.38377805e-01 2.06033771e-02 1.84066804e+02] [-2.38324067e-01 9.71172499e-01 -5.06134995e-03 -2.83976667e+01] [-2.12159467e-02 4.05697213e-06 9.99774916e-01 -5.14410640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.848623853 meters 0.0244590659804236 Centerline is valid? [True, True] Translation: X:184.13, Y:-28.40, Z:-5.14 [[ 9.69936506e-01 2.42518270e-01 2.02005856e-02 1.84125255e+02] [-2.42467528e-01 9.70146835e-01 -4.96150239e-03 -2.84015278e+01] [-2.08007891e-02 -8.56437479e-05 9.99783637e-01 -5.14126043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.908623853 meters 0.01838430110609024 Centerline is valid? [True, True] Translation: X:184.18, Y:-28.41, Z:-5.15 [[ 9.69552372e-01 2.44062320e-01 2.00445121e-02 1.84182450e+02] [-2.44012716e-01 9.69759542e-01 -4.92186367e-03 -2.84144278e+01] [-2.06395984e-02 -1.19111243e-04 9.99786974e-01 -5.14919668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.968623853 meters 0.018305307687354073 Centerline is valid? [True, True] Translation: X:184.24, Y:-28.43, Z:-5.15 [[ 9.69492113e-01 2.44331738e-01 1.96734408e-02 1.84240278e+02] [-2.44284028e-01 9.69691697e-01 -4.82982609e-03 -2.84275933e+01] [-2.02572520e-02 -1.23429053e-04 9.99794793e-01 -5.15065999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.028623853 meters 0.018007096503015137 Centerline is valid? [True, True] Translation: X:184.30, Y:-28.44, Z:-5.15 [[ 9.69751216e-01 2.43320100e-01 1.94398392e-02 1.84297250e+02] [-2.43273333e-01 9.69946039e-01 -4.77148703e-03 -2.84409516e+01] [-2.00165937e-02 -1.02039126e-04 9.99799643e-01 -5.15262596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.088623853 meters 0.01717933355799418 Centerline is valid? [True, True] Translation: X:184.35, Y:-28.46, Z:-5.15 [[ 9.70578171e-01 2.39926447e-01 2.03301125e-02 1.84352984e+02] [-2.39874574e-01 9.70791069e-01 -4.98897000e-03 -2.84578705e+01] [-2.09332775e-02 -3.44917064e-05 9.99780874e-01 -5.15291952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.148623853 meters 0.017087922018389302 Centerline is valid? [True, True] Translation: X:184.41, Y:-28.48, Z:-5.15 [[ 9.71313897e-01 2.36850955e-01 2.12353340e-02 1.84409132e+02] [-2.36793657e-01 9.71545997e-01 -5.20961137e-03 -2.84751932e+01] [-2.18650051e-02 3.17755315e-05 9.99760932e-01 -5.15335060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.208623853 meters 0.019592256736070686 Centerline is valid? [True, True] Translation: X:184.46, Y:-28.50, Z:-5.15 [[ 9.72958996e-01 2.29950686e-01 2.17594602e-02 1.84462516e+02] [-2.29888819e-01 9.73202264e-01 -5.33713005e-03 -2.85000791e+01] [-2.24036327e-02 1.90552069e-04 9.99748989e-01 -5.15407357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26862385299998 meters 0.026413562432593494 Centerline is valid? [True, True] Translation: X:184.52, Y:-28.53, Z:-5.16 [[ 9.74978165e-01 2.21273405e-01 2.13461316e-02 1.84517054e+02] [-2.21211818e-01 9.75211739e-01 -5.23417636e-03 -2.85298165e+01] [-2.19751821e-02 3.81191095e-04 9.99758444e-01 -5.15712905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32862385299998 meters 0.029103089919398258 Centerline is valid? [True, True] Translation: X:184.57, Y:-28.55, Z:-5.16 [[ 9.76141542e-01 2.16165611e-01 2.04968107e-02 1.84573989e+02] [-2.16107706e-01 9.76356596e-01 -5.02568382e-03 -2.85507421e+01] [-2.10985763e-02 4.76260003e-04 9.99777287e-01 -5.15984876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38862385299998 meters 0.031366783249954 Centerline is valid? [True, True] Translation: X:184.63, Y:-28.57, Z:-5.16 [[ 9.76870252e-01 2.12888481e-01 2.00749767e-02 1.84631279e+02] [-2.12832250e-01 9.77076357e-01 -4.92191327e-03 -2.85711289e+01] [-2.06626037e-02 5.35468200e-04 9.99786362e-01 -5.16167642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.448623853 meters 0.03221636398418238 Centerline is valid? [True, True] Translation: X:184.69, Y:-28.59, Z:-5.16 [[ 9.77108671e-01 2.11800932e-01 1.99752410e-02 1.84687692e+02] [-2.11745028e-01 9.77312671e-01 -4.89764216e-03 -2.85898816e+01] [-2.05593813e-02 5.55870647e-04 9.99788479e-01 -5.16294737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.508623853 meters 0.03432366203340387 Centerline is valid? [True, True] Translation: X:184.74, Y:-28.61, Z:-5.16 [[ 9.76974119e-01 2.12309822e-01 2.11213155e-02 1.84743092e+02] [-2.12247452e-01 9.77202235e-01 -5.17797687e-03 -2.86141184e+01] [-2.17391320e-02 5.75804011e-04 9.99763511e-01 -5.16264553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.568623853 meters 0.03357609051252882 Centerline is valid? [True, True] Translation: X:184.80, Y:-28.63, Z:-5.16 [[ 9.76700783e-01 2.13535738e-01 2.14025671e-02 1.84799900e+02] [-2.13471992e-01 9.76935095e-01 -5.24677979e-03 -2.86302552e+01] [-2.20292939e-02 5.55685308e-04 9.99757171e-01 -5.16364176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.628623853 meters 0.0295483413303218 Centerline is valid? [True, True] Translation: X:184.86, Y:-28.65, Z:-5.16 [[ 9.76211538e-01 2.15689696e-01 2.21130871e-02 1.84858784e+02] [-2.15622223e-01 9.76461818e-01 -5.41993672e-03 -2.86450556e+01] [-2.27616098e-02 5.22931764e-04 9.99740784e-01 -5.16340107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.688623853 meters 0.02929024540308093 Centerline is valid? [True, True] Translation: X:184.92, Y:-28.66, Z:-5.17 [[ 9.75655291e-01 2.18209308e-01 2.19419935e-02 1.84915987e+02] [-2.18143511e-01 9.75901883e-01 -5.37800153e-03 -2.86640328e+01] [-2.25867628e-02 4.60572138e-04 9.99744780e-01 -5.16570442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.748623853 meters 0.02438575739197336 Centerline is valid? [True, True] Translation: X:184.97, Y:-28.68, Z:-5.17 [[ 9.74552519e-01 2.23105561e-01 2.17093669e-02 1.84974195e+02] [-2.23042362e-01 9.74794230e-01 -5.32111509e-03 -2.86771141e+01] [-2.23493359e-02 3.43597642e-04 9.99750163e-01 -5.16711015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.808623853 meters 0.021153325766788467 Centerline is valid? [True, True] Translation: X:185.03, Y:-28.69, Z:-5.17 [[ 9.73434923e-01 2.27971479e-01 2.12945025e-02 1.85031269e+02] [-2.27911843e-01 9.73667784e-01 -5.21905315e-03 -2.86889358e+01] [-2.19235664e-02 2.27139274e-04 9.99759624e-01 -5.16947887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.868623853 meters 0.01680215627644955 Centerline is valid? [True, True] Translation: X:185.09, Y:-28.69, Z:-5.17 [[ 9.71545568e-01 2.35853631e-01 2.17318870e-02 1.85090727e+02] [-2.35793512e-01 9.71788589e-01 -5.32515876e-03 -2.86940835e+01] [-2.23747578e-02 4.93964299e-05 9.99749653e-01 -5.16908830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.928623853 meters 0.018104462801527332 Centerline is valid? [True, True] Translation: X:185.15, Y:-28.70, Z:-5.17 [[ 9.69603517e-01 2.43759558e-01 2.12202117e-02 1.85148450e+02] [-2.43704148e-01 9.69835687e-01 -5.19877829e-03 -2.86997743e+01] [-2.18473705e-02 -1.30699920e-04 9.99761309e-01 -5.17311478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98862385299998 meters 0.020651334627298238 Centerline is valid? [True, True] Translation: X:185.21, Y:-28.71, Z:-5.18 [[ 9.68470073e-01 2.48259715e-01 2.08046259e-02 1.85206816e+02] [-2.48207522e-01 9.68693482e-01 -5.09556167e-03 -2.87075949e+01] [-2.14183282e-02 -2.28965652e-04 9.99770575e-01 -5.17537517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04862385299998 meters 0.02277015636039142 Centerline is valid? [True, True] Translation: X:185.26, Y:-28.72, Z:-5.18 [[ 9.67636352e-01 2.51510174e-01 2.05553534e-02 1.85264341e+02] [-2.51459976e-01 9.67854609e-01 -5.03358164e-03 -2.87178495e+01] [-2.11605905e-02 -2.98172108e-04 9.99776045e-01 -5.17737918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10862385299998 meters 0.025827346396264602 Centerline is valid? [True, True] Translation: X:185.32, Y:-28.73, Z:-5.18 [[ 9.66775195e-01 2.54840087e-01 2.00562241e-02 1.85322357e+02] [-2.54793043e-01 9.66983142e-01 -4.90994730e-03 -2.87271282e+01] [-2.06452820e-02 -3.63371098e-04 9.99786797e-01 -5.17952628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16862385299999 meters 0.027518957687528156 Centerline is valid? [True, True] Translation: X:185.38, Y:-28.74, Z:-5.18 [[ 9.66387412e-01 2.56238954e-01 2.09037635e-02 1.85379015e+02] [-2.56188191e-01 9.66613382e-01 -5.11674730e-03 -2.87372205e+01] [-2.15169675e-02 -4.10537181e-04 9.99768399e-01 -5.18010787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.228623853 meters 0.02719063140240986 Centerline is valid? [True, True] Translation: X:185.44, Y:-28.75, Z:-5.18 [[ 9.66411330e-01 2.56110840e-01 2.13630296e-02 1.85436003e+02] [-2.56057822e-01 9.66647331e-01 -5.22774080e-03 -2.87510835e+01] [-2.19893966e-02 -4.18022884e-04 9.99758117e-01 -5.18129938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.288623853 meters 0.025835372689474497 Centerline is valid? [True, True] Translation: X:185.49, Y:-28.77, Z:-5.18 [[ 9.66819890e-01 2.54530100e-01 2.17653211e-02 1.85492822e+02] [-2.54474690e-01 9.67064773e-01 -5.32508372e-03 -2.87670257e+01] [-2.24038694e-02 -3.90326466e-04 9.99748926e-01 -5.18228852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.348623853 meters 0.025308594651750546 Centerline is valid? [True, True] Translation: X:185.55, Y:-28.78, Z:-5.18 [[ 9.67199137e-01 2.53056639e-01 2.20945107e-02 1.85549228e+02] [-2.52999179e-01 9.67451397e-01 -5.40457404e-03 -2.87810344e+01] [-2.27430285e-02 -3.62593710e-04 9.99741278e-01 -5.18400842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.408623853 meters 0.02368131227424418 Centerline is valid? [True, True] Translation: X:185.60, Y:-28.80, Z:-5.19 [[ 9.67758199e-01 2.50917572e-01 2.20100114e-02 1.85604974e+02] [-2.50860027e-01 9.68008406e-01 -5.38256844e-03 -2.87966093e+01] [-2.26564571e-02 -3.12407322e-04 9.99743261e-01 -5.18598800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.468623853 meters 0.020655232807327 Centerline is valid? [True, True] Translation: X:185.66, Y:-28.81, Z:-5.19 [[ 9.68340601e-01 2.48742249e-01 2.10659571e-02 1.85661345e+02] [-2.48689047e-01 9.68569683e-01 -5.15046951e-03 -2.88142084e+01] [-2.16849868e-02 -2.51464059e-04 9.99764821e-01 -5.18874391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.528623853 meters 0.021013057801396725 Centerline is valid? [True, True] Translation: X:185.72, Y:-28.83, Z:-5.19 [[ 9.68664752e-01 2.47462509e-01 2.12345473e-02 1.85717422e+02] [-2.47408167e-01 9.68897443e-01 -5.19066134e-03 -2.88265030e+01] [-2.18585927e-02 -2.25589749e-04 9.99761047e-01 -5.19185085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.588623853 meters 0.01974520784517806 Centerline is valid? [True, True] Translation: X:185.77, Y:-28.84, Z:-5.19 [[ 9.69114974e-01 2.45668852e-01 2.15170076e-02 1.85773444e+02] [-2.45612644e-01 9.69353795e-01 -5.25829476e-03 -2.88404379e+01] [-2.21493922e-02 -1.88956944e-04 9.99754654e-01 -5.19393081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.648623853 meters 0.01892780805734577 Centerline is valid? [True, True] Translation: X:185.83, Y:-28.85, Z:-5.20 [[ 9.69508305e-01 2.44155137e-01 2.10217696e-02 1.85829301e+02] [-2.44101153e-01 9.69736173e-01 -5.13623430e-03 -2.88546383e+01] [-2.16396084e-02 -1.51816386e-04 9.99765825e-01 -5.19663167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.708623853 meters 0.017154388338605425 Centerline is valid? [True, True] Translation: X:185.89, Y:-28.87, Z:-5.20 [[ 9.70298130e-01 2.41050114e-01 2.04054329e-02 1.85885529e+02] [-2.40998603e-01 9.70512666e-01 -4.98373755e-03 -2.88725204e+01] [-2.10050616e-02 -8.19696002e-05 9.99779366e-01 -5.19856801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76862385299998 meters 0.01655559956249136 Centerline is valid? [True, True] Translation: X:185.94, Y:-28.89, Z:-5.20 [[ 9.70813977e-01 2.38898398e-01 2.11607663e-02 1.85942672e+02] [-2.38842515e-01 9.71044568e-01 -5.16712824e-03 -2.88883848e+01] [-2.17824658e-02 -3.77703184e-05 9.99762733e-01 -5.19915067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82862385299998 meters 0.0164183299935141 Centerline is valid? [True, True] Translation: X:186.00, Y:-28.90, Z:-5.20 [[ 9.71297924e-01 2.36915678e-01 2.12439435e-02 1.85998191e+02] [-2.36858901e-01 9.71530217e-01 -5.18644675e-03 -2.89038201e+01] [-2.18678835e-02 5.76785187e-06 9.99760869e-01 -5.20017936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88862385299998 meters 0.016847949566217185 Centerline is valid? [True, True] Translation: X:186.05, Y:-28.92, Z:-5.20 [[ 9.72043094e-01 2.33788625e-01 2.17968332e-02 1.86053559e+02] [-2.33728099e-01 9.72287444e-01 -5.32004092e-03 -2.89202800e+01] [-2.24365523e-02 7.67766525e-05 9.99748266e-01 -5.20139608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.948623853 meters 0.01763379850088892 Centerline is valid? [True, True] Translation: X:186.11, Y:-28.94, Z:-5.20 [[ 9.72498247e-01 2.31870625e-01 2.19811745e-02 1.86110356e+02] [-2.31808612e-01 9.72746626e-01 -5.36362416e-03 -2.89367927e+01] [-2.26257802e-02 1.20689548e-04 9.99743997e-01 -5.20271560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.008623853 meters 0.01870781662878699 Centerline is valid? [True, True] Translation: X:186.17, Y:-28.95, Z:-5.20 [[ 9.73316281e-01 2.28358120e-01 2.25385613e-02 1.86167121e+02] [-2.28292006e-01 9.73577180e-01 -5.49853603e-03 -2.89529480e+01] [-2.31986643e-02 2.06441279e-04 9.99730853e-01 -5.20360603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.068623853 meters 0.021736268722772394 Centerline is valid? [True, True] Translation: X:186.22, Y:-28.97, Z:-5.21 [[ 9.74198925e-01 2.24660279e-01 2.15456190e-02 1.86221695e+02] [-2.24598981e-01 9.74437109e-01 -5.25522802e-03 -2.89742846e+01] [-2.21754917e-02 2.80513417e-04 9.99754054e-01 -5.20738947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.128623853 meters 0.02385390446716167 Centerline is valid? [True, True] Translation: X:186.28, Y:-28.99, Z:-5.21 [[ 9.74742814e-01 2.22303362e-01 2.13930192e-02 1.86277683e+02] [-2.22242387e-01 9.74977490e-01 -5.21683298e-03 -2.89932936e+01] [-2.20174316e-02 3.30634805e-04 9.99757532e-01 -5.21003014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.188623853 meters 0.024916413460524946 Centerline is valid? [True, True] Translation: X:186.34, Y:-29.01, Z:-5.21 [[ 9.75320431e-01 2.19685153e-01 2.21018427e-02 1.86335451e+02] [-2.19619421e-01 9.75570742e-01 -5.38864870e-03 -2.90123451e+01] [-2.27457172e-02 4.01665270e-04 9.99741202e-01 -5.20957629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.248623853 meters 0.026084696286549306 Centerline is valid? [True, True] Translation: X:186.39, Y:-29.03, Z:-5.21 [[ 9.75422609e-01 2.19221608e-01 2.21950473e-02 1.86393388e+02] [-2.19155202e-01 9.75675005e-01 -5.41131235e-03 -2.90312711e+01] [-2.28414295e-02 4.14156328e-04 9.99739015e-01 -5.21188660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.308623853 meters 0.02697319163918071 Centerline is valid? [True, True] Translation: X:186.45, Y:-29.05, Z:-5.21 [[ 9.75498011e-01 2.18911322e-01 2.19422573e-02 1.86451026e+02] [-2.18846336e-01 9.75744669e-01 -5.34995647e-03 -2.90493867e+01] [-2.25812066e-02 4.16889285e-04 9.99744925e-01 -5.21430319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.368623853 meters 0.0260524091396178 Centerline is valid? [True, True] Translation: X:186.51, Y:-29.07, Z:-5.22 [[ 9.75449454e-01 2.19205726e-01 2.11474093e-02 1.86510418e+02] [-2.19145429e-01 9.75678581e-01 -5.15633019e-03 -2.90657936e+01] [-2.17633714e-02 3.95381397e-04 9.99763072e-01 -5.21780049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.428623853 meters 0.02643330299751459 Centerline is valid? [True, True] Translation: X:186.57, Y:-29.09, Z:-5.22 [[ 9.75295183e-01 2.19894593e-01 2.11110134e-02 1.86567534e+02] [-2.19834651e-01 9.75523564e-01 -5.14806085e-03 -2.90856028e+01] [-2.17263217e-02 3.79946695e-04 9.99763883e-01 -5.21972821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48862385299998 meters 0.024654308297289575 Centerline is valid? [True, True] Translation: X:186.63, Y:-29.10, Z:-5.22 [[ 9.75086867e-01 2.20816123e-01 2.11149674e-02 1.86626989e+02] [-2.20756370e-01 9.75315390e-01 -5.14921242e-03 -2.91016768e+01] [-2.17307818e-02 3.59665847e-04 9.99763794e-01 -5.22059596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54862385299998 meters 0.022492653888882566 Centerline is valid? [True, True] Translation: X:186.69, Y:-29.12, Z:-5.22 [[ 9.74384145e-01 2.23816078e-01 2.19522633e-02 1.86685128e+02] [-2.23752238e-01 9.74631351e-01 -5.35404630e-03 -2.91171503e+01] [-2.25936856e-02 3.05029804e-04 9.99744684e-01 -5.22080048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60862385299998 meters 0.020406432990110704 Centerline is valid? [True, True] Translation: X:186.74, Y:-29.13, Z:-5.22 [[ 9.73754636e-01 2.26523247e-01 2.21162305e-02 1.86743722e+02] [-2.26459140e-01 9.74005728e-01 -5.39437767e-03 -2.91304129e+01] [-2.27632871e-02 2.44377736e-04 9.99740853e-01 -5.22224856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66862385299999 meters 0.017689291540896237 Centerline is valid? [True, True] Translation: X:186.80, Y:-29.14, Z:-5.22 [[ 9.72925225e-01 2.30004828e-01 2.26778456e-02 1.86803112e+02] [-2.29938371e-01 9.73189473e-01 -5.53125026e-03 -2.91441283e+01] [-2.33420549e-02 1.66986030e-04 9.99727523e-01 -5.22214125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.728623853 meters 0.02251494312162742 Centerline is valid? [True, True] Translation: X:186.86, Y:-29.16, Z:-5.22 [[ 9.72508517e-01 2.31870055e-01 2.15281819e-02 1.86861892e+02] [-2.31810609e-01 9.72746762e-01 -5.25143429e-03 -2.91588938e+01] [-2.21591196e-02 1.16603614e-04 9.99754450e-01 -5.21904129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.788623853 meters 0.016710031717375787 Centerline is valid? [True, True] Translation: X:186.92, Y:-29.18, Z:-5.23 [[ 9.72298102e-01 2.32758507e-01 2.14447912e-02 1.86920290e+02] [-2.32699729e-01 9.72534559e-01 -5.23143601e-03 -2.91751364e+01] [-2.20734618e-02 9.63181974e-05 9.99756347e-01 -5.22808776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.848623853 meters 0.01647621567873904 Centerline is valid? [True, True] Translation: X:186.98, Y:-29.19, Z:-5.23 [[ 9.71999000e-01 2.33991003e-01 2.15905940e-02 1.86977874e+02] [-2.33931726e-01 9.72238760e-01 -5.26707195e-03 -2.91895899e+01] [-2.22236598e-02 6.88637536e-05 9.99753022e-01 -5.23041706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.908623853 meters 0.015932676600713548 Centerline is valid? [True, True] Translation: X:187.04, Y:-29.20, Z:-5.23 [[ 9.71591414e-01 2.35612046e-01 2.22954597e-02 1.87035816e+02] [-2.35549267e-01 9.71847191e-01 -5.43879367e-03 -2.92038419e+01] [-2.29492252e-02 3.26060441e-05 9.99736631e-01 -5.23038642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.968623853 meters 0.015858962009744303 Centerline is valid? [True, True] Translation: X:187.09, Y:-29.22, Z:-5.23 [[ 9.71375969e-01 2.36476902e-01 2.25255598e-02 1.87094941e+02] [-2.36413070e-01 9.71637111e-01 -5.49412465e-03 -2.92200408e+01] [-2.31859034e-02 1.15239143e-05 9.99731171e-01 -5.23151193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.028623853 meters 0.01582623089557967 Centerline is valid? [True, True] Translation: X:187.15, Y:-29.24, Z:-5.23 [[ 9.71301727e-01 2.36782687e-01 2.25147531e-02 1.87153558e+02] [-2.36718984e-01 9.71562638e-01 -5.49212925e-03 -2.92353267e+01] [-2.31749340e-02 4.84513898e-06 9.99731425e-01 -5.23349463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.088623853 meters 0.01580071312021971 Centerline is valid? [True, True] Translation: X:187.21, Y:-29.25, Z:-5.24 [[ 9.71440764e-01 2.36232913e-01 2.22901986e-02 1.87212450e+02] [-2.36170325e-01 9.71696460e-01 -5.43757573e-03 -2.92530239e+01] [-2.29438415e-02 1.79992707e-05 9.99736755e-01 -5.23593722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.148623853 meters 0.015939954912124583 Centerline is valid? [True, True] Translation: X:187.27, Y:-29.27, Z:-5.24 [[ 9.71640548e-01 2.35454459e-01 2.18138153e-02 1.87271601e+02] [-2.35394309e-01 9.71885382e-01 -5.32190447e-03 -2.92710719e+01] [-2.24535943e-02 3.61302052e-05 9.99747886e-01 -5.23826531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.208623853 meters 0.016024460715945505 Centerline is valid? [True, True] Translation: X:187.33, Y:-29.29, Z:-5.24 [[ 9.71778741e-01 2.34846188e-01 2.22114177e-02 1.87330348e+02] [-2.34783654e-01 9.72032543e-01 -5.41948260e-03 -2.92887503e+01] [-2.28629657e-02 5.16601707e-05 9.99738607e-01 -5.23898469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26862385299998 meters 0.015934068470217583 Centerline is valid? [True, True] Translation: X:187.39, Y:-29.30, Z:-5.24 [[ 9.71594683e-01 2.35593704e-01 2.23468028e-02 1.87389253e+02] [-2.35530588e-01 9.71851638e-01 -5.45314128e-03 -2.93033026e+01] [-2.30025026e-02 3.48874815e-05 9.99735407e-01 -5.24029667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32862385299998 meters 0.015621496122502085 Centerline is valid? [True, True] Translation: X:187.45, Y:-29.32, Z:-5.24 [[ 9.71209480e-01 2.37118583e-01 2.29548195e-02 1.87447825e+02] [-2.37052400e-01 9.71480714e-01 -5.60195406e-03 -2.93158461e+01] [-2.36284918e-02 -8.24172484e-07 9.99720808e-01 -5.24109805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38862385299998 meters 0.01562747337509061 Centerline is valid? [True, True] Translation: X:187.51, Y:-29.33, Z:-5.24 [[ 9.71089314e-01 2.37620340e-01 2.28499167e-02 1.87507899e+02] [-2.37554933e-01 9.71358108e-01 -5.57494779e-03 -2.93301283e+01] [-2.35201728e-02 -1.43381964e-05 9.99723362e-01 -5.24232153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.448623853 meters 0.015801113842673697 Centerline is valid? [True, True] Translation: X:187.57, Y:-29.35, Z:-5.25 [[ 9.71107264e-01 2.37616979e-01 2.21100099e-02 1.87567021e+02] [-2.37555642e-01 9.71358930e-01 -5.39867167e-03 -2.93450069e+01] [-2.27595716e-02 -9.66831097e-06 9.99740967e-01 -5.24620749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.508623853 meters 0.01593580300213294 Centerline is valid? [True, True] Translation: X:187.62, Y:-29.36, Z:-5.25 [[ 9.71328540e-01 2.36750740e-01 2.16784174e-02 1.87623597e+02] [-2.36691496e-01 9.71570423e-01 -5.29614200e-03 -2.93612203e+01] [-2.23159747e-02 1.31968566e-05 9.99750968e-01 -5.24954582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.568623853 meters 0.01600077623449795 Centerline is valid? [True, True] Translation: X:187.68, Y:-29.38, Z:-5.25 [[ 9.71430048e-01 2.36354627e-01 2.14511680e-02 1.87679576e+02] [-2.36296533e-01 9.71666861e-01 -5.24011696e-03 -2.93776054e+01] [-2.20819150e-02 2.15704458e-05 9.99756165e-01 -5.25186350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.628623853 meters 0.01573860887866756 Centerline is valid? [True, True] Translation: X:187.74, Y:-29.39, Z:-5.25 [[ 9.71182875e-01 2.37318716e-01 2.19920518e-02 1.87738074e+02] [-2.37257921e-01 9.71431844e-01 -5.37137841e-03 -2.93897452e+01] [-2.26385080e-02 -1.19776581e-06 9.99743716e-01 -5.25173941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.688623853 meters 0.015849152306573185 Centerline is valid? [True, True] Translation: X:187.80, Y:-29.40, Z:-5.25 [[ 9.70663835e-01 2.39373813e-01 2.26251355e-02 1.87796469e+02] [-2.39310036e-01 9.70927482e-01 -5.52555877e-03 -2.94000607e+01] [-2.32900399e-02 -5.09619287e-05 9.99728749e-01 -5.25246078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.748623853 meters 0.01579966487667978 Centerline is valid? [True, True] Translation: X:187.85, Y:-29.41, Z:-5.25 [[ 9.70458729e-01 2.40155831e-01 2.31307516e-02 1.87854287e+02] [-2.40089421e-01 9.70734347e-01 -5.64786718e-03 -2.94137423e+01] [-2.38101833e-02 -7.24267643e-05 9.99716495e-01 -5.25248537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.808623853 meters 0.015963815287818622 Centerline is valid? [True, True] Translation: X:187.91, Y:-29.43, Z:-5.26 [[ 9.70380700e-01 2.40503231e-01 2.27923721e-02 1.87912956e+02] [-2.40438859e-01 9.70648335e-01 -5.56469682e-03 -2.94258521e+01] [-2.34617055e-02 -8.02975261e-05 9.99724733e-01 -5.25527750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.868623853 meters 0.016228768841132116 Centerline is valid? [True, True] Translation: X:187.97, Y:-29.44, Z:-5.26 [[ 9.70285060e-01 2.40961943e-01 2.20055622e-02 1.87970180e+02] [-2.40902067e-01 9.70534561e-01 -5.37214469e-03 -2.94379582e+01] [-2.26516411e-02 -8.86736895e-05 9.99743415e-01 -5.25875044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.928623853 meters 0.01634211989826301 Centerline is valid? [True, True] Translation: X:188.03, Y:-29.45, Z:-5.26 [[ 9.70242942e-01 2.41130054e-01 2.20211280e-02 1.88027700e+02] [-2.41070153e-01 9.70492807e-01 -5.37520197e-03 -2.94496336e+01] [-2.26674691e-02 -9.33849334e-05 9.99743056e-01 -5.26051951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98862385299998 meters 0.016401236954826228 Centerline is valid? [True, True] Translation: X:188.08, Y:-29.46, Z:-5.26 [[ 9.70211261e-01 2.41242649e-01 2.21831872e-02 1.88084592e+02] [-2.41181915e-01 9.70464824e-01 -5.41377351e-03 -2.94605031e+01] [-2.28340359e-02 -9.76795581e-05 9.99739265e-01 -5.26270938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04862385299998 meters 0.021934113173009844 Centerline is valid? [True, True] Translation: X:188.14, Y:-29.47, Z:-5.26 [[ 9.70222064e-01 2.41207192e-01 2.20960753e-02 1.88141988e+02] [-2.41146961e-01 9.70473638e-01 -5.39093561e-03 -2.94723684e+01] [-2.27439910e-02 -9.79967161e-05 9.99741317e-01 -5.25835954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10862385299998 meters 0.016468152226211893 Centerline is valid? [True, True] Translation: X:188.20, Y:-29.48, Z:-5.27 [[ 9.70236427e-01 2.41129096e-01 2.23166883e-02 1.88199638e+02] [-2.41067660e-01 9.70493045e-01 -5.44369942e-03 -2.94840994e+01] [-2.29708251e-02 -9.81563637e-05 9.99736131e-01 -5.26596052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16862385299999 meters 0.01565603258294772 Centerline is valid? [True, True] Translation: X:188.26, Y:-29.50, Z:-5.27 [[ 9.70557444e-01 2.39839372e-01 2.22558703e-02 1.88257118e+02] [-2.39777958e-01 9.70812583e-01 -5.42773074e-03 -2.94985498e+01] [-2.29080625e-02 -6.85426669e-05 9.99737574e-01 -5.26683137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.228623853 meters 0.015629620986824296 Centerline is valid? [True, True] Translation: X:188.31, Y:-29.51, Z:-5.27 [[ 9.70716668e-01 2.39192427e-01 2.22740484e-02 1.88314962e+02] [-2.39130754e-01 9.70972183e-01 -5.43160511e-03 -2.95126372e+01] [-2.29266802e-02 -5.38603909e-05 9.99737148e-01 -5.26846684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.288623853 meters 0.01551580064312067 Centerline is valid? [True, True] Translation: X:188.37, Y:-29.53, Z:-5.27 [[ 9.71100609e-01 2.37627898e-01 2.22842627e-02 1.88372000e+02] [-2.37565768e-01 9.71356259e-01 -5.43359035e-03 -2.95264027e+01] [-2.29371307e-02 -1.74150941e-05 9.99736909e-01 -5.27106155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.348623853 meters 0.015271995721802533 Centerline is valid? [True, True] Translation: X:188.43, Y:-29.54, Z:-5.27 [[ 9.71240027e-01 2.37013176e-01 2.27500232e-02 1.88430604e+02] [-2.36948275e-01 9.71506436e-01 -5.54622908e-03 -2.95394065e+01] [-2.34163233e-02 -3.85906494e-06 9.99725800e-01 -5.26990290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.408623853 meters 0.015463481458017306 Centerline is valid? [True, True] Translation: X:188.49, Y:-29.55, Z:-5.27 [[ 9.71015166e-01 2.38009291e-01 2.19345806e-02 1.88489679e+02] [-2.37949225e-01 9.71262877e-01 -5.34690640e-03 -2.95496453e+01] [-2.25768573e-02 -2.73892650e-05 9.99745110e-01 -5.27331687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.468623853 meters 0.021526649116206147 Centerline is valid? [True, True] Translation: X:188.55, Y:-29.56, Z:-5.27 [[ 9.70635093e-01 2.39577808e-01 2.16792779e-02 1.88547192e+02] [-2.39519531e-01 9.70877165e-01 -5.28434303e-03 -2.95563952e+01] [-2.23139272e-02 -6.34417010e-05 9.99751011e-01 -5.27075053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.528623853 meters 0.016119993287671386 Centerline is valid? [True, True] Translation: X:188.61, Y:-29.56, Z:-5.27 [[ 9.70155843e-01 2.41389443e-01 2.29951415e-02 1.88606047e+02] [-2.41324425e-01 9.70428320e-01 -5.60339702e-03 -2.95648324e+01] [-2.36677374e-02 -1.13120931e-04 9.99719873e-01 -5.27405669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.588623853 meters 0.016241689797442154 Centerline is valid? [True, True] Translation: X:188.66, Y:-29.57, Z:-5.27 [[ 9.70043400e-01 2.41764635e-01 2.37836866e-02 1.88664021e+02] [-2.41695223e-01 9.70334914e-01 -5.79431777e-03 -2.95743437e+01] [-2.44790026e-02 -1.27663714e-04 9.99700336e-01 -5.27398249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.648623853 meters 0.015923572035639853 Centerline is valid? [True, True] Translation: X:188.72, Y:-29.58, Z:-5.28 [[ 9.70309278e-01 2.40704211e-01 2.36936230e-02 1.88720891e+02] [-2.40635035e-01 9.70598512e-01 -5.77125326e-03 -2.95844015e+01] [-2.43861602e-02 -1.01615230e-04 9.99702608e-01 -5.27574245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.708623853 meters 0.015581121918810793 Centerline is valid? [True, True] Translation: X:188.78, Y:-29.60, Z:-5.28 [[ 9.70595551e-01 2.39595019e-01 2.32056952e-02 1.88778249e+02] [-2.39528380e-01 9.70872917e-01 -5.65097750e-03 -2.95958950e+01] [-2.38837270e-02 -7.36089496e-05 9.99714740e-01 -5.27879523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76862385299998 meters 0.01519290747041585 Centerline is valid? [True, True] Translation: X:188.83, Y:-29.61, Z:-5.28 [[ 9.71333787e-01 2.36603558e-01 2.30093536e-02 1.88834213e+02] [-2.36537228e-01 9.71606276e-01 -5.60211143e-03 -2.96082758e+01] [-2.36815119e-02 -1.04859801e-06 9.99719554e-01 -5.28130715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82862385299998 meters 0.016225055757529173 Centerline is valid? [True, True] Translation: X:188.89, Y:-29.62, Z:-5.28 [[ 9.72484142e-01 2.31840749e-01 2.29011190e-02 1.88890590e+02] [-2.31773752e-01 9.72753748e-01 -5.57435064e-03 -2.96248311e+01] [-2.35695109e-02 1.13089321e-04 9.99722194e-01 -5.28332787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88862385299998 meters 0.01773373004290115 Centerline is valid? [True, True] Translation: X:188.95, Y:-29.64, Z:-5.28 [[ 9.73208213e-01 2.28786784e-01 2.28556869e-02 1.88946921e+02] [-2.28719237e-01 9.73476540e-01 -5.56217170e-03 -2.96405247e+01] [-2.35220264e-02 1.85615927e-04 9.99723302e-01 -5.28443899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.948623853 meters 0.01984711107791115 Centerline is valid? [True, True] Translation: X:189.00, Y:-29.65, Z:-5.29 [[ 9.73743138e-01 2.26556426e-01 2.22819911e-02 1.89003756e+02] [-2.26491667e-01 9.73998014e-01 -5.42152667e-03 -2.96521784e+01] [-2.29308968e-02 2.32489075e-04 9.99737025e-01 -5.28806097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.008623853 meters 0.0206928237580973 Centerline is valid? [True, True] Translation: X:189.06, Y:-29.66, Z:-5.29 [[ 9.73949442e-01 2.25660754e-01 2.23541530e-02 1.89061438e+02] [-2.25595372e-01 9.74205913e-01 -5.43762037e-03 -2.96644890e+01] [-2.30046056e-02 2.52973847e-04 9.99735327e-01 -5.28949447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.068623853 meters 0.023153207067579114 Centerline is valid? [True, True] Translation: X:189.12, Y:-29.68, Z:-5.29 [[ 9.74510936e-01 2.23289406e-01 2.16858886e-02 1.89117028e+02] [-2.23227309e-01 9.74752149e-01 -5.27413175e-03 -2.96797897e+01] [-2.23160242e-02 2.98816518e-04 9.99750922e-01 -5.29209513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.128623853 meters 0.025795838881987818 Centerline is valid? [True, True] Translation: X:189.17, Y:-29.70, Z:-5.29 [[ 9.75065341e-01 2.20863326e-01 2.16095389e-02 1.89173545e+02] [-2.20801100e-01 9.75304705e-01 -5.25422412e-03 -2.96965862e+01] [-2.22363503e-02 3.51801890e-04 9.99752680e-01 -5.29401079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.188623853 meters 0.02608991078652077 Centerline is valid? [True, True] Translation: X:189.23, Y:-29.71, Z:-5.29 [[ 9.75689915e-01 2.18015417e-01 2.23264025e-02 1.89231497e+02] [-2.17948274e-01 9.75945231e-01 -5.42740263e-03 -2.97087586e+01] [-2.29726035e-02 4.29461123e-04 9.99736003e-01 -5.29256771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.248623853 meters 0.029396929786265524 Centerline is valid? [True, True] Translation: X:189.29, Y:-29.73, Z:-5.30 [[ 9.75958655e-01 2.16817895e-01 2.22419582e-02 1.89288174e+02] [-2.16750969e-01 9.76211961e-01 -5.40592836e-03 -2.97271464e+01] [-2.28849677e-02 4.54996565e-04 9.99738001e-01 -5.29509623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.308623853 meters 0.029845307266343574 Centerline is valid? [True, True] Translation: X:189.35, Y:-29.74, Z:-5.30 [[ 9.76155383e-01 2.15969134e-01 2.18632453e-02 1.89346235e+02] [-2.15904259e-01 9.76400080e-01 -5.31367763e-03 -2.97416437e+01] [-2.24948648e-02 4.66607249e-04 9.99746850e-01 -5.29712317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.368623853 meters 0.02631020965482135 Centerline is valid? [True, True] Translation: X:189.41, Y:-29.75, Z:-5.30 [[ 9.76101182e-01 2.16239396e-01 2.16103073e-02 1.89406208e+02] [-2.16176095e-01 9.76340267e-01 -5.25157060e-03 -2.97501187e+01] [-2.22346096e-02 4.54432441e-04 9.99752677e-01 -5.29863092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.428623853 meters 0.027151572063936032 Centerline is valid? [True, True] Translation: X:189.46, Y:-29.77, Z:-5.30 [[ 9.75874001e-01 2.17359959e-01 2.06053889e-02 1.89463651e+02] [-2.17302657e-01 9.76091431e-01 -5.00744492e-03 -2.97650152e+01] [-2.12011616e-02 4.09029563e-04 9.99775146e-01 -5.30285893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48862385299998 meters 0.027425218345387317 Centerline is valid? [True, True] Translation: X:189.52, Y:-29.78, Z:-5.30 [[ 9.75768881e-01 2.17820962e-01 2.07151945e-02 1.89520815e+02] [-2.17763153e-01 9.75988662e-01 -5.03401170e-03 -2.97785105e+01] [-2.13143082e-02 4.01025883e-04 9.99772744e-01 -5.30450563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54862385299998 meters 0.025094722601340838 Centerline is valid? [True, True] Translation: X:189.58, Y:-29.79, Z:-5.31 [[ 9.75727795e-01 2.18003961e-01 2.07254334e-02 1.89579908e+02] [-2.17946154e-01 9.75947804e-01 -5.03566719e-03 -2.97896382e+01] [-2.13247366e-02 3.96411944e-04 9.99772523e-01 -5.30539754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60862385299998 meters 0.026927726193364688 Centerline is valid? [True, True] Translation: X:189.64, Y:-29.81, Z:-5.31 [[ 9.75798123e-01 2.17698790e-01 2.06218563e-02 1.89635781e+02] [-2.17641501e-01 9.76015920e-01 -5.01005127e-03 -2.98070153e+01] [-2.12179421e-02 4.00626871e-04 9.99774794e-01 -5.30769172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66862385299999 meters 0.026725953688748545 Centerline is valid? [True, True] Translation: X:189.69, Y:-29.82, Z:-5.31 [[ 9.75710144e-01 2.18107764e-01 2.04626210e-02 1.89693654e+02] [-2.18051465e-01 9.75924614e-01 -4.97049948e-03 -2.98225748e+01] [-2.10540800e-02 3.87862264e-04 9.99778263e-01 -5.30930559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.728623853 meters 0.027008488825395145 Centerline is valid? [True, True] Translation: X:189.75, Y:-29.84, Z:-5.31 [[ 9.75446117e-01 2.19252177e-01 2.08172054e-02 1.89749093e+02] [-2.19194177e-01 9.75668154e-01 -5.05633018e-03 -2.98378163e+01] [-2.14192958e-02 3.69167445e-04 9.99770512e-01 -5.31051833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.788623853 meters 0.02467169955541636 Centerline is valid? [True, True] Translation: X:189.81, Y:-29.85, Z:-5.31 [[ 9.74951571e-01 2.21436910e-01 2.08597646e-02 1.89807286e+02] [-2.21379202e-01 9.75174647e-01 -5.06522692e-03 -2.98497218e+01] [-2.14635417e-02 3.20432906e-04 9.99769580e-01 -5.31213850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.848623853 meters 0.022468810203899344 Centerline is valid? [True, True] Translation: X:189.86, Y:-29.86, Z:-5.31 [[ 9.74688481e-01 2.22608197e-01 2.06870723e-02 1.89864715e+02] [-2.22551718e-01 9.74907947e-01 -5.02265932e-03 -2.98615224e+01] [-2.12860763e-02 2.91584713e-04 9.99773383e-01 -5.31267646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.908623853 meters 0.021733260294986036 Centerline is valid? [True, True] Translation: X:189.92, Y:-29.88, Z:-5.32 [[ 9.74477306e-01 2.23581549e-01 2.01313193e-02 1.89921407e+02] [-2.23528292e-01 9.74685191e-01 -4.88677665e-03 -2.98758844e+01] [-2.07142919e-02 2.62133537e-04 9.99785402e-01 -5.31591046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.968623853 meters 0.02123603268383387 Centerline is valid? [True, True] Translation: X:189.98, Y:-29.89, Z:-5.32 [[ 9.74545717e-01 2.23278122e-01 2.01872765e-02 1.89979217e+02] [-2.23224527e-01 9.74754743e-01 -4.89919814e-03 -2.98904979e+01] [-2.07715273e-02 2.68197302e-04 9.99784213e-01 -5.31672641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.028623853 meters 0.021895632500264613 Centerline is valid? [True, True] Translation: X:190.04, Y:-29.91, Z:-5.32 [[ 9.74652196e-01 2.22834532e-01 1.99466324e-02 1.90035133e+02] [-2.22782125e-01 9.74856244e-01 -4.84032798e-03 -2.99094252e+01] [-2.05236914e-02 2.73883157e-04 9.99789329e-01 -5.31892496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.088623853 meters 0.02241443619044897 Centerline is valid? [True, True] Translation: X:190.09, Y:-29.93, Z:-5.32 [[ 9.74698364e-01 2.22653695e-01 1.97086485e-02 1.90091952e+02] [-2.22602504e-01 9.74897562e-01 -4.78202596e-03 -2.99258520e+01] [-2.02786491e-02 2.73838373e-04 9.99794330e-01 -5.32105137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.148623853 meters 0.021217897376504605 Centerline is valid? [True, True] Translation: X:190.15, Y:-29.94, Z:-5.32 [[ 9.74655634e-01 2.22823759e-01 1.98989345e-02 1.90149860e+02] [-2.22771632e-01 9.74858707e-01 -4.82717278e-03 -2.99420519e+01] [-2.04742583e-02 2.71913035e-04 9.99790343e-01 -5.32074503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.208623853 meters 0.02121131607051634 Centerline is valid? [True, True] Translation: X:190.21, Y:-29.96, Z:-5.32 [[ 9.74467206e-01 2.23574614e-01 2.06895102e-02 1.90206478e+02] [-2.23518434e-01 9.74686781e-01 -5.01884246e-03 -2.99594070e+01] [-2.12878778e-02 2.66210482e-04 9.99773352e-01 -5.32218121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26862385299998 meters 0.01986252259741168 Centerline is valid? [True, True] Translation: X:190.26, Y:-29.97, Z:-5.32 [[ 9.74189797e-01 2.24749050e-01 2.10262770e-02 1.90264969e+02] [-2.24691288e-01 9.74416648e-01 -5.10102202e-03 -2.99742266e+01] [-2.16348042e-02 2.44942338e-04 9.99765910e-01 -5.32251120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32862385299998 meters 0.019343027248572568 Centerline is valid? [True, True] Translation: X:190.32, Y:-29.99, Z:-5.32 [[ 9.73867207e-01 2.26151827e-01 2.09288045e-02 1.90322282e+02] [-2.26094926e-01 9.74092042e-01 -5.07726912e-03 -2.99893341e+01] [-2.15348156e-02 2.12689389e-04 9.99768076e-01 -5.32459979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38862385299998 meters 0.016907958141936387 Centerline is valid? [True, True] Translation: X:190.38, Y:-30.00, Z:-5.33 [[ 9.73005930e-01 2.29850295e-01 2.06954613e-02 1.90381385e+02] [-2.29795478e-01 9.73225989e-01 -5.02129198e-03 -2.99993384e+01] [-2.12955062e-02 1.30023458e-04 9.99773217e-01 -5.32599817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.448623853 meters 0.016320078213357125 Centerline is valid? [True, True] Translation: X:190.44, Y:-30.01, Z:-5.33 [[ 9.72409849e-01 2.32395082e-01 2.02881850e-02 1.90438615e+02] [-2.32342964e-01 9.72621468e-01 -4.92204308e-03 -3.00101604e+01] [-2.08765829e-02 7.24261402e-05 9.99782058e-01 -5.32869922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.508623853 meters 0.01586127426429544 Centerline is valid? [True, True] Translation: X:190.50, Y:-30.02, Z:-5.33 [[ 9.71579351e-01 2.35859345e-01 2.00980895e-02 1.90497507e+02] [-2.35808954e-01 9.71787204e-01 -4.87523621e-03 -3.00186957e+01] [-2.06809362e-02 -2.63062311e-06 9.99786127e-01 -5.33104920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.568623853 meters 0.015897992603557547 Centerline is valid? [True, True] Translation: X:190.55, Y:-30.03, Z:-5.33 [[ 9.71326105e-01 2.36861818e-01 2.05445328e-02 1.90554426e+02] [-2.36809408e-01 9.71543349e-01 -4.98253205e-03 -3.00296842e+01] [-2.11400757e-02 -2.54751930e-05 9.99776523e-01 -5.33261502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.628623853 meters 0.01569844991892804 Centerline is valid? [True, True] Translation: X:190.61, Y:-30.04, Z:-5.33 [[ 9.71452942e-01 2.36282020e-01 2.12129411e-02 1.90611699e+02] [-2.36226038e-01 9.71684520e-01 -5.14316843e-03 -3.00433811e+01] [-2.18275247e-02 -1.47029248e-05 9.99761751e-01 -5.33221971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.688623853 meters 0.01565447744222577 Centerline is valid? [True, True] Translation: X:190.67, Y:-30.06, Z:-5.33 [[ 9.71872326e-01 2.34548657e-01 2.12393498e-02 1.90668379e+02] [-2.34492144e-01 9.72104381e-01 -5.14851354e-03 -3.00586485e+01] [-2.18544419e-02 2.32371592e-05 9.99761163e-01 -5.33447065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.748623853 meters 0.016175715147532906 Centerline is valid? [True, True] Translation: X:190.72, Y:-30.08, Z:-5.34 [[ 9.72381988e-01 2.32475094e-01 2.07026727e-02 1.90724988e+02] [-2.32420953e-01 9.72602347e-01 -5.01742246e-03 -3.00756820e+01] [-2.13018938e-02 6.71163148e-05 9.99773087e-01 -5.33673912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.808623853 meters 0.017239494049596807 Centerline is valid? [True, True] Translation: X:190.78, Y:-30.09, Z:-5.34 [[ 9.72993919e-01 2.29928939e-01 2.03842313e-02 1.90780411e+02] [-2.29875911e-01 9.73207413e-01 -4.93932152e-03 -3.00912065e+01] [-2.09737779e-02 1.20086062e-04 9.99780019e-01 -5.33912168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.868623853 meters 0.018067784825993253 Centerline is valid? [True, True] Translation: X:190.84, Y:-30.11, Z:-5.34 [[ 9.73350087e-01 2.28424705e-01 2.02919398e-02 1.90837334e+02] [-2.28371857e-01 9.73561571e-01 -4.91562048e-03 -3.01065033e+01] [-2.08783019e-02 1.50511643e-04 9.99782013e-01 -5.34085112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.928623853 meters 0.01936950367787803 Centerline is valid? [True, True] Translation: X:190.89, Y:-30.12, Z:-5.34 [[ 9.73794906e-01 2.26535619e-01 2.01269713e-02 1.90892461e+02] [-2.26483243e-01 9.74002863e-01 -4.87474832e-03 -3.01232940e+01] [-2.07080318e-02 1.88583344e-04 9.99785548e-01 -5.34287278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98862385299998 meters 0.019710534617930844 Centerline is valid? [True, True] Translation: X:190.95, Y:-30.14, Z:-5.34 [[ 9.74073517e-01 2.25362775e-01 1.98091545e-02 1.90950167e+02] [-2.25311826e-01 9.74274898e-01 -4.79631304e-03 -3.01371230e+01] [-2.03804724e-02 2.08724731e-04 9.99792275e-01 -5.34452366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04862385299998 meters 0.02098355043959463 Centerline is valid? [True, True] Translation: X:191.01, Y:-30.15, Z:-5.35 [[ 9.74183971e-01 2.24880489e-01 1.98584135e-02 1.91006899e+02] [-2.24829196e-01 9.74386329e-01 -4.80781991e-03 -3.01536700e+01] [-2.04309515e-02 2.18949961e-04 9.99791242e-01 -5.34716474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10862385299998 meters 0.0211123858217122 Centerline is valid? [True, True] Translation: X:191.06, Y:-30.17, Z:-5.35 [[ 9.74353851e-01 2.24145892e-01 1.98290602e-02 1.91064500e+02] [-2.24094616e-01 9.74555573e-01 -4.79986349e-03 -3.01691930e+01] [-2.04003908e-02 2.33179843e-04 9.99791863e-01 -5.34832889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16862385299999 meters 0.020802521908921952 Centerline is valid? [True, True] Translation: X:191.12, Y:-30.18, Z:-5.35 [[ 9.74308366e-01 2.24311700e-01 2.01858794e-02 1.91122207e+02] [-2.24258608e-01 9.74517422e-01 -4.88573014e-03 -3.01823407e+01] [-2.07674176e-02 2.33350528e-04 9.99784307e-01 -5.34908147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.228623853 meters 0.020111015379623415 Centerline is valid? [True, True] Translation: X:191.18, Y:-30.20, Z:-5.35 [[ 9.74159744e-01 2.24909457e-01 2.07009517e-02 1.91180084e+02] [-2.24853766e-01 9.74379641e-01 -5.00987298e-03 -3.01957309e+01] [-2.12973537e-02 2.25729645e-04 9.99773160e-01 -5.34963172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.288623853 meters 0.02004889060446451 Centerline is valid? [True, True] Translation: X:191.24, Y:-30.21, Z:-5.35 [[ 9.74164106e-01 2.24833697e-01 2.13096854e-02 1.91238329e+02] [-2.24774675e-01 9.74397124e-01 -5.15664563e-03 -3.02105318e+01] [-2.19234838e-02 2.33541475e-04 9.99759624e-01 -5.35075266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.348623853 meters 0.02017468556820537 Centerline is valid? [True, True] Translation: X:191.30, Y:-30.23, Z:-5.35 [[ 9.74157385e-01 2.24859407e-01 2.13456438e-02 1.91295297e+02] [-2.24800202e-01 9.74391191e-01 -5.16488599e-03 -3.02263522e+01] [-2.19603805e-02 2.32906768e-04 9.99758815e-01 -5.35276178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.408623853 meters 0.02044045413256544 Centerline is valid? [True, True] Translation: X:191.35, Y:-30.24, Z:-5.35 [[ 9.74166822e-01 2.24847762e-01 2.10353558e-02 1.91351863e+02] [-2.24790280e-01 9.74393879e-01 -5.08904267e-03 -3.02406058e+01] [-2.16409818e-02 2.29033002e-04 9.99765780e-01 -5.35452027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.468623853 meters 0.020730028227451135 Centerline is valid? [True, True] Translation: X:191.41, Y:-30.26, Z:-5.36 [[ 9.74246179e-01 2.24483676e-01 2.12476384e-02 1.91408891e+02] [-2.24424960e-01 9.74477820e-01 -5.13955007e-03 -3.02573840e+01] [-2.18590975e-02 2.38686614e-04 9.99761033e-01 -5.35641928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.528623853 meters 0.021533424064457816 Centerline is valid? [True, True] Translation: X:191.47, Y:-30.27, Z:-5.36 [[ 9.74400822e-01 2.23818372e-01 2.11748771e-02 1.91465199e+02] [-2.23759910e-01 9.74630839e-01 -5.12151085e-03 -3.02748898e+01] [-2.17839764e-02 2.52315790e-04 9.99762669e-01 -5.35874653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.588623853 meters 0.022513082136851964 Centerline is valid? [True, True] Translation: X:191.52, Y:-30.29, Z:-5.36 [[ 9.74576880e-01 2.23102293e-01 2.06221221e-02 1.91522190e+02] [-2.23046700e-01 9.74795004e-01 -4.98703238e-03 -3.02918835e+01] [-2.12149599e-02 2.60550174e-04 9.99774903e-01 -5.36175656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.648623853 meters 0.02192580012497629 Centerline is valid? [True, True] Translation: X:191.58, Y:-30.31, Z:-5.36 [[ 9.74857214e-01 2.21971405e-01 1.95475979e-02 1.91581542e+02] [-2.21921266e-01 9.75053139e-01 -4.72525720e-03 -3.03098667e+01] [-2.01088187e-02 2.68423386e-04 9.99797761e-01 -5.36447440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.708623853 meters 0.02299385632964183 Centerline is valid? [True, True] Translation: X:191.64, Y:-30.33, Z:-5.37 [[ 9.74964786e-01 2.21565116e-01 1.87767043e-02 1.91640084e+02] [-2.21518717e-01 9.75145541e-01 -4.54217444e-03 -3.03284027e+01] [-1.93164069e-02 2.69068702e-04 9.99813385e-01 -5.36781539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76862385299998 meters 0.021964183878472637 Centerline is valid? [True, True] Translation: X:191.70, Y:-30.35, Z:-5.37 [[ 9.74750653e-01 2.22411314e-01 1.98587942e-02 1.91699635e+02] [-2.22359517e-01 9.74952888e-01 -4.80735957e-03 -3.03459673e+01] [-2.04305999e-02 2.70184989e-04 9.99791237e-01 -5.36660709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82862385299998 meters 0.02078576891706929 Centerline is valid? [True, True] Translation: X:191.76, Y:-30.36, Z:-5.37 [[ 9.74298323e-01 2.24324631e-01 2.05240742e-02 1.91758561e+02] [-2.24269648e-01 9.74514444e-01 -4.97226127e-03 -3.03609375e+01] [-2.11164074e-02 2.41538918e-04 9.99776995e-01 -5.36716925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88862385299998 meters 0.01733126484397387 Centerline is valid? [True, True] Translation: X:191.82, Y:-30.37, Z:-5.37 [[ 9.73168313e-01 2.29142543e-01 2.09076553e-02 1.91818834e+02] [-2.29086503e-01 9.73392867e-01 -5.06947083e-03 -3.03719719e+01] [-2.15129940e-02 1.43786730e-04 9.99768558e-01 -5.36760360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.948623853 meters 0.015741614497169498 Centerline is valid? [True, True] Translation: X:191.88, Y:-30.38, Z:-5.37 [[ 9.72213483e-01 2.33188319e-01 2.05949350e-02 1.91878779e+02] [-2.33134836e-01 9.72431594e-01 -4.99431254e-03 -3.03813655e+01] [-2.11917808e-02 5.41411846e-05 9.99775428e-01 -5.36950986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.008623853 meters 0.015775758362975314 Centerline is valid? [True, True] Translation: X:191.94, Y:-30.39, Z:-5.37 [[ 9.71055564e-01 2.37991991e-01 2.02707710e-02 1.91938071e+02] [-2.37941217e-01 9.71267115e-01 -4.91603498e-03 -3.03882136e+01] [-2.08583102e-02 -4.95088012e-05 9.99782441e-01 -5.37235298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.068623853 meters 0.01728441651863782 Centerline is valid? [True, True] Translation: X:192.00, Y:-30.40, Z:-5.37 [[ 9.69972087e-01 2.42361513e-01 2.03727196e-02 1.91996502e+02] [-2.42311211e-01 9.70186001e-01 -4.93974278e-03 -3.03955502e+01] [-2.09625308e-02 -1.45125725e-04 9.99780251e-01 -5.37393680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.128623853 meters 0.018731444394430696 Centerline is valid? [True, True] Translation: X:192.06, Y:-30.41, Z:-5.37 [[ 9.69080396e-01 2.45876764e-01 2.06833788e-02 1.92055610e+02] [-2.45825741e-01 9.69301071e-01 -5.01387024e-03 -3.04051077e+01] [-2.12812154e-02 -2.25663563e-04 9.99773504e-01 -5.37387811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.188623853 meters 0.021238451894001233 Centerline is valid? [True, True] Translation: X:192.11, Y:-30.41, Z:-5.38 [[ 9.68311031e-01 2.48890926e-01 2.06652780e-02 1.92113222e+02] [-2.48840684e-01 9.68531477e-01 -5.00918629e-03 -3.04114324e+01] [-2.12617132e-02 -2.91911570e-04 9.99773902e-01 -5.37608922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.248623853 meters 0.022515720310870825 Centerline is valid? [True, True] Translation: X:192.17, Y:-30.42, Z:-5.38 [[ 9.68028644e-01 2.49932902e-01 2.13093492e-02 1.92171258e+02] [-2.49879764e-01 9.68263104e-01 -5.16385763e-03 -3.04184970e+01] [-2.19236746e-02 -3.26013053e-04 9.99759594e-01 -5.37770579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.308623853 meters 0.021738172882487902 Centerline is valid? [True, True] Translation: X:192.23, Y:-30.43, Z:-5.38 [[ 9.68272397e-01 2.49002769e-01 2.11231316e-02 1.92228900e+02] [-2.48950365e-01 9.68502725e-01 -5.11733604e-03 -3.04304424e+01] [-2.17320414e-02 -3.03636084e-04 9.99763785e-01 -5.37946118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.368623853 meters 0.018978901848115955 Centerline is valid? [True, True] Translation: X:192.29, Y:-30.44, Z:-5.38 [[ 9.69319745e-01 2.44925438e-01 2.07547789e-02 1.92285684e+02] [-2.44873932e-01 9.69541895e-01 -5.02707970e-03 -3.04445751e+01] [-2.13538873e-02 -2.09456691e-04 9.99771958e-01 -5.38264397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.428623853 meters 0.016672144333820478 Centerline is valid? [True, True] Translation: X:192.34, Y:-30.46, Z:-5.38 [[ 9.70286929e-01 2.41059294e-01 2.08252728e-02 1.92341984e+02] [-2.41006569e-01 9.70510382e-01 -5.04312137e-03 -3.04615424e+01] [-2.14268347e-02 -1.25752796e-04 9.99770411e-01 -5.38345659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48862385299998 meters 0.015264423107248988 Centerline is valid? [True, True] Translation: X:192.40, Y:-30.48, Z:-5.38 [[ 9.71793835e-01 2.34839649e-01 2.16120800e-02 1.92398029e+02] [-2.34781349e-01 9.72034124e-01 -5.23250554e-03 -3.04794545e+01] [-2.22364791e-02 1.08033268e-05 9.99752739e-01 -5.38431281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54862385299998 meters 0.01651082889083155 Centerline is valid? [True, True] Translation: X:192.45, Y:-30.50, Z:-5.39 [[ 9.72947707e-01 2.29970264e-01 2.20553351e-02 1.92453489e+02] [-2.29908324e-01 9.73197648e-01 -5.33855277e-03 -3.04980597e+01] [-2.26919087e-02 1.23427532e-04 9.99742498e-01 -5.38613143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60862385299998 meters 0.02277266932188542 Centerline is valid? [True, True] Translation: X:192.51, Y:-30.52, Z:-5.39 [[ 9.74935622e-01 2.21461613e-01 2.13374471e-02 1.92509240e+02] [-2.21401617e-01 9.75169041e-01 -5.16390961e-03 -3.05233768e+01] [-2.19512255e-02 3.10334140e-04 9.99758995e-01 -5.39061076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66862385299999 meters 0.026972556967217946 Centerline is valid? [True, True] Translation: X:192.57, Y:-30.55, Z:-5.39 [[ 9.76183285e-01 2.15944485e-01 2.08368348e-02 1.92567057e+02] [-2.15886011e-01 9.76405551e-01 -5.04293024e-03 -3.05450530e+01] [-2.14341941e-02 4.24443062e-04 9.99770171e-01 -5.39256735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.728623853 meters 0.0341610948196538 Centerline is valid? [True, True] Translation: X:192.62, Y:-30.57, Z:-5.39 [[ 9.77649510e-01 2.09143533e-01 2.14573664e-02 1.92622256e+02] [-2.09079872e-01 9.77884775e-01 -5.19369166e-03 -3.05702599e+01] [-2.20690590e-02 5.91306687e-04 9.99756274e-01 -5.39358076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.788623853 meters 0.03771690480957845 Centerline is valid? [True, True] Translation: X:192.68, Y:-30.59, Z:-5.39 [[ 9.78556242e-01 2.04772057e-01 2.22730039e-02 1.92679537e+02] [-2.04702318e-01 9.78809425e-01 -5.39166520e-03 -3.05936331e+01] [-2.29050886e-02 7.16712100e-04 9.99737387e-01 -5.39314607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.848623853 meters 0.04039712179718999 Centerline is valid? [True, True] Translation: X:192.74, Y:-30.61, Z:-5.39 [[ 9.78751233e-01 2.03872005e-01 2.19597038e-02 1.92737378e+02] [-2.03803999e-01 9.78997281e-01 -5.31534829e-03 -3.06138578e+01] [-2.25821410e-02 7.26928256e-04 9.99744727e-01 -5.39475635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.908623853 meters 0.04115655574378053 Centerline is valid? [True, True] Translation: X:192.80, Y:-30.63, Z:-5.39 [[ 9.78566481e-01 2.04655692e-01 2.28842555e-02 1.92797229e+02] [-2.04581962e-01 9.78833743e-01 -5.54295815e-03 -3.06301963e+01] [-2.35342794e-02 7.42447157e-04 9.99722755e-01 -5.38843184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.968623853 meters 0.03667389678906199 Centerline is valid? [True, True] Translation: X:192.86, Y:-30.64, Z:-5.40 [[ 9.78154009e-01 2.06574367e-01 2.32758567e-02 1.92856626e+02] [-2.06498522e-01 9.78430643e-01 -5.64246114e-03 -3.06444555e+01] [-2.39393992e-02 7.12765969e-04 9.99713157e-01 -5.39580606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.028623853 meters 0.034648961766613605 Centerline is valid? [True, True] Translation: X:192.91, Y:-30.66, Z:-5.40 [[ 9.77247083e-01 2.10869678e-01 2.28498928e-02 1.92913763e+02] [-2.10797739e-01 9.77514001e-01 -5.53990852e-03 -3.06604620e+01] [-2.35042889e-02 5.97153686e-04 9.99723558e-01 -5.39861166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.088623853 meters 0.027258224291412902 Centerline is valid? [True, True] Translation: X:192.98, Y:-30.67, Z:-5.40 [[ 9.76380493e-01 2.14891240e-01 2.24251856e-02 1.92975548e+02] [-2.14823020e-01 9.76637862e-01 -5.43649800e-03 -3.06665290e+01] [-2.30695411e-02 4.90644489e-04 9.99733742e-01 -5.39982811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.148623853 meters 0.02371081327330431 Centerline is valid? [True, True] Translation: X:193.03, Y:-30.68, Z:-5.40 [[ 9.75153126e-01 2.20417736e-01 2.21901334e-02 1.93034788e+02] [-2.20352355e-01 9.75405503e-01 -5.38008284e-03 -3.06805884e+01] [-2.28302439e-02 3.56756455e-04 9.99739292e-01 -5.40264661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.208623853 meters 0.027404541525286163 Centerline is valid? [True, True] Translation: X:193.10, Y:-30.69, Z:-5.40 [[ 9.74453751e-01 2.23507052e-01 2.20110197e-02 1.93096025e+02] [-2.23443501e-01 9.74702272e-01 -5.33701973e-03 -3.06941329e+01] [-2.26470525e-02 2.82459589e-04 9.99743483e-01 -5.39727513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26862385299998 meters 0.01961210537974618 Centerline is valid? [True, True] Translation: X:193.15, Y:-30.71, Z:-5.41 [[ 9.74086511e-01 2.25036048e-01 2.26769895e-02 1.93154464e+02] [-2.24968975e-01 9.74350405e-01 -5.49986088e-03 -3.07111779e+01] [-2.33330008e-02 2.55721224e-04 9.99727716e-01 -5.40536827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32862385299998 meters 0.018416120741713702 Centerline is valid? [True, True] Translation: X:193.21, Y:-30.73, Z:-5.41 [[ 9.73668212e-01 2.26887443e-01 2.21878454e-02 1.93213545e+02] [-2.26823671e-01 9.73920964e-01 -5.38309259e-03 -3.07300360e+01] [-2.28305639e-02 2.08617595e-04 9.99739327e-01 -5.40807629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38862385299998 meters 0.017485359626314596 Centerline is valid? [True, True] Translation: X:193.27, Y:-30.75, Z:-5.41 [[ 9.73329074e-01 2.28375507e-01 2.17977513e-02 1.93273788e+02] [-2.28314246e-01 9.73573108e-01 -5.29222004e-03 -3.07466926e+01] [-2.24303179e-02 1.74334470e-04 9.99748394e-01 -5.41043697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.448623853 meters 0.016515783363788904 Centerline is valid? [True, True] Translation: X:193.33, Y:-30.76, Z:-5.41 [[ 9.72674397e-01 2.31185578e-01 2.13949860e-02 1.93332477e+02] [-2.31127154e-01 9.72909665e-01 -5.19833316e-03 -3.07634526e+01] [-2.20171683e-02 1.11323337e-04 9.99757587e-01 -5.41329880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.508623853 meters 0.01569867176466969 Centerline is valid? [True, True] Translation: X:193.39, Y:-30.78, Z:-5.42 [[ 9.72144921e-01 2.33406622e-01 2.13448245e-02 1.93392325e+02] [-2.33348929e-01 9.72379219e-01 -5.18967517e-03 -3.07785282e+01] [-2.19665683e-02 6.43244215e-05 9.99758704e-01 -5.41529766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.568623853 meters 0.01529950801893996 Centerline is valid? [True, True] Translation: X:193.45, Y:-30.79, Z:-5.42 [[ 9.71462238e-01 2.36235640e-01 2.13035616e-02 1.93453224e+02] [-2.36178771e-01 9.71695797e-01 -5.18321529e-03 -3.07948825e+01] [-2.19250414e-02 3.84893843e-06 9.99759617e-01 -5.41708044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.628623853 meters 0.022545250823044205 Centerline is valid? [True, True] Translation: X:193.51, Y:-30.81, Z:-5.41 [[ 9.71214733e-01 2.37244493e-01 2.13773751e-02 1.93513174e+02] [-2.37187367e-01 9.71449973e-01 -5.20602023e-03 -3.08108728e+01] [-2.20021501e-02 -1.42797567e-05 9.99757923e-01 -5.41360031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.688623853 meters 0.015209393141275541 Centerline is valid? [True, True] Translation: X:193.57, Y:-30.83, Z:-5.42 [[ 9.70962588e-01 2.38192265e-01 2.22732565e-02 1.93572788e+02] [-2.38130439e-01 9.71218021e-01 -5.42682304e-03 -3.08302861e+01] [-2.29248154e-02 -3.46982081e-05 9.99737191e-01 -5.42000597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.748623853 meters 0.018575035345659463 Centerline is valid? [True, True] Translation: X:193.63, Y:-30.85, Z:-5.42 [[ 9.70853745e-01 2.38614549e-01 2.24967280e-02 1.93633745e+02] [-2.38551486e-01 9.71114357e-01 -5.48573818e-03 -3.08476592e+01] [-2.31558725e-02 -4.07784310e-05 9.99731866e-01 -5.41619699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.808623853 meters 0.015455938135785255 Centerline is valid? [True, True] Translation: X:193.69, Y:-30.86, Z:-5.42 [[ 9.70433762e-01 2.40295494e-01 2.27241948e-02 1.93694431e+02] [-2.40231502e-01 9.70699784e-01 -5.54579730e-03 -3.08637242e+01] [-2.33910011e-02 -7.72385069e-05 9.99726390e-01 -5.42235411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.868623853 meters 0.016203324603234127 Centerline is valid? [True, True] Translation: X:193.75, Y:-30.88, Z:-5.43 [[ 9.69940679e-01 2.42332972e-01 2.21316696e-02 1.93754294e+02] [-2.42272699e-01 9.70193134e-01 -5.40578551e-03 -3.08774318e+01] [-2.27819939e-02 -1.18608065e-04 9.99740450e-01 -5.42557638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.928623853 meters 0.016654260547784672 Centerline is valid? [True, True] Translation: X:193.81, Y:-30.89, Z:-5.43 [[ 9.69783718e-01 2.42993865e-01 2.17605689e-02 1.93814618e+02] [-2.42935687e-01 9.70027817e-01 -5.31852031e-03 -3.08920189e+01] [-2.24007250e-02 -1.28604365e-04 9.99749064e-01 -5.42868346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98862385299998 meters 0.026306553221309818 Centerline is valid? [True, True] Translation: X:193.88, Y:-30.91, Z:-5.42 [[ 9.69927999e-01 2.42416737e-01 2.17670219e-02 1.93875094e+02] [-2.42358290e-01 9.70172208e-01 -5.32411972e-03 -3.09089752e+01] [-2.24084154e-02 -1.11405408e-04 9.99748894e-01 -5.42365062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04862385299998 meters 0.015805475684326584 Centerline is valid? [True, True] Translation: X:193.93, Y:-30.93, Z:-5.43 [[ 9.70257551e-01 2.40998158e-01 2.28072860e-02 1.93933400e+02] [-2.40933482e-01 9.70525570e-01 -5.58350054e-03 -3.09287506e+01] [-2.34806676e-02 -7.76052535e-05 9.99724288e-01 -5.43147700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10862385299998 meters 0.01537234852833243 Centerline is valid? [True, True] Translation: X:193.99, Y:-30.95, Z:-5.43 [[ 9.70740926e-01 2.39004579e-01 2.32134939e-02 1.93992467e+02] [-2.38936919e-01 9.71018440e-01 -5.68667944e-03 -3.09492686e+01] [-2.38998731e-02 -2.62682545e-05 9.99714357e-01 -5.43297712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16862385299999 meters 0.015369531077295823 Centerline is valid? [True, True] Translation: X:194.05, Y:-30.97, Z:-5.43 [[ 9.71120783e-01 2.37403941e-01 2.37443482e-02 1.94052363e+02] [-2.37332573e-01 9.71411019e-01 -5.82078863e-03 -3.09684753e+01] [-2.44473996e-02 1.73815649e-05 9.99701118e-01 -5.43370760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.228623853 meters 0.01585318336827988 Centerline is valid? [True, True] Translation: X:194.11, Y:-30.99, Z:-5.44 [[ 9.71643727e-01 2.35247982e-01 2.38086987e-02 1.94111594e+02] [-2.35175459e-01 9.71935379e-01 -5.84144881e-03 -3.09894656e+01] [-2.45147057e-02 7.65854430e-05 9.99699467e-01 -5.43551904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.288623853 meters 0.01611805933551156 Centerline is valid? [True, True] Translation: X:194.17, Y:-31.01, Z:-5.44 [[ 9.71878475e-01 2.34301937e-01 2.35548779e-02 1.94172141e+02] [-2.34230560e-01 9.72163871e-01 -5.78386606e-03 -3.10066145e+01] [-2.42543723e-02 1.03942681e-04 9.99705814e-01 -5.43783602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.348623853 meters 0.016934381621004597 Centerline is valid? [True, True] Translation: X:194.23, Y:-31.03, Z:-5.44 [[ 9.72157217e-01 2.33132222e-01 2.36582262e-02 1.94230752e+02] [-2.33059750e-01 9.72445036e-01 -5.81421573e-03 -3.10270854e+01] [-2.43618057e-02 1.38551506e-04 9.99703198e-01 -5.44024130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.408623853 meters 0.016977514209964517 Centerline is valid? [True, True] Translation: X:194.29, Y:-31.04, Z:-5.44 [[ 9.72258815e-01 2.32647354e-01 2.42488377e-02 1.94290913e+02] [-2.32570948e-01 9.72561146e-01 -5.96411621e-03 -3.10444327e+01] [-2.49710133e-02 1.59089374e-04 9.99688163e-01 -5.44048897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.468623853 meters 0.016974721710936225 Centerline is valid? [True, True] Translation: X:194.35, Y:-31.06, Z:-5.44 [[ 9.72257093e-01 2.32601609e-01 2.47514826e-02 1.94351731e+02] [-2.32521854e-01 9.72572086e-01 -6.09297724e-03 -3.10614049e+01] [-2.54898374e-02 1.68679723e-04 9.99675067e-01 -5.44177897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.528623853 meters 0.016769436881385033 Centerline is valid? [True, True] Translation: X:194.41, Y:-31.08, Z:-5.44 [[ 9.72108548e-01 2.33229006e-01 2.46820177e-02 1.94411206e+02] [-2.33149770e-01 9.72421825e-01 -6.08100256e-03 -3.10779127e+01] [-2.54195989e-02 1.56787818e-04 9.99676857e-01 -5.44416019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.588623853 meters 0.015898250282018207 Centerline is valid? [True, True] Translation: X:194.47, Y:-31.09, Z:-5.45 [[ 9.71659142e-01 2.35057960e-01 2.50253533e-02 1.94471783e+02] [-2.34976983e-01 9.71981349e-01 -6.17048106e-03 -3.10911085e+01] [-2.57745973e-02 1.15222299e-04 9.99667773e-01 -5.44555382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.648623853 meters 0.015642027957420344 Centerline is valid? [True, True] Translation: X:194.53, Y:-31.10, Z:-5.45 [[ 9.71248554e-01 2.36752638e-01 2.49887029e-02 1.94531315e+02] [-2.36672340e-01 9.71569958e-01 -6.16611346e-03 -3.11044674e+01] [-2.57381167e-02 7.46939949e-05 9.99668717e-01 -5.44799898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.708623853 meters 0.015219143194065315 Centerline is valid? [True, True] Translation: X:194.59, Y:-31.12, Z:-5.45 [[ 9.70540334e-01 2.39699209e-01 2.44079890e-02 1.94592312e+02] [-2.39623430e-01 9.70847202e-01 -6.02681818e-03 -3.11158262e+01] [-2.51410514e-02 5.44078051e-07 9.99683914e-01 -5.45144139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76862385299998 meters 0.015340585829847308 Centerline is valid? [True, True] Translation: X:194.65, Y:-31.13, Z:-5.45 [[ 9.70190845e-01 2.41133295e-01 2.41755768e-02 1.94653969e+02] [-2.41059286e-01 9.70492006e-01 -5.97391967e-03 -3.11300231e+01] [-2.49027149e-02 -3.19051143e-05 9.99689879e-01 -5.45402646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82862385299998 meters 0.015400841185967495 Centerline is valid? [True, True] Translation: X:194.72, Y:-31.14, Z:-5.45 [[ 9.69733243e-01 2.42929172e-01 2.45530958e-02 1.94715651e+02] [-2.42853283e-01 9.70044026e-01 -6.07213464e-03 -3.11423685e+01] [-2.52926825e-02 -7.44491086e-05 9.99680086e-01 -5.45486172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88862385299998 meters 0.015845746134240977 Centerline is valid? [True, True] Translation: X:194.78, Y:-31.15, Z:-5.46 [[ 9.69307873e-01 2.44577106e-01 2.49857089e-02 1.94777652e+02] [-2.44498934e-01 9.69629840e-01 -6.18429709e-03 -3.11546727e+01] [-2.57394264e-02 -1.14491326e-04 9.99668680e-01 -5.45616536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.948623853 meters 0.01695091950331737 Centerline is valid? [True, True] Translation: X:194.84, Y:-31.16, Z:-5.46 [[ 9.68696245e-01 2.47034711e-01 2.45242122e-02 1.94837838e+02] [-2.46960062e-01 9.69006616e-01 -6.07499878e-03 -3.11640021e+01] [-2.52648594e-02 -1.71672443e-04 9.99680778e-01 -5.45909348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.008623853 meters 0.0174389196450369 Centerline is valid? [True, True] Translation: X:194.90, Y:-31.17, Z:-5.46 [[ 9.68395865e-01 2.48238995e-01 2.42249880e-02 1.94898858e+02] [-2.48166437e-01 9.68698799e-01 -6.00471487e-03 -3.11747099e+01] [-2.49573212e-02 -1.96887927e-04 9.99688498e-01 -5.46190915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.068623853 meters 0.01787378546736986 Centerline is valid? [True, True] Translation: X:194.96, Y:-31.19, Z:-5.46 [[ 9.68123822e-01 2.49283382e-01 2.43733798e-02 1.94961062e+02] [-2.49210159e-01 9.68430558e-01 -6.04566280e-03 -3.11853713e+01] [-2.51110091e-02 -2.21143679e-04 9.99684644e-01 -5.46403970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.128623853 meters 0.017801175100708885 Centerline is valid? [True, True] Translation: X:195.02, Y:-31.20, Z:-5.47 [[ 9.68014434e-01 2.49692067e-01 2.45342243e-02 1.95022934e+02] [-2.49617882e-01 9.68325265e-01 -6.09042990e-03 -3.11987887e+01] [-2.52778413e-02 -2.28557064e-04 9.99680438e-01 -5.46566493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.188623853 meters 0.017438016177131983 Centerline is valid? [True, True] Translation: X:195.08, Y:-31.21, Z:-5.47 [[ 9.68318646e-01 2.48514437e-01 2.44862206e-02 1.95083358e+02] [-2.48440039e-01 9.68628173e-01 -6.08355581e-03 -3.12109284e+01] [-2.52298945e-02 -1.92537071e-04 9.99681657e-01 -5.46790516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.248623853 meters 0.016018487254927837 Centerline is valid? [True, True] Translation: X:195.14, Y:-31.23, Z:-5.47 [[ 9.68811730e-01 2.46507557e-01 2.52557977e-02 1.95143578e+02] [-2.46427616e-01 9.69140859e-01 -6.27896592e-03 -3.12259965e+01] [-2.60242380e-02 -1.40590174e-04 9.99661302e-01 -5.46842841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.308623853 meters 0.014989461597853818 Centerline is valid? [True, True] Translation: X:195.20, Y:-31.24, Z:-5.47 [[ 9.70066516e-01 2.41372247e-01 2.66532164e-02 1.95203476e+02] [-2.41281133e-01 9.70432604e-01 -6.63145181e-03 -3.12448531e+01] [-2.74657986e-02 2.03108825e-06 9.99622744e-01 -5.46860951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.368623853 meters 0.015724984582324537 Centerline is valid? [True, True] Translation: X:195.26, Y:-31.26, Z:-5.47 [[ 9.70917784e-01 2.37980389e-01 2.61532135e-02 1.95263023e+02] [-2.37891387e-01 9.71269955e-01 -6.50869403e-03 -3.12637329e+01] [-2.69507720e-02 9.77825683e-05 9.99636757e-01 -5.47181270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.428623853 meters 0.018356440043209913 Centerline is valid? [True, True] Translation: X:195.32, Y:-31.28, Z:-5.48 [[ 9.72317673e-01 2.32281720e-01 2.53681873e-02 1.95321537e+02] [-2.32195908e-01 9.72648517e-01 -6.31837025e-03 -3.12833620e+01] [-2.61419716e-02 2.53073772e-04 9.99658208e-01 -5.47514879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48862385299998 meters 0.022723786842787332 Centerline is valid? [True, True] Translation: X:195.38, Y:-31.31, Z:-5.48 [[ 9.73582051e-01 2.26902681e-01 2.55570451e-02 1.95378350e+02] [-2.26813609e-01 9.73917352e-01 -6.37005715e-03 -3.13070516e+01] [-2.63358327e-02 4.05087683e-04 9.99653070e-01 -5.47637800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54862385299998 meters 0.02629330203878673 Centerline is valid? [True, True] Translation: X:195.44, Y:-31.33, Z:-5.48 [[ 9.74226454e-01 2.24067958e-01 2.60070324e-02 1.95435986e+02] [-2.23974693e-01 9.74573399e-01 -6.48285784e-03 -3.13285729e+01] [-2.67983626e-02 4.90854514e-04 9.99640739e-01 -5.47731830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60862385299998 meters 0.0278011040422599 Centerline is valid? [True, True] Translation: X:195.50, Y:-31.35, Z:-5.48 [[ 9.74734035e-01 2.21848642e-01 2.60142537e-02 1.95495231e+02] [-2.21754474e-01 9.75080957e-01 -6.48694306e-03 -3.13474787e+01] [-2.68051229e-02 5.54267042e-04 9.99640524e-01 -5.47920823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66862385299999 meters 0.030916570136461645 Centerline is valid? [True, True] Translation: X:195.55, Y:-31.37, Z:-5.48 [[ 9.74907641e-01 2.21175462e-01 2.52290705e-02 1.95553036e+02] [-2.21086555e-01 9.75233870e-01 -6.29553526e-03 -3.13685494e+01] [-2.59966620e-02 5.59757144e-04 9.99661873e-01 -5.48306376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.728623853 meters 0.028026572908989227 Centerline is valid? [True, True] Translation: X:195.61, Y:-31.38, Z:-5.48 [[ 9.74586437e-01 2.22560396e-01 2.54587366e-02 1.95613920e+02] [-2.22470224e-01 9.74918759e-01 -6.35704889e-03 -3.13809141e+01] [-2.62350272e-02 5.31682794e-04 9.99655661e-01 -5.48373495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.788623853 meters 0.025576176431157772 Centerline is valid? [True, True] Translation: X:195.67, Y:-31.39, Z:-5.49 [[ 9.73775632e-01 2.26105843e-01 2.52421564e-02 1.95672990e+02] [-2.26018268e-01 9.74102642e-01 -6.30761781e-03 -3.13937777e+01] [-2.60146405e-02 4.37016047e-04 9.99661466e-01 -5.48638379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.848623853 meters 0.02415369161888356 Centerline is valid? [True, True] Translation: X:195.73, Y:-31.41, Z:-5.49 [[ 9.73512178e-01 2.27216267e-01 2.54323958e-02 1.95734092e+02] [-2.27127743e-01 9.73844238e-01 -6.35522874e-03 -3.14071959e+01] [-2.62112034e-02 4.10489922e-04 9.99656343e-01 -5.48770103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.908623853 meters 0.02125458219788984 Centerline is valid? [True, True] Translation: X:195.80, Y:-31.42, Z:-5.49 [[ 9.72986131e-01 2.29465844e-01 2.53656343e-02 1.95795702e+02] [-2.29378429e-01 9.73316650e-01 -6.34307784e-03 -3.14188944e+01] [-2.61443139e-02 3.53397425e-04 9.99658117e-01 -5.48949876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.968623853 meters 0.019319009003214514 Centerline is valid? [True, True] Translation: X:195.86, Y:-31.43, Z:-5.49 [[ 9.72218724e-01 2.32768887e-01 2.46859681e-02 1.95855362e+02] [-2.32687099e-01 9.72532045e-01 -6.17546946e-03 -3.14311200e+01] [-2.54453522e-02 2.59800753e-04 9.99676181e-01 -5.49327807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.028623853 meters 0.01799945864012382 Centerline is valid? [True, True] Translation: X:195.92, Y:-31.44, Z:-5.49 [[ 9.71730735e-01 2.34775721e-01 2.48945615e-02 1.95916128e+02] [-2.34693139e-01 9.72049544e-01 -6.23009960e-03 -3.14441099e+01] [-2.56614232e-02 2.11396482e-04 9.99670669e-01 -5.49387246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.088623853 meters 0.017051900611190777 Centerline is valid? [True, True] Translation: X:195.98, Y:-31.46, Z:-5.50 [[ 9.71031797e-01 2.37645744e-01 2.49349238e-02 1.95975430e+02] [-2.37563719e-01 9.71351883e-01 -6.24489214e-03 -3.14572990e+01] [-2.57046573e-02 1.40355585e-04 9.99669571e-01 -5.49596779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.148623853 meters 0.016629504815868234 Centerline is valid? [True, True] Translation: X:196.04, Y:-31.47, Z:-5.50 [[ 9.70830942e-01 2.38515664e-01 2.44450463e-02 1.96037270e+02] [-2.38437051e-01 9.71138643e-01 -6.12441981e-03 -3.14710359e+01] [-2.52002992e-02 1.17171500e-04 9.99682415e-01 -5.49894430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20862385299998 meters 0.017046993583318553 Centerline is valid? [True, True] Translation: X:196.10, Y:-31.49, Z:-5.50 [[ 9.70982030e-01 2.37865799e-01 2.47741452e-02 1.96096990e+02] [-2.37784712e-01 9.71298019e-01 -6.21199295e-03 -3.14884561e+01] [-2.55406989e-02 1.40820527e-04 9.99673773e-01 -5.50076658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26862385299998 meters 0.01849692392876656 Centerline is valid? [True, True] Translation: X:196.16, Y:-31.51, Z:-5.50 [[ 9.71571622e-01 2.35509625e-01 2.41619386e-02 1.96155606e+02] [-2.35431657e-01 9.71871996e-01 -6.06292626e-03 -3.15096495e+01] [-2.49101889e-02 2.02081858e-04 9.99689673e-01 -5.50388262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32862385299998 meters 0.019712981761370613 Centerline is valid? [True, True] Translation: X:196.21, Y:-31.53, Z:-5.51 [[ 9.72083435e-01 2.33448190e-01 2.35740713e-02 1.96214287e+02] [-2.33373267e-01 9.72369209e-01 -5.91944232e-03 -3.15301834e+01] [-2.43045842e-02 2.52633786e-04 9.99704568e-01 -5.50683592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38862385299998 meters 0.02180478682791954 Centerline is valid? [True, True] Translation: X:196.27, Y:-31.55, Z:-5.51 [[ 9.72492369e-01 2.31741397e-01 2.35481880e-02 1.96272024e+02] [-2.31666032e-01 9.72777382e-01 -5.91726891e-03 -3.15524277e+01] [-2.42784208e-02 2.99183600e-04 9.99705191e-01 -5.50900512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.448623853 meters 0.022334132159018916 Centerline is valid? [True, True] Translation: X:196.33, Y:-31.57, Z:-5.51 [[ 9.72491046e-01 2.31633794e-01 2.46363795e-02 1.96331384e+02] [-2.31551159e-01 9.72803003e-01 -6.19499563e-03 -3.15715452e+01] [-2.54013143e-02 3.19995564e-04 9.99677283e-01 -5.50811753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.508623853 meters 0.02120743760151063 Centerline is valid? [True, True] Translation: X:196.39, Y:-31.59, Z:-5.51 [[ 9.72101329e-01 2.33204861e-01 2.51892482e-02 1.96391063e+02] [-2.33118877e-01 9.72427585e-01 -6.33881939e-03 -3.15882271e+01] [-2.59729633e-02 2.89885507e-04 9.99662604e-01 -5.50893637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.568623853 meters 0.01984025675616253 Centerline is valid? [True, True] Translation: X:196.45, Y:-31.60, Z:-5.51 [[ 9.71658877e-01 2.34991516e-01 2.56517997e-02 1.96451854e+02] [-2.34902848e-01 9.71997389e-01 -6.45965715e-03 -3.16030127e+01] [-2.64514470e-02 2.50902386e-04 9.99650068e-01 -5.50979082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.628623853 meters 0.017982858064534726 Centerline is valid? [True, True] Translation: X:196.51, Y:-31.62, Z:-5.51 [[ 9.70987165e-01 2.37711498e-01 2.60224601e-02 1.96512482e+02] [-2.37621105e-01 9.71335786e-01 -6.55749248e-03 -3.16167237e+01] [-2.68353381e-02 1.83755320e-04 9.99639851e-01 -5.51106023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.688623853 meters 0.017194739432809802 Centerline is valid? [True, True] Translation: X:196.57, Y:-31.63, Z:-5.51 [[ 9.70664782e-01 2.39071427e-01 2.55877525e-02 1.96572341e+02] [-2.38984390e-01 9.71001973e-01 -6.45218404e-03 -3.16318209e+01] [-2.63882910e-02 1.47834396e-04 9.99651757e-01 -5.51376448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.748623853 meters 0.016890872642473666 Centerline is valid? [True, True] Translation: X:196.63, Y:-31.65, Z:-5.52 [[ 9.70525490e-01 2.39650607e-01 2.54530881e-02 1.96633729e+02] [-2.39564569e-01 9.70859191e-01 -6.42256344e-03 -3.16477161e+01] [-2.62505358e-02 1.35603454e-04 9.99655386e-01 -5.51564277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.808623853 meters 0.016528474093663693 Centerline is valid? [True, True] Translation: X:196.69, Y:-31.67, Z:-5.52 [[ 9.70213721e-01 2.40919717e-01 2.53579685e-02 1.96694478e+02] [-2.40834621e-01 9.70545042e-01 -6.40362318e-03 -3.16651587e+01] [-2.61538097e-02 1.05806330e-04 9.99657925e-01 -5.51734164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.868623853 meters 0.016400662320344032 Centerline is valid? [True, True] Translation: X:196.75, Y:-31.68, Z:-5.52 [[ 9.70008373e-01 2.41818768e-01 2.46462994e-02 1.96754959e+02] [-2.41738547e-01 9.70321430e-01 -6.22882210e-03 -3.16813198e+01] [-2.54210785e-02 8.40489904e-05 9.99676829e-01 -5.51989409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.928623853 meters 0.016335174781954453 Centerline is valid? [True, True] Translation: X:196.81, Y:-31.70, Z:-5.52 [[ 9.69844113e-01 2.42560814e-01 2.38043658e-02 1.96814311e+02] [-2.42486088e-01 9.70136200e-01 -6.02080741e-03 -3.16971992e+01] [-2.45538889e-02 6.70170933e-05 9.99698506e-01 -5.52368188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98862385299998 meters 0.01677365895499341 Centerline is valid? [True, True] Translation: X:196.87, Y:-31.72, Z:-5.53 [[ 9.70107679e-01 2.41497506e-01 2.38756432e-02 1.96873589e+02] [-2.41421897e-01 9.70401435e-01 -6.04341869e-03 -3.17175361e+01] [-2.46284289e-02 9.86638166e-05 9.99696669e-01 -5.52568733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04862385299998 meters 0.018322437419436375 Centerline is valid? [True, True] Translation: X:196.93, Y:-31.74, Z:-5.53 [[ 9.70775576e-01 2.38763243e-01 2.42259345e-02 1.96930717e+02] [-2.38684428e-01 9.71077795e-01 -6.13683509e-03 -3.17413135e+01] [-2.49905177e-02 1.75136309e-04 9.99687673e-01 -5.52684264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10862385299998 meters 0.018551469881026836 Centerline is valid? [True, True] Translation: X:196.99, Y:-31.76, Z:-5.53 [[ 9.71059504e-01 2.37588436e-01 2.43962075e-02 1.96990163e+02] [-2.37508039e-01 9.71365889e-01 -6.18391033e-03 -3.17604637e+01] [-2.51668694e-02 2.10649485e-04 9.99683242e-01 -5.52766129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16862385299999 meters 0.019642726548807336 Centerline is valid? [True, True] Translation: X:197.05, Y:-31.78, Z:-5.53 [[ 9.71148183e-01 2.37225439e-01 2.43987275e-02 1.97048278e+02] [-2.37144800e-01 9.71454601e-01 -6.18894537e-03 -3.17818618e+01] [-2.51704314e-02 2.24351696e-04 9.99683149e-01 -5.52959771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.228623853 meters 0.019192312797549148 Centerline is valid? [True, True] Translation: X:197.11, Y:-31.80, Z:-5.53 [[ 9.70971492e-01 2.38006162e-01 2.38207783e-02 1.97108637e+02] [-2.37929424e-01 9.71263623e-01 -6.04680100e-03 -3.17979330e+01] [-2.45754313e-02 2.03607325e-04 9.99697958e-01 -5.53211112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.288623853 meters 0.018796558486211586 Centerline is valid? [True, True] Translation: X:197.17, Y:-31.81, Z:-5.53 [[ 9.70662464e-01 2.39299918e-01 2.34505861e-02 1.97167980e+02] [-2.39225811e-01 9.70945683e-01 -5.95749910e-03 -3.18136433e+01] [-2.41948744e-02 1.72735265e-04 9.99707246e-01 -5.53472004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.348623853 meters 0.01828207911143513 Centerline is valid? [True, True] Translation: X:197.23, Y:-31.83, Z:-5.54 [[ 9.70441406e-01 2.40168547e-01 2.37180697e-02 1.97227863e+02] [-2.40092907e-01 9.70731191e-01 -6.02921162e-03 -3.18292190e+01] [-2.44718970e-02 1.56456303e-04 9.99700506e-01 -5.53525346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.408623853 meters 0.017448615018541322 Centerline is valid? [True, True] Translation: X:197.29, Y:-31.84, Z:-5.54 [[ 9.70108309e-01 2.41454926e-01 2.42773110e-02 1.97287665e+02] [-2.41375973e-01 9.70412027e-01 -6.17559617e-03 -3.18448136e+01] [-2.50501227e-02 1.31037589e-04 9.99686188e-01 -5.53589476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.468623853 meters 0.01722405585327116 Centerline is valid? [True, True] Translation: X:197.35, Y:-31.86, Z:-5.54 [[ 9.69859171e-01 2.42511871e-01 2.36892339e-02 1.97348453e+02] [-2.42436918e-01 9.70148433e-01 -6.02987111e-03 -3.18608137e+01] [-2.44443885e-02 1.04980934e-04 9.99701186e-01 -5.53863960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.528623853 meters 0.01670151877719844 Centerline is valid? [True, True] Translation: X:197.41, Y:-31.87, Z:-5.54 [[ 9.69276811e-01 2.44960249e-01 2.22921692e-02 1.97409254e+02] [-2.44894430e-01 9.69533122e-01 -5.67837431e-03 -3.18736864e+01] [-2.30039724e-02 4.46884666e-05 9.99735373e-01 -5.54317711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.588623853 meters 0.016433073254315686 Centerline is valid? [True, True] Translation: X:197.47, Y:-31.88, Z:-5.55 [[ 9.68571687e-01 2.47736964e-01 2.22549807e-02 1.97471491e+02] [-2.47672006e-01 9.68827330e-01 -5.67285615e-03 -3.18849613e+01] [-2.29666097e-02 -1.73678555e-05 9.99736232e-01 -5.54525191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.648623853 meters 0.016628762171531867 Centerline is valid? [True, True] Translation: X:197.53, Y:-31.90, Z:-5.55 [[ 9.68226843e-01 2.49101257e-01 2.20305245e-02 1.97532375e+02] [-2.49037858e-01 9.68477445e-01 -5.61990064e-03 -3.18992526e+01] [-2.27359904e-02 -4.50959771e-05 9.99741503e-01 -5.54752859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70862385299998 meters 0.016692515028944716 Centerline is valid? [True, True] Translation: X:197.59, Y:-31.91, Z:-5.55 [[ 9.68032072e-01 2.49864515e-01 2.19460901e-02 1.97593128e+02] [-2.49801703e-01 9.68280807e-01 -5.60256544e-03 -3.19147100e+01] [-2.26498602e-02 -5.87076507e-05 9.99743457e-01 -5.54903652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76862385299998 meters 0.0168625481921142 Centerline is valid? [True, True] Translation: X:197.65, Y:-31.93, Z:-5.55 [[ 9.67852924e-01 2.50618943e-01 2.12335469e-02 1.97654415e+02] [-2.50560238e-01 9.68085813e-01 -5.42462704e-03 -3.19279433e+01] [-2.19154098e-02 -7.00414134e-05 9.99759826e-01 -5.55209978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82862385299998 meters 0.01689773109200478 Centerline is valid? [True, True] Translation: X:197.71, Y:-31.94, Z:-5.55 [[ 9.67803844e-01 2.50764522e-01 2.17456514e-02 1.97714220e+02] [-2.50702886e-01 9.68048113e-01 -5.55994849e-03 -3.19425291e+01] [-2.24450746e-02 -7.07580437e-05 9.99748075e-01 -5.55367695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88862385299998 meters 0.016697603444595185 Centerline is valid? [True, True] Translation: X:197.78, Y:-31.96, Z:-5.55 [[ 9.67713413e-01 2.51047355e-01 2.24939171e-02 1.97775472e+02] [-2.50981383e-01 9.67974803e-01 -5.75550241e-03 -3.19571547e+01] [-2.32184486e-02 -7.58775425e-05 9.99730413e-01 -5.55316804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.948623853 meters 0.016380546888891144 Centerline is valid? [True, True] Translation: X:197.84, Y:-31.97, Z:-5.55 [[ 9.67950611e-01 2.50094827e-01 2.28952502e-02 1.97836801e+02] [-2.50026105e-01 9.68221346e-01 -5.86271387e-03 -3.19729600e+01] [-2.36339044e-02 -4.95927539e-05 9.99720679e-01 -5.55415395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.008623853 meters 0.01632319690780955 Centerline is valid? [True, True] Translation: X:197.90, Y:-31.99, Z:-5.56 [[ 9.68097177e-01 2.49499961e-01 2.31867590e-02 1.97896937e+02] [-2.49429197e-01 9.68374808e-01 -5.94197623e-03 -3.19879259e+01] [-2.39359961e-02 -3.10442672e-05 9.99713493e-01 -5.55620689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.068623853 meters 0.01624222481726902 Centerline is valid? [True, True] Translation: X:197.96, Y:-32.00, Z:-5.56 [[ 9.68269644e-01 2.48821042e-01 2.32805889e-02 1.97957789e+02] [-2.48749408e-01 9.68549477e-01 -5.97016526e-03 -3.20039574e+01] [-2.40339050e-02 -1.03029321e-05 9.99711144e-01 -5.55664450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.128623853 meters 0.016311053505767285 Centerline is valid? [True, True] Translation: X:198.02, Y:-32.02, Z:-5.56 [[ 9.68338450e-01 2.48524111e-01 2.35883769e-02 1.98018096e+02] [-2.48450361e-01 9.68625710e-01 -6.05408555e-03 -3.20188990e+01] [-2.43528945e-02 1.86306453e-06 9.99703424e-01 -5.55856676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.188623853 meters 0.0167222971784733 Centerline is valid? [True, True] Translation: X:198.08, Y:-32.03, Z:-5.56 [[ 9.68700561e-01 2.47200389e-01 2.26095546e-02 1.98077600e+02] [-2.47132166e-01 9.68964378e-01 -5.80740104e-03 -3.20342398e+01] [-2.33434448e-02 3.80844371e-05 9.99727504e-01 -5.56239985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.248623853 meters 0.017422353851386314 Centerline is valid? [True, True] Translation: X:198.14, Y:-32.05, Z:-5.56 [[ 9.69322312e-01 2.44775878e-01 2.23388652e-02 1.98136950e+02] [-2.44708597e-01 9.69579682e-01 -5.73957056e-03 -3.20511020e+01] [-2.30642182e-02 9.69814569e-05 9.99733981e-01 -5.56470160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.308623853 meters 0.018836757371287764 Centerline is valid? [True, True] Translation: X:198.20, Y:-32.07, Z:-5.57 [[ 9.69834573e-01 2.42666539e-01 2.31052328e-02 1.98195191e+02] [-2.42593865e-01 9.70109750e-01 -5.94055451e-03 -3.20697639e+01] [-2.38561854e-02 1.56167432e-04 9.99715389e-01 -5.56585999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.368623853 meters 0.019230321921189363 Centerline is valid? [True, True] Translation: X:198.25, Y:-32.09, Z:-5.57 [[ 9.70277748e-01 2.40839185e-01 2.36131142e-02 1.98254720e+02] [-2.40762649e-01 9.70565012e-01 -6.07483051e-03 -3.20860474e+01] [-2.43811197e-02 2.09116953e-04 9.99702714e-01 -5.56521601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.428623853 meters 0.02093042120564741 Centerline is valid? [True, True] Translation: X:198.31, Y:-32.10, Z:-5.57 [[ 9.70762219e-01 2.38964595e-01 2.27296489e-02 1.98313125e+02] [-2.38893083e-01 9.71028249e-01 -5.85108937e-03 -3.21031270e+01] [-2.34693344e-02 2.50060594e-04 9.99724526e-01 -5.56904679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48862385299998 meters 0.0218444740898804 Centerline is valid? [True, True] Translation: X:198.37, Y:-32.12, Z:-5.57 [[ 9.71142401e-01 2.37516323e-01 2.16433214e-02 1.98372715e+02] [-2.37451053e-01 9.71383509e-01 -5.57464807e-03 -3.21194449e+01] [-2.23480354e-02 2.74547666e-04 9.99750214e-01 -5.57261295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54862385299998 meters 0.023728924058881138 Centerline is valid? [True, True] Translation: X:198.43, Y:-32.14, Z:-5.58 [[ 9.71399206e-01 2.36506855e-01 2.11681167e-02 1.98431136e+02] [-2.36444099e-01 9.71629775e-01 -5.45598089e-03 -3.21381639e+01] [-2.18579494e-02 2.94859223e-04 9.99761043e-01 -5.57537399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60862385299998 meters 0.025268822219597597 Centerline is valid? [True, True] Translation: X:198.49, Y:-32.16, Z:-5.58 [[ 9.71620227e-01 2.35496242e-01 2.22632924e-02 1.98489391e+02] [-2.35426468e-01 9.71875201e-01 -5.74216391e-03 -3.21571830e+01] [-2.29893998e-02 3.37834305e-04 9.99735652e-01 -5.57511628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66862385299999 meters 0.02434276912346808 Centerline is valid? [True, True] Translation: X:198.55, Y:-32.17, Z:-5.57 [[ 9.71852152e-01 2.34493782e-01 2.27169514e-02 1.98550326e+02] [-2.34420777e-01 9.72117548e-01 -5.86276160e-03 -3.21717600e+01] [-2.34583282e-02 3.72412094e-04 9.99724746e-01 -5.57459562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.728623853 meters 0.02667256079756761 Centerline is valid? [True, True] Translation: X:198.61, Y:-32.19, Z:-5.58 [[ 9.72265315e-01 2.32777829e-01 2.26856730e-02 1.98607983e+02] [-2.32704453e-01 9.72529849e-01 -5.85914960e-03 -3.21924693e+01] [-2.34263743e-02 4.17590815e-04 9.99725478e-01 -5.57702006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.788623853 meters 0.027708061371885317 Centerline is valid? [True, True] Translation: X:198.67, Y:-32.21, Z:-5.58 [[ 9.72256076e-01 2.32844552e-01 2.23950100e-02 1.98666849e+02] [-2.32773024e-01 9.72513879e-01 -5.78573993e-03 -3.22124248e+01] [-2.31266361e-02 4.12266604e-04 9.99732459e-01 -5.58001857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.848623853 meters 0.028100810583030048 Centerline is valid? [True, True] Translation: X:198.73, Y:-32.23, Z:-5.58 [[ 9.71884836e-01 2.34432930e-01 