+ python -m lidar_slam --no-model /working/b99e6104-b84a-4dde-9b85-1ba77cf0b6a3 Lidar SLAM 0.0.9 ===================================================== The recording path: /working/b99e6104-b84a-4dde-9b85-1ba77cf0b6a3 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 0.00264 Adjusted end_distance from 9.223372036854776e+18 to 308.61264 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00264 meters 1.011759111258542 Centerline is valid? [0, False] SLAMing on 0.06264 meters SLAMing on 0.12264 meters 0.954390968992837 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999390e-01 1.09053982e-03 -1.74980624e-04 1.38192726e-03] [-1.09036748e-03 9.99998923e-01 9.81962435e-04 -5.35632496e-03] [ 1.76051304e-04 -9.81771043e-04 9.99999503e-01 -9.07861119e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18264 meters 0.948494760755906 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99998033e-01 1.97665313e-03 -1.60830428e-04 1.22856544e-03] [-1.97654250e-03 9.99997812e-01 6.85114932e-04 -2.41812434e-04] [ 1.62184310e-04 -6.84795696e-04 9.99999752e-01 -9.80475768e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24264 meters 0.8604218142274441 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99996708e-01 2.56289203e-03 -1.27558680e-04 1.13788146e-03] [-2.56285288e-03 9.99996669e-01 3.06169153e-04 3.81513807e-03] [ 1.28342934e-04 -3.05841231e-04 9.99999945e-01 -1.13346200e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30263999999999996 meters 0.9990610915339462 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99993924e-01 3.34021522e-03 -9.97507495e-04 9.83899886e-03] [-3.34005585e-03 9.99994409e-01 1.61387966e-04 8.03868652e-03] [ 9.98040988e-04 -1.58055255e-04 9.99999489e-01 -7.88485920e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36263999999999996 meters 0.8634940721539852 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99994132e-01 3.25579912e-03 -1.06560994e-03 1.04598171e-02] [-3.25577604e-03 9.99994700e-01 2.33968197e-05 8.89778771e-03] [ 1.06568047e-03 -1.99272951e-05 9.99999432e-01 -8.37082271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42263999999999996 meters 0.8819542081054387 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99994258e-01 3.15781707e-03 -1.22989989e-03 1.17369301e-02] [-3.15795916e-03 9.99995007e-01 -1.13607572e-04 9.72933580e-03] [ 1.22953500e-03 1.17490893e-04 9.99999237e-01 -9.22207358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48263999999999996 meters 0.8718754192762221 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99995401e-01 2.71728855e-03 -1.34667972e-03 1.26801820e-02] [-2.71842576e-03 9.99995949e-01 -8.43342969e-04 1.46904524e-02] [ 1.34438266e-03 8.46999939e-04 9.99998738e-01 -9.86073274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.54264 meters 0.8776533678687132 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 0.999996 0.00238904 -0.00151144 0.01372371] [-0.00239112 0.99999619 -0.00137937 0.01835007] [ 0.00150814 0.00138298 0.99999791 -0.01036411] [ 0. 0. 0. 1. ]] SLAMing on 0.60264 meters 0.8521344149049299 Centerline is valid? [False, False] Translation: X:0.01, Y:0.02, Z:-0.01 [[ 0.99999692 0.00189043 -0.00160868 0.01425569] [-0.00189392 0.99999585 -0.00217169 0.02360847] [ 0.00160457 0.00217473 0.99999635 -0.01042026] [ 0. 0. 0. 1. ]] SLAMing on 0.6626399999999999 meters 0.8470656317279901 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.99999745 0.00142637 -0.00174895 0.01517225] [-0.00143145 0.99999475 -0.00290744 0.02842418] [ 0.0017448 0.00290993 0.99999424 -0.01072241] [ 0. 0. 0. 1. ]] SLAMing on 0.72264 meters 0.8371463174521097 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.99999754 0.00111951 -0.00191385 0.01649353] [-0.00112593 0.99999373 -0.00335673 0.03127737] [ 0.00191008 0.00335887 0.99999253 -0.01157418] [ 0. 0. 0. 1. ]] SLAMing on 0.78264 meters 0.8466713679417651 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 9.99997580e-01 6.96678295e-04 -2.08694528e-03 1.73865010e-02] [-7.04766302e-04 9.99992235e-01 -3.87729920e-03 3.46440783e-02] [ 2.08422785e-03 3.87876062e-03 9.99990306e-01 -1.16125480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.84264 meters 0.8379920630649124 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.01 [[ 9.99997480e-01 3.57201555e-04 -2.21619459e-03 1.81894076e-02] [-3.66914202e-04 9.99990324e-01 -4.38372088e-03 3.80987355e-02] [ 2.21460728e-03 4.38452298e-03 9.99987936e-01 -1.18387811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9026399999999999 meters 0.8115051914362563 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.01 [[ 9.99997239e-01 1.99849482e-04 -2.34153913e-03 1.89346319e-02] [-2.10711963e-04 9.99989214e-01 -4.63970642e-03 3.97514606e-02] [ 2.34058664e-03 4.64018700e-03 9.99986495e-01 -1.19598833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9626399999999999 meters 0.8082979586307728 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.01 [[ 9.99996987e-01 -6.38564737e-05 -2.45395607e-03 1.93805860e-02] [ 5.14239982e-05 9.99987166e-01 -5.06602830e-03 4.26761785e-02] [ 2.45424807e-03 5.06588684e-03 9.99984157e-01 -1.16852153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.02264 meters 0.8079875854231733 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.01 [[ 9.99996762e-01 -5.95767925e-05 -2.54428140e-03 1.98156481e-02] [ 4.67175176e-05 9.99987228e-01 -5.05394775e-03 4.26486426e-02] [ 2.54455000e-03 5.05381252e-03 9.99983992e-01 -1.15482064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.08264 meters 0.8115210198368872 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.02 [[ 9.99993261e-01 -8.08794426e-04 -3.58114385e-03 2.90451645e-02] [ 7.91754215e-04 9.99988371e-01 -4.75717863e-03 3.76934204e-02] [ 3.58494978e-03 4.75431119e-03 9.99982272e-01 -1.80736988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1426399999999999 meters 0.8272781018155566 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.02 [[ 9.99992348e-01 -7.50199534e-04 -3.83950121e-03 3.06730296e-02] [ 7.33747749e-04 9.99990552e-01 -4.28449199e-03 3.44017169e-02] [ 3.84267916e-03 4.28164198e-03 9.99983451e-01 -1.89091726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.20264 meters 0.48557728057489374 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.02 [[ 9.99991508e-01 -4.77016041e-04 -4.09356144e-03 3.25660386e-02] [ 4.61668363e-04 9.99992865e-01 -3.74935017e-03 3.08205480e-02] [ 4.09532073e-03 3.74742846e-03 9.99984592e-01 -2.00249239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.26264 meters 0.7989743688589103 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.02 [[ 0.9999817 0.00429753 -0.00425823 0.03372856] [-0.00429181 0.99998988 0.00135157 0.02565957] [ 0.004264 -0.00133327 0.99999002 -0.02053055] [ 0. 0. 0. 1. ]] SLAMing on 1.3226399999999998 meters 0.7779779745998723 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.02 [[ 0.99997859 0.00488193 -0.00435775 0.03388975] [-0.00487586 0.99998713 0.00140243 0.02621934] [ 0.00436454 -0.00138116 0.99998952 -0.01967082] [ 0. 0. 0. 1. ]] SLAMing on 1.3826399999999999 meters 0.499704840185295 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.02 [[ 0.99997352 0.0057021 -0.00452069 0.03468062] [-0.00569677 0.99998306 0.00119097 0.0297458 ] [ 0.0045274 -0.00116519 0.99998907 -0.0194115 ] [ 0. 0. 0. 1. ]] SLAMing on 1.44264 meters 0.5069057241026141 Centerline is valid? [False, False] Translation: X:0.04, Y:0.04, Z:-0.02 [[ 9.99971188e-01 5.80515185e-03 -4.89106575e-03 3.69872295e-02] [-5.80305637e-03 9.99983064e-01 4.42512543e-04 3.59501931e-02] [ 4.89355177e-03 -4.14116663e-04 9.99987941e-01 -2.05220063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.50264 meters 0.5061799259179417 Centerline is valid? [False, False] Translation: X:0.04, Y:0.04, Z:-0.02 [[ 9.99970785e-01 5.78436197e-03 -4.99708402e-03 3.78016482e-02] [-5.78237841e-03 9.99983197e-01 4.11299835e-04 3.61451551e-02] [ 4.99937916e-03 -3.82392788e-04 9.99987430e-01 -2.09160570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.56264 meters 0.954604686470457 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.02 [[ 9.99968973e-01 5.94701072e-03 -5.16582298e-03 3.90756494e-02] [-5.94341136e-03 9.99982084e-01 7.11835894e-04 3.40397916e-02] [ 5.16996373e-03 -6.81111197e-04 9.99986404e-01 -2.15326312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6226399999999999 meters 0.95311627211291 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.02 [[ 9.99968180e-01 5.98172600e-03 -5.27812251e-03 3.96846894e-02] [-5.97763095e-03 9.99981821e-01 7.91287867e-04 3.35444000e-02] [ 5.28275983e-03 -7.59712019e-04 9.99985758e-01 -2.15122090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.68264 meters 1.1724417858072649 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.02 [[ 9.99966958e-01 6.10343835e-03 -5.36936972e-03 4.01867250e-02] [-6.09808718e-03 9.99980894e-01 1.01241793e-03 3.20947168e-02] [ 5.37544636e-03 -9.79641598e-04 9.99985072e-01 -2.15169875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.74264 meters 0.8673424523486613 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.03 [[ 0.99997883 0.00227537 -0.00609656 0.04878333] [-0.00229399 0.99999272 -0.00304823 0.03194864] [ 0.00608958 0.00306215 0.99997677 -0.0279208 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8026399999999998 meters 0.4805885269858631 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.03 [[ 0.99997831 0.00220617 -0.00620655 0.04938955] [-0.00222585 0.99999251 -0.00316475 0.03273537] [ 0.00619952 0.0031785 0.99997573 -0.02791298] [ 0. 0. 0. 1. ]] SLAMing on 1.8626399999999999 meters 0.48378784057942653 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:-0.03 [[ 0.99997829 0.00198606 -0.00628289 0.04978661] [-0.00200842 0.99999167 -0.00355429 0.03530965] [ 0.00627578 0.00356683 0.99997395 -0.02784142] [ 0. 0. 0. 1. ]] SLAMing on 1.92264 meters 0.5606188421251808 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:-0.03 [[ 0.9999778 0.00192727 -0.00637807 0.05005836] [-0.00195085 0.99999128 -0.0036923 0.03626749] [ 0.0063709 0.00370466 0.99997284 -0.02732304] [ 0. 0. 0. 1. ]] SLAMing on 1.98264 meters 0.5571850258471638 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:-0.03 [[ 0.99997711 0.00201288 -0.00646046 0.05042626] [-0.00203587 0.99999162 -0.00355278 0.0353701 ] [ 0.00645326 0.00356585 0.99997282 -0.02715817] [ 0. 0. 0. 1. ]] SLAMing on 2.04264 meters 0.5544200553830656 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.03 [[ 0.99999211 -0.00227974 -0.00325332 0.03301726] [ 0.00227089 0.99999372 -0.00272086 0.03798655] [ 0.00325951 0.00271346 0.99999101 -0.03239225] [ 0. 0. 0. 1. ]] SLAMing on 2.10264 meters 0.5806407722203291 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.04 [[ 0.99998601 -0.00306364 -0.00431219 0.04196556] [ 0.00305316 0.99999237 -0.00243613 0.03327588] [ 0.00431962 0.00242293 0.99998774 -0.03814359] [ 0. 0. 0. 1. ]] SLAMing on 2.16264 meters 0.574166894891142 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.04 [[ 0.99998254 -0.00404987 -0.00430324 0.04165616] [ 0.00404285 0.99999048 -0.00164052 0.02422236] [ 0.00430985 0.0016231 0.9999894 -0.03765954] [ 0. 0. 0. 1. ]] SLAMing on 2.2226399999999997 meters 0.5930238958362707 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.04 [[ 9.99983326e-01 -3.70161350e-03 -4.43245834e-03 4.23582941e-02] [ 3.69788184e-03 9.99992802e-01 -8.49794656e-04 1.91210243e-02] [ 4.43557205e-03 8.33389779e-04 9.99989816e-01 -3.77928779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.28264 meters 0.591307515702203 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.04 [[ 9.99999122e-01 7.93570196e-04 -1.06146104e-03 2.49621272e-02] [-7.94960043e-04 9.99998827e-01 -1.30959125e-03 1.40695341e-02] [ 1.06042055e-03 1.31043392e-03 9.99998579e-01 -4.30375935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.34264 meters 0.6164221618989745 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.05 [[ 9.99996133e-01 1.82857997e-03 -2.09525888e-03 3.45016107e-02] [-1.83049860e-03 9.99997907e-01 -9.14145811e-04 1.39390308e-02] [ 2.09358291e-03 9.17977645e-04 9.99997387e-01 -5.00386806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.40264 meters 0.6121027455240791 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.05 [[ 9.99993519e-01 3.38216706e-03 -1.23388419e-03 2.80298526e-02] [-3.38228954e-03 9.99994275e-01 -9.71920335e-05 1.29673932e-02] [ 1.23354840e-03 1.01364757e-04 9.99999234e-01 -4.54009692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.46264 meters 0.6366730597595115 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.05 [[ 9.99993551e-01 3.35071308e-03 -1.29285555e-03 2.83775313e-02] [-3.35095451e-03 9.99994368e-01 -1.84620865e-04 1.35323769e-02] [ 1.29222965e-03 1.88951974e-04 9.99999147e-01 -4.54786581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.52264 meters 0.6737629855003346 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.05 [[ 9.99993663e-01 3.30437000e-03 -1.32486382e-03 2.83883955e-02] [-3.30485687e-03 9.99994472e-01 -3.65467058e-04 1.47434542e-02] [ 1.32364886e-03 3.69843227e-04 9.99999056e-01 -4.51000613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.58264 meters 0.6888179073638031 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.04 [[ 9.99993259e-01 3.40093695e-03 -1.38392010e-03 2.85733006e-02] [-3.40117817e-03 9.99994201e-01 -1.71986253e-04 1.35314183e-02] [ 1.38332716e-03 1.76692052e-04 9.99999028e-01 -4.49285420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6426399999999997 meters 0.6970702208045003 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.04 [[ 9.99992724e-01 3.52813058e-03 -1.45027751e-03 2.86334292e-02] [-3.52800400e-03 9.99993773e-01 8.98348027e-05 1.19051125e-02] [ 1.45058543e-03 -8.47175642e-05 9.99998944e-01 -4.44554342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7026399999999997 meters 0.7073005021818437 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.04 [[ 9.99997644e-01 2.08525334e-03 -6.03194117e-04 2.21747308e-02] [-2.08538931e-03 9.99997800e-01 -2.24889123e-04 8.10619271e-03] [ 6.02723839e-04 2.26146488e-04 9.99999793e-01 -3.94633148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7626399999999998 meters 1.0544315276253025 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.03 [[ 9.99999761e-01 6.81300268e-04 1.18157417e-04 1.65453598e-02] [-6.81294174e-04 9.99999767e-01 -5.16088513e-05 4.59052791e-04] [-1.18192550e-04 5.15283390e-05 9.99999992e-01 -3.48340261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.82264 meters 1.0607850116717146 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.03 [[ 9.99999700e-01 7.72770812e-04 4.38382584e-05 1.68464167e-02] [-7.72777700e-04 9.99999689e-01 1.57320363e-04 -7.62823198e-04] [-4.37166722e-05 -1.57354193e-04 9.99999987e-01 -3.47838396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.88264 meters 1.067392227057126 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.03 [[ 9.99999580e-01 9.14747818e-04 -5.91025201e-05 1.73222431e-02] [-9.14720270e-04 9.99999474e-01 4.64450254e-04 -2.63206995e-03] [ 5.95273438e-05 -4.64395997e-04 9.99999890e-01 -3.48359662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.94264 meters 1.0714831578181054 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.03 [[ 9.99999626e-01 8.55137222e-04 -1.25979137e-04 1.74720728e-02] [-8.55100767e-04 9.99999593e-01 2.89141777e-04 -1.60888176e-03] [ 1.26226342e-04 -2.89033944e-04 9.99999950e-01 -3.45591506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.00264 meters 1.0794085026487816 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.03 [[ 9.99996465e-01 2.57991817e-03 6.43623535e-04 1.15190039e-02] [-2.58098958e-03 9.99995276e-01 1.66940920e-03 -3.71373393e-03] [-6.39313555e-04 -1.67106449e-03 9.99998399e-01 -2.98689797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.06264 meters 1.0879563136889356 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.03 [[ 9.99996745e-01 2.47691614e-03 6.12768262e-04 1.16402039e-02] [-2.47778481e-03 9.99995921e-01 1.42094784e-03 -2.27189558e-03] [-6.09246194e-04 -1.42246152e-03 9.99998803e-01 -2.98593674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.12264 meters 1.091755988263288 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.03 [[ 9.99996988e-01 2.39130644e-03 5.53539436e-04 1.17726408e-02] [-2.39198260e-03 9.99996390e-01 1.22409457e-03 -1.14732296e-03] [-5.50610252e-04 -1.22541494e-03 9.99999098e-01 -2.96200703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1826399999999997 meters 1.09714859752103 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.03 [[ 9.99997813e-01 -2.03242725e-03 4.93836489e-04 1.17376991e-02] [ 2.03407367e-03 9.99992298e-01 -3.35664054e-03 3.15214757e-04] [-4.87010558e-04 3.35763769e-03 9.99994245e-01 -2.90654425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2426399999999997 meters 1.094597784660219 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.02 [[ 9.99992500e-01 -3.69207644e-03 1.17015148e-03 5.86844635e-03] [ 3.69745378e-03 9.99982459e-01 -4.62706374e-03 3.04078480e-05] [-1.15304748e-03 4.63135561e-03 9.99988610e-01 -2.39085560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.30264 meters 0.7770823376394119 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.02 [[ 9.99997444e-01 -1.27635953e-03 1.86627893e-03 4.21037376e-04] [ 1.27902291e-03 9.99998164e-01 -1.42661461e-03 -2.11366172e-03] [-1.86445463e-03 1.42899797e-03 9.99997241e-01 -1.88969135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.36264 meters 0.7805259282235305 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.02 [[ 9.99997777e-01 -1.15407349e-03 1.76496400e-03 6.36672538e-04] [ 1.15596125e-03 9.99998761e-01 -1.06893000e-03 -3.99993505e-03] [-1.76372819e-03 1.07096786e-03 9.99997871e-01 -1.85378112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.42264 meters 0.7758375939083728 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:-0.01 [[ 0.99997407 -0.00685371 0.00221261 -0.00384518] [ 0.00686861 0.99995329 -0.00679978 -0.00219989] [-0.0021659 0.0068148 0.99997443 -0.01434548] [ 0. 0. 0. 1. ]] SLAMing on 3.48264 meters 0.7878996606213218 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.01, Z:-0.01 [[ 0.99997553 -0.00674855 0.00184373 -0.00265191] [ 0.00675915 0.99996031 -0.00580491 -0.00787558] [-0.00180448 0.00581723 0.99998145 -0.01461732] [ 0. 0. 0. 1. ]] SLAMing on 3.54264 meters 0.7867321238732989 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.01, Z:-0.01 [[ 0.99997733 -0.00650948 0.00172502 -0.00246996] [ 0.00651828 0.99996551 -0.00514595 -0.01127191] [-0.00169146 0.00515708 0.99998527 -0.01409696] [ 0. 0. 0. 1. ]] SLAMing on 3.6026399999999996 meters 0.7689410072817966 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:-0.01 [[ 0.99996592 -0.00795367 0.00221187 -0.00774865] [ 0.0079676 0.999948 -0.00636472 -0.01316613] [-0.00216113 0.00638213 0.9999773 -0.00871462] [ 0. 0. 0. 1. ]] SLAMing on 3.6626399999999997 meters 0.7800868294484219 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 0.99998484 -0.00363377 0.00413659 0.00940757] [ 0.00368481 0.99991635 -0.01239841 -0.01591295] [-0.00409119 0.01241346 0.99991458 -0.00608545] [ 0. 0. 0. 1. ]] SLAMing on 3.7226399999999997 meters 0.7587043300607874 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.02, Z:-0.00 [[ 9.99981229e-01 -6.11632333e-03 -3.62703132e-04 -9.07951520e-03] [ 6.11492138e-03 9.99974280e-01 -3.74800303e-03 -2.29521262e-02] [ 3.85617801e-04 3.74571477e-03 9.99992910e-01 -3.53997632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.78264 meters 0.7373562807380892 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.03, Z:0.00 [[ 9.99966342e-01 -8.16313446e-03 8.23470680e-04 -1.54036174e-02] [ 8.16714857e-03 9.99954172e-01 -4.99509936e-03 -2.95971047e-02] [-7.82657275e-04 5.00165664e-03 9.99987185e-01 1.42627334e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.84264 meters 0.7304111521519614 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.04, Z:0.00 [[ 9.99992268e-01 -3.89942261e-03 5.08069544e-04 -1.48213474e-02] [ 3.89890707e-03 9.99991887e-01 1.01177289e-03 -3.95241769e-02] [-5.12010752e-04 -1.00978415e-03 9.99999359e-01 1.97385890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.90264 meters 0.7240002069038937 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.05, Z:0.00 [[ 9.99993795e-01 -3.49326356e-03 4.54780785e-04 -1.48324155e-02] [ 3.49221005e-03 9.99991264e-01 2.29708218e-03 -4.55947574e-02] [-4.62801125e-04 -2.29547974e-03 9.99997258e-01 2.41266737e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.96264 meters 0.7024838300394703 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.05, Z:0.00 [[ 0.99999554 -0.00199399 0.00222185 -0.04070756] [ 0.00200376 0.9999883 -0.0044038 -0.05461786] [-0.00221304 0.00440824 0.99998783 0.00442519] [ 0. 