2.19332362e-02 1.98725719e+02] [-2.34364631e-01 9.72132226e-01 -5.67060054e-03 -3.22293341e+01] [-2.26513812e-02 3.70795874e-04 9.99743356e-01 -5.58405023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.908623853 meters 0.022425338909829718 Centerline is valid? [True, True] Translation: X:198.79, Y:-32.24, Z:-5.59 [[ 9.70771184e-01 2.39076247e-01 2.11152953e-02 1.98787550e+02] [-2.39013961e-01 9.71000763e-01 -5.46295560e-03 -3.22368159e+01] [-2.18090308e-02 2.56429487e-04 9.99762122e-01 -5.58712569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.968623853 meters 0.01912574026791038 Centerline is valid? [True, True] Translation: X:198.85, Y:-32.25, Z:-5.59 [[ 9.69789546e-01 2.43013450e-01 2.12767344e-02 1.98849607e+02] [-2.42951147e-01 9.70022904e-01 -5.50505520e-03 -3.22454143e+01] [-2.19767222e-02 1.69537950e-04 9.99758468e-01 -5.58764759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.028623853 meters 0.017336951123290506 Centerline is valid? [True, True] Translation: X:198.91, Y:-32.25, Z:-5.59 [[ 9.68461582e-01 2.48278693e-01 2.09726986e-02 1.98911490e+02] [-2.48219312e-01 9.68688643e-01 -5.43008304e-03 -3.22534427e+01] [-2.16641889e-02 5.29979916e-05 9.99765303e-01 -5.58943521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.088623853 meters 0.017003663250190926 Centerline is valid? [True, True] Translation: X:198.97, Y:-32.26, Z:-5.59 [[ 9.67810502e-01 2.50816651e-01 2.08288204e-02 1.98972186e+02] [-2.50758590e-01 9.68034611e-01 -5.39645005e-03 -3.22643096e+01] [-2.15165386e-02 -2.64614080e-07 9.99768492e-01 -5.59183386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.148623853 meters 0.017037047177083695 Centerline is valid? [True, True] Translation: X:199.03, Y:-32.27, Z:-5.59 [[ 9.67097717e-01 2.53529658e-01 2.10883620e-02 1.99034726e+02] [-2.53470699e-01 9.67327612e-01 -5.46767419e-03 -3.22744081e+01] [-2.17855724e-02 -5.75066120e-05 9.99762665e-01 -5.59285551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20862385299998 meters 0.0172657974691485 Centerline is valid? [True, True] Translation: X:199.10, Y:-32.29, Z:-5.59 [[ 9.66783485e-01 2.54697646e-01 2.14196704e-02 1.99095461e+02] [-2.54637006e-01 9.67020735e-01 -5.55808858e-03 -3.22857116e+01] [-2.21288975e-02 -8.07725115e-05 9.99755123e-01 -5.59400379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26862385299998 meters 0.017254027913116792 Centerline is valid? [True, True] Translation: X:199.16, Y:-32.30, Z:-5.60 [[ 9.66687906e-01 2.55071610e-01 2.12829855e-02 1.99156912e+02] [-2.55011747e-01 9.66922161e-01 -5.52653036e-03 -3.22985468e+01] [-2.19886513e-02 -8.49812566e-05 9.99758217e-01 -5.59560805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32862385299998 meters 0.01719204677941252 Centerline is valid? [True, True] Translation: X:199.22, Y:-32.31, Z:-5.60 [[ 9.66799464e-01 2.54666620e-01 2.10644028e-02 1.99218519e+02] [-2.54607793e-01 9.67028907e-01 -5.47395523e-03 -3.23104474e+01] [-2.17639201e-02 -7.09441325e-05 9.99763135e-01 -5.59828654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38862385299998 meters 0.017032484604148697 Centerline is valid? [True, True] Translation: X:199.28, Y:-32.32, Z:-5.60 [[ 9.66950778e-01 2.54066253e-01 2.13666023e-02 1.99280362e+02] [-2.54005483e-01 9.67186815e-01 -5.55684561e-03 -3.23239487e+01] [-2.20773030e-02 -5.40379525e-05 9.99756265e-01 -5.60013063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.448623853 meters 0.01708767276898158 Centerline is valid? [True, True] Translation: X:199.34, Y:-32.34, Z:-5.60 [[ 9.67611870e-01 2.51561939e-01 2.10679887e-02 1.99340976e+02] [-2.51502172e-01 9.67841201e-01 -5.48328378e-03 -3.23393287e+01] [-2.17698530e-02 7.04554549e-06 9.99763009e-01 -5.60173774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.508623853 meters 0.02660228407460468 Centerline is valid? [True, True] Translation: X:199.40, Y:-32.35, Z:-5.60 [[ 9.68149184e-01 2.49529561e-01 2.05464380e-02 1.99401382e+02] [-2.49472174e-01 9.68367180e-01 -5.35160741e-03 -3.23534988e+01] [-2.12318804e-02 5.53898006e-05 9.99774577e-01 -5.59689987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.568623853 meters 0.018714813827915285 Centerline is valid? [True, True] Translation: X:199.46, Y:-32.37, Z:-5.60 [[ 9.69094354e-01 2.45706061e-01 2.20150835e-02 1.99460906e+02] [-2.45639086e-01 9.69344370e-01 -5.73862022e-03 -3.23725881e+01] [-2.27502110e-02 1.53499476e-04 9.99741169e-01 -5.60282874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.628623853 meters 0.019536968716227312 Centerline is valid? [True, True] Translation: X:199.52, Y:-32.39, Z:-5.60 [[ 9.69420105e-01 2.44368462e-01 2.25546962e-02 1.99520910e+02] [-2.44297704e-01 9.69682431e-01 -5.88339734e-03 -3.23897440e+01] [-2.33086094e-02 1.93423153e-04 9.99728299e-01 -5.60339807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.688623853 meters 0.021076293526910175 Centerline is valid? [True, True] Translation: X:199.58, Y:-32.40, Z:-5.60 [[ 9.70140363e-01 2.41483242e-01 2.26609677e-02 1.99580751e+02] [-2.41410933e-01 9.70404953e-01 -5.91514291e-03 -3.24046257e+01] [-2.34187232e-02 2.67913523e-04 9.99725708e-01 -5.60437999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.748623853 meters 0.023041971477643627 Centerline is valid? [True, True] Translation: X:199.64, Y:-32.42, Z:-5.61 [[ 9.70417936e-01 2.40345757e-01 2.28680394e-02 1.99638981e+02] [-2.40271713e-01 9.70687296e-01 -5.97312228e-03 -3.24219983e+01] [-2.36333299e-02 3.01881994e-04 9.99720648e-01 -5.60637347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.808623853 meters 0.02425643354019962 Centerline is valid? [True, True] Translation: X:199.70, Y:-32.44, Z:-5.61 [[ 9.70673233e-01 2.39347550e-01 2.24994546e-02 1.99698931e+02] [-2.39275519e-01 9.70933903e-01 -5.88055708e-03 -3.24379974e+01] [-2.32529803e-02 3.24530654e-04 9.99729560e-01 -5.60841254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.868623853 meters 0.02393446253341486 Centerline is valid? [True, True] Translation: X:199.76, Y:-32.45, Z:-5.61 [[ 9.70710894e-01 2.39167115e-01 2.27914654e-02 1.99760841e+02] [-2.39093062e-01 9.70978361e-01 -5.96072070e-03 -3.24511803e+01] [-2.35556281e-02 3.36855285e-04 9.99722471e-01 -5.60921748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.928623853 meters 0.023717439035215393 Centerline is valid? [True, True] Translation: X:199.82, Y:-32.47, Z:-5.61 [[ 9.70836058e-01 2.38639499e-01 2.29899695e-02 1.99821485e+02] [-2.38563889e-01 9.71108162e-01 -6.01740064e-03 -3.24653331e+01] [-2.37617365e-02 3.57332993e-04 9.99717586e-01 -5.61040788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98862385299998 meters 0.02494594125825175 Centerline is valid? [True, True] Translation: X:199.88, Y:-32.48, Z:-5.61 [[ 9.71086086e-01 2.37709985e-01 2.20403423e-02 1.99879511e+02] [-2.37640162e-01 9.71336104e-01 -5.77288867e-03 -3.24829500e+01] [-2.27808535e-02 3.68301349e-04 9.99740415e-01 -5.61371387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04862385299998 meters 0.02688303904270635 Centerline is valid? [True, True] Translation: X:199.94, Y:-32.50, Z:-5.62 [[ 9.71193112e-01 2.37262718e-01 2.21436780e-02 1.99937528e+02] [-2.37192052e-01 9.71445447e-01 -5.80302685e-03 -3.25015952e+01] [-2.28882171e-02 3.83555275e-04 9.99737957e-01 -5.61610867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10862385299998 meters 0.02677756422547436 Centerline is valid? [True, True] Translation: X:200.00, Y:-32.52, Z:-5.62 [[ 9.71053707e-01 2.37789260e-01 2.26045573e-02 1.99998140e+02] [-2.37715674e-01 9.71316695e-01 -5.92765820e-03 -3.25165550e+01] [-2.33657174e-02 3.82616896e-04 9.99726911e-01 -5.61663935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16862385299999 meters 0.02366122789803125 Centerline is valid? [True, True] Translation: X:200.06, Y:-32.53, Z:-5.62 [[ 9.70766256e-01 2.38926958e-01 2.29518107e-02 2.00059294e+02] [-2.38851317e-01 9.71037474e-01 -6.02265383e-03 -3.25274569e+01] [-2.37260427e-02 3.64518885e-04 9.99718431e-01 -5.61693898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.228623853 meters 0.024936963773332526 Centerline is valid? [True, True] Translation: X:200.12, Y:-32.55, Z:-5.62 [[ 9.70707132e-01 2.39196770e-01 2.26399875e-02 2.00118284e+02] [-2.39123149e-01 9.70971049e-01 -5.94493030e-03 -3.25460096e+01] [-2.34047806e-02 3.57041133e-04 9.99726007e-01 -5.61904436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.288623853 meters 0.02504467514348435 Centerline is valid? [True, True] Translation: X:200.18, Y:-32.56, Z:-5.62 [[ 9.70744449e-01 2.39110308e-01 2.19425320e-02 2.00178522e+02] [-2.39041037e-01 9.70992346e-01 -5.76595588e-03 -3.25633761e+01] [-2.26847301e-02 3.52104062e-04 9.99742606e-01 -5.62230664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.348623853 meters 0.0255806196312067 Centerline is valid? [True, True] Translation: X:200.24, Y:-32.58, Z:-5.63 [[ 9.70806443e-01 2.38924611e-01 2.12104030e-02 2.00237926e+02] [-2.38859747e-01 9.71038057e-01 -5.57786123e-03 -3.25806316e+01] [-2.19287969e-02 3.48712123e-04 9.99759474e-01 -5.62585944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.408623853 meters 0.025853404986716726 Centerline is valid? [True, True] Translation: X:200.30, Y:-32.60, Z:-5.63 [[ 9.71057064e-01 2.37900124e-01 2.12534636e-02 2.00296612e+02] [-2.37834669e-01 9.71289550e-01 -5.59292741e-03 -3.26005734e+01] [-2.19738252e-02 3.76241189e-04 9.99758476e-01 -5.62691385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.468623853 meters 0.0262344209217895 Centerline is valid? [True, True] Translation: X:200.36, Y:-32.62, Z:-5.63 [[ 9.71037666e-01 2.37856240e-01 2.25889288e-02 2.00355386e+02] [-2.37782186e-01 9.71300286e-01 -5.94872749e-03 -3.26204670e+01] [-2.33555750e-02 4.05193579e-04 9.99727139e-01 -5.62619559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.528623853 meters 0.026737351090556326 Centerline is valid? [True, True] Translation: X:200.41, Y:-32.64, Z:-5.63 [[ 9.70836809e-01 2.38662629e-01 2.27165025e-02 2.00413396e+02] [-2.38587843e-01 9.71102464e-01 -5.98711547e-03 -3.26385694e+01] [-2.34889523e-02 3.92630726e-04 9.99724019e-01 -5.62779982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.588623853 meters 0.02539893142688357 Centerline is valid? [True, True] Translation: X:200.47, Y:-32.66, Z:-5.63 [[ 9.70365166e-01 2.40566765e-01 2.27832423e-02 2.00471857e+02] [-2.40492009e-01 9.70632530e-01 -6.00703315e-03 -3.26557345e+01] [-2.35592487e-02 3.49828000e-04 9.99722381e-01 -5.62961125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.648623853 meters 0.02353784270794824 Centerline is valid? [True, True] Translation: X:200.53, Y:-32.67, Z:-5.63 [[ 9.70090888e-01 2.41687189e-01 2.26046669e-02 2.00532011e+02] [-2.41613861e-01 9.70354162e-01 -5.96180342e-03 -3.26704341e+01] [-2.33754242e-02 3.21890323e-04 9.99726706e-01 -5.63124268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70862385299998 meters 0.022197457706430536 Centerline is valid? [True, True] Translation: X:200.59, Y:-32.69, Z:-5.63 [[ 9.69748977e-01 2.43120222e-01 2.18970393e-02 2.00591319e+02] [-2.43051694e-01 9.69996123e-01 -5.77890479e-03 -3.26879023e+01] [-2.26450119e-02 2.81974503e-04 9.99743529e-01 -5.63346659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76862385299998 meters 0.021884578346419256 Centerline is valid? [True, True] Translation: X:200.65, Y:-32.70, Z:-5.64 [[ 9.69342006e-01 2.44730310e-01 2.19806988e-02 2.00649793e+02] [-2.44661578e-01 9.69591158e-01 -5.80508130e-03 -3.27043381e+01] [-2.27329705e-02 2.49276706e-04 9.99741542e-01 -5.63536453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82862385299998 meters 0.019380892810109636 Centerline is valid? [True, True] Translation: X:200.71, Y:-32.72, Z:-5.64 [[ 9.68430436e-01 2.48277288e-01 2.23803330e-02 2.00710498e+02] [-2.48206893e-01 9.68688989e-01 -5.91438152e-03 -3.27170742e+01] [-2.31479887e-02 1.72714165e-04 9.99732034e-01 -5.63542441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88862385299998 meters 0.018230081274774834 Centerline is valid? [True, True] Translation: X:200.77, Y:-32.73, Z:-5.64 [[ 9.67836499e-01 2.50615587e-01 2.20077100e-02 2.00771419e+02] [-2.50548033e-01 9.68086677e-01 -5.81976589e-03 -3.27311515e+01] [-2.27638949e-02 1.18593390e-04 9.99740862e-01 -5.63742106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.948623853 meters 0.017730113082894256 Centerline is valid? [True, True] Translation: X:200.83, Y:-32.75, Z:-5.64 [[ 9.67239507e-01 2.52946070e-01 2.15875479e-02 2.00831211e+02] [-2.52881567e-01 9.67480378e-01 -5.71243200e-03 -3.27463420e+01] [-2.23304662e-02 6.61969920e-05 9.99750642e-01 -5.64008239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.008623853 meters 0.017561507002558274 Centerline is valid? [True, True] Translation: X:200.89, Y:-32.76, Z:-5.64 [[ 9.66874393e-01 2.54326512e-01 2.17240296e-02 2.00890621e+02] [-2.54261451e-01 9.67118413e-01 -5.75244026e-03 -3.27624413e+01] [-2.24727071e-02 3.83039142e-05 9.99747456e-01 -5.64265639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.068623853 meters 0.01717953869804442 Centerline is valid? [True, True] Translation: X:200.95, Y:-32.78, Z:-5.64 [[ 9.66204772e-01 2.56805085e-01 2.23492074e-02 2.00951925e+02] [-2.56736787e-01 9.66463216e-01 -5.92235045e-03 -3.27781953e+01] [-2.31205766e-02 -1.56604393e-05 9.99732684e-01 -5.64267250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.128623853 meters 0.017390147975996362 Centerline is valid? [True, True] Translation: X:201.01, Y:-32.79, Z:-5.64 [[ 9.65600130e-01 2.59073227e-01 2.23036468e-02 2.01013014e+02] [-2.59005708e-01 9.65857680e-01 -5.91477034e-03 -3.27924456e+01] [-2.30745072e-02 -6.54688199e-05 9.99733746e-01 -5.64447505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.188623853 meters 0.018584893647316886 Centerline is valid? [True, True] Translation: X:201.07, Y:-32.80, Z:-5.65 [[ 9.64799682e-01 2.62134859e-01 2.11397518e-02 2.01072739e+02] [-2.62074836e-01 9.65031243e-01 -5.61074166e-03 -3.28034447e+01] [-2.18712920e-02 -1.26955227e-04 9.99760787e-01 -5.64847241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.248623853 meters 0.01927293222053094 Centerline is valid? [True, True] Translation: X:201.13, Y:-32.82, Z:-5.65 [[ 9.64292745e-01 2.63974337e-01 2.13787548e-02 2.01133814e+02] [-2.63913369e-01 9.64529689e-01 -5.67562128e-03 -3.28167986e+01] [-2.21186621e-02 -1.69178774e-04 9.99755338e-01 -5.64987462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.308623853 meters 0.020869229046593014 Centerline is valid? [True, True] Translation: X:201.20, Y:-32.83, Z:-5.65 [[ 9.63625264e-01 2.66431872e-01 2.09858801e-02 2.01195341e+02] [-2.66373632e-01 9.63853728e-01 -5.57480695e-03 -3.28284374e+01] [-2.17126250e-02 -2.18060272e-04 9.99764229e-01 -5.65226546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.368623853 meters 0.02202344803257713 Centerline is valid? [True, True] Translation: X:201.26, Y:-32.84, Z:-5.65 [[ 9.63186820e-01 2.68024818e-01 2.08289733e-02 2.01256248e+02] [-2.67967743e-01 9.63411976e-01 -5.53659660e-03 -3.28407152e+01] [-2.15508276e-02 -2.48716086e-04 9.99767723e-01 -5.65456547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.428623853 meters 0.02147217981934127 Centerline is valid? [True, True] Translation: X:201.32, Y:-32.85, Z:-5.65 [[ 9.63003435e-01 2.68652122e-01 2.12231303e-02 2.01317722e+02] [-2.68592942e-01 9.63237233e-01 -5.64485043e-03 -3.28548443e+01] [-2.19594104e-02 -2.64372651e-04 9.99758828e-01 -5.65443763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48862385299998 meters 0.02227591991650028 Centerline is valid? [True, True] Translation: X:201.38, Y:-32.87, Z:-5.65 [[ 9.63429213e-01 2.67111755e-01 2.13415403e-02 2.01377433e+02] [-2.67051434e-01 9.63665533e-01 -5.68088039e-03 -3.28700494e+01] [-2.20835367e-02 -2.26162799e-04 9.99756103e-01 -5.65159793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54862385299998 meters 0.019724072832295846 Centerline is valid? [True, True] Translation: X:201.44, Y:-32.89, Z:-5.66 [[ 9.63644120e-01 2.66315331e-01 2.15906185e-02 2.01437231e+02] [-2.66253316e-01 9.63885938e-01 -5.75062597e-03 -3.28878644e+01] [-2.23423735e-02 -2.07016888e-04 9.99750357e-01 -5.65644248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60862385299998 meters 0.018732321409184738 Centerline is valid? [True, True] Translation: X:201.50, Y:-32.90, Z:-5.66 [[ 9.64140566e-01 2.64491475e-01 2.18455468e-02 2.01496582e+02] [-2.64427429e-01 9.64388010e-01 -5.82252466e-03 -3.29040168e+01] [-2.26075915e-02 -1.62829549e-04 9.99744402e-01 -5.65753035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66862385299999 meters 0.01742629048460006 Centerline is valid? [True, True] Translation: X:201.56, Y:-32.92, Z:-5.66 [[ 9.65167058e-01 2.60710036e-01 2.19733335e-02 2.01555169e+02] [-2.60644177e-01 9.65417149e-01 -5.86013766e-03 -3.29248546e+01] [-2.27412297e-02 -7.12095927e-05 9.99741382e-01 -5.65897418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.728623853 meters 0.017470246726105924 Centerline is valid? [True, True] Translation: X:201.61, Y:-32.95, Z:-5.66 [[ 9.66442677e-01 2.55943667e-01 2.19406194e-02 2.01613538e+02] [-2.55876688e-01 9.66691697e-01 -5.85519018e-03 -3.29474958e+01] [-2.27084135e-02 4.46126513e-05 9.99742130e-01 -5.66094350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.788623853 meters 0.01883103688127419 Centerline is valid? [True, True] Translation: X:201.67, Y:-32.97, Z:-5.66 [[ 9.67421721e-01 2.52168664e-01 2.24984327e-02 2.01671610e+02] [-2.52097112e-01 9.67683288e-01 -6.00842388e-03 -3.29701127e+01] [-2.32864936e-02 1.40889862e-04 9.99728823e-01 -5.66204749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.848623853 meters 0.022213022536727405 Centerline is valid? [True, True] Translation: X:201.73, Y:-33.00, Z:-5.66 [[ 9.68832024e-01 2.46646956e-01 2.30171173e-02 2.01728922e+02] [-2.46570400e-01 9.69105360e-01 -6.15141740e-03 -3.29972272e+01] [-2.38232401e-02 2.84350358e-04 9.99716146e-01 -5.66136346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.908623853 meters 0.02521939216297452 Centerline is valid? [True, True] Translation: X:201.79, Y:-33.02, Z:-5.66 [[ 9.69631794e-01 2.43506259e-01 2.27790723e-02 2.01786352e+02] [-2.43430395e-01 9.69899259e-01 -6.08846672e-03 -3.30213512e+01] [-2.35759851e-02 3.58452338e-04 9.99721984e-01 -5.66434267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.968623853 meters 0.028418929815145707 Centerline is valid? [True, True] Translation: X:201.84, Y:-33.05, Z:-5.67 [[ 9.70301496e-01 2.40959947e-01 2.12910836e-02 2.01842945e+02] [-2.40892979e-01 9.70534980e-01 -5.69433892e-03 -3.30461592e+01] [-2.20358490e-02 3.96353014e-04 9.99757103e-01 -5.66891739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.028623853 meters 0.02935576130848734 Centerline is valid? [True, True] Translation: X:201.90, Y:-33.07, Z:-5.67 [[ 9.70454174e-01 2.40350302e-01 2.12233001e-02 2.01901697e+02] [-2.40283587e-01 9.70686131e-01 -5.67747922e-03 -3.30678930e+01] [-2.19657469e-02 4.10122733e-04 9.99758640e-01 -5.67091937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.088623853 meters 0.029887154725300468 Centerline is valid? [True, True] Translation: X:201.96, Y:-33.09, Z:-5.67 [[ 9.70413286e-01 2.40537443e-01 2.09712207e-02 2.01959937e+02] [-2.40472272e-01 9.70639776e-01 -5.61352368e-03 -3.30912184e+01] [-2.17057636e-02 4.04440882e-04 9.99764320e-01 -5.67234363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.148623853 meters 0.02911915732495524 Centerline is valid? [True, True] Translation: X:202.02, Y:-33.11, Z:-5.67 [[ 9.70159971e-01 2.41562777e-01 2.09058542e-02 2.02019149e+02] [-2.41498165e-01 9.70385118e-01 -5.59988192e-03 -3.31117298e+01] [-2.16394529e-02 3.84055841e-04 9.99765766e-01 -5.67339202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20862385299998 meters 0.02696459613992839 Centerline is valid? [True, True] Translation: X:202.08, Y:-33.13, Z:-5.68 [[ 9.69511594e-01 2.44200289e-01 2.03343762e-02 2.02077309e+02] [-2.44139663e-01 9.69724763e-01 -5.45056006e-03 -3.31312963e+01] [-2.10497765e-02 3.19953408e-04 9.99778378e-01 -5.67596881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26862385299998 meters 0.024354028783455686 Centerline is valid? [True, True] Translation: X:202.14, Y:-33.15, Z:-5.68 [[ 9.68780658e-01 2.47029580e-01 2.09862404e-02 2.02137116e+02] [-2.46965617e-01 9.69007902e-01 -5.62757741e-03 -3.31498235e+01] [-2.17260108e-02 2.69008338e-04 9.99763926e-01 -5.67639771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32862385299998 meters 0.021475024387610044 Centerline is valid? [True, True] Translation: X:202.20, Y:-33.17, Z:-5.68 [[ 9.68234750e-01 2.49162857e-01 2.09604270e-02 2.02196803e+02] [-2.49099539e-01 9.68461575e-01 -5.62120262e-03 -3.31659886e+01] [-2.16999630e-02 2.21411029e-04 9.99764504e-01 -5.67673881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38862385299998 meters 0.020371240174676803 Centerline is valid? [True, True] Translation: X:202.26, Y:-33.19, Z:-5.68 [[ 9.67407721e-01 2.52376966e-01 2.06922331e-02 2.02255287e+02] [-2.52315917e-01 9.67628981e-01 -5.55281365e-03 -3.31856957e+01] [-2.14238067e-02 1.50855029e-04 9.99770473e-01 -5.67990213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.448623853 meters 0.018709187744220656 Centerline is valid? [True, True] Translation: X:202.32, Y:-33.20, Z:-5.68 [[ 9.66858457e-01 2.54483912e-01 2.05587356e-02 2.02315669e+02] [-2.54424050e-01 9.67077002e-01 -5.52049540e-03 -3.32018351e+01] [-2.12867577e-02 1.06900887e-04 9.99773406e-01 -5.68060005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.508623853 meters 0.01829260117865335 Centerline is valid? [True, True] Translation: X:202.37, Y:-33.22, Z:-5.68 [[ 9.66116992e-01 2.57313118e-01 2.01969475e-02 2.02373313e+02] [-2.57255890e-01 9.66328079e-01 -5.42678270e-03 -3.32216951e+01] [-2.09132598e-02 4.71232788e-05 9.99781293e-01 -5.68468354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.568623853 meters 0.018141813694791138 Centerline is valid? [True, True] Translation: X:202.43, Y:-33.24, Z:-5.69 [[ 9.65641584e-01 2.59159265e-01 1.93081978e-02 2.02433300e+02] [-2.59107279e-01 9.65834600e-01 -5.19063483e-03 -3.32394203e+01] [-1.99937266e-02 9.39824491e-06 9.99800105e-01 -5.68843514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.628623853 meters 0.01829688426582727 Centerline is valid? [True, True] Translation: X:202.49, Y:-33.25, Z:-5.69 [[ 9.64765809e-01 2.62402259e-01 1.92869776e-02 2.02494015e+02] [-2.62350966e-01 9.64958575e-01 -5.18835841e-03 -3.32548581e+01] [-1.99725714e-02 -5.44063894e-05 9.99800527e-01 -5.68963102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.688623853 meters 0.017752921513056564 Centerline is valid? [True, True] Translation: X:202.55, Y:-33.27, Z:-5.69 [[ 9.64215573e-01 2.64364082e-01 1.99990214e-02 2.02554015e+02] [-2.64309281e-01 9.64422948e-01 -5.38340739e-03 -3.32742026e+01] [-2.07106947e-02 -9.51617074e-05 9.99785506e-01 -5.68545254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.748623853 meters 0.019014242348494175 Centerline is valid? [True, True] Translation: X:202.61, Y:-33.29, Z:-5.69 [[ 9.63458762e-01 2.67072385e-01 2.04830265e-02 2.02613063e+02] [-2.67015409e-01 9.63676459e-01 -5.51848048e-03 -3.32915619e+01] [-2.12128442e-02 -1.52455324e-04 9.99774971e-01 -5.68741745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.808623853 meters 0.019301914529051407 Centerline is valid? [True, True] Translation: X:202.67, Y:-33.31, Z:-5.69 [[ 9.63058974e-01 2.68548095e-01 1.99833291e-02 2.02672520e+02] [-2.68494115e-01 9.63266261e-01 -5.38712882e-03 -3.33089159e+01] [-2.06959699e-02 -1.77283488e-04 9.99785800e-01 -5.68981719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.868623853 meters 0.020050786876262456 Centerline is valid? [True, True] Translation: X:202.73, Y:-33.33, Z:-5.69 [[ 9.62675287e-01 2.69968426e-01 1.93220329e-02 2.02732601e+02] [-2.69918179e-01 9.62869155e-01 -5.21216518e-03 -3.33261918e+01] [-2.00117095e-02 -1.97745324e-04 9.99799726e-01 -5.69251747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.928623853 meters 0.021983398394835218 Centerline is valid? [True, True] Translation: X:202.79, Y:-33.34, Z:-5.70 [[ 9.62106212e-01 2.72021861e-01 1.88611575e-02 2.02792007e+02] [-2.71974312e-01 9.62291044e-01 -5.09120863e-03 -3.33405646e+01] [-1.95348430e-02 -2.31466870e-04 9.99809150e-01 -5.69521120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98862385299998 meters 0.027465131625968576 Centerline is valid? [True, True] Translation: X:202.85, Y:-33.35, Z:-5.69 [[ 9.61481305e-01 2.74241278e-01 1.85855173e-02 2.02853441e+02] [-2.74195467e-01 9.61660880e-01 -5.01968383e-03 -3.33535126e+01] [-1.92495694e-02 -2.69732438e-04 9.99814673e-01 -5.68713323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04862385299998 meters 0.024698717464384987 Centerline is valid? [True, True] Translation: X:202.91, Y:-33.37, Z:-5.70 [[ 9.60773564e-01 2.76696139e-01 1.87990773e-02 2.02913887e+02] [-2.76649673e-01 9.60957410e-01 -5.08073957e-03 -3.33658176e+01] [-1.94709336e-02 -3.19318311e-04 9.99810372e-01 -5.69835678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10862385299998 meters 0.02509735344306753 Centerline is valid? [True, True] Translation: X:202.97, Y:-33.38, Z:-5.70 [[ 9.60723963e-01 2.76839824e-01 1.92140206e-02 2.02974348e+02] [-2.76791245e-01 9.60916024e-01 -5.19625814e-03 -3.33811114e+01] [-1.99015915e-02 -3.26102983e-04 9.99801891e-01 -5.70029574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16862385299999 meters 0.024285918334991285 Centerline is valid? [True, True] Translation: X:203.03, Y:-33.40, Z:-5.70 [[ 9.61111346e-01 2.75488676e-01 1.92605568e-02 2.03032985e+02] [-2.75439515e-01 9.61304271e-01 -5.21263505e-03 -3.33979380e+01] [-1.99512775e-02 -2.95195732e-04 9.99800910e-01 -5.70200194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.228623853 meters 0.023564894302724924 Centerline is valid? [True, True] Translation: X:203.09, Y:-33.42, Z:-5.70 [[ 9.61436417e-01 2.74390556e-01 1.87039872e-02 2.03092957e+02] [-2.74343934e-01 9.61618300e-01 -5.06473494e-03 -3.34150521e+01] [-1.93758118e-02 -2.61904810e-04 9.99812237e-01 -5.70449840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.288623853 meters 0.022678780179112058 Centerline is valid? [True, True] Translation: X:203.15, Y:-33.43, Z:-5.71 [[ 9.61732150e-01 2.73341505e-01 1.88598349e-02 2.03152580e+02] [-2.73293839e-01 9.61917026e-01 -5.11015115e-03 -3.34317963e+01] [-1.95384127e-02 -2.39680023e-04 9.99809078e-01 -5.70650221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.348623853 meters 0.02236799534663337 Centerline is valid? [True, True] Translation: X:203.21, Y:-33.45, Z:-5.71 [[ 9.61847691e-01 2.72915354e-01 1.91371080e-02 2.03211868e+02] [-2.72866124e-01 9.62038022e-01 -5.18865385e-03 -3.34469028e+01] [-1.98266888e-02 -2.31173754e-04 9.99803405e-01 -5.70703962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.408623853 meters 0.02028990241802178 Centerline is valid? [True, True] Translation: X:203.27, Y:-33.47, Z:-5.71 [[ 9.62254479e-01 2.71491235e-01 1.89427276e-02 2.03270829e+02] [-2.71442671e-01 9.62440892e-01 -5.13862219e-03 -3.34664063e+01] [-1.96263465e-02 -1.97202360e-04 9.99807365e-01 -5.70703876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.468623853 meters 0.020016614159595655 Centerline is valid? [True, True] Translation: X:203.33, Y:-33.48, Z:-5.71 [[ 9.62424630e-01 2.70898283e-01 1.87870161e-02 2.03329810e+02] [-2.70850334e-01 9.62607962e-01 -5.09984558e-03 -3.34826706e+01] [-1.94660707e-02 -1.80252605e-04 9.99810502e-01 -5.70925320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.528623853 meters 0.019598634320319743 Centerline is valid? [True, True] Translation: X:203.39, Y:-33.50, Z:-5.71 [[ 9.62807890e-01 2.69477257e-01 1.95697524e-02 2.03389298e+02] [-2.69424866e-01 9.63006741e-01 -5.31577913e-03 -3.34983649e+01] [-2.02782851e-02 -1.54503825e-04 9.99794362e-01 -5.70963656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.588623853 meters 0.018841745224162997 Centerline is valid? [True, True] Translation: X:203.45, Y:-33.52, Z:-5.71 [[ 9.62990445e-01 2.68816160e-01 1.96793120e-02 2.03448877e+02] [-2.68762978e-01 9.63191493e-01 -5.34870685e-03 -3.35153056e+01] [-2.03927647e-02 -1.38316904e-04 9.99792036e-01 -5.71018198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.648623853 meters 0.018807716713242023 Centerline is valid? [True, True] Translation: X:203.51, Y:-33.53, Z:-5.71 [[ 9.63244408e-01 2.67923984e-01 1.94151953e-02 2.03508391e+02] [-2.67871972e-01 9.63440048e-01 -5.28026641e-03 -3.35315245e+01] [-2.01200867e-02 -1.14599576e-04 9.99797564e-01 -5.71283391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70862385299998 meters 0.01911609874051395 Centerline is valid? [True, True] Translation: X:203.57, Y:-33.55, Z:-5.71 [[ 9.63252059e-01 2.67915336e-01 1.91531432e-02 2.03568923e+02] [-2.67864645e-01 9.63442453e-01 -5.21262836e-03 -3.35464996e+01] [-1.98494944e-02 -1.09374906e-04 9.99802973e-01 -5.71493994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76862385299998 meters 0.01960132754012066 Centerline is valid? [True, True] Translation: X:203.63, Y:-33.56, Z:-5.72 [[ 9.63102196e-01 2.68471804e-01 1.88957877e-02 2.03630628e+02] [-2.68422507e-01 9.63287536e-01 -5.14594774e-03 -3.35598698e+01] [-1.95836187e-02 -1.15981146e-04 9.99808216e-01 -5.71749129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82862385299998 meters 0.019580415918042247 Centerline is valid? [True, True] Translation: X:203.69, Y:-33.57, Z:-5.72 [[ 9.62962429e-01 2.68981097e-01 1.87757537e-02 2.03691949e+02] [-2.68932451e-01 9.63145448e-01 -5.11684210e-03 -3.35734666e+01] [-1.94601156e-02 -1.22082783e-04 9.99810627e-01 -5.71812360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88862385299998 meters 0.019686955006578098 Centerline is valid? [True, True] Translation: X:203.75, Y:-33.59, Z:-5.72 [[ 9.62931468e-01 2.69126175e-01 1.82781387e-02 2.03753152e+02] [-2.69080032e-01 9.63104921e-01 -4.98479087e-03 -3.35872870e+01] [-1.89453030e-02 -1.18270153e-04 9.99820515e-01 -5.72139199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.948623853 meters 0.019938527896350276 Centerline is valid? [True, True] Translation: X:203.81, Y:-33.60, Z:-5.73 [[ 9.62925810e-01 2.69192067e-01 1.75930547e-02 2.03813975e+02] [-2.69149266e-01 9.63086506e-01 -4.80143810e-03 -3.36001556e+01] [-1.82361426e-02 -1.11729080e-04 9.99833701e-01 -5.72507887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.008623853 meters 0.020518829651113072 Centerline is valid? [True, True] Translation: X:203.88, Y:-33.61, Z:-5.73 [[ 9.62769094e-01 2.69737874e-01 1.78087359e-02 2.03875331e+02] [-2.69694048e-01 9.62933780e-01 -4.86375487e-03 -3.36111745e+01] [-1.84605723e-02 -1.20237209e-04 9.99829582e-01 -5.72755627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.068623853 meters 0.02039673735909932 Centerline is valid? [True, True] Translation: X:203.94, Y:-33.62, Z:-5.73 [[ 9.62321918e-01 2.71295625e-01 1.83087636e-02 2.03937443e+02] [-2.71249521e-01 9.62496058e-01 -5.00365370e-03 -3.36214473e+01] [-1.89795821e-02 -1.51117725e-04 9.99819860e-01 -5.72635646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.128623853 meters 0.020246126545268913 Centerline is valid? [True, True] Translation: X:204.00, Y:-33.63, Z:-5.73 [[ 9.62066483e-01 2.72165343e-01 1.88177589e-02 2.03999904e+02] [-2.72116730e-01 9.62250486e-01 -5.14662399e-03 -3.36334342e+01] [-1.95081304e-02 -1.69232582e-04 9.99809684e-01 -5.72598287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.188623853 meters 0.02059219866665281 Centerline is valid? [True, True] Translation: X:204.06, Y:-33.64, Z:-5.73 [[ 9.62106226e-01 2.72055275e-01 1.83721985e-02 2.04061696e+02] [-2.72008843e-01 9.62281613e-01 -5.02864053e-03 -3.36421949e+01] [-1.90472970e-02 -1.59314093e-04 9.99818571e-01 -5.72978124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.248623853 meters 0.02006498528460831 Centerline is valid? [True, True] Translation: X:204.12, Y:-33.66, Z:-5.73 [[ 9.62446205e-01 2.70857433e-01 1.82634661e-02 2.04121183e+02] [-2.70811260e-01 9.62619465e-01 -5.00274416e-03 -3.36557345e+01] [-1.89357984e-02 -1.31080143e-04 9.99820693e-01 -5.73172737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.308623853 meters 0.023765817503617327 Centerline is valid? [True, True] Translation: X:204.18, Y:-33.67, Z:-5.72 [[ 9.63138068e-01 2.68377386e-01 1.84021995e-02 2.04182548e+02] [-2.68330001e-01 9.63313849e-01 -5.04362507e-03 -3.36677478e+01] [-1.90806886e-02 -8.01549156e-05 9.99817944e-01 -5.72487346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.368623853 meters 0.018537874077526318 Centerline is valid? [True, True] Translation: X:204.24, Y:-33.68, Z:-5.73 [[ 9.63883088e-01 2.65633871e-01 1.91843735e-02 2.04242449e+02] [-2.65581756e-01 9.64073984e-01 -5.26166364e-03 -3.36847222e+01] [-1.98928315e-02 -2.33910049e-05 9.99802118e-01 -5.73370560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.428623853 meters 0.019921735244573816 Centerline is valid? [True, True] Translation: X:204.30, Y:-33.71, Z:-5.74 [[ 9.65601720e-01 2.59344727e-01 1.88050968e-02 2.04300117e+02] [-2.59293391e-01 9.65784811e-01 -5.16101731e-03 -3.37061396e+01] [-1.95001595e-02 1.07449865e-04 9.99809848e-01 -5.73668266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48862385299998 meters 0.02199925247809296 Centerline is valid? [True, True] Translation: X:204.36, Y:-33.73, Z:-5.74 [[ 9.66763171e-01 2.54985369e-01 1.87465607e-02 2.04358721e+02] [-2.54933473e-01 9.66944891e-01 -5.14798403e-03 -3.37255728e+01] [-1.94395517e-02 1.97755538e-04 9.99811015e-01 -5.73779642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54862385299998 meters 0.027144543810291803 Centerline is valid? [True, True] Translation: X:204.42, Y:-33.75, Z:-5.74 [[ 9.68358614e-01 2.48777680e-01 1.97803144e-02 2.04415654e+02] [-2.48718520e-01 9.68560554e-01 -5.43600803e-03 -3.37482182e+01] [-2.05107897e-02 3.44274674e-04 9.99789572e-01 -5.73831448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60862385299998 meters 0.030680943709090632 Centerline is valid? [True, True] Translation: X:204.47, Y:-33.77, Z:-5.74 [[ 9.69418140e-01 2.44591187e-01 2.00903346e-02 2.04474000e+02] [-2.44529212e-01 9.69626194e-01 -5.52347308e-03 -3.37685204e+01] [-2.08311075e-02 4.41881321e-04 9.99782911e-01 -5.73917753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66862385299999 meters 0.03257214535963533 Centerline is valid? [True, True] Translation: X:204.53, Y:-33.79, Z:-5.74 [[ 9.70005191e-01 2.42260102e-01 1.99993211e-02 2.04533314e+02] [-2.42198184e-01 9.70211216e-01 -5.49878226e-03 -3.37884831e+01] [-2.07357012e-02 4.90048078e-04 9.99784872e-01 -5.74104378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.728623853 meters 0.03777712395526822 Centerline is valid? [True, True] Translation: X:204.59, Y:-33.81, Z:-5.75 [[ 9.70497158e-01 2.40364361e-01 1.89800092e-02 2.04590427e+02] [-2.40308232e-01 9.70682605e-01 -5.21854678e-03 -3.38117934e+01] [-1.96779175e-02 5.03532355e-04 9.99806244e-01 -5.74531046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.788623853 meters 0.03579840955461626 Centerline is valid? [True, True] Translation: X:204.65, Y:-33.83, Z:-5.75 [[ 9.70426283e-01 2.40698679e-01 1.83569081e-02 2.04651761e+02] [-2.40646185e-01 9.70599770e-01 -5.04983890e-03 -3.38265003e+01] [-1.90327003e-02 4.82976501e-04 9.99818745e-01 -5.74738576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.848623853 meters 0.03421608109269298 Centerline is valid? [True, True] Translation: X:204.71, Y:-33.84, Z:-5.75 [[ 9.69803544e-01 2.43164696e-01 1.87621189e-02 2.04710277e+02] [-2.43110215e-01 9.69984912e-01 -5.16671107e-03 -3.38409101e+01] [-1.94553340e-02 4.49431960e-04 9.99810626e-01 -5.74835490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.908623853 meters 0.027983415935157987 Centerline is valid? [True, True] Translation: X:204.77, Y:-33.85, Z:-5.75 [[ 9.68604964e-01 2.47876988e-01 1.90111012e-02 2.04771491e+02] [-2.47821954e-01 9.68791448e-01 -5.23541221e-03 -3.38488624e+01] [-1.97155305e-02 3.59677999e-04 9.99805565e-01 -5.74818541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.968623853 meters 0.02673576388527816 Centerline is valid? [True, True] Translation: X:204.83, Y:-33.86, Z:-5.75 [[ 9.67742393e-01 2.51259580e-01 1.85279092e-02 2.04830955e+02] [-2.51207943e-01 9.67919699e-01 -5.10155055e-03 -3.38643304e+01] [-1.92153417e-02 2.82628794e-04 9.99815328e-01 -5.75135976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.028623853 meters 0.022178297631260134 Centerline is valid? [True, True] Translation: X:204.89, Y:-33.87, Z:-5.75 [[ 9.66629117e-01 2.55487183e-01 1.88268534e-02 2.04892740e+02] [-2.55434577e-01 9.66812421e-01 -5.18841242e-03 -3.38725730e+01] [-1.95276086e-02 2.06241173e-04 9.99809297e-01 -5.75121533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.088623853 meters 0.020378315656947348 Centerline is valid? [True, True] Translation: X:204.95, Y:-33.89, Z:-5.75 [[ 9.65827170e-01 2.58427559e-01 1.98260898e-02 2.04953963e+02] [-2.58369843e-01 9.66030627e-01 -5.46363372e-03 -3.38851648e+01] [-2.05645635e-02 1.54462185e-04 9.99788515e-01 -5.75123063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.148623853 meters 0.01815235258863593 Centerline is valid? [True, True] Translation: X:205.02, Y:-33.89, Z:-5.75 [[ 9.64385536e-01 2.63710610e-01 2.04267427e-02 2.05016076e+02] [-2.63650447e-01 9.64601841e-01 -5.63290172e-03 -3.38939306e+01] [-2.11891296e-02 4.67690998e-05 9.99775484e-01 -5.75086433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20862385299998 meters 0.017990022559138195 Centerline is valid? [True, True] Translation: X:205.08, Y:-33.90, Z:-5.75 [[ 9.63228082e-01 2.67940209e-01 1.99926408e-02 2.05078043e+02] [-2.67883415e-01 9.63435542e-01 -5.51660504e-03 -3.39041542e+01] [-2.07397410e-02 -4.19480046e-05 9.99784908e-01 -5.75360054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26862385299998 meters 0.019787170518662175 Centerline is valid? [True, True] Translation: X:205.14, Y:-33.91, Z:-5.76 [[ 9.61640981e-01 2.73641338e-01 1.91583508e-02 2.05139904e+02] [-2.73590234e-01 9.61831791e-01 -5.29050780e-03 -3.39096941e+01] [-1.98748125e-02 -1.53968576e-04 9.99802465e-01 -5.75771659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32862385299998 meters 0.020362973543836954 Centerline is valid? [True, True] Translation: X:205.20, Y:-33.92, Z:-5.76 [[ 9.61227434e-01 2.75116785e-01 1.87769664e-02 2.05200521e+02] [-2.75067919e-01 9.61410798e-01 -5.18818030e-03 -3.39237891e+01] [-1.94797337e-02 -1.77919830e-04 9.99810236e-01 -5.75992181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38862385299998 meters 0.02539292233883908 Centerline is valid? [True, True] Translation: X:205.26, Y:-33.93, Z:-5.76 [[ 9.60274544e-01 2.78423741e-01 1.87888530e-02 2.05262667e+02] [-2.78375379e-01 9.60458308e-01 -5.19485590e-03 -3.39323099e+01] [-1.94922812e-02 -2.41866178e-04 9.99809978e-01 -5.75518820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.448623853 meters 0.022669022984598608 Centerline is valid? [True, True] Translation: X:205.32, Y:-33.95, Z:-5.76 [[ 9.60012576e-01 2.79290589e-01 1.93033883e-02 2.05322855e+02] [-2.79239646e-01 9.60206591e-01 -5.34067184e-03 -3.39464260e+01] [-2.00268401e-02 -2.63159186e-04 9.99799408e-01 -5.76230422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.508623853 meters 0.02158964034165457 Centerline is valid? [True, True] Translation: X:205.38, Y:-33.96, Z:-5.77 [[ 9.60405992e-01 2.77990839e-01 1.84776540e-02 2.05382726e+02] [-2.77943862e-01 9.60583699e-01 -5.11525625e-03 -3.39636050e+01] [-1.91713276e-02 -2.23027771e-04 9.99816188e-01 -5.76507256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.568623853 meters 0.021151606077491725 Centerline is valid? [True, True] Translation: X:205.44, Y:-33.98, Z:-5.77 [[ 9.60911553e-01 2.76247332e-01 1.83412026e-02 2.05441582e+02] [-2.76200664e-01 9.61086561e-01 -5.08088326e-03 -3.39790834e+01] [-1.90310638e-02 -1.83572930e-04 9.99818876e-01 -5.76769190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.628623853 meters 0.01937055763742102 Centerline is valid? [True, True] Translation: X:205.50, Y:-34.00, Z:-5.77 [[ 9.61664001e-01 2.73629127e-01 1.81507588e-02 2.05501240e+02] [-2.73582903e-01 9.61835269e-01 -5.03100663e-03 -3.39977566e+01] [-1.88346699e-02 -1.27599319e-04 9.99822604e-01 -5.76951155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.688623853 meters 0.024600158580612624 Centerline is valid? [True, True] Translation: X:205.56, Y:-34.02, Z:-5.76 [[ 9.62589761e-01 2.70326082e-01 1.85677651e-02 2.05561145e+02] [-2.70277028e-01 9.62768823e-01 -5.14998528e-03 -3.40155965e+01] [-1.92686407e-02 -6.11172840e-05 9.99814341e-01 -5.76082212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.748623853 meters 0.01813428251430266 Centerline is valid? [True, True] Translation: X:205.62, Y:-34.04, Z:-5.77 [[ 9.63299103e-01 2.67756208e-01 1.90118569e-02 2.05618240e+02] [-2.67704206e-01 9.63486696e-01 -5.27684880e-03 -3.40358803e+01] [-1.97305802e-02 -6.37033027e-06 9.99805333e-01 -5.77242841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.808623853 meters 0.018594776073597236 Centerline is valid? [True, True] Translation: X:205.68, Y:-34.06, Z:-5.77 [[ 9.64279457e-01 2.64156314e-01 1.96613822e-02 2.05677143e+02] [-2.64099882e-01 9.64479879e-01 -5.46035834e-03 -3.40576494e+01] [-2.04053956e-02 7.27426652e-05 9.99791786e-01 -5.77193301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.868623853 meters 0.019603584116991046 Centerline is valid? [True, True] Translation: X:205.74, Y:-34.08, Z:-5.77 [[ 9.64993413e-01 2.61532885e-01 1.97044010e-02 2.05735974e+02] [-2.61475576e-01 9.65194557e-01 -5.47636915e-03 -3.40776478e+01] [-2.04508312e-02 1.32440551e-04 9.99790851e-01 -5.77289994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.928623853 meters 0.02178288789341408 Centerline is valid? [True, True] Translation: X:205.79, Y:-34.10, Z:-5.77 [[ 9.66187416e-01 2.57126007e-01 1.91857540e-02 2.05794077e+02] [-2.57070742e-01 9.66377859e-01 -5.33545363e-03 -3.41001135e+01] [-1.99125717e-02 2.22952149e-04 9.99801700e-01 -5.77479365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98862385299998 meters 0.024933180036457493 Centerline is valid? [True, True] Translation: X:205.85, Y:-34.12, Z:-5.78 [[ 9.67275636e-01 2.52954856e-01 1.97910202e-02 2.05851887e+02] [-2.52895077e-01 9.67478029e-01 -5.50850976e-03 -3.41247158e+01] [-2.05407815e-02 3.23195706e-04 9.99788964e-01 -5.77568272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04862385299998 meters 0.027991491313025054 Centerline is valid? [True, True] Translation: X:205.91, Y:-34.15, Z:-5.78 [[ 9.67989562e-01 2.50200570e-01 1.98968052e-02 2.05908875e+02] [-2.50139552e-01 9.68193951e-01 -5.53873374e-03 -3.41480762e+01] [-2.06497607e-02 3.84458516e-04 9.99786697e-01 -5.77800828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10862385299998 meters 0.030689009651947867 Centerline is valid? [True, True] Translation: X:205.96, Y:-34.17, Z:-5.78 [[ 9.68569947e-01 2.48027176e-01 1.88355269e-02 2.05964761e+02] [-2.47972042e-01 9.68752988e-01 -5.24543815e-03 -3.41731603e+01] [-1.95479842e-02 4.09889672e-04 9.99808836e-01 -5.78203587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16862385299999 meters 0.031037293232804374 Centerline is valid? [True, True] Translation: X:206.02, Y:-34.19, Z:-5.79 [[ 9.68377909e-01 2.48851859e-01 1.78038867e-02 2.06023382e+02] [-2.48802758e-01 9.68541489e-01 -4.95710185e-03 -3.41924667e+01] [-1.84773869e-02 3.70691824e-04 9.99829210e-01 -5.78592078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.228623853 meters 0.02679561890888428 Centerline is valid? [True, True] Translation: X:206.08, Y:-34.20, Z:-5.79 [[ 9.67230257e-01 2.53228045e-01 1.84712565e-02 2.06084096e+02] [-2.53175898e-01 9.67406567e-01 -5.14769504e-03 -3.42048755e+01] [-1.91727556e-02 3.02529433e-04 9.99816140e-01 -5.78679404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.288623853 meters 0.023473135832827192 Centerline is valid? [True, True] Translation: X:206.14, Y:-34.22, Z:-5.79 [[ 9.66190434e-01 2.57147198e-01 1.87447219e-02 2.06144247e+02] [-2.57094208e-01 9.66372219e-01 -5.22516942e-03 -3.42183698e+01] [-1.94580162e-02 2.29349280e-04 9.99810649e-01 -5.78777665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.348623853 meters 0.019871800896577644 Centerline is valid? [True, True] Translation: X:206.21, Y:-34.23, Z:-5.79 [[ 9.64875460e-01 2.62065218e-01 1.83621222e-02 2.06206100e+02] [-2.62015256e-01 9.65050157e-01 -5.11863272e-03 -3.42296015e+01] [-1.90617845e-02 1.27686948e-04 9.99818300e-01 -5.78902368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.408623853 meters 0.019019956969262095 Centerline is valid? [True, True] Translation: X:206.27, Y:-34.24, Z:-5.79 [[ 9.64077193e-01 2.64993728e-01 1.82616987e-02 2.06265260e+02] [-2.64944830e-01 9.64250133e-01 -5.09095008e-03 -3.42434420e+01] [-1.89579153e-02 6.97261929e-05 9.99820280e-01 -5.79228006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.468623853 meters 0.018105503689234543 Centerline is valid? [True, True] Translation: X:206.33, Y:-34.26, Z:-5.79 [[ 9.62869443e-01 2.69322466e-01 1.86506060e-02 2.06325944e+02] [-2.69272214e-01 9.63050055e-01 -5.20242891e-03 -3.42560982e+01] [-1.93625981e-02 -1.28301416e-05 9.99812527e-01 -5.79310727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.528623853 meters 0.01840946810046628 Centerline is valid? [True, True] Translation: X:206.39, Y:-34.27, Z:-5.79 [[ 9.61995763e-01 2.72445020e-01 1.83810302e-02 2.06386636e+02] [-2.72396722e-01 9.62171350e-01 -5.13028792e-03 -3.42702539e+01] [-1.90834220e-02 -7.16171266e-05 9.99817892e-01 -5.79418118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.588623853 meters 0.01970509340169061 Centerline is valid? [True, True] Translation: X:206.45, Y:-34.28, Z:-5.80 [[ 9.60913547e-01 2.76261334e-01 1.80230827e-02 2.06447694e+02] [-2.76215510e-01 9.61082544e-01 -5.03355406e-03 -3.42819070e+01] [-1.87122465e-02 -1.41444699e-04 9.99824901e-01 -5.79648083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.648623853 meters 0.02005642835456915 Centerline is valid? [True, True] Translation: X:206.51, Y:-34.30, Z:-5.80 [[ 9.60639895e-01 2.77169494e-01 1.86564908e-02 2.06508641e+02] [-2.77120499e-01 9.60821027e-01 -5.21375283e-03 -3.42970511e+01] [-1.93706419e-02 -1.61557073e-04 9.99812358e-01 -5.79742118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70862385299998 meters 0.01955724873364165 Centerline is valid? [True, True] Translation: X:206.57, Y:-34.32, Z:-5.80 [[ 9.60910783e-01 2.76151315e-01 1.97716568e-02 2.06566663e+02] [-2.76095978e-01 9.61114161e-01 -5.52998874e-03 -3.43169777e+01] [-2.05299330e-02 -1.45049112e-04 9.99789228e-01 -5.79757982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76862385299998 meters 0.01841174052524708 Centerline is valid? [True, True] Translation: X:206.62, Y:-34.34, Z:-5.80 [[ 9.61840554e-01 2.72929315e-01 1.92960734e-02 2.06624684e+02] [-2.72875901e-01 9.62034087e-01 -5.39987736e-03 -3.43405814e+01] [-2.00372652e-02 -7.16123887e-05 9.99799231e-01 -5.80027086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82862385299998 meters 0.018411550640146247 Centerline is valid? [True, True] Translation: X:206.68, Y:-34.36, Z:-5.80 [[ 9.62474473e-01 2.70694122e-01 1.91724247e-02 2.06682388e+02] [-2.70640882e-01 9.62665410e-01 -5.36855493e-03 -3.43625187e+01] [-1.99098664e-02 -2.17448591e-05 9.99801779e-01 -5.80313335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88862385299998 meters 0.01863254445732659 Centerline is valid? [True, True] Translation: X:206.74, Y:-34.39, Z:-5.80 [[ 9.63323932e-01 2.67614277e-01 1.97383262e-02 2.06741053e+02] [-2.67557123e-01 9.63526127e-01 -5.53078397e-03 -3.43852056e+01] [-2.04985098e-02 4.68067947e-05 9.99789882e-01 -5.80292825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.948623853 meters 0.019100981996161344 Centerline is valid? [True, True] Translation: X:206.80, Y:-34.41, Z:-5.80 [[ 9.63833733e-01 2.65739615e-01 2.01740549e-02 2.06799094e+02] [-2.65679407e-01 9.64044837e-01 -5.65722932e-03 -3.44077664e+01] [-2.09520434e-02 9.27975261e-05 9.99780478e-01 -5.80299546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.008623853 meters 0.01936229951984663 Centerline is valid? [True, True] Translation: X:206.86, Y:-34.43, Z:-5.80 [[ 9.63982341e-01 2.65199986e-01 2.01745619e-02 2.06859160e+02] [-2.65139578e-01 9.64193422e-01 -5.66116032e-03 -3.44270244e+01] [-2.09535195e-02 1.08183763e-04 9.99780445e-01 -5.80472266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.068623853 meters 0.019910263207884357 Centerline is valid? [True, True] Translation: X:206.92, Y:-34.45, Z:-5.81 [[ 9.64301729e-01 2.64031890e-01 2.02320487e-02 2.06917947e+02] [-2.63970790e-01 9.64513941e-01 -5.68153825e-03 -3.44476245e+01] [-2.10142003e-02 1.38047286e-04 9.99779168e-01 -5.80634078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.128623853 meters 0.02090032586767164 Centerline is valid? [True, True] Translation: X:206.98, Y:-34.47, Z:-5.81 [[ 9.64690994e-01 2.62606257e-01 2.02296513e-02 2.06976941e+02] [-2.62544784e-01 9.64903064e-01 -5.68443803e-03 -3.44689258e+01] [-2.10124215e-02 1.72536759e-04 9.99779200e-01 -5.80789704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.188623853 meters 0.022128780933364983 Centerline is valid? [True, True] Translation: X:207.04, Y:-34.49, Z:-5.81 [[ 9.65346287e-01 2.60269157e-01 1.91444989e-02 2.07035354e+02] [-2.60213582e-01 9.65536079e-01 -5.38256310e-03 -3.44902399e+01] [-1.98856196e-02 2.14378667e-04 9.99802239e-01 -5.81110297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.248623853 meters 0.023451191817939317 Centerline is valid? [True, True] Translation: X:207.09, Y:-34.51, Z:-5.81 [[ 9.65510074e-01 2.59633733e-01 1.95095236e-02 2.07093396e+02] [-2.59575817e-01 9.65707134e-01 -5.48873295e-03 -3.45110488e+01] [-2.02655463e-02 2.35226450e-04 9.99794605e-01 -5.81320885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.308623853 meters 0.023842232675590536 Centerline is valid? [True, True] Translation: X:207.15, Y:-34.53, Z:-5.81 [[ 9.65866681e-01 2.58299512e-01 1.95682396e-02 2.07152395e+02] [-2.58240893e-01 9.66064848e-01 -5.50913370e-03 -3.45322889e+01] [-2.03271950e-02 2.67768992e-04 9.99793345e-01 -5.81307645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.368623853 meters 0.02408105988126917 Centerline is valid? [True, True] Translation: X:207.21, Y:-34.55, Z:-5.81 [[ 9.65955828e-01 2.57936391e-01 1.99538457e-02 2.07212116e+02] [-2.57875289e-01 9.66161859e-01 -5.62119239e-03 -3.45523035e+01] [-2.07285547e-02 2.84219826e-04 9.99785100e-01 -5.81398477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.428623853 meters 0.02378637103955786 Centerline is valid? [True, True] Translation: X:207.27, Y:-34.57, Z:-5.81 [[ 9.66244836e-01 2.56821899e-01 2.03329549e-02 2.07270512e+02] [-2.56758114e-01 9.66458696e-01 -5.73238339e-03 -3.45728812e+01] [-2.11231627e-02 3.18234702e-04 9.99776830e-01 -5.81404624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48862385299998 meters 0.02652782040364731 Centerline is valid? [True, True] Translation: X:207.33, Y:-34.60, Z:-5.82 [[ 9.66443107e-01 2.56034757e-01 2.08308669e-02 2.07327080e+02] [-2.55967536e-01 9.66667514e-01 -5.87690866e-03 -3.45976366e+01] [-2.16412152e-02 3.47672192e-04 9.99765741e-01 -5.81608756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54862385299998 meters 0.02612188035032394 Centerline is valid? [True, True] Translation: X:207.39, Y:-34.62, Z:-5.82 [[ 9.66514393e-01 2.55805391e-01 2.03354436e-02 2.07385045e+02] [-2.55741207e-01 9.66728235e-01 -5.74052946e-03 -3.46201486e+01] [-2.11273059e-02 3.47693441e-04 9.99776733e-01 -5.81835194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60862385299998 meters 0.025253217310869287 Centerline is valid? [True, True] Translation: X:207.44, Y:-34.64, Z:-5.82 [[ 9.66231257e-01 2.56951842e-01 1.93108360e-02 2.07444051e+02] [-2.56894128e-01 9.66424159e-01 -5.45451491e-03 -3.46388708e+01] [-2.00640061e-02 3.09482428e-04 9.99798650e-01 -5.82124377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66862385299999 meters 0.021820719573331517 Centerline is valid? [True, True] Translation: X:207.50, Y:-34.65, Z:-5.82 [[ 9.65022285e-01 2.61443270e-01 1.94783664e-02 2.07503983e+02] [-2.61385368e-01 9.65218818e-01 -5.50654250e-03 -3.46533431e+01] [-2.02405343e-02 2.22576232e-04 9.99795115e-01 -5.82265771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.728623853 meters 0.018140344068506568 Centerline is valid? [True, True] Translation: X:207.57, Y:-34.66, Z:-5.82 [[ 9.62773273e-01 2.69585323e-01 1.97832690e-02 2.07565593e+02] [-2.69527299e-01 9.62976506e-01 -5.59326672e-03 -3.46615816e+01] [-2.05586858e-02 5.29166698e-05 9.99788646e-01 -5.82333229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.788623853 meters 0.018277108737080713 Centerline is valid? [True, True] Translation: X:207.63, Y:-34.67, Z:-5.83 [[ 9.60933432e-01 2.76091375e-01 1.95061966e-02 2.07628410e+02] [-2.76036319e-01 9.61131388e-01 -5.51413920e-03 -3.46703107e+01] [-2.02704241e-02 -8.56980077e-05 9.99794530e-01 -5.82561592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.848623853 meters 0.021240596502598897 Centerline is valid? [True, True] Translation: X:207.69, Y:-34.68, Z:-5.83 [[ 9.58686502e-01 2.83870159e-01 1.83826966e-02 2.07691406e+02] [-2.83822599e-01 9.58862701e-01 -5.20124017e-03 -3.46756035e+01] [-1.91029590e-02 -2.31065992e-04 9.99817495e-01 -5.82887878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.908623853 meters 0.02428302280842102 Centerline is valid? [True, True] Translation: X:207.75, Y:-34.68, Z:-5.83 [[ 9.57563936e-01 2.87650092e-01 1.81309968e-02 2.07752669e+02] [-2.87604503e-01 9.57735524e-01 -5.12996797e-03 -3.46842666e+01] [-1.88403355e-02 -3.02284007e-04 9.99822459e-01 -5.83197672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.968623853 meters 0.025598950077039103 Centerline is valid? [True, True] Translation: X:207.81, Y:-34.70, Z:-5.83 [[ 9.56889114e-01 2.89844012e-01 1.88061739e-02 2.07814543e+02] [-2.89795323e-01 9.57073833e-01 -5.32431470e-03 -3.46953153e+01] [-1.95421176e-02 -3.55162442e-04 9.99808972e-01 -5.83240915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.028623853 meters 0.026342337744222063 Centerline is valid? [True, True] Translation: X:207.88, Y:-34.71, Z:-5.84 [[ 9.57312642e-01 2.88449681e-01 1.86892021e-02 2.07875222e+02] [-2.88401265e-01 9.57495002e-01 -5.29456064e-03 -3.47068805e+01] [-1.94220319e-02 -3.21439679e-04 9.99811323e-01 -5.83604779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.088623853 meters 0.022824802379166415 Centerline is valid? [True, True] Translation: X:207.93, Y:-34.73, Z:-5.84 [[ 9.58132906e-01 2.85705411e-01 1.88083406e-02 2.07934327e+02] [-2.85655779e-01 9.58317457e-01 -5.33171435e-03 -3.47270123e+01] [-1.95476607e-02 -2.64220219e-04 9.99808891e-01 -5.83680513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.148623853 meters 0.019849195374172717 Centerline is valid? [True, True] Translation: X:207.99, Y:-34.75, Z:-5.84 [[ 9.59142775e-01 2.82243514e-01 1.95891659e-02 2.07992854e+02] [-2.82188880e-01 9.59342775e-01 -5.55665764e-03 -3.47473724e+01] [-2.03610553e-02 -1.98216741e-04 9.99792673e-01 -5.83590420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20862385299998 meters 0.017673988321497098 Centerline is valid? [True, True] Translation: X:208.05, Y:-34.77, Z:-5.84 [[ 9.60863688e-01 2.76316345e-01 1.97547660e-02 2.08051404e+02] [-2.76259453e-01 9.61066737e-01 -5.60730622e-03 -3.47688592e+01] [-2.05350389e-02 -6.95839179e-05 9.99789131e-01 -5.83787621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26862385299998 meters 0.018383926862885668 Centerline is valid? [True, True] Translation: X:208.11, Y:-34.79, Z:-5.84 [[ 9.62838862e-01 2.69351371e-01 1.97778922e-02 2.08109191e+02] [-2.69292791e-01 9.63041968e-01 -5.61789071e-03 -3.47927384e+01] [-2.05601268e-02 8.30796865e-05 9.99788615e-01 -5.84166974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32862385299998 meters 0.020355646400643516 Centerline is valid? [True, True] Translation: X:208.17, Y:-34.81, Z:-5.84 [[ 9.64112313e-01 2.64746525e-01 1.99179853e-02 2.08168025e+02] [-2.64686081e-01 9.64318020e-01 -5.65998623e-03 -3.48140797e+01] [-2.07057339e-02 1.84848941e-04 9.99785596e-01 -5.84244466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38862385299998 meters 0.02511657016074752 Centerline is valid? [True, True] Translation: X:208.22, Y:-34.84, Z:-5.84 [[ 9.65914902e-01 2.58083270e-01 2.00356792e-02 2.08224797e+02] [-2.58020576e-01 9.66122618e-01 -5.69812321e-03 -3.48384161e+01] [-2.08275132e-02 3.34284629e-04 9.99783028e-01 -5.84279910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.448623853 meters 0.030375150850496847 Centerline is valid? [True, True] Translation: X:208.28, Y:-34.86, Z:-5.85 [[ 9.66776772e-01 2.54809586e-01 2.03653547e-02 2.08281690e+02] [-2.54744092e-01 9.66991161e-01 -5.79152880e-03 -3.48622833e+01] [-2.11688550e-02 4.11161728e-04 9.99775830e-01 -5.84592476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.508623853 meters 0.03304596624543482 Centerline is valid? [True, True] Translation: X:208.34, Y:-34.88, Z:-5.84 [[ 9.67896623e-01 2.50548772e-01 2.00359461e-02 2.08339434e+02] [-2.50484377e-01 9.68103849e-01 -5.70215854e-03 -3.48818025e+01] [-2.08255454e-02 5.00408512e-04 9.99783000e-01 -5.84300882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.568623853 meters 0.03655706761511071 Centerline is valid? [True, True] Translation: X:208.40, Y:-34.90, Z:-5.85 [[ 9.68576669e-01 2.47915198e-01 1.99321436e-02 2.08396033e+02] [-2.47850916e-01 9.68781579e-01 -5.67235220e-03 -3.49045418e+01] [-2.07161559e-02 5.53907957e-04 9.99785244e-01 -5.84962974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.628623853 meters 0.03670596434553598 Centerline is valid? [True, True] Translation: X:208.46, Y:-34.92, Z:-5.85 [[ 9.68688574e-01 2.47494633e-01 1.97193807e-02 2.08455721e+02] [-2.47431606e-01 9.68889104e-01 -5.61293109e-03 -3.49230501e+01] [-2.04950634e-02 5.57984178e-04 9.99789798e-01 -5.85177360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.688623853 meters 0.040260026855763645 Centerline is valid? [True, True] Translation: X:208.51, Y:-34.94, Z:-5.85 [[ 9.68265988e-01 2.49179411e-01 1.92508955e-02 2.08514370e+02] [-2.49119607e-01 9.68457205e-01 -5.48300925e-03 -3.49414404e+01] [-2.00099214e-02 5.13235848e-04 9.99799650e-01 -5.84607919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.748623853 meters 0.03348958149059414 Centerline is valid? [True, True] Translation: X:208.58, Y:-34.96, Z:-5.86 [[ 9.67822543e-01 2.50877686e-01 1.94913347e-02 2.08575225e+02] [-2.50816644e-01 9.68018672e-01 -5.55543623e-03 -3.49554445e+01] [-2.02617109e-02 4.87925272e-04 9.99794591e-01 -5.85605441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.808623853 meters 0.029020655329050814 Centerline is valid? [True, True] Translation: X:208.63, Y:-34.97, Z:-5.86 [[ 9.66547397e-01 2.55776107e-01 1.90974493e-02 2.08634274e+02] [-2.55718428e-01 9.66735972e-01 -5.44483960e-03 -3.49657206e+01] [-1.98548511e-02 3.79125810e-04 9.99802801e-01 -5.85890339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.868623853 meters 0.025690449194983436 Centerline is valid? [True, True] Translation: X:208.69, Y:-34.98, Z:-5.86 [[ 9.65556773e-01 2.59484781e-01 1.91772416e-02 2.08693619e+02] [-2.59427351e-01 9.65747149e-01 -5.46749558e-03 -3.49770940e+01] [-1.99390983e-02 3.04076400e-04 9.99801150e-01 -5.86026070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.928623853 meters 0.021368497434067355 Centerline is valid? [True, True] Translation: X:208.76, Y:-34.99, Z:-5.86 [[ 9.64083740e-01 2.64892908e-01 1.93465640e-02 2.08755112e+02] [-2.64835545e-01 9.64277818e-01 -5.51583383e-03 -3.49874320e+01] [-2.01165678e-02 1.94067880e-04 9.99797623e-01 -5.86173082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98862385299998 meters 0.0220898343695542 Centerline is valid? [True, True] Translation: X:208.82, Y:-35.00, Z:-5.86 [[ 9.63109697e-01 2.68423779e-01 1.91934011e-02 2.08816196e+02] [-2.68368028e-01 9.63300919e-01 -5.47186645e-03 -3.49999802e+01] [-1.99578000e-02 1.19112447e-04 9.99800816e-01 -5.85700274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04862385299998 meters 0.0186974485518258 Centerline is valid? [True, True] Translation: X:208.88, Y:-35.02, Z:-5.86 [[ 9.62667542e-01 2.69974432e-01 1.96216514e-02 2.08875116e+02] [-2.69916406e-01 9.62867487e-01 -5.59791832e-03 -3.50166366e+01] [-2.04043450e-02 9.27286550e-05 9.99791805e-01 -5.86473982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10862385299998 meters 0.01901844236387644 Centerline is valid? [True, True] Translation: X:208.93, Y:-35.04, Z:-5.87 [[ 9.62740410e-01 2.69699309e-01 1.98289134e-02 2.08934301e+02] [-2.69639964e-01 9.62944584e-01 -5.65841138e-03 -3.50366019e+01] [-2.06202144e-02 1.00913792e-04 9.99787376e-01 -5.86699137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16862385299999 meters 0.019481205865327766 Centerline is valid? [True, True] Translation: X:208.99, Y:-35.06, Z:-5.87 [[ 9.62959851e-01 2.68899819e-01 2.00302869e-02 2.08993514e+02] [-2.68839015e-01 9.63168143e-01 -5.71940336e-03 -3.50578583e+01] [-2.08304807e-02 1.22633224e-04 9.99783014e-01 -5.86863336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.228623853 meters 0.020214676212063874 Centerline is valid? [True, True] Translation: X:209.05, Y:-35.08, Z:-5.87 [[ 9.63233414e-01 2.67929506e-01 1.98789052e-02 2.09052207e+02] [-2.67869331e-01 9.63438508e-01 -5.68006143e-03 -3.50793906e+01] [-2.06739588e-02 1.46275923e-04 9.99786260e-01 -5.87046687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.288623853 meters 0.02145132383322923 Centerline is valid? [True, True] Translation: X:209.11, Y:-35.11, Z:-5.87 [[ 9.63667823e-01 2.66304719e-01 2.06427747e-02 2.09109562e+02] [-2.66239381e-01 9.63888873e-01 -5.90186008e-03 -3.51056667e+01] [-2.14690341e-02 1.91513092e-04 9.99769495e-01 -5.86996744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.348623853 meters 0.022316920372536606 Centerline is valid? [True, True] Translation: X:209.17, Y:-35.13, Z:-5.87 [[ 9.63855200e-01 2.65615445e-01 2.07747426e-02 2.09166408e+02] [-2.65549033e-01 9.64079038e-01 -5.94309025e-03 -3.51279323e+01] [-2.16070704e-02 2.11565643e-04 9.99766518e-01 -5.87186778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.408623853 meters 0.02283322091983343 Centerline is valid? [True, True] Translation: X:209.22, Y:-35.15, Z:-5.88 [[ 9.63877173e-01 2.65577335e-01 2.02354746e-02 2.09224518e+02] [-2.65514258e-01 9.64089537e-01 -5.79167883e-03 -3.51480683e+01] [-2.10469479e-02 2.09660002e-04 9.99778466e-01 -5.87581372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.468623853 meters 0.02379091537209213 Centerline is valid? [True, True] Translation: X:209.28, Y:-35.17, Z:-5.88 [[ 9.64017864e-01 2.65164709e-01 1.89006731e-02 2.09282541e+02] [-2.65109547e-01 9.64203108e-01 -5.41241037e-03 -3.51719875e+01] [-1.96592680e-02 2.06911404e-04 9.99806717e-01 -5.88039504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.528623853 meters 0.02198747546558025 Centerline is valid? [True, True] Translation: X:209.34, Y:-35.19, Z:-5.88 [[ 9.63982507e-01 2.65292527e-01 1.89103386e-02 2.09342434e+02] [-2.65237280e-01 9.64167948e-01 -5.41784611e-03 -3.51929008e+01] [-1.96700564e-02 2.06982108e-04 9.99806504e-01 -5.87933801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.588623853 meters 0.021405583328365365 Centerline is valid? [True, True] Translation: X:209.40, Y:-35.21, Z:-5.88 [[ 9.63727125e-01 2.66196897e-01 1.92156193e-02 2.09401453e+02] [-2.66139950e-01 9.63918655e-01 -5.50939175e-03 -3.52115989e+01] [-1.99888769e-02 1.95506309e-04 9.99800183e-01 -5.88049178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.648623853 meters 0.01997608965568916 Centerline is valid? [True, True] Translation: X:209.46, Y:-35.23, Z:-5.88 [[ 9.63058072e-01 2.68605561e-01 1.92406581e-02 2.09460626e+02] [-2.68548877e-01 9.63250243e-01 -5.52000224e-03 -3.52280464e+01] [-2.00162719e-02 1.49025582e-04 9.99799643e-01 -5.88291203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70862385299998 meters 0.018910584853820505 Centerline is valid? [True, True] Translation: X:209.52, Y:-35.24, Z:-5.89 [[ 9.62361198e-01 2.71124783e-01 1.87690311e-02 2.09520632e+02] [-2.71071268e-01 9.62544203e-01 -5.38746579e-03 -3.52441510e+01] [-1.95266976e-02 9.69429590e-05 9.99809331e-01 -5.88532381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76862385299998 meters 0.017471687927796315 Centerline is valid? [True, True] Translation: X:209.58, Y:-35.26, Z:-5.89 [[ 9.61030992e-01 2.75786653e-01 1.90040818e-02 2.09581629e+02] [-2.75732636e-01 9.61218873e-01 -5.45810861e-03 -3.52562774e+01] [-1.97723556e-02 5.36593935e-06 9.99804508e-01 -5.88548436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82862385299998 meters 0.023047549779350262 Centerline is valid? [True, True] Translation: X:209.64, Y:-35.27, Z:-5.88 [[ 9.59517289e-01 2.81034758e-01 1.86020888e-02 2.09642512e+02] [-2.80983922e-01 9.59697585e-01 -5.34602752e-03 -3.52654351e+01] [-1.93547992e-02 -9.72820307e-05 9.99812674e-01 -5.88176324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88862385299998 meters 0.018708280407365666 Centerline is valid? [True, True] Translation: X:209.70, Y:-35.28, Z:-5.89 [[ 9.58602114e-01 2.84051731e-01 1.99148693e-02 2.09703744e+02] [-2.83994048e-01 9.58808942e-01 -5.72661347e-03 -3.52808248e+01] [-2.07212092e-02 -1.66160583e-04 9.99785279e-01 -5.88659158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.948623853 meters 0.020929650305372433 Centerline is valid? [True, True] Translation: X:209.76, Y:-35.29, Z:-5.89 [[ 9.57600268e-01 2.87381041e-01 2.03436520e-02 2.09764626e+02] [-2.87321499e-01 9.57816308e-01 -5.85458022e-03 -3.52911724e+01] [-2.11679770e-02 -2.38820984e-04 9.99775905e-01 -5.88799029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.008623853 meters 0.021436726921156696 Centerline is valid? [True, True] Translation: X:209.83, Y:-35.30, Z:-5.89 [[ 9.57148710e-01 2.88899402e-01 2.00868758e-02 2.09825089e+02] [-2.88841620e-01 9.57359423e-01 -5.78393561e-03 -3.53044982e+01] [-2.09013354e-02 -2.65839253e-04 9.99781508e-01 -5.88991343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.068623853 meters 0.021736462604343056 Centerline is valid? [True, True] Translation: X:209.89, Y:-35.32, Z:-5.89 [[ 9.57107567e-01 2.89065024e-01 1.96600405e-02 2.09885795e+02] [-2.89009640e-01 9.57309430e-01 -5.66427978e-03 -3.53203165e+01] [-2.04580873e-02 -2.60616186e-04 9.99790677e-01 -5.89336115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.128623853 meters 0.021164054628558523 Centerline is valid? [True, True] Translation: X:209.94, Y:-35.34, Z:-5.90 [[ 9.57467001e-01 2.87933602e-01 1.87398471e-02 2.09944813e+02] [-2.87882990e-01 9.57650349e-01 -5.40300543e-03 -3.53364778e+01] [-1.95019280e-02 -2.21683826e-04 9.99809795e-01 -5.89657183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.188623853 meters 0.019978347484804832 Centerline is valid? [True, True] Translation: X:210.00, Y:-35.35, Z:-5.90 [[ 9.57836671e-01 2.86690630e-01 1.89048856e-02 2.10004682e+02] [-2.86638821e-01 9.58023196e-01 -5.45358480e-03 -3.53540133e+01] [-1.96748106e-02 -1.95230616e-04 9.99806413e-01 -5.89736857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.248623853 meters 0.018836118558239908 Centerline is valid? [True, True] Translation: X:210.06, Y:-35.37, Z:-5.90 [[ 9.58527067e-01 2.84309592e-01 1.98473628e-02 2.10062346e+02] [-2.84251889e-01 9.58732514e-01 -5.72977092e-03 -3.53738246e+01] [-2.06573409e-02 -1.49509844e-04 9.99786603e-01 -5.89790172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.308623853 meters 0.017581467566548173 Centerline is valid? [True, True] Translation: X:210.12, Y:-35.39, Z:-5.90 [[ 9.59239392e-01 2.81842215e-01 2.06095912e-02 2.10121747e+02] [-2.81779386e-01 9.59460763e-01 -5.95159158e-03 -3.53935543e+01] [-2.14515038e-02 -9.83568605e-05 9.99769885e-01 -5.89809314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.368623853 meters 0.016912388011142174 Centerline is valid? [True, True] Translation: X:210.18, Y:-35.41, Z:-5.90 [[ 9.59583529e-01 2.80647853e-01 2.08861804e-02 2.10180907e+02] [-2.80582966e-01 9.59810803e-01 -6.03503825e-03 -3.54111438e+01] [-2.17405021e-02 -6.91831235e-05 9.99763645e-01 -5.89856195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.428623853 meters 0.02214883094259741 Centerline is valid? [True, True] Translation: X:210.24, Y:-35.43, Z:-5.90 [[ 9.59697418e-01 2.80324950e-01 1.99696846e-02 2.10240288e+02] [-2.80265485e-01 9.59905162e-01 -5.77395797e-03 -3.54286998e+01] [-2.07875878e-02 -5.55607769e-05 9.99783913e-01 -5.89500352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48862385299998 meters 0.01705437930038745 Centerline is valid? [True, True] Translation: X:210.30, Y:-35.45, Z:-5.90 [[ 9.59807996e-01 2.79927558e-01 2.02280458e-02 2.10299473e+02] [-2.79866409e-01 9.60021125e-01 -5.85089014e-03 -3.54453385e+01] [-2.10571767e-02 -4.54193941e-05 9.99778272e-01 -5.90408669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54862385299998 meters 0.01691774746582051 Centerline is valid? [True, True] Translation: X:210.36, Y:-35.46, Z:-5.91 [[ 9.60125109e-01 2.78931164e-01 1.88992548e-02 2.10359612e+02] [-2.78877527e-01 9.60311098e-01 -5.46985308e-03 -3.54616209e+01] [-1.96748766e-02 -1.88341652e-05 9.99806431e-01 -5.90710731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60862385299998 meters 0.017266558172902687 Centerline is valid? [True, True] Translation: X:210.42, Y:-35.48, Z:-5.91 [[ 9.60596835e-01 2.77315641e-01 1.87017791e-02 2.10418531e+02] [-2.77262750e-01 9.60778869e-01 -5.41594968e-03 -3.54797290e+01] [-1.94702017e-02 1.72374082e-05 9.99810438e-01 -5.91013111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66862385299999 meters 0.01730678159827001 Centerline is valid? [True, True] Translation: X:210.48, Y:-35.50, Z:-5.91 [[ 9.60896842e-01 2.76265450e-01 1.88324118e-02 2.10478567e+02] [-2.76211545e-01 9.61081370e-01 -5.45738369e-03 -3.54980790e+01] [-1.96071667e-02 4.22532131e-05 9.99807760e-01 -5.91143634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.728623853 meters 0.01819718024317259 Centerline is valid? [True, True] Translation: X:210.54, Y:-35.52, Z:-5.91 [[ 9.61426434e-01 2.74434830e-01 1.85670778e-02 2.10537154e+02] [-2.74382013e-01 9.61605698e-01 -5.38454363e-03 -3.55166817e+01] [-1.93319141e-02 8.23704015e-05 9.99813118e-01 -5.91437782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.788623853 meters 0.018303999591904416 Centerline is valid? [True, True] Translation: X:210.60, Y:-35.53, Z:-5.92 [[ 9.61559136e-01 2.74017444e-01 1.78456801e-02 2.10596705e+02] [-2.73968532e-01 9.61724718e-01 -5.17793486e-03 -3.55331722e+01] [-1.85814762e-02 8.97357818e-05 9.99827345e-01 -5.91728935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.848623853 meters 0.01811887212645617 Centerline is valid? [True, True] Translation: X:210.66, Y:-35.55, Z:-5.92 [[ 9.61285896e-01 2.74968245e-01 1.79412933e-02 2.10656681e+02] [-2.74918914e-01 9.61453305e-01 -5.20887286e-03 -3.55479705e+01] [-1.86819904e-02 7.48151543e-05 9.99825474e-01 -5.91826872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.908623853 meters 0.017690052632791605 Centerline is valid? [True, True] Translation: X:210.72, Y:-35.56, Z:-5.92 [[ 9.60890160e-01 2.76337990e-01 1.80946502e-02 2.10717767e+02] [-2.76287985e-01 9.61060515e-01 -5.25706646e-03 -3.55617948e+01] [-1.88427810e-02 5.21289813e-05 9.99822458e-01 -5.92031431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.968623853 meters 0.017286875175615588 Centerline is valid? [True, True] Translation: X:210.78, Y:-35.57, Z:-5.92 [[ 9.60296903e-01 2.78351444e-01 1.87171462e-02 2.10778124e+02] [-2.78298241e-01 9.60479293e-01 -5.44206586e-03 -3.55730687e+01] [-1.94922383e-02 1.70501232e-05 9.99810008e-01 -5.92083747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.028623853 meters 0.01716305928130471 Centerline is valid? [True, True] Translation: X:210.84, Y:-35.59, Z:-5.92 [[ 9.60064957e-01 2.79086573e-01 1.96459407e-02 2.10838828e+02] [-2.79028079e-01 9.60265945e-01 -5.71371001e-03 -3.55873870e+01] [-2.04599476e-02 3.76365778e-06 9.99790673e-01 -5.92117838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.088623853 meters 0.017077019145123176 Centerline is valid? [True, True] Translation: X:210.90, Y:-35.60, Z:-5.92 [[ 9.60110770e-01 2.78925920e-01 1.96885866e-02 2.10898545e+02] [-2.78867069e-01 9.60312621e-01 -5.72948651e-03 -3.56049987e+01] [-2.05053005e-02 1.04432716e-05 9.99789744e-01 -5.92303766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.148623853 meters 0.01716756848674834 Centerline is valid? [True, True] Translation: X:210.96, Y:-35.62, Z:-5.92 [[ 9.60648427e-01 2.77017184e-01 2.03980381e-02 2.10958839e+02] [-2.76953502e-01 9.60864963e-01 -5.93978358e-03 -3.56236351e+01] [-2.12451822e-02 5.67356760e-05 9.99774294e-01 -5.92252943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20862385299998 meters 0.017578122717440456 Centerline is valid? [True, True] Translation: X:211.02, Y:-35.64, Z:-5.93 [[ 9.60969249e-01 2.75894213e-01 2.05057484e-02 2.11018683e+02] [-2.75829509e-01 9.61188002e-01 -5.97548195e-03 -3.56421966e+01] [-2.13584802e-02 8.61639019e-05 9.99771878e-01 -5.92520482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26862385299998 meters 0.018686772563038533 Centerline is valid? [True, True] Translation: X:211.08, Y:-35.66, Z:-5.93 [[ 9.61560919e-01 2.73854842e-01 2.01028443e-02 2.11076316e+02] [-2.73792119e-01 9.61771027e-01 -5.86240240e-03 -3.56638288e+01] [-2.09397805e-02 1.33056700e-04 9.99780730e-01 -5.92799625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32862385299998 meters 0.019597922085691052 Centerline is valid? [True, True] Translation: X:211.13, Y:-35.68, Z:-5.93 [[ 9.61968109e-01 2.72419950e-01 2.01178679e-02 2.11134629e+02] [-2.72356750e-01 9.62178436e-01 -5.87006775e-03 -3.56848668e+01] [-2.09561023e-02 1.67580839e-04 9.99780383e-01 -5.93000880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38862385299998 meters 0.019901494770048593 Centerline is valid? [True, True] Translation: X:211.19, Y:-35.70, Z:-5.93 [[ 9.62015539e-01 2.72244490e-01 2.02247292e-02 2.11194191e+02] [-2.72180504e-01 9.62228095e-01 -5.90479837e-03 -3.57029910e+01] [-2.10683514e-02 1.75730812e-04 9.99778022e-01 -5.93201041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.448623853 meters 0.019743287695479672 Centerline is valid? [True, True] Translation: X:211.25, Y:-35.72, Z:-5.93 [[ 9.62049270e-01 2.72154015e-01 1.98341726e-02 2.11254586e+02] [-2.72092384e-01 9.62253688e-01 -5.79428991e-03 -3.57211985e+01] [-2.06624450e-02 1.77665072e-04 9.99786493e-01 -5.93409335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.508623853 meters 0.020158756043956918 Centerline is valid? [True, True] Translation: X:211.31, Y:-35.74, Z:-5.94 [[ 9.62104680e-01 2.71979886e-01 1.95326939e-02 2.11314504e+02] [-2.71919998e-01 9.62302919e-01 -5.71020316e-03 -3.57419909e+01] [-2.03494287e-02 1.82483110e-04 9.99792912e-01 -5.93677157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.568623853 meters 0.019844718633185265 Centerline is valid? [True, True] Translation: X:211.37, Y:-35.76, Z:-5.94 [[ 9.61891738e-01 2.72689350e-01 2.01197074e-02 2.11374058e+02] [-2.72625869e-01 9.62102119e-01 -5.88628214e-03 -3.57597540e+01] [-2.09623396e-02 1.76813428e-04 9.99780250e-01 -5.93748692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.628623853 meters 0.02037529930496065 Centerline is valid? [True, True] Translation: X:211.43, Y:-35.78, Z:-5.93 [[ 9.61406071e-01 2.74390076e-01 2.02102244e-02 2.11433913e+02] [-2.74326322e-01 9.61618462e-01 -5.91638457e-03 -3.57755240e+01] [-2.10579221e-02 1.43851518e-04 9.99778247e-01 -5.93480017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.688623853 meters 0.01752271240119453 Centerline is valid? [True, True] Translation: X:211.50, Y:-35.79, Z:-5.94 [[ 9.60182949e-01 2.78670651e-01 1.97831674e-02 2.11495176e+02] [-2.78610398e-01 9.60386727e-01 -5.79483468e-03 -3.57877384e+01] [-2.06143417e-02 5.23053122e-05 9.99787501e-01 -5.94124997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.748623853 meters 0.017272823749059557 Centerline is valid? [True, True] Translation: X:211.56, Y:-35.80, Z:-5.94 [[ 9.58747644e-01 2.83522165e-01 2.04483956e-02 2.11556656e+02] [-2.83458803e-01 9.58965682e-01 -5.99398643e-03 -3.57968514e+01] [-2.13087377e-02 -4.95573820e-05 9.99772942e-01 -5.94187643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.808623853 meters 0.017718095709495212 Centerline is valid? [True, True] Translation: X:211.62, Y:-35.81, Z:-5.94 [[ 9.58093613e-01 2.85711244e-01 2.06328345e-02 2.11618583e+02] [-2.85647208e-01 9.58315749e-01 -6.04953238e-03 -3.58101565e+01] [-2.15011897e-02 -9.76932293e-05 9.99768818e-01 -5.94383298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.868623853 meters 0.01840313221987382 Centerline is valid? [True, True] Translation: X:211.68, Y:-35.82, Z:-5.95 [[ 9.57651052e-01 2.87211742e-01 2.03439654e-02 2.11678487e+02] [-2.87149736e-01 9.57867109e-01 -5.96905609e-03 -3.58245251e+01] [-2.12011983e-02 -1.25491464e-04 9.99775221e-01 -5.94680255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.928623853 meters 0.018368428537365117 Centerline is valid? [True, True] Translation: X:211.74, Y:-35.84, Z:-5.95 [[ 9.57702875e-01 2.87011389e-01 2.07283825e-02 2.11738808e+02] [-2.86946884e-01 9.57927162e-01 -6.08582525e-03 -3.58415068e+01] [-2.16029818e-02 -1.19532435e-04 9.99766621e-01 -5.94787057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98862385299998 meters 0.01784295528115263 Centerline is valid? [True, True] Translation: X:211.80, Y:-35.86, Z:-5.95 [[ 9.58144170e-01 2.85521905e-01 2.09043237e-02 2.11797114e+02] [-2.85455930e-01 9.58372179e-01 -6.13821624e-03 -3.58590133e+01] [-2.17867174e-02 -8.59670445e-05 9.99762638e-01 -5.94979441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04862385299998 meters 0.017397209390130147 Centerline is valid? [True, True] Translation: X:211.86, Y:-35.88, Z:-5.95 [[ 9.58814929e-01 2.83280253e-01 2.06453266e-02 2.11856472e+02] [-2.83215319e-01 9.59037172e-01 -6.06515554e-03 -3.58806038e+01] [-2.15177744e-02 -3.17110719e-05 9.99768465e-01 -5.95247338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10862385299998 meters 0.017937026161015 Centerline is valid? [True, True] Translation: X:211.91, Y:-35.91, Z:-5.95 [[ 9.60225734e-01 2.78357502e-01 2.19918529e-02 2.11914329e+02] [-2.78282423e-01 9.60477534e-01 -6.46527600e-03 -3.59072777e+01] [-2.29223387e-02 8.81782782e-05 9.99737245e-01 -5.95158529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16862385299999 meters 0.020185870420017633 Centerline is valid? [True, True] Translation: X:211.97, Y:-35.93, Z:-5.95 [[ 9.61258576e-01 2.74788226e-01 2.17573217e-02 2.11971069e+02] [-2.74713729e-01 9.61504758e-01 -6.40057893e-03 -3.59321191e+01] [-2.26785721e-02 1.75576408e-04 9.99742793e-01 -5.95405052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.228623853 meters 0.021482817760511957 Centerline is valid? [True, True] Translation: X:212.03, Y:-35.95, Z:-5.96 [[ 9.61655412e-01 2.73468241e-01 2.08324363e-02 2.12029774e+02] [-2.73399569e-01 9.61881012e-01 -6.13143317e-03 -3.59528866e+01] [-2.17150771e-02 2.00746786e-04 9.99764180e-01 -5.95751698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.288623853 meters 0.02155661074507625 Centerline is valid? [True, True] Translation: X:212.09, Y:-35.97, Z:-5.96 [[ 9.61597873e-01 2.73642650e-01 2.11950505e-02 2.12088889e+02] [-2.73571524e-01 9.61831409e-01 -6.24200021e-03 -3.59718832e+01] [-2.20941428e-02 2.03931864e-04 9.99755874e-01 -5.95813225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.348623853 meters 0.019340359856024184 Centerline is valid? [True, True] Translation: X:212.15, Y:-35.98, Z:-5.96 [[ 9.60683690e-01 2.76815141e-01 2.14528842e-02 2.12150442e+02] [-2.76743000e-01 9.60923181e-01 -6.32079701e-03 -3.59844536e+01] [-2.23642660e-02 1.35351065e-04 9.99749879e-01 -5.95972716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.408623853 meters 0.017763209863583228 Centerline is valid? [True, True] Translation: X:212.21, Y:-36.00, Z:-5.96 [[ 9.59620842e-01 2.80476353e-01 2.14675209e-02 2.12211619e+02] [-2.80405012e-01 9.59860934e-01 -6.32582763e-03 -3.59954473e+01] [-2.23800797e-02 5.07955742e-05 9.99749533e-01 -5.96146519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.468623853 meters 0.01805454707526372 Centerline is valid? [True, True] Translation: X:212.27, Y:-36.00, Z:-5.96 [[ 9.57769868e-01 2.86703453e-01 2.18634562e-02 2.12274099e+02] [-2.86630992e-01 9.58019374e-01 -6.44617448e-03 -3.60003531e+01] [-2.27937551e-02 -9.27924779e-05 9.99740184e-01 -5.96173517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.528623853 meters 0.022080253864790216 Centerline is valid? [True, True] Translation: X:212.34, Y:-36.00, Z:-5.96 [[ 9.56005160e-01 2.92524758e-01 2.19863438e-02 2.12335634e+02] [-2.92452923e-01 9.56257922e-01 -6.48647556e-03 -3.60032028e+01] [-2.29220701e-02 -2.28866397e-04 9.99737229e-01 -5.96333676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.588623853 meters 0.02538967857179088 Centerline is valid? [True, True] Translation: X:212.40, Y:-36.01, Z:-5.97 [[ 9.55043393e-01 2.95695759e-01 2.13573237e-02 2.12395316e+02] [-2.95628778e-01 9.55282121e-01 -6.30043674e-03 -3.60117142e+01] [-2.22652819e-02 -2.96649042e-04 9.99752054e-01 -5.96691943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.648623853 meters 0.029240442744788795 Centerline is valid? [True, True] Translation: X:212.46, Y:-36.02, Z:-5.97 [[ 9.54185738e-01 2.98489736e-01 2.08195942e-02 2.12455248e+02] [-2.98426757e-01 9.54412779e-01 -6.14148001e-03 -3.60162295e+01] [-2.17036555e-02 -3.53011338e-04 9.99764386e-01 -5.97080151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70862385299998 meters 0.026111467872044793 Centerline is valid? [True, True] Translation: X:212.51, Y:-36.04, Z:-5.97 [[ 9.54014263e-01 2.99043810e-01 2.07264741e-02 2.12513009e+02] [-2.98981552e-01 9.54239313e-01 -6.11269208e-03 -3.60358064e+01] [-2.16059791e-02 -3.65237968e-04 9.99766497e-01 -5.96963992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76862385299998 meters 0.02420977569818979 Centerline is valid? [True, True] Translation: X:212.57, Y:-36.05, Z:-5.97 [[ 9.54121724e-01 2.98627310e-01 2.17592755e-02 2.12572933e+02] [-2.98558589e-01 9.54369734e-01 -6.41709858e-03 -3.60515662e+01] [-2.26827149e-02 -3.73725437e-04 9.99742644e-01 -5.96912630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82862385299998 meters 0.02771759249420748 Centerline is valid? [True, True] Translation: X:212.63, Y:-36.06, Z:-5.97 [[ 9.54626673e-01 2.97006291e-01 2.17985830e-02 2.12634558e+02] [-2.96936808e-01 9.54875464e-01 -6.43269440e-03 -3.60589277e+01] [-2.27254828e-02 -3.31979986e-04 9.99741688e-01 -5.97366208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88862385299998 meters 0.020908603546359674 Centerline is valid? [True, True] Translation: X:212.69, Y:-36.08, Z:-5.97 [[ 9.55361744e-01 2.94656990e-01 2.14754759e-02 2.12691401e+02] [-2.94588881e-01 9.55603048e-01 -6.34073585e-03 -3.60848658e+01] [-2.23903724e-02 -2.68739961e-04 9.99749268e-01 -5.97314995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.948623853 meters 0.020155794304692137 Centerline is valid? [True, True] Translation: X:212.75, Y:-36.10, Z:-5.98 [[ 9.55778216e-01 2.93316065e-01 2.12999494e-02 2.12750729e+02] [-2.93248646e-01 9.56015498e-01 -6.29280371e-03 -3.61034248e+01] [-2.22088621e-02 -2.31656616e-04 9.99753326e-01 -5.97514797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.008623853 meters 0.01816944736317038 Centerline is valid? [True, True] Translation: X:212.81, Y:-36.12, Z:-5.98 [[ 9.57205915e-01 2.88653114e-01 2.08857645e-02 2.12808452e+02] [-2.88587097e-01 9.57433740e-01 -6.17427836e-03 -3.61238217e+01] [-2.17789602e-02 -1.17306353e-04 9.99762803e-01 -5.97829072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.068623853 meters 0.017614547472705265 Centerline is valid? [True, True] Translation: X:212.87, Y:-36.14, Z:-5.98 [[ 9.57888952e-01 2.86366578e-01 2.10461353e-02 2.12867290e+02] [-2.86298910e-01 9.58120128e-01 -6.22531704e-03 -3.61411971e+01] [-2.19474486e-02 -6.23232021e-05 9.99759124e-01 -5.98049277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.128623853 meters 0.017305729094318836 Centerline is valid? [True, True] Translation: X:212.93, Y:-36.16, Z:-5.98 [[ 9.58295259e-01 2.84958165e-01 2.16573477e-02 2.12926971e+02] [-2.84886068e-01 9.58539954e-01 -6.40974919e-03 -3.61576281e+01] [-2.25859434e-02 -2.74443665e-05 9.99744905e-01 -5.98089426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.188623853 meters 0.017331299863937815 Centerline is valid? [True, True] Translation: X:212.99, Y:-36.17, Z:-5.98 [[ 9.58002164e-01 2.85950957e-01 2.15384430e-02 2.12987688e+02] [-2.85879816e-01 9.58244253e-01 -6.37831048e-03 -3.61697090e+01] [-2.24629732e-02 -4.69708710e-05 9.99747674e-01 -5.98248642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.248623853 meters 0.0173874660469892 Centerline is valid? [True, True] Translation: X:213.05, Y:-36.18, Z:-5.98 [[ 9.57588527e-01 2.87330445e-01 2.15737868e-02 2.13049670e+02] [-2.87259330e-01 9.57831514e-01 -6.39277182e-03 -3.61817454e+01] [-2.25008908e-02 -7.56265761e-05 9.99746820e-01 -5.98396057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.308623853 meters 0.017830534334050064 Centerline is valid? [True, True] Translation: X:213.11, Y:-36.19, Z:-5.99 [[ 9.57197810e-01 2.88649827e-01 2.12986093e-02 2.13109746e+02] [-2.88580721e-01 9.57434733e-01 -6.31665677e-03 -3.61914572e+01] [-2.22153301e-02 -1.00077983e-04 9.99753204e-01 -5.98583554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.368623853 meters 0.02588007514679318 Centerline is valid? [True, True] Translation: X:213.17, Y:-36.20, Z:-5.98 [[ 9.57118638e-01 2.88952170e-01 2.07498519e-02 2.13167724e+02] [-2.88886638e-01 9.57343529e-01 -6.15446926e-03 -3.62036224e+01] [-2.16430837e-02 -1.03797728e-04 9.99765756e-01 -5.97974707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.428623853 meters 0.018126098225271756 Centerline is valid? [True, True] Translation: X:213.23, Y:-36.21, Z:-5.99 [[ 9.57083747e-01 2.89033790e-01 2.12172083e-02 2.13226044e+02] [-2.88965310e-01 9.57318890e-01 -6.29231414e-03 -3.62131137e+01] [-2.21303257e-02 -1.08765585e-04 9.99755088e-01 -5.99046002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48862385299998 meters 0.017774661029290123 Centerline is valid? [True, True] Translation: X:213.29, Y:-36.23, Z:-5.99 [[ 9.57187065e-01 2.88718033e-01 2.08523244e-02 2.13286041e+02] [-2.88651845e-01 9.57414167e-01 -6.18264943e-03 -3.62271160e+01] [-2.17493532e-02 -1.01109839e-04 9.99763450e-01 -5.99140089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54862385299998 meters 0.01734159847206482 Centerline is valid? [True, True] Translation: X:213.34, Y:-36.24, Z:-5.99 [[ 9.57818983e-01 2.86603950e-01 2.09993239e-02 2.13343864e+02] [-2.86536300e-01 9.58049150e-01 -6.22702302e-03 -3.62415617e+01] [-2.19030738e-02 -5.27077067e-05 9.99760098e-01 -5.99420393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60862385299998 meters 0.017061833925857934 Centerline is valid? [True, True] Translation: X:213.40, Y:-36.26, Z:-5.99 [[ 9.58972146e-01 2.82617205e-01 2.23593059e-02 2.13402440e+02] [-2.82539431e-01 9.59232774e-01 -6.62993054e-03 -3.62573975e+01] [-2.33215115e-02 4.05331383e-05 9.99728016e-01 -5.99319085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66862385299999 meters 0.022859538599072457 Centerline is valid? [True, True] Translation: X:213.46, Y:-36.28, Z:-5.99 [[ 9.59935242e-01 2.79406173e-01 2.13663660e-02 2.13461196e+02] [-2.79334362e-01 9.60172993e-01 -6.33536791e-03 -3.62759721e+01] [-2.22855485e-02 1.13182718e-04 9.99751640e-01 -5.98921937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.728623853 meters 0.021904607560524928 Centerline is valid? [True, True] Translation: X:213.52, Y:-36.30, Z:-6.00 [[ 9.61385498e-01 2.74409305e-01 2.09154816e-02 2.13517331e+02] [-2.74339314e-01 9.61612959e-01 -6.20139039e-03 -3.62996115e+01] [-2.18143173e-02 2.23987916e-04 9.99762014e-01 -6.00182603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.788623853 meters 0.024134782711313404 Centerline is valid? [True, True] Translation: X:213.58, Y:-36.32, Z:-6.00 [[ 9.62779786e-01 2.69503719e-01 2.05628104e-02 2.13575987e+02] [-2.69434861e-01 9.62999291e-01 -6.10096317e-03 -3.63210876e+01] [-2.14462041e-02 3.33546063e-04 9.99769948e-01 -6.00226831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.848623853 meters 0.026651224392761696 Centerline is valid? [True, True] Translation: X:213.63, Y:-36.34, Z:-6.00 [[ 9.63421153e-01 2.67159660e-01 2.11044686e-02 2.13634097e+02] [-2.67086552e-01 9.63652198e-01 -6.26218485e-03 -3.63410772e+01] [-2.20103708e-02 3.96401588e-04 9.99757664e-01 -6.00325075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.908623853 meters 0.030797815001555696 Centerline is valid? [True, True] Translation: X:213.69, Y:-36.36, Z:-6.00 [[ 9.63761440e-01 2.65887334e-01 2.16289760e-02 2.13693320e+02] [-2.65810140e-01 9.64004011e-01 -6.42161262e-03 -3.63588896e+01] [-2.25578450e-02 4.39701499e-04 9.99745443e-01 -5.99674444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.968623853 meters 0.02796391408763687 Centerline is valid? [True, True] Translation: X:213.75, Y:-36.38, Z:-6.01 [[ 9.63573906e-01 2.66551853e-01 2.18045139e-02 2.13751970e+02] [-2.66473486e-01 9.63820483e-01 -6.47748541e-03 -3.63763344e+01] [-2.27422228e-02 4.31211107e-04 9.99741269e-01 -6.00604452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.028623853 meters 0.025828543528259314 Centerline is valid? [True, True] Translation: X:213.81, Y:-36.39, Z:-6.01 [[ 9.62921279e-01 2.68978015e-01 2.08191597e-02 2.13812998e+02] [-2.68907052e-01 9.63146249e-01 -6.18872540e-03 -3.63880297e+01] [-2.17165267e-02 3.60836504e-04 9.99764103e-01 -6.00995123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.088623853 meters 0.024272126170372426 Centerline is valid? [True, True] Translation: X:213.87, Y:-36.40, Z:-6.01 [[ 9.62272879e-01 2.71332076e-01 2.02438018e-02 2.13871115e+02] [-2.71265470e-01 9.62485747e-01 -6.01920079e-03 -3.63998291e+01] [-2.11175729e-02 3.00669266e-04 9.99776954e-01 -6.01269574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.148623853 meters 0.024646091869546072 Centerline is valid? [True, True] Translation: X:213.93, Y:-36.42, Z:-6.01 [[ 9.62348313e-01 2.71038580e-01 2.05867223e-02 2.13928339e+02] [-2.70969642e-01 9.62568434e-01 -6.12062900e-03 -3.64172517e+01] [-2.14750557e-02 3.11800206e-04 9.99769336e-01 -6.01360581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20862385299998 meters 0.027021759348201637 Centerline is valid? [True, True] Translation: X:213.98, Y:-36.44, Z:-6.01 [[ 9.62807833e-01 2.69357160e-01 2.11612066e-02 2.13983348e+02] [-2.69283925e-01 9.63040286e-01 -6.29094593e-03 -3.64379256e+01] [-2.20736057e-02 3.58599258e-04 9.99756284e-01 -6.01497953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26862385299998 meters 0.028623412207934323 Centerline is valid? [True, True] Translation: X:214.04, Y:-36.46, Z:-6.02 [[ 9.63349383e-01 2.67459658e-01 2.05742162e-02 2.14039782e+02] [-2.67390017e-01 9.63568980e-01 -6.11547602e-03 -3.64592237e+01] [-2.14603197e-02 3.90000021e-04 9.99769625e-01 -6.01705638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32862385299998 meters 0.028880559750748814 Centerline is valid? [True, True] Translation: X:214.10, Y:-36.48, Z:-6.02 [[ 9.63499132e-01 2.66905954e-01 2.07517416e-02 2.14097077e+02] [-2.66834978e-01 9.63722495e-01 -6.16824365e-03 -3.64779102e+01] [-2.16452612e-02 4.05806877e-04 9.99765632e-01 -6.01815229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38862385299998 meters 0.029610303051423432 Centerline is valid? [True, True] Translation: X:214.15, Y:-36.50, Z:-6.02 [[ 9.63463327e-01 2.66992347e-01 2.12956262e-02 2.14153015e+02] [-2.66917622e-01 9.63698560e-01 -6.32997253e-03 -3.64975392e+01] [-2.22126186e-02 4.14518476e-04 9.99753183e-01 -6.01871668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.448623853 meters 0.029967708373417053 Centerline is valid? [True, True] Translation: X:214.21, Y:-36.52, Z:-6.02 [[ 9.63424472e-01 2.67072461e-01 2.20360523e-02 2.14208662e+02] [-2.66992473e-01 9.63676356e-01 -6.54988766e-03 -3.65169385e+01] [-2.29849171e-02 4.26861986e-04 9.99735721e-01 -6.01922948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.508623853 meters 0.02985442739654301 Centerline is valid? [True, True] Translation: X:214.27, Y:-36.54, Z:-6.02 [[ 9.63419963e-01 2.67111402e-01 2.17594583e-02 2.14265274e+02] [-2.67033438e-01 9.63665566e-01 -6.46684725e-03 -3.65361470e+01] [-2.26962093e-02 4.19786759e-04 9.99742320e-01 -6.02131707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.568623853 meters 0.03164198902511567 Centerline is valid? [True, True] Translation: X:214.33, Y:-36.55, Z:-6.01 [[ 9.63087783e-01 2.68356987e-01 2.11293556e-02 2.14326083e+02] [-2.68283809e-01 9.63319462e-01 -6.27797222e-03 -3.65518410e+01] [-2.20390571e-02 3.77574364e-04 9.99757039e-01 -6.01384358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.628623853 meters 0.025748508335136255 Centerline is valid? [True, True] Translation: X:214.38, Y:-36.57, Z:-6.02 [[ 9.62529699e-01 2.70341346e-01 2.12634705e-02 2.14384784e+02] [-2.70267631e-01 9.62764479e-01 -6.32179117e-03 -3.65689494e+01] [-2.21807556e-02 3.38083959e-04 9.99753920e-01 -6.02021758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.688623853 meters 0.02111946805855378 Centerline is valid? [True, True] Translation: X:214.44, Y:-36.58, Z:-6.03 [[ 9.61262283e-01 2.74809933e-01 2.13148824e-02 2.14444215e+02] [-2.74736859e-01 9.61498540e-01 -6.34153473e-03 -3.65815341e+01] [-2.22369450e-02 2.39894327e-04 9.99752700e-01 -6.02568211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.748623853 meters 0.01754027413582085 Centerline is valid? [True, True] Translation: X:214.50, Y:-36.59, Z:-6.03 [[ 9.59421488e-01 2.81179710e-01 2.11749690e-02 2.14504218e+02] [-2.81109137e-01 9.59655127e-01 -6.30005101e-03 -3.65889270e+01] [-2.20921141e-02 9.19270591e-05 9.99755935e-01 -6.02689298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.808623853 meters 0.016958959442622105 Centerline is valid? [True, True] Translation: X:214.56, Y:-36.60, Z:-6.03 [[ 9.58393116e-01 2.84661856e-01 2.12193960e-02 2.14561179e+02] [-2.84591846e-01 9.58627992e-01 -6.31295859e-03 -3.66002716e+01] [-2.21385655e-02 1.14289532e-05 9.99754912e-01 -6.02936471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.868623853 meters 0.01713151724353359 Centerline is valid? [True, True] Translation: X:214.62, Y:-36.61, Z:-6.03 [[ 9.57995221e-01 2.86019540e-01 2.09279478e-02 2.14618552e+02] [-2.85951800e-01 9.58223785e-01 -6.22464438e-03 -3.66148985e+01] [-2.18340273e-02 -2.12047606e-05 9.99761609e-01 -6.03099745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.928623853 meters 0.0178504529953952 Centerline is valid? [True, True] Translation: X:214.68, Y:-36.62, Z:-6.03 [[ 9.56945613e-01 2.89541269e-01 2.05170017e-02 2.14676893e+02] [-2.89476994e-01 9.57165526e-01 -6.10137699e-03 -3.66235891e+01] [-2.14047672e-02 -1.00514048e-04 9.99770887e-01 -6.03401393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98862385299998 meters 0.018804990144027523 Centerline is valid? [True, True] Translation: X:214.73, Y:-36.64, Z:-6.04 [[ 9.56455135e-01 2.91192773e-01 2.00085770e-02 2.14733843e+02] [-2.91132024e-01 9.56664388e-01 -5.94925605e-03 -3.66351648e+01] [-2.08738735e-02 -1.34941028e-04 9.99782108e-01 -6.03663459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04862385299998 meters 0.018550574566367252 Centerline is valid? [True, True] Translation: X:214.79, Y:-36.65, Z:-6.04 [[ 9.56537280e-01 2.90927322e-01 1.99430725e-02 2.14789194e+02] [-2.90866937e-01 9.56745147e-01 -5.92858570e-03 -3.66508037e+01] [-2.08052254e-02 -1.29867190e-04 9.99783539e-01 -6.03882950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10862385299998 meters 0.017524507324138558 Centerline is valid? [True, True] Translation: X:214.84, Y:-36.67, Z:-6.04 [[ 9.57305794e-01 2.88334317e-01 2.07108493e-02 2.14844864e+02] [-2.88268625e-01 9.57529799e-01 -6.15500423e-03 -3.66682910e+01] [-2.16059543e-02 -7.80668445e-05 9.99766561e-01 -6.03943242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16862385299999 meters 0.026536130226844916 Centerline is valid? [True, True] Translation: X:214.90, Y:-36.69, Z:-6.03 [[ 9.58539731e-01 2.84243139e-01 2.01847041e-02 2.14900641e+02] [-2.84179859e-01 9.58752230e-01 -5.99750514e-03 -3.66904894e+01] [-2.10568797e-02 1.27606006e-05 9.99778279e-01 -6.03155659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.228623853 meters 0.017733181243147426 Centerline is valid? [True, True] Translation: X:214.95, Y:-36.71, Z:-6.04 [[ 9.59582321e-01 2.80704910e-01 2.01623940e-02 2.14954641e+02] [-2.80640997e-01 9.59794116e-01 -5.99041847e-03 -3.67126426e+01] [-2.10332870e-02 8.99053086e-05 9.99778772e-01 -6.04337560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.288623853 meters 0.019411319859229764 Centerline is valid? [True, True] Translation: X:215.01, Y:-36.74, Z:-6.04 [[ 9.60821588e-01 2.76428792e-01 2.02237165e-02 2.15011002e+02] [-2.76363566e-01 9.61034385e-01 -6.00748179e-03 -3.67363218e+01] [-2.10963279e-02 1.83019792e-04 9.99777431e-01 -6.04426459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.348623853 meters 0.020753675267784193 Centerline is valid? [True, True] Translation: X:215.07, Y:-36.76, Z:-6.05 [[ 9.61380474e-01 2.74417983e-01 2.10322253e-02 2.15067368e+02] [-2.74346945e-01 9.61610480e-01 -6.24809231e-03 -3.67553212e+01] [-2.19393972e-02 2.36667171e-04 9.99759274e-01 -6.04538975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.408623853 meters 0.021102842158914246 Centerline is valid? [True, True] Translation: X:215.12, Y:-36.77, Z:-6.05 [[ 9.61324948e-01 2.74594363e-01 2.12669003e-02 2.15123991e+02] [-2.74521781e-01 9.61560129e-01 -6.31752279e-03 -3.67723350e+01] [-2.21841595e-02 2.34964923e-04 9.99753874e-01 -6.04665246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.468623853 meters 0.01932568477631603 Centerline is valid? [True, True] Translation: X:215.18, Y:-36.79, Z:-6.05 [[ 9.60863237e-01 2.76252977e-01 2.06429588e-02 2.15183492e+02] [-2.76184982e-01 9.61084937e-01 -6.13184261e-03 -3.67856330e+01] [-2.15335765e-02 1.90586929e-04 9.99768107e-01 -6.04873527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.528623853 meters 0.018817355112876688 Centerline is valid? [True, True] Translation: X:215.24, Y:-36.80, Z:-6.05 [[ 9.60329420e-01 2.78120386e-01 2.04072609e-02 2.15240490e+02] [-2.78054352e-01 9.60546214e-01 -6.06199302e-03 -3.67982931e+01] [-2.12880811e-02 1.47182522e-04 9.99773372e-01 -6.05158163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.588623853 meters 0.01832919826335099 Centerline is valid? [True, True] Translation: X:215.30, Y:-36.81, Z:-6.05 [[ 9.60133797e-01 2.78784254e-01 2.05531160e-02 2.15297857e+02] [-2.78717434e-01 9.60353748e-01 -6.10492772e-03 -3.68129689e+01] [-2.14402197e-02 1.33035676e-04 9.99770123e-01 -6.05304477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.648623853 meters 0.01856692070529327 Centerline is valid? [True, True] Translation: X:215.35, Y:-36.83, Z:-6.06 [[ 9.60179253e-01 2.78649549e-01 2.02541470e-02 2.15353484e+02] [-2.78584649e-01 9.60392842e-01 -6.01517956e-03 -3.68285701e+01] [-2.11280649e-02 1.33156175e-04 9.99776769e-01 -6.05597398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70862385299998 meters 0.019210094523454912 Centerline is valid? [True, True] Translation: X:215.41, Y:-36.85, Z:-6.06 [[ 9.60480824e-01 2.77628908e-01 1.99694002e-02 2.15408902e+02] [-2.77565625e-01 9.60688382e-01 -5.92936385e-03 -3.68462647e+01] [-2.08305335e-02 1.52221227e-04 9.99783009e-01 -6.05842165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76862385299998 meters 0.019827611130640282 Centerline is valid? [True, True] Translation: X:215.46, Y:-36.86, Z:-6.06 [[ 9.60981823e-01 2.75802006e-01 2.11468749e-02 2.15464656e+02] [-2.75730629e-01 9.61214447e-01 -6.27751634e-03 -3.68640986e+01] [-2.20580332e-02 2.01737981e-04 9.99756672e-01 -6.05710185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82862385299998 meters 0.020916416944207386 Centerline is valid? [True, True] Translation: X:215.52, Y:-36.89, Z:-6.06 [[ 9.61713014e-01 2.73192086e-01 2.17752748e-02 2.15521771e+02] [-2.73115768e-01 9.61959465e-01 -6.46258521e-03 -3.68855072e+01] [-2.27124588e-02 2.67981390e-04 9.99742003e-01 -6.05640534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88862385299998 meters 0.022314488144212767 Centerline is valid? [True, True] Translation: X:215.58, Y:-36.91, Z:-6.06 [[ 9.62159159e-01 2.71569404e-01 2.23564585e-02 2.15578287e+02] [-2.71488512e-01 9.62418807e-01 -6.63537879e-03 -3.69057688e+01] [-2.33182420e-02 3.14768824e-04 9.99728043e-01 -6.05759001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.948623853 meters 0.02499102739415825 Centerline is valid? [True, True] Translation: X:215.63, Y:-36.93, Z:-6.06 [[ 9.62952720e-01 2.68753751e-01 2.22144360e-02 2.15633922e+02] [-2.68673128e-01 9.63208844e-01 -6.59345879e-03 -3.69311564e+01] [-2.31691580e-02 3.80767057e-04 9.99731487e-01 -6.05932772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.008623853 meters 0.026983896428060664 Centerline is valid? [True, True] Translation: X:215.69, Y:-36.95, Z:-6.06 [[ 9.63381287e-01 2.67244051e-01 2.18429028e-02 2.15691606e+02] [-2.67165719e-01 9.63628792e-01 -6.48301658e-03 -3.69540538e+01] [-2.27809977e-02 4.09942023e-04 9.99740395e-01 -6.06259246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.068623853 meters 0.028015924087354052 Centerline is valid? [True, True] Translation: X:215.75, Y:-36.98, Z:-6.06 [[ 9.63805429e-01 2.65751484e-01 2.13364440e-02 2.15748914e+02] [-2.65676295e-01 9.64041470e-01 -6.33636880e-03 -3.69791037e+01] [-2.22531162e-02 4.38439274e-04 9.99752273e-01 -6.06433936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.128623853 meters 0.028175740679666914 Centerline is valid? [True, True] Translation: X:215.81, Y:-37.00, Z:-6.07 [[ 9.63688322e-01 2.66146668e-01 2.16971985e-02 2.15806878e+02] [-2.66068924e-01 9.63932444e-01 -6.44752944e-03 -3.70005406e+01] [-2.26306221e-02 4.40458567e-04 9.99743798e-01 -6.06515799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.188623853 meters 0.026941033638705255 Centerline is valid? [True, True] Translation: X:215.87, Y:-37.02, Z:-6.07 [[ 9.63051951e-01 2.68421737e-01 2.19251345e-02 2.15865011e+02] [-2.68342846e-01 9.63301415e-01 -6.51932010e-03 -3.70202169e+01] [-2.28704403e-02 3.94990948e-04 9.99738359e-01 -6.06693946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.248623853 meters 0.02440764366500084 Centerline is valid? [True, True] Translation: X:215.92, Y:-37.04, Z:-6.07 [[ 9.62170073e-01 2.71614852e-01 2.13101477e-02 2.15922916e+02] [-2.71541016e-01 9.62405982e-01 -6.34056451e-03 -3.70386899e+01] [-2.22312051e-02 3.14122247e-04 9.99752807e-01 -6.07093832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.308623853 meters 0.02173202154338663 Centerline is valid? [True, True] Translation: X:215.98, Y:-37.06, Z:-6.07 [[ 9.61480805e-01 2.74070847e-01 2.09721940e-02 2.15982948e+02] [-2.73999927e-01 9.61709471e-01 -6.23965042e-03 -3.70556513e+01] [-2.18792638e-02 2.52924483e-04 9.99760588e-01 -6.07284979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.368623853 meters 0.018563638701674354 Centerline is valid? [True, True] Translation: X:216.04, Y:-37.07, Z:-6.08 [[ 9.60133137e-01 2.78799812e-01 2.03721539e-02 2.16042752e+02] [-2.78733860e-01 9.60349230e-01 -6.06559624e-03 -3.70691532e+01] [-2.12554694e-02 1.45370847e-04 9.99774066e-01 -6.07583266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.428623853 meters 0.016718398124865065 Centerline is valid? [True, True] Translation: X:216.10, Y:-37.08, Z:-6.08 [[ 9.58491136e-01 2.84389938e-01 2.04231339e-02 2.16103062e+02] [-2.84324912e-01 9.58708695e-01 -6.08130066e-03 -3.70814007e+01] [-2.13092967e-02 2.20670542e-05 9.99772931e-01 -6.07743696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48862385299998 meters 0.017215022537811542 Centerline is valid? [True, True] Translation: X:216.16, Y:-37.09, Z:-6.08 [[ 9.57223291e-01 2.88634681e-01 2.03369646e-02 2.16161061e+02] [-2.88571139e-01 9.57439301e-01 -6.05657855e-03 -3.70929417e+01] [-2.12195478e-02 -7.11629748e-05 9.99774838e-01 -6.07923399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54862385299998 meters 0.019158494040694442 Centerline is valid? [True, True] Translation: X:216.22, Y:-37.10, Z:-6.08 [[ 9.55712542e-01 2.93595837e-01 2.03720969e-02 2.16220162e+02] [-2.93533219e-01 9.55929627e-01 -6.06616790e-03 -3.71025772e+01] [-2.12552926e-02 -1.82374434e-04 9.99774064e-01 -6.08069130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60862385299998 meters 0.0203839262617071 Centerline is valid? [True, True] Translation: X:216.28, Y:-37.11, Z:-6.08 [[ 9.55060162e-01 2.95657779e-01 2.11320731e-02 2.16277503e+02] [-2.95590915e-01 9.55293893e-01 -6.29203374e-03 -3.71148295e+01] [-2.20476290e-02 -2.37178051e-04 9.99756893e-01 -6.08161203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66862385299999 meters 0.020388284478112195 Centerline is valid? [True, True] Translation: X:216.33, Y:-37.13, Z:-6.08 [[ 9.55101896e-01 2.95514629e-01 2.12478600e-02 2.16333768e+02] [-2.95447019e-01 9.55338185e-01 -6.32541068e-03 -3.71315261e+01] [-2.21681434e-02 -2.36205159e-04 9.99754229e-01 -6.08347281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.728623853 meters 0.02049782335372394 Centerline is valid? [True, True] Translation: X:216.39, Y:-37.15, Z:-6.08 [[ 9.55188879e-01 2.95198335e-01 2.17289909e-02 2.16389959e+02] [-2.95127571e-01 9.55435967e-01 -6.46755877e-03 -3.71460765e+01] [-2.26698720e-02 -2.35084092e-04 9.99742978e-01 -6.08467427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.788623853 meters 0.020077587655314446 Centerline is valid? [True, True] Translation: X:216.45, Y:-37.16, Z:-6.09 [[ 9.55139019e-01 2.95329122e-01 2.21396455e-02 2.16446466e+02] [-2.95255727e-01 9.55395546e-01 -6.58830507e-03 -3.71629947e+01] [-2.30978371e-02 -2.44109894e-04 9.99733180e-01 -6.08522462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.848623853 meters 0.020978296848657124 Centerline is valid? [True, True] Translation: X:216.50, Y:-37.17, Z:-6.09 [[ 9.54555664e-01 2.97156747e-01 2.28331335e-02 2.16503826e+02] [-2.97079232e-01 9.54828664e-01 -6.79350533e-03 -3.71748694e+01] [-2.38204663e-02 -2.98470770e-04 9.99716208e-01 -6.08534448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.908623853 meters 0.022531704457669072 Centerline is valid? [True, True] Translation: X:216.56, Y:-37.18, Z:-6.09 [[ 9.54235126e-01 2.98264648e-01 2.17605917e-02 2.16561576e+02] [-2.98194563e-01 9.54483160e-01 -6.47303600e-03 -3.71844978e+01] [-2.27007961e-02 -3.12091798e-04 9.99742255e-01 -6.08950128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.968623853 meters 0.022412716755772062 Centerline is valid? [True, True] Translation: X:216.62, Y:-37.20, Z:-6.09 [[ 9.54311697e-01 2.98011166e-01 2.18753123e-02 2.16619283e+02] [-2.97940308e-01 9.54562334e-01 -6.50566124e-03 -3.71960126e+01] [-2.28201089e-02 -3.09108668e-04 9.99739540e-01 -6.09161516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.028623853 meters 0.02132761406039083 Centerline is valid? [True, True] Translation: X:216.68, Y:-37.21, Z:-6.09 [[ 9.55043647e-01 2.95651015e-01 2.19569892e-02 2.16675419e+02] [-2.95579026e-01 9.55295982e-01 -6.52891254e-03 -3.72113130e+01] [-2.29057032e-02 -2.54629036e-04 9.99737598e-01 -6.09328487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.088623853 meters 0.018531901382091206 Centerline is valid? [True, True] Translation: X:216.73, Y:-37.23, Z:-6.09 [[ 9.56126069e-01 2.92142590e-01 2.18093191e-02 2.16731779e+02] [-2.92070690e-01 9.56374758e-01 -6.48338245e-03 -3.72295561e+01] [-2.27519544e-02 -1.70931885e-04 9.99741126e-01 -6.09437388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.148623853 meters 0.01745653658437195 Centerline is valid? [True, True] Translation: X:216.79, Y:-37.25, Z:-6.10 [[ 9.56783718e-01 2.89945334e-01 2.22849834e-02 2.16788778e+02] [-2.89869687e-01 9.57043201e-01 -6.62391519e-03 -3.72460608e+01] [-2.32482652e-02 -1.22086966e-04 9.99729715e-01 -6.09565889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20862385299998 meters 0.016316824018805527 Centerline is valid? [True, True] Translation: X:216.85, Y:-37.26, Z:-6.10 [[ 9.57858227e-01 2.86355501e-01 2.25420615e-02 2.16845450e+02] [-2.86277125e-01 9.58123440e-01 -6.69941685e-03 -3.72644389e+01] [-2.35164924e-02 -3.61850203e-05 9.99723448e-01 -6.09638915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26862385299998 meters 0.01649096104646933 Centerline is valid? [True, True] Translation: X:216.90, Y:-37.28, Z:-6.10 [[ 9.58557452e-01 2.84039407e-01 2.21184793e-02 2.16901008e+02] [-2.83963344e-01 9.58812607e-01 -6.57300937e-03 -3.72826777e+01] [-2.30744705e-02 1.97697511e-05 9.99733749e-01 -6.09964597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32862385299998 meters 0.01747751012154107 Centerline is valid? [True, True] Translation: X:216.95, Y:-37.30, Z:-6.10 [[ 9.59674964e-01 2.80274851e-01 2.16788127e-02 2.16954972e+02] [-2.80200837e-01 9.59919787e-01 -6.44162240e-03 -3.73025343e+01] [-2.26153460e-02 1.07442305e-04 9.99744235e-01 -6.10236468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38862385299998 meters 0.018747757096244533 Centerline is valid? [True, True] Translation: X:217.01, Y:-37.32, Z:-6.10 [[ 9.60300051e-01 2.78130087e-01 2.16210030e-02 2.17010698e+02] [-2.78055955e-01 9.60543404e-01 -6.42302867e-03 -3.73217884e+01] [-2.25543493e-02 1.56186130e-04 9.99745606e-01 -6.10398604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.448623853 meters 0.01922178895606178 Centerline is valid? [True, True] Translation: X:217.07, Y:-37.34, Z:-6.11 [[ 9.60665362e-01 2.76902309e-01 2.11464638e-02 2.17066619e+02] [-2.76831118e-01 9.60898058e-01 -6.28117573e-03 -3.73383288e+01] [-2.20588680e-02 1.80108748e-04 9.99756657e-01 -6.10596767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.508623853 meters 0.018662062174050167 Centerline is valid? [True, True] Translation: X:217.12, Y:-37.35, Z:-6.11 [[ 9.60412469e-01 2.77775785e-01 2.11778663e-02 2.17124074e+02] [-2.77704630e-01 9.60645922e-01 -6.28887177e-03 -3.73504380e+01] [-2.20913272e-02 1.58719335e-04 9.99755944e-01 -6.10749690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.568623853 meters 0.017969760446220822 Centerline is valid? [True, True] Translation: X:217.18, Y:-37.36, Z:-6.11 [[ 9.60048230e-01 2.79041580e-01 2.10521297e-02 2.17182138e+02] [-2.78971595e-01 9.60279012e-01 -6.25049993e-03 -3.73627944e+01] [-2.19600677e-02 1.27835203e-04 9.99758840e-01 -6.10944786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.628623853 meters 0.01664912170135235 Centerline is valid? [True, True] Translation: X:217.24, Y:-37.37, Z:-6.11 [[ 9.59321566e-01 2.81510121e-01 2.13115984e-02 2.17240059e+02] [-2.81439032e-01 9.59558256e-01 -6.32647562e-03 -3.73729474e+01] [-2.22306871e-02 7.12088845e-05 9.99752865e-01 -6.11003608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.688623853 meters 0.02474649428438032 Centerline is valid? [True, True] Translation: X:217.30, Y:-37.38, Z:-6.10 [[ 9.58936581e-01 2.82882074e-01 2.04539725e-02 2.17297461e+02] [-2.82816922e-01 9.59154696e-01 -6.07104563e-03 -3.73841109e+01] [-2.13359138e-02 3.70181860e-05 9.99772363e-01 -6.10479924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.748623853 meters 0.016853215044692386 Centerline is valid? [True, True] Translation: X:217.35, Y:-37.40, Z:-6.12 [[ 9.59173673e-01 2.82144381e-01 1.95041722e-02 2.17353032e+02] [-2.82085018e-01 9.59371954e-01 -5.78760199e-03 -3.74000147e+01] [-2.03446951e-02 4.94806963e-05 9.99793024e-01 -6.11766305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.808623853 meters 0.01726110638746563 Centerline is valid? [True, True] Translation: X:217.41, Y:-37.42, Z:-6.12 [[ 9.59673158e-01 2.80448908e-01 1.93865594e-02 2.17408588e+02] [-2.80389941e-01 9.59868951e-01 -5.75137262e-03 -3.74177868e+01] [-2.02215226e-02 8.36416932e-05 9.99795521e-01 -6.11998082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.868623853 meters 0.01804783761751536 Centerline is valid? [True, True] Translation: X:217.46, Y:-37.44, Z:-6.12 [[ 9.60304178e-01 2.78222530e-01 2.02017413e-02 2.17463476e+02] [-2.78158027e-01 9.60516635e-01 -5.99219851e-03 -3.74371065e+01] [-2.10712732e-02 1.35056766e-04 9.99777967e-01 -6.11972664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.928623853 meters 0.019506959402308184 Centerline is valid? [True, True] Translation: X:217.52, Y:-37.46, Z:-6.12 [[ 9.61013901e-01 2.75682223e-01 2.12507359e-02 2.17518248e+02] [-2.75610257e-01 9.61248809e-01 -6.30191216e-03 -3.74563926e+01] [-2.21645697e-02 1.99304419e-04 9.99754316e-01 -6.11911315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98862385299998 meters 0.021456203048642913 Centerline is valid? [True, True] Translation: X:217.57, Y:-37.48, Z:-6.12 [[ 9.61692202e-01 2.73291013e-01 2.14506798e-02 2.17572324e+02] [-2.73217122e-01 9.61931368e-01 -6.35984408e-03 -3.74765292e+01] [-2.23721700e-02 2.55519470e-04 9.99749679e-01 -6.12081940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04862385299998 meters 0.022560141882327897 Centerline is valid? [True, True] Translation: X:217.63, Y:-37.50, Z:-6.12 [[ 9.62017829e-01 2.72122640e-01 2.17017248e-02 2.17628215e+02] [-2.72046743e-01 9.62262536e-01 -6.43285040e-03 -3.74954208e+01] [-2.26332809e-02 2.84633237e-04 9.99743794e-01 -6.12197027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10862385299998 meters 0.02353717833013663 Centerline is valid? [True, True] Translation: X:217.68, Y:-37.51, Z:-6.13 [[ 9.62247476e-01 2.71331281e-01 2.14273568e-02 2.17684590e+02] [-2.71257119e-01 9.62485972e-01 -6.35049001e-03 -3.75131551e+01] [-2.23466170e-02 2.98419898e-04 9.99750239e-01 -6.12506924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16862385299999 meters 0.02326188651198279 Centerline is valid? [True, True] Translation: X:217.74, Y:-37.53, Z:-6.13 [[ 9.62146612e-01 2.71703889e-01 2.12342705e-02 2.17741520e+02] [-2.71631172e-01 9.62380857e-01 -6.29217885e-03 -3.75298392e+01] [-2.21450650e-02 2.86108766e-04 9.99754727e-01 -6.12648064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.228623853 meters 0.02249195308152694 Centerline is valid? [True, True] Translation: X:217.80, Y:-37.54, Z:-6.13 [[ 9.61854261e-01 2.72746721e-01 2.11094086e-02 2.17797061e+02] [-2.72675121e-01 9.62085838e-01 -6.25455231e-03 -3.75448319e+01] [-2.20149717e-02 2.59957233e-04 9.99757607e-01 -6.12867883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.288623853 meters 0.021035729096939994 Centerline is valid? [True, True] Translation: X:217.85, Y:-37.56, Z:-6.13 [[ 9.61389827e-01 2.74381808e-01 2.10766322e-02 2.17853091e+02] [-2.74310849e-01 9.61620806e-01 -6.24367960e-03 -3.75591243e+01] [-2.19808802e-02 2.21061165e-04 9.99758367e-01 -6.12988364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.348623853 meters 0.019351111273102146 Centerline is valid? [True, True] Translation: X:217.91, Y:-37.57, Z:-6.13 [[ 9.60854608e-01 2.76244745e-01 2.11485836e-02 2.17910411e+02] [-2.76173791e-01 9.61087306e-01 -6.26324116e-03 -3.75720499e+01] [-2.20558227e-02 1.77379624e-04 9.99756725e-01 -6.13168161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.408623853 meters 0.017539826213174556 Centerline is valid? [True, True] Translation: X:217.97, Y:-37.58, Z:-6.13 [[ 9.59974224e-01 2.79344347e-01 2.04015833e-02 2.17967636e+02] [-2.79279034e-01 9.60190984e-01 -6.04117490e-03 -3.75823059e+01] [-2.12769844e-02 1.01637728e-04 9.99773614e-01 -6.13495953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.468623853 meters 0.01665667516608164 Centerline is valid? [True, True] Translation: X:218.02, Y:-37.60, Z:-6.14 [[ 9.59666349e-01 2.80434388e-01 1.99261849e-02 2.18024423e+02] [-2.80372340e-01 9.59873194e-01 -5.89931993e-03 -3.75965606e+01] [-2.07809829e-02 7.46277115e-05 9.99784049e-01 -6.13577549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.528623853 meters 0.01628632558072618 Centerline is valid? [True, True] Translation: X:218.08, Y:-37.61, Z:-6.14 [[ 9.59424670e-01 2.81247091e-01 2.01091012e-02 2.18080692e+02] [-2.81184107e-01 9.59635384e-01 -5.95211454e-03 -3.76120741e+01] [-2.09714199e-02 5.62458864e-05 9.99780074e-01 -6.13678930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.588623853 meters 0.01601948718815626 Centerline is valid? [True, True] Translation: X:218.14, Y:-37.62, Z:-6.14 [[ 9.58686076e-01 2.83710613e-01 2.07194423e-02 2.18138500e+02] [-2.83644344e-01 9.58909948e-01 -6.13175223e-03 -3.76217865e+01] [-2.16077225e-02 1.47287860e-06 9.99766526e-01 -6.13898734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.648623853 meters 0.015857387848587458 Centerline is valid? [True, True] Translation: X:218.20, Y:-37.63, Z:-6.14 [[ 9.57974674e-01 2.86082127e-01 2.10128688e-02 2.18195892e+02] [-2.86014564e-01 9.58205100e-01 -6.21735348e-03 -3.76339275e+01] [-2.19133118e-02 -5.39193358e-05 9.99759873e-01 -6.13676891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70862385299998 meters 0.01634670917067596 Centerline is valid? [True, True] Translation: X:218.25, Y:-37.65, Z:-6.14 [[ 9.57713719e-01 2.86962096e-01 2.09090313e-02 2.18251959e+02] [-2.86895447e-01 9.57941934e-01 -6.18489925e-03 -3.76476965e+01] [-2.18044695e-02 -7.53429990e-05 9.99762251e-01 -6.13983029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76862385299998 meters 0.016836974280809745 Centerline is valid? [True, True] Translation: X:218.31, Y:-37.66, Z:-6.14 [[ 9.57305792e-01 2.88383903e-01 2.00086213e-02 2.18309267e+02] [-2.88323209e-01 9.57514863e-01 -5.91722681e-03 -3.76617246e+01] [-2.08649852e-02 -1.04354406e-04 9.99782297e-01 -6.14232655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82862385299998 meters 0.016161284314125023 Centerline is valid? [True, True] Translation: X:218.37, Y:-37.68, Z:-6.14 [[ 9.57823659e-01 2.86671016e-01 1.98385000e-02 2.18365548e+02] [-2.86611003e-01 9.58029083e-01 -5.86591275e-03 -3.76798259e+01] [-2.06874471e-02 -6.74223545e-05 9.99785990e-01 -6.14345997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88862385299998 meters 0.016013696009503635 Centerline is valid? [True, True] Translation: X:218.42, Y:-37.70, Z:-6.14 [[ 9.58147628e-01 2.85559800e-01 2.02168944e-02 2.18419908e+02] [-2.85497250e-01 9.58360892e-01 -5.97678776e-03 -3.76986492e+01] [-2.10818113e-02 -4.52227381e-05 9.99777753e-01 -6.14452898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.948623853 meters 0.016475549239639304 Centerline is valid? [True, True] Translation: X:218.48, Y:-37.71, Z:-6.15 [[ 9.57701427e-01 2.87088626e-01 1.97001842e-02 2.18477585e+02] [-2.87029583e-01 9.57904022e-01 -5.82269653e-03 -3.77116269e+01] [-2.05425156e-02 -7.81308650e-05 9.99788977e-01 -6.14609239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.008623853 meters 0.01800920844306973 Centerline is valid? [True, True] Translation: X:218.54, Y:-37.72, Z:-6.15 [[ 9.56884856e-01 2.89879699e-01 1.84697520e-02 2.18535150e+02] [-2.89828336e-01 9.57063082e-01 -5.45825688e-03 -3.77224703e+01] [-1.92589556e-02 -1.30134127e-04 9.99814521e-01 -6.14986803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.068623853 meters 0.018713394827559494 Centerline is valid? [True, True] Translation: X:218.59, Y:-37.74, Z:-6.15 [[ 9.56536693e-01 2.91050857e-01 1.80818478e-02 2.18592644e+02] [-2.91001861e-01 9.56707571e-01 -5.34239307e-03 -3.77355500e+01] [-1.88539488e-02 -1.51656356e-04 9.99822237e-01 -6.15170860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.128623853 meters 0.01843138774435425 Centerline is valid? [True, True] Translation: X:218.65, Y:-37.75, Z:-6.15 [[ 9.56390119e-01 2.91464868e-01 1.91355963e-02 2.18649783e+02] [-2.91410099e-01 9.56581519e-01 -5.65269335e-03 -3.77503457e+01] [-1.99523193e-02 -1.70125942e-04 9.99800918e-01 -6.15001873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.188623853 meters 0.01876763310258253 Centerline is valid? [True, True] Translation: X:218.71, Y:-37.77, Z:-6.15 [[ 9.56395084e-01 2.91369037e-01 2.03107728e-02 2.18705192e+02] [-2.91307333e-01 9.56610711e-01 -5.99877584e-03 -3.77654090e+01] [-2.11773604e-02 -1.79477344e-04 9.99775718e-01 -6.14978199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.248623853 meters 0.01979838386985011 Centerline is valid? [True, True] Translation: X:218.76, Y:-37.78, Z:-6.15 [[ 9.56190854e-01 2.92040981e-01 2.02759938e-02 2.18761379e+02] [-2.91979668e-01 9.56405786e-01 -5.98717291e-03 -3.77792778e+01] [-2.11405776e-02 -1.95297961e-04 9.99776494e-01 -6.15158563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.308623853 meters 0.02169403551078718 Centerline is valid? [True, True] Translation: X:218.82, Y:-37.79, Z:-6.15 [[ 9.55618880e-01 2.93948315e-01 1.96708996e-02 2.18819237e+02] [-2.93891020e-01 9.55821288e-01 -5.80807648e-03 -3.77895095e+01] [-2.05091388e-02 -2.30793192e-04 9.99789639e-01 -6.15452602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.368623853 meters 0.021425817619854258 Centerline is valid? [True, True] Translation: X:218.88, Y:-37.80, Z:-6.16 [[ 9.55207037e-01 2.95339717e-01 1.88140175e-02 2.18876847e+02] [-2.95287651e-01 9.55392269e-01 -5.55118205e-03 -3.78034788e+01] [-1.96142514e-02 -2.53018866e-04 9.99807590e-01 -6.15500278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.428623853 meters 0.022012046440936062 Centerline is valid? [True, True] Translation: X:218.93, Y:-37.82, Z:-6.16 [[ 9.55043169e-01 2.95850668e-01 1.91030756e-02 2.18933976e+02] [-2.95797112e-01 9.55234165e-01 -5.63545587e-03 -3.78171111e+01] [-1.99151638e-02 -2.68530953e-04 9.99801637e-01 -6.15628780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48862385299998 meters 0.02212662819411738 Centerline is valid? [True, True] Translation: X:218.99, Y:-37.83, Z:-6.16 [[ 9.55069944e-01 2.95742017e-01 1.94438166e-02 2.18991545e+02] [-2.95686531e-01 9.55267808e-01 -5.73495252e-03 -3.78299713e+01] [-2.02701185e-02 -2.71993916e-04 9.99794503e-01 -6.15701366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54862385299998 meters 0.022437320758200277 Centerline is valid? [True, True] Translation: X:219.05, Y:-37.84, Z:-6.16 [[ 9.55034415e-01 2.95849251e-01 1.95572888e-02 2.19048219e+02] [-2.95793156e-01 9.55234602e-01 -5.76759158e-03 -3.78411215e+01] [-2.03881366e-02 -2.76663714e-04 9.99792102e-01 -6.15883407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60862385299998 meters 0.022733246266394794 Centerline is valid? [True, True] Translation: X:219.11, Y:-37.85, Z:-6.16 [[ 9.55071924e-01 2.95742581e-01 1.93376674e-02 2.19105183e+02] [-2.95687727e-01 9.55267634e-01 -5.70229410e-03 -3.78536511e+01] [-2.01590590e-02 -2.71809923e-04 9.99796749e-01 -6.16088568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66862385299999 meters 0.02305210719136624 Centerline is valid? [True, True] Translation: X:219.16, Y:-37.86, Z:-6.16 [[ 9.55066500e-01 2.95742614e-01 1.96032639e-02 2.19161584e+02] [-2.95686341e-01 9.55267621e-01 -5.77579168e-03 -3.78625385e+01] [-2.04345110e-02 -2.80152236e-04 9.99791154e-01 -6.16144526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.728623853 meters 0.021941584693092802 Centerline is valid? [True, True] Translation: X:219.22, Y:-37.87, Z:-6.16 [[ 9.55559807e-01 2.94140004e-01 1.96752076e-02 2.19218168e+02] [-2.94083016e-01 9.55762312e-01 -5.79509123e-03 -3.78738047e+01] [-2.05093901e-02 -2.48588147e-04 9.99789629e-01 -6.16335930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.788623853 meters 0.020852254231500344 Centerline is valid? [True, True] Translation: X:219.28, Y:-37.89, Z:-6.17 [[ 9.56058500e-01 2.92544729e-01 1.92282867e-02 2.19275282e+02] [-2.92489985e-01 9.56251817e-01 -5.66312852e-03 -3.78886469e+01] [-2.00438025e-02 -2.09799119e-04 9.99799081e-01 -6.16662481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.848623853 meters 0.019244393290640826 Centerline is valid? [True, True] Translation: X:219.33, Y:-37.90, Z:-6.17 [[ 9.56841556e-01 2.90006913e-01 1.87143470e-02 2.19333074e+02] [-2.89954631e-01 9.57024538e-01 -5.50867853e-03 -3.79018734e+01] [-1.95076441e-02 -1.55379037e-04 9.99809696e-01 -6.16942589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.908623853 meters 0.018441381668797663 Centerline is valid? [True, True] Translation: X:219.39, Y:-37.91, Z:-6.17 [[ 9.57266499e-01 2.88593970e-01 1.88247426e-02 2.19389888e+02] [-2.88540877e-01 9.57451567e-01 -5.53708843e-03 -3.79148800e+01] [-1.96217496e-02 -1.31238467e-04 9.99807466e-01 -6.17102235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.968623853 meters 0.01727737767103677 Centerline is valid? [True, True] Translation: X:219.45, Y:-37.93, Z:-6.17 [[ 9.57975296e-01 2.86229057e-01 1.88748209e-02 2.19448290e+02] [-2.86175227e-01 9.58161218e-01 -5.55149839e-03 -3.79260130e+01] [-1.96741215e-02 -8.33078511e-05 9.99806442e-01 -6.17233077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.028623853 meters 0.01678073630097039 Centerline is valid? [True, True] Translation: X:219.51, Y:-37.94, Z:-6.17 [[ 9.58408387e-01 2.84760110e-01 1.91061192e-02 2.19505631e+02] [-2.84704725e-01 9.58598809e-01 -5.61630236e-03 -3.79397949e+01] [-1.99144019e-02 -5.68911137e-05 9.99801687e-01 -6.17351350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.088623853 meters 0.015968516706896405 Centerline is valid? [True, True] Translation: X:219.56, Y:-37.95, Z:-6.17 [[ 9.59034937e-01 2.82630065e-01 1.92934402e-02 2.19563167e+02] [-2.82573216e-01 9.59228985e-01 -5.66847079e-03 -3.79514143e+01] [-2.01089074e-02 -1.55479226e-05 9.99797795e-01 -6.17165219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.148623853 meters 0.01640014940670013 Centerline is valid? [True, True] Translation: X:219.62, Y:-37.97, Z:-6.18 [[ 9.59708055e-01 2.80341672e-01 1.92092543e-02 2.19618048e+02] [-2.80284950e-01 9.59900279e-01 -5.63921578e-03 -3.79650822e+01] [-2.00198757e-02 2.79359444e-05 9.99799582e-01 -6.17672243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20862385299998 meters 0.01840033777792693 Centerline is valid? [True, True] Translation: X:219.67, Y:-37.98, Z:-6.18 [[ 9.60993413e-01 2.75907863e-01 1.91444786e-02 2.19673628e+02] [-2.75850704e-01 9.61184081e-01 -5.61706031e-03 -3.79815890e+01] [-1.99511592e-02 1.16940047e-04 9.99800949e-01 -6.17853478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26862385299998 meters 0.0207270086166307 Centerline is valid? [True, True] Translation: X:219.73, Y:-38.00, Z:-6.17 [[ 9.62731466e-01 2.69714865e-01 2.00503192e-02 2.19730293e+02] [-2.69650849e-01 9.62940199e-01 -5.88163758e-03 -3.79977313e+01] [-2.08936234e-02 2.55851978e-04 9.99781672e-01 -6.17488336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32862385299998 meters 0.03567346661336938 Centerline is valid? [True, True] Translation: X:219.78, Y:-38.02, Z:-6.17 [[ 9.64237940e-01 2.64318021e-01 1.95238202e-02 2.19783080e+02] [-2.64256302e-01 9.64435511e-01 -5.72292965e-03 -3.80245918e+01] [-2.03421390e-02 3.58973365e-04 9.99793013e-01 -6.17230722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38862385299998 meters 0.03222931760242265 Centerline is valid? [True, True] Translation: X:219.84, Y:-38.04, Z:-6.18 [[ 9.66144840e-01 2.57278308e-01 1.92878169e-02 2.19839794e+02] [-2.57216696e-01 9.66337220e-01 -5.65232369e-03 -3.80437303e+01] [-2.00927557e-02 4.99814823e-04 9.99797995e-01 -6.17953201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.448623853 meters 0.038457710834680386 Centerline is valid? [True, True] Translation: X:219.90, Y:-38.07, Z:-6.18 [[ 9.67732172e-01 2.51243651e-01 1.92632137e-02 2.19895840e+02] [-2.51181009e-01 9.67923674e-01 -5.64466912e-03 -3.80679096e+01] [-2.00635079e-02 6.23974463e-04 9.99798513e-01 -6.18179543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.508623853 meters 0.04566816950449907 Centerline is valid? [True, True] Translation: X:219.95, Y:-38.10, Z:-6.18 [[ 9.68992457e-01 2.46291724e-01 1.98495460e-02 2.19949081e+02] [-2.46224170e-01 9.69195453e-01 -5.81650078e-03 -3.80974442e+01] [-2.06706458e-02 7.48707375e-04 9.99786059e-01 -6.18234161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.568623853 meters 0.045324413912027774 Centerline is valid? [True, True] Translation: X:220.01, Y:-38.11, Z:-6.18 [[ 9.69326882e-01 2.44962623e-01 1.99677096e-02 2.20005015e+02] [-2.44893984e-01 9.69532208e-01 -5.85101061e-03 -3.81146279e+01] [-2.07926165e-02 7.81569926e-04 9.99783505e-01 -6.18294398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.628623853 meters 0.047057759399124766 Centerline is valid? [True, True] Translation: X:220.06, Y:-38.14, Z:-6.19 [[ 9.69740499e-01 2.43374631e-01 1.92912869e-02 2.20061041e+02] [-2.43310272e-01 9.69932044e-01 -5.65170991e-03 -3.81358722e+01] [-2.00867201e-02 7.86923732e-04 9.99797932e-01 -6.18532887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.688623853 meters 0.05382851298767645 Centerline is valid? [True, True] Translation: X:220.12, Y:-38.16, Z:-6.18 [[ 9.69459744e-01 2.44572556e-01 1.82227595e-02 2.20115825e+02] [-2.44515346e-01 9.69630727e-01 -5.33845624e-03 -3.81572136e+01] [-1.89749874e-02 7.19674092e-04 9.99819700e-01 -6.17848958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.748623853 meters 0.04207191615756959 Centerline is valid? [True, True] Translation: X:220.17, Y:-38.17, Z:-6.19 [[ 9.68042787e-01 2.50121298e-01 1.82345209e-02 2.20174197e+02] [-2.50065019e-01 9.68214317e-01 -5.34062613e-03 -3.81719895e+01] [-1.89907285e-02 6.10138796e-04 9.99819474e-01 -6.19087236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.808623853 meters 0.030498741388832396 Centerline is valid? [True, True] Translation: X:220.24, Y:-38.18, Z:-6.19 [[ 9.65997797e-01 2.57933563e-01 1.78474994e-02 2.20235306e+02] [-2.57880978e-01 9.66162552e-01 -5.22724055e-03 -3.81768779e+01] [-1.85918664e-02 4.46972251e-04 9.99827056e-01 -6.19075965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.868623853 meters 0.025718554269717437 Centerline is valid? [True, True] Translation: X:220.29, Y:-38.19, Z:-6.19 [[ 9.64467732e-01 2.63583701e-01 1.80451341e-02 2.20293122e+02] [-2.63530930e-01 9.64636468e-01 -5.28520813e-03 -3.81887285e+01] [-1.88000892e-02 3.41961720e-04 9.99823204e-01 -6.19243843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.928623853 meters 0.019852970652991523 Centerline is valid? [True, True] Translation: X:220.35, Y:-38.20, Z:-6.19 [[ 9.62402473e-01 2.71019056e-01 1.81700630e-02 2.20352197e+02] [-2.70966882e-01 9.62573962e-01 -5.32133022e-03 -3.81991841e+01] [-1.89322114e-02 1.97776033e-04 9.99820750e-01 -6.19383411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98862385299998 meters 0.01748241402761737 Centerline is valid? [True, True] Translation: X:220.41, Y:-38.21, Z:-6.20 [[ 9.60742838e-01 2.76862195e-01 1.79031906e-02 2.20409438e+02] [-2.76812539e-01 9.60909631e-01 -5.24406786e-03 -3.82111285e+01] [-1.86552324e-02 8.23729884e-05 9.99825973e-01 -6.19786572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04862385299998 meters 0.016053704882939772 Centerline is valid? [True, True] Translation: X:220.47, Y:-38.22, Z:-6.20 [[ 9.59692351e-01 2.80470333e-01 1.80826806e-02 2.20467731e+02] [-2.80420378e-01 9.59862694e-01 -5.29333597e-03 -3.82217402e+01] [-1.88415142e-02 9.22190695e-06 9.99822483e-01 -6.19703940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10862385299998 meters 0.017044157858781196 Centerline is valid? [True, True] Translation: X:220.53, Y:-38.23, Z:-6.20 [[ 9.58221072e-01 2.85409704e-01 1.88063233e-02 2.20525637e+02] [-2.85356708e-01 9.58405599e-01 -5.50071738e-03 -3.82306908e+01] [-1.95940437e-02 -9.56072021e-05 9.99808014e-01 -6.19705090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16862385299999 meters 0.01804837522193226 Centerline is valid? [True, True] Translation: X:220.58, Y:-38.24, Z:-6.20 [[ 9.57637998e-01 2.87343578e-01 1.90560509e-02 2.20582692e+02] [-2.87289571e-01 9.57827568e-01 -5.57253407e-03 -3.82428239e+01] [-1.98536427e-02 -1.38134313e-04 9.99802887e-01 -6.19835586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.228623853 meters 0.01863793606302807 Centerline is valid? [True, True] Translation: X:220.64, Y:-38.26, Z:-6.20 [[ 9.57571904e-01 2.87631253e-01 1.80086172e-02 2.20638967e+02] [-2.87583091e-01 9.57741219e-01 -5.26519467e-03 -3.82566628e+01] [-1.87620296e-02 -1.37171329e-04 9.99823968e-01 -6.20179643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.288623853 meters 0.017828878851322505 Centerline is valid? [True, True] Translation: X:220.69, Y:-38.27, Z:-6.20 [[ 9.57979593e-01 2.86250807e-01 1.83187196e-02 2.20694774e+02] [-2.86200724e-01 9.58154717e-01 -5.35562306e-03 -3.82738843e+01] [-1.90852191e-02 -1.12253239e-04 9.99817854e-01 -6.20284339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.348623853 meters 0.016731717848191913 Centerline is valid? [True, True] Translation: X:220.75, Y:-38.29, Z:-6.20 [[ 9.58774345e-01 2.83569750e-01 1.84378137e-02 2.20749491e+02] [-2.83518597e-01 9.58951611e-01 -5.38631274e-03 -3.82931797e+01] [-1.92083666e-02 -6.32046123e-05 9.99815500e-01 -6.20435717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.408623853 meters 0.016272026801701023 Centerline is valid? [True, True] Translation: X:220.80, Y:-38.31, Z:-6.21 [[ 9.59479846e-01 2.81159832e-01 1.86433363e-02 2.20804651e+02] [-2.81107099e-01 9.59660955e-01 -5.44519871e-03 -3.83113605e+01] [-1.94222531e-02 -1.62157800e-05 9.99811370e-01 -6.20542085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.468623853 meters 0.016371040338852824 Centerline is valid? [True, True] Translation: X:220.86, Y:-38.33, Z:-6.21 [[ 9.60016533e-01 2.79347791e-01 1.82501711e-02 2.20859712e+02] [-2.79296930e-01 9.60189987e-01 -5.33040004e-03 -3.83292841e+01] [-1.90126671e-02 2.00553822e-05 9.99819243e-01 -6.20831272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.528623853 meters 0.017558905039085852 Centerline is valid? [True, True] Translation: X:220.91, Y:-38.35, Z:-6.21 [[ 9.61038431e-01 2.75838769e-01 1.78355483e-02 2.20914916e+02] [-2.75789654e-01 9.61203915e-01 -5.20580452e-03 -3.83502497e+01] [-1.85795616e-02 8.41185032e-05 9.99827382e-01 -6.21109903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.588623853 meters 0.01908086712291165 Centerline is valid? [True, True] Translation: X:220.97, Y:-38.37, Z:-6.21 [[ 9.61751920e-01 2.73362378e-01 1.75001468e-02 2.20970255e+02] [-2.73314734e-01 9.61911115e-01 -5.10509622e-03 -3.83704056e+01] [-1.82291270e-02 1.26788120e-04 9.99833828e-01 -6.21287521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.648623853 meters 0.018799164204255404 Centerline is valid? [True, True] Translation: X:221.03, Y:-38.39, Z:-6.21 [[ 9.61713621e-01 2.73452220e-01 1.81877514e-02 2.21027265e+02] [-2.73400833e-01 9.61885579e-01 -5.30254501e-03 -3.83853223e+01] [-1.89445285e-02 1.26983365e-04 9.99820528e-01 -6.21305613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70862385299998 meters 0.016592330509319332 Centerline is valid? [True, True] Translation: X:221.09, Y:-38.39, Z:-6.21 [[ 9.61013289e-01 2.75854171e-01 1.89191596e-02 2.21085497e+02] [-2.75799095e-01 9.61199495e-01 -5.51268267e-03 -3.83947429e+01] [-1.97057832e-02 7.98742189e-05 9.99805819e-01 -6.21067303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76862385299998 meters 0.01612156639041572 Centerline is valid? [True, True] Translation: X:221.14, Y:-38.41, Z:-6.21 [[ 9.60464898e-01 2.77782856e-01 1.85435783e-02 2.21143044e+02] [-2.77730361e-01 9.60643890e-01 -5.40026520e-03 -3.84056990e+01] [-1.93138763e-02 3.66504775e-05 9.99813469e-01 -6.21272941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82862385299998 meters 0.016426729721325823 Centerline is valid? [True, True] Translation: X:221.20, Y:-38.41, Z:-6.21 [[ 9.59213942e-01 2.82078264e-01 1.84517408e-02 2.21202084e+02] [-2.82027172e-01 9.59391396e-01 -5.36880465e-03 -3.84107433e+01] [-1.92168644e-02 -5.40600014e-05 9.99815338e-01 -6.21458323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88862385299998 meters 0.01838658273606075 Centerline is valid? [True, True] Translation: X:221.26, Y:-38.41, Z:-6.21 [[ 9.57866512e-01 2.86554432e-01 1.94500156e-02 2.21260936e+02] [-2.86498623e-01 9.58063951e-01 -5.65731058e-03 -3.84143031e+01] [-2.02554862e-02 -1.53454339e-04 9.99794825e-01 -6.21480478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.948623853 meters 0.01959331670755304 Centerline is valid? [True, True] Translation: X:221.32, Y:-38.42, Z:-6.22 [[ 9.57229460e-01 2.88693509e-01 1.91786083e-02 2.21319656e+02] [-2.88639716e-01 9.57421547e-01 -5.57636629e-03 -3.84213421e+01] [-1.99718736e-02 -1.97845967e-04 9.99800523e-01 -6.21658397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.008623853 meters 0.01977078215881712 Centerline is valid? [True, True] Translation: X:221.38, Y:-38.43, Z:-6.22 [[ 9.57314308e-01 2.88443480e-01 1.86996050e-02 2.21377125e+02] [-2.88392293e-01 9.57496905e-01 -5.43705488e-03 -3.84319832e+01] [-1.94730970e-02 -1.87851556e-04 9.99810364e-01 -6.21956916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.068623853 meters 0.018324539029622743 Centerline is valid? [True, True] Translation: X:221.43, Y:-38.45, Z:-6.22 [[ 9.58380591e-01 2.84838220e-01 1.93347293e-02 2.21432843e+02] [-2.84782863e-01 9.58575596e-01 -5.61676486e-03 -3.84459371e+01] [-2.01336689e-02 -1.23201116e-04 9.99797290e-01 -6.22195879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.128623853 meters 0.01642524677110587 Centerline is valid? [True, True] Translation: X:221.49, Y:-38.47, Z:-6.22 [[ 9.60064802e-01 2.79150446e-01 1.87244231e-02 2.21487654e+02] [-2.79097465e-01 9.60247379e-01 -5.43841989e-03 -3.84673853e+01] [-1.94982155e-02 -4.70350263e-06 9.99809892e-01 -6.22455180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.188623853 meters 0.017107123593050062 Centerline is valid? [True, True] Translation: X:221.54, Y:-38.49, Z:-6.23 [[ 9.61098195e-01 2.75587018e-01 1.84947050e-02 2.21543270e+02] [-2.75534729e-01 9.61276126e-01 -5.36860339e-03 -3.84862166e+01] [-1.92580358e-02 6.38214952e-05 9.99814545e-01 -6.22666148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.248623853 meters 0.019113061850247456 Centerline is valid? [True, True] Translation: X:221.60, Y:-38.51, Z:-6.23 [[ 9.62627932e-01 2.70139343e-01 1.92924700e-02 2.21598987e+02] [-2.70081416e-01 9.62821221e-01 -5.59681920e-03 -3.85053649e+01] [-2.00871206e-02 1.77116862e-04 9.99798218e-01 -6.22535030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.308623853 meters 0.022016509519201678 Centerline is valid? [True, True] Translation: X:221.65, Y:-38.52, Z:-6.23 [[ 9.63609838e-01 2.66685959e-01 1.82942335e-02 2.21653603e+02] [-2.66633325e-01 9.63783454e-01 -5.30328242e-03 -3.85239001e+01] [-1.90459905e-02 2.32442807e-04 9.99818582e-01 -6.22974841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.368623853 meters 0.022756881815040767 Centerline is valid? [True, True] Translation: X:221.71, Y:-38.54, Z:-6.23 [[ 9.63825082e-01 2.65961501e-01 1.74840206e-02 2.21709984e+02] [-2.65913307e-01 9.63983623e-01 -5.06840950e-03 -3.85388099e+01] [-1.82023113e-02 2.35826468e-04 9.99834296e-01 -6.23285463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.428623853 meters 0.021554821911827192 Centerline is valid? [True, True] Translation: X:221.77, Y:-38.55, Z:-6.23 [[ 9.63433867e-01 2.67342762e-01 1.79730466e-02 2.21768100e+02] [-2.67292135e-01 9.63601475e-01 -5.20695027e-03 -3.85490987e+01] [-1.87108946e-02 2.12498245e-04 9.99824913e-01 -6.23343432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48862385299998 meters 0.02060787702415966 Centerline is valid? [True, True] Translation: X:221.83, Y:-38.56, Z:-6.23 [[ 9.63136092e-01 2.68394538e-01 1.82548623e-02 2.21825598e+02] [-2.68342559e-01 9.63309055e-01 -5.28541387e-03 -3.85619749e+01] [-1.90036504e-02 1.92016391e-04 9.99819396e-01 -6.23431114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54862385299998 meters 0.018127335854026292 Centerline is valid? [True, True] Translation: X:221.88, Y:-38.57, Z:-6.24 [[ 9.62093386e-01 2.72100185e-01 1.83794719e-02 2.21884512e+02] [-2.72048230e-01 9.62268921e-01 -5.31833840e-03 -3.85679465e+01] [-1.91331155e-02 1.16635391e-04 9.99816938e-01 -6.23556233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60862385299998 meters 0.017375940961349298 Centerline is valid? [True, True] Translation: X:221.94, Y:-38.58, Z:-6.24 [[ 9.61573339e-01 2.73948910e-01 1.81303321e-02 2.21942777e+02] [-2.73898739e-01 9.61744243e-01 -5.24325532e-03 -3.85778472e+01] [-1.88731266e-02 7.58994052e-05 9.99821884e-01 -6.23829466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66862385299999 meters 0.01724777232735758 Centerline is valid? [True, True] Translation: X:222.00, Y:-38.59, Z:-6.24 [[ 9.61166675e-01 2.75428242e-01 1.72599424e-02 2.22000355e+02] [-2.75383077e-01 9.61321633e-01 -4.98788065e-03 -3.85882244e+01] [-1.79661592e-02 4.10886207e-05 9.99838595e-01 -6.24242280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.728623853 meters 0.017363410525436655 Centerline is valid? [True, True] Translation: X:222.06, Y:-38.60, Z:-6.24 [[ 9.61397208e-01 2.74606058e-01 1.75191689e-02 2.22056537e+02] [-2.74559388e-01 9.61556816e-01 -5.06289413e-03 -3.86018382e+01] [-1.82359777e-02 5.73999933e-05 9.99833709e-01 -6.24372994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.788623853 meters 0.017507488462800425 Centerline is valid? [True, True] Translation: X:222.11, Y:-38.62, Z:-6.24 [[ 9.61795229e-01 2.73176565e-01 1.80139220e-02 2.22112626e+02] [-2.73127035e-01 9.61963906e-01 -5.20245818e-03 -3.86175155e+01] [-1.87499324e-02 8.36103621e-05 9.99824201e-01 -6.24254987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.848623853 meters 0.017581366679895502 Centerline is valid? [True, True] Translation: X:222.17, Y:-38.63, Z:-6.24 [[ 9.62396580e-01 2.70953711e-01 1.94141557e-02 2.22168125e+02] [-2.70895810e-01 9.62592369e-01 -5.60280307e-03 -3.86330669e+01] [-2.02060184e-02 1.32905082e-04 9.99795829e-01 -6.24002955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.908623853 meters 0.019233469632829906 Centerline is valid? [True, True] Translation: X:222.22, Y:-38.65, Z:-6.24 [[ 9.63118758e-01 2.68375132e-01 1.94177010e-02 2.22222511e+02] [-2.68316786e-01 9.63314463e-01 -5.59883101e-03 -3.86521976e+01] [-2.02079392e-02 1.82244045e-04 9.99795782e-01 -6.24171127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.968623853 meters 0.020459989971303962 Centerline is valid? [True, True] Translation: X:222.28, Y:-38.67, Z:-6.24 [[ 9.63745991e-01 2.66125804e-01 1.92541482e-02 2.22278403e+02] [-2.66067995e-01 9.63938279e-01 -5.55133369e-03 -3.86709210e+01] [-2.00371636e-02 2.27162972e-04 9.99799210e-01 -6.24338304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.028623853 meters 0.022894885933837646 Centerline is valid? [True, True] Translation: X:222.33, Y:-38.69, Z:-6.25 [[ 9.64728279e-01 2.62605059e-01 1.83828913e-02 2.22333703e+02] [-2.62551783e-01 9.64903364e-01 -5.29706874e-03 -3.86918705e+01] [-1.91287507e-02 2.83771143e-04 9.99816988e-01 -6.24657208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.088623853 meters 0.02568124043993795 Centerline is valid? [True, True] Translation: X:222.39, Y:-38.71, Z:-6.25 [[ 9.65511466e-01 2.59732281e-01 1.80762581e-02 2.22388052e+02] [-2.59680342e-01 9.65680606e-01 -5.20456622e-03 -3.87133087e+01] [-1.88076857e-02 3.31019487e-04 9.99823065e-01 -6.24987746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.148623853 meters 0.029982365045003987 Centerline is valid? [True, True] Translation: X:222.44, Y:-38.74, Z:-6.25 [[ 9.66716801e-01 2.55215555e-01 1.79901856e-02 2.22442378e+02] [-2.55163352e-01 9.66884092e-01 -5.17843137e-03 -3.87387747e+01] [-1.87160405e-02 4.15640543e-04 9.99824753e-01 -6.25170797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20862385299998 meters 0.03315349188036438 Centerline is valid? [True, True] Translation: X:222.50, Y:-38.76, Z:-6.25 [[ 9.67425306e-01 2.52519308e-01 1.79520518e-02 2.22496901e+02] [-2.52466875e-01 9.67591743e-01 -5.16678081e-03 -3.87626189e+01] [-1.86749690e-02 4.66176085e-04 9.99825499e-01 -6.25329652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26862385299998 meters 0.03277621058932754 Centerline is valid? [True, True] Translation: X:222.55, Y:-38.78, Z:-6.25 [[ 9.67734305e-01 2.51332769e-01 1.79486722e-02 2.22552354e+02] [-2.51280141e-01 9.67900614e-01 -5.16637964e-03 -3.87827011e+01] [-1.86710114e-02 4.89537927e-04 9.99825562e-01 -6.25425207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32862385299998 meters 0.03637507161526966 Centerline is valid? [True, True] Translation: X:222.61, Y:-38.81, Z:-6.26 [[ 9.67706436e-01 2.51399829e-01 1.85035276e-02 2.22605756e+02] [-2.51343993e-01 9.67883194e-01 -5.32168867e-03 -3.88070264e+01] [-1.92471251e-02 4.99081855e-04 9.99814632e-01 -6.25610150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38862385299998 meters 0.03487024790699701 Centerline is valid? [True, True] Translation: X:222.66, Y:-38.83, Z:-6.26 [[ 9.67383086e-01 2.52680233e-01 1.79628665e-02 2.22661170e+02] [-2.52627837e-01 9.67549734e-01 -5.16601000e-03 -3.88266839e+01] [-1.86853153e-02 4.59590591e-04 9.99825309e-01 -6.25853577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.448623853 meters 0.029590506082129018 Centerline is valid? [True, True] Translation: X:222.72, Y:-38.84, Z:-6.26 [[ 9.66413924e-01 2.56286482e-01 1.90096396e-02 2.22719645e+02] [-2.56228588e-01 9.66600782e-01 -5.46246544e-03 -3.88413743e+01] [-1.97746885e-02 4.08189564e-04 9.99804378e-01 -6.25749331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.508623853 meters 0.023866667708687745 Centerline is valid? [True, True] Translation: X:222.78, Y:-38.85, Z:-6.26 [[ 9.64955310e-01 2.61720742e-01 1.90657338e-02 2.22778613e+02] [-2.61663565e-01 9.65143598e-01 -5.47850218e-03 -3.88546145e+01] [-1.98350085e-02 2.97701902e-04 9.99803223e-01 -6.25829867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.568623853 meters 0.020397613075065973 Centerline is valid? [True, True] Translation: X:222.84, Y:-38.87, Z:-6.26 [[ 9.63899511e-01 2.65575176e-01 1.91718280e-02 2.22835822e+02] [-2.65518132e-01 9.64090129e-01 -5.50851174e-03 -3.88681033e+01] [-1.99462941e-02 2.19183808e-04 9.99801029e-01 -6.25953127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.628623853 meters 0.017541536778267655 Centerline is valid? [True, True] Translation: X:222.89, Y:-38.88, Z:-6.26 [[ 9.62158252e-01 2.71846368e-01 1.87363203e-02 2.22892515e+02] [-2.71793085e-01 9.62340659e-01 -5.38277376e-03 -3.88802596e+01] [-1.94940104e-02 8.66778790e-05 9.99809970e-01 -6.26289243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.688623853 meters 0.01660949752543823 Centerline is valid? [True, True] Translation: X:222.95, Y:-38.89, Z:-6.26 [[ 9.61021870e-01 2.75861731e-01 1.83649175e-02 2.22949999e+02] [-2.75811285e-01 9.61197329e-01 -5.27535945e-03 -3.88913685e+01] [-1.91075794e-02 4.48431735e-06 9.99817434e-01 -6.26405599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.748623853 meters 0.018306500384181693 Centerline is valid? [True, True] Translation: X:223.01, Y:-38.90, Z:-6.26 [[ 9.59136555e-01 2.82326086e-01 1.86828644e-02 2.23008034e+02] [-2.82275201e-01 9.59318489e-01 -5.36161470e-03 -3.88998195e+01] [-1.94365409e-02 -1.31188656e-04 9.99811084e-01 -6.26471130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.808623853 meters 0.02200030473799482 Centerline is valid? [True, True] Translation: X:223.07, Y:-38.91, Z:-6.26 [[ 9.57607208e-01 2.87378086e-01 2.00566780e-02 2.23065492e+02] [-2.87320575e-01 9.57817191e-01 -5.75455359e-03 -3.89075555e+01] [-2.08643636e-02 -2.52094258e-04 9.99782284e-01 -6.26428809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.868623853 meters 0.022993537415027018 Centerline is valid? [True, True] Translation: X:223.12, Y:-38.92, Z:-6.26 [[ 9.57179794e-01 2.88720349e-01 2.11518681e-02 2.23122614e+02] [-2.88656739e-01 9.57413427e-01 -6.06763133e-03 -3.89215407e+01] [-2.20029312e-02 -2.97815166e-04 9.99757862e-01 -6.26389771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.928623853 meters 0.022632743402222436 Centerline is valid? [True, True] Translation: X:223.18, Y:-38.94, Z:-6.27 [[ 9.57471295e-01 2.87833541e-01 2.00143191e-02 2.23178352e+02] [-2.87776478e-01 9.57680417e-01 -5.73729622e-03 -3.89382290e+01] [-2.08187077e-02 -2.66353817e-04 9.99783232e-01 -6.26825609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98862385299998 meters 0.020275001021423506 Centerline is valid? [True, True] Translation: X:223.23, Y:-38.96, Z:-6.27 [[ 9.58583853e-01 2.84201812e-01 1.86098775e-02 2.23233185e+02] [-2.84151795e-01 9.58764465e-01 -5.33454926e-03 -3.89598183e+01] [-1.93585778e-02 -1.74417320e-04 9.99812590e-01 -6.27400299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04862385299998 meters 0.018668161304502506 Centerline is valid? [True, True] Translation: X:223.29, Y:-38.98, Z:-6.28 [[ 9.59476110e-01 2.81202942e-01 1.81796366e-02 2.23287228e+02] [-2.81154748e-01 9.59648317e-01 -5.20725842e-03 -3.89800070e+01] [-1.89103541e-02 -1.15051092e-04 9.99821177e-01 -6.27706330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10862385299998 meters 0.021650736283125353 Centerline is valid? [True, True] Translation: X:223.34, Y:-39.01, Z:-6.27 [[ 9.61136219e-01 2.75484977e-01 1.80331800e-02 2.23341078e+02] [-2.75436551e-01 9.61305377e-01 -5.16515358e-03 -3.90056501e+01] [-1.87583151e-02 -2.58073253e-06 9.99824047e-01 -6.27178516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16862385299999 meters 0.017469020582951515 Centerline is valid? [True, True] Translation: X:223.39, Y:-39.03, Z:-6.28 [[ 9.62387488e-01 2.70950713e-01 1.99006073e-02 2.23394404e+02] [-2.70890842e-01 9.62593218e-01 -5.69638491e-03 -3.90311999e+01] [-2.06996292e-02 9.12372891e-05 9.99785736e-01 -6.27703620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.228623853 meters 0.020260162268050066 Centerline is valid? [True, True] Translation: X:223.45, Y:-39.06, Z:-6.28 [[ 9.64159709e-01 2.64544572e-01 2.03033246e-02 2.23447669e+02] [-2.64480932e-01 9.64373432e-01 -5.80683689e-03 -3.90575316e+01] [-2.11161540e-02 2.28875947e-04 9.99777003e-01 -6.27597263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.288623853 meters 0.03439648519046293 Centerline is valid? [True, True] Translation: X:223.50, Y:-39.08, Z:-6.27 [[ 9.65497488e-01 2.59663554e-01 1.97342024e-02 2.23502739e+02] [-2.59602441e-01 9.65699090e-01 -5.64266218e-03 -3.90815248e+01] [-2.05224950e-02 3.24929044e-04 9.99789339e-01 -6.26787311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.348623853 meters 0.0303356501367493 Centerline is valid? [True, True] Translation: X:223.55, Y:-39.12, Z:-6.28 [[ 9.66243609e-01 2.56877054e-01 1.96841642e-02 2.23552223e+02] [-2.56815683e-01 9.66444014e-01 -5.62783746e-03 -3.91153828e+01] [-2.04693050e-02 3.82659905e-04 9.99790409e-01 -6.28314296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.408623853 meters 0.026511248347133875 Centerline is valid? [True, True] Translation: X:223.61, Y:-39.13, Z:-6.28 [[ 9.66308991e-01 2.56625594e-01 1.97544400e-02 2.23609924e+02] [-2.56563767e-01 9.66510814e-01 -5.64614931e-03 -3.91274417e+01] [-2.05418263e-02 3.87651301e-04 9.99788919e-01 -6.28190898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.468623853 meters 0.0280822607657025 Centerline is valid? [True, True] Translation: X:223.66, Y:-39.15, Z:-6.28 [[ 9.66222865e-01 2.56924249e-01 2.00824656e-02 2.23663905e+02] [-2.56860433e-01 9.66431467e-01 -5.73912991e-03 -3.91496674e+01] [-2.08828483e-02 3.86887744e-04 9.99781855e-01 -6.28410693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.528623853 meters 0.02696201928028009 Centerline is valid? [True, True] Translation: X:223.72, Y:-39.17, Z:-6.29 [[ 9.65906207e-01 2.58112410e-01 2.00794152e-02 2.23719636e+02] [-2.58048915e-01 9.66114825e-01 -5.73606832e-03 -3.91671791e+01] [-2.08795711e-02 3.59032688e-04 9.99781934e-01 -6.28542987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.588623853 meters 0.023928972268522516 Centerline is valid? [True, True] Translation: X:223.78, Y:-39.18, Z:-6.29 [[ 9.64944837e-01 2.61691905e-01 1.99702065e-02 2.23776042e+02] [-2.61629885e-01 9.65151423e-01 -5.70390789e-03 -3.91817136e+01] [-2.07669397e-02 2.79153661e-04 9.99784305e-01 -6.28733336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.648623853 meters 0.02067353522866427 Centerline is valid? [True, True] Translation: X:223.83, Y:-39.20, Z:-6.29 [[ 9.63883504e-01 2.65628755e-01 1.92342190e-02 2.23833678e+02] [-2.65572006e-01 9.64075376e-01 -5.49361421e-03 -3.91951479e+01] [-2.00024988e-02 1.87133980e-04 9.99799912e-01 -6.29083602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70862385299998 meters 0.018544900138286673 Centerline is valid? [True, True] Translation: X:223.89, Y:-39.21, Z:-6.29 [[ 9.62959898e-01 2.68921146e-01 1.97396302e-02 2.23890113e+02] [-2.68862145e-01 9.63162190e-01 -5.63415933e-03 -3.92093037e+01] [-2.05276100e-02 1.18230171e-04 9.99789279e-01 -6.29192501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76862385299998 meters 0.01705156418828744 Centerline is valid? [True, True] Translation: X:223.95, Y:-39.22, Z:-6.29 [[ 9.62517681e-01 2.70426904e-01 2.07124038e-02 2.23947247e+02] [-2.70362321e-01 9.62740506e-01 -5.91047413e-03 -3.92243753e+01] [-2.15390214e-02 8.90822692e-05 9.99768004e-01 -6.29003250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82862385299998 meters 0.016695114663285344 Centerline is valid? [True, True] Translation: X:224.00, Y:-39.24, Z:-6.29 [[ 9.62015255e-01 2.72187977e-01 2.09846180e-02 2.24003560e+02] [-2.72122128e-01 9.62244097e-01 -5.98705870e-03 -3.92413602e+01] [-2.18219302e-02 4.92629052e-05 9.99761872e-01 -6.29153767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88862385299998 meters 0.016582394156662943 Centerline is valid? [True, True] Translation: X:224.06, Y:-39.26, Z:-6.29 [[ 9.61738376e-01 2.73230543e-01 2.01088630e-02 2.24059645e+02] [-2.73170323e-01 9.61948580e-01 -5.73622925e-03 -3.92587304e+01] [-2.09110052e-02 2.36072013e-05 9.99781341e-01 -6.29487589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.948623853 meters 0.016635965048058077 Centerline is valid? [True, True] Translation: X:224.12, Y:-39.27, Z:-6.30 [[ 9.61211620e-01 2.75122396e-01 1.94907176e-02 2.24116440e+02] [-2.75066231e-01 9.61409209e-01 -5.55894532e-03 -3.92746194e+01] [-2.02679457e-02 -1.79153852e-05 9.99794584e-01 -6.29724919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.008623853 meters 0.016924776952746235 Centerline is valid? [True, True] Translation: X:224.17, Y:-39.29, Z:-6.30 [[ 9.60452585e-01 2.77728798e-01 1.99385887e-02 2.24173692e+02] [-2.77670604e-01 9.60659518e-01 -5.68564946e-03 -3.92900663e+01] [-2.07332636e-02 -7.55632565e-05 9.99785040e-01 -6.29707122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.068623853 meters 0.017948876079389324 Centerline is valid? [True, True] Translation: X:224.23, Y:-39.30, Z:-6.30 [[ 9.59897951e-01 2.79604560e-01 2.04258017e-02 2.24229812e+02] [-2.79543933e-01 9.60115241e-01 -5.82355975e-03 -3.93030849e+01] [-2.12394174e-02 -1.19885874e-04 9.99774411e-01 -6.29910966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.128623853 meters 0.018396009809562897 Centerline is valid? [True, True] Translation: X:224.29, Y:-39.32, Z:-6.30 [[ 9.59405804e-01 2.81207210e-01 2.15176248e-02 2.24287489e+02] [-2.81140350e-01 9.59647059e-01 -6.13395272e-03 -3.93168535e+01] [-2.23742371e-02 -1.64522738e-04 9.99749652e-01 -6.29833171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.188623853 meters 0.018127765352178003 Centerline is valid? [True, True] Translation: X:224.34, Y:-39.33, Z:-6.30 [[ 9.59513943e-01 2.80799709e-01 2.20117495e-02 2.24343189e+02] [-2.80729725e-01 9.59766376e-01 -6.27091632e-03 -3.93347919e+01] [-2.28870086e-02 -1.62320740e-04 9.99738045e-01 -6.29827203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.248623853 meters 0.01819695720545984 Centerline is valid? [True, True] Translation: X:224.40, Y:-39.35, Z:-6.30 [[ 9.59589317e-01 2.80509409e-01 2.24235322e-02 2.24398796e+02] [-2.80436827e-01 9.59851262e-01 -6.38290154e-03 -3.93506765e+01] [-2.33137196e-02 -1.63420098e-04 9.99728185e-01 -6.29972711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.308623853 meters 0.018089589956173432 Centerline is valid? [True, True] Translation: X:224.45, Y:-39.37, Z:-6.30 [[ 9.59683596e-01 2.80195108e-01 2.23180876e-02 2.24454208e+02] [-2.80123140e-01 9.59943059e-01 -6.35208499e-03 -3.93667714e+01] [-2.32039165e-02 -1.55821032e-04 9.99730741e-01 -6.30158577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.368623853 meters 0.018449215904450166 Centerline is valid? [True, True] Translation: X:224.51, Y:-39.38, Z:-6.30 [[ 9.59641359e-01 2.80396307e-01 2.15956748e-02 2.24510702e+02] [-2.80329072e-01 9.59884308e-01 -6.14214937e-03 -3.93820305e+01] [-2.24515854e-02 -1.59634908e-04 9.99747919e-01 -6.30468358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42862385299998 meters 0.018684025531398953 Centerline is valid? [True, True] Translation: X:224.57, Y:-39.39, Z:-6.31 [[ 9.59423895e-01 2.81130217e-01 2.17161601e-02 2.24567777e+02] [-2.81062503e-01 9.59669614e-01 -6.17261978e-03 -3.93948166e+01] [-2.25756489e-02 -1.81439410e-04 9.99745121e-01 -6.30545487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48862385299998 meters 0.018930931041470565 Centerline is valid? [True, True] Translation: X:224.63, Y:-39.41, Z:-6.31 [[ 9.59190256e-01 2.81901820e-01 2.20321718e-02 2.24625622e+02] [-2.81832415e-01 9.59443235e-01 -6.25845996e-03 -3.94074918e+01] [-2.29028894e-02 -2.06326378e-04 9.99737673e-01 -6.30656743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54862385299998 meters 0.019150395601421677 Centerline is valid? [True, True] Translation: X:224.68, Y:-39.42, Z:-6.31 [[ 9.59193184e-01 2.81889945e-01 2.20566121e-02 2.24680639e+02] [-2.81820481e-01 9.59446723e-01 -6.26114033e-03 -3.94212825e+01] [-2.29270967e-02 -2.10361913e-04 9.99737117e-01 -6.30834443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60862385299998 meters 0.019756604514103566 Centerline is valid? [True, True] Translation: X:224.74, Y:-39.43, Z:-6.31 [[ 9.58970874e-01 2.82690116e-01 2.14746546e-02 2.24738828e+02] [-2.82624531e-01 9.59211263e-01 -6.09319221e-03 -3.94317552e+01] [-2.23212157e-02 -2.26070316e-04 9.99750825e-01 -6.31100535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66862385299999 meters 0.02132984069371495 Centerline is valid? [True, True] Translation: X:224.80, Y:-39.44, Z:-6.31 [[ 9.58203177e-01 2.85256565e-01 2.18028396e-02 2.24797926e+02] [-2.85189715e-01 9.58451149e-01 -6.18226774e-03 -3.94391991e+01] [-2.26604892e-02 -2.94077040e-04 9.99743175e-01 -6.31164385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.728623853 meters 0.023908027498993675 Centerline is valid? [True, True] Translation: X:224.86, Y:-39.45, Z:-6.31 [[ 9.57673550e-01 2.87033427e-01 2.17527991e-02 2.24855806e+02] [-2.86967446e-01 9.57920506e-01 -6.16345165e-03 -3.94460557e+01] [-2.26065689e-02 -3.39770579e-04 9.99744381e-01 -6.31405677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.788623853 meters 0.024532135752875765 Centerline is valid? [True, True] Translation: X:224.92, Y:-39.45, Z:-6.32 [[ 9.57363536e-01 2.88074385e-01 2.16381230e-02 2.24915025e+02] [-2.88009383e-01 9.57607966e-01 -6.13012822e-03 -3.94531082e+01] [-2.24867719e-02 -3.63221221e-04 9.99747075e-01 -6.31634970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.848623853 meters 0.022734246037892494 Centerline is valid? [True, True] Translation: X:224.97, Y:-39.46, Z:-6.32 [[ 9.58247390e-01 2.85152833e-01 2.12085142e-02 2.24972188e+02] [-2.85089753e-01 9.58482017e-01 -6.00468987e-03 -3.94649472e+01] [-2.20402338e-02 -2.92351686e-04 9.99757042e-01 -6.32056239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.908623853 meters 0.019445509199990156 Centerline is valid? [True, True] Translation: X:225.03, Y:-39.48, Z:-6.32 [[ 9.59558131e-01 2.80729582e-01 2.09545917e-02 2.25028619e+02] [-2.80667029e-01 9.59786885e-01 -5.92907618e-03 -3.94836303e+01] [-2.17764094e-02 -1.91969746e-04 9.99762847e-01 -6.32190991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.968623853 meters 0.016269401901221652 Centerline is valid? [True, True] Translation: X:225.08, Y:-39.50, Z:-6.32 [[ 9.61890553e-01 2.72599461e-01 2.13564535e-02 2.25083320e+02] [-2.72532556e-01 9.62127608e-01 -6.03923304e-03 -3.95049908e+01] [-2.21939252e-02 -1.12476554e-05 9.99753684e-01 -6.32242954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.028623853 meters 0.018953941187891087 Centerline is valid? [True, True] Translation: X:225.14, Y:-39.53, Z:-6.33 [[ 9.64159570e-01 2.64515710e-01 2.06824211e-02 2.25136869e+02] [-2.64451189e-01 9.64381362e-01 -5.84437333e-03 -3.95271805e+01] [-2.14916700e-02 1.65417620e-04 9.99769014e-01 -6.32636579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.088623853 meters 0.02353712184061796 Centerline is valid? [True, True] Translation: X:225.19, Y:-39.55, Z:-6.33 [[ 9.65741936e-01 2.58664148e-01 2.08655360e-02 2.25191945e+02] [-2.58597143e-01 9.65967272e-01 -5.89470600e-03 -3.95504221e+01] [-2.16801740e-02 2.96996801e-04 9.99764913e-01 -6.32824198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.148623853 meters 0.03216943550218468 Centerline is valid? [True, True] Translation: X:225.25, Y:-39.58, Z:-6.33 [[ 9.68012339e-01 2.50011877e-01 2.11228026e-02 2.25247004e+02] [-2.49941173e-01 9.68242643e-01 -5.96610389e-03 -3.95778996e+01] [-2.19435951e-02 4.95804112e-04 9.99759087e-01 -6.32937216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20862385299998 meters 0.03991328791593825 Centerline is valid? [True, True] Translation: X:225.30, Y:-39.61, Z:-6.33 [[ 9.69624278e-01 2.43674924e-01 2.12435911e-02 2.25301271e+02] [-2.43601889e-01 9.69856751e-01 -6.00013738e-03 -3.96054737e+01] [-2.20653233e-02 6.42899954e-04 9.99756324e-01 -6.33113319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26862385299998 meters 0.04341519781579415 Centerline is valid? [True, True] Translation: X:225.36, Y:-39.63, Z:-6.33 [[ 9.70221052e-01 2.41322611e-01 2.08448549e-02 2.25356730e+02] [-2.41251753e-01 9.70444708e-01 -5.88733311e-03 -3.96263279e+01] [-2.16495257e-02 6.83156728e-04 9.99765388e-01 -6.33312306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32862385299998 meters 0.0441342358278584 Centerline is valid? [True, True] Translation: X:225.41, Y:-39.64, Z:-6.34 [[ 9.70349776e-01 2.40832531e-01 2.05184067e-02 2.25413275e+02] [-2.40763780e-01 9.70566446e-01 -5.79450001e-03 -3.96440218e+01] [-2.13099812e-02 6.82602614e-04 9.99772684e-01 -6.33555196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38862385299998 meters 0.04234041623492708 Centerline is valid? [True, True] Translation: X:225.47, Y:-39.66, Z:-6.34 [[ 9.69808346e-01 2.43032311e-01 2.01759273e-02 2.25468993e+02] [-2.42966329e-01 9.70017994e-01 -5.69693357e-03 -3.96596569e+01] [-2.09555515e-02 6.22862723e-04 9.99780214e-01 -6.33764758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.448623853 meters 0.02991265465272547 Centerline is valid? [True, True] Translation: X:225.53, Y:-39.66, Z:-6.33 [[ 9.68460080e-01 2.48230009e-01 2.16087062e-02 2.25530487e+02] [-2.48155646e-01 9.68700968e-01 -6.09999030e-03 -3.96613345e+01] [-2.24465753e-02 5.45274640e-04 9.99747895e-01 -6.33477347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.508623853 meters 0.027645382997515382 Centerline is valid? [True, True] Translation: X:225.59, Y:-39.68, Z:-6.34 [[ 9.67446973e-01 2.52146616e-01 2.16434496e-02 2.25588000e+02] [-2.52073005e-01 9.67688936e-01 -6.10924150e-03 -3.96750337e+01] [-2.24845513e-02 4.54637835e-04 9.99747087e-01 -6.33603419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.568623853 meters 0.022764172934160973 Centerline is valid? [True, True] Translation: X:225.65, Y:-39.68, Z:-6.34 [[ 9.65531531e-01 2.59430226e-01 2.10907603e-02 2.25647026e+02] [-2.59362072e-01 9.65761814e-01 -5.95270285e-03 -3.96842849e+01] [-2.19129620e-02 2.77379017e-04 9.99759844e-01 -6.33937697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.628623853 meters 0.018645843651913442 Centerline is valid? [True, True] Translation: X:225.71, Y:-39.69, Z:-6.34 [[ 9.64113073e-01 2.64670672e-01 2.08666573e-02 2.25705730e+02] [-2.64605192e-01 9.64338847e-01 -5.88908532e-03 -3.96920038e+01] [-2.16811964e-02 1.56318289e-04 9.99764923e-01 -6.34049158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.688623853 meters 0.016597546578986187 Centerline is valid? [True, True] Translation: X:225.76, Y:-39.70, Z:-6.34 [[ 9.62009204e-01 2.72169438e-01 2.14962197e-02 2.25764283e+02] [-2.72101835e-01 9.62249342e-01 -6.06585415e-03 -3.96972143e+01] [-2.23356634e-02 -1.37533093e-05 9.99750528e-01 -6.34132332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.748623853 meters 0.01747508349050213 Centerline is valid? [True, True] Translation: X:225.82, Y:-39.71, Z:-6.34 [[ 9.60809699e-01 2.76338011e-01 2.19550999e-02 2.25822541e+02] [-2.76268615e-01 9.61060503e-01 -6.19368677e-03 -3.97060365e+01] [-2.28117304e-02 -1.14550696e-04 9.99739772e-01 -6.34060926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.808623853 meters 0.017188337065695954 Centerline is valid? [True, True] Translation: X:225.88, Y:-39.72, Z:-6.34 [[ 9.61047371e-01 2.75517741e-01 2.18614939e-02 2.25877965e+02] [-2.75448810e-01 9.61295982e-01 -6.16345674e-03 -3.97247688e+01] [-2.27135079e-02 -9.83485785e-05 9.99742010e-01 -6.34219582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.868623853 meters 0.01681113479802817 Centerline is valid? [True, True] Translation: X:225.93, Y:-39.74, Z:-6.34 [[ 9.61599421e-01 2.73621274e-01 2.13998011e-02 2.25932790e+02] [-2.73554869e-01 9.61837510e-01 -6.02814267e-03 -3.97440011e+01] [-2.22325594e-02 -5.73612597e-05 9.99752824e-01 -6.34465067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92862385299998 meters 0.016640595984955178 Centerline is valid? [True, True] Translation: X:225.99, Y:-39.76, Z:-6.35 [[ 9.62346131e-01 2.71008186e-01 2.10828824e-02 2.25986477e+02] [-2.70943132e-01 9.62577043e-01 -5.93766852e-03 -3.97637993e+01] [-2.19030553e-02 1.83013993e-06 9.99760099e-01 -6.34684434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98862385299998 meters 0.016885206483319076 Centerline is valid? [True, True] Translation: X:226.04, Y:-39.78, Z:-6.35 [[ 9.62711529e-01 2.69717246e-01 2.09551507e-02 2.26039801e+02] [-2.69652713e-01 9.62939565e-01 -5.89983083e-03 -3.97825977e+01] [-2.17698298e-02 2.92219196e-05 9.99763009e-01 -6.35045348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04862385299998 meters 0.0172849630170772 Centerline is valid? [True, True] Translation: X:226.09, Y:-39.81, Z:-6.35 [[ 9.63353864e-01 2.67468473e-01 2.02472102e-02 2.26094711e+02] [-2.67407753e-01 9.63566609e-01 -5.69941317e-03 -3.98053611e+01] [-2.10339490e-02 7.62907141e-05 9.99778759e-01 -6.35176956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10862385299998 meters 0.017664983211716213 Centerline is valid? [True, True] Translation: X:226.15, Y:-39.82, Z:-6.35 [[ 9.63629089e-01 2.66474135e-01 2.02611402e-02 2.26150485e+02] [-2.66413203e-01 9.63842065e-01 -5.69898308e-03 -3.98221599e+01] [-2.10471708e-02 9.38706026e-05 9.99778479e-01 -6.35342733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16862385299999 meters 0.018317787500524624 Centerline is valid? [True, True] Translation: X:226.21, Y:-39.84, Z:-6.36 [[ 9.64060247e-01 2.64936322e-01 1.99144401e-02 2.26205554e+02] [-2.64877157e-01 9.64265902e-01 -5.60015075e-03 -3.98432395e+01] [-2.06864989e-02 1.24002421e-04 9.99786004e-01 -6.35674030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.228623853 meters 0.01940115190195191 Centerline is valid? [True, True] Translation: X:226.26, Y:-39.87, Z:-6.36 [[ 9.64627031e-01 2.62882168e-01 1.96889921e-02 2.26260380e+02] [-2.62823909e-01 9.64827932e-01 -5.53667022e-03 -3.98662825e+01] [-2.04519814e-02 1.66083874e-04 9.99790823e-01 -6.35804689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.288623853 meters 0.01937665718280891 Centerline is valid? [True, True] Translation: X:226.32, Y:-39.89, Z:-6.36 [[ 9.64764601e-01 2.62397510e-01 1.94116127e-02 2.26316064e+02] [-2.62340868e-01 9.64959853e-01 -5.45442446e-03 -3.98853001e+01] [-2.01626543e-02 1.69776312e-04 9.99796699e-01 -6.35890860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.348623853 meters 0.019002103830144442 Centerline is valid? [True, True] Translation: X:226.37, Y:-39.90, Z:-6.36 [[ 9.64614071e-01 2.62915183e-01 1.98821550e-02 2.26372121e+02] [-2.62855894e-01 9.64818936e-01 -5.58558618e-03 -3.99033279e+01] [-2.06512150e-02 1.61793394e-04 9.99786728e-01 -6.35989689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.408623853 meters 0.018424839842978383 Centerline is valid? [True, True] Translation: X:226.43, Y:-39.92, Z:-6.36 [[ 9.64344532e-01 2.63882004e-01 2.01472681e-02 2.26426891e+02] [-2.63821350e-01 9.64554958e-01 -5.65930676e-03 -3.99218804e+01] [-2.09265366e-02 1.42242051e-04 9.99781006e-01 -6.36066683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.468623853 meters 0.01904556510058063 Centerline is valid? [True, True] Translation: X:226.48, Y:-39.94, Z:-6.37 [[ 9.64066124e-01 2.64927412e-01 1.97477948e-02 2.26481311e+02] [-2.64869402e-01 9.64268351e-01 -5.54495516e-03 -3.99433065e+01] [-2.05111841e-02 1.15116828e-04 9.99789617e-01 -6.36634872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.528623853 meters 0.017354586717142965 Centerline is valid? [True, True] Translation: X:226.54, Y:-39.96, Z:-6.36 [[ 9.63448721e-01 2.67153467e-01 1.98893714e-02 2.26538371e+02] [-2.67095117e-01 9.63653994e-01 -5.58371001e-03 -3.99590354e+01] [-2.06581797e-02 6.72642767e-05 9.99786595e-01 -6.36403910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.588623853 meters 0.016818367341128106 Centerline is valid? [True, True] Translation: X:226.59, Y:-39.97, Z:-6.37 [[ 9.62572085e-01 2.70284009e-01 2.00383396e-02 2.26594864e+02] [-2.70225478e-01 9.62780637e-01 -5.62461081e-03 -3.99729851e+01] [-2.08127677e-02 -7.76536766e-07 9.99783391e-01 -6.36562090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.648623853 meters 0.01729844285571787 Centerline is valid? [True, True] Translation: X:226.65, Y:-39.99, Z:-6.37 [[ 9.61776973e-01 2.73103039e-01 1.99946138e-02 2.26652033e+02] [-2.73045382e-01 9.61984785e-01 -5.61184779e-03 -3.99862745e+01] [-2.07671269e-02 -6.20909864e-05 9.99784338e-01 -6.36753738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70862385299998 meters 0.0198771231948683 Centerline is valid? [True, True] Translation: X:226.71, Y:-40.00, Z:-6.37 [[ 9.60507615e-01 2.77576178e-01 1.94058310e-02 2.26709542e+02] [-2.77522855e-01 9.60703617e-01 -5.44284467e-03 -3.99958111e+01] [-2.01540560e-02 -1.57667864e-04 9.99796874e-01 -6.37062577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76862385299998 meters 0.02142325291329672 Centerline is valid? [True, True] Translation: X:226.77, Y:-40.01, Z:-6.37 [[ 9.59982998e-01 2.79360830e-01 1.97527498e-02 2.26766659e+02] [-2.79305987e-01 9.60186173e-01 -5.53885821e-03 -4.00092279e+01] [-2.05136572e-02 -1.99851562e-04 9.99789553e-01 -6.37228192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82862385299998 meters 0.023757714309339678 Centerline is valid? [True, True] Translation: X:226.82, Y:-40.02, Z:-6.38 [[ 9.59350442e-01 2.81576907e-01 1.90046204e-02 2.26823575e+02] [-2.81526650e-01 9.59538632e-01 -5.32524177e-03 -4.00222407e+01] [-1.97351326e-02 -2.41534090e-04 9.99805214e-01 -6.37571175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88862385299998 meters 0.025912885107886266 Centerline is valid? [True, True] Translation: X:226.88, Y:-40.04, Z:-6.37 [[ 9.58796471e-01 2.83483711e-01 1.86095008e-02 2.26880647e+02] [-2.83435883e-01 9.58977012e-01 -5.21442167e-03 -4.00379031e+01] [-1.93242871e-02 -2.75031191e-04 9.99813231e-01 -6.37112192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.948623853 meters 0.02697084181966925 Centerline is valid? [True, True] Translation: X:226.94, Y:-40.05, Z:-6.38 [[ 9.58586788e-01 2.84139475e-01 1.93940106e-02 2.26937985e+02] [-2.84087749e-01 9.58782909e-01 -5.43000239e-03 -4.00479968e+01] [-2.01375239e-02 -3.04472261e-04 9.99797173e-01 -6.37826815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.008623853 meters 0.02599164148609137 Centerline is valid? [True, True] Translation: X:226.99, Y:-40.07, Z:-6.38 [[ 9.58494846e-01 2.84431949e-01 1.96493565e-02 2.26994547e+02] [-2.84378940e-01 9.58696181e-01 -5.50014658e-03 -4.00659668e+01] [-2.04021804e-02 -3.16001014e-04 9.99791804e-01 -6.37853426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.068623853 meters 0.023695284514055205 Centerline is valid? [True, True] Translation: X:227.05, Y:-40.08, Z:-6.38 [[ 9.58733183e-01 2.83606951e-01 1.99444826e-02 2.27051348e+02] [-2.83552229e-01 9.58940563e-01 -5.57938102e-03 -4.00829850e+01] [-2.07079246e-02 -3.06164784e-04 9.99785521e-01 -6.37806396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.128623853 meters 0.02454809645584663 Centerline is valid? [True, True] Translation: X:227.11, Y:-40.10, Z:-6.38 [[ 9.59017686e-01 2.82665483e-01 1.96291111e-02 2.27107104e+02] [-2.82612369e-01 9.59218506e-01 -5.48687558e-03 -4.00975696e+01] [-2.03795570e-02 -2.85418875e-04 9.99792275e-01 -6.38210422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.188623853 meters 0.02430851106261381 Centerline is valid? [True, True] Translation: X:227.16, Y:-40.11, Z:-6.38 [[ 9.59216680e-01 2.82023363e-01 1.91359043e-02 2.27162858e+02] [-2.81972761e-01 9.59407501e-01 -5.34881852e-03 -4.01134362e+01] [-1.98676219e-02 -2.65127816e-04 9.99802584e-01 -6.38438940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.248623853 meters 0.021996985738545423 Centerline is valid? [True, True] Translation: X:227.22, Y:-40.13, Z:-6.38 [[ 9.59667878e-01 2.80454607e-01 1.95646793e-02 2.27219467e+02] [-2.80401478e-01 9.59867259e-01 -5.46407847e-03 -4.01312251e+01] [-2.03119211e-02 -2.42264408e-04 9.99793662e-01 -6.38435917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.308623853 meters 0.021098961250873453 Centerline is valid? [True, True] Translation: X:227.28, Y:-40.15, Z:-6.39 [[ 9.59945863e-01 2.79489833e-01 1.97325661e-02 2.27276974e+02] [-2.79435611e-01 9.60148625e-01 -5.50967737e-03 -4.01456061e+01] [-2.04860950e-02 -2.24989668e-04 9.99790113e-01 -6.38512237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.368623853 meters 0.021777520027851913 Centerline is valid? [True, True] Translation: X:227.33, Y:-40.16, Z:-6.39 [[ 9.59871082e-01 2.79694631e-01 2.04553075e-02 2.27333394e+02] [-2.79636504e-01 9.60088983e-01 -5.70706296e-03 -4.01560020e+01] [-2.12351503e-02 -2.42005995e-04 9.99774479e-01 -6.38637172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42862385299998 meters 0.02335242561856591 Centerline is valid? [True, True] Translation: X:227.39, Y:-40.16, Z:-6.39 [[ 9.59560913e-01 2.80759667e-01 2.04172428e-02 2.27391794e+02] [-2.80702039e-01 9.59778067e-01 -5.69446909e-03 -4.01630710e+01] [-2.11947990e-02 -2.66971723e-04 9.99775329e-01 -6.38857369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48862385299998 meters 0.02243990019778793 Centerline is valid? [True, True] Translation: X:227.45, Y:-40.17, Z:-6.39 [[ 9.59775847e-01 2.80098064e-01 1.93751881e-02 2.27448883e+02] [-2.80046036e-01 9.59971363e-01 -5.40375311e-03 -4.01743461e+01] [-2.01132065e-02 -2.39552909e-04 9.99797680e-01 -6.39209460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54862385299998 meters 0.020673976980793377 Centerline is valid? [True, True] Translation: X:227.51, Y:-40.19, Z:-6.39 [[ 9.60208503e-01 2.78640098e-01 1.89559330e-02 2.27505827e+02] [-2.78590088e-01 9.60395571e-01 -5.28303939e-03 -4.01887659e+01] [-1.96772607e-02 -2.08115699e-04 9.99806362e-01 -6.39294446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60862385299998 meters 0.0191324618850178 Centerline is valid? [True, True] Translation: X:227.56, Y:-40.20, Z:-6.39 [[ 9.61178859e-01 2.75168975e-01 2.04263477e-02 2.27561806e+02] [-2.75110223e-01 9.61395866e-01 -5.68796570e-03 -4.02018159e+01] [-2.12029579e-02 -1.52344689e-04 9.99775180e-01 -6.39379282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66862385299999 meters 0.016828064100550908 Centerline is valid? [True, True] Translation: X:227.62, Y:-40.22, Z:-6.39 [[ 9.62553115e-01 2.70248220e-01 2.13869222e-02 2.27617225e+02] [-2.70182626e-01 9.62790682e-01 -5.95411217e-03 -4.02197583e+01] [-2.22002176e-02 -4.72255849e-05 9.99753544e-01 -6.39358010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.728623853 meters 0.017093966157863346 Centerline is valid? [True, True] Translation: X:227.67, Y:-40.24, Z:-6.40 [[ 9.64040270e-01 2.64959335e-01 2.05647564e-02 2.27673417e+02] [-2.64897508e-01 9.64259584e-01 -5.72403940e-03 -4.02383676e+01] [-2.13464011e-02 7.06517775e-05 9.99772137e-01 -6.39659143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.788623853 meters 0.017934397209022637 Centerline is valid? [True, True] Translation: X:227.73, Y:-40.25, Z:-6.40 [[ 9.64730956e-01 2.62489273e-01 1.98384547e-02 2.27730051e+02] [-2.62431282e-01 9.64934903e-01 -5.51855190e-03 -4.02540401e+01] [-2.05913781e-02 1.17686753e-04 9.99787968e-01 -6.39966193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.848623853 meters 0.030934361955637764 Centerline is valid? [True, True] Translation: X:227.79, Y:-40.27, Z:-6.39 [[ 9.65297155e-01 2.60540044e-01 1.78965844e-02 2.27786837e+02] [-2.60492567e-01 9.65463032e-01 -4.97560521e-03 -4.02688988e+01] [-1.85748350e-02 1.41010342e-04 9.99827463e-01 -6.39312591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.908623853 meters 0.019851166169022567 Centerline is valid? [True, True] Translation: X:227.84, Y:-40.28, Z:-6.40 [[ 9.65722775e-01 2.58795968e-01 2.01039533e-02 2.27842368e+02] [-2.58735771e-01 9.65931990e-01 -5.58485622e-03 -4.02819718e+01] [-2.08643899e-02 1.91810996e-04 9.99782297e-01 -6.40212117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.968623853 meters 