0. 0. 1. ]] SLAMing on 4.02264 meters 0.7008261724124548 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.06, Z:0.01 [[ 0.99999713 -0.00117817 0.00208716 -0.04070978] [ 0.00118312 0.99999649 -0.00237211 -0.06445137] [-0.00208436 0.00237457 0.99999501 0.00525448] [ 0. 0. 0. 1. ]] SLAMing on 4.0826400000000005 meters 0.6933169062350816 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.07, Z:0.01 [[ 9.99997707e-01 -8.47779425e-04 1.96637863e-03 -4.05798670e-02] [ 8.50680632e-04 9.99998550e-01 -1.47503949e-03 -6.86834311e-02] [-1.96512527e-03 1.47670887e-03 9.99996979e-01 5.77066432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.14264 meters 0.6759968247379695 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.08, Z:0.01 [[ 0.99999357 0.00162171 0.00319843 -0.04698711] [-0.00162697 0.99999733 0.00164314 -0.07594404] [-0.00319575 -0.00164833 0.99999354 0.0105996 ] [ 0. 0. 0. 1. ]] SLAMing on 4.202640000000001 meters 0.5810186829173996 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.08, Z:0.02 [[ 0.99998467 0.00112911 0.00542083 -0.05770621] [-0.0011386 0.99999783 0.00174695 -0.08140098] [-0.00541885 -0.0017531 0.99998378 0.01864348] [ 0. 0. 0. 1. ]] SLAMing on 4.26264 meters 0.5795737018384434 Centerline is valid? [False, False] Translation: X:-0.06, Y:-0.09, Z:0.02 [[ 0.99997192 0.00338779 0.00668501 -0.06424228] [-0.00341812 0.99998389 0.0045308 -0.08680878] [-0.00666955 -0.00455352 0.99996739 0.02336933] [ 0. 0. 0. 1. ]] SLAMing on 4.322640000000001 meters 0.24897073752593807 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.09, Z:0.03 [[ 0.99996865 0.00129768 0.00781083 -0.07077031] [-0.0013173 0.99999599 0.00250772 -0.08892715] [-0.00780754 -0.00251793 0.99996635 0.02845631] [ 0. 0. 0. 1. ]] SLAMing on 4.38264 meters 0.34459312500317407 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.09, Z:0.03 [[ 0.99996608 -0.0027326 0.00776967 -0.07080637] [ 0.00274105 0.99999566 -0.00107682 -0.09236802] [-0.00776669 0.00109808 0.99996924 0.02881794] [ 0. 0. 0. 1. ]] SLAMing on 4.44264 meters 0.16238125312199111 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.10, Z:0.03 [[ 9.99967819e-01 -2.08774053e-03 7.74613647e-03 -7.11202659e-02] [ 2.08222855e-03 9.99997573e-01 7.19574098e-04 -1.00530871e-01] [-7.74761996e-03 -7.03421714e-04 9.99969739e-01 2.97394373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.50264 meters 0.29484835558110223 Centerline is valid? [False, False] Translation: X:-0.07, Y:-0.11, Z:0.03 [[ 0.99996925 -0.00170081 0.0076559 -0.07116833] [ 0.00168761 0.99999708 0.00173049 -0.10520619] [-0.00765882 -0.00171752 0.9999692 0.03050359] [ 0. 0. 0. 1. ]] SLAMing on 4.56264 meters 0.33695261914828323 Centerline is valid? [False, False] Translation: X:-0.09, Y:-0.11, Z:0.03 [[ 0.99997629 0.0051477 0.00457299 -0.09000671] [-0.00514095 0.99998568 -0.00148733 -0.10521415] [-0.00458058 0.00146379 0.99998844 0.03107746] [ 0. 0. 0. 1. ]] SLAMing on 4.6226400000000005 meters 0.05846993642456572 Centerline is valid? [False, True] Translation: X:-0.09, Y:-0.10, Z:0.03 [[ 0.99997807 0.00486136 0.00449843 -0.08972537] [-0.00485004 0.99998505 -0.00252367 -0.10072276] [-0.00451063 0.0025018 0.9999867 0.03085855] [ 0. 0. 0. 1. ]] SLAMing on 4.68264 meters 0.41587623403622825 Centerline is valid? [True, False] Translation: X:-0.09, Y:-0.09, Z:0.03 [[ 0.99997889 0.0046171 0.00457099 -0.08971039] [-0.00459899 0.99998157 -0.00396414 -0.094202 ] [-0.00458921 0.00394303 0.9999817 0.03037699] [ 0. 0. 0. 1. ]] SLAMing on 4.742640000000001 meters 0.057358722703966074 Centerline is valid? [False, True] Translation: X:-0.09, Y:-0.09, Z:0.03 [[ 9.99950949e-01 8.78994527e-03 4.56461259e-03 -8.96972427e-02] [-8.78994903e-03 9.99961367e-01 -1.92389504e-05 -9.23914547e-02] [-4.56460536e-03 -2.08847053e-05 9.99989582e-01 3.06171744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.80264 meters 0.0560693171697748 Centerline is valid? [True, True] Translation: X:-0.03, Y:-0.08, Z:0.03 [[ 9.99914294e-01 1.21997201e-02 4.75099901e-03 -2.85017889e-02] [-1.22002235e-02 9.99925572e-01 7.70034953e-05 -8.06147562e-02] [-4.74970598e-03 -1.34960146e-04 9.99988711e-01 3.38306949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.86264 meters 0.047025155050993625 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.08, Z:0.04 [[ 9.99926032e-01 1.04967190e-02 6.14410615e-03 3.29187822e-02] [-1.04975241e-02 9.99944895e-01 9.88007329e-05 -7.86124272e-02] [-6.14273049e-03 -1.63291327e-04 9.99981120e-01 3.77680795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.92264 meters 0.037373222140057144 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.08, Z:0.04 [[ 9.99951465e-01 3.06464710e-03 9.36355467e-03 9.40329648e-02] [-3.06618650e-03 9.99995288e-01 1.50052094e-04 -8.36682300e-02] [-9.36305069e-03 -1.78755216e-04 9.99956150e-01 4.07628999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.98264 meters 0.03288117596444901 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.09, Z:0.04 [[ 9.99941698e-01 -2.12622538e-03 1.05867978e-02 1.54905213e-01] [ 2.12454955e-03 9.99997729e-01 1.69538398e-04 -8.66402973e-02] [-1.05871343e-02 -1.47036337e-04 9.99943944e-01 4.04533388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0426400000000005 meters 0.02859681792891295 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.09, Z:0.04 [[ 9.99910482e-01 -7.99760329e-03 1.07269057e-02 2.16503082e-01] [ 7.99621302e-03 9.99968015e-01 1.72488565e-04 -9.01763300e-02] [-1.07279421e-02 -8.66985016e-05 9.99942450e-01 3.57579655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.10264 meters 0.02637621017149638 Centerline is valid? [True, True] Translation: X:0.28, Y:-0.09, Z:0.04 [[ 9.99902243e-01 -8.60825335e-03 1.10183201e-02 2.79024299e-01] [ 8.60682295e-03 9.99962945e-01 1.77232169e-04 -8.91899320e-02] [-1.10194375e-02 -8.23821133e-05 9.99939281e-01 3.80076441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.162640000000001 meters 0.04083132698656129 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.06, Z:0.03 [[ 9.99984697e-01 2.98162895e-04 -5.52415928e-03 3.36437361e-01] [-3.50745362e-04 9.99954621e-01 -9.52011471e-03 -6.30692643e-02] [ 5.52107005e-03 9.52190660e-03 9.99939424e-01 3.44067174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.22264 meters 0.03259977023370496 Centerline is valid? [True, True] Translation: X:0.40, Y:-0.06, Z:0.04 [[ 0.99988332 0.00349791 0.01487002 0.40002348] [-0.00364641 0.99994364 0.00997102 -0.05711878] [-0.0148343 -0.01002408 0.99983972 0.0397355 ] [ 0. 0. 0. 1. ]] SLAMing on 5.28264 meters 0.039484506027795636 Centerline is valid? [True, True] Translation: X:0.46, Y:-0.03, Z:0.03 [[ 9.99819459e-01 1.09390344e-02 1.55366134e-02 4.59907728e-01] [-1.09441785e-02 9.99940080e-01 2.46105906e-04 -2.93261021e-02] [-1.55329903e-02 -4.16096944e-04 9.99879269e-01 3.49448440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.34264 meters 0.04813159436994742 Centerline is valid? [True, True] Translation: X:0.52, Y:-0.01, Z:0.03 [[ 0.99989502 0.01427916 -0.00245934 0.51676179] [-0.01431218 0.9997999 -0.01397552 -0.01035494] [ 0.00225929 0.01400925 0.99989931 0.02819665] [ 0. 0. 0. 1. ]] SLAMing on 5.40264 meters 0.047328637434538356 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.02, Z:0.03 [[ 0.99995018 0.00915617 -0.00397449 0.57696575] [-0.00915031 0.99995702 0.00149091 -0.01731464] [ 0.00398797 -0.00145446 0.99999099 0.02724216] [ 0. 0. 0. 1. ]] SLAMing on 5.46264 meters 0.032404018333780316 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.02, Z:0.04 [[ 9.99988018e-01 4.14735008e-03 2.60049813e-03 6.38468780e-01] [-4.14693592e-03 9.99991388e-01 -1.64631917e-04 -1.89403902e-02] [-2.60115852e-03 1.53845845e-04 9.99996605e-01 3.59139749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.52264 meters 0.02588568518389311 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.02, Z:0.03 [[ 0.99986606 -0.0025573 0.01616519 0.70028687] [ 0.0023126 0.99988274 0.01513774 -0.02307667] [-0.01620201 -0.01509833 0.99975474 0.03124156] [ 0. 0. 0. 1. ]] SLAMing on 5.5826400000000005 meters 0.024782890717456978 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.02, Z:0.02 [[ 9.99830418e-01 -6.90476483e-03 1.70721868e-02 7.60058704e-01] [ 6.90136864e-03 9.99976152e-01 2.57839124e-04 -1.53920537e-02] [-1.70735600e-02 -1.39973944e-04 9.99854226e-01 2.30608306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.64264 meters 0.021487254364086435 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.02, Z:0.02 [[ 9.99746948e-01 -1.51286999e-02 1.66482064e-02 8.22244397e-01] [ 1.51265403e-02 9.99885555e-01 2.55642449e-04 -2.12689040e-02] [-1.66501686e-02 -3.74799288e-06 9.99861376e-01 2.25123299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.702640000000001 meters 0.021543730597876 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.02, Z:0.02 [[ 9.99631614e-01 -2.15136099e-02 1.65469499e-02 8.84929957e-01] [ 2.15124504e-02 9.99768550e-01 2.48082887e-04 -2.43243725e-02] [-1.65484573e-02 1.07973942e-04 9.99863059e-01 2.30927982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.76264 meters 0.021543570750547414 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.03, Z:0.02 [[ 9.99577822e-01 -2.34449466e-02 1.71613583e-02 9.46919240e-01] [ 2.34439997e-02 9.99725119e-01 2.56380345e-04 -2.52937098e-02] [-1.71626518e-02 1.46058773e-04 9.99852700e-01 2.30638439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.82264 meters 0.0229006776991783 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.03, Z:0.02 [[ 9.99535766e-01 -2.44400528e-02 1.81916523e-02 1.00798586e+00] [ 2.44391500e-02 9.99701282e-01 2.71971322e-04 -2.56007988e-02] [-1.81928651e-02 1.72743456e-04 9.99834481e-01 1.80909184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.88264 meters 0.022786205693961222 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.03, Z:0.02 [[ 9.99466241e-01 -2.63242197e-02 1.93460138e-02 1.07038115e+00] [ 2.63236168e-02 9.99653433e-01 2.85862437e-04 -2.71228997e-02] [-1.93468342e-02 2.23547198e-04 9.99812807e-01 1.89770616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.94264 meters 0.039753603274811644 Centerline is valid? [True, True] Translation: X:1.13, Y:0.02, Z:0.02 [[ 0.99963325 -0.02266881 -0.01481515 1.13233863] [ 0.02131032 0.99605151 -0.08618155 0.02182003] [ 0.01671028 0.08583423 0.99616929 0.02483384] [ 0. 0. 0. 1. ]] SLAMing on 6.00264 meters 0.022491681357338606 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.08, Z:0.02 [[ 0.9993978 -0.02864497 0.019583 1.19541172] [ 0.02683884 0.99584828 0.08698202 -0.08308089] [-0.02199329 -0.08640405 0.99601739 0.02315499] [ 0. 0. 0. 1. ]] SLAMing on 6.06264 meters 0.01965527572346931 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.03, Z:0.01 [[ 9.99547650e-01 -2.13051705e-02 2.12269982e-02 1.25521143e+00] [ 2.13032919e-02 9.99773010e-01 3.14648394e-04 -3.04337988e-02] [-2.12288835e-02 1.37698877e-04 9.99774632e-01 1.34822181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1226400000000005 meters 0.018031763495650045 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.03, Z:0.01 [[ 9.99590062e-01 -1.83960443e-02 2.19383983e-02 1.31747439e+00] [ 1.83934730e-02 9.99830775e-01 3.19003279e-04 -2.83310757e-02] [-2.19405541e-02 8.46508291e-05 9.99759273e-01 1.28098878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.18264 meters 0.017720200470896875 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.02, Z:0.01 [[ 9.99696107e-01 -1.15696598e-02 2.17678072e-02 1.38034070e+00] [ 1.15655207e-02 9.99933067e-01 3.16033762e-04 -2.13195423e-02] [-2.17700066e-02 -6.41816967e-05 9.99763003e-01 7.86971043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.242640000000001 meters 0.022957416597431227 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.01, Z:0.00 [[ 9.99771424e-01 -2.61550017e-03 2.12193183e-02 1.44104272e+00] [ 2.60960085e-03 9.99996548e-01 3.05702026e-04 -9.30101087e-03] [-2.12200446e-02 -2.50258199e-04 9.99774798e-01 1.25360354e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.30264 meters 0.027248680043112334 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.00, Z:-0.00 [[ 9.99776268e-01 2.16407678e-03 2.10411633e-02 1.50232745e+00] [-2.17091911e-03 9.99997598e-01 3.02351599e-04 -2.01498777e-03] [-2.10404585e-02 -3.47962617e-04 9.99778564e-01 -3.07133861e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.36264 meters 0.027259102669666885 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.00, Z:-0.01 [[ 9.99770434e-01 3.05621721e-03 2.12070647e-02 1.56523588e+00] [-3.06342886e-03 9.99995260e-01 3.07579894e-04 -1.39722823e-03] [-2.12060242e-02 -3.72475618e-04 9.99775058e-01 -6.24223502e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.42264 meters 0.01987473667155485 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.01, Z:-0.00 [[ 9.99717999e-01 -1.45450912e-03 2.37024668e-02 