0.020914381660519944 Centerline is valid? [True, True] Translation: X:227.90, Y:-40.30, Z:-6.40 [[ 9.66099572e-01 2.57293661e-01 2.12506359e-02 2.27898082e+02] [-2.57226116e-01 9.66333233e-01 -5.89984331e-03 -4.02960868e+01] [-2.20531880e-02 2.33617565e-04 9.99756772e-01 -6.40162153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.028623853 meters 0.02108276596429056 Centerline is valid? [True, True] Translation: X:227.96, Y:-40.31, Z:-6.40 [[ 9.66410565e-01 2.56035975e-01 2.22755349e-02 2.27955563e+02] [-2.55961457e-01 9.66667215e-01 -6.18288077e-03 -4.03105635e+01] [-2.31160691e-02 2.73522947e-04 9.99732751e-01 -6.40174136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.088623853 meters 0.022476388405815333 Centerline is valid? [True, True] Translation: X:228.01, Y:-40.33, Z:-6.40 [[ 9.66863319e-01 2.54354419e-01 2.18895414e-02 2.28011946e+02] [-2.54282055e-01 9.67111025e-01 -6.07465017e-03 -4.03264089e+01] [-2.27147310e-02 3.07238843e-04 9.99741940e-01 -6.40390995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.148623853 meters 0.024281094595802914 Centerline is valid? [True, True] Translation: X:228.07, Y:-40.34, Z:-6.41 [[ 9.67175597e-01 2.53228614e-01 2.11337227e-02 2.28067270e+02] [-2.53160910e-01 9.67406412e-01 -5.86412325e-03 -4.03433902e+01] [-2.19298627e-02 3.21404422e-04 9.99759460e-01 -6.40765987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20862385299998 meters 0.026128023459829376 Centerline is valid? [True, True] Translation: X:228.12, Y:-40.36, Z:-6.41 [[ 9.67646178e-01 2.51433890e-01 2.10207584e-02 2.28122572e+02] [-2.51366531e-01 9.67874408e-01 -5.83064773e-03 -4.03602638e+01] [-2.18114766e-02 3.58088868e-04 9.99762037e-01 -6.40993557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26862385299998 meters 0.027382551039041605 Centerline is valid? [True, True] Translation: X:228.18, Y:-40.38, Z:-6.41 [[ 9.68285132e-01 2.48869452e-01 2.20884338e-02 2.28178276e+02] [-2.48794441e-01 9.68536941e-01 -6.12533214e-03 -4.03784369e+01] [-2.29178722e-02 4.35588490e-04 9.99737256e-01 -6.40916319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32862385299998 meters 0.029978114763746573 Centerline is valid? [True, True] Translation: X:228.23, Y:-40.40, Z:-6.41 [[ 9.68733697e-01 2.47075404e-01 2.25559088e-02 2.28233130e+02] [-2.46996724e-01 9.68996134e-01 -6.25387105e-03 -4.03983017e+01] [-2.34017661e-02 4.87100037e-04 9.99726023e-01 -6.41013000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38862385299998 meters 0.030773561614646405 Centerline is valid? [True, True] Translation: X:228.29, Y:-40.42, Z:-6.41 [[ 9.69345764e-01 2.44720091e-01 2.19286780e-02 2.28289215e+02] [-2.44645156e-01 9.69593626e-01 -6.07855217e-03 -4.04173875e+01] [-2.27494502e-02 5.27473956e-04 9.99741059e-01 -6.41287975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.448623853 meters 0.03197774630151811 Centerline is valid? [True, True] Translation: X:228.34, Y:-40.44, Z:-6.41 [[ 9.69534764e-01 2.43942840e-01 2.22313317e-02 2.28343902e+02] [-2.43865634e-01 9.69789454e-01 -6.16170814e-03 -4.04374571e+01] [-2.30628156e-02 5.52532436e-04 9.99733865e-01 -6.41290551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.508623853 meters 0.03240228962464366 Centerline is valid? [True, True] Translation: X:228.40, Y:-40.46, Z:-6.41 [[ 9.69508459e-01 2.44020898e-01 2.25199588e-02 2.28400068e+02] [-2.43941730e-01 9.69769814e-01 -6.24023185e-03 -4.04566618e+01] [-2.33619232e-02 5.56399861e-04 9.99726918e-01 -6.41480463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.568623853 meters 0.032326513127976984 Centerline is valid? [True, True] Translation: X:228.46, Y:-40.48, Z:-6.42 [[ 9.69404610e-01 2.44465686e-01 2.21637207e-02 2.28455816e+02] [-2.44389144e-01 9.69657796e-01 -6.14045723e-03 -4.04757351e+01] [-2.29923557e-02 5.36014807e-04 9.99735497e-01 -6.41662151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.628623853 meters 0.031107207805465907 Centerline is valid? [True, True] Translation: X:228.51, Y:-40.49, Z:-6.42 [[ 9.69285282e-01 2.44922504e-01 2.23385181e-02 2.28512088e+02] [-2.44844896e-01 9.69542515e-01 -6.18779069e-03 -4.04942007e+01] [-2.31736722e-02 5.28262289e-04 9.99731315e-01 -6.41902742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.688623853 meters 0.0294982027495095 Centerline is valid? [True, True] Translation: X:228.57, Y:-40.51, Z:-6.42 [[ 9.68918717e-01 2.46380957e-01 2.22023392e-02 2.28567741e+02] [-2.46304701e-01 9.69172938e-01 -6.14897901e-03 -4.05136166e+01] [-2.30328977e-02 4.89320344e-04 9.99734588e-01 -6.42040040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.748623853 meters 0.02795759485894144 Centerline is valid? [True, True] Translation: X:228.62, Y:-40.53, Z:-6.42 [[ 9.67712236e-01 2.51159927e-01 2.12536680e-02 2.28623969e+02] [-2.51091225e-01 9.67945537e-01 -5.88510537e-03 -4.05308781e+01] [-2.20504957e-02 3.58478948e-04 9.99756794e-01 -6.42452224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.808623853 meters 0.02145457803383087 Centerline is valid? [True, True] Translation: X:228.68, Y:-40.54, Z:-6.43 [[ 9.65863174e-01 2.58186254e-01 2.11704282e-02 2.28682829e+02] [-2.58119785e-01 9.66095140e-01 -5.86152923e-03 -4.05403039e+01] [-2.19660141e-02 1.96928858e-04 9.99758699e-01 -6.42603143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.868623853 meters 0.01809299387602471 Centerline is valid? [True, True] Translation: X:228.74, Y:-40.55, Z:-6.43 [[ 9.64612956e-01 2.62795254e-01 2.14592429e-02 2.28741669e+02] [-2.62728105e-01 9.64851619e-01 -5.94113435e-03 -4.05493420e+01] [-2.22662871e-02 9.29489733e-05 9.99752071e-01 -6.42624607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92862385299998 meters 0.017756922894171228 Centerline is valid? [True, True] Translation: X:228.80, Y:-40.56, Z:-6.43 [[ 9.62938396e-01 2.68811435e-01 2.21372479e-02 2.28798818e+02] [-2.68741586e-01 9.63192821e-01 -6.12778250e-03 -4.05579210e+01] [-2.29696563e-02 -4.85220599e-05 9.99736161e-01 -6.42759128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98862385299998 meters 0.019680283262993255 Centerline is valid? [True, True] Translation: X:228.86, Y:-40.57, Z:-6.43 [[ 9.61572914e-01 2.73659790e-01 2.20873119e-02 2.28857284e+02] [-2.73591552e-01 9.61826539e-01 -6.11314485e-03 -4.05679891e+01] [-2.29170847e-02 -1.64667447e-04 9.99737356e-01 -6.42888791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04862385299998 meters 0.02100035471054492 Centerline is valid? [True, True] Translation: X:228.91, Y:-40.58, Z:-6.43 [[ 9.60851785e-01 2.76177612e-01 2.21308342e-02 2.28914558e+02] [-2.76109858e-01 9.61106588e-01 -6.12144053e-03 -4.05807147e+01] [-2.29606954e-02 -2.28744444e-04 9.99736342e-01 -6.43048911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10862385299998 meters 0.024541394412834754 Centerline is valid? [True, True] Translation: X:228.97, Y:-40.59, Z:-6.43 [[ 9.60070733e-01 2.78916543e-01 2.16737106e-02 2.28972025e+02] [-2.78852351e-01 9.60315301e-01 -5.99081666e-03 -4.05903410e+01] [-2.24845338e-02 -2.92157412e-04 9.99747148e-01 -6.43382979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16862385299999 meters 0.02697481195112711 Centerline is valid? [True, True] Translation: X:229.03, Y:-40.60, Z:-6.44 [[ 9.59541015e-01 2.80791469e-01 2.09091262e-02 2.29028617e+02] [-2.80732217e-01 9.59768745e-01 -5.77738439e-03 -4.06014826e+01] [-2.16901661e-02 -3.26228064e-04 9.99764687e-01 -6.43765959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.228623853 meters 0.02262941862029055 Centerline is valid? [True, True] Translation: X:229.08, Y:-40.62, Z:-6.44 [[ 9.60415596e-01 2.77671609e-01 2.23687334e-02 2.29083489e+02] [-2.77602981e-01 9.60676013e-01 -6.17922269e-03 -4.06229713e+01] [-2.32049004e-02 -2.75005251e-04 9.99730692e-01 -6.43573872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.288623853 meters 0.019887426299489093 Centerline is valid? [True, True] Translation: X:229.14, Y:-40.64, Z:-6.44 [[ 9.61638236e-01 2.73388276e-01 2.25998551e-02 2.29137130e+02] [-2.73317065e-01 9.61903748e-01 -6.24198077e-03 -4.06449558e+01] [-2.34453697e-02 -1.74398682e-04 9.99725104e-01 -6.43710873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.348623853 meters 0.01769242503940479 Centerline is valid? [True, True] Translation: X:229.19, Y:-40.68, Z:-6.44 [[ 9.64014308e-01 2.64942950e-01 2.19464843e-02 2.29190205e+02] [-2.64873622e-01 9.64264089e-01 -6.06068720e-03 -4.06752279e+01] [-2.27679430e-02 2.95444000e-05 9.99740776e-01 -6.43989090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.408623853 meters 0.021712753417825612 Centerline is valid? [True, True] Translation: X:229.24, Y:-40.71, Z:-6.44 [[ 9.66417785e-01 2.56042202e-01 2.18873648e-02 2.29241667e+02] [-2.55971048e-01 9.66665576e-01 -6.04042219e-03 -4.07078926e+01] [-2.27043651e-02 2.35039708e-04 9.99742195e-01 -6.44129010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.468623853 meters 0.024112462450373143 Centerline is valid? [True, True] Translation: X:229.30, Y:-40.73, Z:-6.44 [[ 9.67848643e-01 2.50511339e-01 2.26511295e-02 2.29297039e+02] [-2.50433653e-01 9.68113592e-01 -6.24963581e-03 -4.07312164e+01] [-2.34944710e-02 3.76096436e-04 9.99723896e-01 -6.44005414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.528623853 meters 0.03064704996045093 Centerline is valid? [True, True] Translation: X:229.35, Y:-40.77, Z:-6.44 [[ 9.69367529e-01 2.44480998e-01 2.35719430e-02 2.29349181e+02] [-2.44395099e-01 9.69653932e-01 -6.50297711e-03 -4.07654079e+01] [-2.44464816e-02 5.42907505e-04 9.99700993e-01 -6.44059090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.588623853 meters 0.031552188223851176 Centerline is valid? [True, True] Translation: X:229.41, Y:-40.79, Z:-6.44 [[ 9.70033842e-01 2.41763527e-01 2.41814589e-02 2.29405251e+02] [-2.41672284e-01 9.70334996e-01 -6.67107002e-03 -4.07877004e+01] [-2.50769372e-02 6.27175269e-04 9.99685327e-01 -6.43996894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.648623853 meters 0.03180746180602365 Centerline is valid? [True, True] Translation: X:229.46, Y:-40.81, Z:-6.44 [[ 9.70050548e-01 2.41635133e-01 2.47870239e-02 2.29460446e+02] [-2.41539237e-01 9.70366964e-01 -6.83752317e-03 -4.08090670e+01] [-2.57046949e-02 6.45704275e-04 9.99669371e-01 -6.44077692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70862385299998 meters 0.03135634196071846 Centerline is valid? [True, True] Translation: X:229.52, Y:-40.83, Z:-6.44 [[ 9.69651741e-01 2.43340586e-01 2.36824928e-02 2.29515115e+02] [-2.43253586e-01 9.69940736e-01 -6.53159828e-03 -4.08331085e+01] [-2.45600175e-02 5.72524350e-04 9.99698193e-01 -6.44414445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76862385299998 meters 0.026795621512079926 Centerline is valid? [True, True] Translation: X:229.57, Y:-40.85, Z:-6.45 [[ 9.68441859e-01 2.48164374e-01 2.31259197e-02 2.29572517e+02] [-2.48082803e-01 9.68717838e-01 -6.37747501e-03 -4.08504287e+01] [-2.39851531e-02 4.39070764e-04 9.99712218e-01 -6.44713658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82862385299998 meters 0.02102836186253782 Centerline is valid? [True, True] Translation: X:229.63, Y:-40.86, Z:-6.45 [[ 9.66443500e-01 2.55872918e-01 2.27158839e-02 2.29629714e+02] [-2.55796344e-01 9.66710397e-01 -6.26416784e-03 -4.08643412e+01] [-2.35625120e-02 2.43324261e-04 9.99722336e-01 -6.44942139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88862385299998 meters 0.0211256292688753 Centerline is valid? [True, True] Translation: X:229.69, Y:-40.88, Z:-6.44 [[ 9.64581568e-01 2.62809575e-01 2.26611328e-02 2.29688327e+02] [-2.62735292e-01 9.64847720e-01 -6.24855427e-03 -4.08758022e+01] [-2.35067222e-02 7.33609483e-05 9.99723676e-01 -6.44419806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.948623853 meters 0.020087635762855365 Centerline is valid? [True, True] Translation: X:229.75, Y:-40.88, Z:-6.45 [[ 9.61089455e-01 2.75286360e-01 2.29015342e-02 2.29747929e+02] [-2.75214039e-01 9.61362245e-01 -6.31407289e-03 -4.08789430e+01] [-2.37548485e-02 -2.34434858e-04 9.99717786e-01 -6.45096611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.008623853 meters 0.028873759871650178 Centerline is valid? [True, True] Translation: X:229.81, Y:-40.88, Z:-6.46 [[ 9.58363479e-01 2.84709803e-01 2.19036726e-02 2.29808934e+02] [-2.84646139e-01 9.58613648e-01 -6.03731347e-03 -4.08811309e+01] [-2.27160419e-02 -4.48855100e-04 9.99741857e-01 -6.45547619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.068623853 meters 0.04333956164902284 Centerline is valid? [True, True] Translation: X:229.87, Y:-40.88, Z:-6.46 [[ 9.54624105e-01 2.97045637e-01 2.13707033e-02 2.29871283e+02] [-2.96988115e-01 9.54863009e-01 -5.89016908e-03 -4.08767635e+01] [-2.21557431e-02 -7.23947513e-04 9.99754269e-01 -6.45833816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.128623853 meters 0.05194786372616521 Centerline is valid? [True, True] Translation: X:229.93, Y:-40.88, Z:-6.46 [[ 9.51543541e-01 3.06775492e-01 2.12999484e-02 2.29933172e+02] [-3.06720785e-01 9.51781435e-01 -5.87022023e-03 -4.08798020e+01] [-2.20737351e-02 -9.47366757e-04 9.99755897e-01 -6.45951385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.188623853 meters 0.05510301817099924 Centerline is valid? [True, True] Translation: X:229.99, Y:-40.89, Z:-6.46 [[ 9.49774274e-01 3.12133458e-01 2.23949403e-02 2.29993386e+02] [-3.12074470e-01 9.50037596e-01 -6.17176959e-03 -4.08874890e+01] [-2.32024510e-02 -1.12710114e-03 9.99730152e-01 -6.45828354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.248623853 meters 0.0575689076023912 Centerline is valid? [True, True] Translation: X:230.05, Y:-40.90, Z:-6.46 [[ 9.49429973e-01 3.13105380e-01 2.34040046e-02 2.30050576e+02] [-3.13041252e-01 9.49717629e-01 -6.44983305e-03 -4.08957129e+01] [-2.42466732e-02 -1.20275407e-03 9.99705283e-01 -6.45826473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.308623853 meters 0.057669834809284205 Centerline is valid? [True, True] Translation: X:230.11, Y:-40.90, Z:-6.46 [[ 9.49849377e-01 3.11807000e-01 2.37182487e-02 2.30108516e+02] [-3.11740777e-01 9.50144718e-01 -6.53467850e-03 -4.09035746e+01] [-2.45733272e-02 -1.18698497e-03 9.99697326e-01 -6.45945672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.368623853 meters 0.05284235777115303 Centerline is valid? [True, True] Translation: X:230.17, Y:-40.92, Z:-6.46 [[ 9.51501492e-01 3.06796218e-01 2.28252329e-02 2.30166982e+02] [-3.06733499e-01 9.51774680e-01 -6.28647869e-03 -4.09163086e+01] [-2.36531466e-02 -1.01966968e-03 9.99719705e-01 -6.46375051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42862385299998 meters 0.044032868307380554 Centerline is valid? [True, True] Translation: X:230.22, Y:-40.93, Z:-6.47 [[ 9.54155015e-01 2.98424670e-01 2.30417679e-02 2.30223846e+02] [-2.98358322e-01 9.54432839e-01 -6.34567644e-03 -4.09348227e+01] [-2.38855263e-02 -8.19944198e-04 9.99714364e-01 -6.46535013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48862385299998 meters 0.037892698383004846 Centerline is valid? [True, True] Translation: X:230.28, Y:-40.95, Z:-6.47 [[ 9.56217013e-01 2.91731406e-01 2.32768312e-02 2.30279721e+02] [-2.91661723e-01 9.56500053e-01 -6.40999834e-03 -4.09526269e+01] [-2.41342881e-02 -6.59611223e-04 9.99708508e-01 -6.46643508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54862385299998 meters 0.026119131370164052 Centerline is valid? [True, True] Translation: X:230.33, Y:-40.98, Z:-6.47 [[ 9.59520098e-01 2.80608189e-01 2.40878551e-02 2.30334939e+02] [-2.80530068e-01 9.59822322e-01 -6.63261589e-03 -4.09780847e+01] [-2.49812274e-02 -3.93239377e-04 9.99687843e-01 -6.46674380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60862385299998 meters 0.018017022337591254 Centerline is valid? [True, True] Translation: X:230.39, Y:-41.01, Z:-6.47 [[ 9.62738456e-01 2.69419461e-01 2.34055550e-02 2.30389015e+02] [-2.69342397e-01 9.63022920e-01 -6.44430784e-03 -4.10052884e+01] [-2.42763078e-02 -9.99252917e-05 9.99705282e-01 -6.46949613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66862385299999 meters 0.01749906059675413 Centerline is valid? [True, True] Translation: X:230.44, Y:-41.03, Z:-6.47 [[ 9.64386803e-01 2.63508033e-01 2.28387843e-02 2.30444155e+02] [-2.63433007e-01 9.64657200e-01 -6.28781900e-03 -4.10269195e+01] [-2.36884885e-02 4.74000405e-05 9.99719387e-01 -6.47271449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.728623853 meters 0.020642338373853264 Centerline is valid? [True, True] Translation: X:230.50, Y:-41.05, Z:-6.47 [[ 9.66359553e-01 2.56196338e-01 2.26417945e-02 2.30499237e+02] [-2.56120615e-01 9.66624739e-01 -6.23253021e-03 -4.10480623e+01] [-2.34828701e-02 2.23834792e-04 9.99724214e-01 -6.47345636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.788623853 meters 0.025030991291075923 Centerline is valid? [True, True] Translation: X:230.55, Y:-41.07, Z:-6.48 [[ 9.67798984e-01 2.50707832e-01 2.25988858e-02 2.30554006e+02] [-2.50630923e-01 9.68062734e-01 -6.21961970e-03 -4.10676695e+01] [-2.34364465e-02 3.55362031e-04 9.99725266e-01 -6.47502833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.848623853 meters 0.029263402361387487 Centerline is valid? [True, True] Translation: X:230.61, Y:-41.09, Z:-6.48 [[ 9.68427195e-01 2.48251896e-01 2.27983254e-02 2.30608477e+02] [-2.48172973e-01 9.68695423e-01 -6.27323783e-03 -4.10880180e+01] [-2.36419766e-02 4.17245920e-04 9.99720402e-01 -6.47717526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.908623853 meters 0.030525519433305462 Centerline is valid? [True, True] Translation: X:230.67, Y:-41.10, Z:-6.48 [[ 9.68635224e-01 2.47429371e-01 2.29021583e-02 2.30665432e+02] [-2.47349532e-01 9.68905834e-01 -6.30036064e-03 -4.11041701e+01] [-2.37489291e-02 4.37913103e-04 9.99717858e-01 -6.47874753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.968623853 meters 0.026824454945457217 Centerline is valid? [True, True] Translation: X:230.72, Y:-41.11, Z:-6.48 [[ 9.68095742e-01 2.49588698e-01 2.22736752e-02 2.30723831e+02] [-2.49513775e-01 9.68351869e-01 -6.12649394e-03 -4.11133437e+01] [-2.30978587e-02 3.73443924e-04 9.99733139e-01 -6.48114040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.028623853 meters 0.025568800411292548 Centerline is valid? [True, True] Translation: X:230.78, Y:-41.13, Z:-6.48 [[ 9.67772637e-01 2.50861680e-01 2.20122862e-02 2.30781656e+02] [-2.50788853e-01 9.68022884e-01 -6.05376645e-03 -4.11264467e+01] [-2.28270548e-02 3.38233503e-04 9.99739372e-01 -6.48332690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.088623853 meters 0.021774471470051883 Centerline is valid? [True, True] Translation: X:230.84, Y:-41.13, Z:-6.49 [[ 9.66568267e-01 2.55513718e-01 2.14131998e-02 2.30841082e+02] [-2.55445975e-01 9.66805405e-01 -5.88750426e-03 -4.11340087e+01] [-2.22067354e-02 2.20759081e-04 9.99753376e-01 -6.48615434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.148623853 meters 0.01869106327397705 Centerline is valid? [True, True] Translation: X:230.90, Y:-41.14, Z:-6.49 [[ 9.65614642e-01 2.59042610e-01 2.20292902e-02 2.30899931e+02] [-2.58971920e-01 9.65865884e-01 -6.05295770e-03 -4.11415238e+01] [-2.28453138e-02 1.39857013e-04 9.99739002e-01 -6.48530242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20862385299998 meters 0.01734356725022529 Centerline is valid? [True, True] Translation: X:230.96, Y:-41.15, Z:-6.49 [[ 9.64313716e-01 2.63788182e-01 2.26903791e-02 2.30958309e+02] [-2.63714524e-01 9.64580631e-01 -6.23340497e-03 -4.11498522e+01] [-2.35309987e-02 2.71753942e-05 9.99723107e-01 -6.48606252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26862385299998 meters 0.017993045011596265 Centerline is valid? [True, True] Translation: X:231.02, Y:-41.16, Z:-6.49 [[ 9.63197857e-01 2.67858916e-01 2.23939588e-02 2.31016470e+02] [-2.67788294e-01 9.63458144e-01 -6.15090894e-03 -4.11571628e+01] [-2.32232177e-02 -7.22976908e-05 9.99730302e-01 -6.49090105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32862385299998 meters 0.019468586447005835 Centerline is valid? [True, True] Translation: X:231.07, Y:-41.17, Z:-6.49 [[ 9.62441238e-01 2.70583932e-01 2.21630202e-02 2.31074489e+02] [-2.70515510e-01 9.62696378e-01 -6.08619353e-03 -4.11661394e+01] [-2.29830854e-02 -1.37837071e-04 9.99735845e-01 -6.49319422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38862385299998 meters 0.02068181299050769 Centerline is valid? [True, True] Translation: X:231.13, Y:-41.18, Z:-6.49 [[ 9.61510399e-01 2.73932910e-01 2.14129012e-02 2.31132483e+02] [-2.73869900e-01 9.61748780e-01 -5.87895922e-03 -4.11758887e+01] [-2.22042720e-02 -2.11668671e-04 9.99753432e-01 -6.49463824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.448623853 meters 0.021808098876426072 Centerline is valid? [True, True] Translation: X:231.19, Y:-41.19, Z:-6.50 [[ 9.61130133e-01 2.75245219e-01 2.16549590e-02 2.31188984e+02] [-2.75181211e-01 9.61374021e-01 -5.94086695e-03 -4.11877948e+01] [-2.24537102e-02 -2.49091595e-04 9.99747853e-01 -6.49626448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.508623853 meters 0.020976073121335027 Centerline is valid? [True, True] Translation: X:231.25, Y:-41.20, Z:-6.50 [[ 9.61449706e-01 2.74046597e-01 2.26478681e-02 2.31246001e+02] [-2.73976275e-01 9.61716387e-01 -6.21221378e-03 -4.12028780e+01] [-2.34832619e-02 -2.32247428e-04 9.99724203e-01 -6.49606732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.568623853 meters 0.019499553981120143 Centerline is valid? [True, True] Translation: X:231.30, Y:-41.22, Z:-6.50 [[ 9.62134301e-01 2.71635123e-01 2.26262426e-02 2.31301748e+02] [-2.71564362e-01 9.62400296e-01 -6.20228309e-03 -4.12204241e+01] [-2.34602605e-02 -1.77051832e-04 9.99724755e-01 -6.49798766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.628623853 meters 0.018640882002748608 Centerline is valid? [True, True] Translation: X:231.36, Y:-41.24, Z:-6.50 [[ 9.62670459e-01 2.69728655e-01 2.26283189e-02 2.31357429e+02] [-2.69657449e-01 9.62936361e-01 -6.19884037e-03 -4.12387139e+01] [-2.34616359e-02 -1.34454250e-04 9.99724729e-01 -6.50007850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.688623853 meters 0.017805847174293784 Centerline is valid? [True, True] Translation: X:231.41, Y:-41.26, Z:-6.50 [[ 9.63467824e-01 2.66926450e-01 2.19094169e-02 2.31412518e+02] [-2.66859068e-01 9.63716901e-01 -5.99768540e-03 -4.12576722e+01] [-2.27154162e-02 -6.81496814e-05 9.99741969e-01 -6.50283193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.748623853 meters 0.022581514682203742 Centerline is valid? [True, True] Translation: X:231.47, Y:-41.28, Z:-6.50 [[ 9.64154205e-01 2.64490803e-01 2.12434226e-02 2.31466723e+02] [-2.64426909e-01 9.64388207e-01 -5.81336769e-03 -4.12757602e+01] [-2.20244885e-02 -1.23496594e-05 9.99757431e-01 -6.49824481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.808623853 meters 0.017349751296660866 Centerline is valid? [True, True] Translation: X:231.52, Y:-41.30, Z:-6.50 [[ 9.64568340e-01 2.62896389e-01 2.22127651e-02 2.31522024e+02] [-2.62826158e-01 9.64824071e-01 -6.07641475e-03 -4.12950154e+01] [-2.30288779e-02 2.30215847e-05 9.99734800e-01 -6.50477904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.868623853 meters 0.017356288995656697 Centerline is valid? [True, True] Translation: X:231.58, Y:-41.31, Z:-6.51 [[ 9.64614426e-01 2.62704602e-01 2.24788962e-02 2.31577828e+02] [-2.62632650e-01 9.64876309e-01 -6.14815248e-03 -4.13105869e+01] [-2.33045024e-02 2.69044829e-05 9.99728413e-01 -6.50644826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92862385299998 meters 0.01727998786609822 Centerline is valid? [True, True] Translation: X:231.63, Y:-41.32, Z:-6.51 [[ 9.64217264e-01 2.64162309e-01 2.24352790e-02 2.31634051e+02] [-2.64091070e-01 9.64478239e-01 -6.13452325e-03 -4.13236857e+01] [-2.32588482e-02 -9.94361034e-06 9.99729476e-01 -6.50788659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98862385299998 meters 0.018150703021957863 Centerline is valid? [True, True] Translation: X:231.69, Y:-41.33, Z:-6.51 [[ 9.63230912e-01 2.67815439e-01 2.14732786e-02 2.31692745e+02] [-2.67751108e-01 9.63470229e-01 -5.87045003e-03 -4.13332743e+01] [-2.22610618e-02 -9.48952058e-05 9.99752187e-01 -6.51111350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04862385299998 meters 0.01950627886830998 Centerline is valid? [True, True] Translation: X:231.75, Y:-41.34, Z:-6.51 [[ 9.62414171e-01 2.70738886e-01 2.14340760e-02 2.31750642e+02] [-2.70675600e-01 9.62652808e-01 -5.85588242e-03 -4.13432750e+01] [-2.22189885e-02 -1.65897143e-04 9.99753114e-01 -6.51267100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10862385299998 meters 0.022095538126557793 Centerline is valid? [True, True] Translation: X:231.81, Y:-41.35, Z:-6.51 [[ 9.61146223e-01 2.75112706e-01 2.26038936e-02 2.31809434e+02] [-2.75043631e-01 9.61411939e-01 -6.17119434e-03 -4.13511055e+01] [-2.34294271e-02 -2.85636827e-04 9.99725452e-01 -6.51160897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16862385299999 meters 0.02341813973893257 Centerline is valid? [True, True] Translation: X:231.87, Y:-41.36, Z:-6.51 [[ 9.60509868e-01 2.77254955e-01 2.34623853e-02 2.31867717e+02] [-2.77181279e-01 9.60796318e-01 -6.40114253e-03 -4.13626604e+01] [-2.43173219e-02 -3.54973393e-04 9.99704227e-01 -6.51162294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.228623853 meters 0.02634719041743577 Centerline is valid? [True, True] Translation: X:231.93, Y:-41.37, Z:-6.51 [[ 9.59705294e-01 2.79949615e-01 2.43713255e-02 2.31925299e+02] [-2.79871110e-01 9.60014591e-01 -6.64425028e-03 -4.13708841e+01] [-2.52568834e-02 -4.44307753e-04 9.99680895e-01 -6.51234253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.288623853 meters 0.03375374068901414 Centerline is valid? [True, True] Translation: X:231.99, Y:-41.37, Z:-6.52 [[ 9.59212730e-01 2.81650511e-01 2.41645998e-02 2.31985031e+02] [-2.81573933e-01 9.59516937e-01 -6.58546959e-03 -4.13719660e+01] [-2.50411437e-02 -4.87255135e-04 9.99686303e-01 -6.51578819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.348623853 meters 0.02944317924321915 Centerline is valid? [True, True] Translation: X:232.04, Y:-41.39, Z:-6.52 [[ 9.58996207e-01 2.82477042e-01 2.30866966e-02 2.32041382e+02] [-2.82407406e-01 9.59273936e-01 -6.29075653e-03 -4.13891653e+01] [-2.39234606e-02 -4.87042452e-04 9.99713674e-01 -6.51816684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.408623853 meters 0.031378105507157056 Centerline is valid? [True, True] Translation: X:232.10, Y:-41.40, Z:-6.52 [[ 9.58667185e-01 2.83532915e-01 2.37973729e-02 2.32099548e+02] [-2.83459363e-01 9.58962357e-01 -6.47984033e-03 -4.13960181e+01] [-2.46580328e-02 -5.33577875e-04 9.99695802e-01 -6.51923562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.468623853 meters 0.031534111128490395 Centerline is valid? [True, True] Translation: X:232.16, Y:-41.41, Z:-6.52 [[ 9.58766953e-01 2.83240876e-01 2.32494446e-02 2.32156932e+02] [-2.83170628e-01 9.59048664e-01 -6.32890688e-03 -4.14070007e+01] [-2.40899540e-02 -5.15613084e-04 9.99709662e-01 -6.52257695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.528623853 meters 0.028236494723407023 Centerline is valid? [True, True] Translation: X:232.21, Y:-41.42, Z:-6.53 [[ 9.59549937e-01 2.80626892e-01 2.26377069e-02 2.32213908e+02] [-2.80559667e-01 9.59816833e-01 -6.15800758e-03 -4.14215807e+01] [-2.34561546e-02 -4.42311725e-04 9.99724769e-01 -6.52607237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.588623853 meters 0.022282169767882862 Centerline is valid? [True, True] Translation: X:232.27, Y:-41.44, Z:-6.53 [[ 9.61257653e-01 2.74754915e-01 2.22139642e-02 2.32270315e+02] [-2.74688714e-01 9.61514247e-01 -6.03839026e-03 -4.14415439e+01] [-2.30181204e-02 -2.97476399e-04 9.99735004e-01 -6.52778240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.648623853 meters 0.019177846770750042 Centerline is valid? [True, True] Translation: X:232.32, Y:-41.46, Z:-6.53 [[ 9.62716586e-01 2.69594093e-01 2.22665614e-02 2.32324424e+02] [-2.69526203e-01 9.62974036e-01 -6.05238614e-03 -4.14614696e+01] [-2.30738081e-02 -1.74689235e-04 9.99733749e-01 -6.52987139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70862385299998 meters 0.017251194666887206 Centerline is valid? [True, True] Translation: X:232.38, Y:-41.49, Z:-6.53 [[ 9.65224284e-01 2.60403818e-01 2.30636898e-02 2.32377757e+02] [-2.60328393e-01 9.65499793e-01 -6.26724870e-03 -4.14872810e+01] [-2.39000032e-02 4.51673562e-05 9.99714353e-01 -6.53079023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76862385299998 meters 0.02028221585717328 Centerline is valid? [True, True] Translation: X:232.43, Y:-41.51, Z:-6.53 [[ 9.67443444e-01 2.51882586e-01 2.46646423e-02 2.32432131e+02] [-2.51793670e-01 9.67757764e-01 -6.69757527e-03 -4.15123527e+01] [-2.55564016e-02 2.69124492e-04 9.99673346e-01 -6.52891591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82862385299998 meters 0.023946384329962205 Centerline is valid? [True, True] Translation: X:232.49, Y:-41.54, Z:-6.53 [[ 9.68737167e-01 2.46855748e-01 2.47091404e-02 2.32487662e+02] [-2.46764995e-01 9.69052156e-01 -6.70491194e-03 -4.15350982e+01] [-2.55995918e-02 3.97946497e-04 9.99672198e-01 -6.53126657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88862385299998 meters 0.02939724004567825 Centerline is valid? [True, True] Translation: X:232.54, Y:-41.56, Z:-6.53 [[ 9.70223986e-01 2.41006729e-01 2.41075272e-02 2.32541886e+02] [-2.40918550e-01 9.70523295e-01 -6.54103185e-03 -4.15617518e+01] [-2.49733494e-02 5.38315498e-04 9.99687972e-01 -6.53458627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.948623853 meters 0.030840886734094256 Centerline is valid? [True, True] Translation: X:232.60, Y:-41.58, Z:-6.54 [[ 9.70620107e-01 2.39479365e-01 2.33717991e-02 2.32598171e+02] [-2.39396049e-01 9.70901293e-01 -6.34125322e-03 -4.15799239e+01] [-2.42103093e-02 5.59831517e-04 9.99706731e-01 -6.53756638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.008623853 meters 0.033120276449787725 Centerline is valid? [True, True] Translation: X:232.65, Y:-41.60, Z:-6.53 [[ 9.70595921e-01 2.39629685e-01 2.28291806e-02 2.32654557e+02] [-2.39550261e-01 9.70864213e-01 -6.19292383e-03 -4.15966412e+01] [-2.36480429e-02 5.42090422e-04 9.99720199e-01 -6.53422929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.068623853 meters 0.029519422098187885 Centerline is valid? [True, True] Translation: X:232.71, Y:-41.61, Z:-6.54 [[ 9.70034759e-01 2.41845351e-01 2.33108030e-02 2.32710273e+02] [-2.41763206e-01 9.70314680e-01 -6.32244051e-03 -4.16112993e+01] [-2.41478672e-02 4.97292589e-04 9.99708274e-01 -6.54138111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.128623853 meters 0.03355262322335784 Centerline is valid? [True, True] Translation: X:232.77, Y:-41.62, Z:-6.54 [[ 9.69156258e-01 2.45448781e-01 2.21594879e-02 2.32768307e+02] [-2.45375522e-01 9.69409484e-01 -6.00885122e-03 -4.16229807e+01] [-2.29564829e-02 3.86119860e-04 9.99736391e-01 -6.53593523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.188623853 meters 0.02437450502381734 Centerline is valid? [True, True] Translation: X:232.83, Y:-41.64, Z:-6.55 [[ 9.68560357e-01 2.47712902e-01 2.30033167e-02 2.32826006e+02] [-2.47634613e-01 9.68833422e-01 -6.23692097e-03 -4.16356803e+01] [-2.38313478e-02 3.44416984e-04 9.99715934e-01 -6.54681256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.248623853 meters 0.02140467249632176 Centerline is valid? [True, True] Translation: X:232.88, Y:-41.65, Z:-6.55 [[ 9.67620509e-01 2.51350704e-01 2.30949068e-02 2.32882533e+02] [-2.51272919e-01 9.67896048e-01 -6.25780187e-03 -4.16483250e+01] [-2.39263719e-02 2.52052786e-04 9.99713692e-01 -6.54832163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.308623853 meters 0.028092100150578298 Centerline is valid? [True, True] Translation: X:232.94, Y:-41.66, Z:-6.54 [[ 9.66840976e-01 2.54350722e-01 2.28962146e-02 2.32939818e+02] [-2.54275132e-01 9.67112031e-01 -6.20303571e-03 -4.16606537e+01] [-2.37209512e-02 1.75411121e-04 9.99718603e-01 -6.54099848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.368623853 meters 0.018411805560679662 Centerline is valid? [True, True] Translation: X:233.00, Y:-41.68, Z:-6.55 [[ 9.66475269e-01 2.55672954e-01 2.35986229e-02 2.32995943e+02] [-2.55593146e-01 9.66763322e-01 -6.38932022e-03 -4.16758379e+01] [-2.44478594e-02 1.43473710e-04 9.99701096e-01 -6.55128689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42862385299998 meters 0.02015696564582997 Centerline is valid? [True, True] Translation: X:233.05, Y:-41.69, Z:-6.55 [[ 9.66580673e-01 2.55240076e-01 2.39647005e-02 2.33051866e+02] [-2.55157737e-01 9.66877697e-01 -6.48453474e-03 -4.16920434e+01] [-2.48260476e-02 1.53047212e-04 9.99691774e-01 -6.54773094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48862385299998 meters 0.01830025735949191 Centerline is valid? [True, True] Translation: X:233.11, Y:-41.71, Z:-6.55 [[ 9.66895866e-01 2.54033736e-01 2.40675248e-02 2.33107600e+02] [-2.53950441e-01 9.67195342e-01 -6.50729891e-03 -4.17102431e+01] [-2.49310713e-02 1.79921893e-04 9.99689156e-01 -6.55335578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54862385299998 meters 0.027022601667669625 Centerline is valid? [True, True] Translation: X:233.16, Y:-41.74, Z:-6.55 [[ 9.67645557e-01 2.51155846e-01 2.41415914e-02 2.33160288e+02] [-2.51071172e-01 9.67946629e-01 -6.52612519e-03 -4.17356276e+01] [-2.50068465e-02 2.53718415e-04 9.99687248e-01 -6.54663230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60862385299998 meters 0.023736526032238425 Centerline is valid? [True, True] Translation: X:233.21, Y:-41.76, Z:-6.55 [[ 9.68226378e-01 2.48782022e-01 2.54005046e-02 2.33213170e+02] [-2.48687522e-01 9.68559444e-01 -6.86435900e-03 -4.17588360e+01] [-2.63096277e-02 3.29464920e-04 9.99653788e-01 -6.55482381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66862385299999 meters 0.026135149336222994 Centerline is valid? [True, True] Translation: X:233.27, Y:-41.78, Z:-6.56 [[ 9.68994672e-01 2.45710615e-01 2.59926816e-02 2.33267492e+02] [-2.45610602e-01 9.69343137e-01 -7.02250341e-03 -4.17833206e+01] [-2.69213312e-02 4.20690212e-04 9.99637467e-01 -6.55516670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.728623853 meters 0.029573146066615357 Centerline is valid? [True, True] Translation: X:233.32, Y:-41.81, Z:-6.56 [[ 9.69738960e-01 2.42773784e-01 2.58309821e-02 2.33319877e+02] [-2.42674001e-01 9.70082802e-01 -6.97764329e-03 -4.18091668e+01] [-2.67521804e-02 4.97984786e-04 9.99641972e-01 -6.55761307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.788623853 meters 0.03108369216450821 Centerline is valid? [True, True] Translation: X:233.38, Y:-41.83, Z:-6.56 [[ 9.70010086e-01 2.41731732e-01 2.54205152e-02 2.33375000e+02] [-2.41634784e-01 9.70342982e-01 -6.86501632e-03 -4.18319630e+01] [-2.63261108e-02 5.16654377e-04 9.99653274e-01 -6.56084003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.848623853 meters 0.030677821079225343 Centerline is valid? [True, True] Translation: X:233.43, Y:-41.85, Z:-6.56 [[ 9.69916309e-01 2.42171169e-01 2.48088223e-02 2.33430122e+02] [-2.42079004e-01 9.70233417e-01 -6.69871772e-03 -4.18537575e+01] [-2.56925847e-02 4.91500586e-04 9.99669770e-01 -6.56376010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.908623853 meters 0.02885847517032123 Centerline is valid? [True, True] Translation: X:233.48, Y:-41.87, Z:-6.57 [[ 9.69397979e-01 2.44368339e-01 2.34877313e-02 2.33484258e+02] [-2.44286397e-01 9.69682395e-01 -6.34103450e-03 -4.18736191e+01] [-2.43251876e-02 4.09252776e-04 9.99704015e-01 -6.56825756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.968623853 meters 0.021294329310912203 Centerline is valid? [True, True] Translation: X:233.54, Y:-41.88, Z:-6.57 [[ 9.67881352e-01 2.50262745e-01 2.39634317e-02 2.33543852e+02] [-2.50179289e-01 9.68177922e-01 -6.46801134e-03 -4.18838755e+01] [-2.48195677e-02 2.65113258e-04 9.99691912e-01 -6.56815200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.028623853 meters 0.01776775859825276 Centerline is valid? [True, True] Translation: X:233.60, Y:-41.89, Z:-6.57 [[ 9.66281271e-01 2.56307685e-01 2.46348391e-02 2.33601430e+02] [-2.56221467e-01 9.66595240e-01 -6.64843893e-03 -4.18926278e+01] [-2.55159642e-02 1.12287407e-04 9.99674408e-01 -6.56844833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.088623853 meters 0.01825426996874187 Centerline is valid? [True, True] Translation: X:233.66, Y:-41.89, Z:-6.57 [[ 9.63235888e-01 2.67431097e-01 2.56365364e-02 2.33662377e+02] [-2.67341693e-01 9.63576967e-01 -6.91718345e-03 -4.18924663e+01] [-2.65526459e-02 -1.90835697e-04 9.99647398e-01 -6.56776414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.148623853 meters 0.02573321307504315 Centerline is valid? [True, True] Translation: X:233.72, Y:-41.89, Z:-6.57 [[ 9.60334362e-01 2.77708187e-01 2.52205503e-02 2.33724839e+02] [-2.77625229e-01 9.60665365e-01 -6.80357303e-03 -4.18937300e+01] [-2.61179171e-02 -4.68156086e-04 9.99658759e-01 -6.57012030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20862385299998 meters 0.03153955980435841 Centerline is valid? [True, True] Translation: X:233.78, Y:-41.90, Z:-6.57 [[ 9.58929647e-01 2.82608865e-01 2.42107927e-02 2.33783774e+02] [-2.82533973e-01 9.59235058e-01 -6.53130824e-03 -4.18981579e+01] [-2.50696467e-02 -5.77306339e-04 9.99685540e-01 -6.57333772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26862385299998 meters 0.03389292477994467 Centerline is valid? [True, True] Translation: X:233.84, Y:-41.91, Z:-6.58 [[ 9.58023419e-01 2.85654419e-01 2.43450623e-02 2.33842440e+02] [-2.85579707e-01 9.58332466e-01 -6.56626657e-03 -4.19073258e+01] [-2.52063467e-02 -6.61818615e-04 9.99682050e-01 -6.57584990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32862385299998 meters 0.0323059769865693 Centerline is valid? [True, True] Translation: X:233.90, Y:-41.92, Z:-6.58 [[ 9.58564548e-01 2.83798083e-01 2.47518603e-02 2.33899528e+02] [-2.83720253e-01 9.58883861e-01 -6.67528823e-03 -4.19232266e+01] [-2.56285933e-02 -6.23909397e-04 9.99671339e-01 -6.57713949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38862385299998 meters 0.02787060059171323 Centerline is valid? [True, True] Translation: X:233.96, Y:-41.94, Z:-6.58 [[ 9.60032531e-01 2.78856411e-01 2.40133507e-02 2.33956396e+02] [-2.78781714e-01 9.60332687e-01 -6.47191080e-03 -4.19432110e+01] [-2.48655394e-02 -4.81238139e-04 9.99690689e-01 -6.58085576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.448623853 meters 0.024784379374419917 Centerline is valid? [True, True] Translation: X:234.01, Y:-41.96, Z:-6.58 [[ 9.61317360e-01 2.74418234e-01 2.37395416e-02 2.34012501e+02] [-2.74343882e-01 9.61610369e-01 -6.39786148e-03 -4.19628891e+01] [-2.45838792e-02 -3.62422681e-04 9.99697705e-01 -6.58341803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.508623853 meters 0.018366234116549918 Centerline is valid? [True, True] Translation: X:234.07, Y:-41.99, Z:-6.58 [[ 9.63442515e-01 2.66830580e-01 2.40823969e-02 2.34066799e+02] [-2.66751705e-01 9.63743437e-01 -6.48965961e-03 -4.19910885e+01] [-2.49408916e-02 -1.71606440e-04 9.99688913e-01 -6.58376727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.568623853 meters 0.016868467508988575 Centerline is valid? [True, True] Translation: X:234.12, Y:-42.02, Z:-6.58 [[ 9.65453193e-01 2.59457181e-01 2.41268198e-02 2.34120311e+02] [-2.59375719e-01 9.65754612e-01 -6.50119001e-03 -4.20160786e+01] [-2.49873680e-02 1.86833938e-05 9.99687767e-01 -6.58486848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.628623853 meters 0.018152943996656047 Centerline is valid? [True, True] Translation: X:234.17, Y:-42.04, Z:-6.59 [[ 9.66856853e-01 2.54163092e-01 2.42682551e-02 2.34174939e+02] [-2.54079064e-01 9.67161361e-01 -6.53686178e-03 -4.20386971e+01] [-2.51327477e-02 1.54154074e-04 9.99684111e-01 -6.58604171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.688623853 meters 0.01991105712590798 Centerline is valid? [True, True] Translation: X:234.23, Y:-42.06, Z:-6.59 [[ 9.67606724e-01 2.51353040e-01 2.36405760e-02 2.34229437e+02] [-2.51272492e-01 9.67895449e-01 -6.36664010e-03 -4.20599150e+01] [-2.44818803e-02 2.20177338e-04 9.99700250e-01 -6.58936486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.748623853 meters 0.020937774855536825 Centerline is valid? [True, True] Translation: X:234.29, Y:-42.08, Z:-6.59 [[ 9.68243022e-01 2.49005728e-01 2.23963806e-02 2.34285463e+02] [-2.48932840e-01 9.68501976e-01 -6.03017779e-03 -4.20784519e+01] [-2.31924877e-02 2.63482948e-04 9.99730983e-01 -6.59273360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.808623853 meters 0.021427924511790396 Centerline is valid? [True, True] Translation: X:234.34, Y:-42.09, Z:-6.59 [[ 9.68303951e-01 2.48796386e-01 2.20865613e-02 2.34341336e+02] [-2.48725472e-01 9.68555775e-01 -5.94568608e-03 -4.20947287e+01] [-2.28713317e-02 2.63740961e-04 9.99738382e-01 -6.59483130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.868623853 meters 0.021857976055049567 Centerline is valid? [True, True] Translation: X:234.40, Y:-42.11, Z:-6.59 [[ 9.67953143e-01 2.50192353e-01 2.16909854e-02 2.34399291e+02] [-2.50124338e-01 9.68196125e-01 -5.83776061e-03 -4.21073475e+01] [-2.24616910e-02 2.25235378e-04 9.99747679e-01 -6.59261461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92862385299998 meters 0.01897929927339093 Centerline is valid? [True, True] Translation: X:234.46, Y:-42.12, Z:-6.60 [[ 9.67223165e-01 2.52871665e-01 2.31359302e-02 2.34455581e+02] [-2.52795081e-01 9.67499815e-01 -6.22540558e-03 -4.21216371e+01] [-2.39582369e-02 1.72707132e-04 9.99712945e-01 -6.59586013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98862385299998 meters 0.018029106939453827 Centerline is valid? [True, True] Translation: X:234.51, Y:-42.13, Z:-6.60 [[ 9.66787035e-01 2.54460313e-01 2.39327637e-02 2.34513238e+02] [-2.54378889e-01 9.67083208e-01 -6.43820166e-03 -4.21344025e+01] [-2.47832407e-02 1.36380066e-04 9.99692839e-01 -6.59622845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04862385299998 meters 0.01813182410281142 Centerline is valid? [True, True] Translation: X:234.57, Y:-42.15, Z:-6.60 [[ 9.66718783e-01 2.54831996e-01 2.27034940e-02 2.34568565e+02] [-2.54758850e-01 9.66985336e-01 -6.10645860e-03 -4.21505691e+01] [-2.35100668e-02 1.19312213e-04 9.99723593e-01 -6.60014108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10862385299998 meters 0.018679217691612002 Centerline is valid? [True, True] Translation: X:234.62, Y:-42.17, Z:-6.61 [[ 9.66907656e-01 2.54279965e-01 2.07674075e-02 2.34622997e+02] [-2.54218660e-01 9.67130645e-01 -5.58459642e-03 -4.21684568e+01] [-2.15048472e-02 1.20326531e-04 9.99768737e-01 -6.60600372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16862385299999 meters 0.01962517518853055 Centerline is valid? [True, True] Translation: X:234.68, Y:-42.19, Z:-6.61 [[ 9.67421951e-01 2.52312333e-01 2.08147643e-02 2.34677948e+02] [-2.52250330e-01 9.67645834e-01 -5.59561439e-03 -4.21889199e+01] [-2.15531625e-02 1.62789025e-04 9.99767690e-01 -6.60711892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.228623853 meters 0.019905814377534102 Centerline is valid? [True, True] Translation: X:234.73, Y:-42.21, Z:-6.61 [[ 9.67632554e-01 2.51462955e-01 2.12984065e-02 2.34734329e+02] [-2.51397855e-01 9.67866906e-01 -5.72453414e-03 -4.22076008e+01] [-2.20535311e-02 1.84871880e-04 9.99756774e-01 -6.60704748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.288623853 meters 0.019787351363898007 Centerline is valid? [True, True] Translation: X:234.79, Y:-42.23, Z:-6.61 [[ 9.67749527e-01 2.50989766e-01 2.15636498e-02 2.34789920e+02] [-2.50922941e-01 9.67989720e-01 -5.79473957e-03 -4.22258102e+01] [-2.23278116e-02 1.97042071e-04 9.99750684e-01 -6.60738095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.348623853 meters 0.02073966876106501 Centerline is valid? [True, True] Translation: X:234.84, Y:-42.25, Z:-6.61 [[ 9.68219043e-01 2.49160151e-01 2.17049140e-02 2.34844488e+02] [-2.49092013e-01 9.68462267e-01 -5.83156893e-03 -4.22478499e+01] [-2.24733848e-02 2.39715378e-04 9.99747413e-01 -6.60854446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.408623853 meters 0.022915110121186914 Centerline is valid? [True, True] Translation: X:234.90, Y:-42.27, Z:-6.61 [[ 9.69188152e-01 2.45368464e-01 2.16481610e-02 2.34898639e+02] [-2.45299761e-01 9.69429838e-01 -5.81520464e-03 -4.22739321e+01] [-2.24132410e-02 3.25738725e-04 9.99748739e-01 -6.60996122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.468623853 meters 0.02531903061030706 Centerline is valid? [True, True] Translation: X:234.95, Y:-42.30, Z:-6.61 [[ 9.69678064e-01 2.43407061e-01 2.18507523e-02 2.34953203e+02] [-2.43336596e-01 9.69924153e-01 -5.86838561e-03 -4.22967997e+01] [-2.26219789e-02 3.73357113e-04 9.99744021e-01 -6.61133339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.528623853 meters 0.03589840497742747 Centerline is valid? [True, True] Translation: X:235.01, Y:-42.32, Z:-6.60 [[ 9.70026871e-01 2.41970057e-01 2.23240014e-02 2.35009824e+02] [-2.41896148e-01 9.70283628e-01 -5.99452688e-03 -4.23181770e+01] [-2.31111091e-02 4.14762218e-04 9.99732817e-01 -6.59947337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.588623853 meters 0.02546854044957168 Centerline is valid? [True, True] Translation: X:235.06, Y:-42.34, Z:-6.61 [[ 9.69658137e-01 2.43412853e-01 2.26556835e-02 2.35064520e+02] [-2.43337138e-01 9.69922695e-01 -6.08298758e-03 -4.23414451e+01] [-2.34549390e-02 3.85449213e-04 9.99724821e-01 -6.61222932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.648623853 meters 0.021502869461319605 Centerline is valid? [True, True] Translation: X:235.12, Y:-42.36, Z:-6.61 [[ 9.68698925e-01 2.47296372e-01 2.16078118e-02 2.35122329e+02] [-2.47228477e-01 9.68939847e-01 -5.80111220e-03 -4.23559157e+01] [-2.23712639e-02 2.77464754e-04 9.99749693e-01 -6.61474124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70862385299998 meters 0.019540306125261135 Centerline is valid? [True, True] Translation: X:235.18, Y:-42.37, Z:-6.62 [[ 9.67829468e-01 2.50704430e-01 2.12934268e-02 2.35180123e+02] [-2.50639331e-01 9.68063660e-01 -5.71622893e-03 -4.23690640e+01] [-2.20464766e-02 1.95364557e-04 9.99756928e-01 -6.61717974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76862385299998 meters 0.0177434222007764 Centerline is valid? [True, True] Translation: X:235.24, Y:-42.38, Z:-6.62 [[ 9.66586571e-01 2.55529174e-01 2.03775072e-02 2.35237351e+02] [-2.55470640e-01 9.66801342e-01 -5.46967420e-03 -4.23838014e+01] [-2.10986627e-02 8.10587975e-05 9.99777395e-01 -6.62032167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82862385299998 meters 0.017284668801330703 Centerline is valid? [True, True] Translation: X:235.29, Y:-42.40, Z:-6.62 [[ 9.65742710e-01 2.58649106e-01 2.10156531e-02 2.35293472e+02] [-2.58587609e-01 9.65971345e-01 -5.63989660e-03 -4.23990378e+01] [-2.17592730e-02 1.23015223e-05 9.99763239e-01 -6.62094255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88862385299998 meters 0.017039623965686247 Centerline is valid? [True, True] Translation: X:235.35, Y:-42.42, Z:-6.62 [[ 9.65219421e-01 2.60527293e-01 2.18403106e-02 2.35350211e+02] [-2.60461390e-01 9.65466482e-01 -5.85966320e-03 -4.24157454e+01] [-2.26126900e-02 -3.26969313e-05 9.99744300e-01 -6.62028910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.948623853 meters 0.017313293888663917 Centerline is valid? [True, True] Translation: X:235.41, Y:-42.43, Z:-6.62 [[ 9.64858209e-01 2.61896355e-01 2.14227875e-02 2.35407242e+02] [-2.61833309e-01 9.65096003e-01 -5.74655285e-03 -4.24302338e+01] [-2.21800479e-02 -6.45906642e-05 9.99753990e-01 -6.62209151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.008623853 meters 0.018445969842454984 Centerline is valid? [True, True] Translation: X:235.46, Y:-42.44, Z:-6.63 [[ 9.64124171e-01 2.64629556e-01 2.08753808e-02 2.35463528e+02] [-2.64570353e-01 9.64350135e-01 -5.59874738e-03 -4.24433009e+01] [-2.16127704e-02 -1.25119204e-04 9.99766409e-01 -6.62517282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.068623853 meters 0.019563612237810963 Centerline is valid? [True, True] Translation: X:235.52, Y:-42.46, Z:-6.63 [[ 9.63749294e-01 2.66016605e-01 2.05539549e-02 2.35519418e+02] [-2.65959552e-01 9.63968434e-01 -5.51133000e-03 -4.24561264e+01] [-2.12794691e-02 -1.54980248e-04 9.99773554e-01 -6.62759116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.128623853 meters 0.022752270142309346 Centerline is valid? [True, True] Translation: X:235.58, Y:-42.47, Z:-6.62 [[ 9.63776626e-01 2.65969074e-01 1.98762651e-02 2.35576806e+02] [-2.65915745e-01 9.63981550e-01 -5.32801897e-03 -4.24706100e+01] [-2.05774411e-02 -1.50391681e-04 9.99788251e-01 -6.62403145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.188623853 meters 0.018153354152731553 Centerline is valid? [True, True] Translation: X:235.63, Y:-42.49, Z:-6.63 [[ 9.64444077e-01 2.63496213e-01 2.04295768e-02 2.35632486e+02] [-2.63439339e-01 9.64660425e-01 -5.47530134e-03 -4.24910557e+01] [-2.11503254e-02 -1.01332274e-04 9.99776302e-01 -6.63100340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.248623853 meters 0.025156226716705192 Centerline is valid? [True, True] Translation: X:235.69, Y:-42.51, Z:-6.62 [[ 9.65082034e-01 2.61163539e-01 2.02552063e-02 2.35687953e+02] [-2.61107139e-01 9.65294568e-01 -5.42757921e-03 -4.25112239e+01] [-2.09697264e-02 -5.07197787e-05 9.99780110e-01 -6.62154658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.308623853 meters 0.017223048918532456 Centerline is valid? [True, True] Translation: X:235.74, Y:-42.53, Z:-6.63 [[ 9.66051975e-01 2.57445450e-01 2.15736353e-02 2.35741778e+02] [-2.57380566e-01 9.66292833e-01 -5.77970606e-03 -4.25338144e+01] [-2.23344082e-02 3.08619803e-05 9.99750556e-01 -6.63159229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.368623853 meters 0.019433428520944925 Centerline is valid? [True, True] Translation: X:235.80, Y:-42.55, Z:-6.63 [[ 9.66716626e-01 2.54934260e-01 2.16214714e-02 2.35796702e+02] [-2.54868491e-01 9.66958383e-01 -5.79109248e-03 -4.25541223e+01] [-2.23834109e-02 8.77135755e-05 9.99749456e-01 -6.62934364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42862385299998 meters 0.01829996668955698 Centerline is valid? [True, True] Translation: X:235.85, Y:-42.57, Z:-6.63 [[ 9.67113745e-01 2.53359788e-01 2.23566834e-02 2.35851795e+02] [-2.53289083e-01 9.67372111e-01 -5.98654246e-03 -4.25739833e+01] [-2.31439811e-02 1.26963657e-04 9.99732134e-01 -6.63274657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48862385299998 meters 0.018692497780598467 Centerline is valid? [True, True] Translation: X:235.91, Y:-42.59, Z:-6.63 [[ 9.67238841e-01 2.52914785e-01 2.19803488e-02 2.35907706e+02] [-2.52846349e-01 9.67488550e-01 -5.88473830e-03 -4.25923347e+01] [-2.27540731e-02 1.34296514e-04 9.99741084e-01 -6.63469868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54862385299998 meters 0.01786643683167467 Centerline is valid? [True, True] Translation: X:235.97, Y:-42.61, Z:-6.64 [[ 9.67040495e-01 2.53657975e-01 2.21430073e-02 2.35965575e+02] [-2.53588744e-01 9.67293967e-01 -5.92712246e-03 -4.26061004e+01] [-2.29222593e-02 1.16550035e-04 9.99737244e-01 -6.63504026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60862385299998 meters 0.01746407918177233 Centerline is valid? [True, True] Translation: X:236.02, Y:-42.62, Z:-6.64 [[ 9.66284003e-01 2.56645447e-01 2.06963878e-02 2.36022415e+02] [-2.56585658e-01 9.66505620e-01 -5.53964549e-03 -4.26183072e+01] [-2.14248999e-02 4.24745586e-05 9.99770460e-01 -6.64157346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66862385299999 meters 0.017437600917985845 Centerline is valid? [True, True] Translation: X:236.08, Y:-42.63, Z:-6.64 [[ 9.65133874e-01 2.60977349e-01 2.01848456e-02 2.36081525e+02] [-2.60921452e-01 9.65344923e-01 -5.40140349e-03 -4.26253712e+01] [-2.08949822e-02 -5.35817592e-05 9.99781675e-01 -6.64255207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.728623853 meters 0.020438499901960058 Centerline is valid? [True, True] Translation: X:236.14, Y:-42.64, Z:-6.64 [[ 9.64787357e-01 2.62280954e-01 1.98508776e-02 2.36138856e+02] [-2.62227188e-01 9.64991552e-01 -5.31106978e-03 -4.26379595e+01] [-2.05489217e-02 -8.13868360e-05 9.99788845e-01 -6.63851824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.788623853 meters 0.019402837000003195 Centerline is valid? [True, True] Translation: X:236.20, Y:-42.65, Z:-6.65 [[ 9.64329702e-01 2.63991819e-01 1.94047696e-02 2.36196234e+02] [-2.63940806e-01 9.64524912e-01 -5.19085795e-03 -4.26456757e+01] [-2.00867278e-02 -1.16012036e-04 9.99798235e-01 -6.64957027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.848623853 meters 0.01863294598551729 Centerline is valid? [True, True] Translation: X:236.25, Y:-42.66, Z:-6.65 [[ 9.64203961e-01 2.64423861e-01 1.97672500e-02 2.36252508e+02] [-2.64371042e-01 9.64406556e-01 -5.28647357e-03 -4.26583907e+01] [-2.04615352e-02 -1.28649737e-04 9.99790633e-01 -6.64744091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.908623853 meters 0.01821405724447563 Centerline is valid? [True, True] Translation: X:236.31, Y:-42.67, Z:-6.65 [[ 9.64338845e-01 2.63913621e-01 2.00048000e-02 2.36309812e+02] [-2.63859451e-01 9.64546311e-01 -5.34828427e-03 -4.26716581e+01] [-2.07070411e-02 -1.20897268e-04 9.99785579e-01 -6.64822146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.968623853 meters 0.018189811644260583 Centerline is valid? [True, True] Translation: X:236.37, Y:-42.68, Z:-6.65 [[ 9.64623619e-01 2.62871854e-01 1.99915629e-02 2.36366522e+02] [-2.62817552e-01 9.64830751e-01 -5.34378155e-03 -4.26831079e+01] [-2.06932045e-02 -9.93957284e-05 9.99785868e-01 -6.65130651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.028623853 meters 0.017495903055416193 Centerline is valid? [True, True] Translation: X:236.42, Y:-42.70, Z:-6.65 [[ 9.65082859e-01 2.61130209e-01 2.06419087e-02 2.36423951e+02] [-2.61071949e-01 9.65303584e-01 -5.51612216e-03 -4.26968906e+01] [-2.13661346e-02 -6.55083852e-05 9.99771716e-01 -6.65169441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.088623853 meters 0.01712111730934941 Centerline is valid? [True, True] Translation: X:236.48, Y:-42.71, Z:-6.65 [[ 9.65865603e-01 2.58227775e-01 2.05439519e-02 2.36480572e+02] [-2.58169431e-01 9.66084063e-01 -5.48894142e-03 -4.27123725e+01] [-2.12645816e-02 -2.24064784e-06 9.99773883e-01 -6.65362512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.148623853 meters 0.017342021386872058 Centerline is valid? [True, True] Translation: X:236.54, Y:-42.73, Z:-6.66 [[ 9.66395700e-01 2.56265413e-01 2.01838993e-02 2.36537042e+02] [-2.56208689e-01 9.66606454e-01 -5.39174714e-03 -4.27277271e+01] [-2.08916057e-02 3.92708654e-05 9.99781746e-01 -6.65564206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20862385299998 meters 0.01851135647368094 Centerline is valid? [True, True] Translation: X:236.59, Y:-42.74, Z:-6.66 [[ 9.67235023e-01 2.53121361e-01 1.96465605e-02 2.36592319e+02] [-2.53066986e-01 9.67434528e-01 -5.24734052e-03 -4.27436639e+01] [-2.03349749e-02 1.03515688e-04 9.99793218e-01 -6.66012178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26862385299998 meters 0.019526463100909615 Centerline is valid? [True, True] Translation: X:236.65, Y:-42.76, Z:-6.66 [[ 9.67961285e-01 2.50314454e-01 1.98399952e-02 2.36648899e+02] [-2.50258442e-01 9.68164577e-01 -5.29761519e-03 -4.27580912e+01] [-2.05344502e-02 1.62760115e-04 9.99789133e-01 -6.65948944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32862385299998 meters 0.025965239505019975 Centerline is valid? [True, True] Translation: X:236.71, Y:-42.77, Z:-6.65 [[ 9.68382484e-01 2.48680583e-01 1.98326338e-02 2.36706332e+02] [-2.48624295e-01 9.68585530e-01 -5.29440214e-03 -4.27700545e+01] [-2.05262171e-02 1.96131703e-04 9.99789296e-01 -6.65192103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38862385299998 meters 0.021024682186322963 Centerline is valid? [True, True] Translation: X:236.76, Y:-42.78, Z:-6.66 [[ 9.68600888e-01 2.47748806e-01 2.08050207e-02 2.36762474e+02] [-2.47686677e-01 9.68824276e-01 -5.55259328e-03 -4.27843580e+01] [-2.15320575e-02 2.25120317e-04 9.99768133e-01 -6.66073414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.448623853 meters 0.021925680576209246 Centerline is valid? [True, True] Translation: X:236.82, Y:-42.80, Z:-6.66 [[ 9.68842682e-01 2.46802948e-01 2.07885095e-02 2.36819889e+02] [-2.46740731e-01 9.69065656e-01 -5.54675713e-03 -4.27959072e+01] [-2.15143866e-02 2.44563024e-04 9.99768509e-01 -6.66229632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.508623853 meters 0.022727946722170853 Centerline is valid? [True, True] Translation: X:236.88, Y:-42.81, Z:-6.66 [[ 9.69303828e-01 2.44946601e-01 2.12427082e-02 2.36877223e+02] [-2.44881213e-01 9.69536528e-01 -5.66686653e-03 -4.28109377e+01] [-2.19836612e-02 2.90975273e-04 9.99758288e-01 -6.66245830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.568623853 meters 0.024079216512449472 Centerline is valid? [True, True] Translation: X:236.93, Y:-42.82, Z:-6.66 [[ 9.69872226e-01 2.42690905e-01 2.11894049e-02 2.36934620e+02] [-2.42625330e-01 9.70103607e-01 -5.65157220e-03 -4.28246611e+01] [-2.19275033e-02 3.40216560e-04 9.99759506e-01 -6.66414859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.628623853 meters 0.025720007225952992 Centerline is valid? [True, True] Translation: X:236.99, Y:-42.84, Z:-6.67 [[ 9.70348744e-01 2.40799453e-01 2.09508435e-02 2.36991341e+02] [-2.40734929e-01 9.70574820e-01 -5.58687063e-03 -4.28417660e+01] [-2.16796765e-02 3.77613090e-04 9.99764897e-01 -6.66638776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.688623853 meters 0.028630038464803612 Centerline is valid? [True, True] Translation: X:237.05, Y:-42.86, Z:-6.67 [[ 9.71027576e-01 2.38051146e-01 2.09068854e-02 2.37046872e+02] [-2.37986280e-01 9.71252522e-01 -5.57399593e-03 -4.28602725e+01] [-2.16327613e-02 4.36951870e-04 9.99765889e-01 -6.66881864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.748623853 meters 0.029322924621138217 Centerline is valid? [True, True] Translation: X:237.10, Y:-42.88, Z:-6.67 [[ 9.71317452e-01 2.36871907e-01 2.08352400e-02 2.37104505e+02] [-2.36807233e-01 9.71540780e-01 -5.55402100e-03 -4.28760639e+01] [-2.15578768e-02 4.60782003e-04 9.99767496e-01 -6.66985962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.808623853 meters 0.03584032995169154 Centerline is valid? [True, True] Translation: X:237.16, Y:-42.89, Z:-6.67 [[ 9.71467905e-01 2.36360293e-01 1.95939158e-02 2.37160362e+02] [-2.36302998e-01 9.71665382e-01 -5.22284652e-03 -4.28930587e+01] [-2.02732032e-02 4.43726714e-04 9.99794379e-01 -6.66506976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.868623853 meters 0.03164652628453076 Centerline is valid? [True, True] Translation: X:237.22, Y:-42.91, Z:-6.67 [[ 9.71695407e-01 2.35340296e-01 2.05665241e-02 2.37216034e+02] [-2.35276964e-01 9.71912912e-01 -5.48108230e-03 -4.29096618e+01] [-2.12787899e-02 4.87113138e-04 9.99773462e-01 -6.67410849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92862385299998 meters 0.03354165040969169 Centerline is valid? [True, True] Translation: X:237.27, Y:-42.93, Z:-6.68 [[ 9.72145909e-01 2.33441983e-01 2.09086556e-02 2.37272934e+02] [-2.33376125e-01 9.72370584e-01 -5.57054604e-03 -4.29291686e+01] [-2.16313610e-02 5.35802540e-04 9.99765871e-01 -6.67521821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98862385299998 meters 0.036927687349523924 Centerline is valid? [True, True] Translation: X:237.33, Y:-42.95, Z:-6.68 [[ 9.72955586e-01 2.30098606e-01 2.02992609e-02 2.37329127e+02] [-2.30035812e-01 9.73167139e-01 -5.40778528e-03 -4.29543658e+01] [-2.09988975e-02 5.91977925e-04 9.99779324e-01 -6.67765389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04862385299998 meters 0.03823287119628741 Centerline is valid? [True, True] Translation: X:237.39, Y:-42.97, Z:-6.68 [[ 9.73308307e-01 2.28611901e-01 2.01875794e-02 2.37386590e+02] [-2.28549471e-01 9.73517444e-01 -5.37828189e-03 -4.29749743e+01] [-2.08824999e-02 6.20865861e-04 9.99781744e-01 -6.67983135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10862385299998 meters 0.03835677307748304 Centerline is valid? [True, True] Translation: X:237.44, Y:-43.00, Z:-6.68 [[ 9.73201049e-01 2.29003218e-01 2.09104045e-02 2.37444210e+02] [-2.28936322e-01 9.73425459e-01 -5.57105398e-03 -4.29955274e+01] [-2.16305094e-02 6.34604478e-04 9.99765832e-01 -6.67975059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16862385299999 meters 0.03871483034422035 Centerline is valid? [True, True] Translation: X:237.50, Y:-43.02, Z:-6.68 [[ 9.73016948e-01 2.29787552e-01 2.08734212e-02 2.37501306e+02] [-2.29721080e-01 9.73240619e-01 -5.56091660e-03 -4.30183644e+01] [-2.15926908e-02 6.15801225e-04 9.99766661e-01 -6.68105048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.228623853 meters 0.03379505337890155 Centerline is valid? [True, True] Translation: X:237.56, Y:-43.04, Z:-6.68 [[ 9.72696787e-01 2.31058870e-01 2.17430109e-02 2.37561341e+02] [-2.30986981e-01 9.72939577e-01 -5.79609587e-03 -4.30352482e+01] [-2.24938752e-02 6.15491390e-04 9.99746791e-01 -6.67932087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.288623853 meters 0.034366121077838076 Centerline is valid? [True, True] Translation: X:237.62, Y:-43.06, Z:-6.68 [[ 9.72102561e-01 2.33490839e-01 2.23302415e-02 2.37618530e+02] [-2.33415540e-01 9.72358829e-01 -5.95756790e-03 -4.30556277e+01] [-2.31040450e-02 5.79141623e-04 9.99732898e-01 -6.68094151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.348623853 meters 0.027978972819238973 Centerline is valid? [True, True] Translation: X:237.68, Y:-43.07, Z:-6.68 [[ 9.70751830e-01 2.39127561e-01 2.14218327e-02 2.37677502e+02] [-2.39059628e-01 9.70988067e-01 -5.71553970e-03 -4.30683266e+01] [-2.21670870e-02 4.27275266e-04 9.99754189e-01 -6.68425533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.408623853 meters 0.022459057339568832 Centerline is valid? [True, True] Translation: X:237.74, Y:-43.08, Z:-6.69 [[ 9.68902634e-01 2.46634972e-01 1.99718913e-02 2.37736145e+02] [-2.46577516e-01 9.69108422e-01 -5.32868216e-03 -4.30803457e+01] [-2.06691675e-02 2.38354822e-04 9.99786342e-01 -6.68922303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.468623853 meters 0.019009993715022034 Centerline is valid? [True, True] Translation: X:237.80, Y:-43.09, Z:-6.69 [[ 9.67482682e-01 2.52177509e-01 1.95898874e-02 2.37795535e+02] [-2.52123361e-01 9.67680986e-01 -5.22694158e-03 -4.30902459e+01] [-2.02748787e-02 1.17907191e-04 9.99794437e-01 -6.69037257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.528623853 meters 0.017771756660185947 Centerline is valid? [True, True] Translation: X:237.85, Y:-43.10, Z:-6.69 [[ 9.65405484e-01 2.59958870e-01 2.03380866e-02 2.37853403e+02] [-2.59902236e-01 9.65619689e-01 -5.42627954e-03 -4.30971040e+01] [-2.10494664e-02 -4.73541513e-05 9.99778434e-01 -6.69084321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.588623853 meters 0.02073827955009655 Centerline is valid? [True, True] Translation: X:237.91, Y:-43.10, Z:-6.69 [[ 9.63448194e-01 2.66989518e-01 2.20039867e-02 2.37912577e+02] [-2.66925089e-01 9.63699408e-01 -5.86917839e-03 -4.31040361e+01] [-2.27722381e-02 -2.18766806e-04 9.99740655e-01 -6.68972291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.648623853 meters 0.024592519681480518 Centerline is valid? [True, True] Translation: X:237.97, Y:-43.11, Z:-6.69 [[ 9.62199071e-01 2.71468607e-01 2.18573510e-02 2.37971123e+02] [-2.71406214e-01 9.62447240e-01 -5.82894093e-03 -4.31128488e+01] [-2.26189216e-02 -3.23619340e-04 9.99744107e-01 -6.69170237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70862385299998 meters 0.02681730138880894 Centerline is valid? [True, True] Translation: X:238.03, Y:-43.12, Z:-6.69 [[ 9.61168339e-01 2.75119658e-01 2.15545315e-02 2.38029935e+02] [-2.75059917e-01 9.61409907e-01 -5.74735586e-03 -4.31245979e+01] [-2.23039508e-02 -4.04611164e-04 9.99751154e-01 -6.69292885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76862385299998 meters 0.030389899120885744 Centerline is valid? [True, True] Translation: X:238.09, Y:-43.13, Z:-6.69 [[ 9.60128268e-01 2.78707012e-01 2.18199630e-02 2.38089188e+02] [-2.78646726e-01 9.60376050e-01 -5.81763676e-03 -4.31326585e+01] [-2.25767860e-02 -4.94383750e-04 9.99744990e-01 -6.69440572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82862385299998 meters 0.03360407089242742 Centerline is valid? [True, True] Translation: X:238.15, Y:-43.14, Z:-6.70 [[ 9.59834551e-01 2.79688207e-01 2.21842542e-02 2.38146158e+02] [-2.79626169e-01 9.60090740e-01 -5.91408780e-03 -4.31412630e+01] [-2.29529976e-02 -5.26752193e-04 9.99736406e-01 -6.69567124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88862385299998 meters 0.0337370342104462 Centerline is valid? [True, True] Translation: X:238.20, Y:-43.15, Z:-6.69 [[ 9.59946939e-01 2.79189976e-01 2.35548748e-02 2.38203491e+02] [-2.79119931e-01 9.60235730e-01 -6.27753802e-03 -4.31529858e+01] [-2.43708581e-02 -5.48531631e-04 9.99702836e-01 -6.69474287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.948623853 meters 0.029829077844781823 Centerline is valid? [True, True] Translation: X:238.26, Y:-43.17, Z:-6.70 [[ 9.60581289e-01 2.76966846e-01 2.39364451e-02 2.38260397e+02] [-2.76893852e-01 9.60879345e-01 -6.37805462e-03 -4.31700362e+01] [-2.47665454e-02 -5.01214554e-04 9.99693136e-01 -6.69558014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.008623853 meters 0.02713529676438375 Centerline is valid? [True, True] Translation: X:238.32, Y:-43.18, Z:-6.70 [[ 9.61555536e-01 2.73708080e-01 2.22449439e-02 2.38316010e+02] [-2.73644181e-01 9.61812735e-01 -5.92671514e-03 -4.31844192e+01] [-2.30176601e-02 -3.88333693e-04 9.99734983e-01 -6.70055299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.068623853 meters 0.023737532053848456 Centerline is valid? [True, True] Translation: X:238.37, Y:-43.20, Z:-6.70 [[ 9.62775272e-01 2.69466504e-01 2.12503697e-02 2.38372875e+02] [-2.69407185e-01 9.63009724e-01 -5.66046029e-03 -4.31995829e+01] [-2.19896171e-02 -2.75251090e-04 9.99758161e-01 -6.70487309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.128623853 meters 0.030791645403832918 Centerline is valid? [True, True] Translation: X:238.43, Y:-43.22, Z:-6.70 [[ 9.63599485e-01 2.66578408e-01 2.02974262e-02 2.38430273e+02] [-2.66523663e-01 9.63813214e-01 -5.40598820e-03 -4.32152807e+01] [-2.10040473e-02 -2.00536957e-04 9.99779371e-01 -6.69892167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.188623853 meters 0.018389751844486192 Centerline is valid? [True, True] Translation: X:238.49, Y:-43.23, Z:-6.71 [[ 9.64750153e-01 2.62238350e-01 2.20950379e-02 2.38486035e+02] [-2.62172392e-01 9.65003126e-01 -5.88242829e-03 -4.32348352e+01] [-2.28643789e-02 -1.17635342e-04 9.99738569e-01 -6.70590895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.248623853 meters 0.017360944527708363 Centerline is valid? [True, True] Translation: X:238.54, Y:-43.25, Z:-6.71 [[ 9.66142785e-01 2.57036822e-01 2.23649605e-02 2.38542166e+02] [-2.56967873e-01 9.66401610e-01 -5.95315543e-03 -4.32532910e+01] [-2.31437140e-02 4.52182291e-06 9.99732148e-01 -6.70667235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.308623853 meters 0.018570300084971608 Centerline is valid? [True, True] Translation: X:238.60, Y:-43.27, Z:-6.71 [[ 9.67202727e-01 2.53098044e-01 2.14537940e-02 2.38596940e+02] [-2.53033652e-01 9.67440629e-01 -5.70962638e-03 -4.32720860e+01] [-2.22003673e-02 9.38343472e-05 9.99753537e-01 -6.71128171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.368623853 meters 0.019007231986186028 Centerline is valid? [True, True] Translation: X:238.65, Y:-43.29, Z:-6.71 [[ 9.67466957e-01 2.52164871e-01 2.05077035e-02 2.38654297e+02] [-2.52105855e-01 9.67684280e-01 -5.45636411e-03 -4.32867910e+01] [-2.12208857e-02 1.08739859e-04 9.99774806e-01 -6.71461851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42862385299998 meters 0.018198715870415615 Centerline is valid? [True, True] Translation: X:238.71, Y:-43.29, Z:-6.72 [[ 9.66852812e-01 2.54580192e-01 1.96103518e-02 2.38712717e+02] [-2.54526742e-01 9.67051665e-01 -5.21673515e-03 -4.32940849e+01] [-2.02923008e-02 5.24561008e-05 9.99794089e-01 -6.71713022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48862385299998 meters 0.018799642637027363 Centerline is valid? [True, True] Translation: X:238.77, Y:-43.29, Z:-6.72 [[ 9.65207105e-01 2.60716655e-01 2.00516898e-02 2.38772345e+02] [-2.60662110e-01 9.65415361e-01 -5.33334735e-03 -4.32932786e+01] [-2.07487018e-02 -7.89310211e-05 9.99784719e-01 -6.71969249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54862385299998 meters 0.021273551997974913 Centerline is valid? [True, True] Translation: X:238.83, Y:-43.29, Z:-6.72 [[ 9.63364046e-01 2.67317531e-01 2.17037305e-02 2.38833407e+02] [-2.67255350e-01 9.63608468e-01 -5.77050381e-03 -4.32943076e+01] [-2.24564553e-02 -2.41342191e-04 9.99747793e-01 -6.71540663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60862385299998 meters 0.025310054435982134 Centerline is valid? [True, True] Translation: X:238.89, Y:-43.29, Z:-6.72 [[ 9.62202424e-01 2.71416202e-01 2.23548736e-02 2.38893150e+02] [-2.71351364e-01 9.62462012e-01 -5.94249798e-03 -4.32949953e+01] [-2.31286068e-02 -3.48139486e-04 9.99732437e-01 -6.71593073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66862385299999 meters 0.026686526765820725 Centerline is valid? [True, True] Translation: X:238.95, Y:-43.30, Z:-6.72 [[ 9.61928570e-01 2.72428753e-01 2.18174242e-02 2.38951831e+02] [-2.72367274e-01 9.62175889e-01 -5.79882416e-03 -4.33030747e+01] [-2.25719659e-02 -3.64297719e-04 9.99745154e-01 -6.71883365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.728623853 meters 0.03278264668962922 Centerline is valid? [True, True] Translation: X:239.01, Y:-43.31, Z:-6.71 [[ 9.61991817e-01 2.72304534e-01 2.05422590e-02 2.39010689e+02] [-2.72250088e-01 9.62211059e-01 -5.45592978e-03 -4.33130038e+01] [-2.12516632e-02 -3.44072009e-04 9.99774099e-01 -6.71213200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.788623853 meters 0.03553240179512068 Centerline is valid? [True, True] Translation: X:239.07, Y:-43.32, Z:-6.71 [[ 9.62534401e-01 2.70387756e-01 2.04447663e-02 2.39069163e+02] [-2.70333398e-01 9.62751459e-01 -5.42980051e-03 -4.33200585e+01] [-2.11513801e-02 -3.00533356e-04 9.99776239e-01 -6.71381214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.848623853 meters 0.021787936779859882 Centerline is valid? [True, True] Translation: X:239.13, Y:-43.33, Z:-6.73 [[ 9.63377850e-01 2.67351835e-01 2.06425266e-02 2.39126080e+02] [-2.67295820e-01 9.63598951e-01 -5.47781600e-03 -4.33344816e+01] [-2.13556211e-02 -2.40454461e-04 9.99771914e-01 -6.72511648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.908623853 meters 0.02048791456242348 Centerline is valid? [True, True] Translation: X:239.18, Y:-43.35, Z:-6.73 [[ 9.64241460e-01 2.64243340e-01 2.03436455e-02 2.39182521e+02] [-2.64188264e-01 9.64456027e-01 -5.39748958e-03 -4.33485958e+01] [-2.10468022e-02 -1.70069166e-04 9.99778477e-01 -6.72850112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.968623853 meters 0.017853192241749336 Centerline is valid? [True, True] Translation: X:239.24, Y:-43.37, Z:-6.73 [[ 9.65940998e-01 2.57923943e-01 2.08141469e-02 2.39238264e+02] [-2.57864827e-01 9.66165223e-01 -5.52196274e-03 -4.33658776e+01] [-2.15341513e-02 -3.33461929e-05 9.99768113e-01 -6.72865991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.028623853 meters 0.01954573866577221 Centerline is valid? [True, True] Translation: X:239.29, Y:-43.39, Z:-6.73 [[ 9.68060242e-01 2.49806762e-01 2.13529852e-02 2.39293331e+02] [-2.49742664e-01 9.68295699e-01 -5.66054076e-03 -4.33887369e+01] [-2.20900451e-02 1.46993043e-04 9.99755974e-01 -6.72931700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.088623853 meters 0.02595157228354101 Centerline is valid? [True, True] Translation: X:239.35, Y:-43.41, Z:-6.73 [[ 9.69968764e-01 2.42339646e-01 2.07868293e-02 2.39347144e+02] [-2.42277204e-01 9.70191425e-01 -5.50955073e-03 -4.34126033e+01] [-2.15023861e-02 3.07917227e-04 9.99768750e-01 -6.73272027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.148623853 meters 0.027963362042356506 Centerline is valid? [True, True] Translation: X:239.40, Y:-43.43, Z:-6.73 [[ 9.70794413e-01 2.39063922e-01 2.01655222e-02 2.39404459e+02] [-2.39004477e-01 9.71003762e-01 -5.34361547e-03 -4.34288932e+01] [-2.08582636e-02 3.67901964e-04 9.99782375e-01 -6.73406505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20862385299998 meters 0.03138452098861863 Centerline is valid? [True, True] Translation: X:239.46, Y:-43.44, Z:-6.73 [[ 9.71596428e-01 2.35702087e-01 2.10928468e-02 2.39461700e+02] [-2.35636266e-01 9.71825249e-01 -5.58887796e-03 -4.34443940e+01] [-2.18158713e-02 4.59894205e-04 9.99761900e-01 -6.73397865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26862385299998 meters 0.0342217278173809 Centerline is valid? [True, True] Translation: X:239.52, Y:-43.46, Z:-6.74 [[ 9.72164954e-01 2.33355491e-01 2.09884897e-02 2.39518633e+02] [-2.33289789e-01 9.72391359e-01 -5.56048331e-03 -4.34609725e+01] [-2.17065954e-02 5.09306668e-04 9.99764254e-01 -6.73566158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32862385299998 meters 0.034098924817068776 Centerline is valid? [True, True] Translation: X:239.58, Y:-43.48, Z:-6.74 [[ 9.72541144e-01 2.31811685e-01 2.06655505e-02 2.39575297e+02] [-2.31747655e-01 9.72760534e-01 -5.47429523e-03 -4.34758117e+01] [-2.13716375e-02 5.34784481e-04 9.99771457e-01 -6.73698414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38862385299998 meters 0.0389246351444513 Centerline is valid? [True, True] Translation: X:239.63, Y:-43.50, Z:-6.74 [[ 9.72955036e-01 2.30109590e-01 2.02008791e-02 2.39629378e+02] [-2.30048058e-01 9.73164562e-01 -5.35032772e-03 -4.34974779e+01] [-2.08899414e-02 5.58455294e-04 9.99781625e-01 -6.74075029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.448623853 meters 0.037741084526437124 Centerline is valid? [True, True] Translation: X:239.69, Y:-43.51, Z:-6.74 [[ 9.73110300e-01 2.29423807e-01 2.05197428e-02 2.39686063e+02] [-2.29360194e-01 9.73326450e-01 -5.43345305e-03 -4.35123409e+01] [-2.12189719e-02 5.80936961e-04 9.99774683e-01 -6.74075090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.508623853 meters 0.03736321406992399 Centerline is valid? [True, True] Translation: X:239.74, Y:-43.53, Z:-6.74 [[ 9.73219189e-01 2.28933940e-01 2.08245431e-02 2.39742800e+02] [-2.28868331e-01 9.73441776e-01 -5.51316105e-03 -4.35294798e+01] [-2.15336299e-02 5.99435687e-04 9.99767945e-01 -6.74122250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.568623853 meters 0.03797969077248964 Centerline is valid? [True, True] Translation: X:239.80, Y:-43.55, Z:-6.74 [[ 9.73244322e-01 2.28830670e-01 2.07849753e-02 2.39798015e+02] [-2.28765305e-01 9.73466057e-01 -5.50183196e-03 -4.35464844e+01] [-2.14924558e-02 5.99745488e-04 9.99768831e-01 -6.74355225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.628623853 meters 0.03705296675834906 Centerline is valid? [True, True] Translation: X:239.85, Y:-43.56, Z:-6.75 [[ 9.72959732e-01 2.30124055e-01 1.98060282e-02 2.39853980e+02] [-2.30065002e-01 9.73161150e-01 -5.24120986e-03 -4.35645088e+01] [-2.04805856e-02 5.42812240e-04 9.99790103e-01 -6.74773868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.688623853 meters 0.031240795841457482 Centerline is valid? [True, True] Translation: X:239.91, Y:-43.58, Z:-6.75 [[ 9.72115011e-01 2.33797750e-01 1.81938946e-02 2.39912944e+02] [-2.33748580e-01 9.72285159e-01 -4.81364038e-03 -4.35752205e+01] [-1.88150720e-02 4.26615040e-04 9.99822890e-01 -6.75145181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.748623853 meters 0.026666195253620507 Centerline is valid? [True, True] Translation: X:239.97, Y:-43.59, Z:-6.75 [[ 9.70793544e-01 2.39221450e-01 1.82480802e-02 2.39971793e+02] [-2.39172952e-01 9.70964981e-01 -4.82752100e-03 -4.35855834e+01] [-1.88730934e-02 3.22079012e-04 9.99821835e-01 -6.75292210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.808623853 meters 0.026952875131597713 Centerline is valid? [True, True] Translation: X:240.03, Y:-43.59, Z:-6.75 [[ 9.69452905e-01 2.44605718e-01 1.81413435e-02 2.40030825e+02] [-2.44558731e-01 9.69622605e-01 -4.79906109e-03 -4.35940034e+01] [-1.87641345e-02 2.15839767e-04 9.99823915e-01 -6.74582666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.868623853 meters 0.028853323786552542 Centerline is valid? [True, True] Translation: X:240.09, Y:-43.60, Z:-6.74 [[ 9.68509331e-01 2.48269046e-01 1.87658444e-02 2.40089187e+02] [-2.48219474e-01 9.68691106e-01 -4.96330585e-03 -4.36037087e+01] [-1.94105418e-02 1.48960009e-04 9.99811587e-01 -6.74436245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92862385299998 meters 0.017579767973866334 Centerline is valid? [True, True] Translation: X:240.15, Y:-43.61, Z:-6.75 [[ 9.67351610e-01 2.52651388e-01 1.99534221e-02 2.40145805e+02] [-2.52596295e-01 9.67557374e-01 -5.27634975e-03 -4.36132453e+01] [-2.06391578e-02 6.39249223e-05 9.99786988e-01 -6.75367799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98862385299998 meters 0.01715613422035933 Centerline is valid? [True, True] Translation: X:240.20, Y:-43.63, Z:-6.75 [[ 9.66767103e-01 2.54834527e-01 2.05117496e-02 2.40202660e+02] [-2.54776828e-01 9.66984676e-01 -5.42259644e-03 -4.36258073e+01] [-2.12164124e-02 1.64693566e-05 9.99774906e-01 -6.75450970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04862385299998 meters 0.017293629787771898 Centerline is valid? [True, True] Translation: X:240.26, Y:-43.64, Z:-6.76 [[ 9.67012841e-01 2.53903265e-01 2.04767480e-02 2.40258902e+02] [-2.53845580e-01 9.67229616e-01 -5.41211994e-03 -4.36416940e+01] [-2.11798720e-02 3.56575081e-05 9.99775681e-01 -6.75598264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10862385299998 meters 0.018738535017053762 Centerline is valid? [True, True] Translation: X:240.31, Y:-43.66, Z:-6.76 [[ 9.68097725e-01 2.49780444e-01 1.99129321e-02 2.40312125e+02] [-2.49725049e-01 9.68302492e-01 -5.26163461e-03 -4.36645293e+01] [-2.05959952e-02 1.21018546e-04 9.99787873e-01 -6.76007035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16862385299999 meters 0.020589920571427372 Centerline is valid? [True, True] Translation: X:240.37, Y:-43.69, Z:-6.76 [[ 9.68928197e-01 2.46612487e-01 1.89849887e-02 2.40367067e+02] [-2.46561557e-01 9.69114157e-01 -5.01489817e-03 -4.36869175e+01] [-1.96353579e-02 1.78107862e-04 9.99807192e-01 -6.76337955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.228623853 meters 0.0236440712531546 Centerline is valid? [True, True] Translation: X:240.42, Y:-43.71, Z:-6.76 [[ 9.70170614e-01 2.41686576e-01 1.88832825e-02 2.40421488e+02] [-2.41635276e-01 9.70354329e-01 -4.98701440e-03 -4.37123254e+01] [-1.95287694e-02 2.75387639e-04 9.99809257e-01 -6.76481343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.288623853 meters 0.028010439203846188 Centerline is valid? [True, True] Translation: X:240.47, Y:-43.74, Z:-6.77 [[ 9.71285861e-01 2.37181529e-01 1.86734517e-02 2.40474792e+02] [-2.37130541e-01 9.71465281e-01 -4.93100551e-03 -4.37402424e+01] [-1.93101534e-02 3.61370229e-04 9.99813476e-01 -6.76728429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.348623853 meters 0.030295545837633414 Centerline is valid? [True, True] Translation: X:240.53, Y:-43.77, Z:-6.77 [[ 9.72133505e-01 2.33555208e-01 2.02092573e-02 2.40529946e+02] [-2.33494731e-01 9.72343430e-01 -5.33523258e-03 -4.37654420e+01] [-2.08964100e-02 4.67803243e-04 9.99781537e-01 -6.76527874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.408623853 meters 0.031991542669982345 Centerline is valid? [True, True] Translation: X:240.59, Y:-43.79, Z:-6.77 [[ 9.72723917e-01 2.31118556e-01 1.98089512e-02 2.40585282e+02] [-2.31059954e-01 9.72925461e-01 -5.22915827e-03 -4.37875054e+01] [-2.04811885e-02 5.09471947e-04 9.99790109e-01 -6.76718320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.468623853 meters 0.035186192557080435 Centerline is valid? [True, True] Translation: X:240.64, Y:-43.81, Z:-6.77 [[ 9.73220436e-01 2.29105821e-01 1.87751122e-02 2.40639386e+02] [-2.29052820e-01 9.73401382e-01 -4.95537267e-03 -4.38146975e+01] [-1.94110249e-02 5.22177560e-04 9.99811452e-01 -6.77113132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.528623853 meters 0.03367228547071856 Centerline is valid? [True, True] Translation: X:240.70, Y:-43.84, Z:-6.77 [[ 9.73163025e-01 2.29333795e-01 1.89667399e-02 2.40695897e+02] [-2.29279752e-01 9.73347696e-01 -5.00580775e-03 -4.38358104e+01] [-1.96092335e-02 5.22777583e-04 9.99807584e-01 -6.77157052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.588623853 meters 0.033049450399320286 Centerline is valid? [True, True] Translation: X:240.75, Y:-43.86, Z:-6.77 [[ 9.72655454e-01 2.31484083e-01 1.88808724e-02 2.40751024e+02] [-2.31430942e-01 9.72838575e-01 -4.98266423e-03 -4.38582321e+01] [-1.95214485e-02 4.76797446e-04 9.99809325e-01 -6.77371892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.648623853 meters 0.02781195601800886 Centerline is valid? [True, True] Translation: X:240.81, Y:-43.87, Z:-6.77 [[ 9.71765678e-01 2.35151252e-01 1.93740786e-02 2.40809457e+02] [-2.35096040e-01 9.71958702e-01 -5.11212259e-03 -4.38731863e+01] [-2.00329264e-02 4.13016101e-04 9.99799235e-01 -6.77315167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70862385299998 meters 0.02664518944454185 Centerline is valid? [True, True] Translation: X:240.87, Y:-43.89, Z:-6.77 [[ 9.71092709e-01 2.37852265e-01 2.01308395e-02 2.40866559e+02] [-2.37793235e-01 9.71301273e-01 -5.31180457e-03 -4.38918466e+01] [-2.08165348e-02 3.71277230e-04 9.99783244e-01 -6.77377675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76862385299998 meters 0.022596225673438153 Centerline is valid? [True, True] Translation: X:240.92, Y:-43.91, Z:-6.77 [[ 9.69971513e-01 2.42360414e-01 2.04130769e-02 2.40924689e+02] [-2.42300710e-01 9.70186246e-01 -5.38646037e-03 -4.39071315e+01] [-2.11099512e-02 2.78610082e-04 9.99777121e-01 -6.77399359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82862385299998 meters 0.018927695462744035 Centerline is valid? [True, True] Translation: X:240.98, Y:-43.92, Z:-6.78 [[ 9.68719254e-01 2.47358868e-01 1.99147336e-02 2.40983463e+02] [-2.47303112e-01 9.68923920e-01 -5.25430436e-03 -4.39202754e+01] [-2.05955605e-02 1.64970202e-04 9.99787875e-01 -6.77549414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88862385299998 meters 0.02586303177577721 Centerline is valid? [True, True] Translation: X:241.04, Y:-43.94, Z:-6.77 [[ 9.67809966e-01 2.50936954e-01 1.93524073e-02 2.41039644e+02] [-2.50885018e-01 9.68003429e-01 -5.10589021e-03 -4.39378831e+01] [-2.00144532e-02 8.63023741e-05 9.99799687e-01 -6.77485321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.948623853 meters 0.017467351792908828 Centerline is valid? [True, True] Translation: X:241.10, Y:-43.95, Z:-6.78 [[ 9.67445408e-01 2.52376867e-01 1.88493922e-02 2.41096473e+02] [-2.52327881e-01 9.67629017e-01 -4.97256773e-03 -4.39535294e+01] [-1.94941799e-02 5.44606233e-05 9.99809969e-01 -6.78132102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.008623853 meters 0.01714923075901268 Centerline is valid? [True, True] Translation: X:241.15, Y:-43.97, Z:-6.78 [[ 9.66966059e-01 2.54194250e-01 1.90243003e-02 2.41152861e+02] [-2.54144722e-01 9.67153185e-01 -5.01772734e-03 -4.39720811e+01] [-1.96748901e-02 1.70465224e-05 9.99806430e-01 -6.78226411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.068623853 meters 0.016870414148788364 Centerline is valid? [True, True] Translation: X:241.21, Y:-43.99, Z:-6.78 [[ 9.66739370e-01 2.55025355e-01 1.94180057e-02 2.41209103e+02] [-2.54973947e-01 9.66934366e-01 -5.12034330e-03 -4.39921439e+01] [-2.00817544e-02 -1.04811349e-06 9.99798341e-01 -6.78228197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.128623853 meters 0.016741961234335814 Centerline is valid? [True, True] Translation: X:241.27, Y:-44.01, Z:-6.78 [[ 9.66356649e-01 2.56396142e-01 2.03922999e-02 2.41265997e+02] [-2.56339763e-01 9.66571786e-01 -5.37668980e-03 -4.40097769e+01] [-2.10891842e-02 -3.15573774e-05 9.99777598e-01 -6.78218192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.188623853 meters 0.01727046312154111 Centerline is valid? [True, True] Translation: X:241.32, Y:-44.03, Z:-6.79 [[ 9.65929295e-01 2.58086583e-01 1.92850630e-02 2.41321783e+02] [-2.58036504e-01 9.66121789e-01 -5.08438635e-03 -4.40264868e+01] [-1.99439315e-02 -6.50925262e-05 9.99801098e-01 -6.78557048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.248623853 meters 0.017549186394422177 Centerline is valid? [True, True] Translation: X:241.38, Y:-44.04, Z:-6.79 [[ 9.65642125e-01 2.59191580e-01 1.88417350e-02 2.41378905e+02] [-2.59144003e-01 9.65825925e-01 -4.96671324e-03 -4.40441448e+01] [-1.94851664e-02 -8.66551094e-05 9.99810142e-01 -6.78744258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.308623853 meters 0.018809170963639325 Centerline is valid? [True, True] Translation: X:241.44, Y:-44.06, Z:-6.79 [[ 9.64813948e-01 2.62233154e-01 1.91786190e-02 2.41435775e+02] [-2.62184469e-01 9.65004534e-01 -5.05510290e-03 -4.40588182e+01] [-1.98330698e-02 -1.51102237e-04 9.99803294e-01 -6.78785277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.368623853 meters 0.02149429328732236 Centerline is valid? [True, True] Translation: X:241.49, Y:-44.07, Z:-6.79 [[ 9.63668318e-01 2.66402679e-01 1.93128460e-02 2.41493793e+02] [-2.66354162e-01 9.63861793e-01 -5.08972786e-03 -4.40687434e+01] [-1.99708315e-02 -2.39247426e-04 9.99800534e-01 -6.79007349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42862385299998 meters 0.022595635760123266 Centerline is valid? [True, True] Translation: X:241.55, Y:-44.08, Z:-6.79 [[ 9.63345187e-01 2.67584077e-01 1.91000705e-02 2.41550957e+02] [-2.67536867e-01 9.63534480e-01 -5.03303754e-03 -4.40824435e+01] [-1.97503372e-02 -2.61420541e-04 9.99804909e-01 -6.79230217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48862385299998 meters 0.025366993987250726 Centerline is valid? [True, True] Translation: X:241.61, Y:-44.09, Z:-6.80 [[ 9.62632933e-01 2.70238637e-01 1.75760071e-02 2.41610023e+02] [-2.70199121e-01 9.62793329e-01 -4.63043648e-03 -4.40931260e+01] [-1.81733852e-02 -2.91611027e-04 9.99834808e-01 -6.79675792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54862385299998 meters 0.026250164049819117 Centerline is valid? [True, True] Translation: X:241.67, Y:-44.11, Z:-6.80 [[ 9.62306854e-01 2.71364671e-01 1.80758141e-02 2.41667171e+02] [-2.71323076e-01 9.62476551e-01 -4.76197377e-03 -4.41054156e+01] [-1.86897787e-02 -3.21905511e-04 9.99825279e-01 -6.79681956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60862385299998 meters 0.02376530493515256 Centerline is valid? [True, True] Translation: X:241.72, Y:-44.12, Z:-6.79 [[ 9.62553252e-01 2.70340274e-01 2.01834679e-02 2.41724323e+02] [-2.70288221e-01 9.62764780e-01 -5.31564087e-03 -4.41221901e+01] [-2.08689638e-02 -3.38766218e-04 9.99782162e-01 -6.79273635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66862385299999 meters 0.02247734772908456 Centerline is valid? [True, True] Translation: X:241.78, Y:-44.14, Z:-6.79 [[ 9.62990514e-01 2.68705504e-01 2.11334252e-02 2.41780845e+02] [-2.68648059e-01 9.63222327e-01 -5.56503126e-03 -4.41394246e+01] [-2.18515415e-02 -3.18381332e-04 9.99761176e-01 -6.79245536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.728623853 meters 0.020763947760106174 Centerline is valid? [True, True] Translation: X:241.84, Y:-44.16, Z:-6.79 [[ 9.64107254e-01 2.64622212e-01 2.17321991e-02 2.41837069e+02] [-2.64560457e-01 9.64352130e-01 -5.72134856e-03 -4.41554020e+01] [-2.24714884e-02 -2.33486889e-04 9.99747457e-01 -6.79393336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.788623853 meters 0.017771729264589572 Centerline is valid? [True, True] Translation: X:241.89, Y:-44.18, Z:-6.80 [[ 9.65508919e-01 2.59572788e-01 2.03591447e-02 2.41893349e+02] [-2.59517474e-01 9.65723540e-01 -5.35955056e-03 -4.41775890e+01] [-2.10524987e-02 -1.08859939e-04 9.99778366e-01 -6.79829135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.848623853 meters 0.01700671796302991 Centerline is valid? [True, True] Translation: X:241.95, Y:-44.20, Z:-6.80 [[ 9.66435463e-01 2.56165337e-01 1.95401262e-02 2.41951439e+02] [-2.56113698e-01 9.66632981e-01 -5.14343682e-03 -4.41983170e+01] [-2.02057007e-02 -3.36942317e-05 9.99795843e-01 -6.80099858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.908623853 meters 0.01766493249465633 Centerline is valid? [True, True] Translation: X:242.01, Y:-44.22, Z:-6.80 [[ 9.67696865e-01 2.51439952e-01 1.84588277e-02 2.42009443e+02] [-2.51393026e-01 9.67872898e-01 -4.85796425e-03 -4.42208123e+01] [-1.90872854e-02 6.06162195e-05 9.99817819e-01 -6.80418113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.968623853 meters 0.0185652727572579 Centerline is valid? [True, True] Translation: X:242.07, Y:-44.24, Z:-6.81 [[ 9.68032293e-01 2.50086461e-01 1.92416887e-02 2.42067155e+02] [-2.50035104e-01 9.68223504e-01 -5.06889274e-03 -4.42398081e+01] [-1.98979167e-02 9.57542124e-05 9.99802012e-01 -6.80662368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.028623853 meters 0.018933550903036934 Centerline is valid? [True, True] Translation: X:242.12, Y:-44.26, Z:-6.81 [[ 9.68268770e-01 2.49101404e-01 2.01017214e-02 2.42124379e+02] [-2.49045127e-01 9.68477401e-01 -5.29612362e-03 -4.42555806e+01] [-2.07873347e-02 1.21835342e-04 9.99783913e-01 -6.80650900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.088623853 meters 0.019573437289292093 Centerline is valid? [True, True] Translation: X:242.18, Y:-44.27, Z:-6.81 [[ 9.68434542e-01 2.48528372e-01 1.91881661e-02 2.42180483e+02] [-2.48477002e-01 9.68624608e-01 -5.05444097e-03 -4.42729552e+01] [-1.98423018e-02 1.27077246e-04 9.99803114e-01 -6.80949284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.148623853 meters 0.01936858898778343 Centerline is valid? [True, True] Translation: X:242.24, Y:-44.29, Z:-6.81 [[ 9.68371964e-01 2.48787429e-01 1.89882635e-02 2.42237099e+02] [-2.48737180e-01 9.68558104e-01 -5.00143785e-03 -4.42871018e+01] [-1.96355313e-02 1.20165074e-04 9.99807197e-01 -6.81184047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20862385299998 meters 0.017647836331030654 Centerline is valid? [True, True] Translation: X:242.30, Y:-44.30, Z:-6.81 [[ 9.67909373e-01 2.50499114e-01 2.00409415e-02 2.42295991e+02] [-2.50443533e-01 9.68116825e-01 -5.27741398e-03 -4.43001714e+01] [-2.07239602e-02 8.89342601e-05 9.99785232e-01 -6.80914683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26862385299998 meters 0.025417472199924844 Centerline is valid? [True, True] Translation: X:242.35, Y:-44.31, Z:-6.81 [[ 9.67359758e-01 2.52666614e-01 1.93566835e-02 2.42353791e+02] [-2.52615196e-01 9.67553399e-01 -5.09731994e-03 -4.43131981e+01] [-2.00165475e-02 4.11497882e-05 9.99799648e-01 -6.80614674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32862385299998 meters 0.017221191875872927 Centerline is valid? [True, True] Translation: X:242.41, Y:-44.32, Z:-6.81 [[ 9.66383302e-01 2.56288298e-01 2.04846687e-02 2.42410353e+02] [-2.56231524e-01 9.66600386e-01 -5.39436805e-03 -4.43231236e+01] [-2.11830021e-02 -3.57906855e-05 9.99775614e-01 -6.81330950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38862385299998 meters 0.019762803219618725 Centerline is valid? [True, True] Translation: X:242.47, Y:-44.33, Z:-6.82 [[ 9.65086905e-01 2.61130675e-01 2.04459598e-02 2.42469407e+02] [-2.61075226e-01 9.65303450e-01 -5.38294221e-03 -4.43293573e+01] [-2.11422069e-02 -1.42926535e-04 9.99776468e-01 -6.81532216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.448623853 meters 0.021921129671447014 Centerline is valid? [True, True] Translation: X:242.53, Y:-44.34, Z:-6.81 [[ 9.63545321e-01 2.66768601e-01 2.03697976e-02 2.42528981e+02] [-2.66714844e-01 9.63760573e-01 -5.36186179e-03 -4.43384790e+01] [-2.10619842e-02 -2.66530546e-04 9.99778136e-01 -6.81335197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.508623853 meters 0.02783179166102307 Centerline is valid? [True, True] Translation: X:242.59, Y:-44.34, Z:-6.82 [[ 9.61949229e-01 2.72496368e-01 1.99852735e-02 2.42588995e+02] [-2.72445864e-01 9.62156734e-01 -5.26023570e-03 -4.43411561e+01] [-2.06623606e-02 -3.84825429e-04 9.99786437e-01 -6.81646674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.568623853 meters 0.030774327448375927 Centerline is valid? [True, True] Translation: X:242.65, Y:-44.35, Z:-6.82 [[ 9.60623624e-01 2.77066850e-01 2.08857088e-02 2.42649589e+02] [-2.77012789e-01 9.60850511e-01 -5.49634025e-03 -4.43465091e+01] [-2.15908977e-02 -5.05694170e-04 9.99766762e-01 -6.81561475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.628623853 meters 0.03214359266094497 Centerline is valid? [True, True] Translation: X:242.71, Y:-44.36, Z:-6.82 [[ 9.60193700e-01 2.78525040e-01 2.12570295e-02 2.42708168e+02] [-2.78469405e-01 9.60428811e-01 -5.59365061e-03 -4.43552037e+01] [-2.19738353e-02 -5.48444294e-04 9.99758396e-01 -6.81732179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.688623853 meters 0.03248204815212152 Centerline is valid? [True, True] Translation: X:242.76, Y:-44.37, Z:-6.82 [[ 9.60633156e-01 2.77058486e-01 2.05556536e-02 2.42764507e+02] [-2.77006146e-01 9.60852927e-01 -5.40816858e-03 -4.43666924e+01] [-2.12493389e-02 -4.98776322e-04 9.99774083e-01 -6.82188483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.748623853 meters 0.027742605137059437 Centerline is valid? [True, True] Translation: X:242.82, Y:-44.39, Z:-6.82 [[ 9.61902325e-01 2.72639346e-01 2.02904956e-02 2.42821372e+02] [-2.72587397e-01 9.62116224e-01 -5.33683445e-03 -4.43857397e+01] [-2.09768460e-02 -3.97419918e-04 9.99779883e-01 -6.82423837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.808623853 meters 0.02869427955994937 Centerline is valid? [True, True] Translation: X:242.88, Y:-44.41, Z:-6.82 [[ 9.63570420e-01 2.66779036e-01 1.89997820e-02 2.42878176e+02] [-2.66732350e-01 9.63757688e-01 -4.99713612e-03 -4.44061382e+01] [-1.96443172e-02 -2.52763963e-04 9.99807000e-01 -6.82082392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.868623853 meters 0.019389546321646602 Centerline is valid? [True, True] Translation: X:242.93, Y:-44.43, Z:-6.83 [[ 9.65033804e-01 2.61392749e-01 1.95853888e-02 2.42932970e+02] [-2.61342030e-01 9.65232515e-01 -5.15117785e-03 -4.44276809e+01] [-2.02509347e-02 -1.47424518e-04 9.99794918e-01 -6.82927808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92862385299998 meters 0.017947502756020018 Centerline is valid? [True, True] Translation: X:242.99, Y:-44.44, Z:-6.83 [[ 9.65934727e-01 2.57999468e-01 2.01588372e-02 2.42988097e+02] [-2.57945015e-01 9.66145056e-01 -5.30104572e-03 -4.44443322e+01] [-2.08440279e-02 -7.94074087e-05 9.99782736e-01 -6.83069314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98862385299998 meters 0.017380568545485753 Centerline is valid? [True, True] Translation: X:243.04, Y:-44.47, Z:-6.83 [[ 9.66987471e-01 2.54008139e-01 2.03739212e-02 2.43043792e+02] [-2.53951659e-01 9.67202081e-01 -5.35625221e-03 -4.44653275e+01] [-2.10662306e-02 5.43768960e-06 9.99778082e-01 -6.83216040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04862385299998 meters 0.022866316465738067 Centerline is valid? [True, True] Translation: X:243.10, Y:-44.49, Z:-6.83 [[ 9.67749569e-01 2.51234065e-01 1.84990990e-02 2.43099261e+02] [-2.51187013e-01 9.67926361e-01 -4.86247957e-03 -4.44851412e+01] [-1.91273861e-02 5.89290782e-05 9.99817053e-01 -6.83118442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10862385299998 meters 0.018250883176974434 Centerline is valid? [True, True] Translation: X:243.16, Y:-44.50, Z:-6.84 [[ 9.67783700e-01 2.51020967e-01 1.95751026e-02 2.43155575e+02] [-2.50968251e-01 9.67981647e-01 -5.14462423e-03 -4.45017401e+01] [-2.02397486e-02 6.61542080e-05 9.99795153e-01 -6.83722462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16862385299999 meters 0.01752367605217933 Centerline is valid? [True, True] Translation: X:243.21, Y:-44.51, Z:-6.84 [[ 9.67041532e-01 2.53834431e-01 1.99688853e-02 2.43212706e+02] [-2.53780191e-01 9.67247684e-01 -5.24722614e-03 -4.45119516e+01] [-2.06467847e-02 6.57807836e-06 9.99786832e-01 -6.83797770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.228623853 meters 0.017702145207301224 Centerline is valid? [True, True] Translation: X:243.27, Y:-44.52, Z:-6.84 [[ 9.66169922e-01 2.57119050e-01 2.01364408e-02 2.43270690e+02] [-2.57064636e-01 9.66379734e-01 -5.28991190e-03 -4.45214012e+01] [-2.08195854e-02 -6.54130472e-05 9.99783247e-01 -6.83774949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.288623853 meters 0.025826178340814212 Centerline is valid? [True, True] Translation: X:243.33, Y:-44.53, Z:-6.83 [[ 9.64937871e-01 2.61798854e-01 1.88749947e-02 2.43330377e+02] [-2.61751955e-01 9.65122446e-01 -4.95765348e-03 -4.45278412e+01] [-1.95145891e-02 -1.56739181e-04 9.99809560e-01 -6.83429251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.348623853 meters 0.026917657371135207 Centerline is valid? [True, True] Translation: X:243.39, Y:-44.54, Z:-6.84 [[ 9.64420472e-01 2.63745122e-01 1.82116391e-02 2.43388022e+02] [-2.63701825e-01 9.64592388e-01 -4.78253860e-03 -4.45389956e+01] [-1.88281797e-02 -1.90064329e-04 9.99822716e-01 -6.83700152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.408623853 meters 0.02131119752169491 Centerline is valid? [True, True] Translation: X:243.44, Y:-44.55, Z:-6.84 [[ 9.64093839e-01 2.64867400e-01 1.91919305e-02 2.43444347e+02] [-2.64819559e-01 9.64284818e-01 -5.03894126e-03 -4.45537806e+01] [-1.98411385e-02 -2.24386346e-04 9.99803120e-01 -6.84465284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.468623853 meters 0.02148256381564362 Centerline is valid? [True, True] Translation: X:243.50, Y:-44.57, Z:-6.85 [[ 9.63955599e-01 2.65364653e-01 1.92666709e-02 2.43501136e+02] [-2.65316558e-01 9.64148093e-01 -5.05756564e-03 -4.45683652e+01] [-1.99180231e-02 -2.36498092e-04 9.99801589e-01 -6.84540014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.528623853 meters 0.023751047050696826 Centerline is valid? [True, True] Translation: X:243.56, Y:-44.58, Z:-6.85 [[ 9.63596157e-01 2.66681997e-01 1.90567482e-02 2.43559087e+02] [-2.66635219e-01 9.63784542e-01 -5.00157980e-03 -4.45762810e+01] [-1.97004306e-02 -2.61697155e-04 9.99805893e-01 -6.84902231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.588623853 meters 0.028518161810008637 Centerline is valid? [True, True] Translation: X:243.62, Y:-44.59, Z:-6.85 [[ 9.63724046e-01 2.66321419e-01 1.75745717e-02 2.43616423e+02] [-2.66281596e-01 9.63884249e-01 -4.61144590e-03 -4.45909661e+01] [-1.81679796e-02 -2.35623684e-04 9.99834921e-01 -6.84549386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.648623853 meters 0.021498344935497085 Centerline is valid? [True, True] Translation: X:243.67, Y:-44.61, Z:-6.85 [[ 9.64315506e-01 2.64066640e-01 1.90896304e-02 2.43671922e+02] [-2.64019234e-01 9.64504414e-01 -5.00789340e-03 -4.46090896e+01] [-1.97344504e-02 -2.10840341e-04 9.99805235e-01 -6.85188008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70862385299998 meters 0.024388654230509482 Centerline is valid? [True, True] Translation: X:243.73, Y:-44.63, Z:-6.85 [[ 9.65179673e-01 2.60877816e-01 1.92604397e-02 2.43728399e+02] [-2.60828942e-01 9.65371816e-01 -5.05171987e-03 -4.46274649e+01] [-1.99113673e-02 -1.47862764e-04 9.99801738e-01 -6.84549503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76862385299998 meters 0.01895802336420958 Centerline is valid? [True, True] Translation: X:243.78, Y:-44.64, Z:-6.85 [[ 9.65460231e-01 2.59813322e-01 1.95852250e-02 2.43784659e+02] [-2.59762586e-01 9.65658853e-01 -5.13590943e-03 -4.46436857e+01] [-2.02470236e-02 -1.28992405e-04 9.99795000e-01 -6.85380661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82862385299998 meters 0.01911609669459568 Centerline is valid? [True, True] Translation: X:243.84, Y:-44.66, Z:-6.86 [[ 9.65358314e-01 2.60210433e-01 1.93353351e-02 2.43841529e+02] [-2.60161083e-01 9.65551921e-01 -5.06942486e-03 -4.46586337e+01] [-1.99883872e-02 -1.36490290e-04 9.99800203e-01 -6.85509606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88862385299998 meters 0.019683755925179795 Centerline is valid? [True, True] Translation: X:243.90, Y:-44.67, Z:-6.86 [[ 9.65123289e-01 2.61048088e-01 1.97720343e-02 2.43898727e+02] [-2.60996679e-01 9.65325785e-01 -5.18294899e-03 -4.46702046e+01] [-2.04394534e-02 -1.58250506e-04 9.99791080e-01 -6.85713530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.948623853 meters 0.019961072353270555 Centerline is valid? [True, True] Translation: X:243.96, Y:-44.68, Z:-6.86 [[ 9.65023248e-01 2.61423533e-01 1.96943463e-02 2.43956092e+02] [-2.61372633e-01 9.65224175e-01 -5.16122543e-03 -4.46836177e+01] [-2.03587250e-02 -1.66860621e-04 9.99792726e-01 -6.85905029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.008623853 meters 0.019818109780028244 Centerline is valid? [True, True] Translation: X:244.01, Y:-44.70, Z:-6.86 [[ 9.64861382e-01 2.62019172e-01 1.97095612e-02 2.44012902e+02] [-2.61968337e-01 9.65062651e-01 -5.16424904e-03 -4.46985054e+01] [-2.03740937e-02 -1.80496509e-04 9.99792410e-01 -6.85968499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.068623853 meters 0.020247152083916028 Centerline is valid? [True, True] Translation: X:244.07, Y:-44.71, Z:-6.86 [[ 9.64832966e-01 2.62107336e-01 1.99271731e-02 2.44069138e+02] [-2.62055411e-01 9.65038709e-01 -5.22029119e-03 -4.47107931e+01] [-2.05987700e-02 -1.85314503e-04 9.99787806e-01 -6.86112802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.128623853 meters 0.02017690301742908 Centerline is valid? [True, True] Translation: X:244.12, Y:-44.73, Z:-6.86 [[ 9.64980475e-01 2.61558758e-01 1.99924578e-02 2.44124528e+02] [-2.61506402e-01 9.65187539e-01 -5.23607945e-03 -4.47256798e+01] [-2.06660136e-02 -1.75441269e-04 9.99786420e-01 -6.86361660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.188623853 meters 0.019047100778644233 Centerline is valid? [True, True] Translation: X:244.18, Y:-44.75, Z:-6.87 [[ 9.65637312e-01 2.59146043e-01 1.96954361e-02 2.44179998e+02] [-2.59094755e-01 9.65838140e-01 -5.15698629e-03 -4.47459652e+01] [-2.03590160e-02 -1.23205818e-04 9.99792726e-01 -6.86567619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.248623853 meters 0.018025173028920264 Centerline is valid? [True, True] Translation: X:244.24, Y:-44.77, Z:-6.87 [[ 9.66533104e-01 2.55818054e-01 1.92583110e-02 2.44235029e+02] [-2.55768375e-01 9.66724946e-01 -5.04160649e-03 -4.47663877e+01] [-1.99072236e-02 -5.27873314e-05 9.99801830e-01 -6.86765492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.308623853 meters 0.017701740107365013 Centerline is valid? [True, True] Translation: X:244.29, Y:-44.79, Z:-6.87 [[ 9.67273718e-01 2.52949681e-01 1.99502829e-02 2.44289955e+02] [-2.52895779e-01 9.67479436e-01 -5.22169909e-03 -4.47871757e+01] [-2.06223156e-02 5.46994032e-06 9.99787337e-01 -6.86765913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.368623853 meters 0.018066315117047774 Centerline is valid? [True, True] Translation: X:244.35, Y:-44.81, Z:-6.87 [[ 9.67967450e-01 2.50329470e-01 1.93435125e-02 2.44345920e+02] [-2.50278296e-01 9.68160706e-01 -5.06175167e-03 -4.48099608e+01] [-1.99947343e-02 5.83495105e-05 9.99800084e-01 -6.87015147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42862385299998 meters 0.018597501379862724 Centerline is valid? [True, True] Translation: X:244.40, Y:-44.83, Z:-6.87 [[ 9.68385951e-01 2.48755025e-01 1.86972818e-02 2.44401767e+02] [-2.48706927e-01 9.68566430e-01 -4.89229306e-03 -4.48293160e+01] [-1.93265419e-02 8.74843748e-05 9.99813221e-01 -6.87308936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48862385299998 meters 0.01897637361239279 Centerline is valid? [True, True] Translation: X:244.46, Y:-44.85, Z:-6.87 [[ 9.68819447e-01 2.47019825e-01 1.92376130e-02 2.44458961e+02] [-2.46968589e-01 9.69010418e-01 -5.03241616e-03 -4.48515149e+01] [-1.98845540e-02 1.24416502e-04 9.99802275e-01 -6.87304047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54862385299998 meters 0.019094837482827007 Centerline is valid? [True, True] Translation: X:244.52, Y:-44.87, Z:-6.87 [[ 9.68747459e-01 2.47273750e-01 1.95972746e-02 2.44517148e+02] [-2.47220643e-01 9.68945653e-01 -5.12599148e-03 -4.48726854e+01] [-2.02562172e-02 1.20940381e-04 9.99794814e-01 -6.87369282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60862385299998 meters 0.01820772935230935 Centerline is valid? [True, True] Translation: X:244.57, Y:-44.89, Z:-6.87 [[ 9.68284427e-01 2.49023510e-01 2.03115872e-02 2.44574844e+02] [-2.48966746e-01 9.68497436e-01 -5.31754785e-03 -4.48908744e+01] [-2.09959145e-02 9.19890177e-05 9.99779557e-01 -6.87308958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66862385299999 meters 0.017495811985127948 Centerline is valid? [True, True] Translation: X:244.63, Y:-44.91, Z:-6.87 [[ 9.67715084e-01 2.51235877e-01 2.02002448e-02 2.44633798e+02] [-2.51180215e-01 9.67925892e-01 -5.28839856e-03 -4.49056213e+01] [-2.08809754e-02 4.37612278e-05 9.99781968e-01 -6.87414897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.728623853 meters 0.0180773178245712 Centerline is valid? [True, True] Translation: X:244.69, Y:-44.92, Z:-6.88 [[ 9.66307265e-01 2.56714696e-01 1.86503338e-02 2.44692876e+02] [-2.56668268e-01 9.66487227e-01 -4.88263382e-03 -4.49182116e+01] [-1.92787532e-02 -6.88243415e-05 9.99814145e-01 -6.87924023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.788623853 meters 0.01926489929597229 Centerline is valid? [True, True] Translation: X:244.75, Y:-44.93, Z:-6.88 [[ 9.65395582e-01 2.60138773e-01 1.84170640e-02 2.44750962e+02] [-2.60094117e-01 9.65571230e-01 -4.82178145e-03 -4.49303963e+01] [-1.90373195e-02 -1.35243504e-04 9.99818765e-01 -6.88099371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.848623853 meters 0.021370676776530026 Centerline is valid? [True, True] Translation: X:244.81, Y:-44.94, Z:-6.88 [[ 9.64188153e-01 2.64589780e-01 1.82607243e-02 2.44809837e+02] [-2.64546686e-01 9.64361031e-01 -4.78038822e-03 -4.49406938e+01] [-1.88747728e-02 -2.21620396e-04 9.99821831e-01 -6.88172399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.908623853 meters 0.023428363870668087 Centerline is valid? [True, True] Translation: X:244.87, Y:-44.95, Z:-6.88 [[ 9.63435874e-01 2.67335612e-01 1.79718239e-02 2.44868589e+02] [-2.67294356e-01 9.63603444e-01 -4.70429796e-03 -4.49524488e+01] [-1.85753378e-02 -2.71477669e-04 9.99827427e-01 -6.88440940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.968623853 meters 0.025512007315272207 Centerline is valid? [True, True] Translation: X:244.93, Y:-44.96, Z:-6.89 [[ 9.62955680e-01 2.69025992e-01 1.84763267e-02 2.44926018e+02] [-2.68982701e-01 9.63132866e-01 -4.83617877e-03 -4.49622857e+01] [-1.90962153e-02 -3.12786460e-04 9.99817602e-01 -6.88526971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.028623853 meters 0.024553059073681764 Centerline is valid? [True, True] Translation: X:244.98, Y:-44.98, Z:-6.89 [[ 9.63055226e-01 2.68645545e-01 1.88202682e-02 2.44981921e+02] [-2.68600580e-01 9.63239053e-01 -4.92487524e-03 -4.49797717e+01] [-1.94514631e-02 -3.12208108e-04 9.99810754e-01 -6.88557723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.088623853 meters 0.02366877700063684 Centerline is valid? [True, True] Translation: X:245.04, Y:-45.00, Z:-6.89 [[ 9.63467584e-01 2.67183464e-01 1.85259369e-02 2.45037915e+02] [-2.67139642e-01 9.63645640e-01 -4.84693446e-03 -4.49962884e+01] [-1.91474590e-02 -2.79147918e-04 9.99816632e-01 -6.88802783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.148623853 meters 0.020916545330409955 Centerline is valid? [True, True] Translation: X:245.09, Y:-45.02, Z:-6.89 [[ 9.64525872e-01 2.63294597e-01 1.91258113e-02 2.45094758e+02] [-2.63247150e-01 9.64715456e-01 -5.00271852e-03 -4.50161956e+01] [-1.97681545e-02 -2.09563869e-04 9.99804569e-01 -6.88912884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20862385299998 meters 0.0189842746778968 Centerline is valid? [True, True] Translation: X:245.15, Y:-45.04, Z:-6.89 [[ 9.65476495e-01 2.59804397e-01 1.88895061e-02 2.45151390e+02] [-2.59757458e-01 9.65661254e-01 -4.94031800e-03 -4.50365882e+01] [-1.95243805e-02 -1.36929182e-04 9.99809372e-01 -6.89157180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26862385299998 meters 0.0184059144324387 Centerline is valid? [True, True] Translation: X:245.21, Y:-45.05, Z:-6.89 [[ 9.65755902e-01 2.58768235e-01 1.88291611e-02 2.45209015e+02] [-2.58721411e-01 9.65939432e-01 -4.92386638e-03 -4.50546554e+01] [-1.94619694e-02 -1.16254120e-04 9.99810591e-01 -6.89264228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32862385299998 meters 0.017787019286915947 Centerline is valid? [True, True] Translation: X:245.27, Y:-45.08, Z:-6.90 [[ 9.66568128e-01 2.55784460e-01 1.78987347e-02 2.45265653e+02] [-2.55741647e-01 9.66733835e-01 -4.68000817e-03 -4.50752254e+01] [-1.85003858e-02 -5.39051662e-05 9.99828852e-01 -6.89735811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38862385299998 meters 0.01730861061269917 Centerline is valid? [True, True] Translation: X:245.32, Y:-45.10, Z:-6.90 [[ 9.67243809e-01 2.53186836e-01 1.83259598e-02 2.45324055e+02] [-2.53141486e-01 9.67417400e-01 -4.79189919e-03 -4.50963509e+01] [-1.89420982e-02 -4.12586768e-06 9.99820582e-01 -6.89748576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.448623853 meters 0.017063415082608797 Centerline is valid? [True, True] Translation: X:245.38, Y:-45.12, Z:-6.90 [[ 9.67471070e-01 2.52204149e-01 1.98190727e-02 2.45381810e+02] [-2.52150819e-01 9.67674050e-01 -5.18629917e-03 -4.51161169e+01] [-2.04864085e-02 2.01989939e-05 9.99790131e-01 -6.89607645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.508623853 meters 0.017073181203778556 Centerline is valid? [True, True] Translation: X:245.44, Y:-45.13, Z:-6.90 [[ 9.67179080e-01 2.53354016e-01 1.94002750e-02 2.45442425e+02] [-2.53303088e-01 9.67373631e-01 -5.07965388e-03 -4.51317885e+01] [-2.00542652e-02 -1.21459984e-06 9.99798893e-01 -6.89832099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.568623853 meters 0.017264578586183722 Centerline is valid? [True, True] Translation: X:245.50, Y:-45.15, Z:-6.90 [[ 9.66667301e-01 2.55320933e-01 1.91193689e-02 2.45501762e+02] [-2.55271766e-01 9.66856360e-01 -5.01055835e-03 -4.51461951e+01] [-1.97649839e-02 -3.70921442e-05 9.99804653e-01 -6.90175673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.628623853 meters 0.01758721671496658 Centerline is valid? [True, True] Translation: X:245.56, Y:-45.16, Z:-6.90 [[ 9.66419538e-01 2.56307791e-01 1.84280659e-02 2.45559948e+02] [-2.56262285e-01 9.66595217e-01 -4.82993273e-03 -4.51614858e+01] [-1.90504297e-02 -5.46769093e-05 9.99818523e-01 -6.90488822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.688623853 meters 0.01829793605324732 Centerline is valid? [True, True] Translation: X:245.62, Y:-45.17, Z:-6.91 [[ 9.65849588e-01 2.58417965e-01 1.88342413e-02 2.45617573e+02] [-2.58370823e-01 9.66033201e-01 -4.93682465e-03 -4.51746173e+01] [-1.94702666e-02 -9.79883742e-05 9.99810432e-01 -6.90614551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.748623853 meters 0.0217593200434965 Centerline is valid? [True, True] Translation: X:245.68, Y:-45.18, Z:-6.90 [[ 9.64861875e-01 2.62064248e-01 1.90759483e-02 2.45676599e+02] [-2.62016602e-01 9.65050413e-01 -5.00003773e-03 -4.51836747e+01] [-1.97195829e-02 -1.73869361e-04 9.99805535e-01 -6.90326319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.808623853 meters 0.022668700792627353 Centerline is valid? [True, True] Translation: X:245.74, Y:-45.19, Z:-6.90 [[ 9.63500673e-01 2.66952400e-01 2.00715914e-02 2.45736217e+02] [-2.66900720e-01 9.63709672e-01 -5.26050097e-03 -4.51928542e+01] [-2.07474901e-02 -2.88625966e-04 9.99784706e-01 -6.90499857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.868623853 meters 0.028259530770235262 Centerline is valid? [True, True] Translation: X:245.80, Y:-45.20, Z:-6.91 [[ 9.62229812e-01 2.71473589e-01 2.03931183e-02 2.45796041e+02] [-2.71421263e-01 9.62445810e-01 -5.34431974e-03 -4.51964238e+01] [-2.10781130e-02 -3.92662156e-04 9.99777755e-01 -6.90734442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92862385299998 meters 0.029005049167560158 Centerline is valid? [True, True] Translation: X:245.85, Y:-45.21, Z:-6.91 [[ 9.61709416e-01 2.73367298e-01 1.96295556e-02 2.45853793e+02] [-2.73319224e-01 9.61909635e-01 -5.14360408e-03 -4.52068234e+01] [-2.02879518e-02 -4.18482422e-04 9.99794091e-01 -6.90963936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98862385299998 meters 0.030589010699971046 Centerline is valid? [True, True] Translation: X:245.91, Y:-45.21, Z:-6.91 [[ 9.61256999e-01 2.75021739e-01 1.86554353e-02 2.45912643e+02] [-2.74978646e-01 9.61437911e-01 -4.88750178e-03 -4.52144638e+01] [-1.92802120e-02 -4.31701044e-04 9.99814026e-01 -6.91359945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04862385299998 meters 0.0357066663784181 Centerline is valid? [True, True] Translation: X:245.97, Y:-45.22, Z:-6.92 [[ 9.61040282e-01 2.75745088e-01 1.91369491e-02 2.45971796e+02] [-2.75699903e-01 9.61230688e-01 -5.01276466e-03 -4.52175011e+01] [-1.97772680e-02 -4.58586232e-04 9.99804306e-01 -6.91620183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10862385299998 meters 0.030240726270448822 Centerline is valid? [True, True] Translation: X:246.03, Y:-45.23, Z:-6.92 [[ 9.61271842e-01 2.74908991e-01 1.95318570e-02 2.46028615e+02] [-2.74861775e-01 9.61470147e-01 -5.11489594e-03 -4.52336155e+01] [-2.01854283e-02 -4.51755441e-04 9.99796151e-01 -6.91520200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16862385299999 meters 0.02947958984317215 Centerline is valid? [True, True] Translation: X:246.09, Y:-45.24, Z:-6.92 [[ 9.61854027e-01 2.72895336e-01 1.91040784e-02 2.46085941e+02] [-2.72849784e-01 9.62043645e-01 -5.00204309e-03 -4.52419327e+01] [-1.97439914e-02 -4.01308370e-04 9.99804988e-01 -6.91873595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.228623853 meters 0.024914799468989408 Centerline is valid? [True, True] Translation: X:246.14, Y:-45.26, Z:-6.92 [[ 9.63013214e-01 2.68800197e-01 1.87617376e-02 2.46143024e+02] [-2.68755512e-01 9.63195907e-01 -4.91107912e-03 -4.52582655e+01] [-1.93913279e-02 -3.12886304e-04 9.99811922e-01 -6.92088619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.288623853 meters 0.03224152189459264 Centerline is valid? [True, True] Translation: X:246.20, Y:-45.27, Z:-6.92 [[ 9.63965865e-01 2.65395590e-01 1.83027824e-02 2.46199466e+02] [-2.65352458e-01 9.64139577e-01 -4.79049700e-03 -4.52717089e+01] [-1.89178137e-02 -2.38812732e-04 9.99821014e-01 -6.91523543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.348623853 meters 0.02025152540390639 Centerline is valid? [True, True] Translation: X:246.25, Y:-45.29, Z:-6.93 [[ 9.65478798e-01 2.59790312e-01 1.89653550e-02 2.46254575e+02] [-2.59742943e-01 9.65665043e-01 -4.96266833e-03 -4.52883339e+01] [-1.96034335e-02 -1.34766052e-04 9.99807825e-01 -6.92720243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.408623853 meters 0.01729467894672417 Centerline is valid? [True, True] Translation: X:246.31, Y:-45.31, Z:-6.92 [[ 9.66619822e-01 2.55465684e-01 1.95807071e-02 2.46310669e+02] [-2.55414329e-01 9.66818122e-01 -5.12240244e-03 -4.53072300e+01] [-2.02395805e-02 -4.97774242e-05 9.99795157e-01 -6.92406879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.468623853 meters 0.01691835691139127 Centerline is valid? [True, True] Translation: X:246.37, Y:-45.32, Z:-6.92 [[ 9.67301721e-01 2.52862158e-01 1.97005093e-02 2.46367719e+02] [-2.52809653e-01 9.67502315e-01 -5.15273750e-03 -4.53215185e+01] [-2.03632207e-02 3.77293755e-06 9.99792648e-01 -6.92471266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.528623853 meters 0.016950768117649687 Centerline is valid? [True, True] Translation: X:246.43, Y:-45.33, Z:-6.93 [[ 9.67478186e-01 2.52197847e-01 1.95500874e-02 2.46425899e+02] [-2.52146024e-01 9.67675692e-01 -5.11243890e-03 -4.53330824e+01] [-2.02074905e-02 1.66962947e-05 9.99795808e-01 -6.92640757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.588623853 meters 0.016924433362068822 Centerline is valid? [True, True] Translation: X:246.48, Y:-45.34, Z:-6.93 [[ 9.67303516e-01 2.52819126e-01 2.01593117e-02 2.46483222e+02] [-2.52764178e-01 9.67513561e-01 -5.27074622e-03 -4.53431912e+01] [-2.08369529e-02 2.85950717e-06 9.99782887e-01 -6.92791326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.648623853 meters 0.01697768547625921 Centerline is valid? [True, True] Translation: X:246.54, Y:-45.35, Z:-6.93 [[ 9.66827307e-01 2.54635987e-01 2.01363685e-02 2.46542320e+02] [-2.54581587e-01 9.67036976e-01 -5.26335982e-03 -4.53505997e+01] [-2.08128537e-02 -3.75886355e-05 9.99783388e-01 -6.92929962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70862385299998 meters 0.017253183374257054 Centerline is valid? [True, True] Translation: X:246.60, Y:-45.36, Z:-6.93 [[ 9.66525311e-01 2.55790267e-01 2.00040580e-02 2.46600552e+02] [-2.55736846e-01 9.66732298e-01 -5.22784650e-03 -4.53577030e+01] [-2.06758013e-02 -6.29287482e-05 9.99786231e-01 -6.93095239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76862385299998 meters 0.01700051144803484 Centerline is valid? [True, True] Translation: X:246.66, Y:-45.37, Z:-6.93 [[ 9.66661187e-01 2.55217899e-01 2.07358107e-02 2.46658467e+02] [-2.55160396e-01 9.66883561e-01 -5.41764573e-03 -4.53690965e+01] [-2.14317947e-02 -5.39298150e-05 9.99770311e-01 -6.93084037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82862385299998 meters 0.01681380097017456 Centerline is valid? [True, True] Translation: X:246.71, Y:-45.38, Z:-6.93 [[ 9.67216897e-01 2.53120686e-01 2.05278523e-02 2.46714907e+02] [-2.53063877e-01 9.67434710e-01 -5.36243500e-03 -4.53822269e+01] [-2.12167001e-02 -8.22015605e-06 9.99774900e-01 -6.93342944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88862385299998 meters 0.017153333454216005 Centerline is valid? [True, True] Translation: X:246.77, Y:-45.40, Z:-6.94 [[ 9.67998643e-01 2.50145534e-01 2.01454390e-02 2.46771148e+02] [-2.50090212e-01 9.68208247e-01 -5.26087082e-03 -4.53982300e+01] [-2.08209635e-02 5.43386981e-05 9.99783219e-01 -6.93630109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.948623853 meters 0.018388065225810525 Centerline is valid? [True, True] Translation: X:246.83, Y:-45.42, Z:-6.94 [[ 9.68920268e-01 2.46527885e-01 2.04332223e-02 2.46827009e+02] [-2.46470188e-01 9.69135689e-01 -5.33497178e-03 -4.54163635e+01] [-2.11177843e-02 1.32982150e-04 9.99776986e-01 -6.93697997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.008623853 meters 0.019093996696341375 Centerline is valid? [True, True] Translation: X:246.88, Y:-45.43, Z:-6.94 [[ 9.69408138e-01 2.44540629e-01 2.11599163e-02 2.46884185e+02] [-2.44478306e-01 9.69639030e-01 -5.52360169e-03 -4.54322427e+01] [-2.18682257e-02 1.81483942e-04 9.99760845e-01 -6.93647615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.068623853 meters 0.020862212694452 Centerline is valid? [True, True] Translation: X:246.94, Y:-45.45, Z:-6.94 [[ 9.69957428e-01 2.42239742e-01 2.24164272e-02 2.46940196e+02] [-2.42169208e-01 9.70216392e-01 -5.85043463e-03 -4.54484819e+01] [-2.31659929e-02 2.46104089e-04 9.99731602e-01 -6.93604094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.128623853 meters 0.021637043992196806 Centerline is valid? [True, True] Translation: X:247.00, Y:-45.46, Z:-6.94 [[ 9.70585946e-01 2.39781504e-01 2.16275559e-02 2.46997674e+02] [-2.39715271e-01 9.70826836e-01 -5.64305637e-03 -4.54637643e+01] [-2.23497122e-02 2.92615788e-04 9.99750171e-01 -6.93927964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.188623853 meters 0.024364409783112818 Centerline is valid? [True, True] Translation: X:247.05, Y:-45.48, Z:-6.94 [[ 9.70985947e-01 2.38220338e-01 2.09131755e-02 2.47052648e+02] [-2.38158062e-01 9.71211084e-01 -5.45596335e-03 -4.54831903e+01] [-2.16108293e-02 3.17022413e-04 9.99766408e-01 -6.94371103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.248623853 meters 0.024610574941401304 Centerline is valid? [True, True] Translation: X:247.11, Y:-45.50, Z:-6.95 [[ 9.71210206e-01 2.37375061e-01 2.00951571e-02 2.47109429e+02] [-2.37317373e-01 9.71418023e-01 -5.24296530e-03 -4.54981693e+01] [-2.07653470e-02 3.23091531e-04 9.99784325e-01 -6.94695778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.308623853 meters 0.02400323578081292 Centerline is valid? [True, True] Translation: X:247.17, Y:-45.51, Z:-6.95 [[ 9.71293783e-01 2.37024517e-01 2.01932184e-02 2.47166753e+02] [-2.36966209e-01 9.71503612e-01 -5.26754794e-03 -4.55122308e+01] [-2.08663226e-02 3.31226152e-04 9.99782220e-01 -6.94786359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.368623853 meters 0.021940538004633504 Centerline is valid? [True, True] Translation: X:247.22, Y:-45.52, Z:-6.95 [[ 9.70730091e-01 2.39265470e-01 2.08596548e-02 2.47224666e+02] [-2.39203791e-01 9.70954144e-01 -5.44027116e-03 -4.55221370e+01] [-2.15554373e-02 2.91326408e-04 9.99767612e-01 -6.94813896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42862385299998 meters 0.019816598616768554 Centerline is valid? [True, True] Translation: X:247.28, Y:-45.53, Z:-6.95 [[ 9.69704546e-01 2.43385607e-01 2.08935436e-02 2.47281967e+02] [-2.43324704e-01 9.69929589e-01 -5.44808598e-03 -4.55311055e+01] [-2.15912519e-02 1.99118416e-04 9.99766862e-01 -6.95017050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48862385299998 meters 0.02131058176224607 Centerline is valid? [True, True] Translation: X:247.34, Y:-45.54, Z:-6.95 [[ 9.68897065e-01 2.46595387e-01 2.07169483e-02 2.47340544e+02] [-2.46536273e-01 9.69118517e-01 -5.40063331e-03 -4.55400964e+01] [-2.14089495e-02 1.25178538e-04 9.99770794e-01 -6.94562548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54862385299998 meters 0.017521968115829383 Centerline is valid? [True, True] Translation: X:247.40, Y:-45.55, Z:-6.95 [[ 9.68623119e-01 2.47656873e-01 2.08644926e-02 2.47397467e+02] [-2.47597183e-01 9.68847802e-01 -5.43802241e-03 -4.55523331e+01] [-2.15612814e-02 1.01404653e-04 9.99767523e-01 -6.95381303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60862385299998 meters 0.01758429897065104 Centerline is valid? [True, True] Translation: X:247.45, Y:-45.57, Z:-6.96 [[ 9.68743671e-01 2.47179158e-01 2.09323860e-02 2.47453883e+02] [-2.47118987e-01 9.68969789e-01 -5.45479741e-03 -4.55676338e+01] [-2.16311618e-02 1.11510453e-04 9.99766013e-01 -6.95584078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66862385299999 meters 0.017445140560991283 Centerline is valid? [True, True] Translation: X:247.51, Y:-45.58, Z:-6.96 [[ 9.68743370e-01 2.47087544e-01 2.20006404e-02 2.47510779e+02] [-2.47021095e-01 9.68993154e-01 -5.73122402e-03 -4.55816114e+01] [-2.27345840e-02 1.17462990e-04 9.99741529e-01 -6.95589602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.728623853 meters 0.017421833938280062 Centerline is valid? [True, True] Translation: X:247.57, Y:-45.59, Z:-6.96 [[ 9.68700907e-01 2.47229951e-01 2.22689059e-02 2.47566735e+02] [-2.47161935e-01 9.68956830e-01 -5.79997472e-03 -4.55946574e+01] [-2.30115360e-02 1.14414895e-04 9.99735193e-01 -6.95768542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.788623853 meters 0.0175994107988605 Centerline is valid? [True, True] Translation: X:247.62, Y:-45.61, Z:-6.96 [[ 9.68814281e-01 2.46824810e-01 2.18266599e-02 2.47624245e+02] [-2.46759399e-01 9.69060111e-01 -5.68333244e-03 -4.56070524e+01] [-2.25541330e-02 1.20160147e-04 9.99745616e-01 -6.96031408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.848623853 meters 0.018370475862447423 Centerline is valid? [True, True] Translation: X:247.68, Y:-45.62, Z:-6.96 [[ 9.69305251e-01 2.44870570e-01 2.20393922e-02 2.47680858e+02] [-2.44803398e-01 9.69555762e-01 -5.73758102e-03 -4.56219734e+01] [-2.27733844e-02 1.66149312e-04 9.99740639e-01 -6.96142267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.908623853 meters 0.02135838329270893 Centerline is valid? [True, True] Translation: X:247.73, Y:-45.64, Z:-6.96 [[ 9.70417952e-01 2.40322120e-01 2.31144384e-02 2.47734927e+02] [-2.40246973e-01 9.70693153e-01 -6.01621170e-03 -4.56418664e+01] [-2.38828558e-02 2.85065993e-04 9.99714723e-01 -6.96187256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.968623853 meters 0.02551054172072101 Centerline is valid? [True, True] Translation: X:247.79, Y:-45.66, Z:-6.96 [[ 9.71665690e-01 2.35131982e-01 2.40569869e-02 2.47790788e+02] [-2.35049025e-01 9.71963357e-01 -6.26001494e-03 -4.56632352e+01] [-2.48544395e-02 4.28070411e-04 9.99690989e-01 -6.96178259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.028623853 meters 0.028424309222829337 Centerline is valid? [True, True] Translation: X:247.85, Y:-45.68, Z:-6.96 [[ 9.72355605e-01 2.32281776e-01 2.38695220e-02 2.47847114e+02] [-2.32199263e-01 9.72648410e-01 -6.21067740e-03 -4.56822325e+01] [-2.46592798e-02 4.96501569e-04 9.99695790e-01 -6.96422150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.088623853 meters 0.030604852352673656 Centerline is valid? [True, True] Translation: X:247.90, Y:-45.70, Z:-6.97 [[ 9.72953815e-01 2.29861649e-01 2.29018821e-02 2.47903485e+02] [-2.29785039e-01 9.73223169e-01 -5.95809842e-03 -4.57009411e+01] [-2.36581806e-02 5.34444701e-04 9.99719963e-01 -6.96780466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.148623853 meters 0.03188908822949483 Centerline is valid? [True, True] Translation: X:247.96, Y:-45.72, Z:-6.97 [[ 9.73297278e-01 2.28481385e-01 2.21057570e-02 2.47960405e+02] [-2.28409674e-01 9.73548128e-01 -5.75013561e-03 -4.57177117e+01] [-2.28348173e-02 5.47422597e-04 9.99739102e-01 -6.97045645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20862385299998 meters 0.038077518086678405 Centerline is valid? [True, True] Translation: X:248.02, Y:-45.73, Z:-6.96 [[ 9.73496124e-01 2.27707998e-01 2.13158189e-02 2.48018143e+02] [-2.27641147e-01 9.73729311e-01 -5.54415326e-03 -4.57345526e+01] [-2.20182857e-02 5.44854260e-04 9.99757420e-01 -6.96302480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26862385299998 meters 0.029741008112408464 Centerline is valid? [True, True] Translation: X:248.08, Y:-45.75, Z:-6.97 [[ 9.72765711e-01 2.30665015e-01 2.28149572e-02 2.48076842e+02] [-2.30589256e-01 9.73033088e-01 -5.93340249e-03 -4.57469817e+01] [-2.35683366e-02 5.10926490e-04 9.99722098e-01 -6.97154157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32862385299998 meters 0.02563938480203281 Centerline is valid? [True, True] Translation: X:248.14, Y:-45.76, Z:-6.97 [[ 9.72048372e-01 2.33643375e-01 2.30810655e-02 2.48136076e+02] [-2.33566682e-01 9.72322260e-01 -6.00236813e-03 -4.57557007e+01] [-2.38446473e-02 4.43624286e-04 9.99715578e-01 -6.97301576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38862385299998 meters 0.026521822135127306 Centerline is valid? [True, True] Translation: X:248.19, Y:-45.76, Z:-6.97 [[ 9.70994293e-01 2.38117192e-01 2.16860574e-02 2.48194554e+02] [-2.38050614e-01 9.71236379e-01 -5.63920161e-03 -4.57645282e+01] [-2.24050787e-02 3.13253293e-04 9.99748926e-01 -6.96987590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.448623853 meters 0.020273989694765876 Centerline is valid? [True, True] Translation: X:248.25, Y:-45.77, Z:-6.98 [[ 9.70183028e-01 2.41396808e-01 2.17364462e-02 2.48251276e+02] [-2.41330766e-01 9.70426465e-01 -5.65125290e-03 -4.57748054e+01] [-2.24578170e-02 2.37076446e-04 9.99747763e-01 -6.97899939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.508623853 meters 0.018963007906716615 Centerline is valid? [True, True] Translation: X:248.31, Y:-45.79, Z:-6.98 [[ 9.69598430e-01 2.43676344e-01 2.23768793e-02 2.48308262e+02] [-2.43606993e-01 9.69856589e-01 -5.81628919e-03 -4.57853258e+01] [-2.31196559e-02 1.88300580e-04 9.99732687e-01 -6.97995276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.568623853 meters 0.018016002009961906 Centerline is valid? [True, True] Translation: X:248.37, Y:-45.80, Z:-6.98 [[ 9.69299265e-01 2.44830961e-01 2.27318023e-02 2.48365537e+02] [-2.44759744e-01 9.69565766e-01 -5.90705266e-03 -4.57977737e+01] [-2.34862067e-02 1.61871690e-04 9.99724148e-01 -6.98061994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.628623853 meters 0.018314812275899768 Centerline is valid? [True, True] Translation: X:248.42, Y:-45.81, Z:-6.98 [[ 9.69425515e-01 2.44307753e-01 2.29758902e-02 2.48421856e+02] [-2.44234879e-01 9.69697732e-01 -5.96934246e-03 -4.58114578e+01] [-2.37380252e-02 1.75319137e-04 9.99718198e-01 -6.98176620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.688623853 meters 0.0185415246688935 Centerline is valid? [True, True] Translation: X:248.48, Y:-45.82, Z:-6.98 [[ 9.69548864e-01 2.43816068e-01 2.29940477e-02 2.48478850e+02] [-2.43742976e-01 9.69821473e-01 -5.97256327e-03 -4.58248314e+01] [-2.37563281e-02 1.86054335e-04 9.99717761e-01 -6.98380101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.748623853 meters 0.01890024763102978 Centerline is valid? [True, True] Translation: X:248.54, Y:-45.84, Z:-6.99 [[ 9.69831184e-01 2.42702804e-01 2.28653543e-02 2.48536296e+02] [-2.42630244e-01 9.70100667e-01 -5.93800846e-03 -4.58391445e+01] [-2.36228668e-02 2.11039268e-04 9.99720919e-01 -6.98544231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.808623853 meters 0.02040141519294497 Centerline is valid? [True, True] Translation: X:248.59, Y:-45.86, Z:-6.99 [[ 9.70336134e-01 2.40640453e-01 2.32370332e-02 2.48591781e+02] [-2.40564952e-01 9.70614291e-01 -6.03335890e-03 -4.58551045e+01] [-2.40060668e-02 2.64370368e-04 9.99711778e-01 -6.98575865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.868623853 meters 0.02389232145512948 Centerline is valid? [True, True] Translation: X:248.65, Y:-45.87, Z:-6.99 [[ 9.71347845e-01 2.36428369e-01 2.41865867e-02 2.48646752e+02] [-2.36345303e-01 9.71648846e-01 -6.27832924e-03 -4.58746933e+01] [-2.49852442e-02 3.82055415e-04 9.99687747e-01 -6.98625671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92862385299998 meters 0.02904402782609207 Centerline is valid? [True, True] Translation: X:248.70, Y:-45.90, Z:-6.99 [[ 9.72670790e-01 2.31021065e-01 2.32551298e-02 2.48702147e+02] [-2.30942771e-01 9.72948621e-01 -6.03471556e-03 -4.58988827e+01] [-2.40201929e-02 4.99187428e-04 9.99711349e-01 -6.99010628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98862385299998 meters 0.03929803786969459 Centerline is valid? [True, True] Translation: X:248.76, Y:-45.92, Z:-6.98 [[ 9.73895680e-01 2.25900847e-01 2.22713138e-02 2.48758166e+02] [-2.25827713e-01 9.74150116e-01 -5.77884382e-03 -4.59225290e+01] [-2.30010487e-02 5.98511161e-04 9.99735262e-01 -6.98475040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.048623853 meters 0.035189741472136334 Centerline is valid? [True, True] Translation: X:248.81, Y:-45.94, Z:-6.99 [[ 9.74063522e-01 2.25115947e-01 2.28706094e-02 2.48814224e+02] [-2.25038610e-01 9.74331776e-01 -5.93420587e-03 -4.59383917e+01] [-2.36194459e-02 6.33523317e-04 9.99720821e-01 -6.99393705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.108623853 meters 0.037358466381990724 Centerline is valid? [True, True] Translation: X:248.87, Y:-45.95, Z:-6.99 [[ 9.74123984e-01 2.24909880e-01 2.23161400e-02 2.48872920e+02] [-2.24836221e-01 9.74379371e-01 -5.78917392e-03 -4.59517455e+01] [-2.30464289e-02 6.21896561e-04 9.99734202e-01 -6.98554843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.168623853 meters 0.030181584627558513 Centerline is valid? [True, True] Translation: X:248.93, Y:-45.96, Z:-7.00 [[ 9.73468161e-01 2.27682597e-01 2.28117086e-02 2.48930724e+02] [-2.27606404e-01 9.73735237e-01 -5.91713122e-03 -4.59647544e+01] [-2.35597923e-02 5.68047868e-04 9.99722268e-01 -6.99677584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.228623853 meters 0.026540434963134317 Centerline is valid? [True, True] Translation: X:248.99, Y:-45.97, Z:-7.00 [[ 9.72378038e-01 2.32346797e-01 2.22691776e-02 2.48988956e+02] [-2.32275420e-01 9.72632906e-01 -5.77584736e-03 -4.59743773e+01] [-2.30017345e-02 4.43724552e-04 9.99735327e-01 -6.99964482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.288623853 meters 0.023867199081889747 Centerline is valid? [True, True] Translation: X:249.05, Y:-45.98, Z:-7.00 [[ 9.71535384e-01 2.35868165e-01 2.20273781e-02 2.49047338e+02] [-2.35799245e-01 9.71784998e-01 -5.71264270e-03 -4.59847278e+01] [-2.27533061e-02 3.55995398e-04 9.99741047e-01 -7.00201023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.348623853 meters 0.020249550586988265 Centerline is valid? [True, True] Translation: X:249.11, Y:-45.99, Z:-7.00 [[ 9.70522015e-01 2.40026899e-01 2.17739811e-02 2.49106210e+02] [-2.39960615e-01 9.70766204e-01 -5.64628027e-03 -4.59932716e+01] [-2.24927041e-02 2.54941412e-04 9.99746975e-01 -7.00385148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.408623853 meters 0.020103985875155612 Centerline is valid? [True, True] Translation: X:249.16, Y:-46.01, Z:-7.01 [[ 9.70052394e-01 2.41919842e-01 2.17518347e-02 2.49162465e+02] [-2.41854203e-01 9.70296216e-01 -5.63899174e-03 -4.60076621e+01] [-2.24699069e-02 2.09344780e-04 9.99747498e-01 -7.00668756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.468623853 meters 0.01874062222562034 Centerline is valid? [True, True] Translation: X:249.22, Y:-46.02, Z:-7.01 [[ 9.69956157e-01 2.42237440e-01 2.24961594e-02 2.49220173e+02] [-2.42167353e-01 9.70216976e-01 -5.83039139e-03 -4.60213684e+01] [-2.32384948e-02 2.07388661e-04 9.99729928e-01 -7.00550112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.528623853 meters 0.018466895262555384 Centerline is valid? [True, True] Translation: X:249.28, Y:-46.04, Z:-7.01 [[ 9.69759444e-01 2.42996294e-01 2.27908326e-02 2.49275668e+02] [-2.42924596e-01 9.70027198e-01 -5.90561093e-03 -4.60365158e+01] [-2.35427691e-02 1.90568174e-04 9.99722812e-01 -7.00643117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.588623853 meters 0.018192377139158337 Centerline is valid? [True, True] Translation: X:249.33, Y:-46.05, Z:-7.01 [[ 9.69638585e-01 2.43548871e-01 2.20218434e-02 2.49333100e+02] [-2.43482104e-01 9.69888611e-01 -5.70493596e-03 -4.60503861e+01] [-2.27481659e-02 1.69801248e-04 9.99741213e-01 -7.00950187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.648623853 meters 0.018932012721525646 Centerline is valid? [True, True] Translation: X:249.39, Y:-46.07, Z:-7.01 [[ 9.69807704e-01 2.42878196e-01 2.19817742e-02 2.49388515e+02] [-2.42811524e-01 9.70056776e-01 -5.69349827e-03 -4.60673314e+01] [-2.27063956e-02 1.84170396e-04 9.99742160e-01 -7.01170542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.708623853 meters 0.019558621813932756 Centerline is valid? [True, True] Translation: X:249.45, Y:-46.08, Z:-7.01 [[ 9.70276893e-01 2.40947163e-01 2.25214426e-02 2.49445125e+02] [-2.40876696e-01 9.70538207e-01 -5.83156470e-03 -4.60840964e+01] [-2.32630195e-02 2.33341812e-04 9.99729352e-01 -7.01196775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.768623853 meters 0.021559907423286454 Centerline is valid? [True, True] Translation: X:249.50, Y:-46.10, Z:-7.01 [[ 9.70952095e-01 2.38174879e-01 2.29075576e-02 2.49499809e+02] [-2.38101230e-01 9.71222238e-01 -5.93037823e-03 -4.61037470e+01] [-2.36607965e-02 3.03795504e-04 9.99719998e-01 -7.01295837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.828623853 meters 0.023654971117023235 Centerline is valid? [True, True] Translation: X:249.56, Y:-46.12, Z:-7.02 [[ 9.71771068e-01 2.34926508e-01 2.16916281e-02 2.49555448e+02] [-2.34859694e-01 9.72013069e-01 -5.61416177e-03 -4.61244231e+01] [-2.24034614e-02 3.61190849e-04 9.99748946e-01 -7.01715899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.888623853 meters 0.026108427349581995 Centerline is valid? [True, True] Translation: X:249.61, Y:-46.14, Z:-7.02 [[ 9.72126350e-01 2.33469003e-01 2.15077675e-02 2.49611243e+02] [-2.33402979e-01 9.72364166e-01 -5.56574237e-03 -4.61445288e+01] [-2.22128107e-02 3.90627820e-04 9.99753189e-01 -7.01973828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.948623853 meters 0.031052127424425292 Centerline is valid? [True, True] Translation: X:249.67, Y:-46.16, Z:-7.01 [[ 9.71910627e-01 2.34346899e-01 2.17086386e-02 2.49669105e+02] [-2.34279872e-01 9.72152967e-01 -5.61693497e-03 -4.61571475e+01] [-2.24204288e-02 3.73261704e-04 9.99748561e-01 -7.01099991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.008623853 meters 0.024072482794270694 Centerline is valid? [True, True] Translation: X:249.73, Y:-46.17, Z:-7.02 [[ 9.71632334e-01 2.35346203e-01 2.32974712e-02 2.49725556e+02] [-2.35269322e-01 9.71911531e-01 -6.02675546e-03 -4.61713664e+01] [-2.40614549e-02 3.74610239e-04 9.99710411e-01 -7.01879912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06862385299996 meters 0.021622740650015754 Centerline is valid? [True, True] Translation: X:249.78, Y:-46.18, Z:-7.02 [[ 9.71286118e-01 2.36638318e-01 2.46085916e-02 2.49783929e+02] [-2.36552987e-01 9.71597744e-01 -6.36459399e-03 -4.61827183e+01] [-2.54157589e-02 3.60605946e-04 9.99676902e-01 -7.01728080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12862385299997 meters 0.023241633848346845 Centerline is valid? [True, True] Translation: X:249.84, Y:-46.20, Z:-7.02 [[ 9.71363627e-01 2.36343832e-01 2.43781974e-02 2.49839951e+02] [-2.36260023e-01 9.71669420e-01 -6.30402372e-03 -4.62009844e+01] [-2.51774661e-02 3.63905873e-04 9.99682931e-01 -7.02064321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18862385299997 meters 0.023671631705779354 Centerline is valid? [True, True] Translation: X:249.90, Y:-46.22, Z:-7.02 [[ 9.71863509e-01 2.34382763e-01 2.33674881e-02 2.49897817e+02] [-2.34305214e-01 9.72144312e-01 -6.04185292e-03 -4.62198682e+01] [-2.41326768e-02 3.96732090e-04 9.99708686e-01 -7.02341915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24862385299997 meters 0.030363108122989167 Centerline is valid? [True, True] Translation: X:249.95, Y:-46.24, Z:-7.02 [[ 9.72453278e-01 2.31961156e-01 2.29922762e-02 2.49953409e+02] [-2.31885400e-01 9.72724946e-01 -5.94481888e-03 -4.62423479e+01] [-2.37441276e-02 4.49485447e-04 9.99717967e-01 -7.01812578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.308623853 meters 0.02749539635041737 Centerline is valid? [True, True] Translation: X:250.01, Y:-46.26, Z:-7.03 [[ 9.72754803e-01 2.30673698e-01 2.31891856e-02 2.50010425e+02] [-2.30596270e-01 9.73031043e-01 -5.99587047e-03 -4.62620012e+01] [-2.39468871e-02 4.85172082e-04 9.99713114e-01 -7.02804514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.368623853 meters 0.026265046472947775 Centerline is valid? [True, True] Translation: X:250.07, Y:-46.28, Z:-7.03 [[ 9.72441007e-01 2.32027114e-01 2.28452520e-02 2.50069220e+02] [-2.31952342e-01 9.72709217e-01 -5.90683828e-03 -4.62809726e+01] [-2.35923338e-02 4.45042084e-04 9.99721563e-01 -7.03056937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.428623853 meters 0.030869525644816005 Centerline is valid? [True, True] Translation: X:250.13, Y:-46.29, Z:-7.02 [[ 9.71865024e-01 2.34452693e-01 2.25900407e-02 2.50127581e+02] [-2.34380223e-01 9.72127455e-01 -5.84142939e-03 -4.62949579e+01] [-2.33299376e-02 3.82422127e-04 9.99727747e-01 -7.02346359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.488623853 meters 0.02168229180161746 Centerline is valid? [True, True] Translation: X:250.18, Y:-46.31, Z:-7.03 [[ 9.70826381e-01 2.38706589e-01 2.27002955e-02 2.50184637e+02] [-2.38634554e-01 9.71091697e-01 -5.87065399e-03 -4.63084089e+01] [-2.34454322e-02 2.82310877e-04 9.99725078e-01 -7.03474396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.548623853 meters 0.018157969943725892 Centerline is valid? [True, True] Translation: X:250.24, Y:-46.32, Z:-7.04 [[ 9.69563510e-01 2.43800252e-01 2.25396970e-02 2.50242737e+02] [-2.43730612e-01 9.69825454e-01 -5.82897653e-03 -4.63175595e+01] [-2.32806778e-02 1.57948815e-04 9.99728956e-01 -7.03686138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.608623853 meters 0.016272564318116273 Centerline is valid? [True, True] Translation: X:250.30, Y:-46.32, Z:-7.04 [[ 9.67930889e-01 2.50193265e-01 2.26522560e-02 2.50301266e+02] [-2.50124699e-01 9.68195915e-01 -5.85700223e-03 -4.63225129e+01] [-2.33972042e-02 3.28466089e-06 9.99726248e-01 -7.03878024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.668623853 meters 0.023102879089385617 Centerline is valid? [True, True] Translation: X:250.36, Y:-46.33, Z:-7.04 [[ 9.66430929e-01 2.56023160e-01 2.15267581e-02 2.50361306e+02] [-2.55962713e-01 9.66670639e-01 -5.56468141e-03 -4.63271767e+01] [-2.22339723e-02 -1.32167167e-04 9.99752786e-01 -7.03543734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.728623853 meters 0.019152051715046182 Centerline is valid? [True, True] Translation: X:250.42, Y:-46.34, Z:-7.04 [[ 9.65902881e-01 2.57940368e-01 2.23246712e-02 2.50417727e+02] [-2.57875892e-01 9.66160821e-01 -5.76991026e-03 -4.63372486e+01] [-2.30575155e-02 -1.83821557e-04 9.99734123e-01 -7.04335384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.788623853 meters 0.01744527154993427 Centerline is valid? [True, True] Translation: X:250.48, Y:-46.35, Z:-7.04 [[ 9.66438425e-01 2.55745963e-01 2.43058109e-02 2.50475074e+02] [-2.55668890e-01 9.66744010e-01 -6.27991981e-03 -4.63529718e+01] [-2.51035612e-02 -1.45083883e-04 9.99684845e-01 -7.04141878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.848623853 meters 0.016373379096841858 Centerline is valid? [True, True] Translation: X:250.53, Y:-46.37, Z:-7.04 [[ 9.67281464e-01 2.52565774e-01 2.40228773e-02 2.50530192e+02] [-2.52489523e-01 9.67579726e-01 -6.20601150e-03 -4.63711533e+01] [-2.48114752e-02 -6.25649481e-05 9.99692146e-01 -7.04462592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.908623853 meters 0.01744600133207458 Centerline is valid? [True, True] Translation: X:250.58, Y:-46.40, Z:-7.05 [[ 9.69311094e-01 2.44805163e-01 2.25041305e-02 2.50583748e+02] [-2.44736184e-01 9.69572285e-01 -5.81240281e-03 -4.63967010e+01] [-2.32422875e-02 1.26451494e-04 9.99729854e-01 -7.04941129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.968623853 meters 0.018471165002105442 Centerline is valid? [True, True] Translation: X:250.64, Y:-46.41, Z:-7.05 [[ 9.69836878e-01 2.42740072e-01 2.22190574e-02 2.50639937e+02] [-2.42672321e-01 9.70091350e-01 -5.73734652e-03 -4.64141020e+01] [-2.29471993e-02 1.72340004e-04 9.99736663e-01 -7.05153116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.028623853 meters 0.023535326506524474 Centerline is valid? [True, True] Translation: X:250.70, Y:-46.44, Z:-7.05 [[ 9.71532689e-01 2.35773358e-01 2.31334769e-02 2.50695515e+02] [-2.35697970e-01 9.71808006e-01 -5.97206627e-03 -4.64402349e+01] [-2.38893521e-02 3.49544071e-04 9.99714548e-01 -7.05178320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.088623853 meters 0.034263857001694535 Centerline is valid? [True, True] Translation: X:250.75, Y:-46.47, Z:-7.05 [[ 9.73238302e-01 2.28467357e-01 2.46956534e-02 2.50748996e+02] [-2.28379087e-01 9.73551410e-01 -6.37529467e-03 -4.64749783e+01] [-2.54990349e-02 5.64710167e-04 9.99674687e-01 -7.05054486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.148623853 meters 0.036746727729028685 Centerline is valid? [True, True] Translation: X:250.81, Y:-46.50, Z:-7.05 [[ 9.74387960e-01 2.23478743e-01 2.50070850e-02 2.50806262e+02] [-2.23386573e-01 9.74708549e-01 -6.45636894e-03 -4.64974961e+01] [-2.58174807e-02 7.04761154e-04 9.99666425e-01 -7.05132384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.208623853 meters 0.03981950025683483 Centerline is valid? [True, True] Translation: X:250.86, Y:-46.52, Z:-7.05 [[ 9.74842936e-01 2.21526922e-01 2.46388411e-02 2.50863514e+02] [-2.21436810e-01 9.75153971e-01 -6.36179160e-03 -4.65211500e+01] [-2.54359718e-02 7.45801229e-04 9.99676175e-01 -7.05376691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.268623853 meters 0.03757387596275726 Centerline is valid? [True, True] Translation: X:250.92, Y:-46.54, Z:-7.06 [[ 9.74750756e-01 2.21963897e-01 2.43514115e-02 2.50923856e+02] [-2.21875967e-01 9.75054613e-01 -6.28938062e-03 -4.65370516e+01] [-2.51399715e-02 7.27585540e-04 9.99683676e-01 -7.05542996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.328623853 meters 0.03526850706123337 Centerline is valid? [True, True] Translation: X:250.98, Y:-46.55, Z:-7.06 [[ 9.74058722e-01 2.25011652e-01 2.40699371e-02 2.50982415e+02] [-2.24926561e-01 9.74355859e-01 -6.22116821e-03 -4.65528385e+01] [-2.48525196e-02 6.45814974e-04 9.99690920e-01 -7.05784172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.388623853 meters 0.02642508678847982 Centerline is valid? [True, True] Translation: X:251.04, Y:-46.56, Z:-7.06 [[ 9.72572360e-01 2.31333442e-01 2.42454722e-02 2.51043924e+02] [-2.31249050e-01 9.72874401e-01 -6.26716237e-03 -4.65593777e+01] [-2.50376035e-02 4.88526486e-04 9.99686391e-01 -7.05874584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.448623853 meters 0.019727678263149986 Centerline is valid? [True, True] Translation: X:251.10, Y:-46.57, Z:-7.06 [[ 9.70399761e-01 2.40217578e-01 2.48961666e-02 2.51104008e+02] [-2.40131501e-01 9.70719034e-01 -6.43571303e-03 -4.65661460e+01] [-2.57131542e-02 2.66860529e-04 9.99669327e-01 -7.05962087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.508623853 meters 0.021566882143307275 Centerline is valid? [True, True] Translation: X:251.16, Y:-46.57, Z:-7.06 [[ 9.68197041e-01 2.49061808e-01 2.37214279e-02 2.51164981e+02] [-2.48986310e-01 9.68487591e-01 -6.13212011e-03 -4.65681816e+01] [-2.45011855e-02 3.07897615e-05 9.99699800e-01 -7.05572553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56862385299996 meters 0.030684944364286072 Centerline is valid? [True, True] Translation: X:251.22, Y:-46.57, Z:-7.06 [[ 9.66690876e-01 2.54910647e-01 2.30068001e-02 2.51223659e+02] [-2.54841293e-01 9.66964606e-01 -5.94696919e-03 -4.65730209e+01] [-2.37627072e-02 -1.14201841e-04 9.99717620e-01 -7.05736176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62862385299997 meters 0.017182145989506032 Centerline is valid? [True, True] Translation: X:251.28, Y:-46.59, Z:-7.07 [[ 9.66365931e-01 2.56102316e-01 2.34198919e-02 2.51280885e+02] [-2.56030835e-01 9.66649669e-01 -6.05221768e-03 -4.65873913e+01] [-2.41888177e-02 -1.47557508e-04 9.99707397e-01 -7.06834228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68862385299997 meters 0.01646326496877397 Centerline is valid? [True, True] Translation: X:251.34, Y:-46.61, Z:-7.07 [[ 9.66851654e-01 2.54211302e-01 2.39685914e-02 2.51336302e+02] [-2.54135881e-01 9.67148698e-01 -6.19279619e-03 -4.66053113e+01] [-2.47554707e-02 -1.03763851e-04 9.99693531e-01 -7.06981852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74862385299997 meters 0.015815885023159934 Centerline is valid? [True, True] Translation: X:251.39, Y:-46.63, Z:-7.07 [[ 9.67620835e-01 2.51246565e-01 2.41885094e-02 2.51392958e+02] [-2.51168867e-01 9.67923118e-01 -6.24797625e-03 -4.66258725e+01] [-2.49824000e-02 -2.97285062e-05 9.99687891e-01 -7.07072641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.808623853 meters 0.015863527118864944 Centerline is valid? [True, True] Translation: X:251.45, Y:-46.64, Z:-7.07 [[ 9.68042910e-01 2.49683720e-01 2.34726205e-02 2.51449480e+02] [-2.49610108e-01 9.68327445e-01 -6.06251911e-03 -4.66423686e+01] [-2.42428950e-02 9.77530378e-06 9.99706098e-01 -7.07462994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.868623853 meters 0.0234548479197552 Centerline is valid? [True, True] Translation: X:251.51, Y:-46.66, Z:-7.07 [[ 9.68663117e-01 2.47349000e-01 2.25884472e-02 2.51506035e+02] [-2.47280215e-01 9.68926451e-01 -5.83327001e-03 -4.66611311e+01] [-2.33293975e-02 6.47974242e-05 9.99727830e-01 -7.07073330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.928623853 meters 0.017116497153969627 Centerline is valid? [True, True] Translation: X:251.56, Y:-46.68, Z:-7.08 [[ 9.69328887e-01 2.44639794e-01 2.35134134e-02 2.51562117e+02] [-2.44564478e-01 9.69614023e-01 -6.07151458e-03 -4.66813818e+01] [-2.42842694e-02 1.34748805e-04 9.99705085e-01 -7.07831413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.988623853 meters 0.018738211306248535 Centerline is valid? [True, True] Translation: X:251.62, Y:-46.70, Z:-7.08 [[ 9.70036585e-01 2.41776559e-01 2.39399226e-02 2.51620284e+02] [-2.41697631e-01 9.70331929e-01 -6.18088266e-03 -4.67028134e+01] [-2.47240638e-02 2.09459710e-04 9.99694292e-01 -7.07998770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.048623853 meters 0.019358531387393935 Centerline is valid? [True, True] Translation: X:251.68, Y:-46.72, Z:-7.08 [[ 9.70229343e-01 2.40968059e-01 2.42778918e-02 2.51679388e+02] [-2.40886618e-01 9.70533018e-01 -6.26875890e-03 -4.67207221e+01] [-2.50730663e-02 2.33914568e-04 9.99685594e-01 -7.08091602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.108623853 meters 0.018256872701173106 Centerline is valid? [True, True] Translation: X:251.74, Y:-46.73, Z:-7.08 [[ 9.69971727e-01 2.42087632e-01 2.34185315e-02 2.51741346e+02] [-2.42012184e-01 9.70254368e-01 -6.04677903e-03 -4.67331234e+01] [-2.41857829e-02 1.97634747e-04 9.99707462e-01 -7.08447738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.168623853 meters 0.017562684241210626 Centerline is valid? [True, True] Translation: X:251.80, Y:-46.74, Z:-7.09 [[ 9.69422239e-01 2.44362700e-01 2.25253985e-02 2.51800991e+02] [-2.44293402e-01 9.69683892e-01 -5.82087779e-03 -4.67449831e+01] [-2.32649215e-02 1.40082152e-04 9.99729325e-01 -7.08857092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.228623853 meters 0.01715563325537308 Centerline is valid? [True, True] Translation: X:251.86, Y:-46.76, Z:-7.09 [[ 9.69253090e-01 2.45058218e-01 2.22467487e-02 2.51860034e+02] [-2.44990706e-01 9.69508357e-01 -5.75324494e-03 -4.67599813e+01] [-2.29782887e-02 1.26103751e-04 9.99735956e-01 -7.09076782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.288623853 meters 0.017739731084806337 Centerline is valid? [True, True] Translation: X:251.92, Y:-46.78, Z:-7.10 [[ 9.69428903e-01 2.44466973e-01 2.10594398e-02 2.51918396e+02] [-2.44406324e-01 9.69657610e-01 -5.44677876e-03 -4.67758501e+01] [-2.17520036e-02 1.33204483e-04 9.99763388e-01 -7.09562108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.348623853 meters 0.018069077947545812 Centerline is valid? [True, True] Translation: X:251.98, Y:-46.79, Z:-7.10 [[ 9.69460271e-01 2.44338618e-01 2.11050304e-02 2.51975445e+02] [-2.44277667e-01 9.69689961e-01 -5.45898770e-03 -4.67911449e+01] [-2.17991777e-02 1.36784095e-04 9.99762360e-01 -7.09777852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.408623853 meters 0.02792758063241872 Centerline is valid? [True, True] Translation: X:252.03, Y:-46.80, Z:-7.09 [[ 9.69005418e-01 2.46010483e-01 2.25242377e-02 2.52034922e+02] [-2.45941517e-01 9.69267162e-01 -5.82571802e-03 -4.68033407e+01] [-2.32651916e-02 1.05507141e-04 9.99729323e-01 -7.08552477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.468623853 meters 0.015914242604036927 Centerline is valid? [True, True] Translation: X:252.09, Y:-46.81, Z:-7.09 [[ 9.67954631e-01 2.50022975e-01 2.35020104e-02 2.52093276e+02] [-2.49949070e-01 9.68239904e-01 -6.07869980e-03 -4.68115808e+01] [-2.42753989e-02 9.59999109e-06 9.99705309e-01 -7.09448243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.528623853 meters 0.01649216759707753 Centerline is valid? [True, True] Translation: X:252.15, Y:-46.82, Z:-7.10 [[ 9.67004793e-01 2.53726388e-01 2.29052484e-02 2.52152270e+02] [-2.53657238e-01 9.67276028e-01 -5.92386212e-03 -4.68181492e+01] [-2.36587379e-02 -8.16789919e-05 9.99720090e-01 -7.09781203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.588623853 meters 0.017094917531026346 Centerline is valid? [True, True] Translation: X:252.21, Y:-46.83, Z:-7.10 [[ 9.66795433e-01 2.54572957e-01 2.23427854e-02 2.52209181e+02] [-2.54507412e-01 9.67053566e-01 -5.77737139e-03 -4.68294573e+01] [-2.30774329e-02 -1.00868218e-04 9.99733675e-01 -7.10108685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.648623853 meters 0.016304847416206796 Centerline is valid? [True, True] Translation: X:252.27, Y:-46.85, Z:-7.10 [[ 9.67498323e-01 2.51911383e-01 2.20828233e-02 2.52265713e+02] [-2.51846693e-01 9.67750306e-01 -5.70869136e-03 -4.68451985e+01] [-2.28087433e-02 -3.83367151e-05 9.99739846e-01 -7.10218204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.708623853 meters 0.016633727185696577 Centerline is valid? [True, True] Translation: X:252.32, Y:-46.86, Z:-7.11 [[ 9.68531475e-01 2.47936685e-01 2.17757194e-02 2.52320879e+02] [-2.47872804e-01 9.68776237e-01 -5.62813909e-03 -4.68640551e+01] [-2.24912216e-02 5.34212416e-05 9.99747039e-01 -7.10518112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.768623853 meters 0.017549516612229282 Centerline is valid? [True, True] Translation: X:252.38, Y:-46.88, Z:-7.10 [[ 9.69428598e-01 2.44350973e-01 2.23784704e-02 2.52378177e+02] [-2.44282571e-01 9.69686848e-01 -5.78299248e-03 -4.68816372e+01] [-2.31131882e-02 1.39528010e-04 9.99732845e-01 -7.10427014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.828623853 meters 0.017781351086792886 Centerline is valid? [True, True] Translation: X:252.44, Y:-46.90, Z:-7.11 [[ 9.69520895e-01 2.44023411e-01 2.19501285e-02 2.52435330e+02] [-2.43957531e-01 9.69769330e-01 -5.67176714e-03 -4.68951188e+01] [-2.26706054e-02 1.43997599e-04 9.99742978e-01 -7.10593957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.888623853 meters 0.018194951163501626 Centerline is valid? [True, True] Translation: X:252.49, Y:-46.91, Z:-7.11 [[ 9.69515901e-01 2.44056503e-01 2.18023130e-02 2.52492319e+02] [-2.43991529e-01 9.69761003e-01 -5.63299242e-03 -4.69096173e+01] [-2.25178013e-02 1.41696051e-04 9.99746432e-01 -7.10886381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.948623853 meters 0.018678394884618945 Centerline is valid? [True, True] Translation: X:252.55, Y:-46.92, Z:-7.11 [[ 9.69666282e-01 2.43525028e-01 2.10442873e-02 2.52549291e+02] [-2.43464384e-01 9.69894602e-01 -5.43644236e-03 -4.69232497e+01] [-2.17346505e-02 1.48000410e-04 9.99763764e-01 -7.11208386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.008623853 meters 0.018700933388663556 Centerline is valid? [True, True] Translation: X:252.61, Y:-46.94, Z:-7.11 [[ 9.69914854e-01 2.42542770e-01 2.09327823e-02 2.52606361e+02] [-2.42482559e-01 9.70140699e-01 -5.40666320e-03 -4.69367959e+01] [-2.16190911e-02 1.68168330e-04 9.99766266e-01 -7.11243318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06862385299996 meters 0.01949421433262268 Centerline is valid? [True, True] Translation: X:252.66, Y:-46.95, Z:-7.11 [[ 9.70125114e-01 2.41656593e-01 2.14325401e-02 2.52662443e+02] [-2.41593279e-01 9.70361816e-01 -5.53469577e-03 -4.69515922e+01] [-2.21348143e-02 1.91389716e-04 9.99754977e-01 -7.11342575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12862385299997 meters 0.01934085668438092 Centerline is valid? [True, True] Translation: X:252.72, Y:-46.96, Z:-7.11 [[ 9.70185851e-01 2.41293631e-01 2.27331764e-02 2.52720101e+02] [-2.41222336e-01 9.70452131e-01 -5.86900123e-03 -4.69646440e+01] [-2.34776121e-02 2.10272029e-04 9.99724341e-01 -7.11206623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18862385299997 meters 0.02195652360241539 Centerline is valid? [True, True] Translation: X:252.78, Y:-46.98, Z:-7.11 [[ 9.70718634e-01 2.39202264e-01 2.20819077e-02 2.52777349e+02] [-2.39134482e-01 9.70969728e-01 -5.69969237e-03 -4.69811380e+01] [-2.28042432e-02 2.52252043e-04 9.99739918e-01 -7.11083133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24862385299997 meters 0.02292866982314739 Centerline is valid? [True, True] Translation: X:252.83, Y:-47.00, Z:-7.12 [[ 9.71450628e-01 2.36257917e-01 2.15841102e-02 2.52834634e+02] [-2.36192445e-01 9.71690331e-01 -5.57047408e-03 -4.70024478e+01] [-2.22891397e-02 3.13436784e-04 9.99751517e-01 -7.11728092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.308623853 meters 0.025373134046713305 Centerline is valid? [True, True] Translation: X:252.89, Y:-47.02, Z:-7.12 [[ 9.72040162e-01 2.33835959e-01 2.14165422e-02 2.52890861e+02] [-2.33770905e-01 9.72275995e-01 -5.52756574e-03 -4.70238745e+01] [-2.21153335e-02 3.66451436e-04 9.99755359e-01 -7.11852617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.368623853 meters 0.024800916455550104 Centerline is valid? [True, True] Translation: X:252.95, Y:-47.04, Z:-7.12 [[ 9.72211972e-01 2.33050364e-01 2.21677484e-02 2.52951172e+02] [-2.32980481e-01 9.72464586e-01 -5.72059114e-03 -4.70409191e+01] [-2.28905361e-02 3.96974504e-04 9.99737899e-01 -7.11763769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.428623853 meters 0.02673974173449273 Centerline is valid? [True, True] Translation: X:253.01, Y:-47.06, Z:-7.12 [[ 9.72427142e-01 2.32195254e-01 2.16983189e-02 2.53008004e+02] [-2.32127999e-01 9.72669108e-01 -5.60338178e-03 -4.70636837e+01] [-2.24063632e-02 4.12093177e-04 9.99748861e-01 -7.12053753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.488623853 meters 0.026388863193057197 Centerline is valid? [True, True] Translation: X:253.07, Y:-47.08, Z:-7.12 [[ 9.72685683e-01 2.31117972e-01 2.16112184e-02 2.53067107e+02] [-2.31050912e-01 9.72925635e-01 -5.58438767e-03 -4.70839949e+01] [-2.23167607e-02 4.38562219e-04 9.99750854e-01 -7.12158395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.548623853 meters 0.029557303710146532 Centerline is valid? [True, True] Translation: X:253.12, Y:-47.11, Z:-7.13 [[ 9.72386016e-01 2.32519412e-01 2.00039732e-02 2.53123828e+02] [-2.32462182e-01 9.72591682e-01 -5.17251471e-03 -4.71091572e+01] [-2.06584080e-02 3.79513706e-04 9.99786520e-01 -7.12859371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.608623853 meters 0.024052923721694992 Centerline is valid? [True, True] Translation: X:253.18, Y:-47.12, Z:-7.13 [[ 9.71649863e-01 2.35659149e-01 1.90081336e-02 2.53184913e+02] [-2.35608019e-01 9.71835724e-01 -4.91793386e-03 -4.71218384e+01] [-1.96317394e-02 3.00041048e-04 9.99807234e-01 -7.13007827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.668623853 meters 0.020865686491290572 Centerline is valid? [True, True] Translation: X:253.24, Y:-47.14, Z:-7.13 [[ 9.70559506e-01 2.40064682e-01 1.95753360e-02 2.53243560e+02] [-2.40011249e-01 9.70756869e-01 -5.06962411e-03 -4.71367237e+01] [-2.02199296e-02 2.22071032e-04 9.99795532e-01 -7.12990353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.728623853 meters 0.018669080731942084 Centerline is valid? [True, True] Translation: X:253.30, Y:-47.15, Z:-7.13 [[ 9.69766667e-01 2.43225525e-01 1.98483305e-02 2.53304089e+02] [-2.43171272e-01 9.69969752e-01 -5.13938558e-03 -4.71498412e+01] [-2.05023100e-02 1.57461036e-04 9.99789793e-01 -7.13055813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.788623853 meters 0.016655169780983855 Centerline is valid? [True, True] Translation: X:253.36, Y:-47.16, Z:-7.13 [[ 9.68291712e-01 2.48961700e-01 2.07179187e-02 2.53362675e+02] [-2.48903791e-01 9.68513330e-01 -5.36960993e-03 -4.71642028e+01] [-2.14024076e-02 4.25802991e-05 9.99770941e-01 -7.13122593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.848623853 meters 0.016318511268482615 Centerline is valid? [True, True] Translation: X:253.42, Y:-47.18, Z:-7.13 [[ 9.67640802e-01 2.51507286e-01 2.03804423e-02 2.53422609e+02] [-2.51451831e-01 9.67855405e-01 -5.28129325e-03 -4.71794804e+01] [-2.10536050e-02 -1.43046983e-05 9.99778348e-01 -7.13235156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.908623853 meters 0.017150495746271217 Centerline is valid? [True, True] Translation: X:253.48, Y:-47.20, Z:-7.14 [[ 9.67142115e-01 2.53540320e-01 1.87998673e-02 2.53481215e+02] [-2.53493455e-01 9.67324818e-01 -4.87490479e-03 -4.71959217e+01] [-1.94215631e-02 -5.09175787e-05 9.99811382e-01 -7.13878052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.968623853 meters 0.01689719733125223 Centerline is valid? [True, True] Translation: X:253.54, Y:-47.21, Z:-7.14 [[ 9.67021716e-01 2.53912630e-01 1.99343408e-02 2.53540165e+02] [-2.53859921e-01 9.67227157e-01 -5.17371674e-03 -4.72140630e+01] [-2.05947078e-02 -5.74337588e-05 9.99787905e-01 -7.13650374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.028623853 meters 0.016634603799343818 Centerline is valid? [True, True] Translation: X:253.60, Y:-47.23, Z:-7.14 [[ 9.67146171e-01 2.53365671e-01 2.08355629e-02 2.53597580e+02] [-2.53307967e-01 9.67370578e-01 -5.40734486e-03 -4.72348759e+01] [-2.15257461e-02 -4.81211979e-05 9.99768293e-01 -7.13759864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.088623853 meters 0.01664779146579311 Centerline is valid? [True, True] Translation: X:253.66, Y:-47.26, Z:-7.14 [[ 9.67437219e-01 2.52342281e-01 1.97129690e-02 2.53656651e+02] [-2.52290360e-01 9.67638038e-01 -5.11875364e-03 -4.72584862e+01] [-2.03666967e-02 -2.13192717e-05 9.99792577e-01 -7.14118598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.148623853 meters 0.01700558718672002 Centerline is valid? [True, True] Translation: X:253.72, Y:-47.28, Z:-7.14 [[ 9.67180041e-01 2.53388867e-01 1.88904698e-02 2.53716526e+02] [-2.53341318e-01 9.67364503e-01 -4.90873365e-03 -4.72766735e+01] [-1.95177883e-02 -3.81072997e-05 9.99809509e-01 -7.14420402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.208623853 meters 0.017378956496185365 Centerline is valid? [True, True] Translation: X:253.78, Y:-47.29, Z:-7.15 [[ 9.66581502e-01 2.55681758e-01 1.86289640e-02 2.53776414e+02] [-2.55635869e-01 9.66761001e-01 -4.84460365e-03 -4.72945387e+01] [-1.92484327e-02 -7.95271412e-05 9.99814729e-01 -7.14548759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.268623853 meters 0.01799401416125509 Centerline is valid? [True, True] Translation: X:253.84, Y:-47.31, Z:-7.14 [[ 9.65774624e-01 2.58626229e-01 1.97952132e-02 2.53837612e+02] [-2.58574958e-01 9.65977460e-01 -5.15149505e-03 -4.73107082e+01] [-2.04540415e-02 -1.43363218e-04 9.99790784e-01 -7.14281960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.328623853 meters 0.019395225250570438 Centerline is valid? [True, True] Translation: X:253.90, Y:-47.32, Z:-7.14 [[ 9.65278793e-01 2.60386071e-01 2.08793188e-02 2.53897996e+02] [-2.60329340e-01 9.65504562e-01 -5.43832703e-03 -4.73236589e+01] [-2.15751422e-02 -1.85997527e-04 9.99767212e-01 -7.14414365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.388623853 meters 0.01926051437718461 Centerline is valid? [True, True] Translation: X:253.96, Y:-47.34, Z:-7.15 [[ 9.65089208e-01 2.61139944e-01 2.02175845e-02 2.53957120e+02] [-2.61086838e-01 9.65300934e-01 -5.26976688e-03 -4.73434022e+01] [-2.08921998e-02 -1.92750073e-04 9.99781716e-01 -7.14666787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.448623853 meters 0.019203723820951025 Centerline is valid? [True, True] Translation: X:254.02, Y:-47.36, Z:-7.15 [[ 9.65329788e-01 2.60326124e-01 1.92018338e-02 2.54016251e+02] [-2.60277999e-01 9.65520731e-01 -5.00806843e-03 -4.73638670e+01] [-1.98434997e-02 -1.63377251e-04 9.99803085e-01 -7.15099460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.508623853 meters 0.018774807195787013 Centerline is valid? [True, True] Translation: X:254.08, Y:-47.38, Z:-7.15 [[ 9.65519056e-01 2.59687503e-01 1.83126566e-02 2.54075996e+02] [-2.59643558e-01 9.65692695e-01 -4.77927592e-03 -4.73842922e+01] [-1.89255169e-02 -1.40281344e-04 9.99820887e-01 -7.15396023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56862385299996 meters 0.01854236446606924 Centerline is valid? [True, True] Translation: X:254.14, Y:-47.40, Z:-7.15 [[ 9.65379691e-01 2.60184575e-01 1.86020967e-02 2.54136363e+02] [-2.60139252e-01 9.65558887e-01 -4.85847434e-03 -4.74036423e+01] [-1.92255198e-02 -1.48863055e-04 9.99815162e-01 -7.15373807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62862385299997 meters 0.018768240261651855 Centerline is valid? [True, True] Translation: X:254.20, Y:-47.42, Z:-7.15 [[ 9.65161798e-01 2.60922991e-01 1.95421545e-02 2.54196299e+02] [-2.60873033e-01 9.65359604e-01 -5.10840542e-03 -4.74207691e+01] [-2.01981069e-02 -1.67583345e-04 9.99795983e-01 -7.15355494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68862385299997 meters 0.01814593314234459 Centerline is valid? [True, True] Translation: X:254.26, Y:-47.44, Z:-7.15 [[ 9.65389369e-01 2.60031369e-01 2.01755676e-02 2.54255398e+02] [-2.59977840e-01 9.65600158e-01 -5.27808302e-03 -4.74398201e+01] [-2.08539984e-02 -1.49795245e-04 9.99782521e-01 -7.15405459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74862385299997 meters 0.017145375340131747 Centerline is valid? [True, True] Translation: X:254.31, Y:-47.46, Z:-7.16 [[ 9.66123968e-01 2.57287103e-01 2.01946621e-02 2.54314074e+02] [-2.57232788e-01 9.66335003e-01 -5.28715107e-03 -4.74629251e+01] [-2.08751247e-02 -8.66858599e-05 9.99782087e-01 -7.15550578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.808623853 meters 0.01689808238453035 Centerline is valid? [True, True] Translation: X:254.37, Y:-47.48, Z:-7.16 [[ 9.66397995e-01 2.56243985e-01 2.03454134e-02 2.54372812e+02] [-2.56188596e-01 9.66612133e-01 -5.32794852e-03 -4.74817788e+01] [-2.10313782e-02 -6.33441341e-05 9.99778814e-01 -7.15684556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.868623853 meters 0.02756170597843034 Centerline is valid? [True, True] Translation: X:254.43, Y:-47.51, Z:-7.15 [[ 9.67476169e-01 2.52107412e-01 2.07777491e-02 2.54431021e+02] [-2.52048605e-01 9.67699257e-01 -5.44506222e-03 -4.75073125e+01] [-2.14793529e-02 3.09652517e-05 9.99769292e-01 -7.14824618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.928623853 meters 0.01807643463216197 Centerline is valid? [True, True] Translation: X:254.49, Y:-47.54, Z:-7.16 [[ 9.68487738e-01 2.48155468e-01 2.12218093e-02 2.54485882e+02] [-2.48093071e-01 9.68720211e-01 -5.56598109e-03 -4.75369163e+01] [-2.19392243e-02 1.25600590e-04 9.99759298e-01 -7.15799346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.988623853 meters 0.020531153070747862 Centerline is valid? [True, True] Translation: X:254.54, Y:-47.56, Z:-7.16 [[ 9.69355556e-01 2.44789801e-01 2.06823590e-02 2.54542583e+02] [-2.44729702e-01 9.69576152e-01 -5.42763073e-03 -4.75649452e+01] [-2.13817506e-02 1.99716450e-04 9.99771364e-01 -7.16065337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.048623853 meters 0.025772041374962897 Centerline is valid? [True, True] Translation: X:254.60, Y:-47.59, Z:-7.16 [[ 9.69784720e-01 2.43178442e-01 1.95408035e-02 2.54600603e+02] [-2.43124406e-01 9.69981543e-01 -5.13112365e-03 -4.75904314e+01] [-2.02019974e-02 2.25239067e-04 9.99795893e-01 -7.15753305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.108623853 meters 0.020041404471559648 Centerline is valid? [True, True] Translation: X:254.66, Y:-47.61, Z:-7.16 [[ 9.69375746e-01 2.44713974e-01 2.06333168e-02 2.54659124e+02] [-2.44653996e-01 9.69595291e-01 -5.42168007e-03 -4.76100711e+01] [-2.13327277e-02 2.07621758e-04 9.99772410e-01 -7.16292690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.168623853 meters 0.018364289308435113 Centerline is valid? [True, True] Translation: X:254.72, Y:-47.63, Z:-7.16 [[ 9.68721048e-01 2.47248106e-01 2.11637651e-02 2.54719298e+02] [-2.47185523e-01 9.68952191e-01 -5.56495536e-03 -4.76267741e+01] [-2.18826012e-02 1.59513058e-04 9.99760534e-01 -7.16310008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.228623853 meters 0.01675264432925923 Centerline is valid? [True, True] Translation: X:254.78, Y:-47.64, Z:-7.17 [[ 9.66418088e-01 2.56169171e-01 2.03331004e-02 2.54779195e+02] [-2.56113298e-01 9.66631964e-01 -5.35015218e-03 -4.76382114e+01] [-2.10251688e-02 -3.70935647e-05 9.99778946e-01 -7.16642725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.288623853 meters 0.018542171455866722 Centerline is valid? [True, True] Translation: X:254.84, Y:-47.65, Z:-7.17 [[ 9.64899586e-01 2.61814928e-01 2.05361012e-02 2.54840052e+02] [-2.61759127e-01 9.65118085e-01 -5.40749937e-03 -4.76476245e+01] [-2.12355267e-02 -1.57818016e-04 9.99774488e-01 -7.16750722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.348623853 meters 0.02302737171255109 Centerline is valid? [True, True] Translation: X:254.90, Y:-47.65, Z:-7.17 [[ 9.62642387e-01 2.69965953e-01 2.09289238e-02 2.54901027e+02] [-2.69909864e-01 9.62869808e-01 -5.51340152e-03 -4.76546833e+01] [-2.16402595e-02 -3.41488976e-04 9.99765764e-01 -7.16752792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.408623853 meters 0.03211147992575764 Centerline is valid? [True, True] Translation: X:254.96, Y:-47.66, Z:-7.17 [[ 9.60530993e-01 2.77416789e-01 2.04972630e-02 2.54962877e+02] [-2.77364680e-01 9.60749539e-01 -5.39978243e-03 -4.76553587e+01] [-2.11907262e-02 -4.98558398e-04 9.99775327e-01 -7.17107941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.468623853 meters 0.03447320964179148 Centerline is valid? [True, True] Translation: X:255.02, Y:-47.67, Z:-7.17 [[ 9.58834275e-01 2.83236684e-01 2.03424086e-02 2.55023046e+02] [-2.83186645e-01 9.59049839e-01 -5.35998582e-03 -4.76650910e+01] [-2.10275284e-02 -6.21360341e-04 9.99778704e-01 -7.17198271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.528623853 meters 0.03821442578450814 Centerline is valid? [True, True] Translation: X:255.08, Y:-47.67, Z:-7.17 [[ 9.57803477e-01 2.86637047e-01 2.12533235e-02 2.55084371e+02] [-2.86583260e-01 9.58038973e-01 -5.60004286e-03 -4.76717758e+01] [-2.19666920e-02 -7.27106222e-04 9.99758439e-01 -7.17251348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.588623853 meters 0.03815656458924322 Centerline is valid? [True, True] Translation: X:255.15, Y:-47.69, Z:-7.18 [[ 9.57709850e-01 2.86997398e-01 2.05994269e-02 2.55145097e+02] [-2.86946970e-01 9.57931096e-01 -5.42697222e-03 -4.76853263e+01] [-2.12903585e-02 -7.13478379e-04 9.99773080e-01 -7.17502893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.648623853 meters 0.03384632154279469 Centerline is valid? [True, True] Translation: X:255.20, Y:-47.70, Z:-7.18 [[ 9.59113854e-01 2.82361606e-01 1.93012530e-02 2.55203265e+02] [-2.82316306e-01 9.59307876e-01 -5.08940129e-03 -4.77012707e+01] [-1.99528955e-02 -5.67743159e-04 9.99800760e-01 -7.17918239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.708623853 meters 0.030137053520135283 Centerline is valid? [True, True] Translation: X:255.26, Y:-47.72, Z:-7.18 [[ 9.60246668e-01 2.78470486e-01 1.95070700e-02 2.55261386e+02] [-2.78423414e-01 9.60444661e-01 -5.14357807e-03 -4.77192040e+01] [-2.01677959e-02 -4.92121313e-04 9.99796488e-01 -7.18003313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.768623853 meters 0.02613016207780845 Centerline is valid? [True, True] Translation: X:255.32, Y:-47.74, Z:-7.18 [[ 9.61762612e-01 2.73212200e-01 1.91773919e-02 2.55318164e+02] [-2.73165653e-01 9.61953717e-01 -5.05698580e-03 -4.77377499e+01] [-1.98293936e-02 -3.74984902e-04 9.99803308e-01 -7.18242799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.828623853 meters 0.02153455469633845 Centerline is valid? [True, True] Translation: X:255.38, Y:-47.76, Z:-7.18 [[ 9.63196813e-01 2.68064389e-01 1.98338963e-02 2.55376442e+02] [-2.68013513e-01 9.63400958e-01 -5.22982873e-03 -4.77586628e+01] [-2.05099256e-02 -2.78397863e-04 9.99789611e-01 -7.18250073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.888623853 meters 0.0185541089144316 Centerline is valid? [True, True] Translation: X:255.43, Y:-47.78, Z:-7.18 [[ 9.64626721e-01 2.62805497e-01 2.07016724e-02 2.55434256e+02] [-2.62748838e-01 9.64848818e-01 -5.45958121e-03 -4.77799857e+01] [-2.14087921e-02 -1.72882452e-04 9.99770791e-01 -7.18335573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.948623853 meters 0.02716720215954623 Centerline is valid? [True, True] Translation: X:255.49, Y:-47.80, Z:-7.18 [[ 9.65573914e-01 2.59482240e-01 1.83298887e-02 2.55493596e+02] [-2.59437241e-01 9.65747876e-01 -4.83305711e-03 -4.77997322e+01] [-1.89561435e-02 -8.87818774e-05 9.99820312e-01 -7.18045697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.008623853 meters 0.017159243021834008 Centerline is valid? [True, True] Translation: X:255.55, Y:-47.82, Z:-7.19 [[ 9.66299873e-01 2.56709007e-01 1.91060484e-02 2.55551487e+02] [-2.56659493e-01 9.66488740e-01 -5.04181746e-03 -4.78193713e+01] [-1.97600606e-02 -3.18411308e-05 9.99804750e-01 -7.19093116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06862385299996 meters 0.01714917404018909 Centerline is valid? [True, True] Translation: X:255.61, Y:-47.84, Z:-7.19 [[ 9.66646080e-01 2.55428800e-01 1.87479264e-02 2.55610982e+02] [-2.55380832e-01 9.66827869e-01 -4.95001596e-03 -4.78390954e+01] [-1.93903943e-02 -2.94751412e-06 9.99811989e-01 -7.19232136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12862385299997 meters 0.017091969944612605 Centerline is valid? [True, True] Translation: X:255.67, Y:-47.86, Z:-7.19 [[ 9.66741368e-01 2.55044724e-01 1.90608573e-02 2.55670780e+02] [-2.54994988e-01 9.66929257e-01 -5.03662466e-03 -4.78578780e+01] [-1.97150651e-02 8.69035285e-06 9.99805639e-01 -7.19254546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18862385299997 meters 0.01697141057501436 Centerline is valid? [True, True] Translation: X:255.73, Y:-47.87, Z:-7.19 [[ 9.66308491e-01 2.56615690e-01 1.99069974e-02 2.55731752e+02] [-2.56561681e-01 9.66513521e-01 -5.26465009e-03 -4.78718158e+01] [-2.05913740e-02 -2.00966402e-05 9.99787975e-01 -7.19307601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24862385299997 meters 0.017262243505120584 Centerline is valid? [True, True] Translation: X:255.79, Y:-47.88, Z:-7.19 [[ 9.65345706e-01 2.60170633e-01 2.04672947e-02 2.55793890e+02] [-2.60114265e-01 9.65562651e-01 -5.41633872e-03 -4.78843588e+01] [-2.11716276e-02 -9.51959939e-05 9.99775851e-01 -7.19185773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.308623853 meters 0.01973832506578122 Centerline is valid? [True, True] Translation: X:255.86, Y:-47.89, Z:-7.19 [[ 9.64087312e-01 2.64803613e-01 2.03642298e-02 2.55855234e+02] [-2.64748739e-01 9.64302344e-01 -5.39399902e-03 -4.78914332e+01] [-2.10656249e-02 -1.91118148e-04 9.99778077e-01 -7.19475702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.368623853 meters 0.02299353041771846 Centerline is valid? [True, True] Translation: X:255.92, Y:-47.90, Z:-7.20 [[ 9.62918515e-01 2.69001659e-01 2.06407704e-02 2.55916144e+02] [-2.68946196e-01 9.63139671e-01 -5.46967092e-03 -4.78987138e+01] [-2.13512954e-02 -2.84409278e-04 9.99771995e-01 -7.19544959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.428623853 meters 0.022696925542506054 Centerline is valid? [True, True] Translation: X:255.98, Y:-47.91, Z:-7.19 [[ 9.62415766e-01 2.70685678e-01 2.20263003e-02 2.55976502e+02] [-2.70622962e-01 9.62667723e-01 -5.83666173e-03 -4.79127337e+01] [-2.27839091e-02 -3.43527352e-04 9.99740354e-01 -7.19333349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.488623853 meters 0.024051599022539245 Centerline is valid? [True, True] Translation: X:256.04, Y:-47.92, Z:-7.19 [[ 9.62368523e-01 2.70807091e-01 2.25908213e-02 2.56037433e+02] [-2.70741056e-01 9.62633573e-01 -5.99035573e-03 -4.79247977e+01] [-2.33689139e-02 -3.51333038e-04 9.99726848e-01 -7.19473586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.548623853 meters 0.023209759018250436 Centerline is valid? [True, True] Translation: X:256.10, Y:-47.94, Z:-7.20 [[ 9.62278411e-01 2.71169651e-01 2.20744007e-02 2.56098735e+02] [-2.71106605e-01 9.62531506e-01 -5.85744366e-03 -4.79396098e+01] [-2.28356671e-02 -3.48024246e-04 9.99739172e-01 -7.19712451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.608623853 meters 0.02486667096157611 Centerline is valid? [True, True] Translation: X:256.16, Y:-47.95, Z:-7.20 [[ 9.62343539e-01 2.71030677e-01 2.09113524e-02 2.56160666e+02] [-2.70973972e-01 9.62570656e-01 -5.55320165e-03 -4.79489038e+01] [-2.16337422e-02 -3.22344491e-04 9.99765911e-01 -7.20246203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.668623853 meters 0.02343553561985348 Centerline is valid? [True, True] Translation: X:256.22, Y:-47.96, Z:-7.21 [[ 9.62452876e-01 2.70705755e-01 2.00712593e-02 2.56222019e+02] [-2.70653406e-01 9.62662092e-01 -5.33199924e-03 -4.79631022e+01] [-2.07652433e-02 -3.00556686e-04 9.99784334e-01 -7.20552239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.728623853 meters 0.022663908975730215 Centerline is valid? [True, True] Translation: X:256.28, Y:-47.98, Z:-7.21 [[ 9.62528065e-01 2.70401193e-01 2.05649953e-02 2.56282676e+02] [-2.70346075e-01 9.62747686e-01 -5.46743800e-03 -4.79768035e+01] [-2.12773034e-02 -2.97103256e-04 9.99773568e-01 -7.20604230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.788623853 meters 0.02163816063190987 Centerline is valid? [True, True] Translation: X:256.34, Y:-47.99, Z:-7.21 [[ 9.62708369e-01 2.69675750e-01 2.16237231e-02 2.56343945e+02] [-2.69614539e-01 9.62951143e-01 -5.75288022e-03 -4.79901352e+01] [-2.23740012e-02 -2.91724209e-04 9.99749628e-01 -7.20503728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.848623853 meters 0.02064420239377443 Centerline is valid? [True, True] Translation: X:256.40, Y:-48.00, Z:-7.21 [[ 9.63284417e-01 2.67669668e-01 2.08825483e-02 2.56403764e+02] [-2.67612033e-01 9.63510713e-01 -5.55928400e-03 -4.80034255e+01] [-2.16086107e-02 -2.33249540e-04 9.99766480e-01 -7.20886399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.908623853 meters 0.018801830197739018 Centerline is valid? [True, True] Translation: X:256.46, Y:-48.02, Z:-7.21 [[ 9.63816873e-01 2.65714544e-01 2.12795004e-02 2.56464289e+02] [-2.65654144e-01 9.64051734e-01 -5.66838552e-03 -4.80191473e+01] [-2.20207118e-02 -1.89701874e-04 9.99757497e-01 -7.20861549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.968623853 meters 0.017985875298730556 Centerline is valid? [True, True] Translation: X:256.52, Y:-48.03, Z:-7.21 [[ 9.64206211e-01 2.64239225e-01 2.20003273e-02 2.56524636e+02] [-2.64174187e-01 9.64457157e-01 -5.86446416e-03 -4.80329641e+01] [-2.27679946e-02 -1.57365803e-04 9.99740763e-01 -7.20870265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.028623853 meters 0.01760682228440481 Centerline is valid? [True, True] Translation: X:256.59, Y:-48.05, Z:-7.21 [[ 9.64277759e-01 2.64010406e-01 2.16080675e-02 2.56585816e+02] [-2.63947529e-01 9.64519821e-01 -5.76350308e-03 -4.80465775e+01] [-2.23630342e-02 -1.45778176e-04 9.99749905e-01 -7.21100500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.088623853 meters 0.01848539273211146 Centerline is valid? [True, True] Translation: X:256.65, Y:-48.05, Z:-7.22 [[ 9.64171015e-01 2.64528875e-01 1.99681781e-02 2.56647544e+02] [-2.64475207e-01 9.64377755e-01 -5.33014365e-03 -4.80533491e+01] [-2.06668437e-02 -1.41918025e-04 9.99786408e-01 -7.21730196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.148623853 meters 0.01893019017006167 Centerline is valid? [True, True] Translation: X:256.71, Y:-48.06, Z:-7.22 [[ 9.64046629e-01 2.64994607e-01 1.97978595e-02 2.56705274e+02] [-2.64941853e-01 9.64249883e-01 -5.28939209e-03 -4.80628405e+01] [-2.04917441e-02 -1.46060961e-04 9.99790011e-01 -7.21895734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.208623853 meters 0.0179388445166558 Centerline is valid? [True, True] Translation: X:256.77, Y:-48.07, Z:-7.22 [[ 9.64398905e-01 2.63737660e-01 1.94216236e-02 2.56765378e+02] [-2.63686660e-01 9.64594440e-01 -5.18773765e-03 -4.80743126e+01] [-2.01021919e-02 -1.18174541e-04 9.99797924e-01 -7.22026320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.268623853 meters 0.01671243639027369 Centerline is valid? [True, True] Translation: X:256.82, Y:-48.09, Z:-7.22 [[ 9.65726327e-01 2.58742155e-01 2.06193710e-02 2.56823185e+02] [-2.58683516e-01 9.65946425e-01 -5.50831001e-03 -4.80924759e+01] [-2.13424397e-02 -1.43714079e-05 9.99772224e-01 -7.22041212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.328623853 meters 0.018416041945911756 Centerline is valid? [True, True] Translation: X:256.88, Y:-48.12, Z:-7.22 [[ 9.67539717e-01 2.51771041e-01 2.18686721e-02 2.56880960e+02] [-2.51703307e-01 9.67786816e-01 -5.84155484e-03 -4.81179699e+01] [-2.26349469e-02 1.47519231e-04 9.99743786e-01 -7.21930480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.388623853 meters 0.023589552237731723 Centerline is valid? [True, True] Translation: X:256.94, Y:-48.14, Z:-7.22 [[ 9.69278312e-01 2.45045244e-01 2.12692717e-02 2.56937707e+02] [-2.44979472e-01 9.69511598e-01 -5.68505023e-03 -4.81443406e+01] [-2.20139001e-02 2.99860957e-04 9.99757620e-01 -7.22234964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.448623853 meters 0.02862508275250308 Centerline is valid? [True, True] Translation: X:256.99, Y:-48.17, Z:-7.23 [[ 9.70589058e-01 2.39845410e-01 2.07619661e-02 2.56993994e+02] [-2.39781461e-01 9.70811006e-01 -5.55347207e-03 -4.81687923e+01] [-2.14879200e-02 4.11804671e-04 9.99769023e-01 -7.22524565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.508623853 meters 0.032037551613207496 Centerline is valid? [True, True] Translation: X:257.05, Y:-48.19, Z:-7.23 [[ 9.71182560e-01 2.37400981e-01 2.10999981e-02 2.57051174e+02] [-2.37334356e-01 9.71411627e-01 -5.64389718e-03 -4.81924124e+01] [-2.18366502e-02 4.73500041e-04 9.99761440e-01 -7.22635764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56862385299996 meters 0.03219465652057238 Centerline is valid? [True, True] Translation: X:257.11, Y:-48.21, Z:-7.23 [[ 9.71082980e-01 2.37821360e-01 2.09486656e-02 2.57109865e+02] [-2.37755705e-01 9.71308800e-01 -5.60709982e-03 -4.82112534e+01] [-2.16811113e-02 4.64294438e-04 9.99764829e-01 -7.22790591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62862385299997 meters 0.029563437747197836 Centerline is valid? [True, True] Translation: X:257.17, Y:-48.22, Z:-7.23 [[ 9.70403871e-01 2.40589192e-01 2.08126774e-02 2.57170258e+02] [-2.40524973e-01 9.70626951e-01 -5.57301840e-03 -4.82241086e+01] [-2.15421536e-02 4.02109964e-04 9.99767860e-01 -7.22989329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68862385299997 meters 0.02265297136421372 Centerline is valid? [True, True] Translation: X:257.23, Y:-48.23, Z:-7.23 [[ 9.68527341e-01 2.48148283e-01 1.94221489e-02 2.57230733e+02] [-2.48093857e-01 9.68722035e-01 -5.20157211e-03 -4.82287574e+01] [-2.01054248e-02 2.19348969e-04 9.99797841e-01 -7.23420645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74862385299997 meters 0.017510751201691373 Centerline is valid? [True, True] Translation: X:257.30, Y:-48.23, Z:-7.23 [[ 9.66383694e-01 2.56374569e-01 1.93555162e-02 2.57295119e+02] [-2.56322172e-01 9.66577508e-01 -5.18324653e-03 -4.82308324e+01] [-2.00374592e-02 4.77569763e-05 9.99799229e-01 -7.23357649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.808623853 meters 0.01784381037180912 Centerline is valid? [True, True] Translation: X:257.36, Y:-48.24, Z:-7.23 [[ 9.64708265e-01 2.62517405e-01 2.05566302e-02 2.57355569e+02] [-2.62459654e-01 9.64927254e-01 -5.50680799e-03 -4.82358911e+01] [-2.12812857e-02 -8.28228662e-05 9.99773524e-01 -7.23408174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.868623853 meters 0.018702312200925313 Centerline is valid? [True, True] Translation: X:257.42, Y:-48.25, Z:-7.23 [[ 9.63569016e-01 2.66595063e-01 2.14901072e-02 2.57415845e+02] [-2.66532971e-01 9.63808612e-01 -5.75637343e-03 -4.82474476e+01] [-2.22469712e-02 -1.81159042e-04 9.99752489e-01 -7.23114486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.928623853 meters 0.019726887700360907 Centerline is valid? [True, True] Translation: X:257.48, Y:-48.26, Z:-7.23 [[ 9.63179117e-01 2.67978983e-01 2.17543908e-02 2.57475014e+02] [-2.67915692e-01 9.63424734e-01 -5.82781778e-03 -4.82591343e+01] [-2.25204509e-02 -2.15110288e-04 9.99746359e-01 -7.23283223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.988623853 meters 0.01959166635508322 Centerline is valid? [True, True] Translation: X:257.53, Y:-48.27, Z:-7.24 [[ 9.63333153e-01 2.67462943e-01 2.12793376e-02 2.57533080e+02] [-2.67402250e-01 9.63568127e-01 -5.70103812e-03 -4.82741358e+01] [-2.20289079e-02 -1.98143735e-04 9.99757315e-01 -7.23575868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.048623853 meters 0.01882539066251864 Centerline is valid? [True, True] Translation: X:257.59, Y:-48.29, Z:-7.24 [[ 9.63809526e-01 2.65789010e-01 2.06736492e-02 2.57590862e+02] [-2.65731348e-01 9.64031212e-01 -5.53834167e-03 -4.82907889e+01] [-2.14020734e-02 -1.55730203e-04 9.99770937e-01 -7.23854671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.108623853 meters 0.018018838893694263 Centerline is valid? [True, True] Translation: X:257.65, Y:-48.31, Z:-7.24 [[ 9.64264904e-01 2.64130881e-01 2.06899099e-02 2.57648921e+02] [-2.64072768e-01 9.64486839e-01 -5.54165950e-03 -4.83070245e+01] [-2.14188692e-02 -1.20013990e-04 9.99770583e-01 -7.23990682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.168623853 meters 0.01732119298311281 Centerline is valid? [True, True] Translation: X:257.71, Y:-48.32, Z:-7.24 [[ 9.64992262e-01 2.61465325e-01 2.06353471e-02 2.57706720e+02] [-2.61406909e-01 9.65212868e-01 -5.52704520e-03 -4.83247446e+01] [-2.13626332e-02 -6.06664256e-05 9.99771791e-01 -7.24213701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.228623853 meters 0.017360159465049683 Centerline is valid? [True, True] Translation: X:257.76, Y:-48.35, Z:-7.25 [[ 9.66069038e-01 2.57528573e-01 1.97394914e-02 2.57762997e+02] [-2.57474298e-01 9.66270683e-01 -5.28700740e-03 -4.83461366e+01] [-2.04352473e-02 2.52024823e-05 9.99791178e-01 -7.24581431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.288623853 meters 0.018020209304877185 Centerline is valid? [True, True] Translation: X:257.82, Y:-48.36, Z:-7.25 [[ 9.66752321e-01 2.54968400e-01 1.95209080e-02 2.57821531e+02] [-2.54914795e-01 9.66949383e-01 -5.22861233e-03 -4.83645946e+01] [-2.02088609e-02 7.86048489e-05 9.99795777e-01 -7.24815258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.348623853 meters 0.018288696155775584 Centerline is valid? [True, True] Translation: X:257.88, Y:-48.38, Z:-7.25 [[ 9.66954865e-01 2.54169027e-01 1.99096682e-02 2.57879412e+02] [-2.54113084e-01 9.67159809e-01 -5.33333707e-03 -4.83808784e+01] [-2.06114000e-02 9.77890335e-05 9.99787558e-01 -7.24886059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.408623853 meters 0.017895793541461653 Centerline is valid? [True, True] Translation: X:257.94, Y:-48.39, Z:-7.25 [[ 9.66567350e-01 2.55617516e-01 2.01802707e-02 2.57937732e+02] [-2.55560347e-01 9.66777989e-01 -5.40632363e-03 -4.83922921e+01] [-2.08917926e-02 6.82989235e-05 9.99781740e-01 -7.25029938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.468623853 meters 0.017456945503221855 Centerline is valid? [True, True] Translation: X:258.00, Y:-48.40, Z:-7.25 [[ 9.66011577e-01 2.57710629e-01 2.01708913e-02 2.57995984e+02] [-2.57653978e-01 9.66222144e-01 -5.40339740e-03 -4.84024641e+01] [-2.08820748e-02 2.26340726e-05 9.99781945e-01 -7.25193654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.528623853 meters 0.01768911527745737 Centerline is valid? [True, True] Translation: X:258.05, Y:-48.42, Z:-7.26 [[ 9.65770142e-01 2.58677117e-01 1.93437601e-02 2.58053594e+02] [-2.58625222e-01 9.65963845e-01 -5.18125339e-03 -4.84150664e+01] [-2.00256446e-02 1.11555497e-06 9.99799467e-01 -7.25552174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.588623853 meters 0.01765694127469239 Centerline is valid? [True, True] Translation: X:258.11, Y:-48.43, Z:-7.26 [[ 9.65811377e-01 2.58547705e-01 1.90123187e-02 2.58110553e+02] [-2.58497566e-01 9.65998491e-01 -5.09158382e-03 -4.84298130e+01] [-1.96822885e-02 2.87147046e-06 9.99806285e-01 -7.25812860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.648623853 meters 0.019286503822318272 Centerline is valid? [True, True] Translation: X:258.17, Y:-48.45, Z:-7.26 [[ 9.66076014e-01 2.57539487e-01 1.92495977e-02 2.58168415e+02] [-2.57487910e-01 9.66267775e-01 -5.15401844e-03 -4.84464702e+01] [-1.99276291e-02 2.26349259e-05 9.99801425e-01 -7.25511818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.708623853 meters 0.02426364650491987 Centerline is valid? [True, True] Translation: X:258.23, Y:-48.46, Z:-7.25 [[ 9.66267015e-01 2.56724649e-01 2.05063747e-02 2.58226690e+02] [-2.56665948e-01 9.66484585e-01 -5.48982199e-03 -4.84637888e+01] [-2.12284676e-02 4.13458228e-05 9.99774650e-01 -7.24890695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.768623853 meters 0.01753181440441451 Centerline is valid? [True, True] Translation: X:258.29, Y:-48.48, Z:-7.26 [[ 9.66149577e-01 2.57158739e-01 2.06004172e-02 2.58285233e+02] [-2.57099601e-01 9.66369175e-01 -5.51483892e-03 -4.84801118e+01] [-2.13257972e-02 3.18002476e-05 9.99772579e-01 -7.25778923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.828623853 meters 0.017504053915725615 Centerline is valid? [True, True] Translation: X:258.34, Y:-48.49, Z:-7.26 [[ 9.65810523e-01 2.58495522e-01 1.97509251e-02 2.58343895e+02] [-2.58441427e-01 9.66012456e-01 -5.28808503e-03 -4.84931568e+01] [-2.04465860e-02 2.83091146e-06 9.99790947e-01 -7.26072796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.888623853 meters 0.01760157438439936 Centerline is valid? [True, True] Translation: X:258.40, Y:-48.51, Z:-7.26 [[ 9.65740480e-01 2.58794450e-01 1.92550854e-02 2.58402247e+02] [-2.58743096e-01 9.65932416e-01 -5.15532960e-03 -4.85087698e+01] [-1.99332818e-02 -3.40991944e-06 9.99801312e-01 -7.26371224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.948623853 meters 0.017473931657572498 Centerline is valid? [True, True] Translation: X:258.46, Y:-48.53, Z:-7.26 [[ 9.66114794e-01 2.57355230e-01 1.97608499e-02 2.58460415e+02] [-2.57300845e-01 9.66316866e-01 -5.29056017e-03 -4.85290211e+01] [-2.04567958e-02 2.68050666e-05 9.99790737e-01 -7.26373315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.008623853 meters 0.018644095742682363 Centerline is valid? [True, True] Translation: X:258.52, Y:-48.55, Z:-7.27 [[ 9.67066847e-01 2.53756069e-01 1.97375523e-02 2.58516564e+02] [-2.53701073e-01 9.67268239e-01 -5.28383927e-03 -4.85545094e+01] [-2.04323137e-02 1.02387601e-04 9.99791233e-01 -7.26619664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06862385299996 meters 0.019834626406546756 Centerline is valid? [True, True] Translation: X:258.57, Y:-48.58, Z:-7.27 [[ 9.67661636e-01 2.51430762e-01 2.03354503e-02 2.58574451e+02] [-2.51371796e-01 9.67875274e-01 -5.44735228e-03 -4.85787915e+01] [-2.10518115e-02 1.59435152e-04 9.99778373e-01 -7.26662310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12862385299997 meters 0.0209455071981989 Centerline is valid? [True, True] Translation: X:258.63, Y:-48.60, Z:-7.27 [[ 9.68067078e-01 2.49863890e-01 2.03511317e-02 2.58632028e+02] [-2.49804411e-01 9.68280950e-01 -5.45511410e-03 -4.86035164e+01] [-2.10686492e-02 1.97113888e-04 9.99778012e-01 -7.26819273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18862385299997 meters 0.0214341109028488 Centerline is valid? [True, True] Translation: X:258.69, Y:-48.63, Z:-7.27 [[ 9.68238771e-01 2.49183652e-01 2.05229106e-02 2.58691199e+02] [-2.49122939e-01 9.68456225e-01 -5.50460984e-03 -4.86250423e+01] [-2.12471993e-02 2.17048857e-04 9.99774229e-01 -7.26950569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24862385299997 meters 0.021898306906430905 Centerline is valid? [True, True] Translation: X:258.75, Y:-48.65, Z:-7.27 [[ 9.68185699e-01 2.49402774e-01 2.03643833e-02 2.58748635e+02] [-2.49342957e-01 9.68399819e-01 -5.46623165e-03 -4.86497828e+01] [-2.10841585e-02 2.14611751e-04 9.99777681e-01 -7.27231679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.308623853 meters 0.019856990055902843 Centerline is valid? [True, True] Translation: X:258.81, Y:-48.67, Z:-7.27 [[ 9.67326975e-01 2.52729814e-01 2.01535188e-02 2.58808307e+02] [-2.52671870e-01 9.67536883e-01 -5.41346633e-03 -4.86669842e+01] [-2.08674171e-02 1.44364734e-04 9.99782241e-01 -7.27404193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.368623853 meters 0.01759462615374998 Centerline is valid? [True, True] Translation: X:258.87, Y:-48.68, Z:-7.27 [[ 9.65926044e-01 2.58024966e-01 2.02483354e-02 2.58868574e+02] [-2.57967566e-01 9.66138249e-01 -5.44232344e-03 -4.86811447e+01] [-2.09669466e-02 3.34681553e-05 9.99780169e-01 -7.27364268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.428623853 meters 0.01869143386784153 Centerline is valid? [True, True] Translation: X:258.93, Y:-48.69, Z:-7.28 [[ 9.64128580e-01 2.64685408e-01 1.99428239e-02 2.58929344e+02] [-2.64631077e-01 9.64334809e-01 -5.36371525e-03 -4.86900744e+01] [-2.06512564e-02 -1.06179802e-04 9.99786734e-01 -7.27737062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.488623853 meters 0.02023956566186364 Centerline is valid? [True, True] Translation: X:258.99, Y:-48.71, Z:-7.28 [[ 9.62805962e-01 2.69453642e-01 1.99853358e-02 2.58989419e+02] [-2.69400041e-01 9.63013340e-01 -5.37823394e-03 -4.87052992e+01] [-2.06953297e-02 -2.05854596e-04 9.99785808e-01 -7.27610366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.548623853 meters 0.02198397409104756 Centerline is valid? [True, True] Translation: X:259.05, Y:-48.72, Z:-7.28 [[ 9.62242351e-01 2.71407349e-01 2.06811310e-02 2.59047850e+02] [-2.71350297e-01 9.62464538e-01 -5.57034176e-03 -4.87214982e+01] [-2.14166869e-02 -2.51812287e-04 9.99770605e-01 -7.27676864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.608623853 meters 0.021896443784894366 Centerline is valid? [True, True] Translation: X:259.11, Y:-48.74, Z:-7.28 [[ 9.62036023e-01 2.72104449e-01 2.11153608e-02 2.59108425e+02] [-2.72045153e-01 9.62267683e-01 -5.68685419e-03 -4.87400729e+01] [-2.18660476e-02 -2.73372977e-04 9.99760872e-01 -7.27684140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.668623853 meters 0.02207489687937253 Centerline is valid? [True, True] Translation: X:259.17, Y:-48.76, Z:-7.28 [[ 9.61830137e-01 2.72823867e-01 2.12114498e-02 2.59168746e+02] [-2.72764112e-01 9.62063956e-01 -5.71701790e-03 -4.87573871e+01] [-2.19665102e-02 -2.86922149e-04 9.99758666e-01 -7.27908823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.728623853 meters 0.023021956122396797 Centerline is valid? [True, True] Translation: X:259.23, Y:-48.77, Z:-7.28 [[ 9.61385235e-01 2.74439198e-01 2.05318481e-02 2.59228774e+02] [-2.74383490e-01 9.61604405e-01 -5.53801172e-03 -4.87744362e+01] [-2.12633631e-02 -3.09437438e-04 9.99773861e-01 -7.28159326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.788623853 meters 0.02439917010845998 Centerline is valid? [True, True] Translation: X:259.29, Y:-48.79, Z:-7.28 [[ 9.61175712e-01 2.75189106e-01 2.03028681e-02 2.59288039e+02] [-2.75134724e-01 9.61390063e-01 -5.47993896e-03 -4.87880993e+01] [-2.10269951e-02 -3.18839770e-04 9.99778857e-01 -7.28418758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.848623853 meters 0.02377726111919508 Centerline is valid? [True, True] Translation: X:259.35, Y:-48.81, Z:-7.29 [[ 9.61087042e-01 2.75505253e-01 2.02126931e-02 2.59348316e+02] [-2.75451359e-01 9.61299512e-01 -5.45864133e-03 -4.88068451e+01] [-2.09343364e-02 -3.21384327e-04 9.99780801e-01 -7.28598391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.908623853 meters 0.023635180966149916 Centerline is valid? [True, True] Translation: X:259.41, Y:-48.82, Z:-7.29 [[ 9.61363885e-01 2.74562617e-01 1.98708465e-02 2.59406979e+02] [-2.74510241e-01 9.61569178e-01 -5.37055826e-03 -4.88238049e+01] [-2.05817480e-02 -2.91690111e-04 9.99788131e-01 -7.28918559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.968623853 meters 0.022220158698782154 Centerline is valid? [True, True] Translation: X:259.47, Y:-48.84, Z:-7.29 [[ 9.61794757e-01 2.73034366e-01 2.00768782e-02 2.59466365e+02] [-2.72980498e-01 9.62004245e-01 -5.42952120e-03 -4.88435605e+01] [-2.07964879e-02 -2.58511190e-04 9.99783696e-01 -7.28956313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.028623853 meters 0.022108014078271676 Centerline is valid? [True, True] Translation: X:259.53, Y:-48.86, Z:-7.29 [[ 9.61874501e-01 2.72657270e-01 2.13414350e-02 2.59525655e+02] [-2.72596218e-01 9.62111191e-01 -5.77559670e-03 -4.88595201e+01] [-2.21075918e-02 -2.62195268e-04 9.99755563e-01 -7.28958119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.088623853 meters 0.0209680171054077 Centerline is valid? [True, True] Translation: X:259.59, Y:-48.88, Z:-7.29 [[ 9.62032829e-01 2.72098755e-01 2.13331555e-02 2.59585719e+02] [-2.72037540e-01 9.62269301e-01 -5.77667897e-03 -4.88771159e+01] [-2.21000678e-02 -2.46064335e-04 9.99755733e-01 -7.29064574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.148623853 meters 0.020055604112986417 Centerline is valid? [True, True] Translation: X:259.65, Y:-48.89, Z:-7.29 [[ 9.62353039e-01 2.71016211e-01 2.06601566e-02 2.59645620e+02] [-2.70958472e-01 9.62574760e-01 -5.59795838e-03 -4.88946081e+01] [-2.14040827e-02 -2.10832211e-04 9.99770884e-01 -7.29347332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.208623853 meters 0.019670484069296078 Centerline is valid? [True, True] Translation: X:259.70, Y:-48.91, Z:-7.30 [[ 9.62731961e-01 2.69692730e-01 2.03224438e-02 2.59704775e+02] [-2.69636482e-01 9.62946416e-01 -5.51058995e-03 -4.89112986e+01] [-2.10555905e-02 -1.74451194e-04 9.99778291e-01 -7.29593127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.268623853 meters 0.018625947819914793 Centerline is valid? [True, True] Translation: X:259.76, Y:-48.93, Z:-7.30 [[ 9.63398454e-01 2.67343367e-01 1.97722652e-02 2.59763894e+02] [-2.67289599e-01 9.63601323e-01 -5.36283241e-03 -4.89290624e+01] [-2.04862986e-02 -1.18376380e-04 9.99790127e-01 -7.29872362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.328623853 meters 0.017838146529211833 Centerline is valid? [True, True] Translation: X:259.82, Y:-48.95, Z:-7.30 [[ 9.64222944e-01 2.64339045e-01 1.99745661e-02 2.59822116e+02] [-2.64283450e-01 9.64429814e-01 -5.42138516e-03 -4.89487758e+01] [-2.06971508e-02 -5.15232804e-05 9.99785790e-01 -7.30048789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.388623853 meters 0.0179540982749974 Centerline is valid? [True, True] Translation: X:259.88, Y:-48.97, Z:-7.30 [[ 9.65362687e-01 2.60127100e-01 2.02181860e-02 2.59880489e+02] [-2.60069139e-01 9.65574384e-01 -5.49113942e-03 -4.89720619e+01] [-2.09505566e-02 4.28148743e-05 9.99780512e-01 -7.30262079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.448623853 meters 0.019066711046734 Centerline is valid? [True, True] Translation: X:259.94, Y:-48.99, Z:-7.30 [[ 9.66228189e-01 2.56906849e-01 2.00488982e-02 2.59938318e+02] [-2.56849115e-01 9.66436164e-01 -5.44737866e-03 -4.89944253e+01] [-2.07754492e-02 1.13869053e-04 9.99784161e-01 -7.30454887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.508623853 meters 0.03059785496646824 Centerline is valid? [True, True] Translation: X:260.00, Y:-49.02, Z:-7.30 [[ 9.66858329e-01 2.54629296e-01 1.86786695e-02 2.59996841e+02] [-2.54578708e-01 9.67038726e-01 -5.07772789e-03 -4.90158437e+01] [-1.93559350e-02 1.54251954e-04 9.99812644e-01 -7.29894757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56862385299996 meters 0.021172892073792325 Centerline is valid? [True, True] Translation: X:260.06, Y:-49.04, Z:-7.31 [[ 9.66977709e-01 2.54129621e-01 1.92936739e-02 2.60055081e+02] [-2.54075479e-01 9.67170153e-01 -5.24834231e-03 -4.90386628e+01] [-1.99940248e-02 1.72980574e-04 9.99800085e-01 -7.30943844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62862385299997 meters 0.01894413077894307 Centerline is valid? [True, True] Translation: X:260.12, Y:-49.05, Z:-7.31 [[ 9.66034504e-01 2.57624296e-01 2.01757033e-02 2.60115738e+02] [-2.57565767e-01 9.66245160e-01 -5.49232092e-03 -4.90526555e+01] [-2.09096310e-02 1.09201016e-04 9.99781364e-01 -7.30860556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68862385299997 meters 0.017513213310330213 Centerline is valid? [True, True] Translation: X:260.18, Y:-49.06, Z:-7.31 [[ 9.64881210e-01 2.61833491e-01 2.11535733e-02 2.60177338e+02] [-2.61770077e-01 9.65113062e-01 -5.76231588e-03 -4.90638250e+01] [-2.19243572e-02 2.25778006e-05 9.99759632e-01 -7.30706024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74862385299997 meters 0.019267928552366538 Centerline is valid? [True, True] Translation: X:260.24, Y:-49.07, Z:-7.31 [[ 9.62355565e-01 2.70858334e-01 2.25284171e-02 2.60241085e+02] [-2.70788775e-01 9.62619201e-01 -6.14105339e-03 -4.90666076e+01] [-2.33496424e-02 -1.90565574e-04 9.99727342e-01 -7.30530053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.808623853 meters 0.02638924841201949 Centerline is valid? [True, True] Translation: X:260.30, Y:-49.07, Z:-7.31 [[ 9.59706139e-01 2.80137574e-01 2.20695715e-02 2.60304058e+02] [-2.80073163e-01 9.59959779e-01 -6.02049242e-03 -4.90661897e+01] [-2.28724671e-02 -4.03191156e-04 9.99738310e-01 -7.30832776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.868623853 meters 0.03755073087165494 Centerline is valid? [True, True] Translation: X:260.37, Y:-49.06, Z:-7.31 [[ 9.57175283e-01 2.88679775e-01 2.18967073e-02 2.60366671e+02] [-2.88618593e-01 9.57425519e-01 -5.97349034e-03 -4.90607943e+01] [-2.26888922e-02 -6.02119560e-04 9.99742393e-01 -7.31085456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.928623853 meters 0.04387347686317369 Centerline is valid? [True, True] Translation: X:260.43, Y:-49.06, Z:-7.31 [[ 9.55689200e-01 2.93610360e-01 2.12393414e-02 2.60428053e+02] [-2.93553991e-01 9.55924930e-01 -5.79509343e-03 -4.90633113e+01] [-2.20047154e-02 -6.96585238e-04 9.99757624e-01 -7.31342195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.988623853 meters 0.03952652342219783 Centerline is valid? [True, True] Translation: X:260.49, Y:-49.08, Z:-7.31 [[ 9.55530034e-01 2.94102394e-01 2.15901787e-02 2.60485157e+02] [-2.94044270e-01 9.55773647e-01 -5.89095216e-03 -4.90784360e+01] [-2.23678670e-02 -7.19486628e-04 9.99749549e-01 -7.31350456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.048623853 meters 0.04341906302287324 Centerline is valid? [True, True] Translation: X:260.54, Y:-49.09, Z:-7.32 [[ 9.56080030e-01 2.92326089e-01 2.13643239e-02 2.60542767e+02] [-2.92268754e-01 9.56318465e-01 -5.82831018e-03 -4.90853469e+01] [-2.21348645e-02 -6.71793355e-04 9.99754768e-01 -7.31692809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.108623853 meters 0.0326563923171584 Centerline is valid? [True, True] Translation: X:260.60, Y:-49.11, Z:-7.32 [[ 9.57609600e-01 2.87326998e-01 2.06652098e-02 2.60598201e+02] [-2.87272217e-01 9.57832400e-01 -5.63628095e-03 -4.91108217e+01] [-2.14132631e-02 -5.39183873e-04 9.99770564e-01 -7.31861675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.168623853 meters 0.027485407685694567 Centerline is valid? [True, True] Translation: X:260.66, Y:-49.13, Z:-7.32 [[ 9.59016517e-01 2.82629765e-01 2.01924915e-02 2.60656074e+02] [-2.82576429e-01 9.59228980e-01 -5.50694340e-03 -4.91299615e+01] [-2.09256492e-02 -4.24672471e-04 9.99780944e-01 -7.32074018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.228623853 meters 0.023718765110985317 Centerline is valid? [True, True] Translation: X:260.71, Y:-49.15, Z:-7.32 [[ 9.60047229e-01 2.79136152e-01 1.98072379e-02 2.60714966e+02] [-2.79084085e-01 9.60251473e-01 -5.40202459e-03 -4.91479622e+01] [-2.05278297e-02 -3.41686111e-04 9.99789224e-01 -7.32139442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.288623853 meters 0.02279066412662966 Centerline is valid? [True, True] Translation: X:260.77, Y:-49.16, Z:-7.32 [[ 9.60962524e-01 2.75973471e-01 1.97400983e-02 2.60774065e+02] [-2.75921076e-01 9.61165214e-01 -5.38432691e-03 -4.91598182e+01] [-2.04594272e-02 -2.72572773e-04 9.99790647e-01 -7.32357147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.348623853 meters 0.020627761445649446 Centerline is valid? [True, True] Translation: X:260.83, Y:-49.17, Z:-7.32 [[ 9.61844719e-01 2.72850249e-01 2.01860901e-02 2.60832345e+02] [-2.72794761e-01 9.62056494e-01 -5.50641482e-03 -4.91748067e+01] [-2.09225857e-02 -2.10343604e-04 9.99781077e-01 -7.32416498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.408623853 meters 0.020087139225187428 Centerline is valid? [True, True] Translation: X:260.89, Y:-49.19, Z:-7.33 [[ 9.62211678e-01 2.71590557e-01 1.96788069e-02 2.60889185e+02] [-2.71537560e-01 9.62412873e-01 -5.36806241e-03 -4.91891800e+01] [-2.03970522e-02 -1.78322877e-04 9.99791943e-01 -7.32638204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.468623853 meters 0.019877968849254996 Centerline is valid? [True, True] Translation: X:260.95, Y:-49.20, Z:-7.33 [[ 9.62466962e-01 2.70755473e-01 1.86767589e-02 2.60946919e+02] [-2.70707595e-01 9.62648145e-01 -5.09386664e-03 -4.92003195e+01] [-1.93583396e-02 -1.53262140e-04 9.99812598e-01 -7.33041580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.528623853 meters 0.020456354669173615 Centerline is valid? [True, True] Translation: X:261.00, Y:-49.21, Z:-7.33 [[ 9.62389660e-01 2.71065447e-01 1.81566884e-02 2.61004352e+02] [-2.71020268e-01 9.62560907e-01 -4.95126991e-03 -4.92084540e+01] [-1.88190366e-02 -1.55779585e-04 9.99822894e-01 -7.33317712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.588623853 meters 0.020613719458557705 Centerline is valid? [True, True] Translation: X:261.06, Y:-49.22, Z:-7.33 [[ 9.62318550e-01 2.71307946e-01 1.83031751e-02 2.61062281e+02] [-2.71262098e-01 9.62492583e-01 -4.99018390e-03 -4.92182908e+01] [-1.89705468e-02 -1.62811131e-04 9.99820030e-01 -7.33425270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.648623853 meters 0.019388041071026343 Centerline is valid? [True, True] Translation: X:261.12, Y:-49.23, Z:-7.33 [[ 9.62761256e-01 2.69625035e-01 1.98268769e-02 2.61119698e+02] [-2.69570913e-01 9.62965379e-01 -5.40393547e-03 -4.92288584e+01] [-2.05496323e-02 -1.42049602e-04 9.99788824e-01 -7.33344832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.708623853 meters 0.01732546127225155 Centerline is valid? [True, True] Translation: X:261.18, Y:-49.25, Z:-7.33 [[ 9.63924710e-01 2.65422371e-01 2.00029550e-02 2.61176015e+02] [-2.65366403e-01 9.64132233e-01 -5.45066653e-03 -4.92461819e+01] [-2.07322225e-02 -5.40800752e-05 9.99785063e-01 -7.33310013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.768623853 meters 0.017727242109235007 Centerline is valid? [True, True] Translation: X:261.23, Y:-49.27, Z:-7.34 [[ 9.65655714e-01 2.59086868e-01 1.95713231e-02 2.61233230e+02] [-2.59032013e-01 9.65854020e-01 -5.33173920e-03 -4.92667828e+01] [-2.02844247e-02 7.90252061e-05 9.99794247e-01 -7.33532330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.828623853 meters 0.02218344979715095 Centerline is valid? [True, True] Translation: X:261.29, Y:-49.29, Z:-7.34 [[ 9.67689940e-01 2.51428685e-01 1.89682866e-02 2.61289075e+02] [-2.51375689e-01 9.67875799e-01 -5.16725072e-03 -4.92920719e+01] [-1.96581406e-02 2.32130421e-04 9.99806733e-01 -7.33972203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.888623853 meters 0.02743985271759184 Centerline is valid? [True, True] Translation: X:261.35, Y:-49.32, Z:-7.34 [[ 9.69531557e-01 2.44311554e-01 1.79004086e-02 2.61345616e+02] [-2.44263135e-01 9.69696725e-01 -4.87674020e-03 -4.93167073e+01] [-1.85494116e-02 3.55743598e-04 9.99827882e-01 -7.34250785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.948623853 meters 0.031261770559106575 Centerline is valid? [True, True] Translation: X:261.40, Y:-49.34, Z:-7.34 [[ 9.70687570e-01 2.39670299e-01 1.79941359e-02 2.61402821e+02] [-2.39620563e-01 9.70854236e-01 -4.90285989e-03 -4.93401580e+01] [-1.86447530e-02 4.47380175e-04 9.99826071e-01 -7.34478328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.008623853 meters 0.03724116187398685 Centerline is valid? [True, True] Translation: X:261.46, Y:-49.36, Z:-7.34 [[ 9.71006797e-01 2.38393872e-01 1.77245967e-02 2.61460821e+02] [-2.38345418e-01 9.71168444e-01 -4.82858749e-03 -4.93617220e+01] [-1.83646746e-02 4.64014866e-04 9.99831247e-01 -7.34109686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06862385299996 meters 0.03377721491968105 Centerline is valid? [True, True] Translation: X:261.52, Y:-49.38, Z:-7.35 [[ 9.71325548e-01 2.37094881e-01 1.76832699e-02 2.61520057e+02] [-2.37046386e-01 9.71486375e-01 -4.82014952e-03 -4.93802117e+01] [-1.83218886e-02 4.90179156e-04 9.99832020e-01 -7.34873561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12862385299997 meters 0.042507346470851255 Centerline is valid? [True, True] Translation: X:261.58, Y:-49.40, Z:-7.34 [[ 9.71265803e-01 2.37336306e-01 1.77262053e-02 2.61577933e+02] [-2.37287547e-01 9.71427422e-01 -4.83561341e-03 -4.94032056e+01] [-1.83673886e-02 4.90458176e-04 9.99831185e-01 -7.34247262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18862385299997 meters 0.03325380478408659 Centerline is valid? [True, True] Translation: X:261.64, Y:-49.42, Z:-7.35 [[ 9.71088282e-01 2.37989040e-01 1.86752435e-02 2.61637008e+02] [-2.37934997e-01 9.71267708e-01 -5.09667640e-03 -4.94205245e+01] [-1.93516141e-02 5.05828733e-04 9.99812612e-01 -7.35125281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24862385299997 meters 0.03714309718775484 Centerline is valid? [True, True] Translation: X:261.70, Y:-49.44, Z:-7.35 [[ 9.70473603e-01 2.40537424e-01 1.79648124e-02 2.61695136e+02] [-2.40487780e-01 9.70639765e-01 -4.90660115e-03 -4.94397320e+01] [-1.86175824e-02 4.41409058e-04 9.99826580e-01 -7.34501819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.308623853 meters 0.030572747186380495 Centerline is valid? [True, True] Translation: X:261.75, Y:-49.46, Z:-7.36 [[ 9.69829188e-01 2.43115150e-01 1.80657287e-02 2.61752741e+02] [-2.43065368e-01 9.69997354e-01 -4.93550971e-03 -4.94604195e+01] [-1.87236062e-02 3.95448377e-04 9.99824620e-01 -7.35621051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.368623853 meters 0.028237405258067557 Centerline is valid? [True, True] Translation: X:261.81, Y:-49.48, Z:-7.36 [[ 9.69080900e-01 2.46062842e-01 1.83108183e-02 2.61810884e+02] [-2.46012167e-01 9.69253815e-01 -5.00557512e-03 -4.94790168e+01] [-1.89795165e-02 3.46123144e-04 9.99819813e-01 -7.35777231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.428623853 meters 0.028039214477571954 Centerline is valid? [True, True] Translation: X:261.87, Y:-49.50, Z:-7.36 [[ 9.68842173e-01 2.46996161e-01 1.83777202e-02 2.61869217e+02] [-2.46945225e-01 9.69016401e-01 -5.02688635e-03 -4.94964653e+01] [-1.90499339e-02 3.31969257e-04 9.99818478e-01 -7.36016796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.488623853 meters 0.024660291437315317 Centerline is valid? [True, True] Translation: X:261.93, Y:-49.51, Z:-7.36 [[ 9.67894639e-01 2.50709853e-01 1.80149136e-02 2.61928572e+02] [-2.50661501e-01 9.68062242e-01 -4.93034724e-03 -4.95139217e+01] [-1.86756442e-02 2.56411397e-04 9.99825562e-01 -7.36195652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.548623853 meters 0.02196153899157939 Centerline is valid? [True, True] Translation: X:261.99, Y:-49.53, Z:-7.36 [[ 9.66895236e-01 2.54525747e-01 1.81726748e-02 2.61987740e+02] [-2.54477154e-01 9.67065980e-01 -4.97685527e-03 -4.95285508e+01] [-1.88409134e-02 1.87567081e-04 9.99822477e-01 -7.36381480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.608623853 meters 0.01972057784932185 Centerline is valid? [True, True] Translation: X:262.05, Y:-49.55, Z:-7.36 [[ 9.66150404e-01 2.57346819e-01 1.80558182e-02 2.62047739e+02] [-2.57299290e-01 9.66319097e-01 -4.94759186e-03 -4.95460054e+01] [-1.87209289e-02 1.34368681e-04 9.99824739e-01 -7.36481107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.668623853 meters 0.01976667962799284 Centerline is valid? [True, True] Translation: X:262.11, Y:-49.57, Z:-7.37 [[ 9.66013358e-01 2.57867697e-01 1.79566767e-02 2.62106634e+02] [-2.57820722e-01 9.66180229e-01 -4.92348227e-03 -4.95669206e+01] [-1.86189931e-02 1.26546292e-04 9.99826644e-01 -7.36804143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.728623853 meters 0.019904482348520762 Centerline is valid? [True, True] Translation: X:262.17, Y:-49.59, Z:-7.37 [[ 9.66035184e-01 2.57764827e-01 1.82569544e-02 2.62166184e+02] [-2.57716185e-01 9.66207677e-01 -5.00921202e-03 -4.95875564e+01] [-1.89312082e-02 1.33962430e-04 9.99820780e-01 -7.36900492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.788623853 meters 0.019717857142515283 Centerline is valid? [True, True] Translation: X:262.23, Y:-49.61, Z:-7.37 [[ 9.65865077e-01 2.58407996e-01 1.81647979e-02 2.62225099e+02] [-2.58359888e-01 9.66035865e-01 -4.98762269e-03 -4.96083809e+01] [-1.88366878e-02 1.24315431e-04 9.99822566e-01 -7.37072146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.848623853 meters 0.01905319151314898 Centerline is valid? [True, True] Translation: X:262.28, Y:-49.63, Z:-7.37 [[ 9.65506685e-01 2.59737519e-01 1.82554983e-02 2.62284540e+02] [-2.59689100e-01 9.65679248e-01 -5.01604439e-03 -4.96274571e+01] [-1.89318108e-02 1.02270475e-04 9.99820772e-01 -7.37259259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.908623853 meters 0.018566215928871956 Centerline is valid? [True, True] Translation: X:262.34, Y:-49.65, Z:-7.37 [[ 9.65120735e-01 2.61149910e-01 1.85119000e-02 2.62342691e+02] [-2.61100317e-01 9.65298253e-01 -5.08982686e-03 -4.96471161e+01] [-1.91987125e-02 7.88344881e-05 9.99815685e-01 -7.37434830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.968623853 meters 0.018471668099638454 Centerline is valid? [True, True] Translation: X:262.40, Y:-49.67, Z:-7.38 [[ 9.64940436e-01 2.61827378e-01 1.83406327e-02 2.62401963e+02] [-2.61778772e-01 9.65114718e-01 -5.04528136e-03 -4.96674111e+01] [-1.90218074e-02 6.72076777e-05 9.99819067e-01 -7.37707282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.028623853 meters 0.018343558661301353 Centerline is valid? [True, True] Translation: X:262.46, Y:-49.69, Z:-7.38 [[ 9.64834146e-01 2.62209497e-01 1.84729652e-02 2.62462412e+02] [-2.62160189e-01 9.65010972e-01 -5.08522304e-03 -4.96858031e+01] [-1.91600079e-02 6.35207764e-05 9.99816428e-01 -7.37963234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.088623853 meters 0.017612751060223468 Centerline is valid? [True, True] Translation: X:262.52, Y:-49.71, Z:-7.38 [[ 9.64600058e-01 2.63084489e-01 1.82559717e-02 2.62522687e+02] [-2.63036430e-01 9.64772797e-01 -5.02864898e-03 -4.97056135e+01] [-1.89358244e-02 4.86494839e-05 9.99820700e-01 -7.37849167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.148623853 meters 0.017290153517251692 Centerline is valid? [True, True] Translation: X:262.58, Y:-49.72, Z:-7.38 [[ 9.63882016e-01 2.65678700e-01 1.86088319e-02 2.62581405e+02] [-2.65629162e-01 9.64061631e-01 -5.13028217e-03 -4.97208894e+01] [-1.93030675e-02 1.93829298e-06 9.99813678e-01 -7.38053314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.208623853 meters 0.017426061589151547 Centerline is valid? [True, True] Translation: X:262.64, Y:-49.74, Z:-7.38 [[ 9.63059150e-01 2.68586456e-01 1.94522335e-02 2.62641895e+02] [-2.68532848e-01 9.63255580e-01 -5.36625473e-03 -4.97352511e+01] [-2.01787759e-02 -5.55429529e-05 9.99796386e-01 -7.38125807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.268623853 meters 0.0185014367333899 Centerline is valid? [True, True] Translation: X:262.70, Y:-49.75, Z:-7.39 [[ 9.62473674e-01 2.70707434e-01 1.90239819e-02 2.62701262e+02] [-2.70656492e-01 9.62661662e-01 -5.25232372e-03 -4.97492251e+01] [-1.97355011e-02 -9.37408857e-05 9.99805232e-01 -7.38590020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.328623853 meters 0.030149771275326816 Centerline is valid? [True, True] Translation: X:262.76, Y:-49.77, Z:-7.38 [[ 9.62200445e-01 2.71806926e-01 1.70674757e-02 2.62761290e+02] [-2.71766089e-01 9.62351798e-01 -4.71260291e-03 -4.97662742e+01] [-1.77058341e-02 -1.03892510e-04 9.99843234e-01 -7.37901242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.388623853 meters 0.017941473948627926 Centerline is valid? [True, True] Translation: X:262.82, Y:-49.78, Z:-7.39 [[ 9.62449453e-01 2.70880460e-01 1.77433621e-02 2.62819320e+02] [-2.70836102e-01 9.62612990e-01 -4.90276091e-03 -4.97843718e+01] [-1.84080530e-02 -8.68834844e-05 9.99830554e-01 -7.38846402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.448623853 meters 0.017743569687724278 Centerline is valid? [True, True] Translation: X:262.88, Y:-49.80, Z:-7.39 [[ 9.62359446e-01 2.71129323e-01 1.87932720e-02 2.62879537e+02] [-2.71079542e-01 9.62542925e-01 -5.19617858e-03 -4.98003582e+01] [-1.94981673e-02 -9.38800182e-05 9.99809888e-01 -7.38769814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.508623853 meters 0.017507950102347992 Centerline is valid? [True, True] Translation: X:262.94, Y:-49.82, Z:-7.39 [[ 9.62281538e-01 2.71310158e-01 2.01255966e-02 2.62938636e+02] [-2.71253025e-01 9.62491968e-01 -5.56854224e-03 -4.98158550e+01] [-2.08815272e-02 -1.00623562e-04 9.99781952e-01 -7.38765246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56862385299996 meters 0.017136533057969878 Centerline is valid? [True, True] Translation: X:263.00, Y:-49.83, Z:-7.39 [[ 9.62627242e-01 2.70052683e-01 2.05022453e-02 2.62998648e+02] [-2.69993035e-01 9.62845545e-01 -5.67610549e-03 -4.98335740e+01] [-2.12733431e-02 -7.14896601e-05 9.99773694e-01 -7.38888527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62862385299997 meters 0.016682080058631612 Centerline is valid? [True, True] Translation: X:263.06, Y:-49.85, Z:-7.39 [[ 9.63120371e-01 2.68295929e-01 2.04070043e-02 2.63058678e+02] [-2.68236368e-01 9.63336542e-01 -5.65309631e-03 -4.98532172e+01] [-2.11755157e-02 -2.92885023e-05 9.99775773e-01 -7.39117273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68862385299997 meters 0.025221830441346564 Centerline is valid? [True, True] Translation: X:263.12, Y:-49.88, Z:-7.39 [[ 9.64157973e-01 2.64667220e-01 1.87260854e-02 2.63115766e+02] [-2.64616313e-01 9.64339805e-01 -5.19101089e-03 -4.98762444e+01] [-1.94322000e-02 4.97268373e-05 9.99811176e-01 -7.38964277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74862385299997 meters 0.019493182661639716 Centerline is valid? [True, True] Translation: X:263.17, Y:-49.90, Z:-7.40 [[ 9.65340548e-01 2.60311452e-01 1.88566962e-02 2.63172905e+02] [-2.60258943e-01 9.65524691e-01 -5.23015096e-03 -4.99034897e+01] [-1.95680740e-02 1.41252965e-04 9.99808517e-01 -7.39770191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.808623853 meters 0.02168035475406886 Centerline is valid? [True, True] Translation: X:263.23, Y:-49.93, Z:-7.40 [[ 9.66072347e-01 2.57527754e-01 1.95876449e-02 2.63230646e+02] [-2.57470451e-01 9.66270879e-01 -5.43637723e-03 -4.99264120e+01] [-2.03269888e-02 2.08693949e-04 9.99793364e-01 -7.39775479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.868623853 meters 0.023051150960120968 Centerline is valid? [True, True] Translation: X:263.29, Y:-49.95, Z:-7.40 [[ 9.66484400e-01 2.55916445e-01 2.03636214e-02 2.63289349e+02] [-2.55854078e-01 9.66698871e-01 -5.65534286e-03 -4.99475653e+01] [-2.11327851e-02 2.55685080e-04 9.99776645e-01 -7.39849292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.928623853 meters 0.025349711676427057 Centerline is valid? [True, True] Translation: X:263.35, Y:-49.97, Z:-7.40 [[ 9.66942310e-01 2.54202407e-01 2.00924380e-02 2.63345981e+02] [-2.54141250e-01 9.67150997e-01 -5.58341685e-03 -4.99714377e+01] [-2.08517394e-02 2.92524683e-04 9.99782536e-01 -7.40069194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.988623853 meters 0.025279766314191435 Centerline is valid? [True, True] Translation: X:263.41, Y:-49.99, Z:-7.40 [[ 9.66786977e-01 2.54816311e-01 1.97885746e-02 2.63405898e+02] [-2.54757062e-01 9.66989437e-01 -5.50172800e-03 -4.99919914e+01] [-2.05372727e-02 2.77719856e-04 9.99789049e-01 -7.40259858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.048623853 meters 0.021240308699236092 Centerline is valid? [True, True] Translation: X:263.47, Y:-50.01, Z:-7.40 [[ 9.66289313e-01 2.56731044e-01 1.93425654e-02 2.63466958e+02] [-2.56674748e-01 9.66482859e-01 -5.38124378e-03 -5.00050455e+01] [-2.00757902e-02 2.35090251e-04 9.99798433e-01 -7.40280952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.108623853 meters 0.02042578468754138 Centerline is valid? [True, True] Translation: X:263.53, Y:-50.02, Z:-7.40 [[ 9.65942233e-01 2.58036319e-01 1.93095890e-02 2.63526592e+02] [-2.57980405e-01 9.66135194e-01 -5.37559164e-03 -5.00222274e+01] [-2.00427714e-02 2.11015399e-04 9.99799101e-01 -7.40488155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.168623853 meters 0.02018805575654765 Centerline is valid? [True, True] Translation: X:263.58, Y:-50.04, Z:-7.41 [[ 9.65570282e-01 2.59477709e-01 1.85835596e-02 2.63584974e+02] [-2.59426124e-01 9.65749081e-01 -5.17680430e-03 -5.00415099e+01] [-1.92903209e-02 1.77507555e-04 9.99813909e-01 -7.40901634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.228623853 meters 0.019338828652669695 Centerline is valid? [True, True] Translation: X:263.64, Y:-50.06, Z:-7.41 [[ 9.65460603e-01 2.59730908e-01 2.06319794e-02 2.63643696e+02] [-2.59667298e-01 9.65681012e-01 -5.75128419e-03 -5.00617466e+01] [-2.14176970e-02 1.95187972e-04 9.99770596e-01 -7.40590096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.288623853 meters 0.01948643303700686 Centerline is valid? [True, True] Translation: X:263.70, Y:-50.08, Z:-7.41 [[ 9.65393179e-01 2.59938954e-01 2.11601023e-02 2.63702866e+02] [-2.59872009e-01 9.65625031e-01 -5.90242663e-03 -5.00803367e+01] [-2.19669950e-02 1.99244128e-04 9.99758677e-01 -7.40681973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.348623853 meters 0.018727917913109144 Centerline is valid? [True, True] Translation: X:263.76, Y:-50.10, Z:-7.41 [[ 9.64902582e-01 2.61793721e-01 2.06653206e-02 2.63761997e+02] [-2.61730210e-01 9.65123838e-01 -5.76838266e-03 -5.01001836e+01] [-2.14547199e-02 1.57188625e-04 9.99769809e-01 -7.40884284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.408623853 meters 0.01712169480582033 Centerline is valid? [True, True] Translation: X:263.82, Y:-50.11, Z:-7.41 [[ 9.63543235e-01 2.66843300e-01 1.94701930e-02 2.63823260e+02] [-2.66787888e-01 9.63739929e-01 -5.43798272e-03 -5.01131222e+01] [-2.02152917e-02 4.53197846e-05 9.99795649e-01 -7.41283070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.468623853 meters 0.01724728284070119 Centerline is valid? [True, True] Translation: X:263.88, Y:-50.12, Z:-7.41 [[ 9.61863368e-01 2.72843007e-01 1.93792569e-02 2.63884385e+02] [-2.72789260e-01 9.62058568e-01 -5.41590071e-03 -5.01229242e+01] [-2.01216708e-02 -7.70966643e-05 9.99797536e-01 -7.41474724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.528623853 meters 0.01894537264549881 Centerline is valid? [True, True] Translation: X:263.94, Y:-50.14, Z:-7.42 [[ 9.60756593e-01 2.76722088e-01 1.92783600e-02 2.63943907e+02] [-2.76669593e-01 9.60949979e-01 -5.39203422e-03 -5.01353076e+01] [-2.00176346e-02 -1.53303593e-04 9.99799615e-01 -7.41702531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.588623853 meters 0.020587861475997015 Centerline is valid? [True, True] Translation: X:264.01, Y:-50.15, Z:-7.42 [[ 9.59475271e-01 2.81058619e-01 2.03287238e-02 2.64005099e+02] [-2.81001192e-01 9.59690569e-01 -5.68707733e-03 -5.01484364e+01] [-2.11076866e-02 -2.55785564e-04 9.99777175e-01 -7.41548670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.648623853 meters 0.022360362722796207 Centerline is valid? [True, True] Translation: X:264.07, Y:-50.16, Z:-7.42 [[ 9.58899798e-01 2.82975654e-01 2.08795842e-02 2.64065039e+02] [-2.82915431e-01 9.59127045e-01 -5.84558227e-03 -5.01626550e+01] [-2.16803313e-02 -3.01828892e-04 9.99764908e-01 -7.41607516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.708623853 meters 0.0229284722141526 Centerline is valid? [True, True] Translation: X:264.12, Y:-50.18, Z:-7.42 [[ 9.58805238e-01 2.83312172e-01 2.06574047e-02 2.64124885e+02] [-2.83253271e-01 9.59027695e-01 -5.78480284e-03 -5.01786019e+01] [-2.14499283e-02 -3.04778189e-04 9.99769877e-01 -7.41860358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.768623853 meters 0.021859816129402753 Centerline is valid? [True, True] Translation: X:264.18, Y:-50.20, Z:-7.42 [[ 9.58851055e-01 2.83112546e-01 2.12589155e-02 2.64184846e+02] [-2.83050024e-01 9.59086645e-01 -5.95738681e-03 -5.01967530e+01] [-2.20757529e-02 -3.05089923e-04 9.99756254e-01 -7.41785285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.828623853 meters 0.021051857950558223 Centerline is valid? [True, True] Translation: X:264.24, Y:-50.21, Z:-7.42 [[ 9.58994884e-01 2.82588765e-01 2.17348324e-02 2.64244181e+02] [-2.82523188e-01 9.59241108e-01 -6.09470774e-03 -5.02136869e+01] [-2.25712407e-02 -2.95800621e-04 9.99745193e-01 -7.41880942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.888623853 meters 0.020748768203523303 Centerline is valid? [True, True] Translation: X:264.31, Y:-50.23, Z:-7.42 [[ 9.59194985e-01 2.81989496e-01 2.06616731e-02 2.64305442e+02] [-2.81930025e-01 9.59417456e-01 -5.79712499e-03 -5.02297897e+01] [-2.14578982e-02 -2.64572796e-04 9.99769718e-01 -7.42298086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.948623853 meters 0.01954962676164236 Centerline is valid? [True, True] Translation: X:264.36, Y:-50.25, Z:-7.43 [[ 9.59839134e-01 2.79827607e-01 2.01332190e-02 2.64364717e+02] [-2.79770577e-01 9.60050242e-01 -5.65301481e-03 -5.02493909e+01] [-2.09107714e-02 -2.06697462e-04 9.99781325e-01 -7.42546714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.008623853 meters 0.01830339944387278 Centerline is valid? [True, True] Translation: X:264.42, Y:-50.27, Z:-7.43 [[ 9.60523145e-01 2.77440438e-01 2.05448658e-02 2.64422719e+02] [-2.77380424e-01 9.60742827e-01 -5.77242775e-03 -5.02687810e+01] [-2.13398373e-02 -1.54193119e-04 9.99772268e-01 -7.42722336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06862385299996 meters 0.017801711496779497 Centerline is valid? [True, True] Translation: X:264.48, Y:-50.29, Z:-7.43 [[ 9.60827449e-01 2.76372930e-01 2.07030876e-02 2.64482807e+02] [-2.76311653e-01 9.61050460e-01 -5.82089876e-03 -5.02865474e+01] [-2.15054507e-02 -1.27625064e-04 9.99768723e-01 -7.42883042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12862385299997 meters 0.01732032848420502 Centerline is valid? [True, True] Translation: X:264.54, Y:-50.31, Z:-7.43 [[ 9.61288193e-01 2.74782518e-01 2.04835983e-02 2.64541080e+02] [-2.74722159e-01 9.61506401e-01 -5.75983229e-03 -5.03066875e+01] [-2.12778121e-02 -9.04395752e-05 9.99773598e-01 -7.43120994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18862385299997 meters 0.017506305016974203 Centerline is valid? [True, True] Translation: X:264.60, Y:-50.32, Z:-7.43 [[ 9.61297474e-01 2.74813871e-01 1.96087255e-02 2.64601140e+02] [-2.74758510e-01 9.61497441e-01 -5.51653402e-03 -5.03240442e+01] [-2.03697594e-02 -8.46339760e-05 9.99792511e-01 -7.43435919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24862385299997 meters 0.01785626914128598 Centerline is valid? [True, True] Translation: X:264.66, Y:-50.34, Z:-7.44 [[ 9.61006289e-01 2.75847179e-01 1.93712690e-02 2.64662449e+02] [-2.75793286e-01 9.61201500e-01 -5.45344868e-03 -5.03393563e+01] [-2.01240113e-02 -1.01667460e-04 9.99797486e-01 -7.43682337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.308623853 meters 0.01898459129028377 Centerline is valid? [True, True] Translation: X:264.72, Y:-50.35, Z:-7.44 [[ 9.60344066e-01 2.78142756e-01 1.93876600e-02 2.64721862e+02] [-2.78089158e-01 9.60539737e-01 -5.46210502e-03 -5.03526661e+01] [-2.01418628e-02 -1.45997907e-04 9.99797121e-01 -7.43772237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.368623853 meters 0.019601768156658435 Centerline is valid? [True, True] Translation: X:264.78, Y:-50.37, Z:-7.44 [[ 9.59467609e-01 2.81087163e-01 2.02956529e-02 2.64782319e+02] [-2.81029016e-01 9.59682219e-01 -5.72113829e-03 -5.03669560e+01] [-2.10855157e-02 -2.14420483e-04 9.99777653e-01 -7.43576817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.428623853 meters 0.022768848949698287 Centerline is valid? [True, True] Translation: X:264.84, Y:-50.38, Z:-7.44 [[ 9.58727672e-01 2.83482395e-01 2.18856646e-02 2.64843799e+02] [-2.83415296e-01 9.58977399e-01 -6.17405100e-03 -5.03759013e+01] [-2.27380924e-02 -2.83498558e-04 9.99741416e-01 -7.43640692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.488623853 meters 0.030181385050954232 Centerline is valid? [True, True] Translation: X:264.90, Y:-50.39, Z:-7.43 [[ 9.58529433e-01 2.84153153e-01 2.18703354e-02 2.64904321e+02] [-2.84086285e-01 9.58778857e-01 -6.17133817e-03 -5.03948957e+01] [-2.27224203e-02 -2.97653042e-04 9.99741768e-01 -7.42869982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.548623853 meters 0.026946404313706027 Centerline is valid? [True, True] Translation: X:264.96, Y:-50.41, Z:-7.43 [[ 9.58214698e-01 2.85228241e-01 2.16666474e-02 2.64964859e+02] [-2.85162789e-01 9.58459572e-01 -6.11826271e-03 -5.04099727e+01] [-2.25117069e-02 -3.15912334e-04 9.99746530e-01 -7.43205734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.608623853 meters 0.025530015920770963 Centerline is valid? [True, True] Translation: X:265.03, Y:-50.42, Z:-7.44 [[ 9.57322507e-01 2.88248592e-01 2.11273780e-02 2.65025471e+02] [-2.88187012e-01 9.57555539e-01 -5.96963960e-03 -5.04200233e+01] [-2.19513780e-02 -3.73765587e-04 9.99758970e-01 -7.44185378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.668623853 meters 0.02613868281015384 Centerline is valid? [True, True] Translation: X:265.09, Y:-50.43, Z:-7.44 [[ 9.56512085e-01 2.90911591e-01 2.13325231e-02 2.65086607e+02] [-2.90849397e-01 9.56749840e-01 -6.03095899e-03 -5.04314821e+01] [-2.21643639e-02 -4.35866306e-04 9.99754245e-01 -7.44184577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.728623853 meters 0.026506537862667736 Centerline is valid? [True, True] Translation: X:265.15, Y:-50.45, Z:-7.44 [[ 9.56450929e-01 2.91111548e-01 2.13468036e-02 2.65147947e+02] [-2.91049237e-01 9.56689017e-01 -6.03871855e-03 -5.04456093e+01] [-2.21801932e-02 -4.37232929e-04 9.99753894e-01 -7.44370825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.788623853 meters 0.023903072848611026 Centerline is valid? [True, True] Translation: X:265.21, Y:-50.46, Z:-7.44 [[ 9.57155248e-01 2.88700001e-01 2.24975493e-02 2.65207001e+02] [-2.88630008e-01 9.57419528e-01 -6.36922010e-03 -5.04644487e+01] [-2.33783869e-02 -3.97135380e-04 9.99726609e-01 -7.44411426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.848623853 meters 0.02265103645492073 Centerline is valid? [True, True] Translation: X:265.27, Y:-50.48, Z:-7.45 [[ 9.58059562e-01 2.85700834e-01 2.22914506e-02 2.65266140e+02] [-2.85631211e-01 9.58318805e-01 -6.31494754e-03 -5.04810820e+01] [-2.31665021e-02 -3.17038154e-04 9.99731570e-01 -7.44696557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.908623853 meters 0.021851148071786945 Centerline is valid? [True, True] Translation: X:265.33, Y:-50.50, Z:-7.45 [[ 9.58397807e-01 2.84577761e-01 2.21165352e-02 2.65326608e+02] [-2.84508843e-01 9.58652918e-01 -6.26904627e-03 -5.04960032e+01] [-2.29861121e-02 -2.84109646e-04 9.99735744e-01 -7.44929743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.968623853 meters 0.021096436599102476 Centerline is valid? [True, True] Translation: X:265.39, Y:-50.51, Z:-7.45 [[ 9.58678772e-01 2.83606461e-01 2.24139818e-02 2.65386376e+02] [-2.83535319e-01 9.58940722e-01 -6.35731324e-03 -5.05094596e+01] [-2.32966550e-02 -2.60534230e-04 9.99728562e-01 -7.44983411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.028623853 meters 0.01900364321312845 Centerline is valid? [True, True] Translation: X:265.45, Y:-50.53, Z:-7.45 [[ 9.59058043e-01 2.82278657e-01 2.29440553e-02 2.65445494e+02] [-2.82203644e-01 9.59332428e-01 -6.51127234e-03 -5.05282559e+01] [-2.38489695e-02 -2.30207892e-04 9.99715546e-01 -7.44927962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.088623853 meters 0.01781662059694653 Centerline is valid? [True, True] Translation: X:265.50, Y:-50.54, Z:-7.45 [[ 9.59768712e-01 2.79793473e-01 2.36565564e-02 2.65504584e+02] [-2.79712860e-01 9.60060198e-01 -6.71802630e-03 -5.05438589e+01] [-2.45913781e-02 -1.69291596e-04 9.99697572e-01 -7.45001954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.148623853 meters 0.016482023179628186 Centerline is valid? [True, True] Translation: X:265.56, Y:-50.56, Z:-7.45 [[ 9.60971047e-01 2.75611207e-01 2.39397110e-02 2.65563464e+02] [-2.75527252e-01 9.61269192e-01 -6.80250697e-03 -5.05640286e+01] [-2.48873538e-02 -5.90305372e-05 9.99690260e-01 -7.45198761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.208623853 meters 0.016331387796026418 Centerline is valid? [True, True] Translation: X:265.62, Y:-50.58, Z:-7.45 [[ 9.61454461e-01 2.73925854e-01 2.38735184e-02 2.65621984e+02] [-2.73841737e-01 9.61750813e-01 -6.78798554e-03 -5.05832497e+01] [-2.48197805e-02 -1.12267621e-05 9.99691942e-01 -7.45418518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.268623853 meters 0.017752262837905788 Centerline is valid? [True, True] Translation: X:265.68, Y:-50.61, Z:-7.46 [[ 9.63065689e-01 2.68302437e-01 2.27657870e-02 2.65679215e+02] [-2.68224272e-01 9.63334721e-01 -6.47725830e-03 -5.06090657e+01] [-2.36689372e-02 1.31688579e-04 9.99719843e-01 -7.45808513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.328623853 meters 0.020239662860815938 Centerline is valid? [True, True] Translation: X:265.74, Y:-50.63, Z:-7.46 [[ 9.64199922e-01 2.64226623e-01 2.24232384e-02 2.65736957e+02] [-2.64149598e-01 9.64460594e-01 -6.38376938e-03 -5.06317345e+01] [-2.33130917e-02 2.32140533e-04 9.99728186e-01 -7.45985632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.388623853 meters 0.019995180059364893 Centerline is valid? [True, True] Translation: X:265.80, Y:-50.65, Z:-7.46 [[ 9.64258693e-01 2.64004981e-01 2.25064941e-02 2.65797980e+02] [-2.63927239e-01 9.64521286e-01 -6.41101843e-03 -5.06479923e+01] [-2.34005334e-02 2.41803416e-04 9.99726141e-01 -7.46143956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.448623853 meters 0.019639019827868972 Centerline is valid? [True, True] Translation: X:265.86, Y:-50.66, Z:-7.46 [[ 9.63834952e-01 2.65548456e-01 2.24989550e-02 2.65857320e+02] [-2.65471071e-01 9.64097492e-01 -6.41379789e-03 -5.06636317e+01] [-2.33943602e-02 2.09020917e-04 9.99726293e-01 -7.46291045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.508623853 meters 0.01792566142870637 Centerline is valid? [True, True] Translation: X:265.92, Y:-50.68, Z:-7.46 [[ 9.63042779e-01 2.68401153e-01 2.25704945e-02 2.65918436e+02] [-2.68323968e-01 9.63307220e-01 -6.43798640e-03 -5.06761271e+01] [-2.34702833e-02 1.43851648e-04 9.99724525e-01 -7.46364207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56862385299996 meters 0.017024712599434118 Centerline is valid? [True, True] Translation: X:265.98, Y:-50.69, Z:-7.47 [[ 9.62379606e-01 2.70802406e-01 2.21709679e-02 2.65978469e+02] [-2.70728474e-01 9.62634951e-01 -6.32800774e-03 -5.06879920e+01] [-2.30561884e-02 8.76332675e-05 9.99734167e-01 -7.46666215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62862385299997 meters 0.016568348908660276 Centerline is valid? [True, True] Translation: X:266.04, Y:-50.70, Z:-7.47 [[ 9.61853543e-01 2.72657510e-01 2.22630726e-02 2.66038934e+02] [-2.72583376e-01 9.62111158e-01 -6.35793116e-03 -5.07019384e+01] [-2.31530883e-02 4.68551221e-05 9.99731930e-01 -7.46862477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68862385299997 meters 0.016601735289317788 Centerline is valid? [True, True] Translation: X:266.10, Y:-50.71, Z:-7.47 [[ 9.60604595e-01 2.77033893e-01 2.21592997e-02 2.66100579e+02] [-2.76961523e-01 9.60860145e-01 -6.33212682e-03 -5.07116412e+01] [-2.30462017e-02 -5.46032750e-05 9.99734400e-01 -7.47073088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74862385299997 meters 0.018783855934520182 Centerline is valid? [True, True] Translation: X:266.16, Y:-50.72, Z:-7.47 [[ 9.58982482e-01 2.82590090e-01 2.22585055e-02 2.66164265e+02] [-2.82518465e-01 9.59240745e-01 -6.36472879e-03 -5.07164522e+01] [-2.31498746e-02 -1.84775397e-04 9.99731989e-01 -7.47222042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.808623853 meters 0.02853775655317163 Centerline is valid? [True, True] Translation: X:266.22, Y:-50.73, Z:-7.47 [[ 9.58151618e-01 2.85455997e-01 2.14558016e-02 2.66224554e+02] [-2.85390065e-01 9.58391786e-01 -6.13960870e-03 -5.07262192e+01] [-2.23156521e-02 -2.40596597e-04 9.99750946e-01 -7.46697830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.868623853 meters 0.021534475213474326 Centerline is valid? [True, True] Translation: X:266.29, Y:-50.74, Z:-7.48 [[ 9.57367648e-01 2.88050887e-01 2.17686433e-02 2.66285974e+02] [-2.87983708e-01 9.57615055e-01 -6.22823575e-03 -5.07380867e+01] [-2.26400294e-02 -3.06303227e-04 9.99743635e-01 -7.47603185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.928623853 meters 0.02468940041588007 Centerline is valid? [True, True] Translation: X:266.35, Y:-50.75, Z:-7.48 [[ 9.56895620e-01 2.89616799e-01 2.17458686e-02 2.66346406e+02] [-2.89550058e-01 9.57142620e-01 -6.22649420e-03 -5.07461169e+01] [-2.26171950e-02 -3.38412485e-04 9.99744141e-01 -7.47850923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.988623853 meters 0.023834899503217037 Centerline is valid? [True, True] Translation: X:266.41, Y:-50.76, Z:-7.48 [[ 9.56530151e-01 2.90804868e-01 2.19681404e-02 2.66405760e+02] [-2.90737059e-01 9.56782312e-01 -6.29048228e-03 -5.07586960e+01] [-2.28480310e-02 -3.69916580e-04 9.99738881e-01 -7.47863849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.048623853 meters 0.022907532975807422 Centerline is valid? [True, True] Translation: X:266.46, Y:-50.77, Z:-7.48 [[ 9.56898040e-01 2.89606168e-01 2.17809379e-02 2.66464906e+02] [-2.89539200e-01 9.57145837e-01 -6.23687763e-03 -5.07727670e+01] [-2.26537722e-02 -3.38379352e-04 9.99743313e-01 -7.48135858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.108623853 meters 0.02038073996374298 Centerline is valid? [True, True] Translation: X:266.52, Y:-50.79, Z:-7.48 [[ 9.58002018e-01 2.85955415e-01 2.14856877e-02 2.66524140e+02] [-2.85889335e-01 9.58242891e-01 -6.15220018e-03 -5.07895360e+01] [-2.23477625e-02 -2.48708779e-04 9.99750227e-01 -7.48441389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.168623853 meters 0.019493585556629035 Centerline is valid? [True, True] Translation: X:266.58, Y:-50.81, Z:-7.48 [[ 9.59405398e-01 2.81247439e-01 2.10038048e-02 2.66583284e+02] [-2.81183169e-01 9.59635274e-01 -6.01384926e-03 -5.08097352e+01] [-2.18473717e-02 -1.36196942e-04 9.99761308e-01 -7.48318672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.228623853 meters 0.016520116409153532 Centerline is valid? [True, True] Translation: X:266.64, Y:-50.83, Z:-7.49 [[ 9.60602300e-01 2.77071705e-01 2.17828361e-02 2.66640874e+02] [-2.77001399e-01 9.60849244e-01 -6.24145661e-03 -5.08293900e+01] [-2.26593526e-02 -3.83185115e-05 9.99743243e-01 -7.48757151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.288623853 meters 0.017700060410590777 Centerline is valid? [True, True] Translation: X:266.70, Y:-50.86, Z:-7.49 [[ 9.62519782e-01 2.70328452e-01 2.18677314e-02 2.66698623e+02] [-2.70255811e-01 9.62768151e-01 -6.26769030e-03 -5.08551285e+01] [-2.27478903e-02 1.22894420e-04 9.99741226e-01 -7.48880824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.348623853 meters 0.02195413112164222 Centerline is valid? [True, True] Translation: X:266.76, Y:-50.88, Z:-7.49 [[ 9.64437410e-01 2.63364313e-01 2.23544290e-02 2.66756006e+02] [-2.63286418e-01 9.64696403e-01 -6.41190498e-03 -5.08810765e+01] [-2.32539042e-02 2.98263505e-04 9.99729547e-01 -7.48964515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.408623853 meters 0.02564303222886617 Centerline is valid? [True, True] Translation: X:266.81, Y:-50.90, Z:-7.49 [[ 9.65561506e-01 2.59213287e-01 2.23483966e-02 2.66813528e+02] [-2.59134294e-01 9.65820021e-01 -6.41133024e-03 -5.09048626e+01] [-2.32464309e-02 3.99297709e-04 9.99729685e-01 -7.49178115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.468623853 meters 0.029970432089933764 Centerline is valid? [True, True] Translation: X:266.87, Y:-50.93, Z:-7.49 [[ 9.66651918e-01 2.55136960e-01 2.21179129e-02 2.66868618e+02] [-2.55058496e-01 9.66904798e-01 -6.34628114e-03 -5.09303960e+01] [-2.30050870e-02 4.93283228e-04 9.99735226e-01 -7.49424280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.528623853 meters 0.03201979558042998 Centerline is valid? [True, True] Translation: X:266.93, Y:-50.95, Z:-7.50 [[ 9.66926108e-01 2.54098411e-01 2.20884442e-02 2.66925769e+02] [-2.54019863e-01 9.67178230e-01 -6.33877975e-03 -5.09523787e+01] [-2.29741363e-02 5.18228051e-04 9.99735925e-01 -7.49599693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.588623853 meters 0.030159322036091802 Centerline is valid? [True, True] Translation: X:266.99, Y:-50.97, Z:-7.50 [[ 9.66329081e-01 2.56471636e-01 2.07462663e-02 2.66986121e+02] [-2.56402811e-01 9.66551659e-01 -5.95733904e-03 -5.09684940e+01] [-2.15802266e-02 4.37348965e-04 9.99767024e-01 -7.50094773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.648623853 meters 0.029568284768278413 Centerline is valid? [True, True] Translation: X:267.05, Y:-50.98, Z:-7.50 [[ 9.65479357e-01 2.59724899e-01 1.98138125e-02 2.67047071e+02] [-2.59662799e-01 9.65682585e-01 -5.68997982e-03 -5.09828852e+01] [-2.06116831e-02 3.48648064e-04 9.99787496e-01 -7.49861618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.708623853 meters 0.02165053254314807 Centerline is valid? [True, True] Translation: X:267.11, Y:-50.99, Z:-7.50 [[ 9.63748145e-01 2.65979426e-01 2.10821858e-02 2.67107574e+02] [-2.65910508e-01 9.63978677e-01 -6.05898019e-03 -5.09923440e+01] [-2.19343417e-02 2.33356165e-04 9.99759386e-01 -7.50385453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.768623853 meters 0.018508204161622584 Centerline is valid? [True, True] Translation: X:267.17, Y:-51.00, Z:-7.50 [[ 9.62508416e-01 2.70409861e-01 2.13554812e-02 2.67168255e+02] [-2.70340221e-01 9.62745288e-01 -6.13805957e-03 -5.10033052e+01] [-2.22196807e-02 1.34688498e-04 9.99753103e-01 -7.50422093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.828623853 meters 0.016766995393269785 Centerline is valid? [True, True] Translation: X:267.23, Y:-51.01, Z:-7.51 [[ 9.61131793e-01 2.75252012e-01 2.14943185e-02 2.67226585e+02] [-2.75182654e-01 9.61372108e-01 -6.17879849e-03 -5.10113781e+01] [-2.23647650e-02 2.37760676e-05 9.99749877e-01 -7.50623695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.888623853 meters 0.01684965706827234 Centerline is valid? [True, True] Translation: X:267.28, Y:-51.03, Z:-7.51 [[ 9.60441122e-01 2.77684495e-01 2.10753841e-02 2.67284543e+02] [-2.77618418e-01 9.60672327e-01 -6.05756499e-03 -5.10266200e+01] [-2.19286301e-02 -3.29802590e-05 9.99759538e-01 -7.50912781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.948623853 meters 0.017132038519884863 Centerline is valid? [True, True] Translation: X:267.34, Y:-51.04, Z:-7.51 [[ 9.60089504e-01 2.78877768e-01 2.13385904e-02 2.67340792e+02] [-2.78810331e-01 9.60326604e-01 -6.13289103e-03 -5.10416035e+01] [-2.22023430e-02 -6.12951477e-05 9.99753496e-01 -7.51020329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.008623853 meters 0.01816618191426608 Centerline is valid? [True, True] Translation: X:267.40, Y:-51.05, Z:-7.51 [[ 9.58962677e-01 2.82704780e-01 2.16469547e-02 2.67400596e+02] [-2.82636392e-01 9.59206956e-01 -6.21979791e-03 -5.10543387e+01] [-2.25222761e-02 -1.53663122e-04 9.99746330e-01 -7.50923826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06862385299996 meters 0.021810745300586725 Centerline is valid? [True, True] Translation: X:267.46, Y:-51.06, Z:-7.51 [[ 9.57996702e-01 2.85997889e-01 2.11548151e-02 2.67459110e+02] [-2.85933360e-01 9.58230221e-01 -6.07919596e-03 -5.10637558e+01] [-2.20098204e-02 -2.25017692e-04 9.99757729e-01 -7.51474500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12862385299997 meters 0.022067377060870863 Centerline is valid? [True, True] Translation: X:267.52, Y:-51.08, Z:-7.52 [[ 9.57917991e-01 2.86270693e-01 2.10288760e-02 2.67515105e+02] [-2.86207005e-01 9.58148755e-01 -6.04259721e-03 -5.10804018e+01] [-2.18786098e-02 -2.30299038e-04 9.99760608e-01 -7.51634863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18862385299997 meters 0.02508937850816391 Centerline is valid? [True, True] Translation: X:267.57, Y:-51.10, Z:-7.51 [[ 9.58047294e-01 2.85733352e-01 2.24016446e-02 2.67571171e+02] [-2.85660957e-01 9.58309135e-01 -6.43586558e-03 -5.11016188e+01] [-2.33066421e-02 -2.33411619e-04 9.99728336e-01 -7.50622184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24862385299997 meters 0.03118997223955836 Centerline is valid? [True, True] Translation: X:267.63, Y:-51.12, Z:-7.51 [[ 9.58296599e-01 2.84890036e-01 2.24787693e-02 2.67629405e+02] [-2.84816928e-01 9.58560181e-01 -6.45726253e-03 -5.11218170e+01] [-2.33868630e-02 -2.14361302e-04 9.99726467e-01 -7.50509196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.308623853 meters 0.01935658705583583 Centerline is valid? [True, True] Translation: X:267.69, Y:-51.14, Z:-7.52 [[ 9.58305649e-01 2.84884981e-01 2.21546945e-02 2.67688052e+02] [-2.84813967e-01 9.58561685e-01 -6.36402873e-03 -5.11412284e+01] [-2.30496575e-02 -2.11281760e-04 9.99734299e-01 -7.51756877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.368623853 meters 0.02933034475620465 Centerline is valid? [True, True] Translation: X:267.75, Y:-51.16, Z:-7.51 [[ 9.57927725e-01 2.86322945e-01 1.98404783e-02 2.67747304e+02] [-2.86266219e-01 9.58133145e-01 -5.70329756e-03 -5.11565022e+01] [-2.06428048e-02 -2.16311832e-04 9.99786891e-01 -7.51396598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.428623853 meters 0.02188107720381045 Centerline is valid? [True, True] Translation: X:267.81, Y:-51.17, Z:-7.53 [[ 9.57400768e-01 2.88083263e-01 1.97940292e-02 2.67805108e+02] [-2.88027160e-01 9.57605331e-01 -5.69078512e-03 -5.11688217e+01] [-2.05942878e-02 -2.52855970e-04 9.99787883e-01 -7.52595133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.488623853 meters 0.02263881884993499 Centerline is valid? [True, True] Translation: X:267.86, Y:-51.18, Z:-7.53 [[ 9.57192070e-01 2.88758892e-01 2.00410357e-02 2.67861939e+02] [-2.88701537e-01 9.57401812e-01 -5.76137015e-03 -5.11824170e+01] [-2.08509707e-02 -2.71139984e-04 9.99782558e-01 -7.52709646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.548623853 meters 0.021560130639476874 Centerline is valid? [True, True] Translation: X:267.92, Y:-51.20, Z:-7.53 [[ 9.57271360e-01 2.88399078e-01 2.13895844e-02 2.67920949e+02] [-2.88333681e-01 9.57510257e-01 -6.14785782e-03 -5.12009409e+01] [-2.22537830e-02 -2.82169392e-04 9.99752314e-01 -7.52620548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.608623853 meters 0.02230961706587551 Centerline is valid? [True, True] Translation: X:267.98, Y:-51.22, Z:-7.53 [[ 9.57581193e-01 2.87345856e-01 2.16937360e-02 2.67979164e+02] [-2.87278301e-01 9.57826859e-01 -6.23590791e-03 -5.12161624e+01] [-2.25707053e-02 -2.60751487e-04 9.99745215e-01 -7.52804446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.668623853 meters 0.01934015699415106 Centerline is valid? [True, True] Translation: X:268.04, Y:-51.24, Z:-7.53 [[ 9.58235679e-01 2.85174801e-01 2.14409895e-02 2.68037549e+02] [-2.85108281e-01 9.58475503e-01 -6.16265125e-03 -5.12380812e+01] [-2.23080960e-02 -2.07731354e-04 9.99751122e-01 -7.52897507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.728623853 meters 0.01835162302382731 Centerline is valid? [True, True] Translation: X:268.10, Y:-51.26, Z:-7.53 [[ 9.58893366e-01 2.83014633e-01 2.06453631e-02 2.68096633e+02] [-2.82952382e-01 9.59115580e-01 -5.93749762e-03 -5.12578476e+01] [-2.14816882e-02 -1.48227602e-04 9.99769231e-01 -7.53252409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.788623853 meters 0.01790591151427824 Centerline is valid? [True, True] Translation: X:268.16, Y:-51.28, Z:-7.53 [[ 9.59175444e-01 2.82083266e-01 2.02854534e-02 2.68156738e+02] [-2.82022888e-01 9.59389919e-01 -5.83733606e-03 -5.12775997e+01] [-2.11082743e-02 -1.21932742e-04 9.99777188e-01 -7.53470396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.848623853 meters 0.01772523199844376 Centerline is valid? [True, True] Translation: X:268.22, Y:-51.29, Z:-7.54 [[ 9.59233547e-01 2.81814592e-01 2.12494384e-02 2.68215669e+02] [-2.81748164e-01 9.59468875e-01 -6.11960991e-03 -5.12949683e+01] [-2.21127701e-02 -1.16855148e-04 9.99755476e-01 -7.53512824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.908623853 meters 0.017446231412571723 Centerline is valid? [True, True] Translation: X:268.28, Y:-51.31, Z:-7.54 [[ 9.59292973e-01 2.81618563e-01 2.11654767e-02 2.68276105e+02] [-2.81552541e-01 9.59526432e-01 -6.09866751e-03 -5.13133563e+01] [-2.20263323e-02 -1.08784837e-04 9.99757385e-01 -7.53599237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.968623853 meters 0.01782875000735172 Centerline is valid? [True, True] Translation: X:268.34, Y:-51.33, Z:-7.54 [[ 9.59161850e-01 2.82108228e-01 2.05789390e-02 2.68336668e+02] [-2.82045835e-01 9.59382580e-01 -5.93397339e-03 -5.13274379e+01] [-2.14170983e-02 -1.12563141e-04 9.99770621e-01 -7.54056075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.028623853 meters 0.018390213043370483 Centerline is valid? [True, True] Translation: X:268.40, Y:-51.34, Z:-7.54 [[ 9.58847539e-01 2.83180875e-01 2.04936448e-02 2.68395321e+02] [-2.83119128e-01 9.59066512e-01 -5.91474897e-03 -5.13401525e+01] [-2.13297123e-02 -1.30800374e-04 9.99772487e-01 -7.54230132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.088623853 meters 0.020067853832205183 Centerline is valid? [True, True] Translation: X:268.45, Y:-51.35, Z:-7.54 [[ 9.58024769e-01 2.85926871e-01 2.08414693e-02 2.68454085e+02] [-2.85863669e-01 9.58251421e-01 -6.01468067e-03 -5.13488891e+01] [-2.16911264e-02 -1.95605842e-04 9.99764701e-01 -7.54278010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.148623853 meters 0.02200482683991175 Centerline is valid? [True, True] Translation: X:268.51, Y:-51.36, Z:-7.54 [[ 9.57026801e-01 2.89222969e-01 2.12079176e-02 2.68513669e+02] [-2.89158349e-01 9.57261719e-01 -6.11971513e-03 -5.13552180e+01] [-2.20714898e-02 -2.75715034e-04 9.99756357e-01 -7.54321539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.208623853 meters 0.02320889065709693 Centerline is valid? [True, True] Translation: X:268.57, Y:-51.37, Z:-7.54 [[ 9.56582712e-01 2.90683069e-01 2.12807165e-02 2.68571884e+02] [-2.90618390e-01 9.56819344e-01 -6.13964350e-03 -5.13654072e+01] [-2.21464916e-02 -3.11490740e-04 9.99754688e-01 -7.54471748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.268623853 meters 0.025935131212855355 Centerline is valid? [True, True] Translation: X:268.63, Y:-51.37, Z:-7.55 [[ 9.56285590e-01 2.91662932e-01 2.12274236e-02 2.68630164e+02] [-2.91598838e-01 9.56521104e-01 -6.12332772e-03 -5.13702912e+01] [-2.20904264e-02 -3.34242000e-04 9.99755921e-01 -7.54753643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.328623853 meters 0.023477947886744198 Centerline is valid? [True, True] Translation: X:268.69, Y:-51.39, Z:-7.55 [[ 9.56286128e-01 2.91643896e-01 2.14634378e-02 2.68687036e+02] [-2.91578403e-01 9.56526906e-01 -6.18968607e-03 -5.13861715e+01] [-2.23355399e-02 -3.39163998e-04 9.99750473e-01 -7.54775484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.388623853 meters 0.024735339752920523 Centerline is valid? [True, True] Translation: X:268.74, Y:-51.39, Z:-7.55 [[ 9.56321917e-01 2.91506217e-01 2.17374382e-02 2.68744877e+02] [-2.91439029e-01 9.56568873e-01 -6.26767881e-03 -5.13941290e+01] [-2.26204241e-02 -3.41219270e-04 9.99744067e-01 -7.54933568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.448623853 meters 0.023700710453837308 Centerline is valid? [True, True] Translation: X:268.80, Y:-51.40, Z:-7.55 [[ 9.56724623e-01 2.90160621e-01 2.20183789e-02 2.68802772e+02] [-2.90091369e-01 9.56977907e-01 -6.34689688e-03 -5.14046781e+01] [-2.29127217e-02 -3.15109147e-04 9.99737419e-01 -7.55078927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.508623853 meters 0.028233427849058534 Centerline is valid? [True, True] Translation: X:268.86, Y:-51.42, Z:-7.54 [[ 9.57601530e-01 2.87242911e-01 2.21544470e-02 2.68860046e+02] [-2.87172043e-01 9.57857739e-01 -6.38505216e-03 -5.14187887e+01] [-2.30548695e-02 -2.47802088e-04 9.99734170e-01 -7.54366512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56862385299996 meters 0.019312085741486382 Centerline is valid? [True, True] Translation: X:268.92, Y:-51.43, Z:-7.55 [[ 9.58257624e-01 2.84994288e-01 2.28162659e-02 2.68915773e+02] [-2.84918512e-01 9.58529194e-01 -6.57464441e-03 -5.14339015e+01] [-2.37437930e-02 -2.00573407e-04 9.99718056e-01 -7.55242833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62862385299997 meters 0.01789198062508483 Centerline is valid? [True, True] Translation: X:268.97, Y:-51.45, Z:-7.56 [[ 9.59159082e-01 2.82015807e-01 2.19303609e-02 2.68973090e+02] [-2.81945054e-01 9.59409751e-01 -6.31799370e-03 -5.14455705e+01] [-2.28219762e-02 -1.23195758e-04 9.99739537e-01 -7.55666312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68862385299997 meters 0.017259156836741164 Centerline is valid? [True, True] Translation: X:269.03, Y:-51.45, Z:-7.56 [[ 9.59768896e-01 2.79942836e-01 2.18099885e-02 2.69030376e+02] [-2.79872345e-01 9.60016668e-01 -6.28229743e-03 -5.14548161e+01] [-2.26966366e-02 -7.44589566e-05 9.99742395e-01 -7.55861684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74862385299997 meters 0.01670042969502859 Centerline is valid? [True, True] Translation: X:269.09, Y:-51.47, Z:-7.56 [[ 9.60721733e-01 2.76603057e-01 2.24611142e-02 2.69087991e+02] [-2.76527414e-01 9.60984261e-01 -6.46837986e-03 -5.14664184e+01] [-2.33739508e-02 3.19927710e-06 9.99726792e-01 -7.55920222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.808623853 meters 0.017400465616290415 Centerline is valid? [True, True] Translation: X:269.14, Y:-51.48, Z:-7.56 [[ 9.61920086e-01 2.72412814e-01 2.23831633e-02 2.69144128e+02] [-2.72336587e-01 9.62180465e-01 -6.44481175e-03 -5.14828649e+01] [-2.32922918e-02 1.03639571e-04 9.99728692e-01 -7.56093737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.868623853 meters 0.029600132597366314 Centerline is valid? [True, True] Translation: X:269.20, Y:-51.51, Z:-7.56 [[ 9.64354161e-01 2.63729118e-01 2.16333847e-02 2.69198621e+02] [-2.63655749e-01 9.64596735e-01 -6.22775999e-03 -5.15066722e+01] [-2.25099339e-02 3.02000015e-04 9.99746574e-01 -7.55625128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.928623853 meters 0.030285768795711224 Centerline is valid? [True, True] Translation: X:269.25, Y:-51.53, Z:-7.57 [[ 9.66849174e-01 2.54396471e-01 2.20251940e-02 2.69254003e+02] [-2.54318018e-01 9.67099869e-01 -6.33949978e-03 -5.15330115e+01] [-2.29133086e-02 5.27936449e-04 9.99737316e-01 -7.56569359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.988623853 meters 0.036599971952850856 Centerline is valid? [True, True] Translation: X:269.31, Y:-51.56, Z:-7.57 [[ 9.68204712e-01 2.49236500e-01 2.14663293e-02 2.69309935e+02] [-2.49160713e-01 9.68442443e-01 -6.17845535e-03 -5.15571162e+01] [-2.23288010e-02 6.33443655e-04 9.99750481e-01 -7.56895230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.048623853 meters 0.039218171386684035 Centerline is valid? [True, True] Translation: X:269.37, Y:-51.58, Z:-7.57 [[ 9.69095959e-01 2.45761200e-01 2.13179338e-02 2.69367479e+02] [-2.45685610e-01 9.69330145e-01 -6.13601520e-03 -5.15768158e+01] [-2.21721103e-02 7.08877961e-04 9.99753917e-01 -7.57105578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.108623853 meters 0.040530499420576814 Centerline is valid? [True, True] Translation: X:269.43, Y:-51.60, Z:-7.57 [[ 9.69478019e-01 2.44256899e-01 2.12352852e-02 2.69425390e+02] [-2.44181529e-01 9.69710276e-01 -6.11242647e-03 -5.15961259e+01] [-2.20850766e-02 7.40598696e-04 9.99755821e-01 -7.57277082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.168623853 meters 0.04213841708417764 Centerline is valid? [True, True] Translation: X:269.48, Y:-51.61, Z:-7.57 [[ 9.69093002e-01 2.45751552e-01 2.15621925e-02 2.69482974e+02] [-2.45674199e-01 9.69332584e-01 -6.20715103e-03 -5.16146415e+01] [-2.24263528e-02 7.18032256e-04 9.99748240e-01 -7.57426768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.228623853 meters 0.038660364661872344 Centerline is valid? [True, True] Translation: X:269.54, Y:-51.62, Z:-7.57 [[ 9.67898799e-01 2.50483925e-01 2.07296477e-02 2.69543492e+02] [-2.50413504e-01 9.68120582e-01 -5.96794815e-03 -5.16207776e+01] [-2.15636737e-02 5.85386136e-04 9.99767306e-01 -7.56844510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.288623853 meters 0.02777561665750595 Centerline is valid? [True, True] Translation: X:269.60, Y:-51.63, Z:-7.58 [[ 9.66506096e-01 2.55723896e-01 2.17084079e-02 2.69604377e+02] [-2.55647998e-01 9.66749734e-01 -6.24918302e-03 -5.16270081e+01] [-2.25846630e-02 4.90162477e-04 9.99744814e-01 -7.57603968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.348623853 meters 0.026712578522127262 Centerline is valid? [True, True] Translation: X:269.66, Y:-51.64, Z:-7.58 [[ 9.65556445e-01 2.59267683e-01 2.19321571e-02 2.69661455e+02] [-2.59191134e-01 9.65805415e-01 -6.31318360e-03 -5.16403584e+01] [-2.28190006e-02 4.11114441e-04 9.99739528e-01 -7.57778201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.408623853 meters 0.022233866723055315 Centerline is valid? [True, True] Translation: X:269.72, Y:-51.65, Z:-7.58 [[ 9.63861838e-01 2.65553559e-01 2.12523838e-02 2.69720656e+02] [-2.65483226e-01 9.64096076e-01 -6.11668783e-03 -5.16458870e+01] [-2.21136480e-02 2.53490576e-04 9.99755431e-01 -7.58137814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.468623853 meters 0.018515816601661975 Centerline is valid? [True, True] Translation: X:269.78, Y:-51.65, Z:-7.58 [[ 9.62819583e-01 2.69295167e-01 2.14140811e-02 2.69780166e+02] [-2.69224700e-01 9.63057675e-01 -6.16250127e-03 -5.16528719e+01] [-2.22825269e-02 1.68177361e-04 9.99751700e-01 -7.58138824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.528623853 meters 0.017048385654018477 Centerline is valid? [True, True] Translation: X:269.84, Y:-51.66, Z:-7.58 [[ 9.61734472e-01 2.73115392e-01 2.17896291e-02 2.69837777e+02] [-2.73043432e-01 9.61981277e-01 -6.26957892e-03 -5.16609519e+01] [-2.26735337e-02 8.01550528e-05 9.99742919e-01 -7.58292851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.588623853 meters 0.01670784188363543 Centerline is valid? [True, True] Translation: X:269.89, Y:-51.67, Z:-7.58 [[ 9.61389895e-01 2.74286599e-01 2.22784806e-02 2.69894243e+02] [-2.74211740e-01 9.61647991e-01 -6.40803575e-03 -5.16720983e+01] [-2.31816944e-02 5.15999019e-05 9.99731267e-01 -7.58389033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.648623853 meters 0.01731436510456593 Centerline is valid? [True, True] Translation: X:269.95, Y:-51.69, Z:-7.59 [[ 9.62032532e-01 2.72017158e-01 2.23623199e-02 2.69949989e+02] [-2.71941155e-01 9.62292395e-01 -6.43069131e-03 -5.16909107e+01] [-2.32683488e-02 1.05299139e-04 9.99729250e-01 -7.58631951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.708623853 meters 0.018527055858826108 Centerline is valid? [True, True] Translation: X:270.01, Y:-51.71, Z:-7.59 [[ 9.62775206e-01 2.69399453e-01 2.20870324e-02 2.70005298e+02] [-2.69324645e-01 9.63028508e-01 -6.35041515e-03 -5.17101206e+01] [-2.29812403e-02 1.65440077e-04 9.99735883e-01 -7.58774038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.768623853 meters 0.021535276081259276 Centerline is valid? [True, True] Translation: X:270.06, Y:-51.73, Z:-7.59 [[ 9.63869443e-01 2.65419618e-01 2.25416090e-02 2.70058962e+02] [-2.65340634e-01 9.64132956e-01 -6.48010129e-03 -5.17320626e+01] [-2.34530541e-02 2.64766798e-04 9.99724904e-01 -7.58865434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.828623853 meters 0.023082833856110697 Centerline is valid? [True, True] Translation: X:270.12, Y:-51.75, Z:-7.59 [[ 9.64506004e-01 2.63078253e-01 2.27596259e-02 2.70115100e+02] [-2.62997134e-01 9.64774445e-01 -6.54055460e-03 -5.17511106e+01] [-2.36785831e-02 3.22687805e-04 9.99719571e-01 -7.58925309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.888623853 meters 0.024598345032533893 Centerline is valid? [True, True] Translation: X:270.17, Y:-51.77, Z:-7.59 [[ 9.64872532e-01 2.61776200e-01 2.22310148e-02 2.70170887e+02] [-2.61698485e-01 9.65128542e-01 -6.38756802e-03 -5.17704521e+01] [-2.31279001e-02 3.45366036e-04 9.99732455e-01 -7.59264224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.948623853 meters 0.024263692003935702 Centerline is valid? [True, True] Translation: X:270.23, Y:-51.79, Z:-7.60 [[ 9.64727378e-01 2.62417499e-01 2.09318518e-02 2.70228088e+02] [-2.62348775e-01 9.64954382e-01 -6.01333521e-03 -5.17858245e+01] [-2.17762866e-02 3.09783427e-04 9.99762821e-01 -7.59682169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00862385299996 meters 0.02342525734946662 Centerline is valid? [True, True] Translation: X:270.28, Y:-51.80, Z:-7.60 [[ 9.64491632e-01 2.63338866e-01 2.02122110e-02 2.70284610e+02] [-2.63275008e-01 9.64703356e-01 -5.80566083e-03 -5.18004175e+01] [-2.10276439e-02 2.78141287e-04 9.99778856e-01 -7.59968140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06862385299996 meters 0.021131104837693628 Centerline is valid? [True, True] Translation: X:270.34, Y:-51.81, Z:-7.60 [[ 9.64269095e-01 2.64151924e-01 2.02206217e-02 2.70342682e+02] [-2.64088212e-01 9.64481049e-01 -5.80711352e-03 -5.18129794e+01] [-2.10363667e-02 2.59592257e-04 9.99778677e-01 -7.59941532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12862385299997 meters 0.027760905725010457 Centerline is valid? [True, True] Translation: X:270.40, Y:-51.83, Z:-7.59 [[ 9.63944751e-01 2.65254981e-01 2.12205674e-02 2.70398376e+02] [-2.65185103e-01 9.64178269e-01 -6.09316294e-03 -5.18281524e+01] [-2.20766518e-02 2.46094088e-04 9.99756251e-01 -7.59134779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18862385299997 meters 0.019276679729344347 Centerline is valid? [True, True] Translation: X:270.45, Y:-51.84, Z:-7.60 [[ 9.63301170e-01 2.67505232e-01 2.21767147e-02 2.70454302e+02] [-2.67429545e-01 9.63556387e-01 -6.36618059e-03 -5.18432311e+01] [-2.30715017e-02 2.01840492e-04 9.99733797e-01 -7.59948086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24862385299997 meters 0.01796917220718782 Centerline is valid? [True, True] Translation: X:270.51, Y:-51.86, Z:-7.60 [[ 9.62749885e-01 2.69503821e-01 2.19168560e-02 2.70511977e+02] [-2.69430448e-01 9.62999308e-01 -6.29013795e-03 -5.18561807e+01] [-2.28011334e-02 1.50761258e-04 9.99740009e-01 -7.60105434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.308623853 meters 0.016445270217012566 Centerline is valid? [True, True] Translation: X:270.57, Y:-51.87, Z:-7.60 [[ 9.61669980e-01 2.73343890e-01 2.17708057e-02 2.70571136e+02] [-2.73272502e-01 9.61916376e-01 -6.24706086e-03 -5.18651823e+01] [-2.26492905e-02 5.82483442e-05 9.99743470e-01 -7.60244156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.368623853 meters 0.016253827918780522 Centerline is valid? [True, True] Translation: X:270.63, Y:-51.87, Z:-7.60 [[ 9.60482701e-01 2.77462969e-01 2.20744506e-02 2.70630477e+02] [-2.77390679e-01 9.60736332e-01 -6.33340640e-03 -5.18727713e+01] [-2.29650124e-02 -4.01195592e-05 9.99736269e-01 -7.60364407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.428623853 meters 0.01723197228338567 Centerline is valid? [True, True] Translation: X:270.69, Y:-51.88, Z:-7.61 [[ 9.59641571e-01 2.80358902e-01 2.20667282e-02 2.70688610e+02] [-2.80287452e-01 9.59895241e-01 -6.33011723e-03 -5.18811234e+01] [-2.29564521e-02 -1.10383383e-04 9.99736460e-01 -7.60641921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.488623853 meters 0.0187964465215378 Centerline is valid? [True, True] Translation: X:270.75, Y:-51.89, Z:-7.61 [[ 9.59164497e-01 2.82041433e-01 2.13564322e-02 2.70746157e+02] [-2.81974955e-01 9.59402214e-01 -6.12504862e-03 -5.18897362e+01] [-2.22169259e-02 -1.47049827e-04 9.99753163e-01 -7.61040685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.548623853 meters 0.018912012877906045 Centerline is valid? [True, True] Translation: X:270.80, Y:-51.90, Z:-7.61 [[ 9.59045237e-01 2.82464517e-01 2.11194399e-02 2.70803581e+02] [-2.82399624e-01 9.59277735e-01 -6.05639379e-03 -5.19019376e+01] [-2.19701248e-02 -1.55766281e-04 9.99758616e-01 -7.61205594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.608623853 meters 0.01783527460086015 Centerline is valid? [True, True] Translation: X:270.86, Y:-51.92, Z:-7.61 [[ 9.59342345e-01 2.81442844e-01 2.12647995e-02 2.70860829e+02] [-2.81376898e-01 9.59577984e-01 -6.09381487e-03 -5.19153964e+01] [-2.21202940e-02 -1.37368662e-04 9.99755307e-01 -7.61282134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.668623853 meters 0.016944961706428674 Centerline is valid? [True, True] Translation: X:270.92, Y:-51.93, Z:-7.61 [[ 9.60012256e-01 2.79147924e-01 2.12815597e-02 2.70917009e+02] [-2.79081334e-01 9.60248108e-01 -6.09752711e-03 -5.19329712e+01] [-2.21376895e-02 -8.55853176e-05 9.99754928e-01 -7.61409418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.728623853 meters 0.016760812361752035 Centerline is valid? [True, True] Translation: X:270.97, Y:-51.95, Z:-7.62 [[ 9.61877245e-01 2.72697386e-01 2.06954418e-02 2.70969725e+02] [-2.72632929e-01 9.62099856e-01 -5.92908321e-03 -5.19541443e+01] [-2.15279271e-02 6.07913129e-05 9.99768245e-01 -7.61716576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.788623853 meters 0.020863791320382453 Centerline is valid? [True, True] Translation: X:271.02, Y:-51.98, Z:-7.62 [[ 9.64227705e-01 2.64244971e-01 2.09649214e-02 2.71022725e+02] [-2.64176900e-01 9.64455563e-01 -6.00271794e-03 -5.19816911e+01] [-2.18059231e-02 2.49539004e-04 9.99762191e-01 -7.61828752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.848623853 meters 0.02616261110388592 Centerline is valid? [True, True] Translation: X:271.08, Y:-52.01, Z:-7.62 [[ 9.65521436e-01 2.59464411e-01 2.11323516e-02 2.71075919e+02] [-2.59394126e-01 9.65752603e-01 -6.04951637e-03 -5.20076560e+01] [-2.19782578e-02 3.59329846e-04 9.99758384e-01 -7.62055214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.908623853 meters 0.028592874077486532 Centerline is valid? [True, True] Translation: X:271.13, Y:-52.03, Z:-7.62 [[ 9.66565470e-01 2.55520876e-01 2.14539821e-02 2.71131222e+02] [-2.55447490e-01 9.66803431e-01 -6.14041761e-03 -5.20291704e+01] [-2.23107884e-02 4.54749766e-04 9.99750980e-01 -7.62074641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.968623853 meters 0.0330899623131681 Centerline is valid? [True, True] Translation: X:271.19, Y:-52.05, Z:-7.62 [[ 9.67684883e-01 2.51305256e-01 2.07758457e-02 2.71185372e+02] [-2.51235480e-01 9.67907735e-01 -5.94557091e-03 -5.20544170e+01] [-2.16032550e-02 5.33809507e-04 9.99766480e-01 -7.62356754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.028623853 meters 0.031957420727948126 Centerline is valid? [True, True] Translation: X:271.24, Y:-52.07, Z:-7.62 [[ 9.68061138e-01 2.49867891e-01 2.05832610e-02 2.71241438e+02] [-2.49799093e-01 9.68279775e-01 -5.88979203e-03 -5.20727252e+01] [-2.14020253e-02 5.59998850e-04 9.99770794e-01 -7.62472553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.088623853 meters 0.034879877686283645 Centerline is valid? [True, True] Translation: X:271.30, Y:-52.09, Z:-7.63 [[ 9.67930645e-01 2.50432833e-01 1.98409076e-02 2.71295650e+02] [-2.50369046e-01 9.68133833e-01 -5.67646793e-03 -5.20946030e+01] [-2.06302278e-02 5.26878160e-04 9.99787035e-01 -7.62907503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.148623853 meters 