1.62585970e+00] [ 1.44698976e-03 9.99998897e-01 3.34387437e-04 -8.45327638e-03] [-2.37029271e-02 -2.99995913e-04 9.99719001e-01 -3.16307318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.48264 meters 0.01918355622029805 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.01, Z:-0.01 [[ 9.99735296e-01 -5.28388591e-03 2.23923614e-02 1.68662254e+00] [ 5.27805290e-03 9.99986020e-01 3.19585060e-04 -1.18017378e-02] [-2.23937370e-02 -2.01312397e-04 9.99749209e-01 -8.56439850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5426400000000005 meters 0.016068106899254152 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.01, Z:-0.00 [[ 9.99581077e-01 -8.22901504e-03 2.77480450e-02 1.74678954e+00] [ 8.22144458e-03 9.99966129e-01 3.86905808e-04 -1.33180878e-02] [-2.77502890e-02 -1.58614710e-04 9.99614874e-01 -4.91619872e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.60264 meters 0.014313961157854176 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.01, Z:-0.00 [[ 9.99500300e-01 -8.43684234e-03 3.04625856e-02 1.80907263e+00] [ 8.42779266e-03 9.99964395e-01 4.25461515e-04 -1.30337642e-02] [-3.04650905e-02 -1.68516557e-04 9.99535817e-01 -2.14602346e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.662640000000001 meters 0.014679246692521207 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.01, Z:-0.01 [[ 9.99498168e-01 -7.60998286e-03 3.07489754e-02 1.87098658e+00] [ 7.60036075e-03 9.99971024e-01 4.29793428e-04 -8.00603884e-03] [-3.07513551e-02 -1.95874439e-04 9.99527046e-01 -5.64164788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.72264 meters 0.015383022227774958 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.00, Z:-0.01 [[ 9.99551796e-01 -8.26811551e-03 2.87723086e-02 1.93292554e+00] [ 8.26010556e-03 9.99965806e-01 3.97237661e-04 -4.17677759e-03] [-2.87746092e-02 -1.59397311e-04 9.99585912e-01 -1.14533539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.78264 meters 0.01314950848225735 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.00, Z:-0.01 [[ 9.99483380e-01 -9.42490570e-03 3.07269410e-02 1.99477823e+00] [ 9.41648813e-03 9.99955576e-01 4.18643318e-04 -4.72880598e-03] [-3.07295217e-02 -1.29087163e-04 9.99527728e-01 -1.21103411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.84264 meters 0.011868473986663545 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.01, Z:-0.02 [[ 9.99423607e-01 -1.23110991e-02 3.16368469e-02 2.05726225e+00] [ 1.23038026e-02 9.99924215e-01 4.25304481e-04 -5.92401812e-03] [-3.16396853e-02 -3.58058196e-05 9.99499339e-01 -1.53252127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.90264 meters 0.011746971061283354 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.01, Z:-0.02 [[ 9.99382263e-01 -1.49596355e-02 3.18009811e-02 2.12013824e+00] [ 1.49537674e-02 9.99888097e-01 4.22362139e-04 -8.70455613e-03] [-3.18037408e-02 5.34432442e-05 9.99494132e-01 -1.74547497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.96264 meters 0.013338742388190782 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.01, Z:-0.02 [[ 9.99299940e-01 -1.84181324e-02 3.25638141e-02 2.18163925e+00] [ 1.84140422e-02 9.99830357e-01 4.25521452e-04 -9.90575871e-03] [-3.25661272e-02 1.74407886e-04 9.99469568e-01 -1.99394085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.02264 meters 0.013697592083476779 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.01, Z:-0.02 [[ 9.99270501e-01 -2.00579575e-02 3.24983725e-02 2.24413866e+00] [ 2.00550022e-02 9.99798791e-01 4.16929566e-04 -8.62508875e-03] [-3.25001963e-02 2.35129518e-04 9.99471701e-01 -2.18145050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0826400000000005 meters 0.01314733759851556 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.00, Z:-0.03 [[ 9.99350744e-01 -1.81658853e-02 3.11141566e-02 2.30633972e+00] [ 1.81623053e-02 9.99834973e-01 3.97701859e-04 -2.44719944e-03] [-3.11162466e-02 1.67661163e-04 9.99515758e-01 -2.77894045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.14264 meters 0.012509469897176682 Centerline is valid? [True, True] Translation: X:2.37, Y:0.00, Z:-0.03 [[ 9.99380644e-01 -1.68310921e-02 3.09037729e-02 2.36884756e+00] [ 1.68269690e-02 9.99858339e-01 3.93499602e-04 2.10563909e-03] [-3.09060181e-02 1.26760944e-04 9.99522287e-01 -3.08613176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.20264 meters 0.012267393369414344 Centerline is valid? [True, True] Translation: X:2.43, Y:0.01, Z:-0.03 [[ 9.99399571e-01 -1.51572227e-02 3.11569560e-02 2.43010517e+00] [ 1.51522208e-02 9.99885120e-01 3.96652086e-04 7.57509063e-03] [-3.11593888e-02 7.56831537e-05 9.99514425e-01 -3.42854963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.26264 meters 0.012026754416842046 Centerline is valid? [True, True] Translation: X:2.49, Y:0.01, Z:-0.04 [[ 9.99419535e-01 -1.49272623e-02 3.06230361e-02 2.49264659e+00] [ 1.49225201e-02 9.99888579e-01 3.83404348e-04 1.12817425e-02] [-3.06253473e-02 7.37910764e-05 9.99530931e-01 -3.66128200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.32264 meters 0.013081634847351907 Centerline is valid? [True, True] Translation: X:2.55, Y:0.01, Z:-0.04 [[ 9.99384558e-01 -1.65386270e-02 3.09350633e-02 2.55474497e+00] [ 1.65345497e-02 9.99863220e-01 3.87624975e-04 1.09508016e-02] [-3.09372428e-02 1.24110928e-04 9.99521321e-01 -4.14074091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.38264 meters 0.017498569990929923 Centerline is valid? [True, True] Translation: X:2.62, Y:0.00, Z:-0.04 [[ 9.99256217e-01 -2.27325401e-02 3.11487329e-02 2.61692223e+00] [ 2.27316078e-02 9.99741530e-01 3.84093047e-04 3.78521604e-03] [-3.11494133e-02 3.24253414e-04 9.99514687e-01 -4.37990889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.44264 meters 0.02027124616028486 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.00, Z:-0.04 [[ 9.99091396e-01 -2.94760889e-02 3.07821884e-02 2.67834504e+00] [ 2.94785916e-02 9.99565342e-01 3.72606784e-04 -3.07114826e-03] [-3.07797917e-02 5.35147330e-04 9.99526047e-01 -4.37013447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.50264 meters 0.023060979463228607 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.01, Z:-0.05 [[ 9.99072416e-01 -3.08929395e-02 2.99988854e-02 2.73924732e+00] [ 3.08959470e-02 9.99522540e-01 3.63378322e-04 -8.72260365e-03] [-2.99957880e-02 5.63802716e-04 9.99549866e-01 -4.86954571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.56264 meters 0.02622946919191813 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.01, Z:-0.05 [[ 9.99178009e-01 -2.80215406e-02 2.92933387e-02 2.80137223e+00] [ 2.80232713e-02 9.99607209e-01 3.51532580e-04 -5.03294961e-03] [-2.92916831e-02 4.69651557e-04 9.99570796e-01 -5.06563757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6226400000000005 meters 0.020809315978427084 Centerline is valid? [True, True] Translation: X:2.86, Y:0.00, Z:-0.06 [[ 9.99379751e-01 -2.08707748e-02 2.83641167e-02 2.86285972e+00] [ 2.08695642e-02 9.99782150e-01 3.38746700e-04 2.64807147e-03] [-2.83650075e-02 2.53410162e-04 9.99597600e-01 -5.59323942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.68264 meters 0.013185904970828567 Centerline is valid? [True, True] Translation: X:2.92, Y:0.01, Z:-0.06 [[ 9.99444334e-01 -1.65123710e-02 2.89545220e-02 2.92391811e+00] [ 1.65092555e-02 9.99863653e-01 3.46671501e-04 5.67858303e-03] [-2.89562985e-02 1.31538733e-04 9.99580670e-01 -5.79695793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.74264 meters 0.012025452697222355 Centerline is valid? [True, True] Translation: X:2.99, Y:0.01, Z:-0.06 [[ 9.99498217e-01 -1.20578695e-02 2.92903114e-02 2.98578099e+00] [ 1.20529682e-02 9.99927301e-01 3.43892000e-04 1.04827405e-02] [-2.92923287e-02 9.31575100e-06 9.99570888e-01 -6.00432109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.80264 meters 0.012852119348228604 Centerline is valid? [True, True] Translation: X:3.05, Y:0.02, Z:-0.06 [[ 9.99519783e-01 -6.80271329e-03 3.02312172e-02 3.04755293e+00] [ 6.79507689e-03 9.99976850e-01 3.55329084e-04 1.93014391e-02] [-3.02329345e-02 -1.49735003e-04 9.99542869e-01 -6.21331556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.86264 meters 0.014919486697707205 Centerline is valid? [True, True] Translation: X:3.11, Y:0.03, Z:-0.07 [[ 9.99542920e-01 -3.24032918e-03 3.00574557e-02 3.10910486e+00] [ 3.23138074e-03 9.99994719e-01 3.46280938e-04 2.68701725e-02] [-3.00584191e-02 -2.48995577e-04 9.99548113e-01 -6.54746243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.92264 meters 0.016163520485856894 Centerline is valid? [True, True] Translation: X:3.17, Y:0.03, Z:-0.07 [[ 9.99577110e-01 -8.60893022e-04 2.90664697e-02 3.17084289e+00] [ 8.51556123e-04 9.99999582e-01 3.33602721e-04 3.07181163e-02] [-2.90667448e-02 -3.08709913e-04 9.99577425e-01 -6.98108590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.98264 meters 0.012680797335042923 Centerline is valid? [True, True] Translation: X:3.23, Y:0.02, Z:-0.07 [[ 9.99548623e-01 -7.82196461e-03 2.90063203e-02 3.23271562e+00] [ 7.81574471e-03 9.99969403e-01 3.27805069e-04 2.02448690e-02] [-2.90079969e-02 -1.00951111e-04 9.99579174e-01 -7.36142855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.042639999999999 meters 0.013112877798456433 Centerline is valid? [True, True] Translation: X:3.29, Y:0.01, Z:-0.08 [[ 9.99444374e-01 -1.52970704e-02 2.96132142e-02 3.29487852e+00] [ 1.52940215e-02 9.99882985e-01 3.29469996e-04 7.18833663e-03] [-2.96147889e-02 1.23618200e-04 9.99561378e-01 -7.57358451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.10264 meters 0.019012092857772903 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.01, Z:-0.08 [[ 9.99216204e-01 -2.44013038e-02 3.11697765e-02 3.35711722e+00] [ 2.44026088e-02 9.99702155e-01 3.38592443e-04 -9.31708670e-03] [-3.11687548e-02 4.22296807e-04 9.99514047e-01 -7.53643735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16264 meters 0.02040943731776206 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.02, Z:-0.08 [[ 9.99177096e-01 -2.62098165e-02 3.09544179e-02 3.41908738e+00] [ 2.62120176e-02 9.99656350e-01 3.34745703e-04 -1.50379051e-02] [-3.09525541e-02 4.76907509e-04 9.99520741e-01 -7.70021148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.222639999999998 meters 0.019199156848250375 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.02, Z:-0.08 [[ 9.99210476e-01 -2.47007339e-02 3.11174830e-02 3.48178215e+00] [ 2.47022566e-02 9.99694796e-01 3.35552654e-04 -1.83479414e-02] [-3.11162742e-02 4.33384322e-04 9.99515678e-01 -7.90278287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.282639999999999 meters 0.017489885695766465 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.02, Z:-0.08 [[ 9.99241411e-01 -2.24760781e-02 3.18029510e-02 3.54341495e+00] [ 2.24766581e-02 9.99747310e-01 3.39312245e-04 -1.74471154e-02] [-3.18025412e-02 3.75769210e-04 9.99494101e-01 -8.09058849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.34264 meters 0.01685529650872162 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.02, Z:-0.08 [[ 9.99250012e-01 -2.18179618e-02 3.19904769e-02 3.60558615e+00] [ 2.18182622e-02 9.99761896e-01 3.39728368e-04 -2.08597899e-02] [-3.19902720e-02 3.58503038e-04 9.99488116e-01 -8.44135947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.40264 meters 0.01950339122604856 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.03, Z:-0.09 [[ 9.99296794e-01 -2.28140532e-02 2.97562770e-02 3.66615372e+00] [ 2.28148045e-02 9.99739659e-01 3.14312424e-04 -3.18587070e-02] [-2.97557010e-02 3.64792245e-04 9.99557135e-01 -9.32503695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.462639999999999 meters 0.029053482261340084 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.04, Z:-0.10 [[ 9.99340939e-01 -2.33714559e-02 2.77752269e-02 3.72764639e+00] [ 2.33723132e-02 9.99726787e-01 2.93825960e-04 -3.69235626e-02] [-2.77745055e-02 3.55538992e-04 9.99614151e-01 -1.01587679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.522639999999999 meters 0.019258075929214274 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.04, Z:-0.10 [[ 9.99342909e-01 -2.24665052e-02 2.84430498e-02 3.79021070e+00] [ 2.24671280e-02 9.99747538e-01 2.97723937e-04 -3.71129242e-02] [-2.84425578e-02 3.41505334e-04 9.99595370e-01 -1.00784272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58264 meters 0.013296067816207019 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.03, Z:-0.10 [[ 9.99419946e-01 -1.51215915e-02 3.05140900e-02 3.85217110e+00] [ 1.51189335e-02 9.99885652e-01 3.17844263e-04 -3.19739652e-02] [-3.05154071e-02 1.43680600e-04 9.99534286e-01 -9.80053302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.64264 meters 0.014490577880051961 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.02, Z:-0.10 [[ 9.99547445e-01 -3.07485390e-03 2.99240789e-02 3.91369559e+00] [ 3.06694661e-03 9.99995249e-01 3.10139785e-04 -1.52723213e-02] [-2.99248904e-02 -2.18223877e-04 9.99552126e-01 -1.01811178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.702639999999999 meters 0.020559467768320523 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.00, Z:-0.11 [[ 9.99596619e-01 3.83684672e-03 2.81403421e-02 3.97357674e+00] [-3.84652451e-03 9.99992560e-01 2.89787627e-04 -2.35164688e-03] [-2.81390208e-02 -3.97913248e-04 9.99603940e-01 -1.09079675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.76264 meters 0.025160710283863942 Centerline is valid? [True, True] Translation: X:4.03, Y:0.01, Z:-0.11 [[ 9.99543311e-01 1.09313656e-02 2.81722234e-02 