0.03735958637648122 Centerline is valid? [True, True] Translation: X:271.35, Y:-52.11, Z:-7.62 [[ 9.67164613e-01 2.53411232e-01 1.93741885e-02 2.71353938e+02] [-2.53351034e-01 9.67358539e-01 -5.54162359e-03 -5.21055902e+01] [-2.01460964e-02 4.51191531e-04 9.99796945e-01 -7.62053658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.208623853 meters 0.023912351393542145 Centerline is valid? [True, True] Translation: X:271.41, Y:-52.12, Z:-7.63 [[ 9.65295058e-01 2.60266443e-01 2.16062475e-02 2.71412277e+02] [-2.60193318e-01 9.65536774e-01 -6.17865325e-03 -5.21168307e+01] [-2.24697226e-02 3.42422224e-04 9.99747465e-01 -7.62818058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.268623853 meters 0.019637394099912293 Centerline is valid? [True, True] Translation: X:271.47, Y:-52.13, Z:-7.63 [[ 9.63821654e-01 2.65690414e-01 2.13640446e-02 2.71470643e+02] [-2.65620259e-01 9.64058379e-01 -6.10899389e-03 -5.21255772e+01] [-2.22192873e-02 2.13257535e-04 9.99753098e-01 -7.62958414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.328623853 meters 0.020396085058496438 Centerline is valid? [True, True] Translation: X:271.53, Y:-52.13, Z:-7.63 [[ 9.61831790e-01 2.72869507e-01 2.05387293e-02 2.71528756e+02] [-2.72806317e-01 9.62051054e-01 -5.87224449e-03 -5.21313903e+01] [-2.13616626e-02 4.50163544e-05 9.99771813e-01 -7.62952512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.388623853 meters 0.017634649505147634 Centerline is valid? [True, True] Translation: X:271.59, Y:-52.14, Z:-7.64 [[ 9.60055859e-01 2.79049297e-01 2.05970189e-02 2.71587841e+02] [-2.78987199e-01 9.60276773e-01 -5.88746329e-03 -5.21372846e+01] [-2.14217313e-02 -9.40109723e-05 9.99770524e-01 -7.63733188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.448623853 meters 0.018477335340767932 Centerline is valid? [True, True] Translation: X:271.65, Y:-52.15, Z:-7.64 [[ 9.59039625e-01 2.82478683e-01 2.11846865e-02 2.71645564e+02] [-2.82413918e-01 9.59273559e-01 -6.05122218e-03 -5.21489900e+01] [-2.20312509e-02 -1.79488464e-04 9.99757266e-01 -7.63598821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50862385299996 meters 0.018639851139844357 Centerline is valid? [True, True] Translation: X:271.70, Y:-52.16, Z:-7.64 [[ 9.59030552e-01 2.82473854e-01 2.16546258e-02 2.71700822e+02] [-2.82406205e-01 9.59274980e-01 -6.18446735e-03 -5.21633521e+01] [-2.25196910e-02 -1.84307544e-04 9.99746383e-01 -7.63709911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56862385299996 meters 0.01966962965075998 Centerline is valid? [True, True] Translation: X:271.76, Y:-52.18, Z:-7.64 [[ 9.59220386e-01 2.81804857e-01 2.19607445e-02 2.71757136e+02] [-2.81735156e-01 9.59471726e-01 -6.26970450e-03 -5.21755109e+01] [-2.28375466e-02 -1.73085400e-04 9.99739174e-01 -7.63940514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62862385299997 meters 0.017729850015600113 Centerline is valid? [True, True] Translation: X:271.81, Y:-52.19, Z:-7.64 [[ 9.59698537e-01 2.80182418e-01 2.18295647e-02 2.71812926e+02] [-2.80113161e-01 9.59946766e-01 -6.23079688e-03 -5.21930462e+01] [-2.27009798e-02 -1.35061702e-04 9.99742290e-01 -7.63968327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68862385299997 meters 0.028246716401612526 Centerline is valid? [True, True] Translation: X:271.87, Y:-52.21, Z:-7.63 [[ 9.60435135e-01 2.77666041e-01 2.15851930e-02 2.71869202e+02] [-2.77597714e-01 9.60677659e-01 -6.15996149e-03 -5.22103632e+01] [-2.24468248e-02 -7.57568029e-05 9.99748035e-01 -7.63206764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74862385299997 meters 0.016314410401843723 Centerline is valid? [True, True] Translation: X:271.92, Y:-52.23, Z:-7.64 [[ 9.61000761e-01 2.75642270e-01 2.23355667e-02 2.71924874e+02] [-2.75568590e-01 9.61260286e-01 -6.37288997e-03 -5.22280890e+01] [-2.32269311e-02 -3.06285283e-05 9.99730218e-01 -7.64128372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.808623853 meters 0.016784841358618262 Centerline is valid? [True, True] Translation: X:271.98, Y:-52.25, Z:-7.64 [[ 9.62306464e-01 2.70999885e-01 2.29200988e-02 2.71979434e+02] [-2.70921008e-01 9.62579376e-01 -6.53847104e-03 -5.22473519e+01] [-2.38343393e-02 8.24766709e-05 9.99715918e-01 -7.64221737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.868623853 meters 0.019236162026375056 Centerline is valid? [True, True] Translation: X:272.03, Y:-52.27, Z:-7.65 [[ 9.63773892e-01 2.65779059e-01 2.23914366e-02 2.72033908e+02] [-2.65702403e-01 9.64033946e-01 -6.38619425e-03 -5.22716773e+01] [-2.32834217e-02 2.05388796e-04 9.99728883e-01 -7.64532131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.928623853 meters 0.02124647315328778 Centerline is valid? [True, True] Translation: X:272.09, Y:-52.29, Z:-7.65 [[ 9.64452720e-01 2.63296406e-01 2.24934143e-02 2.72088837e+02] [-2.63218400e-01 9.64714949e-01 -6.41415960e-03 -5.22900351e+01] [-2.33885582e-02 2.65473148e-04 9.99726415e-01 -7.64696140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.988623853 meters 0.020785086439205534 Centerline is valid? [True, True] Translation: X:272.15, Y:-52.30, Z:-7.65 [[ 9.64409795e-01 2.63490645e-01 2.20551147e-02 2.72145951e+02] [-2.63415731e-01 9.64661918e-01 -6.28786910e-03 -5.23023111e+01] [-2.29325239e-02 2.54418373e-04 9.99736983e-01 -7.64931240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.048623853 meters 0.020306078916234174 Centerline is valid? [True, True] Translation: X:272.20, Y:-52.32, Z:-7.65 [[ 9.64018714e-01 2.64956405e-01 2.15875749e-02 2.72202444e+02] [-2.64885039e-01 9.64260368e-01 -6.15287677e-03 -5.23155855e+01] [-2.24462871e-02 2.13262719e-04 9.99748028e-01 -7.65219414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.108623853 meters 0.019385726203883492 Centerline is valid? [True, True] Translation: X:272.26, Y:-52.33, Z:-7.65 [[ 9.63717313e-01 2.66021662e-01 2.19411843e-02 2.72260021e+02] [-2.65948249e-01 9.63967032e-01 -6.25216898e-03 -5.23268466e+01] [-2.28137907e-02 1.90103938e-04 9.99739714e-01 -7.65269737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.168623853 meters 0.019477640353325318 Centerline is valid? [True, True] Translation: X:272.32, Y:-52.34, Z:-7.65 [[ 9.63752534e-01 2.65816369e-01 2.28628829e-02 2.72317536e+02] [-2.65736629e-01 9.64023660e-01 -6.51358215e-03 -5.23408616e+01] [-2.37717768e-02 2.01975883e-04 9.99717391e-01 -7.65322493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.228623853 meters 0.02057182029151098 Centerline is valid? [True, True] Translation: X:272.37, Y:-52.36, Z:-7.66 [[ 9.64334081e-01 2.63728037e-01 2.25233875e-02 2.72373226e+02] [-2.63650104e-01 9.64597046e-01 -6.41574764e-03 -5.23584823e+01] [-2.34180056e-02 2.48630640e-04 9.99725730e-01 -7.65559946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.288623853 meters 0.022501393430851484 Centerline is valid? [True, True] Translation: X:272.43, Y:-52.38, Z:-7.66 [[ 9.64893352e-01 2.61656736e-01 2.27282181e-02 2.72427822e+02] [-2.61576831e-01 9.65160952e-01 -6.47294596e-03 -5.23779183e+01] [-2.36300785e-02 3.00527254e-04 9.99720726e-01 -7.65740916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.348623853 meters 0.023598068981451076 Centerline is valid? [True, True] Translation: X:272.48, Y:-52.40, Z:-7.66 [[ 9.65759857e-01 2.58351520e-01 2.37147677e-02 2.72483683e+02] [-2.58263571e-01 9.66050897e-01 -6.75227681e-03 -5.23966365e+01] [-2.46541335e-02 3.96417310e-04 9.99695962e-01 -7.65655343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.408623853 meters 0.027356000193827022 Centerline is valid? [True, True] Translation: X:272.54, Y:-52.42, Z:-7.66 [[ 9.66374959e-01 2.56035427e-01 2.37760153e-02 2.72537279e+02] [-2.55946352e-01 9.66667292e-01 -6.76847727e-03 -5.24188751e+01] [-2.47164662e-02 4.55502576e-04 9.99694398e-01 -7.65818416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.468623853 meters 0.026776818368596966 Centerline is valid? [True, True] Translation: X:272.59, Y:-52.44, Z:-7.66 [[ 9.66642643e-01 2.55011417e-01 2.38993245e-02 2.72594123e+02] [-2.54921143e-01 9.66937922e-01 -6.80196390e-03 -5.24354510e+01] [-2.48437416e-02 4.82625234e-04 9.99691230e-01 -7.66006501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.528623853 meters 0.02714912443617378 Centerline is valid? [True, True] Translation: X:272.65, Y:-52.45, Z:-7.66 [[ 9.66679144e-01 2.54875677e-01 2.38709354e-02 2.72649316e+02] [-2.54785605e-01 9.66973709e-01 -6.79270537e-03 -5.24522733e+01] [-2.48138623e-02 4.84395881e-04 9.99691971e-01 -7.66154722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.588623853 meters 0.02921161582899327 Centerline is valid? [True, True] Translation: X:272.70, Y:-52.47, Z:-7.67 [[ 9.66668983e-01 2.54957074e-01 2.34086943e-02 2.72703206e+02] [-2.54870525e-01 9.66952257e-01 -6.65938167e-03 -5.24731778e+01] [-2.43329463e-02 4.71231499e-04 9.99703799e-01 -7.66526205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.648623853 meters 0.027560291951030397 Centerline is valid? [True, True] Translation: X:272.76, Y:-52.49, Z:-7.67 [[ 9.66626569e-01 2.55180899e-01 2.27108836e-02 2.72759408e+02] [-2.55099536e-01 9.66893224e-01 -6.45911485e-03 -5.24889574e+01] [-2.36072422e-02 4.50016145e-04 9.99721209e-01 -7.66805189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.708623853 meters 0.027295987246672808 Centerline is valid? [True, True] Translation: X:272.81, Y:-52.51, Z:-7.67 [[ 9.66416184e-01 2.55953453e-01 2.29693270e-02 2.72813617e+02] [-2.55870473e-01 9.66689009e-01 -6.53148420e-03 -5.25096012e+01] [-2.38759519e-02 4.34959460e-04 9.99714834e-01 -7.66978346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.768623853 meters 0.024217771875526227 Centerline is valid? [True, True] Translation: X:272.87, Y:-52.52, Z:-7.67 [[ 9.65448395e-01 2.59526971e-01 2.35615574e-02 2.72871426e+02] [-2.59440758e-01 9.65735795e-01 -6.69828215e-03 -5.25236331e+01] [-2.44926243e-02 3.54017423e-04 9.99699948e-01 -7.67068406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.828623853 meters 0.021075570674639974 Centerline is valid? [True, True] Translation: X:272.93, Y:-52.54, Z:-7.67 [[ 9.64287796e-01 2.63772554e-01 2.39392193e-02 2.72928432e+02] [-2.63684882e-01 9.64584873e-01 -6.80480324e-03 -5.25352718e+01] [-2.48863291e-02 2.49378503e-04 9.99690256e-01 -7.67103174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.888623853 meters 0.018449886266329214 Centerline is valid? [True, True] Translation: X:272.99, Y:-52.55, Z:-7.67 [[ 9.62909278e-01 2.68759309e-01 2.39615462e-02 2.72985491e+02] [-2.68673052e-01 9.63207361e-01 -6.80966024e-03 -5.25450780e+01] [-2.49100973e-02 1.19263282e-04 9.99689688e-01 -7.67246792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.948623853 meters 0.017501529955845863 Centerline is valid? [True, True] Translation: X:273.04, Y:-52.55, Z:-7.67 [[ 9.60977913e-01 2.75622462e-01 2.35310128e-02 2.73044839e+02] [-2.75541365e-01 9.61265965e-01 -6.68586970e-03 -5.25502843e+01] [-2.44623376e-02 -5.87942678e-05 9.99700751e-01 -7.67429103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00862385299996 meters 0.01921087149882905 Centerline is valid? [True, True] Translation: X:273.10, Y:-52.56, Z:-7.68 [[ 9.59667343e-01 2.80161690e-01 2.34097696e-02 2.73102837e+02] [-2.80082805e-01 9.59952810e-01 -6.65022229e-03 -5.25575775e+01] [-2.43354116e-02 -1.74672792e-04 9.99703835e-01 -7.67586793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06862385299996 meters 0.022963936297877695 Centerline is valid? [True, True] Translation: X:273.16, Y:-52.56, Z:-7.68 [[ 9.57798626e-01 2.86509349e-01 2.31124271e-02 2.73163197e+02] [-2.86434339e-01 9.58077388e-01 -6.56409947e-03 -5.25638876e+01] [-2.40241697e-02 -3.33107343e-04 9.99711322e-01 -7.67769582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12862385299997 meters 0.02664164400655415 Centerline is valid? [True, True] Translation: X:273.22, Y:-52.57, Z:-7.68 [[ 9.56722044e-01 2.90095773e-01 2.29646108e-02 2.73222080e+02] [-2.90022763e-01 9.56997526e-01 -6.52162528e-03 -5.25695509e+01] [-2.38689717e-02 -4.20877224e-04 9.99715007e-01 -7.68013310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18862385299997 meters 0.027542618993863458 Centerline is valid? [True, True] Translation: X:273.28, Y:-52.58, Z:-7.68 [[ 9.56788480e-01 2.89872539e-01 2.30155526e-02 2.73278465e+02] [-2.89799167e-01 9.57065169e-01 -6.53493957e-03 -5.25788331e+01] [-2.39216833e-02 -4.17333097e-04 9.99713748e-01 -7.68203766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24862385299997 meters 0.02611773204011576 Centerline is valid? [True, True] Translation: X:273.34, Y:-52.59, Z:-7.68 [[ 9.57255626e-01 2.88349711e-01 2.27180582e-02 2.73335386e+02] [-2.88277834e-01 9.57525093e-01 -6.44884184e-03 -5.25948002e+01] [-2.36126325e-02 -3.75922467e-04 9.99721112e-01 -7.68434540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.308623853 meters 0.02247531045219256 Centerline is valid? [True, True] Translation: X:273.39, Y:-52.61, Z:-7.69 [[ 9.58386196e-01 2.84585156e-01 2.25208302e-02 2.73392289e+02] [-2.84513581e-01 9.58650722e-01 -6.38863060e-03 -5.26118851e+01] [-2.34077195e-02 -2.84706656e-04 9.99725961e-01 -7.68588244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.368623853 meters 0.02097795847386464 Centerline is valid? [True, True] Translation: X:273.45, Y:-52.63, Z:-7.69 [[ 9.60182090e-01 2.78515174e-01 2.19009517e-02 2.73448315e+02] [-2.78445935e-01 9.60431820e-01 -6.21136336e-03 -5.26321519e+01] [-2.27643298e-02 -1.34191121e-04 9.99740850e-01 -7.68562146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.428623853 meters 0.017811641185458506 Centerline is valid? [True, True] Translation: X:273.50, Y:-52.66, Z:-7.69 [[ 9.62407340e-01 2.70629236e-01 2.30635859e-02 2.73502195e+02] [-2.70550288e-01 9.62683652e-01 -6.53664927e-03 -5.26580718e+01] [-2.39719455e-02 5.10594202e-05 9.99712630e-01 -7.68870338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.488623853 meters 0.022772529162363202 Centerline is valid? [True, True] Translation: X:273.56, Y:-52.68, Z:-7.69 [[ 9.64063756e-01 2.64663381e-01 2.31164172e-02 2.73557843e+02] [-2.64582382e-01 9.64340840e-01 -6.55040028e-03 -5.26792921e+01] [-2.40257563e-02 1.98806764e-04 9.99711320e-01 -7.68501747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.548623853 meters 0.024787867599305763 Centerline is valid? [True, True] Translation: X:273.61, Y:-52.71, Z:-7.69 [[ 9.66134507e-01 2.57078271e-01 2.22458160e-02 2.73612017e+02] [-2.57001274e-01 9.66390513e-01 -6.30246757e-03 -5.27059132e+01] [-2.31183730e-02 3.71828364e-04 9.99732666e-01 -7.69381034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.608623853 meters 0.028414538973817238 Centerline is valid? [True, True] Translation: X:273.67, Y:-52.73, Z:-7.70 [[ 9.67153732e-01 2.53294860e-01 2.13394395e-02 2.73666258e+02] [-2.53223097e-01 9.67389021e-01 -6.04529217e-03 -5.27277062e+01] [-2.21747809e-02 4.43087922e-04 9.99754011e-01 -7.69769468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.668623853 meters 0.030067840902145548 Centerline is valid? [True, True] Translation: X:273.72, Y:-52.75, Z:-7.70 [[ 9.67381364e-01 2.52465215e-01 2.08473650e-02 2.73720828e+02] [-2.52396549e-01 9.67605866e-01 -5.90507509e-03 -5.27456853e+01] [-2.16628588e-02 4.50656596e-04 9.99765231e-01 -7.70042769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.728623853 meters 0.029778842264516856 Centerline is valid? [True, True] Translation: X:273.78, Y:-52.76, Z:-7.70 [[ 9.67364050e-01 2.52539759e-01 2.07476489e-02 2.73776904e+02] [-2.52471808e-01 9.67586416e-01 -5.87488317e-03 -5.27606770e+01] [-2.15587848e-02 4.44954356e-04 9.99767483e-01 -7.70238956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.788623853 meters 0.027656473058172936 Centerline is valid? [True, True] Translation: X:273.83, Y:-52.77, Z:-7.70 [[ 9.66701808e-01 2.54953380e-01 2.20542221e-02 2.73834115e+02] [-2.54877270e-01 9.66953258e-01 -6.24297627e-03 -5.27740645e+01] [-2.29170698e-02 4.13976536e-04 9.99737284e-01 -7.70104849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.848623853 meters 0.02252668276895161 Centerline is valid? [True, True] Translation: X:273.89, Y:-52.78, Z:-7.70 [[ 9.65631234e-01 2.58941105e-01 2.24905355e-02 2.73893572e+02] [-2.58863060e-01 9.65893058e-01 -6.36530814e-03 -5.27820661e+01] [-2.33716920e-02 3.24571508e-04 9.99726792e-01 -7.70041795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.908623853 meters 0.020051812393691557 Centerline is valid? [True, True] Translation: X:273.95, Y:-52.79, Z:-7.70 [[ 9.64169339e-01 2.64301728e-01 2.28491035e-02 2.73951019e+02] [-2.64222698e-01 9.64440023e-01 -6.46591130e-03 -5.27933282e+01] [-2.37455414e-02 1.96981655e-04 9.99718015e-01 -7.70083918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.968623853 meters 0.017438110182046985 Centerline is valid? [True, True] Translation: X:274.01, Y:-52.80, Z:-7.70 [[ 9.62539508e-01 2.70102152e-01 2.37175614e-02 2.74010821e+02] [-2.70018789e-01 9.62831670e-01 -6.71036652e-03 -5.27980949e+01] [-2.46485037e-02 5.48056732e-05 9.99696178e-01 -7.69996169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.028623853 meters 0.017444222071223186 Centerline is valid? [True, True] Translation: X:274.07, Y:-52.81, Z:-7.70 [[ 9.61670045e-01 2.73210531e-01 2.33822742e-02 2.74068326e+02] [-2.73130454e-01 9.61954263e-01 -6.61441356e-03 -5.28086928e+01] [-2.42998058e-02 -2.55277648e-05 9.99704716e-01 -7.70165557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.088623853 meters 0.018683904484549464 Centerline is valid? [True, True] Translation: X:274.13, Y:-52.82, Z:-7.70 [[ 9.60319635e-01 2.77969770e-01 2.27817104e-02 2.74127105e+02] [-2.77895120e-01 9.60589812e-01 -6.44326881e-03 -5.28154390e+01] [-2.36749129e-02 -1.43328606e-04 9.99719700e-01 -7.70392825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.148623853 meters 0.0206758379639552 Centerline is valid? [True, True] Translation: X:274.19, Y:-52.82, Z:-7.70 [[ 9.59168271e-01 2.81893190e-01 2.30750299e-02 2.74186362e+02] [-2.81817844e-01 9.59445761e-01 -6.52186014e-03 -5.28216142e+01] [-2.39777076e-02 -2.47393872e-04 9.99712463e-01 -7.70449755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.208623853 meters 0.021434999345151175 Centerline is valid? [True, True] Translation: X:274.24, Y:-52.83, Z:-7.71 [[ 9.59009899e-01 2.82466321e-01 2.26449086e-02 2.74243179e+02] [-2.82394023e-01 9.59277181e-01 -6.39584643e-03 -5.28331069e+01] [-2.35293553e-02 -2.61106800e-04 9.99723112e-01 -7.70761220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.268623853 meters 0.02033790114154985 Centerline is valid? [True, True] Translation: X:274.30, Y:-52.85, Z:-7.71 [[ 9.59589206e-01 2.80524413e-01 2.22398050e-02 2.74299462e+02] [-2.80454197e-01 9.59846867e-01 -6.27968777e-03 -5.28494200e+01] [-2.31084129e-02 -2.11326061e-04 9.99732943e-01 -7.71001967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.328623853 meters 0.01798618486726494 Centerline is valid? [True, True] Translation: X:274.35, Y:-52.87, Z:-7.71 [[ 9.61300728e-01 2.74601850e-01 2.22426356e-02 2.74354138e+02] [-2.74530132e-01 9.61558016e-01 -6.27597810e-03 -5.28696208e+01] [-2.31109798e-02 -7.31713724e-05 9.99732903e-01 -7.71101587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.388623853 meters 0.01829615425065478 Centerline is valid? [True, True] Translation: X:274.41, Y:-52.89, Z:-7.71 [[ 9.63387059e-01 2.67179062e-01 2.23768435e-02 2.74408716e+02] [-2.67104524e-01 9.63646895e-01 -6.31149713e-03 -5.28938113e+01] [-2.32496756e-02 1.03458529e-04 9.99729684e-01 -7.71187790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.448623853 meters 0.03361316962801958 Centerline is valid? [True, True] Translation: X:274.46, Y:-52.92, Z:-7.70 [[ 9.64889819e-01 2.61742745e-01 2.18717459e-02 2.74463823e+02] [-2.61670161e-01 9.65137650e-01 -6.16792076e-03 -5.29154158e+01] [-2.27236539e-02 2.28180685e-04 9.99741758e-01 -7.70436472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.50862385299996 meters 0.02578598844563237 Centerline is valid? [True, True] Translation: X:274.52, Y:-52.94, Z:-7.71 [[ 9.66715304e-01 2.54823486e-01 2.29458549e-02 2.74517486e+02] [-2.54741677e-01 9.66987499e-01 -6.46946417e-03 -5.29437217e+01] [-2.38369262e-02 4.08864468e-04 9.99715776e-01 -7.71428570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.56862385299996 meters 0.03035068104452248 Centerline is valid? [True, True] Translation: X:274.57, Y:-52.97, Z:-7.72 [[ 9.68109811e-01 2.49474891e-01 2.29275430e-02 2.74573260e+02] [-2.49391727e-01 9.68381117e-01 -6.46366885e-03 -5.29674244e+01] [-2.38151228e-02 5.39601688e-04 9.99716234e-01 -7.71574121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.62862385299997 meters 0.033856432597194015 Centerline is valid? [True, True] Translation: X:274.63, Y:-52.99, Z:-7.72 [[ 9.68715261e-01 2.47137119e-01 2.26713009e-02 2.74627972e+02] [-2.47055168e-01 9.68980338e-01 -6.39126997e-03 -5.29902664e+01] [-2.35475648e-02 5.90258721e-04 9.99722543e-01 -7.71799985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.68862385299997 meters 0.03445312404863883 Centerline is valid? [True, True] Translation: X:274.68, Y:-53.01, Z:-7.72 [[ 9.68835403e-01 2.46671605e-01 2.26070928e-02 2.74683729e+02] [-2.46590018e-01 9.69098943e-01 -6.37199021e-03 -5.30084192e+01] [-2.34802988e-02 5.98726267e-04 9.99724120e-01 -7.71972218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.74862385299997 meters 0.03470210887987315 Centerline is valid? [True, True] Translation: X:274.74, Y:-53.03, Z:-7.72 [[ 9.68841181e-01 2.46663316e-01 2.24493710e-02 2.74739008e+02] [-2.46582884e-01 9.69101056e-01 -6.32653913e-03 -5.30253855e+01] [-2.33162342e-02 5.93781003e-04 9.99727963e-01 -7.72166802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.808623853 meters 0.034642481198203304 Centerline is valid? [True, True] Translation: X:274.79, Y:-53.05, Z:-7.72 [[ 9.68793132e-01 2.46915116e-01 2.17438144e-02 2.74794257e+02] [-2.46839763e-01 9.69036946e-01 -6.12603720e-03 -5.30463870e+01] [-2.25831707e-02 5.67624778e-04 9.99744807e-01 -7.72499576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.868623853 meters 0.041086763466913825 Centerline is valid? [True, True] Translation: X:274.85, Y:-53.06, Z:-7.72 [[ 9.68352019e-01 2.48737827e-01 2.05878823e-02 2.74849918e+02] [-2.48670703e-01 9.68570724e-01 -5.79949756e-03 -5.30631936e+01] [-2.13833745e-02 4.96351999e-04 9.99771226e-01 -7.71897351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.928623853 meters 0.03646076426355815 Centerline is valid? [True, True] Translation: X:274.91, Y:-53.07, Z:-7.72 [[ 9.67322603e-01 2.52776134e-01 1.97789822e-02 2.74909341e+02] [-2.52715055e-01 9.67524715e-01 -5.57017539e-03 -5.30739283e+01] [-2.05446615e-02 3.89709987e-04 9.99788860e-01 -7.72052116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.988623853 meters 0.0244053740589978 Centerline is valid? [True, True] Translation: X:274.97, Y:-53.09, Z:-7.73 [[ 9.65696318e-01 2.58920868e-01 1.97637615e-02 2.74965034e+02] [-2.58861170e-01 9.65898503e-01 -5.56572064e-03 -5.30920523e+01] [-2.05308688e-02 2.58725508e-04 9.99789186e-01 -7.73327078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.048623853 meters 0.018655437542001906 Centerline is valid? [True, True] Translation: X:275.03, Y:-53.10, Z:-7.73 [[ 9.63512616e-01 2.66878995e-01 2.04704664e-02 2.75025806e+02] [-2.66816753e-01 9.63730042e-01 -5.76426545e-03 -5.30956566e+01] [-2.12663648e-02 9.20790963e-05 9.99773841e-01 -7.73081373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.108623853 meters 0.018062448927539998 Centerline is valid? [True, True] Translation: X:275.08, Y:-53.10, Z:-7.73 [[ 9.61916492e-01 2.72517921e-01 2.12283897e-02 2.75083269e+02] [-2.72452371e-01 9.62150706e-01 -5.97695468e-03 -5.31035579e+01] [-2.20537374e-02 -3.43938258e-05 9.99756786e-01 -7.73175543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.168623853 meters 0.021484056435425405 Centerline is valid? [True, True] Translation: X:275.14, Y:-53.11, Z:-7.73 [[ 9.59577563e-01 2.80641880e-01 2.12376012e-02 2.75142120e+02] [-2.80578289e-01 9.59812526e-01 -5.97815799e-03 -5.31070463e+01] [-2.20618372e-02 -2.22303530e-04 9.99756583e-01 -7.73345519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.228623853 meters 0.025912136764687 Centerline is valid? [True, True] Translation: X:275.20, Y:-53.11, Z:-7.73 [[ 9.57647533e-01 2.87164250e-01 2.11635614e-02 2.75201935e+02] [-2.87102723e-01 9.57881284e-01 -5.95583814e-03 -5.31125693e+01] [-2.19824832e-02 -3.72522409e-04 9.99758287e-01 -7.73467778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.288623853 meters 0.029785076261626162 Centerline is valid? [True, True] Translation: X:275.26, Y:-53.12, Z:-7.73 [[ 9.56421894e-01 2.91176132e-01 2.17628137e-02 2.75262053e+02] [-2.91112128e-01 9.56669343e-01 -6.12353839e-03 -5.31188826e+01] [-2.26028449e-02 -4.78732838e-04 9.99744408e-01 -7.73454073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.348623853 meters 0.03374437788390285 Centerline is valid? [True, True] Translation: X:275.32, Y:-53.12, Z:-7.74 [[ 9.54599519e-01 2.97096188e-01 2.17626427e-02 2.75323286e+02] [-2.97033734e-01 9.54847355e-01 -6.12287165e-03 -5.31224984e+01] [-2.25990836e-02 -6.19348679e-04 9.99744416e-01 -7.73594230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.408623853 meters 0.03756085540363315 Centerline is valid? [True, True] Translation: X:275.38, Y:-53.13, Z:-7.74 [[ 9.54362656e-01 2.97905085e-01 2.10827442e-02 2.75381181e+02] [-2.97846665e-01 9.54595295e-01 -5.93179111e-03 -5.31285380e+01] [-2.18925991e-02 -6.18345116e-04 9.99760137e-01 -7.74010708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.468623853 meters 0.033344381123201004 Centerline is valid? [True, True] Translation: X:275.44, Y:-53.14, Z:-7.74 [[ 9.55128250e-01 2.95467920e-01 2.07058745e-02 2.75438209e+02] [-2.95411046e-01 9.55352501e-01 -5.82350458e-03 -5.31427380e+01] [-2.15020678e-02 -5.54550316e-04 9.99768650e-01 -7.74159940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.528623853 meters 0.027049193887617423 Centerline is valid? [True, True] Translation: X:275.49, Y:-53.16, Z:-7.74 [[ 9.57443030e-01 2.87917738e-01 2.01549368e-02 2.75494505e+02] [-2.87862202e-01 9.57655071e-01 -5.66726021e-03 -5.31633411e+01] [-2.09331822e-02 -3.75765711e-04 9.99780806e-01 -7.74471170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.588623853 meters 0.020325773406968766 Centerline is valid? [True, True] Translation: X:275.55, Y:-53.19, Z:-7.75 [[ 9.60365609e-01 2.78009513e-01 2.02140659e-02 2.75549719e+02] [-2.77951452e-01 9.60578308e-01 -5.68375578e-03 -5.31894297e+01] [-2.09973314e-02 -1.60045391e-04 9.99779519e-01 -7.74638050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.648623853 meters 0.018241912333893738 Centerline is valid? [True, True] Translation: X:275.60, Y:-53.21, Z:-7.75 [[ 9.62330737e-01 2.71075716e-01 2.09166923e-02 2.75604153e+02] [-2.71011892e-01 9.62558027e-01 -5.88204036e-03 -5.32120756e+01] [-2.17280084e-02 -8.20411867e-06 9.99763919e-01 -7.74594352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.708623853 meters 0.020705312582629292 Centerline is valid? [True, True] Translation: X:275.66, Y:-53.24, Z:-7.75 [[ 9.64741274e-01 2.62359527e-01 2.10178997e-02 2.75657281e+02] [-2.62293107e-01 9.64970178e-01 -5.90607837e-03 -5.32365343e+01] [-2.18311623e-02 1.84987367e-04 9.99761655e-01 -7.74753182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.768623853 meters 0.02582599062173609 Centerline is valid? [True, True] Translation: X:275.71, Y:-53.26, Z:-7.75 [[ 9.66637021e-01 2.55272017e-01 2.11911885e-02 2.75710914e+02] [-2.55202841e-01 9.66869215e-01 -5.95246938e-03 -5.32612310e+01] [-2.20086066e-02 3.45825761e-04 9.99757721e-01 -7.74955557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.828623853 meters 0.02930183352334319 Centerline is valid? [True, True] Translation: X:275.77, Y:-53.28, Z:-7.75 [[ 9.67961052e-01 2.50216833e-01 2.10460984e-02 2.75766300e+02] [-2.50147435e-01 9.68189717e-01 -5.91035687e-03 -5.32823087e+01] [-2.18554868e-02 4.56367721e-04 9.99761036e-01 -7.75065543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.888623853 meters 0.03300150134254897 Centerline is valid? [True, True] Translation: X:275.82, Y:-53.31, Z:-7.75 [[ 9.68619611e-01 2.47647320e-01 2.11389508e-02 2.75820306e+02] [-2.47576713e-01 9.68850112e-01 -5.93566934e-03 -5.33050662e+01] [-2.19504275e-02 5.15893761e-04 9.99758927e-01 -7.75250853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.948623853 meters 0.032225119134126255 Centerline is valid? [True, True] Translation: X:275.88, Y:-53.32, Z:-7.75 [[ 9.69102267e-01 2.45747297e-01 2.11911001e-02 2.75876221e+02] [-2.45675908e-01 9.69333768e-01 -5.94936792e-03 -5.33222269e+01] [-2.20032900e-02 5.59403174e-04 9.99757742e-01 -7.75273667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.00862385299996 meters 0.035518083263307604 Centerline is valid? [True, True] Translation: X:275.93, Y:-53.34, Z:-7.75 [[ 9.68875784e-01 2.46592170e-01 2.17259328e-02 2.75930179e+02] [-2.46517377e-01 9.69119186e-01 -6.09805724e-03 -5.33444541e+01] [-2.25587515e-02 5.52440028e-04 9.99745366e-01 -7.75445086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.06862385299996 meters 0.02912380251312695 Centerline is valid? [True, True] Translation: X:275.99, Y:-53.35, Z:-7.75 [[ 9.68281155e-01 2.48907795e-01 2.18291928e-02 2.75988902e+02] [-2.48832912e-01 9.68527057e-01 -6.12550745e-03 -5.33542308e+01] [-2.26668504e-02 4.99391814e-04 9.99742949e-01 -7.75451935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.12862385299997 meters 0.027223952109347735 Centerline is valid? [True, True] Translation: X:276.05, Y:-53.37, Z:-7.76 [[ 9.67498186e-01 2.51906350e-01 2.21461228e-02 2.76045150e+02] [-2.51830080e-01 9.67751519e-01 -6.21361824e-03 -5.33721750e+01] [-2.29971938e-02 4.34604518e-04 9.99735435e-01 -7.75615010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.18862385299997 meters 0.024988943048900147 Centerline is valid? [True, True] Translation: X:276.10, Y:-53.39, Z:-7.76 [[ 9.66467571e-01 2.55941497e-01 2.08418809e-02 2.76100490e+02] [-2.55874904e-01 9.66692220e-01 -5.84676497e-03 -5.33881561e+01] [-2.16441139e-02 3.17794471e-04 9.99765688e-01 -7.76045996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.24862385299997 meters 0.022151790181505284 Centerline is valid? [True, True] Translation: X:276.16, Y:-53.40, Z:-7.76 [[ 9.65509009e-01 2.59592372e-01 2.01035758e-02 2.76158009e+02] [-2.59531231e-01 9.65718256e-01 -5.63833207e-03 -5.34009625e+01] [-2.08780582e-02 2.26354629e-04 9.99782004e-01 -7.76343330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.308623853 meters 0.019002944458435107 Centerline is valid? [True, True] Translation: X:276.22, Y:-53.41, Z:-7.77 [[ 9.63571209e-01 2.66724451e-01 1.97127279e-02 2.76215583e+02] [-2.66667173e-01 9.63772827e-01 -5.52781687e-03 -5.34098879e+01] [-2.04729955e-02 6.97077612e-05 9.99790404e-01 -7.76584809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.368623853 meters 0.019455243276832675 Centerline is valid? [True, True] Translation: X:276.27, Y:-53.41, Z:-7.77 [[ 9.61359647e-01 2.74598199e-01 1.95821112e-02 2.76273919e+02] [-2.74543332e-01 9.61559057e-01 -5.48995328e-03 -5.34142844e+01] [-2.03368876e-02 -9.83185001e-05 9.99793179e-01 -7.76805092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.428623853 meters 0.021010283059421393 Centerline is valid? [True, True] Translation: X:276.33, Y:-53.43, Z:-7.77 [[ 9.60110985e-01 2.78933415e-01 1.95715679e-02 2.76331309e+02] [-2.78879530e-01 9.60310426e-01 -5.48579306e-03 -5.34254120e+01] [-2.03249517e-02 -1.91139486e-04 9.99793409e-01 -7.76858453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.488623853 meters 0.02414425902329209 Centerline is valid? [True, True] Translation: X:276.39, Y:-53.44, Z:-7.77 [[ 9.58978584e-01 2.82812760e-01 1.94169403e-02 2.76388614e+02] [-2.82760543e-01 9.59175098e-01 -5.44116889e-03 -5.34359950e+01] [-2.01630776e-02 -2.72380147e-04 9.99796667e-01 -7.77141697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.548623853 meters 0.02609434254202564 Centerline is valid? [True, True] Translation: X:276.45, Y:-53.45, Z:-7.77 [[ 9.58638974e-01 2.83925340e-01 1.99429084e-02 2.76445521e+02] [-2.83870526e-01 9.58846342e-01 -5.58716233e-03 -5.34481944e+01] [-2.07085217e-02 -3.05132323e-04 9.99785509e-01 -7.77269270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.608623853 meters 0.025220774999173218 Centerline is valid? [True, True] Translation: X:276.50, Y:-53.47, Z:-7.77 [[ 9.58883857e-01 2.83030930e-01 2.08624207e-02 2.76501382e+02] [-2.82970749e-01 9.59110735e-01 -5.84402158e-03 -5.34668037e+01] [-2.16634105e-02 -2.99716852e-04 9.99765276e-01 -7.77303820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.668623853 meters 0.023364920778608956 Centerline is valid? [True, True] Translation: X:276.56, Y:-53.49, Z:-7.77 [[ 9.59074649e-01 2.82358678e-01 2.11989128e-02 2.76556691e+02] [-2.82296455e-01 9.59308861e-01 -5.93463427e-03 -5.34858001e+01] [-2.20120004e-02 -2.92620667e-04 9.99757664e-01 -7.77293238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.728623853 meters 0.022659353755012504 Centerline is valid? [True, True] Translation: X:276.61, Y:-53.50, Z:-7.77 [[ 9.59558027e-01 2.80648987e-01 2.20122249e-02 2.76611873e+02] [-2.80581557e-01 9.59810437e-01 -6.15757006e-03 -5.35027587e+01] [-2.28556790e-02 -2.67678537e-04 9.99738739e-01 -7.77308030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.788623853 meters 0.020874152480219774 Centerline is valid? [True, True] Translation: X:276.67, Y:-53.52, Z:-7.77 [[ 9.60233726e-01 2.78347792e-01 2.17646285e-02 2.76667070e+02] [-2.78281297e-01 9.60480329e-01 -6.08752424e-03 -5.35224811e+01] [-2.25989465e-02 -2.11242961e-04 9.99744589e-01 -7.77428934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.848623853 meters 0.020856650051499205 Centerline is valid? [True, True] Translation: X:276.72, Y:-53.54, Z:-7.78 [[ 9.60539662e-01 2.77315872e-01 2.14351109e-02 2.76723115e+02] [-2.77251218e-01 9.60778784e-01 -5.99086821e-03 -5.35383728e+01] [-2.22557626e-02 -1.88444081e-04 9.99752292e-01 -7.77681812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.908623853 meters 0.01935184733716521 Centerline is valid? [True, True] Translation: X:276.78, Y:-53.56, Z:-7.78 [[ 9.61101038e-01 2.75315388e-01 2.20506628e-02 2.76779574e+02] [-2.75246462e-01 9.61353949e-01 -6.16198493e-03 -5.35562297e+01] [-2.28949810e-02 -1.47076795e-04 9.99737865e-01 -7.77624155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.968623853 meters 0.018792937648267338 Centerline is valid? [True, True] Translation: X:276.84, Y:-53.57, Z:-7.78 [[ 9.61560784e-01 2.73705447e-01 2.20496545e-02 2.76835183e+02] [-2.73636209e-01 9.61813555e-01 -6.15710293e-03 -5.35732557e+01] [-2.28928892e-02 -1.13155126e-04 9.99737917e-01 -7.77772855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.028623853 meters 0.018391729152645916 Centerline is valid? [True, True] Translation: X:276.89, Y:-53.59, Z:-7.78 [[ 9.62046719e-01 2.71991866e-01 2.20575564e-02 2.76891320e+02] [-2.71922146e-01 9.62299548e-01 -6.15847556e-03 -5.35895431e+01] [-2.29010318e-02 -7.31968726e-05 9.99737734e-01 -7.77997611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.088623853 meters 0.018379468851814514 Centerline is valid? [True, True] Translation: X:276.95, Y:-53.60, Z:-7.78 [[ 9.62314457e-01 2.71136270e-01 2.08808033e-02 2.76946973e+02] [-2.71073670e-01 9.62540971e-01 -5.82626949e-03 -5.36047212e+01] [-2.16783417e-02 -5.35326347e-05 9.99764996e-01 -7.78342777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.148623853 meters 0.01816948823572797 Centerline is valid? [True, True] Translation: X:277.00, Y:-53.62, Z:-7.79 [[ 9.63112936e-01 2.68321251e-01 2.04249591e-02 2.77001730e+02] [-2.68260806e-01 9.63329490e-01 -5.69505344e-03 -5.36232272e+01] [-2.12040693e-02 5.76365218e-06 9.99775168e-01 -7.78613513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.208623853 meters 0.019252468352552333 Centerline is valid? [True, True] Translation: X:277.06, Y:-53.65, Z:-7.79 [[ 9.64379584e-01 2.63772242e-01 1.99053254e-02 2.77055707e+02] [-2.63713966e-01 9.64584986e-01 -5.54525127e-03 -5.36471490e+01] [-2.06630614e-02 9.84148161e-05 9.99786491e-01 -7.78897165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.268623853 meters 0.02120051029806379 Centerline is valid? [True, True] Translation: X:277.11, Y:-53.67, Z:-7.79 [[ 9.65436422e-01 2.59801123e-01 2.08780227e-02 2.77109313e+02] [-2.59736104e-01 9.65662125e-01 -5.81519416e-03 -5.36713199e+01] [-2.16719097e-02 1.91423959e-04 9.99765118e-01 -7.78851677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.328623853 meters 0.02205565847819826 Centerline is valid? [True, True] Translation: X:277.16, Y:-53.69, Z:-7.79 [[ 9.65742327e-01 2.58625560e-01 2.13208102e-02 2.77164067e+02] [-2.58557496e-01 9.65977624e-01 -5.93717643e-03 -5.36909638e+01] [-2.21309312e-02 2.21127272e-04 9.99755056e-01 -7.78929390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.388623853 meters 0.022140041504009212 Centerline is valid? [True, True] Translation: X:277.22, Y:-53.71, Z:-7.79 [[ 9.65755406e-01 2.58569240e-01 2.14113292e-02 2.77218909e+02] [-2.58500611e-01 9.65992701e-01 -5.96114690e-03 -5.37102654e+01] [-2.22245570e-02 2.22168166e-04 9.99752979e-01 -7.79071613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.448623853 meters 0.021290705886561866 Centerline is valid? [True, True] Translation: X:277.27, Y:-53.73, Z:-7.79 [[ 9.65381508e-01 2.60007077e-01 2.08533783e-02 2.77274247e+02] [-2.59942343e-01 9.65606693e-01 -5.80445410e-03 -5.37280903e+01] [-2.16453608e-02 1.82836648e-04 9.99765695e-01 -7.79370327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.50862385299996 meters 0.019386536675698538 Centerline is valid? [True, True] Translation: X:277.33, Y:-53.74, Z:-7.79 [[ 9.64920007e-01 2.61742825e-01 2.04957217e-02 2.77331392e+02] [-2.61680727e-01 9.65137645e-01 -5.70289382e-03 -5.37412222e+01] [-2.12738841e-02 1.39501001e-04 9.99773676e-01 -7.79394477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.56862385299996 meters 0.018386010096198262 Centerline is valid? [True, True] Translation: X:277.39, Y:-53.75, Z:-7.80 [[ 9.63376220e-01 2.67437622e-01 1.95799979e-02 2.77388597e+02] [-2.67382142e-01 9.63575175e-01 -5.44721078e-03 -5.37517112e+01] [-2.03235890e-02 1.23715715e-05 9.99793454e-01 -7.79955194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.62862385299997 meters 0.021007737747298444 Centerline is valid? [True, True] Translation: X:277.45, Y:-53.75, Z:-7.80 [[ 9.61111394e-01 2.75435728e-01 2.00012026e-02 2.77447800e+02] [-2.75379590e-01 9.61319475e-01 -5.56306024e-03 -5.37527908e+01] [-2.07598112e-02 -1.61202407e-04 9.99784479e-01 -7.79956526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.68862385299997 meters 0.02760587628738084 Centerline is valid? [True, True] Translation: X:277.51, Y:-53.75, Z:-7.80 [[ 9.59038712e-01 2.82485291e-01 2.11378564e-02 2.77509485e+02] [-2.82424339e-01 9.59271572e-01 -5.87736327e-03 -5.37534163e+01] [-2.19372134e-02 -3.33226210e-04 9.99759295e-01 -7.79798167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.74862385299997 meters 0.030814300749061087 Centerline is valid? [True, True] Translation: X:277.57, Y:-53.76, Z:-7.80 [[ 9.58222965e-01 2.85248945e-01 2.10187555e-02 2.77567976e+02] [-2.85189335e-01 9.58453381e-01 -5.84455469e-03 -5.37613629e+01] [-2.18126504e-02 -3.93938383e-04 9.99761998e-01 -7.80023666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.808623853 meters 0.029253120273720866 Centerline is valid? [True, True] Translation: X:277.62, Y:-53.78, Z:-7.80 [[ 9.58160686e-01 2.85482147e-01 2.06892224e-02 2.77624542e+02] [-2.85424515e-01 9.58383945e-01 -5.74973516e-03 -5.37779965e+01] [-2.14696653e-02 -3.96041068e-04 9.99769422e-01 -7.80128326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.868623853 meters 0.029343335619892958 Centerline is valid? [True, True] Translation: X:277.68, Y:-53.79, Z:-7.80 [[ 9.58875585e-01 2.83025840e-01 2.13069663e-02 2.77680630e+02] [-2.82964201e-01 9.59112218e-01 -5.91722989e-03 -5.37913280e+01] [-2.21105007e-02 -3.55221415e-04 9.99755470e-01 -7.80325629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.928623853 meters 0.024718277973523137 Centerline is valid? [True, True] Translation: X:277.74, Y:-53.82, Z:-7.80 [[ 9.60690714e-01 2.76817107e-01 2.11102169e-02 2.77735928e+02] [-2.76755149e-01 9.60922601e-01 -5.86031934e-03 -5.38165548e+01] [-2.19075212e-02 -2.12406863e-04 9.99759979e-01 -7.80213856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.988623853 meters 0.017927982160572946 Centerline is valid? [True, True] Translation: X:277.79, Y:-53.85, Z:-7.81 [[ 9.63053200e-01 2.68425480e-01 2.18241920e-02 2.77787633e+02] [-2.68357102e-01 9.63300452e-01 -6.05843383e-03 -5.38505859e+01] [-2.26494921e-02 -2.20828427e-05 9.99743467e-01 -7.80631868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.048623853 meters 0.01963788187591943 Centerline is valid? [True, True] Translation: X:277.84, Y:-53.88, Z:-7.81 [[ 9.64803907e-01 2.62034372e-01 2.21677373e-02 2.77840437e+02] [-2.61962146e-01 9.65058532e-01 -6.15330292e-03 -5.38803103e+01] [-2.30055409e-02 1.29622670e-04 9.99735329e-01 -7.80749105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.108623853 meters 0.01943184717130732 Centerline is valid? [True, True] Translation: X:277.90, Y:-53.90, Z:-7.81 [[ 9.65402352e-01 2.59864970e-01 2.16447884e-02 2.77896697e+02] [-2.59795653e-01 9.65644949e-01 -6.00429658e-03 -5.38974252e+01] [-2.24614870e-02 1.73340098e-04 9.99747694e-01 -7.80746873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.168623853 meters 0.019264417082736338 Centerline is valid? [True, True] Translation: X:277.95, Y:-53.91, Z:-7.81 [[ 9.65257670e-01 2.60460412e-01 2.09285383e-02 2.77950756e+02] [-2.60395765e-01 9.65484516e-01 -5.80477567e-03 -5.39143960e+01] [-2.17180939e-02 1.53401501e-04 9.99764123e-01 -7.81004474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.228623853 meters 0.018353277109646453 Centerline is valid? [True, True] Translation: X:278.01, Y:-53.93, Z:-7.81 [[ 9.64575992e-01 2.62982784e-01 2.08137017e-02 2.78007373e+02] [-2.62919476e-01 9.64800522e-01 -5.77086112e-03 -5.39263923e+01] [-2.15987073e-02 9.41065604e-05 9.99766716e-01 -7.81256128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.288623853 meters 0.01773159226057334 Centerline is valid? [True, True] Translation: X:278.07, Y:-53.93, Z:-7.81 [[ 9.62839942e-01 2.69284037e-01 2.06241184e-02 2.78066707e+02] [-2.69223349e-01 9.63060800e-01 -5.71690373e-03 -5.39317291e+01] [-2.14017509e-02 -4.80309656e-05 9.99770955e-01 -7.81421087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.348623853 meters 0.020605214201685828 Centerline is valid? [True, True] Translation: X:278.13, Y:-53.93, Z:-7.81 [[ 9.60703646e-01 2.76791469e-01 2.08563443e-02 2.78126549e+02] [-2.76731193e-01 9.60929984e-01 -5.78028935e-03 -5.39343849e+01] [-2.16414214e-02 -2.18455984e-04 9.99765773e-01 -7.81467185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.408623853 meters 0.025454216335452612 Centerline is valid? [True, True] Translation: X:278.19, Y:-53.94, Z:-7.82 [[ 9.58814886e-01 2.83224785e-01 2.13947413e-02 2.78186148e+02] [-2.83162988e-01 9.59053482e-01 -5.92798200e-03 -5.39363645e+01] [-2.21976526e-02 -3.74361485e-04 9.99753532e-01 -7.81567363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.468623853 meters 0.027814595636362426 Centerline is valid? [True, True] Translation: X:278.24, Y:-53.95, Z:-7.82 [[ 9.58021224e-01 2.85868627e-01 2.17821571e-02 2.78243984e+02] [-2.85805275e-01 9.58268715e-01 -6.03439277e-03 -5.39455927e+01] [-2.25982033e-02 -4.44379044e-04 9.99744529e-01 -7.81693092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.528623853 meters 0.02961451092760628 Centerline is valid? [True, True] Translation: X:278.30, Y:-53.96, Z:-7.82 [[ 9.57635067e-01 2.87146682e-01 2.19513254e-02 2.78301495e+02] [-2.87082731e-01 9.57886503e-01 -6.07894649e-03 -5.39554810e+01] [-2.27724276e-02 -4.80434101e-04 9.99740559e-01 -7.81851997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.588623853 meters 0.028682186299343177 Centerline is valid? [True, True] Translation: X:278.36, Y:-53.97, Z:-7.82 [[ 9.57818021e-01 2.86494847e-01 2.24798169e-02 2.78359086e+02] [-2.86427622e-01 9.58081664e-01 -6.22432546e-03 -5.39680974e+01] [-2.33207376e-02 -4.77069410e-04 9.99727921e-01 -7.81901525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.648623853 meters 0.027533790532598017 Centerline is valid? [True, True] Translation: X:278.42, Y:-53.98, Z:-7.82 [[ 9.58264239e-01 2.85046423e-01 2.18674387e-02 2.78416765e+02] [-2.84982521e-01 9.58513614e-01 -6.05091273e-03 -5.39820209e+01] [-2.26850287e-02 -4.33464518e-04 9.99742568e-01 -7.82140326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.708623853 meters 0.027539884505251404 Centerline is valid? [True, True] Translation: X:278.47, Y:-53.99, Z:-7.83 [[ 9.58785199e-01 2.83345347e-01 2.11271386e-02 2.78473586e+02] [-2.83285373e-01 9.59017866e-01 -5.84211144e-03 -5.39929399e+01] [-2.19166384e-02 -3.83679342e-04 9.99759728e-01 -7.82609070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.768623853 meters 0.024185013521912446 Centerline is valid? [True, True] Translation: X:278.53, Y:-54.01, Z:-7.83 [[ 9.59618226e-01 2.80582625e-01 2.01556405e-02 2.78530005e+02] [-2.80527440e-01 9.59829827e-01 -5.57304082e-03 -5.40102404e+01] [-2.09096833e-02 -3.06218674e-04 9.99781322e-01 -7.82981945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.828623853 meters 0.023270840999727687 Centerline is valid? [True, True] Translation: X:278.59, Y:-54.03, Z:-7.84 [[ 9.60840565e-01 2.76434354e-01 1.92212404e-02 2.78585759e+02] [-2.76383419e-01 9.61032780e-01 -5.31057910e-03 -5.40251103e+01] [-1.99402686e-02 -2.09812296e-04 9.99801151e-01 -7.83601041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.888623853 meters 0.01933089226397002 Centerline is valid? [True, True] Translation: X:278.64, Y:-54.05, Z:-7.84 [[ 9.61971541e-01 2.72488204e-01 1.89982088e-02 2.78640711e+02] [-2.72437679e-01 9.62159115e-01 -5.24867043e-03 -5.40469881e+01] [-1.97095005e-02 -1.26756333e-04 9.99805741e-01 -7.83634272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.948623853 meters 0.017609803630730038 Centerline is valid? [True, True] Translation: X:278.70, Y:-54.07, Z:-7.84 [[ 9.63646551e-01 2.66433287e-01 1.99656854e-02 2.78695572e+02] [-2.66376261e-01 9.63853362e-01 -5.51214919e-03 -5.40697483e+01] [-2.07126131e-02 -6.62107486e-06 9.99785471e-01 -7.83551446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.00862385299996 meters 0.024269693504038927 Centerline is valid? [True, True] Translation: X:278.75, Y:-54.09, Z:-7.83 [[ 9.64506992e-01 2.63330665e-01 1.95760720e-02 2.78750852e+02] [-2.63275291e-01 9.64705633e-01 -5.40030425e-03 -5.40881577e+01] [-2.03072127e-02 5.47351390e-05 9.99793786e-01 -7.83167468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.06862385299996 meters 0.018200432120209855 Centerline is valid? [True, True] Translation: X:278.81, Y:-54.11, Z:-7.84 [[ 9.64775618e-01 2.62319676e-01 1.99096733e-02 2.78805822e+02] [-2.62262190e-01 9.64981027e-01 -5.49199132e-03 -5.41056535e+01] [-2.06531144e-02 7.69847988e-05 9.99786699e-01 -7.83931260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.12862385299997 meters 0.017917002102413166 Centerline is valid? [True, True] Translation: X:278.86, Y:-54.12, Z:-7.84 [[ 9.64770704e-01 2.62311485e-01 2.02527568e-02 2.78862573e+02] [-2.62252104e-01 9.64983254e-01 -5.58162484e-03 -5.41195226e+01] [-2.10076954e-02 7.36600543e-05 9.99779311e-01 -7.83916422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.18862385299997 meters 0.01826741070055846 Centerline is valid? [True, True] Translation: X:278.92, Y:-54.14, Z:-7.84 [[ 9.65042325e-01 2.61330958e-01 1.99860464e-02 2.78917601e+02] [-2.61272955e-01 9.65249254e-01 -5.50646356e-03 -5.41381511e+01] [-2.07305258e-02 9.21569754e-05 9.99785095e-01 -7.84171755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.24862385299997 meters 0.018676902581089668 Centerline is valid? [True, True] Translation: X:278.97, Y:-54.16, Z:-7.84 [[ 9.65445593e-01 2.59868278e-01 1.95776603e-02 2.78973255e+02] [-2.59812348e-01 9.65644067e-01 -5.39260180e-03 -5.41566702e+01] [-2.03064177e-02 1.19745743e-04 9.99793796e-01 -7.84364590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.308623853 meters 0.018571108422385015 Centerline is valid? [True, True] Translation: X:279.03, Y:-54.17, Z:-7.84 [[ 9.65441818e-01 2.59858758e-01 1.98877269e-02 2.79027854e+02] [-2.59801056e-01 9.65646629e-01 -5.47721838e-03 -5.41735046e+01] [-2.06278196e-02 1.21083218e-04 9.99787217e-01 -7.84475785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.368623853 meters 0.018293551444983062 Centerline is valid? [True, True] Translation: X:279.08, Y:-54.19, Z:-7.85 [[ 9.65274411e-01 2.60457180e-01 2.01833681e-02 2.79084460e+02] [-2.60397925e-01 9.65485394e-01 -5.55652708e-03 -5.41885479e+01] [-2.09339845e-02 1.07866227e-04 9.99780854e-01 -7.84607729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.428623853 meters 0.017904028571835706 Centerline is valid? [True, True] Translation: X:279.14, Y:-54.20, Z:-7.85 [[ 9.64851972e-01 2.62058846e-01 1.96426447e-02 2.79141167e+02] [-2.62003075e-01 9.65051893e-01 -5.40670316e-03 -5.42041325e+01] [-2.03730458e-02 7.02349066e-05 9.99792445e-01 -7.84897144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.488623853 meters 0.01736022994710408 Centerline is valid? [True, True] Translation: X:279.20, Y:-54.22, Z:-7.85 [[ 9.64305748e-01 2.64043601e-01 1.98846801e-02 2.79198831e+02] [-2.63986890e-01 9.64510744e-01 -5.47230588e-03 -5.42179309e+01] [-2.06239149e-02 2.76811731e-05 9.99787304e-01 -7.84986972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.548623853 meters 0.01716616984593322 Centerline is valid? [True, True] Translation: X:279.26, Y:-54.23, Z:-7.85 [[ 9.63751712e-01 2.66029204e-01 2.02756044e-02 2.79255150e+02] [-2.65970681e-01 9.63964969e-01 -5.57981604e-03 -5.42306144e+01] [-2.10293664e-02 -1.51590419e-05 9.99778858e-01 -7.85117746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.608623853 meters 0.017423593401656102 Centerline is valid? [True, True] Translation: X:279.31, Y:-54.24, Z:-7.85 [[ 9.63375211e-01 2.67395793e-01 2.01914135e-02 2.79309874e+02] [-2.67338150e-01 9.63586782e-01 -5.55214492e-03 -5.42448323e+01] [-2.09407994e-02 -4.91363552e-05 9.99780716e-01 -7.85284520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.668623853 meters 0.023081000522244783 Centerline is valid? [True, True] Translation: X:279.37, Y:-54.26, Z:-7.85 [[ 9.63078766e-01 2.68555136e-01 1.89058270e-02 2.79367792e+02] [-2.68504864e-01 9.63264312e-01 -5.19656724e-03 -5.42570782e+01] [-1.96068733e-02 -7.16029515e-05 9.99807764e-01 -7.85046815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.728623853 meters 0.017871103362517765 Centerline is valid? [True, True] Translation: X:279.42, Y:-54.28, Z:-7.86 [[ 9.63302104e-01 2.67781926e-01 1.84904192e-02 2.79422698e+02] [-2.67733752e-01 9.63479547e-01 -5.07950063e-03 -5.42757986e+01] [-1.91753392e-02 -5.74156703e-05 9.99816135e-01 -7.86017512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.788623853 meters 0.017331826042812675 Centerline is valid? [True, True] Translation: X:279.48, Y:-54.29, Z:-7.86 [[ 9.63622991e-01 2.66591434e-01 1.89667566e-02 2.79478725e+02] [-2.66540618e-01 9.63809631e-01 -5.20513612e-03 -5.42932816e+01] [-1.96679874e-02 -3.96221786e-05 9.99806566e-01 -7.85993711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.848623853 meters 0.017306771878730712 Centerline is valid? [True, True] Translation: X:279.53, Y:-54.31, Z:-7.86 [[ 9.64104928e-01 2.64824368e-01 1.92287001e-02 2.79533684e+02] [-2.64771805e-01 9.64296663e-01 -5.27607597e-03 -5.43120199e+01] [-1.99394048e-02 -4.52677690e-06 9.99801190e-01 -7.86220259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.908623853 meters 0.017298496616082445 Centerline is valid? [True, True] Translation: X:279.59, Y:-54.33, Z:-7.86 [[ 9.64552232e-01 2.63121630e-01 2.01494407e-02 2.79588113e+02] [-2.63063571e-01 9.64762669e-01 -5.52728934e-03 -5.43306473e+01] [-2.08937776e-02 3.07754406e-05 9.99781701e-01 -7.86296179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.968623853 meters 0.01713482537155874 Centerline is valid? [True, True] Translation: X:279.64, Y:-54.35, Z:-7.86 [[ 9.64830283e-01 2.62031251e-01 2.10273109e-02 2.79644566e+02] [-2.61967795e-01 9.65059387e-01 -5.76663309e-03 -5.43477797e+01] [-2.18036418e-02 5.53439872e-05 9.99762271e-01 -7.86219006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.028623853 meters 0.018047484387531166 Centerline is valid? [True, True] Translation: X:279.70, Y:-54.37, Z:-7.86 [[ 9.65562348e-01 2.59343799e-01 2.07399550e-02 2.79698132e+02] [-2.59281462e-01 9.65785059e-01 -5.68705024e-03 -5.43694646e+01] [-2.15052399e-02 1.13715729e-04 9.99768729e-01 -7.86480309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.088623853 meters 0.022141218551269142 Centerline is valid? [True, True] Translation: X:279.75, Y:-54.40, Z:-7.87 [[ 9.66946131e-01 2.54114023e-01 2.10058055e-02 2.79750131e+02] [-2.54048890e-01 9.67174240e-01 -5.75773994e-03 -5.43997542e+01] [-2.17793964e-02 2.30922788e-04 9.99762774e-01 -7.86773806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.148623853 meters 0.024876589238207486 Centerline is valid? [True, True] Translation: X:279.80, Y:-54.43, Z:-7.87 [[ 9.68118176e-01 2.49502266e-01 2.22669338e-02 2.79804330e+02] [-2.49427892e-01 9.68374150e-01 -6.10181972e-03 -5.44265899e+01] [-2.30851410e-02 3.53288219e-04 9.99733440e-01 -7.86559298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.208623853 meters 0.0292828901371021 Centerline is valid? [True, True] Translation: X:279.86, Y:-54.45, Z:-7.87 [[ 9.68653307e-01 2.47406366e-01 2.23799357e-02 2.79856352e+02] [-2.47330691e-01 9.68911723e-01 -6.13214532e-03 -5.44536555e+01] [-2.32013138e-02 4.04677888e-04 9.99730731e-01 -7.86878606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.268623853 meters 0.02629970772718976 Centerline is valid? [True, True] Translation: X:279.91, Y:-54.47, Z:-7.87 [[ 9.68827338e-01 2.46775687e-01 2.18025030e-02 2.79912453e+02] [-2.46703749e-01 9.69072543e-01 -5.97208994e-03 -5.44729813e+01] [-2.26019736e-02 4.07164779e-04 9.99744460e-01 -7.86976294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.328623853 meters 0.02537898280393766 Centerline is valid? [True, True] Translation: X:279.97, Y:-54.49, Z:-7.87 [[ 9.68477226e-01 2.48209105e-01 2.10737647e-02 2.79966202e+02] [-2.48142255e-01 9.68706411e-01 -5.77152278e-03 -5.44949679e+01] [-2.18468355e-02 3.60296855e-04 9.99761264e-01 -7.87283853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.388623853 meters 0.022926885050149576 Centerline is valid? [True, True] Translation: X:280.02, Y:-54.51, Z:-7.88 [[ 9.67679910e-01 2.51334385e-01 2.06547294e-02 2.80022110e+02] [-2.51270908e-01 9.67900277e-01 -5.65541789e-03 -5.45136555e+01] [-2.14131193e-02 2.82701659e-04 9.99770673e-01 -7.87583143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.448623853 meters 0.022141704788855705 Centerline is valid? [True, True] Translation: X:280.08, Y:-54.53, Z:-7.88 [[ 9.67051371e-01 2.53740400e-01 2.06750013e-02 2.80076445e+02] [-2.53677367e-01 9.67272328e-01 -5.66004206e-03 -5.45325499e+01] [-2.14345380e-02 2.28771530e-04 9.99770228e-01 -7.87877106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.50862385299996 meters 0.019475186618907212 Centerline is valid? [True, True] Translation: X:280.13, Y:-54.55, Z:-7.88 [[ 9.66169934e-01 2.57046940e-01 2.10363647e-02 2.80133510e+02] [-2.56982502e-01 9.66398906e-01 -5.75738632e-03 -5.45472422e+01] [-2.18094384e-02 1.56635936e-04 9.99762134e-01 -7.87920674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.56862385299996 meters 0.01649921170166792 Centerline is valid? [True, True] Translation: X:280.19, Y:-54.55, Z:-7.88 [[ 9.64006772e-01 2.64949940e-01 2.21917319e-02 2.80192466e+02] [-2.64880343e-01 9.64262168e-01 -6.07249784e-03 -5.45539470e+01] [-2.30075554e-02 -2.42244936e-05 9.99735291e-01 -7.87769887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.62862385299997 meters 0.018798338548873823 Centerline is valid? [True, True] Translation: X:280.25, Y:-54.56, Z:-7.88 [[ 9.62430505e-01 2.70657697e-01 2.17240529e-02 2.80250726e+02] [-2.70592477e-01 9.62675639e-01 -5.94349024e-03 -5.45632502e+01] [-2.25218679e-02 -1.58168983e-04 9.99746338e-01 -7.88053235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.68862385299997 meters 0.02398538098731535 Centerline is valid? [True, True] Translation: X:280.31, Y:-54.57, Z:-7.88 [[ 9.60617371e-01 2.77069636e-01 2.11348890e-02 2.80310608e+02] [-2.77009480e-01 9.60849794e-01 -5.78117046e-03 -5.45708407e+01] [-2.19092405e-02 -3.01071837e-04 9.99759918e-01 -7.88368005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.74862385299997 meters 0.025423812676034944 Centerline is valid? [True, True] Translation: X:280.37, Y:-54.59, Z:-7.89 [[ 9.60253525e-01 2.78377925e-01 2.04670082e-02 2.80366810e+02] [-2.78321798e-01 9.60471566e-01 -5.59891824e-03 -5.45874040e+01] [-2.12165946e-02 -3.20033541e-04 9.99774852e-01 -7.88721545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.808623853 meters 0.022049535380235137 Centerline is valid? [True, True] Translation: X:280.42, Y:-54.61, Z:-7.89 [[ 9.61063366e-01 2.75560813e-01 2.05777919e-02 2.80420748e+02] [-2.75503521e-01 9.61283605e-01 -5.62501837e-03 -5.46125002e+01] [-2.13311286e-02 -2.63255031e-04 9.99772431e-01 -7.88858761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.868623853 meters 0.01960166885940597 Centerline is valid? [True, True] Translation: X:280.47, Y:-54.64, Z:-7.89 [[ 9.61844893e-01 2.72792460e-01 2.09445827e-02 2.80474926e+02] [-2.72732474e-01 9.62072882e-01 -5.72422726e-03 -5.46362508e+01] [-2.17117411e-02 -2.06449105e-04 9.99764251e-01 -7.88864767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.928623853 meters 0.017562329087508453 Centerline is valid? [True, True] Translation: X:280.53, Y:-54.66, Z:-7.89 [[ 9.62900277e-01 2.68958761e-01 2.20055101e-02 2.80528235e+02] [-2.68891566e-01 9.63151685e-01 -6.01305979e-03 -5.46603498e+01] [-2.28119092e-02 -1.27119134e-04 9.99739766e-01 -7.88882457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.988623853 meters 0.016934668368065366 Centerline is valid? [True, True] Translation: X:280.58, Y:-54.68, Z:-7.89 [[ 9.63519195e-01 2.66700821e-01 2.23926954e-02 2.80583024e+02] [-2.66630669e-01 9.63779366e-01 -6.11718847e-03 -5.46823255e+01] [-2.32130770e-02 -7.65508606e-05 9.99730537e-01 -7.88994595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.048623853 meters 0.01658214944073661 Centerline is valid? [True, True] Translation: X:280.64, Y:-54.71, Z:-7.89 [[ 9.64307222e-01 2.63841634e-01 2.23422004e-02 2.80636441e+02] [-2.63771055e-01 9.64566012e-01 -6.10232113e-03 -5.47064627e+01] [-2.31605735e-02 -8.71343432e-06 9.99731758e-01 -7.89186533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.108623853 meters 0.016727160414929824 Centerline is valid? [True, True] Translation: X:280.69, Y:-54.73, Z:-7.89 [[ 9.64969549e-01 2.61378421e-01 2.26955927e-02 2.80690563e+02] [-2.61304945e-01 9.65236406e-01 -6.19733941e-03 -5.47314557e+01] [-2.35264631e-02 4.97732089e-05 9.99723213e-01 -7.89304482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.168623853 meters 0.01678566429508413 Centerline is valid? [True, True] Translation: X:280.75, Y:-54.75, Z:-7.89 [[ 9.65288857e-01 2.60167981e-01 2.30226760e-02 2.80745894e+02] [-2.60092057e-01 9.65563367e-01 -6.28540730e-03 -5.47546740e+01] [-2.38651143e-02 7.92184570e-05 9.99715184e-01 -7.89356267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.228623853 meters 0.016712105214767552 Centerline is valid? [True, True] Translation: X:280.80, Y:-54.77, Z:-7.89 [[ 9.65198148e-01 2.60494299e-01 2.31355826e-02 2.80802823e+02] [-2.60417737e-01 9.65475383e-01 -6.31562994e-03 -5.47732820e+01] [-2.39820211e-02 7.09182609e-05 9.99712387e-01 -7.89465790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.288623853 meters 0.016487563417605353 Centerline is valid? [True, True] Translation: X:280.86, Y:-54.79, Z:-7.90 [[ 9.64719257e-01 2.62312610e-01 2.25577081e-02 2.80859493e+02] [-2.62240336e-01 9.64982950e-01 -6.15731330e-03 -5.47902293e+01] [-2.33829447e-02 2.45377520e-05 9.99726581e-01 -7.89781389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.348623853 meters 0.016661690570713927 Centerline is valid? [True, True] Translation: X:280.92, Y:-54.80, Z:-7.90 [[ 9.63970671e-01 2.65108291e-01 2.18664015e-02 2.80916266e+02] [-2.65041109e-01 9.64218643e-01 -5.96808972e-03 -5.48049063e+01] [-2.26661821e-02 -4.24318706e-05 9.99743088e-01 -7.90117853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.408623853 meters 0.017241122586304933 Centerline is valid? [True, True] Translation: X:280.97, Y:-54.82, Z:-7.90 [[ 9.63271597e-01 2.67635957e-01 2.18820643e-02 2.80972902e+02] [-2.67569340e-01 9.63520101e-01 -5.97193985e-03 -5.48181332e+01] [-2.26821146e-02 -1.02369451e-04 9.99742723e-01 -7.90248950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.468623853 meters 0.018560882262280604 Centerline is valid? [True, True] Translation: X:281.03, Y:-54.83, Z:-7.90 [[ 9.62078762e-01 2.71845119e-01 2.24652581e-02 2.81031294e+02] [-2.71776093e-01 9.62340993e-01 -6.12922609e-03 -5.48309135e+01] [-2.32854390e-02 -2.08721838e-04 9.99728836e-01 -7.90204764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.528623853 meters 0.022735559615395494 Centerline is valid? [True, True] Translation: X:281.09, Y:-54.84, Z:-7.90 [[ 9.60946076e-01 2.75764827e-01 2.31602820e-02 2.81090593e+02] [-2.75692614e-01 9.61225084e-01 -6.31825314e-03 -5.48376309e+01] [-2.40045960e-02 -3.13618137e-04 9.99711799e-01 -7.90271710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.588623853 meters 0.026363395788149932 Centerline is valid? [True, True] Translation: X:281.15, Y:-54.85, Z:-7.90 [[ 9.59809214e-01 2.79627453e-01 2.39741651e-02 2.81150446e+02] [-2.79551305e-01 9.60108487e-01 -6.53924691e-03 -5.48456122e+01] [-2.48463523e-02 -4.25579701e-04 9.99691191e-01 -7.90283875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.648623853 meters 0.026513999812465855 Centerline is valid? [True, True] Translation: X:281.21, Y:-54.86, Z:-7.90 [[ 9.59109654e-01 2.82037128e-01 2.37430076e-02 2.81207696e+02] [-2.81963190e-01 9.59403369e-01 -6.47571273e-03 -5.48582203e+01] [-2.46055129e-02 -4.83735583e-04 9.99697122e-01 -7.90457826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.708623853 meters 0.028564201937454167 Centerline is valid? [True, True] Translation: X:281.27, Y:-54.87, Z:-7.91 [[ 9.58511456e-01 2.84112771e-01 2.31456752e-02 2.81266308e+02] [-2.84043139e-01 9.58790727e-01 -6.31167882e-03 -5.48650765e+01] [-2.39850873e-02 -5.24553789e-04 9.99712179e-01 -7.90799440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.768623853 meters 0.029789720370898845 Centerline is valid? [True, True] Translation: X:281.32, Y:-54.87, Z:-7.91 [[ 9.58363619e-01 2.84660842e-01 2.25250851e-02 2.81324589e+02] [-2.84595078e-01 9.58628150e-01 -6.14104209e-03 -5.48715122e+01] [-2.33412948e-02 -5.25177026e-04 9.99727417e-01 -7.91076322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.828623853 meters 0.029438252518630886 Centerline is valid? [True, True] Translation: X:281.38, Y:-54.88, Z:-7.91 [[ 9.58607665e-01 2.83883286e-01 2.19459265e-02 2.81383426e+02] [-2.83820690e-01 9.58858715e-01 -5.98172970e-03 -5.48802327e+01] [-2.27411560e-02 -4.94576057e-04 9.99741264e-01 -7.91318958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.888623853 meters 0.028472245553111005 Centerline is valid? [True, True] Translation: X:281.44, Y:-54.89, Z:-7.91 [[ 9.59019388e-01 2.82452899e-01 2.24092326e-02 2.81441063e+02] [-2.82387268e-01 9.59281052e-01 -6.10685911e-03 -5.48914412e+01] [-2.32216523e-02 -4.71485671e-04 9.99730230e-01 -7.91374154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.948623853 meters 0.024728877936812603 Centerline is valid? [True, True] Translation: X:281.50, Y:-54.90, Z:-7.91 [[ 9.59973209e-01 2.79096401e-01 2.35931629e-02 2.81498580e+02] [-2.79022666e-01 9.60263000e-01 -6.42825914e-03 -5.49034621e+01] [-2.44497453e-02 -4.12070656e-04 9.99700975e-01 -7.91273852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.00862385299996 meters 0.02184052880853958 Centerline is valid? [True, True] Translation: X:281.56, Y:-54.91, Z:-7.92 [[ 9.61290860e-01 2.74586289e-01 2.28528373e-02 2.81555067e+02] [-2.74515857e-01 9.61562420e-01 -6.22556676e-03 -5.49147660e+01] [-2.36838848e-02 -2.88885794e-04 9.99719456e-01 -7.91616879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.06862385299996 meters 0.01803422953097672 Centerline is valid? [True, True] Translation: X:281.61, Y:-54.93, Z:-7.92 [[ 9.63139533e-01 2.68015428e-01 2.30210933e-02 2.81610059e+02] [-2.67942125e-01 9.63414611e-01 -6.26930502e-03 -5.49315296e+01] [-2.38591282e-02 -1.30105150e-04 9.99715322e-01 -7.91843710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.12862385299997 meters 0.0166952102750997 Centerline is valid? [True, True] Translation: X:281.67, Y:-54.95, Z:-7.92 [[ 9.64665112e-01 2.62472267e-01 2.30115265e-02 2.81665566e+02] [-2.62397480e-01 9.64939537e-01 -6.26525060e-03 -5.49521403e+01] [-2.38491863e-02 5.70210613e-06 9.99715568e-01 -7.91974957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.18862385299997 meters 0.02029693499731196 Centerline is valid? [True, True] Translation: X:281.72, Y:-54.98, Z:-7.92 [[ 9.67180272e-01 2.53022507e-01 2.32794299e-02 2.81719698e+02] [-2.52943253e-01 9.67460363e-01 -6.33700498e-03 -5.49764991e+01] [-2.41253306e-02 2.40651468e-04 9.99708913e-01 -7.92039005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.24862385299997 meters 0.027313883908306448 Centerline is valid? [True, True] Translation: X:281.77, Y:-55.00, Z:-7.92 [[ 9.68838891e-01 2.46653933e-01 2.26503809e-02 2.81772710e+02] [-2.46577188e-01 9.69103548e-01 -6.16467194e-03 -5.50024510e+01] [-2.34711051e-02 3.87506697e-04 9.99724441e-01 -7.92371708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.308623853 meters 0.03315416350971281 Centerline is valid? [True, True] Translation: X:281.83, Y:-55.03, Z:-7.93 [[ 9.70889411e-01 2.38501484e-01 2.21538689e-02 2.81828718e+02] [-2.38425971e-01 9.71141965e-01 -6.02826366e-03 -5.50252513e+01] [-2.29523016e-02 5.70719643e-04 9.99736398e-01 -7.92500782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.368623853 meters 0.036218105566306 Centerline is valid? [True, True] Translation: X:281.88, Y:-55.05, Z:-7.93 [[ 9.71364448e-01 2.36538115e-01 2.23792011e-02 2.81884561e+02] [-2.36460542e-01 9.71622011e-01 -6.08936225e-03 -5.50451971e+01] [-2.31844906e-02 6.23192001e-04 9.99731009e-01 -7.92634168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.428623853 meters 0.040106497653608526 Centerline is valid? [True, True] Translation: X:281.94, Y:-55.07, Z:-7.93 [[ 9.72331907e-01 2.32503882e-01 2.26408428e-02 2.81941410e+02] [-2.32423370e-01 9.72595195e-01 -6.16143829e-03 -5.50674088e+01] [-2.34529333e-02 7.28702064e-04 9.99724677e-01 -7.92717108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.488623853 meters 0.036319376309591485 Centerline is valid? [True, True] Translation: X:282.00, Y:-55.08, Z:-7.93 [[ 9.72670671e-01 2.31076280e-01 2.27050519e-02 2.82001416e+02] [-2.30994938e-01 9.72935336e-01 -6.17820261e-03 -5.50817754e+01] [-2.35181834e-02 7.64604422e-04 9.99723117e-01 -7.92725420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.548623853 meters 0.0409197746814205 Centerline is valid? [True, True] Translation: X:282.06, Y:-55.11, Z:-7.93 [[ 9.72625594e-01 2.31258256e-01 2.27831684e-02 2.82058389e+02] [-2.31176312e-01 9.72892097e-01 -6.20333585e-03 -5.51066568e+01] [-2.36001371e-02 7.66594370e-04 9.99721184e-01 -7.92929183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.608623853 meters 0.03866228360548313 Centerline is valid? [True, True] Translation: X:282.12, Y:-55.13, Z:-7.93 [[ 9.72601318e-01 2.31423100e-01 2.21365043e-02 2.82117903e+02] [-2.31345687e-01 9.72852915e-01 -6.03152349e-03 -5.51258181e+01] [-2.29313966e-02 7.45082913e-04 9.99736763e-01 -7.93198988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.668623853 meters 0.04004854275502464 Centerline is valid? [True, True] Translation: X:282.18, Y:-55.15, Z:-7.93 [[ 9.72189094e-01 2.33330710e-01 2.01282453e-02 2.82176828e+02] [-2.33267043e-01 9.72397229e-01 -5.48783588e-03 -5.51457462e+01] [-2.08531306e-02 6.39957919e-04 9.99782345e-01 -7.92869844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.728623853 meters 0.03493548955242813 Centerline is valid? [True, True] Translation: X:282.24, Y:-55.16, Z:-7.94 [[ 9.71604291e-01 2.35713935e-01 2.05923214e-02 2.82235301e+02] [-2.35647729e-01 9.71822295e-01 -5.61917671e-03 -5.51625513e+01] [-2.13365952e-02 6.07082427e-04 9.99772165e-01 -7.93752884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.788623853 meters 0.02806261742905522 Centerline is valid? [True, True] Translation: X:282.29, Y:-55.17, Z:-7.94 [[ 9.69556752e-01 2.43926747e-01 2.14347074e-02 2.82293913e+02] [-2.43856997e-01 9.69793558e-01 -5.84983497e-03 -5.51732408e+01] [-2.22141723e-02 4.44743621e-04 9.99753136e-01 -7.93722378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.848623853 meters 0.020304528301154003 Centerline is valid? [True, True] Translation: X:282.35, Y:-55.18, Z:-7.93 [[ 9.67066129e-01 2.53464672e-01 2.32112389e-02 2.82354501e+02] [-2.53385627e-01 9.67344613e-01 -6.33431438e-03 -5.51802543e+01] [-2.40587918e-02 2.44306569e-04 9.99710516e-01 -7.93480931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.908623853 meters 0.01711241397691559 Centerline is valid? [True, True] Translation: X:282.41, Y:-55.19, Z:-7.94 [[ 9.65550099e-01 2.59170512e-01 2.33163470e-02 2.82413047e+02] [-2.59092409e-01 9.65831577e-01 -6.36307298e-03 -5.51903986e+01] [-2.41687850e-02 1.02777251e-04 9.99707887e-01 -7.93645156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.968623853 meters 0.016703351062612407 Centerline is valid? [True, True] Translation: X:282.47, Y:-55.21, Z:-7.94 [[ 9.65055145e-01 2.61025309e-01 2.31161266e-02 2.82468965e+02] [-2.60949101e-01 9.65331956e-01 -6.30728999e-03 -5.52057785e+01] [-2.39610980e-02 5.47502017e-05 9.99712890e-01 -7.93911512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.028623853 meters 0.016786233299820166 Centerline is valid? [True, True] Translation: X:282.52, Y:-55.22, Z:-7.94 [[ 9.64586799e-01 2.62866092e-01 2.17652485e-02 2.82524507e+02] [-2.62799029e-01 9.64832326e-01 -5.93739273e-03 -5.52226043e+01] [-2.25605546e-02 7.24447115e-06 9.99745478e-01 -7.94393515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.088623853 meters 0.01720617289081744 Centerline is valid? [True, True] Translation: X:282.58, Y:-55.23, Z:-7.95 [[ 9.63719087e-01 2.66026674e-01 2.18020751e-02 2.82581652e+02] [-2.65960225e-01 9.63965665e-01 -5.94599879e-03 -5.52348799e+01] [-2.25982461e-02 -6.82122667e-05 9.99744625e-01 -7.94547322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.148623853 meters 0.017718576800575914 Centerline is valid? [True, True] Translation: X:282.64, Y:-55.25, Z:-7.95 [[ 9.63085149e-01 2.68263174e-01 2.24023682e-02 2.82638957e+02] [-2.68193645e-01 9.63345657e-01 -6.10857715e-03 -5.52480381e+01] [-2.32199304e-02 -1.25092872e-04 9.99730373e-01 -7.94507381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.208623853 meters 0.019107280671860058 Centerline is valid? [True, True] Translation: X:282.70, Y:-55.26, Z:-7.94 [[ 9.62090285e-01 2.71755406e-01 2.30495915e-02 2.82697393e+02] [-2.71682832e-01 9.62366330e-01 -6.28384484e-03 -5.52589404e+01] [-2.38898195e-02 -2.16552203e-04 9.99714574e-01 -7.94462631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.268623853 meters 0.021403424718964448 Centerline is valid? [True, True] Translation: X:282.76, Y:-55.27, Z:-7.95 [[ 9.61290744e-01 2.74603919e-01 2.26449309e-02 2.82755330e+02] [-2.74534685e-01 9.61557386e-01 -6.17245884e-03 -5.52675039e+01] [-2.34693820e-02 -2.83291433e-04 9.99724516e-01 -7.94757108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.328623853 meters 0.022383752225343105 Centerline is valid? [True, True] Translation: X:282.81, Y:-55.28, Z:-7.95 [[ 9.60861360e-01 2.76145762e-01 2.21125740e-02 2.82813303e+02] [-2.76080195e-01 9.61115716e-01 -6.02552100e-03 -5.52768638e+01] [-2.29166645e-02 -3.15153449e-04 9.99737329e-01 -7.95028181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.388623853 meters 0.022185969710470717 Centerline is valid? [True, True] Translation: X:282.87, Y:-55.29, Z:-7.95 [[ 9.60859739e-01 2.76104334e-01 2.26927217e-02 2.82869640e+02] [-2.76035295e-01 9.61127615e-01 -6.18250829e-03 -5.52895761e+01] [-2.35176189e-02 -3.23468849e-04 9.99723370e-01 -7.95046350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.448623853 meters 0.0214626900994425 Centerline is valid? [True, True] Translation: X:282.93, Y:-55.30, Z:-7.95 [[ 9.61386640e-01 2.74205091e-01 2.33943845e-02 2.82925846e+02] [-2.74131201e-01 9.61671194e-01 -6.37174127e-03 -5.53020740e+01] [-2.42448696e-02 -2.87423788e-04 9.99706009e-01 -7.95194435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.50862385299996 meters 0.01896894263739787 Centerline is valid? [True, True] Translation: X:282.98, Y:-55.32, Z:-7.95 [[ 9.62403925e-01 2.70616637e-01 2.33520930e-02 2.82981670e+02] [-2.70541995e-01 9.62687175e-01 -6.35868155e-03 -5.53194012e+01] [-2.42015255e-02 -1.98101745e-04 9.99707081e-01 -7.95324254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.56862385299996 meters 0.01773740409560021 Centerline is valid? [True, True] Translation: X:283.04, Y:-55.34, Z:-7.96 [[ 9.63170297e-01 2.67880380e-01 2.33040839e-02 2.83038044e+02] [-2.67805271e-01 9.63452171e-01 -6.34441882e-03 -5.53357698e+01] [-2.41519156e-02 -1.30200742e-04 9.99708291e-01 -7.95532570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.62862385299997 meters 0.01681040963904434 Centerline is valid? [True, True] Translation: X:283.09, Y:-55.35, Z:-7.96 [[ 9.64504303e-01 2.63114545e-01 2.24095098e-02 2.83093231e+02] [-2.63043829e-01 9.64764601e-01 -6.09982186e-03 -5.53541407e+01] [-2.32248536e-02 -1.13788234e-05 9.99730267e-01 -7.95895416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.68862385299997 meters 0.017846315482662734 Centerline is valid? [True, True] Translation: X:283.15, Y:-55.38, Z:-7.96 [[ 9.66113582e-01 2.57185127e-01 2.19170527e-02 2.83148044e+02] [-2.57115990e-01 9.66362144e-01 -5.96435070e-03 -5.53759230e+01] [-2.27137524e-02 1.27015499e-04 9.99742001e-01 -7.96146303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.74862385299997 meters 0.020216930967895102 Centerline is valid? [True, True] Translation: X:283.20, Y:-55.40, Z:-7.96 [[ 9.67086569e-01 2.53459994e-01 2.23964370e-02 2.83202677e+02] [-2.53386826e-01 9.67345845e-01 -6.09366302e-03 -5.53957094e+01] [-2.32096001e-02 2.18137583e-04 9.99730597e-01 -7.96284257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.808623853 meters 0.022963646480511087 Centerline is valid? [True, True] Translation: X:283.26, Y:-55.42, Z:-7.96 [[ 9.68031026e-01 2.49770764e-01 2.30325368e-02 2.83258980e+02] [-2.49692375e-01 9.68304945e-01 -6.26504826e-03 -5.54157628e+01] [-2.38673451e-02 3.13712274e-04 9.99715085e-01 -7.96213331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.868623853 meters 0.024922056340942248 Centerline is valid? [True, True] Translation: X:283.32, Y:-55.43, Z:-7.96 [[ 9.68562872e-01 2.47641424e-01 2.36577173e-02 2.83315071e+02] [-2.47558098e-01 9.68851683e-01 -6.43457495e-03 -5.54342160e+01] [-2.45142865e-02 3.75630892e-04 9.99699409e-01 -7.96289024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.928623853 meters 0.026538852034964585 Centerline is valid? [True, True] Translation: X:283.37, Y:-55.45, Z:-7.97 [[ 9.68786678e-01 2.46820980e-01 2.30602549e-02 2.83370244e+02] [-2.46741604e-01 9.69061017e-01 -6.27102518e-03 -5.54521581e+01] [-2.38946147e-02 3.85361360e-04 9.99714409e-01 -7.96640249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.988623853 meters 0.027451184351890284 Centerline is valid? [True, True] Translation: X:283.43, Y:-55.47, Z:-7.97 [[ 9.68935412e-01 2.46320561e-01 2.21438146e-02 2.83426884e+02] [-2.46247269e-01 9.69188339e-01 -6.02047874e-03 -5.54681413e+01] [-2.29444946e-02 3.80601195e-04 9.99736668e-01 -7.97043863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.048623853 meters 0.027297604215953463 Centerline is valid? [True, True] Translation: X:283.48, Y:-55.48, Z:-7.97 [[ 9.68870020e-01 2.46584737e-01 2.20647084e-02 2.83484026e+02] [-2.46512060e-01 9.69121163e-01 -5.99794038e-03 -5.54838724e+01] [-2.28623764e-02 3.72007912e-04 9.99738553e-01 -7.97251214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.108623853 meters 0.02363514174756985 Centerline is valid? [True, True] Translation: X:283.54, Y:-55.49, Z:-7.97 [[ 9.68496967e-01 2.47999924e-01 2.25757106e-02 2.83542485e+02] [-2.47924250e-01 9.68759990e-01 -6.13578091e-03 -5.54947370e+01] [-2.33921184e-02 3.45419077e-04 9.99726307e-01 -7.97170230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.168623853 meters 0.02520066797428958 Centerline is valid? [True, True] Translation: X:283.60, Y:-55.51, Z:-7.97 [[ 9.68223312e-01 2.49024402e-01 2.30318290e-02 2.83597563e+02] [-2.48945957e-01 9.68497156e-01 -6.25859526e-03 -5.55135836e+01] [-2.38648038e-02 3.26037128e-04 9.99715142e-01 -7.97416744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.228623853 meters 0.02234126703109519 Centerline is valid? [True, True] Translation: X:283.66, Y:-55.52, Z:-7.97 [[ 9.68230622e-01 2.48981041e-01 2.31927577e-02 2.83656339e+02] [-2.48901521e-01 9.68508303e-01 -6.30072515e-03 -5.55249380e+01] [-2.40311395e-02 3.27842353e-04 9.99711157e-01 -7.97454746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.288623853 meters 0.02285538740753338 Centerline is valid? [True, True] Translation: X:283.71, Y:-55.54, Z:-7.98 [[ 9.68452449e-01 2.48144665e-01 2.28927958e-02 2.83713421e+02] [-2.48066969e-01 9.68722926e-01 -6.21865692e-03 -5.55434251e+01] [-2.37199027e-02 3.43527050e-04 9.99718585e-01 -7.97691906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.348623853 meters 0.02295420609035603 Centerline is valid? [True, True] Translation: X:283.77, Y:-55.56, Z:-7.98 [[ 9.68575624e-01 2.47664033e-01 2.28864071e-02 2.83770972e+02] [-2.47586262e-01 9.68845912e-01 -6.21622479e-03 -5.55623250e+01] [-2.37129372e-02 3.54523821e-04 9.99718746e-01 -7.97838745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.408623853 meters 0.02226302032974898 Centerline is valid? [True, True] Translation: X:283.83, Y:-55.58, Z:-7.98 [[ 9.68058512e-01 2.49635719e-01 2.33393603e-02 2.83826831e+02] [-2.49555409e-01 9.68339770e-01 -6.33938680e-03 -5.55790347e+01] [-2.41829681e-02 3.12433746e-04 9.99707500e-01 -7.97886795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.468623853 meters 0.017851621584540123 Centerline is valid? [True, True] Translation: X:283.89, Y:-55.58, Z:-7.98 [[ 9.66373809e-01 2.56090025e-01 2.32284408e-02 2.83886358e+02] [-2.56012358e-01 9.66652925e-01 -6.30840211e-03 -5.55849221e+01] [-2.40693591e-02 1.49506688e-04 9.99710280e-01 -7.98098390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.528623853 meters 0.01691494370201451 Centerline is valid? [True, True] Translation: X:283.95, Y:-55.59, Z:-7.99 [[ 9.64279950e-01 2.63920112e-01 2.25909686e-02 2.83945709e+02] [-2.63848818e-01 9.64544541e-01 -6.13421415e-03 -5.55867120e+01] [-2.34089379e-02 -4.55006465e-05 9.99725972e-01 -7.98514999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.588623853 meters 0.01843396963213997 Centerline is valid? [True, True] Translation: X:284.00, Y:-55.59, Z:-7.99 [[ 9.63158680e-01 2.67978305e-01 2.26491637e-02 2.84004867e+02] [-2.67907799e-01 9.63424936e-01 -6.14852713e-03 -5.55936612e+01] [-2.34684409e-02 -1.45880325e-04 9.99724568e-01 -7.98646720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.648623853 meters 0.01880108132843453 Centerline is valid? [True, True] Translation: X:284.06, Y:-55.60, Z:-7.99 [[ 9.62711848e-01 2.69515435e-01 2.33950272e-02 2.84062509e+02] [-2.69440690e-01 9.62996051e-01 -6.34982699e-03 -5.56042019e+01] [-2.42406952e-02 -1.90518602e-04 9.99706133e-01 -7.98651027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.708623853 meters 0.017800121540199523 Centerline is valid? [True, True] Translation: X:284.12, Y:-55.62, Z:-7.99 [[ 9.63316838e-01 2.67378776e-01 2.30056384e-02 2.84119204e+02] [-2.67305913e-01 9.63591496e-01 -6.24315453e-03 -5.56217431e+01] [-2.38373246e-02 -1.35407308e-04 9.99715841e-01 -7.98859974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.768623853 meters 0.017031343553334775 Centerline is valid? [True, True] Translation: X:284.17, Y:-55.64, Z:-7.99 [[ 9.64078762e-01 2.64661179e-01 2.25078123e-02 2.84174878e+02] [-2.64590745e-01 9.64341462e-01 -6.10587873e-03 -5.56377255e+01] [-2.33212056e-02 -6.88108080e-05 9.99728021e-01 -7.99177698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.828623853 meters 0.016710060653881836 Centerline is valid? [True, True] Translation: X:284.23, Y:-55.65, Z:-7.99 [[ 9.64747391e-01 2.62241479e-01 2.21783465e-02 2.84231543e+02] [-2.62172493e-01 9.65002283e-01 -6.01476971e-03 -5.56541647e+01] [-2.29794772e-02 -1.18190069e-05 9.99735937e-01 -7.99382568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.888623853 meters 0.017623784572891644 Centerline is valid? [True, True] Translation: X:284.29, Y:-55.67, Z:-8.00 [[ 9.66019959e-01 2.57542167e-01 2.18510950e-02 2.84285792e+02] [-2.57474022e-01 9.66267056e-01 -5.92497174e-03 -5.56748439e+01] [-2.26399233e-02 9.75516593e-05 9.99743679e-01 -7.99713576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.948623853 meters 0.018696835462344085 Centerline is valid? [True, True] Translation: X:284.34, Y:-55.69, Z:-8.00 [[ 9.66865037e-01 2.54269091e-01 2.27866319e-02 2.84342147e+02] [-2.54194112e-01 9.67133495e-01 -6.17706943e-03 -5.56934949e+01] [-2.36083528e-02 1.80164787e-04 9.99721268e-01 -7.99652906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.00862385299996 meters 0.021471413592170883 Centerline is valid? [True, True] Translation: X:284.40, Y:-55.71, Z:-7.99 [[ 9.68119772e-01 2.49337410e-01 2.39784076e-02 2.84398365e+02] [-2.49252902e-01 9.68416624e-01 -6.49876168e-03 -5.57134046e+01] [-2.48414729e-02 3.14891989e-04 9.99691353e-01 -7.99499133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.06862385299996 meters 0.02503615723860536 Centerline is valid? [True, True] Translation: X:284.45, Y:-55.74, Z:-8.00 [[ 9.69330152e-01 2.44564073e-01 2.42377989e-02 2.84454575e+02] [-2.44476250e-01 9.69633033e-01 -6.56839616e-03 -5.57358739e+01] [-2.51081642e-02 4.41378274e-04 9.99684643e-01 -7.99627796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.12862385299997 meters 0.027907060850843088 Centerline is valid? [True, True] Translation: X:284.51, Y:-55.76, Z:-8.00 [[ 9.69929598e-01 2.42251426e-01 2.34696062e-02 2.84511019e+02] [-2.42168413e-01 9.70213384e-01 -6.35988038e-03 -5.57562367e+01] [-2.43112161e-02 4.85038935e-04 9.99704321e-01 -7.99897584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.18862385299997 meters 0.030677761720819628 Centerline is valid? [True, True] Translation: X:284.57, Y:-55.77, Z:-8.00 [[ 9.70318338e-01 2.40697105e-01 2.33928594e-02 2.84567029e+02] [-2.40614180e-01 9.70600139e-01 -6.33921093e-03 -5.57744028e+01] [-2.42309423e-02 5.22398917e-04 9.99706251e-01 -8.00171202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.24862385299997 meters 0.02964816745622074 Centerline is valid? [True, True] Translation: X:284.63, Y:-55.79, Z:-8.00 [[ 9.70326397e-01 2.40661364e-01 2.34262890e-02 2.84625052e+02] [-2.40578213e-01 9.70609002e-01 -6.34734753e-03 -5.57888559e+01] [-2.42653283e-02 5.23144095e-04 9.99705417e-01 -8.00284928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.308623853 meters 0.028409486304397023 Centerline is valid? [True, True] Translation: X:284.68, Y:-55.80, Z:-8.00 [[ 9.69941906e-01 2.42232991e-01 2.31489974e-02 2.84683525e+02] [-2.42152260e-01 9.70217991e-01 -6.27159926e-03 -5.58032554e+01] [-2.39787620e-02 4.77504901e-04 9.99712354e-01 -8.00496566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.368623853 meters 0.03185272086163651 Centerline is valid? [True, True] Translation: X:284.74, Y:-55.81, Z:-8.00 [[ 9.69416962e-01 2.44357988e-01 2.28019405e-02 2.84741379e+02] [-2.44280250e-01 9.69685000e-01 -6.17744349e-03 -5.58148067e+01] [-2.36202073e-02 4.18454779e-04 9.99720916e-01 -8.00108405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.428623853 meters 0.025240494696646625 Centerline is valid? [True, True] Translation: X:284.80, Y:-55.83, Z:-8.01 [[ 9.69283419e-01 2.44873562e-01 2.29475822e-02 2.84798730e+02] [-2.44794999e-01 9.69554935e-01 -6.21575799e-03 -5.58275791e+01] [-2.37710164e-02 4.07377788e-04 9.99717346e-01 -8.00889766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.488623853 meters 0.024190978311279306 Centerline is valid? [True, True] Translation: X:284.86, Y:-55.84, Z:-8.01 [[ 9.68903807e-01 2.46405084e-01 2.25820141e-02 2.84856016e+02] [-2.46329447e-01 9.69166860e-01 -6.11560588e-03 -5.58411330e+01] [-2.33926561e-02 3.62818779e-04 9.99726289e-01 -8.01111491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.548623853 meters 0.024033056365567903 Centerline is valid? [True, True] Translation: X:284.91, Y:-55.86, Z:-8.02 [[ 9.68443792e-01 2.48267466e-01 2.19063342e-02 2.84912547e+02] [-2.48196789e-01 9.68691474e-01 -5.93154637e-03 -5.58552386e+01] [-2.26930891e-02 3.07287458e-04 9.99742431e-01 -8.01504587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.608623853 meters 0.021640786464787346 Centerline is valid? [True, True] Translation: X:284.97, Y:-55.86, Z:-8.01 [[ 9.67474372e-01 2.52045785e-01 2.15931064e-02 2.84972185e+02] [-2.51978077e-01 9.67715287e-01 -5.84576791e-03 -5.58617902e+01] [-2.23693803e-02 2.14641226e-04 9.99749751e-01 -8.01296509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.668623853 meters 0.01817516187160185 Centerline is valid? [True, True] Translation: X:285.03, Y:-55.87, Z:-8.02 [[ 9.66584862e-01 2.55432957e-01 2.16265614e-02 2.85030069e+02] [-2.55365920e-01 9.66826761e-01 -5.85327149e-03 -5.58698425e+01] [-2.24042568e-02 1.34996868e-04 9.99748984e-01 -8.01762713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.728623853 meters 0.028775066246130385 Centerline is valid? [True, True] Translation: X:285.09, Y:-55.88, Z:-8.01 [[ 9.66193483e-01 2.56924748e-01 2.14435915e-02 2.85088068e+02] [-2.56859239e-01 9.66431407e-01 -5.80233732e-03 -5.58814654e+01] [-2.22145244e-02 9.81959023e-05 9.99753222e-01 -8.01211601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.788623853 meters 0.01721508493164763 Centerline is valid? [True, True] Translation: X:285.14, Y:-55.89, Z:-8.02 [[ 9.65981998e-01 2.57596752e-01 2.28624800e-02 2.85144938e+02] [-2.57522503e-01 9.66252506e-01 -6.18503559e-03 -5.58925994e+01] [-2.36841737e-02 8.70299608e-05 9.99719487e-01 -8.01894275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.848623853 meters 0.017598297877630845 Centerline is valid? [True, True] Translation: X:285.20, Y:-55.91, Z:-8.02 [[ 9.66248279e-01 2.56603460e-01 2.27799898e-02 2.85200617e+02] [-2.56529505e-01 9.66516763e-01 -6.16125128e-03 -5.59071321e+01] [-2.35982404e-02 1.09558951e-04 9.99721517e-01 -8.02080677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.908623853 meters 0.0183413813396998 Centerline is valid? [True, True] Translation: X:285.26, Y:-55.92, Z:-8.02 [[ 9.66767252e-01 2.54691272e-01 2.22134270e-02 2.85256926e+02] [-2.54620474e-01 9.67022406e-01 -6.00676870e-03 -5.59221811e+01] [-2.30107532e-02 1.51153946e-04 9.99735206e-01 -8.02295192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.968623853 meters 0.028647834198806756 Centerline is valid? [True, True] Translation: X:285.31, Y:-55.94, Z:-8.02 [[ 9.67269826e-01 2.52792502e-01 2.20235145e-02 2.85313321e+02] [-2.52722462e-01 9.67520498e-01 -5.95344058e-03 -5.59395051e+01] [-2.28131868e-02 1.92746619e-04 9.99739727e-01 -8.01712347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.028623853 meters 0.022183320300029622 Centerline is valid? [True, True] Translation: X:285.37, Y:-55.96, Z:-8.03 [[ 9.68384338e-01 2.48449518e-01 2.24635350e-02 2.85367198e+02] [-2.48375507e-01 9.68644799e-01 -6.07126256e-03 -5.59588531e+01] [-2.32675886e-02 2.99923681e-04 9.99729228e-01 -8.02633018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.088623853 meters 0.025420657735312064 Centerline is valid? [True, True] Translation: X:285.42, Y:-55.98, Z:-8.03 [[ 9.69306180e-01 2.44853020e-01 2.21929868e-02 2.85423207e+02] [-2.44779874e-01 9.69560134e-01 -5.99656816e-03 -5.59805889e+01] [-2.29857131e-02 3.80114060e-04 9.99735721e-01 -8.02861837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.148623853 meters 0.02882987772508941 Centerline is valid? [True, True] Translation: X:285.48, Y:-56.00, Z:-8.03 [[ 9.70300442e-01 2.40912262e-01 2.18708720e-02 2.85478763e+02] [-2.40840236e-01 9.70546786e-01 -5.90899699e-03 -5.60028809e+01] [-2.26502544e-02 4.66116415e-04 9.99743341e-01 -8.03086956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.208623853 meters 0.03324290072468584 Centerline is valid? [True, True] Translation: X:285.53, Y:-56.03, Z:-8.03 [[ 9.71191372e-01 2.37289234e-01 2.19348686e-02 2.85532871e+02] [-2.37215872e-01 9.71438889e-01 -5.92581367e-03 -5.60269925e+01] [-2.27145162e-02 5.51800122e-04 9.99741840e-01 -8.03253673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.268623853 meters 0.037685771165284404 Centerline is valid? [True, True] Translation: X:285.59, Y:-56.05, Z:-8.03 [[ 9.72035647e-01 2.33750074e-01 2.25300453e-02 2.85587072e+02] [-2.33671750e-01 9.72296498e-01 -6.08557895e-03 -5.60524308e+01] [-2.33283887e-02 6.50764574e-04 9.99727644e-01 -8.03272086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.328623853 meters 0.03985039847418155 Centerline is valid? [True, True] Translation: X:285.64, Y:-56.08, Z:-8.03 [[ 9.72342902e-01 2.32382482e-01 2.34021876e-02 2.85642634e+02] [-2.32297594e-01 9.72624223e-01 -6.32051881e-03 -5.60763135e+01] [-2.42303123e-02 7.09439734e-04 9.99706151e-01 -8.03256406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.388623853 meters 0.03244973106269561 Centerline is valid? [True, True] Translation: X:285.71, Y:-56.09, Z:-8.03 [[ 9.72297972e-01 2.32578796e-01 2.33185874e-02 2.85705789e+02] [-2.32494596e-01 9.72577304e-01 -6.29686664e-03 -5.60859795e+01] [-2.41436465e-02 7.00985119e-04 9.99708254e-01 -8.03310970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.448623853 meters 0.040379773474937875 Centerline is valid? [True, True] Translation: X:285.76, Y:-56.11, Z:-8.03 [[ 9.71859214e-01 2.34506823e-01 2.22759450e-02 2.85762912e+02] [-2.34430383e-01 9.72114270e-01 -6.02002023e-03 -5.61116185e+01] [-2.30664998e-02 6.28453815e-04 9.99733735e-01 -8.03102838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.50862385299996 meters 0.038878755034737485 Centerline is valid? [True, True] Translation: X:285.82, Y:-56.13, Z:-8.03 [[ 9.70910078e-01 2.38431617e-01 2.19996283e-02 2.85821308e+02] [-2.38357955e-01 9.71159142e-01 -5.95030302e-03 -5.61269915e+01] [-2.27838805e-02 5.33422756e-04 9.99740271e-01 -8.03239777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.56862385299996 meters 0.02644893089409819 Centerline is valid? [True, True] Translation: X:285.88, Y:-56.14, Z:-8.04 [[ 9.69832737e-01 2.42698675e-01 2.28432975e-02 2.85880833e+02] [-2.42620435e-01 9.70101619e-01 -6.17849266e-03 -5.61375004e+01] [-2.36598319e-02 4.49853673e-04 9.99719966e-01 -8.03886933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.62862385299997 meters 0.020909243962825702 Centerline is valid? [True, True] Translation: X:285.94, Y:-56.15, Z:-8.04 [[ 9.68066277e-01 2.49633880e-01 2.30349571e-02 2.85940456e+02] [-2.49556279e-01 9.68340253e-01 -6.23037944e-03 -5.61462088e+01] [-2.38609900e-02 2.82902022e-04 9.99715246e-01 -8.04103975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.68862385299997 meters 0.018054675776956894 Centerline is valid? [True, True] Translation: X:286.00, Y:-56.16, Z:-8.04 [[ 9.66907657e-01 2.54011131e-01 2.38312441e-02 2.85998812e+02] [-2.53929405e-01 9.67201278e-01 -6.44551393e-03 -5.61573799e+01] [-2.46868420e-02 1.80763155e-04 9.99695217e-01 -8.04181752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.74862385299997 meters 0.016087481776454804 Centerline is valid? [True, True] Translation: X:286.06, Y:-56.17, Z:-8.04 [[ 9.65615107e-01 2.58859364e-01 2.40685405e-02 2.86056916e+02] [-2.58777528e-01 9.65915020e-01 -6.50880552e-03 -5.61679407e+01] [-2.49330301e-02 5.66035274e-05 9.99689122e-01 -8.04306306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.808623853 meters 0.01599342465517348 Centerline is valid? [True, True] Translation: X:286.11, Y:-56.18, Z:-8.05 [[ 9.64633670e-01 2.62517268e-01 2.38026585e-02 2.86114358e+02] [-2.62438372e-01 9.64927294e-01 -6.43571424e-03 -5.61808928e+01] [-2.46573210e-02 -3.86242923e-05 9.99695961e-01 -8.04534259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.868623853 meters 0.017066267251055284 Centerline is valid? [True, True] Translation: X:286.17, Y:-56.19, Z:-8.05 [[ 9.63570483e-01 2.66394121e-01 2.37927791e-02 2.86171634e+02] [-2.66316501e-01 9.63864178e-01 -6.43183371e-03 -5.61912535e+01] [-2.46464102e-02 -1.38884565e-04 9.99696221e-01 -8.04695598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.928623853 meters 0.018769834467611924 Centerline is valid? [True, True] Translation: X:286.23, Y:-56.20, Z:-8.05 [[ 9.62782838e-01 2.69235169e-01 2.36987302e-02 2.86228546e+02] [-2.69159058e-01 9.63074441e-01 -6.40488272e-03 -5.62010657e+01] [-2.45480610e-02 -2.12216745e-04 9.99698628e-01 -8.04894703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.988623853 meters 0.02200800137148343 Centerline is valid? [True, True] Translation: X:286.29, Y:-56.21, Z:-8.05 [[ 9.61640214e-01 2.73260403e-01 2.40177138e-02 2.86287441e+02] [-2.73183522e-01 9.61940044e-01 -6.48954045e-03 -5.62081815e+01] [-2.48769351e-02 -3.20640567e-04 9.99690470e-01 -8.05115800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.048623853 meters 0.023803346772635823 Centerline is valid? [True, True] Translation: X:286.34, Y:-56.22, Z:-8.05 [[ 9.61201655e-01 2.74801033e-01 2.39952260e-02 2.86344261e+02] [-2.74724804e-01 9.61501046e-01 -6.48231344e-03 -5.62184140e+01] [-2.48527813e-02 -3.61273334e-04 9.99691057e-01 -8.05295203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.108623853 meters 0.023122285962083825 Centerline is valid? [True, True] Translation: X:286.40, Y:-56.23, Z:-8.06 [[ 9.60806197e-01 2.76193823e-01 2.38416300e-02 2.86401521e+02] [-2.76119032e-01 9.61101876e-01 -6.43934832e-03 -5.62303002e+01] [-2.46927435e-02 -3.96162022e-04 9.99695009e-01 -8.05514820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.168623853 meters 0.02562541900943292 Centerline is valid? [True, True] Translation: X:286.46, Y:-56.24, Z:-8.06 [[ 9.60768895e-01 2.76378464e-01 2.31964292e-02 2.86459441e+02] [-2.76307748e-01 9.61048798e-01 -6.26395893e-03 -5.62363758e+01] [-2.40241238e-02 -3.91136214e-04 9.99711303e-01 -8.05884984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.228623853 meters 0.024356367361845946 Centerline is valid? [True, True] Translation: X:286.52, Y:-56.25, Z:-8.06 [[ 9.61045238e-01 2.75387439e-01 2.35331439e-02 2.86517331e+02] [-2.75314396e-01 9.61333251e-01 -6.35328592e-03 -5.62481248e+01] [-2.43728089e-02 -3.73218119e-04 9.99702869e-01 -8.06071568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.288623853 meters 0.023403724410066204 Centerline is valid? [True, True] Translation: X:286.57, Y:-56.26, Z:-8.06 [[ 9.61562560e-01 2.73540223e-01 2.39413551e-02 2.86573718e+02] [-2.73464080e-01 9.61860507e-01 -6.46233521e-03 -5.62607431e+01] [-2.47959526e-02 -3.33161064e-04 9.99692478e-01 -8.06172937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.348623853 meters 0.018660309485155197 Centerline is valid? [True, True] Translation: X:286.63, Y:-56.28, Z:-8.06 [[ 9.62727746e-01 2.69362884e-01 2.44729389e-02 2.86629408e+02] [-2.69282009e-01 9.63038724e-01 -6.60428378e-03 -5.62792949e+01] [-2.53473368e-02 -2.31994921e-04 9.99678678e-01 -8.06224212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.408623853 meters 0.016733255556695827 Centerline is valid? [True, True] Translation: X:286.69, Y:-56.30, Z:-8.07 [[ 9.63626193e-01 2.66165945e-01 2.40883639e-02 2.86686338e+02] [-2.66086623e-01 9.63927211e-01 -6.49931048e-03 -5.62950419e+01] [-2.49493246e-02 -1.46685592e-04 9.99688706e-01 -8.06518645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.468623853 meters 0.015549116537089062 Centerline is valid? [True, True] Translation: X:286.74, Y:-56.31, Z:-8.07 [[ 9.64929986e-01 2.61462534e-01 2.33979754e-02 2.86743187e+02] [-2.61386338e-01 9.65213625e-01 -6.31187057e-03 -5.63102757e+01] [-2.42343624e-02 -2.53979271e-05 9.99706304e-01 -8.06914096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.528623853 meters 0.016123579115840538 Centerline is valid? [True, True] Translation: X:286.80, Y:-56.33, Z:-8.07 [[ 9.66127474e-01 2.57055276e-01 2.28098396e-02 2.86798948e+02] [-2.56981659e-01 9.66396698e-01 -6.15212345e-03 -5.63260626e+01] [-2.36247895e-02 8.20250773e-05 9.99720892e-01 -8.07219524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.588623853 meters 0.018199443144217096 Centerline is valid? [True, True] Translation: X:286.86, Y:-56.34, Z:-8.07 [[ 9.67348716e-01 2.52480615e-01 2.21359685e-02 2.86855712e+02] [-2.52410117e-01 9.67601935e-01 -5.96894705e-03 -5.63415827e+01] [-2.29258494e-02 1.86710859e-04 9.99737151e-01 -8.07475546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.648623853 meters 0.019433745216195442 Centerline is valid? [True, True] Translation: X:286.91, Y:-56.36, Z:-8.08 [[ 9.68160780e-01 2.49325983e-01 2.23887853e-02 2.86912966e+02] [-2.49253048e-01 9.68419581e-01 -6.03597225e-03 -5.63567497e+01] [-2.31866628e-02 2.63318616e-04 9.99731119e-01 -8.07596528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.708623853 meters 0.02400998626877663 Centerline is valid? [True, True] Translation: X:286.97, Y:-56.38, Z:-8.08 [[ 9.69334971e-01 2.44670754e-01 2.29332830e-02 2.86968666e+02] [-2.44592954e-01 9.69606145e-01 -6.18149267e-03 -5.63756345e+01] [-2.37486826e-02 3.82617585e-04 9.99717887e-01 -8.07695386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.768623853 meters 0.027018758505306325 Centerline is valid? [True, True] Translation: X:287.02, Y:-56.39, Z:-8.08 [[ 9.70088181e-01 2.41622800e-01 2.33953624e-02 2.87024648e+02] [-2.41540974e-01 9.70370139e-01 -6.30492383e-03 -5.63918906e+01] [-2.42255744e-02 4.65393483e-04 9.99706409e-01 -8.07762375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.828623853 meters 0.029069676186798257 Centerline is valid? [True, True] Translation: X:287.08, Y:-56.41, Z:-8.08 [[ 9.71084025e-01 2.37579669e-01 2.34886720e-02 2.87082067e+02] [-2.37496044e-01 9.71367891e-01 -6.32849105e-03 -5.64075436e+01] [-2.43196626e-02 5.67029879e-04 9.99704072e-01 -8.07926816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.888623853 meters 0.03317330412231857 Centerline is valid? [True, True] Translation: X:287.14, Y:-56.43, Z:-8.08 [[ 9.71906626e-01 2.34197673e-01 2.34298958e-02 2.87137603e+02] [-2.34113496e-01 9.72188782e-01 -6.31209311e-03 -5.64271137e+01] [-2.42565593e-02 6.49510303e-04 9.99705555e-01 -8.08117429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.948623853 meters 0.032887264668022095 Centerline is valid? [True, True] Translation: X:287.20, Y:-56.44, Z:-8.08 [[ 9.72393590e-01 2.32205527e-01 2.30499178e-02 2.87195070e+02] [-2.32123521e-01 9.72666500e-01 -6.20886517e-03 -5.64415371e+01] [-2.38616157e-02 6.87032611e-04 9.99715035e-01 -8.08314220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.00862385299996 meters 0.03550659442421539 Centerline is valid? [True, True] Translation: X:287.25, Y:-56.46, Z:-8.09 [[ 9.72803525e-01 2.30618798e-01 2.16396063e-02 2.87250107e+02] [-2.30546147e-01 9.73043939e-01 -5.82818631e-03 -5.64611042e+01] [-2.24003771e-02 6.80752334e-04 9.99748848e-01 -8.08774798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.06862385299996 meters 0.042352177934842375 Centerline is valid? [True, True] Translation: X:287.31, Y:-56.48, Z:-8.08 [[ 9.72992575e-01 2.29860424e-01 2.12045799e-02 2.87306915e+02] [-2.29790500e-01 9.73223365e-01 -5.71029892e-03 -5.64759985e+01] [-2.19493643e-02 6.83467438e-04 9.99758850e-01 -8.08104382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.12862385299997 meters 0.037798978847881866 Centerline is valid? [True, True] Translation: X:287.36, Y:-56.50, Z:-8.09 [[ 9.72878161e-01 2.30219300e-01 2.25201681e-02 2.87362064e+02] [-2.30140557e-01 9.73138511e-01 -6.06318739e-03 -5.64979206e+01] [-2.33111056e-02 7.15938546e-04 9.99728003e-01 -8.08936194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.18862385299997 meters 0.0360648801200787 Centerline is valid? [True, True] Translation: X:287.42, Y:-56.51, Z:-8.09 [[ 9.72395094e-01 2.32222495e-01 2.28143279e-02 2.87418554e+02] [-2.32142245e-01 9.72662457e-01 -6.14187763e-03 -5.65135841e+01] [-2.36169224e-02 6.76162380e-04 9.99720853e-01 -8.09001575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.24862385299997 meters 0.03575342577477538 Centerline is valid? [True, True] Translation: X:287.48, Y:-56.53, Z:-8.09 [[ 9.71945141e-01 2.34091455e-01 2.28874118e-02 2.87475729e+02] [-2.34011233e-01 9.72214375e-01 -6.16041966e-03 -5.65282090e+01] [-2.36935723e-02 6.31678499e-04 9.99719068e-01 -8.08659578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.308623853 meters 0.029217041621196607 Centerline is valid? [True, True] Translation: X:287.53, Y:-56.54, Z:-8.09 [[ 9.70800781e-01 2.38834049e-01 2.24531012e-02 2.87533974e+02] [-2.38758138e-01 9.71060267e-01 -6.04231830e-03 -5.65405076e+01] [-2.32464258e-02 5.05026696e-04 9.99729638e-01 -8.09341708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.368623853 meters 0.023758424162601776 Centerline is valid? [True, True] Translation: X:287.59, Y:-56.55, Z:-8.09 [[ 9.69230436e-01 2.45098459e-01 2.27839403e-02 2.87591999e+02] [-2.45022033e-01 9.69498126e-01 -6.13082386e-03 -5.65504841e+01] [-2.35916429e-02 3.59613708e-04 9.99721614e-01 -8.09397621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.428623853 meters 0.030534617280050833 Centerline is valid? [True, True] Translation: X:287.65, Y:-56.56, Z:-8.09 [[ 9.67991321e-01 2.49959070e-01 2.26553751e-02 2.87650988e+02] [-2.49884852e-01 9.68256374e-01 -6.09544965e-03 -5.65583655e+01] [-2.34598243e-02 2.39107293e-04 9.99724752e-01 -8.08661761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.488623853 meters 0.015575286730035763 Centerline is valid? [True, True] Translation: X:287.71, Y:-56.56, Z:-8.10 [[ 9.66117743e-01 2.57050688e-01 2.32690649e-02 2.87710278e+02] [-2.56974476e-01 9.66397920e-01 -6.25937568e-03 -5.65630913e+01] [-2.40961527e-02 6.77381678e-05 9.99709643e-01 -8.09637167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.548623853 meters 0.015605616557779974 Centerline is valid? [True, True] Translation: X:287.77, Y:-56.57, Z:-8.10 [[ 9.64841313e-01 2.61879370e-01 2.23704102e-02 2.87769552e+02] [-2.61810253e-01 9.65100613e-01 -6.01654105e-03 -5.65705537e+01] [-2.31653045e-02 -5.17953700e-05 9.99731647e-01 -8.10014949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.608623853 meters 0.016327279398720862 Centerline is valid? [True, True] Translation: X:287.83, Y:-56.58, Z:-8.10 [[ 9.64476947e-01 2.63279403e-01 2.16373204e-02 2.87826749e+02] [-2.63215113e-01 9.64719622e-01 -5.81852900e-03 -5.65817198e+01] [-2.24058464e-02 -8.34326564e-05 9.99748954e-01 -8.10374032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.668623853 meters 0.016605645210093667 Centerline is valid? [True, True] Translation: X:287.88, Y:-56.59, Z:-8.10 [[ 9.64148668e-01 2.64468935e-01 2.17607043e-02 2.87884009e+02] [-2.64404264e-01 9.64394198e-01 -5.84941662e-03 -5.65942503e+01] [-2.25328860e-02 -1.13915775e-04 9.99746096e-01 -8.10453079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.728623853 meters 0.016800341683898014 Centerline is valid? [True, True] Translation: X:287.94, Y:-56.61, Z:-8.11 [[ 9.63946115e-01 2.65202771e-01 2.18031611e-02 2.87941731e+02] [-2.65138060e-01 9.64192653e-01 -5.85973449e-03 -5.66059615e+01] [-2.25764655e-02 -1.32379526e-04 9.99745110e-01 -8.10572936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.788623853 meters 0.017059638382471248 Centerline is valid? [True, True] Translation: X:288.00, Y:-56.62, Z:-8.11 [[ 9.63843867e-01 2.65523883e-01 2.24068855e-02 2.87997572e+02] [-2.65455643e-01 9.64104272e-01 -6.02119688e-03 -5.66171930e+01] [-2.32013456e-02 -1.44540516e-04 9.99730802e-01 -8.10657754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.848623853 meters 0.017119519023833168 Centerline is valid? [True, True] Translation: X:288.05, Y:-56.63, Z:-8.11 [[ 9.63991694e-01 2.64960878e-01 2.27100661e-02 2.88052970e+02] [-2.64890698e-01 9.64259153e-01 -6.09948360e-03 -5.66292364e+01] [-2.35145137e-02 -1.35833740e-04 9.99723486e-01 -8.10783735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.908623853 meters 0.01608928403140344 Centerline is valid? [True, True] Translation: X:288.11, Y:-56.64, Z:-8.11 [[ 9.64473109e-01 2.63156349e-01 2.32456004e-02 2.88110492e+02] [-2.63082380e-01 9.64753195e-01 -6.23977226e-03 -5.66431840e+01] [-2.40683029e-02 -9.74153296e-05 9.99710312e-01 -8.10849709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.968623853 meters 0.015592675512436358 Centerline is valid? [True, True] Translation: X:288.17, Y:-56.66, Z:-8.11 [[ 9.64858435e-01 2.61726314e-01 2.33994941e-02 2.88167815e+02] [-2.61650969e-01 9.65142131e-01 -6.27992806e-03 -5.66583230e+01] [-2.42274600e-02 -6.32587469e-05 9.99706470e-01 -8.11011909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.028623853 meters 0.015219310485333074 Centerline is valid? [True, True] Translation: X:288.22, Y:-56.67, Z:-8.11 [[ 9.65474910e-01 2.59507698e-01 2.26705251e-02 2.88223701e+02] [-2.59436386e-01 9.65741039e-01 -6.08332148e-03 -5.66727067e+01] [-2.34725253e-02 -8.26486317e-06 9.99724482e-01 -8.11355090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.088623853 meters 0.015730247083924835 Centerline is valid? [True, True] Translation: X:288.28, Y:-56.69, Z:-8.12 [[ 9.66150822e-01 2.57099639e-01 2.12688840e-02 2.88279653e+02] [-2.57036323e-01 9.66384899e-01 -5.70572366e-03 -5.66867724e+01] [-2.20208678e-02 4.57138697e-05 9.99757510e-01 -8.11820276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.148623853 meters 0.01631989509224883 Centerline is valid? [True, True] Translation: X:288.34, Y:-56.70, Z:-8.12 [[ 9.66762772e-01 2.54796062e-01 2.11827487e-02 2.88335832e+02] [-2.54732732e-01 9.66994807e-01 -5.68136896e-03 -5.67024686e+01] [-2.19311984e-02 9.65965690e-05 9.99759478e-01 -8.11973664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.208623853 meters 0.017442728915128762 Centerline is valid? [True, True] Translation: X:288.39, Y:-56.72, Z:-8.12 [[ 9.67785873e-01 2.50846765e-01 2.15963914e-02 2.88392306e+02] [-2.50779983e-01 9.68026789e-01 -5.79098418e-03 -5.67174791e+01] [-2.23585350e-02 1.88490035e-04 9.99749999e-01 -8.11889448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.268623853 meters 0.019975219944800195 Centerline is valid? [True, True] Translation: X:288.45, Y:-56.73, Z:-8.12 [[ 9.68588721e-01 2.47638804e-01 2.26033649e-02 2.88448050e+02] [-2.47564807e-01 9.68852387e-01 -6.05954505e-03 -5.67344697e+01] [-2.33999025e-02 2.73409327e-04 9.99726147e-01 -8.11879100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.328623853 meters 0.02119936323172936 Centerline is valid? [True, True] Translation: X:288.50, Y:-56.75, Z:-8.12 [[ 9.69158807e-01 2.45372287e-01 2.28833543e-02 2.88504688e+02] [-2.45295872e-01 9.69428869e-01 -6.13216556e-03 -5.67500691e+01] [-2.36884477e-02 3.29849920e-04 9.99719335e-01 -8.11958905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.388623853 meters 0.024536028770481572 Centerline is valid? [True, True] Translation: X:288.56, Y:-56.77, Z:-8.12 [[ 9.69954664e-01 2.42200581e-01 2.29527285e-02 2.88559449e+02] [-2.42122840e-01 9.70226114e-01 -6.14961370e-03 -5.67696139e+01] [-2.37587766e-02 4.07466676e-04 9.99717637e-01 -8.12124919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.448623853 meters 0.027556359353573274 Centerline is valid? [True, True] Translation: X:288.61, Y:-56.79, Z:-8.12 [[ 9.70640589e-01 2.39497948e-01 2.23064815e-02 2.88613385e+02] [-2.39423838e-01 9.70896762e-01 -5.97525188e-03 -5.67893377e+01] [-2.30883513e-02 4.59118576e-04 9.99733323e-01 -8.12422542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.50862385299996 meters 0.036783578385635764 Centerline is valid? [True, True] Translation: X:288.67, Y:-56.82, Z:-8.13 [[ 9.71764229e-01 2.34925289e-01 2.20089104e-02 2.88666738e+02] [-2.34852025e-01 9.72013270e-01 -5.89310450e-03 -5.68186967e+01] [-2.27773922e-02 5.57870975e-04 9.99740406e-01 -8.12784200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.56862385299996 meters 0.03454111792698379 Centerline is valid? [True, True] Translation: X:288.72, Y:-56.84, Z:-8.13 [[ 9.72735727e-01 2.30868606e-01 2.20202735e-02 2.88724417e+02] [-2.30794241e-01 9.72984718e-01 -5.89555308e-03 -5.68356325e+01] [-2.27864877e-02 6.52662807e-04 9.99740141e-01 -8.12755097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.62862385299997 meters 0.03313981891313897 Centerline is valid? [True, True] Translation: X:288.78, Y:-56.85, Z:-8.13 [[ 9.73220378e-01 2.28818932e-01 2.19998100e-02 2.88781379e+02] [-2.28744187e-01 9.73468750e-01 -5.88986479e-03 -5.68537260e+01] [-2.27638401e-02 6.99807778e-04 9.99740625e-01 -8.12823064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.68862385299997 meters 0.03823343941874738 Centerline is valid? [True, True] Translation: X:288.84, Y:-56.88, Z:-8.13 [[ 9.73308447e-01 2.28480790e-01 2.16146852e-02 2.88835230e+02] [-2.28408567e-01 9.73548173e-01 -5.78626087e-03 -5.68791905e+01] [-2.23649867e-02 6.94837315e-04 9.99749631e-01 -8.13144939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.74862385299997 meters 0.03784550879364327 Centerline is valid? [True, True] Translation: X:288.89, Y:-56.90, Z:-8.13 [[ 9.73096126e-01 2.29335345e-01 2.21185325e-02 2.88890783e+02] [-2.29259955e-01 9.73347227e-01 -5.92027963e-03 -5.68996518e+01] [-2.28867417e-02 6.90107405e-04 9.99737826e-01 -8.13251048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.808623853 meters 0.03618892069238796 Centerline is valid? [True, True] Translation: X:288.95, Y:-56.92, Z:-8.13 [[ 9.72988545e-01 2.29768337e-01 2.23562850e-02 2.88946844e+02] [-2.29691457e-01 9.73245108e-01 -5.98281112e-03 -5.69177186e+01] [-2.31328055e-02 6.86159006e-04 9.99732165e-01 -8.13341156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.868623853 meters 0.04374482192400043 Centerline is valid? [True, True] Translation: X:289.00, Y:-56.94, Z:-8.13 [[ 9.73044482e-01 2.29637568e-01 2.12373212e-02 2.89002563e+02] [-2.29568186e-01 9.73275994e-01 -5.68222707e-03 -5.69400716e+01] [-2.19746277e-02 6.53646392e-04 9.99758315e-01 -8.12686473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.928623853 meters 0.0376936358529571 Centerline is valid? [True, True] Translation: X:289.06, Y:-56.97, Z:-8.14 [[ 9.72874607e-01 2.30301442e-01 2.18230598e-02 2.89056031e+02] [-2.30228361e-01 9.73119117e-01 -5.83830859e-03 -5.69681605e+01] [-2.25810075e-02 6.55654892e-04 9.99744802e-01 -8.13784001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.988623853 meters 0.034079382694895424 Centerline is valid? [True, True] Translation: X:289.11, Y:-56.98, Z:-8.14 [[ 9.72689943e-01 2.31092553e-01 2.16911623e-02 2.89114224e+02] [-2.31020554e-01 9.72931565e-01 -5.80281767e-03 -5.69816042e+01] [-2.24450044e-02 6.33238056e-04 9.99747879e-01 -8.13860570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.048623853 meters 0.03321547728126535 Centerline is valid? [True, True] Translation: X:289.17, Y:-57.00, Z:-8.14 [[ 9.71731291e-01 2.34980462e-01 2.28578324e-02 2.89169568e+02] [-2.34901604e-01 9.71999926e-01 -6.11401481e-03 -5.70049496e+01] [-2.36544854e-02 5.71838020e-04 9.99720030e-01 -8.13956689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.108623853 meters 0.02418929836348121 Centerline is valid? [True, True] Translation: X:289.23, Y:-57.02, Z:-8.14 [[ 9.70207600e-01 2.41236010e-01 2.24142779e-02 2.89228487e+02] [-2.41161817e-01 9.70466392e-01 -5.99675258e-03 -5.70151691e+01] [-2.31989361e-02 4.12626949e-04 9.99730783e-01 -8.14072420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.168623853 meters 0.020528008196801097 Centerline is valid? [True, True] Translation: X:289.29, Y:-57.03, Z:-8.14 [[ 9.68967183e-01 2.46221314e-01 2.18554916e-02 2.89286577e+02] [-2.46152053e-01 9.69213590e-01 -5.84670838e-03 -5.70280069e+01] [-2.26222237e-02 2.85494444e-04 9.99744044e-01 -8.14351784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.228623853 meters 0.01600847977513687 Centerline is valid? [True, True] Translation: X:289.34, Y:-57.04, Z:-8.15 [[ 9.67229331e-01 2.52987685e-01 2.15558200e-02 2.89344926e+02] [-2.52921997e-01 9.67469491e-01 -5.76607325e-03 -5.70397055e+01] [-2.23133437e-02 1.25174108e-04 9.99751019e-01 -8.14532402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.288623853 meters 0.017148586693217952 Centerline is valid? [True, True] Translation: X:289.40, Y:-57.05, Z:-8.14 [[ 9.66428027e-01 2.55996852e-01 2.19654250e-02 2.89400820e+02] [-2.55929438e-01 9.66677614e-01 -5.87487951e-03 -5.70546194e+01] [-2.27374352e-02 5.60493548e-05 9.99741470e-01 -8.14240184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.348623853 meters 0.014529766446349422 Centerline is valid? [True, True] Translation: X:289.46, Y:-57.07, Z:-8.15 [[ 9.65645249e-01 2.58789454e-01 2.36066165e-02 2.89457556e+02] [-2.58712464e-01 9.65933755e-01 -6.31211677e-03 -5.70717668e+01] [-2.44359370e-02 -1.20603425e-05 9.99701398e-01 -8.14525804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.408623853 meters 0.014576721520644912 Centerline is valid? [True, True] Translation: X:289.51, Y:-57.09, Z:-8.15 [[ 9.65424558e-01 2.59627526e-01 2.34301142e-02 2.89513516e+02] [-2.59551958e-01 9.65708831e-01 -6.26374562e-03 -5.70895817e+01] [-2.42529090e-02 -3.41581664e-05 9.99705854e-01 -8.14672294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.468623853 meters 0.01469288771391932 Centerline is valid? [True, True] Translation: X:289.57, Y:-57.11, Z:-8.15 [[ 9.65533941e-01 2.59253810e-01 2.30579895e-02 2.89568213e+02] [-2.59180548e-01 9.65809226e-01 -6.16296281e-03 -5.71106212e+01] [-2.38673906e-02 -2.56325873e-05 9.99715133e-01 -8.15056939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.528623853 meters 0.014718941777777335 Centerline is valid? [True, True] Translation: X:289.62, Y:-57.13, Z:-8.15 [[ 9.65730199e-01 2.58541917e-01 2.28311224e-02 2.89622686e+02] [-2.58469903e-01 9.66000040e-01 -6.10179328e-03 -5.71314927e+01] [-2.36324345e-02 -8.47196048e-06 9.99720715e-01 -8.15260368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.588623853 meters 0.014830892651571557 Centerline is valid? [True, True] Translation: X:289.68, Y:-57.15, Z:-8.15 [[ 9.65855537e-01 2.58089911e-01 2.26424172e-02 2.89678423e+02] [-2.58018994e-01 9.66120902e-01 -6.04987119e-03 -5.71496015e+01] [-2.34367232e-02 1.12787679e-06 9.99725322e-01 -8.15455285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.648623853 meters 0.014795504407280067 Centerline is valid? [True, True] Translation: X:289.73, Y:-57.17, Z:-8.16 [[ 9.66187106e-01 2.56789458e-01 2.32733939e-02 2.89734015e+02] [-2.56714184e-01 9.66467368e-01 -6.21726913e-03 -5.71708778e+01] [-2.40895049e-02 3.24349576e-05 9.99709805e-01 -8.15580803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.708623853 meters 0.015184670156687464 Centerline is valid? [True, True] Translation: X:289.79, Y:-57.19, Z:-8.16 [[ 9.66702262e-01 2.54759355e-01 2.41745405e-02 2.89790725e+02] [-2.54677538e-01 9.67004480e-01 -6.45662841e-03 -5.71929016e+01] [-2.50217754e-02 8.49248536e-05 9.99686903e-01 -8.15556190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.768623853 meters 0.015438068814096815 Centerline is valid? [True, True] Translation: X:289.85, Y:-57.21, Z:-8.16 [[ 9.66909445e-01 2.53982868e-01 2.40588413e-02 2.89849365e+02] [-2.53901593e-01 9.67208712e-01 -6.42565635e-03 -5.72128485e+01] [-2.49019275e-02 1.04449675e-04 9.99689893e-01 -8.15707594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.828623853 meters 0.02985149959793663 Centerline is valid? [True, True] Translation: X:289.91, Y:-57.23, Z:-8.15 [[ 9.66561051e-01 2.55501296e-01 2.18819962e-02 2.89908726e+02] [-2.55434443e-01 9.66808711e-01 -5.84476173e-03 -5.72288653e+01] [-2.26490487e-02 5.99035399e-05 9.99743476e-01 -8.15456235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.888623853 meters 0.015017486344344962 Centerline is valid? [True, True] Translation: X:289.97, Y:-57.24, Z:-8.16 [[ 9.65797855e-01 2.58347047e-01 2.21654381e-02 2.89966591e+02] [-2.58279181e-01 9.66052174e-01 -5.92127514e-03 -5.72428743e+01] [-2.29427136e-02 -6.11635936e-06 9.99736781e-01 -8.16471228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.948623853 meters 0.015258435845414827 Centerline is valid? [True, True] Translation: X:290.02, Y:-57.25, Z:-8.16 [[ 9.65075771e-01 2.60974998e-01 2.28211936e-02 2.90023909e+02] [-2.60903802e-01 9.65345557e-01 -6.09595785e-03 -5.72549734e+01] [-2.36212305e-02 -7.10749596e-05 9.99720977e-01 -8.16495873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.00862385299996 meters 0.030965552142941683 Centerline is valid? [True, True] Translation: X:290.08, Y:-57.27, Z:-8.16 [[ 9.64274481e-01 2.63990587e-01 2.19930785e-02 2.90081136e+02] [-2.63925271e-01 9.64525246e-01 -5.87375874e-03 -5.72656932e+01] [-2.27634965e-02 -1.40613536e-04 9.99740868e-01 -8.15956132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.06862385299996 meters 0.01702764414148187 Centerline is valid? [True, True] Translation: X:290.14, Y:-57.28, Z:-8.17 [[ 9.63730548e-01 2.65870588e-01 2.31573039e-02 2.90138609e+02] [-2.65798755e-01 9.64008709e-01 -6.18304604e-03 -5.72792864e+01] [-2.39677327e-02 -1.96392182e-04 9.99712713e-01 -8.16750475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.12862385299997 meters 0.019369898150154257 Centerline is valid? [True, True] Translation: X:290.20, Y:-57.29, Z:-8.17 [[ 9.63141311e-01 2.67942502e-01 2.37829878e-02 2.90196160e+02] [-2.67867378e-01 9.63434871e-01 -6.34957828e-03 -5.72881277e+01] [-2.46146817e-02 -2.55145431e-04 9.99696980e-01 -8.16920792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.18862385299997 meters 0.02134388199789946 Centerline is valid? [True, True] Translation: X:290.25, Y:-57.30, Z:-8.17 [[ 9.62190091e-01 2.71340189e-01 2.37640714e-02 2.90253911e+02] [-2.71266256e-01 9.62483446e-01 -6.34302302e-03 -5.72982439e+01] [-2.45936424e-02 -3.43196791e-04 9.99697472e-01 -8.17010370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.24862385299997 meters 0.022284280307168947 Centerline is valid? [True, True] Translation: X:290.31, Y:-57.31, Z:-8.17 [[ 9.61699578e-01 2.73103478e-01 2.34181985e-02 2.90312450e+02] [-2.73032247e-01 9.61984585e-01 -6.24896516e-03 -5.73083101e+01] [-2.42345601e-02 -3.84296205e-04 9.99706226e-01 -8.17237410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.308623853 meters 0.02313366591338893 Centerline is valid? [True, True] Translation: X:290.37, Y:-57.32, Z:-8.17 [[ 9.61660626e-01 2.73231024e-01 2.35297158e-02 2.90369026e+02] [-2.73159180e-01 9.61948364e-01 -6.27753773e-03 -5.73198640e+01] [-2.43495897e-02 -3.90497011e-04 9.99703429e-01 -8.17414996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.368623853 meters 0.021537733542499212 Centerline is valid? [True, True] Translation: X:290.43, Y:-57.33, Z:-8.18 [[ 9.62203169e-01 2.71317048e-01 2.34972465e-02 2.90425861e+02] [-2.71244869e-01 9.62489970e-01 -6.26732915e-03 -5.73341079e+01] [-2.43162973e-02 -3.43063569e-04 9.99704256e-01 -8.17610053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.428623853 meters 0.01800375403043918 Centerline is valid? [True, True] Translation: X:290.48, Y:-57.35, Z:-8.18 [[ 9.63438595e-01 2.66840162e-01 2.41329858e-02 2.90482092e+02] [-2.66762649e-01 9.63740770e-01 -6.43564506e-03 -5.73518174e+01] [-2.49752309e-02 -2.37430361e-04 9.99688042e-01 -8.17697254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.488623853 meters 0.03128004875925477 Centerline is valid? [True, True] Translation: X:290.54, Y:-57.37, Z:-8.17 [[ 9.65122095e-01 2.60719939e-01 2.37582663e-02 2.90538140e+02] [-2.60642989e-01 9.65414474e-01 -6.33443643e-03 -5.73730412e+01] [-2.45880881e-02 -7.89209929e-05 9.99697664e-01 -8.17099313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.548623853 meters 0.014964733482018757 Centerline is valid? [True, True] Translation: X:290.59, Y:-57.39, Z:-8.18 [[ 9.66226399e-01 2.56531496e-01 2.44568638e-02 2.90593060e+02] [-2.56448627e-01 9.66535871e-01 -6.52007020e-03 -5.73922565e+01] [-2.53110395e-02 2.79348266e-05 9.99679624e-01 -8.17984374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.608623853 meters 0.01662366908667243 Centerline is valid? [True, True] Translation: X:290.65, Y:-57.41, Z:-8.18 [[ 9.67592899e-01 2.51338290e-01 2.43525433e-02 2.90650187e+02] [-2.51254505e-01 9.67899291e-01 -6.49122702e-03 -5.74128460e+01] [-2.52023033e-02 1.62178955e-04 9.99682358e-01 -8.18145115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.668623853 meters 0.018396056082061327 Centerline is valid? [True, True] Translation: X:290.71, Y:-57.43, Z:-8.18 [[ 9.68445101e-01 2.48042511e-01 2.42692856e-02 2.90709404e+02] [-2.47958275e-01 9.68749117e-01 -6.46856297e-03 -5.74320922e+01] [-2.51153276e-02 2.46677930e-04 9.99684530e-01 -8.18332468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.728623853 meters 0.02340096942270582 Centerline is valid? [True, True] Translation: X:290.77, Y:-57.46, Z:-8.19 [[ 9.69769824e-01 2.42849429e-01 2.38881316e-02 2.90765803e+02] [-2.42766122e-01 9.70063921e-01 -6.37176647e-03 -5.74552762e+01] [-2.47203945e-02 3.79917774e-04 9.99694332e-01 -8.18580555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.788623853 meters 0.02627609768627351 Centerline is valid? [True, True] Translation: X:290.82, Y:-57.48, Z:-8.19 [[ 9.70644402e-01 2.39345883e-01 2.37274904e-02 2.90824588e+02] [-2.39262633e-01 9.70934257e-01 -6.32945936e-03 -5.74760148e+01] [-2.45527633e-02 4.66552479e-04 9.99698427e-01 -8.18805716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.848623853 meters 0.03963641351236455 Centerline is valid? [True, True] Translation: X:290.88, Y:-57.50, Z:-8.18 [[ 9.71791072e-01 2.34693873e-01 2.32572433e-02 2.90882307e+02] [-2.34612527e-01 9.72069163e-01 -6.20526720e-03 -5.74987725e+01] [-2.40639872e-02 5.73782647e-04 9.99710256e-01 -8.18075667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.908623853 meters 0.033269312893540195 Centerline is valid? [True, True] Translation: X:290.94, Y:-57.52, Z:-8.19 [[ 9.72126358e-01 2.33226056e-01 2.39989754e-02 2.90939338e+02] [-2.33138979e-01 9.72422341e-01 -6.40362636e-03 -5.75196925e+01] [-2.48306324e-02 6.30037336e-04 9.99691474e-01 -8.19105324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.968623853 meters 0.032655984471591355 Centerline is valid? [True, True] Translation: X:291.00, Y:-57.54, Z:-8.19 [[ 9.72922615e-01 2.29868724e-01 2.41237532e-02 2.90998118e+02] [-2.29779650e-01 9.73221377e-01 -6.43922748e-03 -5.75371368e+01] [-2.49579293e-02 7.21722473e-04 9.99688242e-01 -8.19131529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.028623853 meters 0.033570948757162725 Centerline is valid? [True, True] Translation: X:291.06, Y:-57.56, Z:-8.19 [[ 9.73086183e-01 2.29196407e-01 2.39225213e-02 2.91056907e+02] [-2.29108606e-01 9.73379921e-01 -6.38568357e-03 -5.75572072e+01] [-2.47492776e-02 7.32964946e-04 9.99693421e-01 -8.19298422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.088623853 meters 0.036773561865757136 Centerline is valid? [True, True] Translation: X:291.11, Y:-57.58, Z:-8.20 [[ 9.72939208e-01 2.29839982e-01 2.37251065e-02 2.91113745e+02] [-2.29753706e-01 9.73228170e-01 -6.33741810e-03 -5.75820088e+01] [-2.45465341e-02 7.14991392e-04 9.99698433e-01 -8.19552730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.148623853 meters 0.0363921952569544 Centerline is valid? [True, True] Translation: X:291.17, Y:-57.60, Z:-8.20 [[ 9.72542763e-01 2.31485493e-01 2.39799861e-02 2.91172778e+02] [-2.31397750e-01 9.72838115e-01 -6.40966639e-03 -5.75999371e+01] [-2.48123893e-02 6.84759845e-04 9.99691891e-01 -8.19613558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.208623853 meters 0.031108139614520726 Centerline is valid? [True, True] Translation: X:291.23, Y:-57.61, Z:-8.20 [[ 9.71817723e-01 2.34538983e-01 2.37018606e-02 2.91233575e+02] [-2.34454063e-01 9.72106527e-01 -6.33971116e-03 -5.76116847e+01] [-2.45276428e-02 6.04046163e-04 9.99698970e-01 -8.19760975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.268623853 meters 0.03768706675773083 Centerline is valid? [True, True] Translation: X:291.29, Y:-57.63, Z:-8.19 [[ 9.71098589e-01 2.37488769e-01 2.38036696e-02 2.91292052e+02] [-2.37403967e-01 9.71390138e-01 -6.36837784e-03 -5.76289634e+01] [-2.46350682e-02 5.33237137e-04 9.99696368e-01 -8.19136354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.328623853 meters 0.027580168100821777 Centerline is valid? [True, True] Translation: X:291.35, Y:-57.65, Z:-8.20 [[ 9.70691013e-01 2.39141629e-01 2.38796631e-02 2.91351414e+02] [-2.39056780e-01 9.70984572e-01 -6.38887393e-03 -5.76464590e+01] [-2.47146301e-02 4.93027144e-04 9.99694425e-01 -8.20116648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.388623853 meters 0.02492996096598221 Centerline is valid? [True, True] Translation: X:291.41, Y:-57.66, Z:-8.20 [[ 9.70006653e-01 2.41976701e-01 2.31164394e-02 2.91411393e+02] [-2.41897901e-01 9.70281973e-01 -6.18859090e-03 -5.76631207e+01] [-2.39269593e-02 4.11156166e-04 9.99713625e-01 -8.20427281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.448623853 meters 0.022039245923710368 Centerline is valid? [True, True] Translation: X:291.47, Y:-57.68, Z:-8.21 [[ 9.69219807e-01 2.45092412e-01 2.32954139e-02 2.91471576e+02] [-2.45013184e-01 9.69499661e-01 -6.24066827e-03 -5.76789768e+01] [-2.41144364e-02 3.40895738e-04 9.99709147e-01 -8.20541810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.50862385299996 meters 0.02183089260282629 Centerline is valid? [True, True] Translation: X:291.53, Y:-57.70, Z:-8.21 [[ 9.68824916e-01 2.46612171e-01 2.36795136e-02 2.91529983e+02] [-2.46530651e-01 9.69114204e-01 -6.34811668e-03 -5.76970722e+01] [-2.45136758e-02 3.12487711e-04 9.99699446e-01 -8.20685520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.56862385299996 meters 0.01967012355713679 Centerline is valid? [True, True] Translation: X:291.59, Y:-57.71, Z:-8.21 [[ 9.68305332e-01 2.48599285e-01 2.41491224e-02 2.91589440e+02] [-2.48515060e-01 9.68606382e-01 -6.47631159e-03 -5.77141731e+01] [-2.50010005e-02 2.69626448e-04 9.99687390e-01 -8.20661934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.62862385299997 meters 0.018197623542375918 Centerline is valid? [True, True] Translation: X:291.65, Y:-57.73, Z:-8.21 [[ 9.67832588e-01 2.50472529e-01 2.37401232e-02 2.91649306e+02] [-2.50391595e-01 9.68123682e-01 -6.37071595e-03 -5.77311222e+01] [-2.45790649e-02 2.21459182e-04 9.99697865e-01 -8.20900400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.68862385299997 meters 0.017470765398455164 Centerline is valid? [True, True] Translation: X:291.71, Y:-57.75, Z:-8.21 [[ 9.67500248e-01 2.51787663e-01 2.33718628e-02 2.91708818e+02] [-2.51709504e-01 9.67782484e-01 -6.27601741e-03 -5.77476181e+01] [-2.41991032e-02 1.89128404e-04 9.99707141e-01 -8.21087752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.74862385299997 meters 0.016576917148609868 Centerline is valid? [True, True] Translation: X:291.77, Y:-57.76, Z:-8.21 [[ 9.67055731e-01 2.53443745e-01 2.38638205e-02 2.91768816e+02] [-2.53362656e-01 9.67350115e-01 -6.41251304e-03 -5.77632697e+01] [-2.47098808e-02 1.55056545e-04 9.99694652e-01 -8.21158946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.808623853 meters 0.016085455165119427 Centerline is valid? [True, True] Translation: X:291.83, Y:-57.78, Z:-8.21 [[ 9.66779662e-01 2.54523899e-01 2.35514263e-02 2.91829211e+02] [-2.54445141e-01 9.67066475e-01 -6.33263633e-03 -5.77802630e+01] [-2.43876021e-02 1.29718031e-04 9.99702570e-01 -8.21369254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.868623853 meters 0.015341863422399023 Centerline is valid? [True, True] Translation: X:291.89, Y:-57.80, Z:-8.22 [[ 9.66103638e-01 2.57064836e-01 2.36945380e-02 2.91889848e+02] [-2.56985758e-01 9.66394156e-01 -6.37611501e-03 -5.77951511e+01] [-2.45373380e-02 7.08290970e-05 9.99698912e-01 -8.21595063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.928623853 meters 0.01939141737815126 Centerline is valid? [True, True] Translation: X:291.95, Y:-57.81, Z:-8.21 [[ 9.65587705e-01 2.59081647e-01 2.27394844e-02 2.91950323e+02] [-2.59009284e-01 9.65855424e-01 -6.12297706e-03 -5.78099248e+01] [-2.35494054e-02 2.25337783e-05 9.99722674e-01 -8.21429217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.988623853 meters 0.015241609824645924 Centerline is valid? [True, True] Translation: X:292.01, Y:-57.82, Z:-8.22 [[ 9.64945279e-01 2.61487993e-01 2.24641437e-02 2.92011339e+02] [-2.61417926e-01 9.65206728e-01 -6.05304057e-03 -5.78232606e+01] [-2.32653401e-02 -3.16769504e-05 9.99729325e-01 -8.22119756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.048623853 meters 0.015282476372085916 Centerline is valid? [True, True] Translation: X:292.07, Y:-57.84, Z:-8.22 [[ 9.64665979e-01 2.62515595e-01 2.24746742e-02 2.92072050e+02] [-2.62445632e-01 9.64927748e-01 -6.06059648e-03 -5.78375582e+01] [-2.32774378e-02 -5.19288310e-05 9.99729042e-01 -8.22347199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.108623853 meters 0.01524277351144745 Centerline is valid? [True, True] Translation: X:292.13, Y:-57.85, Z:-8.22 [[ 9.64697438e-01 2.62384790e-01 2.26511657e-02 2.92132397e+02] [-2.62313586e-01 9.64963326e-01 -6.11249042e-03 -5.78543437e+01] [-2.34613687e-02 -4.50046633e-05 9.99724743e-01 -8.22304569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.168623853 meters 0.028718246227722524 Centerline is valid? [True, True] Translation: X:292.19, Y:-57.87, Z:-8.22 [[ 9.64927060e-01 2.61571415e-01 2.22747425e-02 2.92193111e+02] [-2.61502234e-01 9.65184125e-01 -6.01557562e-03 -5.78714996e+01] [-2.30727304e-02 -2.03032207e-05 9.99733789e-01 -8.21690816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.228623853 meters 0.015040374026844707 Centerline is valid? [True, True] Translation: X:292.25, Y:-57.89, Z:-8.23 [[ 9.65178927e-01 2.60565250e-01 2.31384676e-02 2.92251649e+02] [-2.60490177e-01 9.65456240e-01 -6.25436264e-03 -5.78877663e+01] [-2.39688475e-02 9.23550828e-06 9.99712706e-01 -8.22592600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.288623853 meters 0.015342070456336884 Centerline is valid? [True, True] Translation: X:292.31, Y:-57.90, Z:-8.23 [[ 9.65523826e-01 2.59319674e-01 2.27386909e-02 2.92311448e+02] [-2.59246783e-01 9.65791543e-01 -6.14821969e-03 -5.79040387e+01] [-2.35551897e-02 4.13201328e-05 9.99722537e-01 -8.22851295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.348623853 meters 0.01544602585808959 Centerline is valid? [True, True] Translation: X:292.37, Y:-57.92, Z:-8.23 [[ 9.65666904e-01 2.58782335e-01 2.27845218e-02 2.92370775e+02] [-2.58708896e-01 9.65935660e-01 -6.16503959e-03 -5.79206481e+01] [-2.36037854e-02 5.88162286e-05 9.99721390e-01 -8.23011434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.408623853 meters 0.01613506073589215 Centerline is valid? [True, True] Translation: X:292.43, Y:-57.94, Z:-8.23 [[ 9.66158608e-01 2.56915779e-01 2.30613510e-02 2.92431377e+02] [-2.56839907e-01 9.66433790e-01 -6.24437505e-03 -5.79390634e+01] [-2.38915473e-02 1.09981476e-04 9.99714550e-01 -8.23094647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.468623853 meters 0.01742855990137606 Centerline is valid? [True, True] Translation: X:292.49, Y:-57.96, Z:-8.23 [[ 9.66791648e-01 2.54577913e-01 2.24498353e-02 2.92490593e+02] [-2.54505276e-01 9.67052252e-01 -6.08329227e-03 -5.79579173e+01] [-2.32588356e-02 1.67674646e-04 9.99729463e-01 -8.23317229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.528623853 meters 0.018912309806446658 Centerline is valid? [True, True] Translation: X:292.55, Y:-57.98, Z:-8.24 [[ 9.67164050e-01 2.53167940e-01 2.23538466e-02 2.92548711e+02] [-2.53095452e-01 9.67422324e-01 -6.06131553e-03 -5.79771726e+01] [-2.31601410e-02 2.04629568e-04 9.99731747e-01 -8.23589928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.588623853 meters 0.01905793619136746 Centerline is valid? [True, True] Translation: X:292.61, Y:-57.99, Z:-8.24 [[ 9.67544765e-01 2.51727325e-01 2.21468207e-02 2.92608519e+02] [-2.51655716e-01 9.67798169e-01 -6.00866539e-03 -5.79941737e+01] [-2.29461978e-02 2.40278708e-04 9.99736672e-01 -8.23690836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.648623853 meters 0.021158846576837392 Centerline is valid? [True, True] Translation: X:292.67, Y:-58.01, Z:-8.24 [[ 9.67975532e-01 2.50031200e-01 2.25337277e-02 2.92666262e+02] [-2.49956507e-01 9.68237737e-01 -6.11798209e-03 -5.80141786e+01] [-2.33476919e-02 2.89605122e-04 9.99727364e-01 -8.23840913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.708623853 meters 0.02291533608807794 Centerline is valid? [True, True] Translation: X:292.72, Y:-58.03, Z:-8.24 [[ 9.68302874e-01 2.48753037e-01 2.26156980e-02 2.92724426e+02] [-2.48677359e-01 9.68566890e-01 -6.14415245e-03 -5.80332121e+01] [-2.34331928e-02 3.25388441e-04 9.99725352e-01 -8.24011881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.768623853 meters 0.023048479541974965 Centerline is valid? [True, True] Translation: X:292.78, Y:-58.05, Z:-8.24 [[ 9.68395463e-01 2.48410736e-01 2.24127945e-02 2.92784112e+02] [-2.48336236e-01 9.68654734e-01 -6.09255649e-03 -5.80497220e+01] [-2.32237160e-02 3.34095028e-04 9.99730237e-01 -8.24240811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.828623853 meters 0.023631474788009525 Centerline is valid? [True, True] Translation: X:292.84, Y:-58.07, Z:-8.25 [[ 9.68569335e-01 2.47884655e-01 2.06552899e-02 2.92842929e+02] [-2.47821191e-01 9.68789499e-01 -5.61813503e-03 -5.80680382e+01] [-2.14032774e-02 3.22734757e-04 9.99770872e-01 -8.24725345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.888623853 meters 0.022554509849624038 Centerline is valid? [True, True] Translation: X:292.90, Y:-58.08, Z:-8.25 [[ 9.68355181e-01 2.48739614e-01 2.04168665e-02 2.92903649e+02] [-2.48677729e-01 9.68570345e-01 -5.55650554e-03 -5.80833451e+01] [-2.11572945e-02 3.03450918e-04 9.99776113e-01 -8.24860024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.948623853 meters 0.03193629062291799 Centerline is valid? [True, True] Translation: X:292.96, Y:-58.10, Z:-8.24 [[ 9.67646485e-01 2.51519708e-01 1.99528423e-02 2.92962827e+02] [-2.51461120e-01 9.67852147e-01 -5.43383715e-03 -5.80980575e+01] [-2.06781184e-02 2.40669343e-04 9.99786156e-01 -8.24166841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.00862385299996 meters 0.018735272642585704 Centerline is valid? [True, True] Translation: X:293.02, Y:-58.11, Z:-8.25 [[ 9.67199026e-01 2.53160390e-01 2.08772735e-02 2.93023671e+02] [-2.53096551e-01 9.67424296e-01 -5.68915949e-03 -5.81093832e+01] [-2.16374514e-02 2.18583605e-04 9.99765859e-01 -8.24936725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.06862385299996 meters 0.018251016707492875 Centerline is valid? [True, True] Translation: X:293.08, Y:-58.12, Z:-8.25 [[ 9.66621065e-01 2.55284792e-01 2.17575742e-02 2.93082515e+02] [-2.55215894e-01 9.66865886e-01 -5.93347419e-03 -5.81246248e+01] [-2.25513820e-02 1.82542389e-04 9.99745669e-01 -8.24990399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.12862385299997 meters 0.017107394897523814 Centerline is valid? [True, True] Translation: X:293.14, Y:-58.14, Z:-8.25 [[ 9.66251358e-01 2.56626317e-01 2.23885330e-02 2.93142971e+02] [-2.56553631e-01 9.66510687e-01 -6.10952869e-03 -5.81380862e+01] [-2.32066222e-02 1.59480957e-04 9.99730677e-01 -8.24971658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.18862385299997 meters 0.016677596929957284 Centerline is valid? [True, True] Translation: X:293.20, Y:-58.15, Z:-8.25 [[ 9.65800249e-01 2.58374738e-01 2.17341654e-02 2.93202507e+02] [-2.58306593e-01 9.66044761e-01 -5.93492879e-03 -5.81526678e+01] [-2.25296123e-02 1.17877473e-04 9.99746169e-01 -8.25337353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.24862385299997 meters 0.033902597327356954 Centerline is valid? [True, True] Translation: X:293.26, Y:-58.17, Z:-8.25 [[ 9.65494922e-01 2.59646009e-01 2.00874326e-02 2.93263355e+02] [-2.59588016e-01 9.65703859e-01 -5.48809464e-03 -5.81678407e+01] [-2.08234731e-02 8.42707216e-05 9.99783164e-01 -8.24865204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.308623853 meters 0.021969159309724262 Centerline is valid? [True, True] Translation: X:293.32, Y:-58.18, Z:-8.25 [[ 9.65267572e-01 2.60491038e-01 2.00732139e-02 2.93324458e+02] [-2.60433223e-01 9.65476263e-01 -5.48835201e-03 -5.81840367e+01] [-2.08098780e-02 6.99964274e-05 9.99783449e-01 -8.25263553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.368623853 meters 0.016214437483981214 Centerline is valid? [True, True] Translation: X:293.38, Y:-58.20, Z:-8.26 [[ 9.65167187e-01 2.60802268e-01 2.08441522e-02 2.93383412e+02] [-2.60739897e-01 9.65392238e-01 -5.70385917e-03 -5.81998141e+01] [-2.16103621e-02 7.02756247e-05 9.99766466e-01 -8.26024796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.428623853 meters 0.016321984502528076 Centerline is valid? [True, True] Translation: X:293.44, Y:-58.22, Z:-8.26 [[ 9.65298966e-01 2.60271215e-01 2.13729135e-02 2.93444235e+02] [-2.60205433e-01 9.65535544e-01 -5.85196093e-03 -5.82168551e+01] [-2.21594046e-02 8.75436234e-05 9.99754446e-01 -8.26035907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.488623853 meters 0.022797191800591192 Centerline is valid? [True, True] Translation: X:293.50, Y:-58.24, Z:-8.25 [[ 9.66128876e-01 2.57202652e-01 2.10188078e-02 2.93502957e+02] [-2.57138211e-01 9.66357476e-01 -5.75931490e-03 -5.82380554e+01] [-2.17929931e-02 1.59501783e-04 9.99762492e-01 -8.25496723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.548623853 meters 0.020148367500635856 Centerline is valid? [True, True] Translation: X:293.56, Y:-58.26, Z:-8.26 [[ 9.67158272e-01 2.53337786e-01 2.06117246e-02 2.93559239e+02] [-2.53274856e-01 9.67377851e-01 -5.65169909e-03 -5.82633049e+01] [-2.13711148e-02 2.45655944e-04 9.99771581e-01 -8.26470769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.608623853 meters 0.02720351542814274 Centerline is valid? [True, True] Translation: X:293.62, Y:-58.29, Z:-8.26 [[ 9.67867377e-01 2.50666641e-01 1.99743961e-02 2.93616812e+02] [-2.50606904e-01 9.68073420e-01 -5.48032905e-03 -5.82864642e+01] [-2.07104176e-02 2.98510146e-04 9.99785472e-01 -8.26053290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.668623853 meters 0.026767333076449608 Centerline is valid? [True, True] Translation: X:293.67, Y:-58.31, Z:-8.27 [[ 9.68744577e-01 2.47233976e-01 2.02313113e-02 2.93674012e+02] [-2.47171870e-01 9.68955735e-01 -5.55431195e-03 -5.83106810e+01] [-2.09764598e-02 3.80098528e-04 9.99779898e-01 -8.26502313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.728623853 meters 0.028236359979300504 Centerline is valid? [True, True] Translation: X:293.73, Y:-58.33, Z:-8.27 [[ 9.69285438e-01 2.45079532e-01 2.05368657e-02 2.93730832e+02] [-2.45014966e-01 9.69502879e-01 -5.64223235e-03 -5.83348924e+01] [-2.12933461e-02 4.37094212e-04 9.99773175e-01 -8.26937363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.788623853 meters 0.03119140239711856 Centerline is valid? [True, True] Translation: X:293.79, Y:-58.36, Z:-8.27 [[ 9.69754037e-01 2.43201511e-01 2.07396180e-02 2.93787249e+02] [-2.43135201e-01 9.69975665e-01 -5.69944921e-03 -5.83617162e+01] [-2.15030395e-02 4.84532673e-04 9.99768666e-01 -8.27089075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.848623853 meters 0.030141525446062387 Centerline is valid? [True, True] Translation: X:293.85, Y:-58.38, Z:-8.27 [[ 9.69633959e-01 2.43711065e-01 2.03691526e-02 2.93847753e+02] [-2.43647153e-01 9.69847770e-01 -5.60061907e-03 -5.83782295e+01] [-2.11199101e-02 4.67664406e-04 9.99776840e-01 -8.26737141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.908623853 meters 0.0258560759400528 Centerline is valid? [True, True] Translation: X:293.91, Y:-58.40, Z:-8.27 [[ 9.68780538e-01 2.47102241e-01 2.01184352e-02 2.93906256e+02] [-2.47040509e-01 9.68989333e-01 -5.53714269e-03 -5.83956385e+01] [-2.08627894e-02 3.94207622e-04 9.99782271e-01 -8.27398237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.968623853 meters 0.022766279407699274 Centerline is valid? [True, True] Translation: X:293.97, Y:-58.41, Z:-8.28 [[ 9.67753054e-01 2.51086700e-01 2.02359738e-02 2.93966401e+02] [-2.51025105e-01 9.67964551e-01 -5.56995178e-03 -5.84105981e+01] [-2.09862461e-02 3.10600397e-04 9.99779716e-01 -8.27506591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.028623853 meters 0.018516900555650497 Centerline is valid? [True, True] Translation: X:294.03, Y:-58.42, Z:-8.28 [[ 9.65956125e-01 2.57890253e-01 2.05275792e-02 2.94026744e+02] [-2.57828383e-01 9.66174203e-01 -5.65112577e-03 -5.84210390e+01] [-2.12905877e-02 1.66146993e-04 9.99773316e-01 -8.27680151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.088623853 meters 0.016001131961205606 Centerline is valid? [True, True] Translation: X:294.09, Y:-58.43, Z:-8.28 [[ 9.64226874e-01 2.64309511e-01 2.01746727e-02 2.94088971e+02] [-2.64251147e-01 9.64437910e-01 -5.55423999e-03 -5.84307232e+01] [-2.09252576e-02 2.43670778e-05 9.99781043e-01 -8.27840660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.148623853 meters 0.016236748479949978 Centerline is valid? [True, True] Translation: X:294.15, Y:-58.44, Z:-8.28 [[ 9.63148079e-01 2.68235474e-01 1.98874048e-02 2.94151465e+02] [-2.68179590e-01 9.63353376e-01 -5.47543946e-03 -5.84425617e+01] [-2.06273057e-02 -5.97370635e-05 9.99787233e-01 -8.28062515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.208623853 meters 0.03336834420493242 Centerline is valid? [True, True] Translation: X:294.21, Y:-58.45, Z:-8.27 [[ 9.61848717e-01 2.72871501e-01 1.97025141e-02 2.94213451e+02] [-2.72817539e-01 9.62050477e-01 -5.42862803e-03 -5.84531973e+01] [-2.04361310e-02 -1.53672502e-04 9.99791149e-01 -8.27125835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.268623853 meters 0.01939147798503181 Centerline is valid? [True, True] Translation: X:294.27, Y:-58.46, Z:-8.28 [[ 9.61161031e-01 2.75223371e-01 2.05321394e-02 2.94273373e+02] [-2.75165210e-01 9.61380285e-01 -5.66166093e-03 -5.84644393e+01] [-2.12974155e-02 -2.07962600e-04 9.99773163e-01 -8.28209071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.328623853 meters 0.027962689526924978 Centerline is valid? [True, True] Translation: X:294.33, Y:-58.48, Z:-8.28 [[ 9.60689664e-01 2.76897564e-01 2.00775591e-02 2.94334696e+02] [-2.76842287e-01 9.60899413e-01 -5.53768922e-03 -5.84780474e+01] [-2.08258874e-02 -2.38316568e-04 9.99783089e-01 -8.27531050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.388623853 meters 0.02024744089294749 Centerline is valid? [True, True] Translation: X:294.40, Y:-58.49, Z:-8.29 [[ 9.60626328e-01 2.77144755e-01 1.96937043e-02 2.94395338e+02] [-2.77091555e-01 9.60828147e-01 -5.43515950e-03 -5.84916141e+01] [-2.04285914e-02 -2.35801846e-04 9.99791287e-01 -8.28605604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.448623853 meters 0.019778549704289647 Centerline is valid? [True, True] Translation: X:294.46, Y:-58.51, Z:-8.29 [[ 9.60785927e-01 2.76624436e-01 1.92178229e-02 2.94456082e+02] [-2.76573603e-01 9.60978082e-01 -5.30724858e-03 -5.85072722e+01] [-1.99360212e-02 -2.16012769e-04 9.99801234e-01 -8.28870599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.50862385299996 meters 0.018059067883825726 Centerline is valid? [True, True] Translation: X:294.52, Y:-58.52, Z:-8.29 [[ 9.61315198e-01 2.74751576e-01 1.96128209e-02 2.94515636e+02] [-2.74698156e-01 9.61515232e-01 -5.42056090e-03 -5.85242026e+01] [-2.03473336e-02 -1.76738157e-04 9.99792956e-01 -8.28820992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.56862385299996 meters 0.01689642264217323 Centerline is valid? [True, True] Translation: X:294.58, Y:-58.54, Z:-8.29 [[ 9.61929526e-01 2.72557259e-01 2.01029264e-02 2.94575600e+02] [-2.72500577e-01 9.62139555e-01 -5.55981114e-03 -5.85390603e+01] [-2.08571876e-02 -1.29912571e-04 9.99782457e-01 -8.28834804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.62862385299997 meters 0.01636891668938588 Centerline is valid? [True, True] Translation: X:294.64, Y:-58.55, Z:-8.29 [[ 9.62403566e-01 2.70897314e-01 1.98499764e-02 2.94635244e+02] [-2.70841622e-01 9.62608247e-01 -5.49348958e-03 -5.85545796e+01] [-2.05959226e-02 -8.92458449e-05 9.99787878e-01 -8.29059560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.68862385299997 meters 0.016347250211315043 Centerline is valid? [True, True] Translation: X:294.69, Y:-58.57, Z:-8.29 [[ 9.62628124e-01 2.70109274e-01 1.96996014e-02 2.94694735e+02] [-2.70054177e-01 9.62829671e-01 -5.45582910e-03 -5.85703712e+01] [-2.04410308e-02 -6.80251040e-05 9.99791058e-01 -8.29331065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.74862385299997 meters 0.01590129137204801 Centerline is valid? [True, True] Translation: X:294.76, Y:-58.59, Z:-8.29 [[ 9.63329711e-01 2.67580431e-01 1.99143236e-02 2.94755076e+02] [-2.67523539e-01 9.63535527e-01 -5.51754883e-03 -5.85858485e+01] [-2.06645464e-02 -1.23316142e-05 9.99786465e-01 -8.29344723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.808623853 meters 0.015693833361582872 Centerline is valid? [True, True] Translation: X:294.82, Y:-58.60, Z:-8.29 [[ 9.63825068e-01 2.65691767e-01 2.11925364e-02 2.94815442e+02] [-2.65626787e-01 9.64058029e-01 -5.87587880e-03 -5.85994203e+01] [-2.19920075e-02 3.40139232e-05 9.99758146e-01 -8.29318096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.868623853 meters 0.015944359875814808 Centerline is valid? [True, True] Translation: X:294.88, Y:-58.61, Z:-8.29 [[ 9.64191849e-01 2.64350283e-01 2.12839569e-02 2.94876905e+02] [-2.64284333e-01 9.64426733e-01 -5.90494763e-03 -5.86149481e+01] [-2.20877916e-02 6.84860062e-05 9.99756033e-01 -8.29427841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.928623853 meters 0.029369887732388075 Centerline is valid? [True, True] Translation: X:294.94, Y:-58.63, Z:-8.29 [[ 9.64695048e-01 2.62630534e-01 1.97146561e-02 2.94938265e+02] [-2.62573511e-01 9.64896467e-01 -5.47351146e-03 -5.86276796e+01] [-2.04601132e-02 1.03722936e-04 9.99790665e-01 -8.28970867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.988623853 meters 0.025083300388151028 Centerline is valid? [True, True] Translation: X:295.00, Y:-58.64, Z:-8.29 [[ 9.64963447e-01 2.61633035e-01 1.98419248e-02 2.94999075e+02] [-2.61574990e-01 9.65167415e-01 -5.51234009e-03 -5.86423515e+01] [-2.05929896e-02 1.29055397e-04 9.99787934e-01 -8.29158355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.048623853 meters 0.018420329364525194 Centerline is valid? [True, True] Translation: X:295.06, Y:-58.66, Z:-8.30 [[ 9.65471146e-01 2.59729824e-01 2.01465913e-02 2.95058132e+02] [-2.59669462e-01 9.65681307e-01 -5.60207613e-03 -5.86571852e+01] [-2.09102128e-02 1.77188344e-04 9.99781342e-01 -8.30131706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.108623853 meters 0.019039139611391236 Centerline is valid? [True, True] Translation: X:295.12, Y:-58.67, Z:-8.30 [[ 9.65620543e-01 2.59198467e-01 1.98273098e-02 2.95117779e+02] [-2.59139851e-01 9.65824062e-01 -5.51525749e-03 -5.86717110e+01] [-2.05792392e-02 1.87599823e-04 9.99788207e-01 -8.30418564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.168623853 meters 0.01959530105412461 Centerline is valid? [True, True] Translation: X:295.18, Y:-58.68, Z:-8.31 [[ 9.65677739e-01 2.59063989e-01 1.87710839e-02 2.95176673e+02] [-2.59011380e-01 9.65860143e-01 -5.22389147e-03 -5.86836555e+01] [-1.94835639e-02 1.82671365e-04 9.99810161e-01 -8.30890799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.228623853 meters 0.018798044366442116 Centerline is valid? [True, True] Translation: X:295.24, Y:-58.70, Z:-8.31 [[ 9.65645606e-01 2.59169420e-01 1.89677756e-02 2.95236806e+02] [-2.59115719e-01 9.65831858e-01 -5.27876589e-03 -5.86966249e+01] [-1.96877766e-02 1.82568271e-04 9.99806160e-01 -8.30921386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.288623853 meters 0.02103725547262255 Centerline is valid? [True, True] Translation: X:295.30, Y:-58.71, Z:-8.31 [[ 9.65493103e-01 2.59733190e-01 1.90194044e-02 2.95296647e+02] [-2.59679293e-01 9.65680403e-01 -5.29384792e-03 -5.87075012e+01] [-1.97416541e-02 1.72228180e-04 9.99805100e-01 -8.30603004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.348623853 meters 0.017693588095593023 Centerline is valid? [True, True] Translation: X:295.35, Y:-58.72, Z:-8.31 [[ 9.64944495e-01 2.61780863e-01 1.87856504e-02 2.95354314e+02] [-2.61728663e-01 9.65127330e-01 -5.22909949e-03 -5.87182076e+01] [-1.94994228e-02 1.29047611e-04 9.99809860e-01 -8.31467481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.408623853 meters 0.016648154308496865 Centerline is valid? [True, True] Translation: X:295.41, Y:-58.72, Z:-8.32 [[ 9.64143296e-01 2.64789684e-01 1.77236762e-02 2.95413003e+02] [-2.64743737e-01 9.64306186e-01 -4.93297509e-03 -5.87249234e+01] [-1.83972515e-02 6.38625722e-05 9.99830754e-01 -8.31892527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.468623853 meters 0.029029105104256464 Centerline is valid? [True, True] Translation: X:295.47, Y:-58.73, Z:-8.32 [[ 9.63644221e-01 2.66736829e-01 1.55331998e-02 2.95470876e+02] [-2.66701797e-01 9.63769404e-01 -4.32294569e-03 -5.87311743e+01] [-1.61235115e-02 2.30493487e-05 9.99870007e-01 -8.31639224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.528623853 meters 0.01698941137063743 Centerline is valid? [True, True] Translation: X:295.53, Y:-58.74, Z:-8.33 [[ 9.63510580e-01 2.67252163e-01 1.49547011e-02 2.95528149e+02] [-2.67219776e-01 9.63626630e-01 -4.16052884e-03 -5.87434521e+01] [-1.55226585e-02 1.25216782e-05 9.99879516e-01 -8.32894325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.588623853 meters 0.017329951252202647 Centerline is valid? [True, True] Translation: X:295.58, Y:-58.76, Z:-8.33 [[ 9.63732202e-01 2.66467908e-01 1.46661582e-02 2.95584653e+02] [-2.66436677e-01 9.63843791e-01 -4.07966502e-03 -5.87550557e+01] [-1.52229853e-02 2.41020956e-05 9.99884123e-01 -8.33271059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.648623853 meters 0.01734169887069654 Centerline is valid? [True, True] Translation: X:295.64, Y:-58.77, Z:-8.33 [[ 9.64096041e-01 2.65141426e-01 1.47934980e-02 2.95640531e+02] [-2.65109507e-01 9.64209532e-01 -4.11428418e-03 -5.87692825e+01] [-1.53548990e-02 4.46681338e-05 9.99882106e-01 -8.33358111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.708623853 meters 0.018699657249190087 Centerline is valid? [True, True] Translation: X:295.70, Y:-58.79, Z:-8.34 [[ 9.65015082e-01 2.61819074e-01 1.40236682e-02 2.95696984e+02] [-2.61790058e-01 9.65116969e-01 -3.89886234e-03 -5.87867973e+01] [-1.45552767e-02 9.12040373e-05 9.99894062e-01 -8.33753142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.768623853 meters 0.04772840525221864 Centerline is valid? [True, True] Translation: X:295.77, Y:-58.76, Z:-8.33 [[ 9.52417023e-01 3.04218872e-01 1.87801171e-02 2.95765658e+02] [-3.04174997e-01 9.52601873e-01 -5.21945817e-03 -5.87638395e+01] [-1.94778324e-02 -7.41341256e-04 9.99810014e-01 -8.32598551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.828623853 meters 0.038041412034954876 Centerline is valid? [True, True] Translation: X:295.82, Y:-58.79, Z:-8.32 [[ 9.54008065e-01 2.99118449e-01 1.99189642e-02 2.95822445e+02] [-2.99067984e-01 9.54215749e-01 -5.53573201e-03 -5.87861520e+01] [-2.06628289e-02 -6.75991484e-04 9.99786272e-01 -8.32388812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.888623853 meters 0.03504019580882164 Centerline is valid? [True, True] Translation: X:295.88, Y:-58.80, Z:-8.33 [[ 9.55594423e-01 2.93961193e-01 2.06425713e-02 2.95879243e+02] [-2.93905790e-01 9.55817177e-01 -5.73683789e-03 -5.88020099e+01] [-2.14169320e-02 -5.84880946e-04 9.99770460e-01 -8.32514921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.948623853 meters 0.02354563644961368 Centerline is valid? [True, True] Translation: X:295.93, Y:-58.83, Z:-8.33 [[ 9.58888360e-01 2.83061209e-01 2.02352457e-02 2.95933875e+02] [-2.83005546e-01 9.59101788e-01 -5.62322423e-03 -5.88310848e+01] [-2.09993770e-02 -3.34642491e-04 9.99779433e-01 -8.32754038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.00862385299996 meters 0.017742742848681475 Centerline is valid? [True, True] Translation: X:295.99, Y:-58.86, Z:-8.33 [[ 9.61256986e-01 2.74925827e-01 2.00198830e-02 2.95987944e+02] [-2.74869576e-01 9.61465426e-01 -5.56335991e-03 -5.88572050e+01] [-2.07779367e-02 -1.55038169e-04 9.99784103e-01 -8.33073597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.06862385299996 meters 0.016274517063199146 Centerline is valid? [True, True] Translation: X:296.04, Y:-58.89, Z:-8.33 [[ 9.64502555e-01 2.63254237e-01 2.07852775e-02 2.96040053e+02] [-2.63190891e-01 9.64726488e-01 -5.77566636e-03 -5.88899587e+01] [-2.15725764e-02 1.00149243e-04 9.99767280e-01 -8.33055326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.12862385299997 meters 0.021842487164265043 Centerline is valid? [True, True] Translation: X:296.10, Y:-58.92, Z:-8.33 [[ 9.66945770e-01 2.54128610e-01 2.08453028e-02 2.96095152e+02] [-2.54062801e-01 9.67170387e-01 -5.79097579e-03 -5.89172285e+01] [-2.16326122e-02 3.03543509e-04 9.99765942e-01 -8.33238606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.18862385299997 meters 0.0276644352931241 Centerline is valid? [True, True] Translation: X:296.15, Y:-58.94, Z:-8.34 [[ 9.68020737e-01 2.50056434e-01 2.01898876e-02 2.96150766e+02] [-2.49993815e-01 9.68231188e-01 -5.60881276e-03 -5.89422344e+01] [-2.09509986e-02 3.82100040e-04 9.99780431e-01 -8.33652392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.24862385299997 meters 0.04177067449222058 Centerline is valid? [True, True] Translation: X:296.21, Y:-58.96, Z:-8.33 [[ 9.69036303e-01 2.46155306e-01 1.93961216e-02 2.96206949e+02] [-2.46096724e-01 9.69230295e-01 -5.38871946e-03 -5.89649323e+01] [-2.01257705e-02 4.48542810e-04 9.99797356e-01 -8.33075936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.308623853 meters 0.030915776000152898 Centerline is valid? [True, True] Translation: X:296.27, Y:-58.98, Z:-8.34 [[ 9.69203664e-01 2.45439789e-01 2.00890037e-02 2.96266574e+02] [-2.45376803e-01 9.69411719e-01 -5.58071807e-03 -5.89804543e+01] [-2.08442458e-02 4.79476907e-04 9.99782620e-01 -8.33845030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.368623853 meters 0.03242402998324097 Centerline is valid? [True, True] Translation: X:296.33, Y:-58.99, Z:-8.33 [[ 9.69000871e-01 2.46236788e-01 2.01185697e-02 2.96326504e+02] [-2.46173777e-01 9.69209590e-01 -5.58943602e-03 -5.89939327e+01] [-2.08754354e-02 4.63504082e-04 9.99781977e-01 -8.33304550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.428623853 meters 0.026291746042470785 Centerline is valid? [True, True] Translation: X:296.39, Y:-59.01, Z:-8.34 [[ 9.68399968e-01 2.48441807e-01 2.18671153e-02 2.96387120e+02] [-2.48367915e-01 9.68646718e-01 -6.07577704e-03 -5.90066820e+01] [-2.26909865e-02 4.52692468e-04 9.99742424e-01 -8.33910302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.488623853 meters 0.02440026777285821 Centerline is valid? [True, True] Translation: X:296.45, Y:-59.02, Z:-8.34 [[ 9.67828975e-01 2.50672698e-01 2.16857817e-02 2.96447165e+02] [-2.50600566e-01 9.68071816e-01 -6.02631078e-03 -5.90197890e+01] [-2.25040257e-02 3.97969020e-04 9.99746673e-01 -8.34111566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.548623853 meters 0.021288176409218654 Centerline is valid? [True, True] Translation: X:296.51, Y:-59.03, Z:-8.35 [[ 9.66723332e-01 2.54976668e-01 2.08062225e-02 2.96505281e+02] [-2.54911245e-01 9.66947163e-01 -5.78279588e-03 -5.90293632e+01] [-2.15929959e-02 2.86623622e-04 9.99766803e-01 -8.34502804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.608623853 meters 0.02009228036194077 Centerline is valid? [True, True] Translation: X:296.56, Y:-59.04, Z:-8.35 [[ 9.66280790e-01 2.56678248e-01 2.04379948e-02 2.96563629e+02] [-2.56615519e-01 9.66496879e-01 -5.67958841e-03 -5.90431854e+01] [-2.12110850e-02 2.43370520e-04 9.99774990e-01 -8.34767174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.668623853 meters 0.016900170343861296 Centerline is valid? [True, True] Translation: X:296.62, Y:-59.05, Z:-8.35 [[ 9.64815219e-01 2.62197677e-01 1.95951773e-02 2.96621388e+02] [-2.62141156e-01 9.65014178e-01 -5.44517135e-03 -5.90499729e+01] [-2.03373352e-02 1.16881764e-04 9.99793168e-01 -8.35168355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.728623853 meters 0.021253047969035897 Centerline is valid? [True, True] Translation: X:296.68, Y:-59.06, Z:-8.35 [[ 9.63811805e-01 2.65881493e-01 1.93348308e-02 2.96680813e+02] [-2.65827230e-01 9.64005721e-01 -5.37151988e-03 -5.90577369e+01] [-2.00670753e-02 3.74097431e-05 9.99798635e-01 -8.34785675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.788623853 meters 0.01644274371801791 Centerline is valid? [True, True] Translation: X:296.74, Y:-59.06, Z:-8.36 [[ 9.62086585e-01 2.72039596e-01 1.95923835e-02 2.96739118e+02] [-2.71985168e-01 9.62286054e-01 -5.44234764e-03 -5.90613565e+01] [-2.03340115e-02 -9.28280614e-05 9.99793238e-01 -8.35611189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.848623853 meters 0.017566034112263935 Centerline is valid? [True, True] Translation: X:296.80, Y:-59.07, Z:-8.36 [[ 9.61174292e-01 2.75232182e-01 1.97794618e-02 2.96797579e+02] [-2.75177428e-01 9.61377771e-01 -5.49217178e-03 -5.90704420e+01] [-2.05271574e-02 -1.63927125e-04 9.99789282e-01 -8.35574700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.908623853 meters 0.021654505070999655 Centerline is valid? [True, True] Translation: X:296.86, Y:-59.07, Z:-8.35 [[ 9.59837390e-01 2.79742029e-01 2.13677957e-02 2.96856672e+02] [-2.79679267e-01 9.60075163e-01 -5.93211114e-03 -5.90721544e+01] [-2.21741507e-02 -2.82267372e-04 9.99754083e-01 -8.35483665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.968623853 meters 0.022652117139222862 Centerline is valid? [True, True] Translation: X:296.92, Y:-59.08, Z:-8.35 [[ 9.58850793e-01 2.83009500e-01 2.26004507e-02 2.96915401e+02] [-2.82940235e-01 9.59117031e-01 -6.27253400e-03 -5.90787173e+01] [-2.34516639e-02 -3.80152642e-04 9.99724900e-01 -8.35415596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.028623853 meters 0.026153611401921833 Centerline is valid? [True, True] Translation: X:296.97, Y:-59.08, Z:-8.36 [[ 9.58633749e-01 2.83816919e-01 2.16631471e-02 2.96973567e+02] [-2.83753536e-01 9.58878412e-01 -6.01020877e-03 -5.90845256e+01] [-2.24781230e-02 -3.85405630e-04 9.99747261e-01 -8.35843649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.088623853 meters 0.0249243254095357 Centerline is valid? [True, True] Translation: X:297.03, Y:-59.10, Z:-8.36 [[ 9.59183806e-01 2.82065840e-01 2.01317533e-02 2.97030521e+02] [-2.82010727e-01 9.59394996e-01 -5.58483556e-03 -5.90971990e+01] [-2.08895948e-02 -3.20486579e-04 9.99781737e-01 -8.36427053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.148623853 meters 0.026767281996458638 Centerline is valid? [True, True] Translation: X:297.09, Y:-59.12, Z:-8.36 [[ 9.60622422e-01 2.77143298e-01 1.99036313e-02 2.97086546e+02] [-2.77088456e-01 9.60828573e-01 -5.51739706e-03 -5.91178822e+01] [-2.06530873e-02 -2.14931127e-04 9.99786679e-01 -8.35864203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.208623853 meters 0.016871331663138416 Centerline is valid? [True, True] Translation: X:297.14, Y:-59.13, Z:-8.37 [[ 9.61774489e-01 2.73088049e-01 2.03162441e-02 2.97142183e+02] [-2.73030019e-01 9.61989033e-01 -5.63102697e-03 -5.91347595e+01] [-2.10817702e-02 -1.31166439e-04 9.99777746e-01 -8.36719892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.268623853 meters 0.015097247257594208 Centerline is valid? [True, True] Translation: X:297.20, Y:-59.16, Z:-8.37 [[ 9.63619672e-01 2.66443292e-01 2.10973847e-02 2.97197343e+02] [-2.66379143e-01 9.63850596e-01 -5.84636969e-03 -5.91573070e+01] [-2.18924528e-02 1.37735934e-05 9.99760331e-01 -8.36675542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.328623853 meters 0.015895667121578604 Centerline is valid? [True, True] Translation: X:297.25, Y:-59.18, Z:-8.37 [[ 9.64674110e-01 2.62563899e-01 2.15420744e-02 2.97252145e+02] [-2.62496074e-01 9.64914601e-01 -5.96848993e-03 -5.91762120e+01] [-2.23533721e-02 1.02937757e-04 9.99750127e-01 -8.36741772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.388623853 meters 0.018574893384472057 Centerline is valid? [True, True] Translation: X:297.31, Y:-59.20, Z:-8.37 [[ 9.66082861e-01 2.57315090e-01 2.17451082e-02 2.97307976e+02] [-2.57244683e-01 9.66327529e-01 -6.02322954e-03 -5.91960336e+01] [-2.25627645e-02 2.25125362e-04 9.99745403e-01 -8.36910813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.448623853 meters 0.022880711750504122 Centerline is valid? [True, True] Translation: X:297.36, Y:-59.22, Z:-8.37 [[ 9.67341485e-01 2.52656432e-01 2.03759391e-02 2.97361971e+02] [-2.52593599e-01 9.67556009e-01 -5.64300522e-03 -5.92189115e+01] [-2.11406039e-02 3.11881252e-04 9.99776464e-01 -8.37407440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.50862385299996 meters 0.023207036113373162 Centerline is valid? [True, True] Translation: X:297.42, Y:-59.23, Z:-8.38 [[ 9.67915447e-01 2.50487649e-01 1.98903150e-02 2.97418165e+02] [-2.50427338e-01 9.68119732e-01 -5.50753872e-03 -5.92349683e+01] [-2.06357769e-02 3.49753162e-04 9.99786999e-01 -8.37554892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.56862385299996 meters 0.025449017637564974 Centerline is valid? [True, True] Translation: X:297.47, Y:-59.25, Z:-8.38 [[ 9.68459368e-01 2.48417603e-01 1.93686988e-02 2.97473158e+02] [-2.48360018e-01 9.68652956e-01 -5.36220217e-03 -5.92522915e+01] [-2.00936127e-02 3.82664561e-04 9.99798030e-01 -8.37889958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.62862385299997 meters 0.0269367754926364 Centerline is valid? [True, True] Translation: X:297.53, Y:-59.27, Z:-8.38 [[ 9.68803385e-01 2.47122243e-01 1.87242527e-02 2.97528708e+02] [-2.47068210e-01 9.68984232e-01 -5.18250071e-03 -5.92703570e+01] [-1.94242168e-02 3.94656640e-04 9.99811254e-01 -8.38235621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.68862385299997 meters 0.028521788483254908 Centerline is valid? [True, True] Translation: X:297.58, Y:-59.29, Z:-8.38 [[ 9.69260322e-01 2.45298258e-01 1.90576141e-02 2.97584330e+02] [-2.45241952e-01 9.69447561e-01 -5.27375772e-03 -5.92904905e+01] [-1.97690011e-02 4.37917634e-04 9.99804478e-01 -8.38361794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.74862385299997 meters 0.028549431011703697 Centerline is valid? [True, True] Translation: X:297.64, Y:-59.31, Z:-8.38 [[ 9.69450725e-01 2.44534748e-01 1.91845813e-02 2.97640460e+02] [-2.44477558e-01 9.69640423e-01 -5.30789336e-03 -5.93065758e+01] [-1.99001099e-02 4.55541473e-04 9.99801869e-01 -8.38468489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.808623853 meters 0.03026337928644699 Centerline is valid? [True, True] Translation: X:297.70, Y:-59.32, Z:-8.39 [[ 9.69455536e-01 2.44522469e-01 1.90977782e-02 2.97695440e+02] [-2.44465812e-01 9.69643521e-01 -5.28297255e-03 -5.93245322e+01] [-1.98098423e-02 4.52853138e-04 9.99803663e-01 -8.38735098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.868623853 meters 0.029813287955951177 Centerline is valid? [True, True] Translation: X:297.75, Y:-59.34, Z:-8.39 [[ 9.69255346e-01 2.45291923e-01 1.93893357e-02 2.97751648e+02] [-2.45233705e-01 9.69449161e-01 -5.36223119e-03 -5.93407007e+01] [-2.01122872e-02 4.42452627e-04 9.99797630e-01 -8.38853791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.928623853 meters 0.02934131896899892 Centerline is valid? [True, True] Translation: X:297.81, Y:-59.35, Z:-8.39 [[ 9.69156629e-01 2.45698321e-01 1.91771407e-02 2.97808797e+02] [-2.45641468e-01 9.69346250e-01 -5.30262784e-03 -5.93544305e+01] [-1.98921362e-02 4.28375939e-04 9.99802040e-01 -8.38529473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.988623853 meters 0.02885114234704786 Centerline is valid? [True, True] Translation: X:297.86, Y:-59.37, Z:-8.39 [[ 9.69182894e-01 2.45590428e-01 1.92317195e-02 2.97863471e+02] [-2.45533248e-01 9.69373590e-01 -5.31679328e-03 -5.93740192e+01] [-1.99484745e-02 4.30918566e-04 9.99800917e-01 -8.39249651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.048623853 meters 0.030972154056971856 Centerline is valid? [True, True] Translation: X:297.92, Y:-59.40, Z:-8.39 [[ 9.69270881e-01 2.45215360e-01 1.95802512e-02 2.97917413e+02] [-2.45156039e-01 9.69468529e-01 -5.41181341e-03 -5.93958454e+01] [-2.03094971e-02 4.45296314e-04 9.99793642e-01 -8.39497392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.108623853 meters 0.028676669812026195 Centerline is valid? [True, True] Translation: X:297.97, Y:-59.41, Z:-8.40 [[ 9.69385658e-01 2.44770475e-01 1.94643333e-02 2.97974842e+02] [-2.44711794e-01 9.69580946e-01 -5.37830218e-03 -5.94121973e+01] [-2.01886962e-02 4.50497077e-04 9.99796086e-01 -8.39555587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.168623853 meters 0.030005821161088894 Centerline is valid? [True, True] Translation: X:298.03, Y:-59.43, Z:-8.40 [[ 9.69358856e-01 2.44907266e-01 1.90745929e-02 2.98029886e+02] [-2.44850946e-01 9.69546409e-01 -5.27022803e-03 -5.94318472e+01] [-1.97844202e-02 4.38310092e-04 9.99804173e-01 -8.39886889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.228623853 meters 0.02600704056132977 Centerline is valid? [True, True] Translation: X:298.09, Y:-59.45, Z:-8.40 [[ 9.68739239e-01 2.47381487e-01 1.86195136e-02 2.98088181e+02] [-2.47328294e-01 9.68918086e-01 -5.14370059e-03 -5.94450335e+01] [-1.93132397e-02 3.77772072e-04 9.99813411e-01 -8.40003975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.288623853 meters 0.023903289545017147 Centerline is valid? [True, True] Translation: X:298.15, Y:-59.46, Z:-8.40 [[ 9.68055812e-01 2.50037233e-01 1.86902887e-02 2.98145520e+02] [-2.49984137e-01 9.68236168e-01 -5.16286379e-03 -5.94601187e+01] [-1.93875217e-02 3.25664604e-04 9.99811991e-01 -8.40161834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.348623853 meters 0.019997281306192525 Centerline is valid? [True, True] Translation: X:298.20, Y:-59.47, Z:-8.40 [[ 9.66615398e-01 2.55580152e-01 1.82608593e-02 2.98203990e+02] [-2.55530469e-01 9.66787848e-01 -5.04354322e-03 -5.94713137e+01] [-1.89434064e-02 2.08960598e-04 9.99820536e-01 -8.40390853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.408623853 meters 0.01786272809053406 Centerline is valid? [True, True] Translation: X:298.26, Y:-59.48, Z:-8.41 [[ 9.65557856e-01 2.59560714e-01 1.80627485e-02 2.98261655e+02] [-2.59512809e-01 9.65726783e-01 -4.98824180e-03 -5.94831412e+01] [-1.87384316e-02 1.28921446e-04 9.99824412e-01 -8.40630950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.468623853 meters 0.016495513940908594 Centerline is valid? [True, True] Translation: X:298.32, Y:-59.49, Z:-8.41 [[ 9.64074126e-01 2.65085150e-01 1.70570350e-02 2.98318921e+02] [-2.65043308e-01 9.64225006e-01 -4.70981440e-03 -5.94918153e+01] [-1.76953216e-02 1.97572138e-05 9.99843425e-01 -8.40995551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.528623853 meters 0.01831882605248748 Centerline is valid? [True, True] Translation: X:298.38, Y:-59.50, Z:-8.41 [[ 9.63630126e-01 2.66700073e-01 1.69720455e-02 2.98375446e+02] [-2.66658914e-01 9.63779576e-01 -4.68538411e-03 -5.95045438e+01] [-1.76069031e-02 -1.07699465e-05 9.99844986e-01 -8.40912544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.588623853 meters 0.018224187981289296 Centerline is valid? [True, True] Translation: X:298.43, Y:-59.51, Z:-8.41 [[ 9.62080949e-01 2.72243838e-01 1.68386729e-02 2.98434046e+02] [-2.72204197e-01 9.62228289e-01 -4.64703515e-03 -5.95131623e+01] [-1.74677741e-02 -1.12733459e-04 9.99847420e-01 -8.41255094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.648623853 meters 0.020176805570024568 Centerline is valid? [True, True] Translation: X:298.49, Y:-59.52, Z:-8.41 [[ 9.61039906e-01 2.75900047e-01 1.67768707e-02 2.98491793e+02] [-2.75861268e-01 9.61186315e-01 -4.62912712e-03 -5.95245205e+01] [-1.74028750e-02 -1.79312940e-04 9.99848542e-01 -8.41306647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.708623853 meters 0.024587984591337667 Centerline is valid? [True, True] Translation: X:298.55, Y:-59.53, Z:-8.41 [[ 9.59759502e-01 2.80339968e-01 1.64681912e-02 2.98551075e+02] [-2.80303274e-01 9.59900743e-01 -4.54283313e-03 -5.95333119e+01] [-1.70813666e-02 -2.56060640e-04 9.99854070e-01 -8.41402941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.768623853 meters 0.033035858579591786 Centerline is valid? [True, True] Translation: X:298.61, Y:-59.55, Z:-8.41 [[ 9.59371142e-01 2.81653017e-01 1.66910262e-02 2.98608779e+02] [-2.81615525e-01 9.59516283e-01 -4.60412045e-03 -5.95452268e+01] [-1.73120758e-02 -2.83391816e-04 9.99850095e-01 -8.41180725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.828623853 meters 0.03405538611561111 Centerline is valid? [True, True] Translation: X:298.67, Y:-59.55, Z:-8.42 [[ 9.58816144e-01 2.83601498e-01 1.55496882e-02 2.98666359e+02] [-2.83569224e-01 9.58942179e-01 -4.28870402e-03 -5.95545458e+01] [-1.61275348e-02 -2.97334370e-04 9.99869899e-01 -8.41713925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.888623853 meters 0.038454762449939145 Centerline is valid? [True, True] Translation: X:298.72, Y:-59.57, Z:-8.42 [[ 9.58701391e-01 2.83995667e-01 1.54305929e-02 2.98724157e+02] [-2.83963956e-01 9.58825516e-01 -4.25470169e-03 -5.95669832e+01] [-1.60035630e-02 -3.02743768e-04 9.99871889e-01 -8.41769581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.948623853 meters 0.04146045477241531 Centerline is valid? [True, True] Translation: X:298.78, Y:-59.58, Z:-8.42 [[ 9.58940921e-01 2.83210563e-01 1.49695553e-02 2.98780899e+02] [-2.83180634e-01 9.59057713e-01 -4.12686052e-03 -5.95825564e+01] [-1.55254379e-02 -2.81672716e-04 9.99879433e-01 -8.41863483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.00862385299996 meters 0.046187502228492244 Centerline is valid? [True, True] Translation: X:298.84, Y:-59.60, Z:-8.42 [[ 9.59346642e-01 2.81825633e-01 1.51107032e-02 2.98837070e+02] [-2.81794976e-01 9.59465603e-01 -4.16510378e-03 -5.95958520e+01] [-1.56720330e-02 -2.62341915e-04 9.99877152e-01 -8.42091579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.06862385299996 meters 0.05260399351230584 Centerline is valid? [True, True] Translation: X:298.89, Y:-59.61, Z:-8.42 [[ 9.59575213e-01 2.81041939e-01 1.51933633e-02 2.98893700e+02] [-2.81010863e-01 9.59695454e-01 -4.18686825e-03 -5.96085246e+01] [-1.57576873e-02 -2.51885135e-04 9.99875808e-01 -8.42291616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.12862385299997 meters 0.0513879460486525 Centerline is valid? [True, True] Translation: X:298.95, Y:-59.62, Z:-8.43 [[ 9.60100750e-01 2.79290705e-01 1.42566118e-02 2.98950400e+02] [-2.79263155e-01 9.60206570e-01 -3.92837065e-03 -5.96248663e+01] [-1.47864497e-02 -2.09714778e-04 9.99890652e-01 -8.42569807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.18862385299997 meters 0.052685132730070985 Centerline is valid? [True, True] Translation: X:299.01, Y:-59.62, Z:-8.41 [[ 9.60823766e-01 2.77159354e-01 6.18557976e-04 2.99011622e+02] [-2.77002914e-01 9.60351793e-01 -3.15249075e-02 -5.96224744e+01] [-9.33145626e-03 3.01185380e-02 9.99502775e-01 -8.41482873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.24862385299997 meters 0.0534962275257321 Centerline is valid? [True, True] Translation: X:299.06, Y:-59.66, Z:-8.42 [[ 9.63012843e-01 2.69011693e-01 1.54587413e-02 2.99061849e+02] [-2.69078481e-01 9.63115320e-01 2.37732546e-03 -5.96646434e+01] [-1.42490223e-02 -6.44900958e-03 9.99877680e-01 -8.42133798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.308623853 meters 0.05470420114929865 Centerline is valid? [True, True] Translation: X:299.12, Y:-59.68, Z:-8.42 [[ 9.65483556e-01 2.60407992e-01 5.40194070e-03 2.99121111e+02] [-2.60315852e-01 9.65426240e-01 -1.37051719e-02 -5.96808313e+01] [-8.78411160e-03 1.18259073e-02 9.99891488e-01 -8.41986362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.368623853 meters 0.0569381004471093 Centerline is valid? [True, True] Translation: X:299.18, Y:-59.71, Z:-8.42 [[ 9.67030742e-01 2.54396961e-01 1.15641684e-02 2.99177241e+02] [-2.54428792e-01 9.67090575e-01 1.34553514e-03 -5.97103650e+01] [-1.08412982e-02 -4.24343124e-03 9.99932227e-01 -8.42255700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.428623853 meters 0.05909074838341391 Centerline is valid? [True, True] Translation: X:299.23, Y:-59.74, Z:-8.44 [[ 9.66214123e-01 2.57418642e-01 1.28806122e-02 2.99225548e+02] [-2.57656247e-01 9.65969831e-01 2.27056173e-02 -5.97423720e+01] [-6.59743360e-03 -2.52572583e-02 9.99659214e-01 -8.43907551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.488623853 meters 0.06091017815622172 Centerline is valid? [True, True] Translation: X:299.28, Y:-59.75, Z:-8.44 [[ 9.66443434e-01 2.56818686e-01 5.59028720e-03 2.99284722e+02] [-2.56814111e-01 9.66459601e-01 -1.53372720e-03 -5.97474202e+01] [-5.79667654e-03 4.65959498e-05 9.99983198e-01 -8.44205060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.548623853 meters 0.06993967011885571 Centerline is valid? [True, True] Translation: X:299.34, Y:-59.78, Z:-8.45 [[ 9.67925197e-01 2.48106511e-01 3.95470757e-02 2.99339191e+02] [-2.48515930e-01 9.68610928e-01 5.71856139e-03 -5.97758001e+01] [-3.68869174e-02 -1.53632180e-02 9.99201345e-01 -8.45124479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.608623853 meters 0.06488260450988047 Centerline is valid? [True, True] Translation: X:299.40, Y:-59.77, Z:-8.45 [[ 9.66200496e-01 2.57786051e-01 -1.71867995e-03 2.99400888e+02] [-2.57779613e-01 9.66068650e-01 -1.61565856e-02 -5.97684788e+01] [-2.50457956e-03 1.60535416e-02 9.99867997e-01 -8.44984652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.668623853 meters 0.06692501704635115 Centerline is valid? [True, True] Translation: X:299.46, Y:-59.79, Z:-8.45 [[ 9.65743611e-01 2.59494934e-01 1.28723630e-03 2.99455909e+02] [-2.59494692e-01 9.65744469e-01 -3.53941462e-04 -5.97884856e+01] [-1.33498735e-03 7.78571897e-06 9.99999109e-01 -8.45145364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.728623853 meters 0.06880060401235263 Centerline is valid? [True, True] Translation: X:299.51, Y:-59.80, Z:-8.46 [[ 9.65217792e-01 2.61445592e-01 -9.03026548e-04 2.99513372e+02] [-2.61445477e-01 9.65218215e-01 2.45933024e-04 -5.97998345e+01] [ 9.35915777e-04 -1.28672412e-06 9.99999562e-01 -8.45511331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.788623853 meters 0.07409533398776523 Centerline is valid? [True, True] Translation: X:299.57, Y:-59.81, Z:-8.46 [[ 9.64350358e-01 2.64618119e-01 -2.37453984e-03 2.99572512e+02] [-2.64617332e-01 9.64353281e-01 6.45173476e-04 -5.98071586e+01] [ 2.46061988e-03 6.17112654e-06 9.99996973e-01 -8.45946299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.848623853 meters 0.07481313270721868 Centerline is valid? [True, True] Translation: X:299.63, Y:-59.81, Z:-8.47 [[ 9.63184185e-01 2.68822933e-01 -3.23361123e-03 2.99631420e+02] [-2.68821485e-01 9.63189613e-01 8.82780092e-04 -5.98097395e+01] [ 3.35189228e-03 1.89843471e-05 9.99994382e-01 -8.46679443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.908623853 meters 0.07650604064036909 Centerline is valid? [True, True] Translation: X:299.69, Y:-59.82, Z:-8.47 [[ 9.62751864e-01 2.70330569e-01 -5.49838339e-03 2.99690035e+02] [-2.70326396e-01 9.62767564e-01 1.50254956e-03 -5.98195116e+01] [ 5.69985026e-03 3.97757779e-05 9.99983755e-01 -8.46832915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.968623853 meters 0.07997334840395176 Centerline is valid? [True, True] Translation: X:299.75, Y:-59.83, Z:-8.48 [[ 9.62377803e-01 2.71568609e-01 -8.91375698e-03 2.99749929e+02] [-2.71557686e-01 9.62419080e-01 2.43684455e-03 -5.98259000e+01] [ 9.24054028e-03 7.54341183e-05 9.99957302e-01 -8.47705447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.028623853 meters 0.08227662870850752 Centerline is valid? [True, True] Translation: X:299.81, Y:-59.84, Z:-8.48 [[ 9.62353775e-01 2.71627500e-01 -9.68052802e-03 2.99807476e+02] [-2.71614676e-01 9.62402459e-01 2.64088523e-03 -5.98377310e+01] [ 1.00339010e-02 8.79076080e-05 9.99949655e-01 -8.47782846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.088623853 meters 0.08698612531712743 Centerline is valid? [True, True] Translation: X:299.87, Y:-59.85, Z:-8.48 [[ 9.62766063e-01 2.70086272e-01 -1.16152789e-02 2.99865375e+02] [-2.70067658e-01 9.62836123e-01 3.17194120e-03 -5.98504981e+01] [ 1.20403079e-02 8.30738359e-05 9.99927509e-01 -8.47679131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.148623853 meters 0.08974073345490825 Centerline is valid? [True, True] Translation: X:299.92, Y:-59.87, Z:-8.48 [[ 9.63746316e-01 2.66445095e-01 -1.41439328e-02 2.99922404e+02] [-2.66417093e-01 9.63850097e-01 3.86304085e-03 -5.98676193e+01] [ 1.46619193e-02 4.51940768e-05 9.99892507e-01 -8.47971320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.208623853 meters 0.09165600253012417 Centerline is valid? [True, True] Translation: X:300.03, Y:-59.86, Z:-8.46 [[ 9.63218291e-01 2.68180345e-01 -1.70243051e-02 3.00028645e+02] [-2.68694494e-01 9.60315938e-01 -7.48102198e-02 -5.98571792e+01] [-3.71391903e-03 7.66329091e-02 9.97052458e-01 -8.45831539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2756.05 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%| | 0/10308 [00:00