4.03434831e+00] [-1.09438723e-02 9.99940072e-01 2.89782537e-04 8.99223363e-03] [-2.81673674e-02 -5.97963410e-04 9.99603042e-01 -1.09468553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.82264 meters 0.03027876650230627 Centerline is valid? [True, True] Translation: X:4.10, Y:0.02, Z:-0.11 [[ 9.99479412e-01 1.34689752e-02 2.93170930e-02 4.09566472e+00] [-1.34836661e-02 9.99909045e-01 3.03457780e-04 2.08829313e-02] [-2.93103392e-02 -6.98601696e-04 9.99570116e-01 -1.12720204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.882639999999999 meters 0.031192457558935016 Centerline is valid? [True, True] Translation: X:4.16, Y:0.03, Z:-0.11 [[ 9.99437990e-01 1.37548261e-02 3.05697464e-02 4.15668123e+00] [-1.37707698e-02 9.99905130e-01 3.11070931e-04 2.74481316e-02] [-3.05625675e-02 -7.31865047e-04 9.99532588e-01 -1.13574168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.942639999999999 meters 0.029275578214031463 Centerline is valid? [True, True] Translation: X:4.22, Y:0.03, Z:-0.11 [[ 9.99369972e-01 1.29052703e-02 3.30622484e-02 4.21906064e+00] [-1.29232799e-02 9.99916436e-01 3.31071192e-04 3.40301395e-02] [-3.30552131e-02 -7.58135299e-04 9.99453240e-01 -1.11386725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.00264 meters 0.023972953581203868 Centerline is valid? [True, True] Translation: X:4.28, Y:0.03, Z:-0.11 [[ 9.99420566e-01 1.01196637e-02 3.24980583e-02 4.28126521e+00] [-1.01354292e-02 9.99948584e-01 3.20420457e-04 3.48761643e-02] [-3.24931449e-02 -6.49616564e-04 9.99471747e-01 -1.13549225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.06264 meters 0.03136621368744252 Centerline is valid? [True, True] Translation: X:4.34, Y:0.04, Z:-0.12 [[ 9.99486428e-01 7.31206867e-03 3.11995713e-02 4.34260396e+00] [-7.32507399e-03 9.99973126e-01 3.02564059e-04 3.69749361e-02] [-3.11965204e-02 -5.30947838e-04 9.99513129e-01 -1.22060803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.122639999999999 meters 0.01664650844288118 Centerline is valid? [True, True] Translation: X:4.40, Y:0.03, Z:-0.13 [[ 9.99572030e-01 1.75987147e-04 2.92527870e-02 4.40398256e+00] [-1.84166664e-04 9.99999945e-01 2.76920916e-04 3.00368735e-02] [-2.92527366e-02 -2.82189791e-04 9.99572007e-01 -1.26430771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.18264 meters 0.013893816870015726 Centerline is valid? [True, True] Translation: X:4.47, Y:0.03, Z:-0.13 [[ 9.99572789e-01 -5.07838810e-03 2.87828008e-02 4.46518683e+00] [ 5.07260609e-03 9.99987097e-01 2.73898081e-04 2.67434245e-02] [-2.87838204e-02 -1.27777257e-04 9.99585652e-01 -1.29887738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.24264 meters 0.025588049248380054 Centerline is valid? [True, True] Translation: X:4.53, Y:0.03, Z:-0.13 [[ 9.99561645e-01 -5.89626589e-03 2.90129692e-02 4.52731716e+00] [ 5.89086111e-03 9.99982612e-01 2.71759406e-04 3.04109897e-02] [-2.90140671e-02 -1.00728907e-04 9.99578998e-01 -1.34278292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.302639999999998 meters 0.012370145788880202 Centerline is valid? [True, True] Translation: X:4.59, Y:0.03, Z:-0.13 [[ 9.99532644e-01 -6.59462964e-03 2.98496830e-02 4.58936497e+00] [ 6.58937492e-03 9.99978252e-01 2.74404183e-04 2.72341540e-02] [-2.98508434e-02 -7.75851859e-05 9.99554361e-01 -1.31872064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.362639999999999 meters 0.016011940026621794 Centerline is valid? [True, True] Translation: X:4.65, Y:0.03, Z:-0.14 [[ 9.99511124e-01 -7.73704032e-03 3.02927721e-02 4.65130183e+00] [ 7.73231763e-03 9.99970068e-01 2.73043631e-04 2.53730284e-02] [-3.02939779e-02 -3.86768109e-05 9.99541031e-01 -1.35301248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.42264 meters 0.012555096624379702 Centerline is valid? [True, True] Translation: X:4.71, Y:0.03, Z:-0.14 [[ 9.99520084e-01 -7.15773144e-03 3.01391607e-02 4.71291520e+00] [ 7.15297286e-03 9.99974382e-01 2.65702275e-04 2.69677538e-02] [-3.01402904e-02 -4.99901618e-05 9.99545677e-01 -1.38825019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.48264 meters 0.012307559670440912 Centerline is valid? [True, True] Translation: X:4.78, Y:0.03, Z:-0.14 [[ 9.99530555e-01 -5.84051824e-03 3.00758835e-02 4.77635435e+00] [ 5.83526034e-03 9.99982940e-01 2.62589148e-04 2.57086701e-02] [-3.00769041e-02 -8.69652662e-05 9.99547584e-01 -1.40118052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.542639999999999 meters 0.0127197392254938 Centerline is valid? [True, True] Translation: X:4.84, Y:0.02, Z:-0.14 [[ 9.99550704e-01 -4.77268317e-03 2.95907487e-02 4.83798987e+00] [ 4.76730854e-03 9.99988605e-01 2.52179403e-04 2.47866032e-02] [-2.95916151e-02 -1.10997871e-04 9.99562066e-01 -1.43386930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.60264 meters 0.013028938034040956 Centerline is valid? [True, True] Translation: X:4.90, Y:0.03, Z:-0.14 [[ 9.99531047e-01 -3.38750500e-03 3.04337274e-02 4.90003566e+00] [ 3.38134727e-03 9.99994251e-01 2.53795635e-04 2.58073948e-02] [-3.04344122e-02 -1.50769615e-04 9.99536755e-01 -1.44425719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.66264 meters 0.01790612307710709 Centerline is valid? [True, True] Translation: X:4.96, Y:0.03, Z:-0.15 [[ 9.99528755e-01 -1.77067198e-03 3.06452843e-02 4.96342584e+00] [ 1.76381807e-03 9.99998413e-01 2.50684146e-04 2.61860770e-02] [-3.06456795e-02 -1.96513306e-04 9.99530292e-01 -1.47145512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.722639999999998 meters 0.014931588268851942 Centerline is valid? [True, True] Translation: X:5.02, Y:0.03, Z:-0.15 [[ 9.99538416e-01 4.05293798e-04 3.03774739e-02 5.02483727e+00] [-4.12795981e-04 9.99999886e-01 2.40694445e-04 2.77020109e-02] [-3.03773729e-02 -2.53123044e-04 9.99538469e-01 -1.49567621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.782639999999999 meters 0.016136607033535866 Centerline is valid? [True, True] Translation: X:5.09, Y:0.03, Z:-0.15 [[ 9.99538412e-01 2.15521306e-03 3.03037513e-02 5.08674390e+00] [-2.16342662e-03 9.99997631e-01 2.38256023e-04 3.20692892e-02] [-3.03031661e-02 -3.03705990e-04 9.99540707e-01 -1.52834368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.84264 meters 0.017000995817051234 Centerline is valid? [True, True] Translation: X:5.15, Y:0.04, Z:-0.16 [[ 9.99524028e-01 3.08820477e-03 3.06949627e-02 5.14896838e+00] [-3.09691211e-03 9.99995177e-01 2.36136218e-04 3.52514292e-02] [-3.06940854e-02 -3.31083426e-04 9.99528771e-01 -1.55198833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.90264 meters 0.028610151289134203 Centerline is valid? [True, True] Translation: X:5.21, Y:0.03, Z:-0.16 [[ 9.99484707e-01 -1.02055127e-05 3.20986039e-02 5.21166387e+00] [ 2.52886599e-06 9.99999971e-01 2.39198861e-04 3.24003204e-02] [-3.20986054e-02 -2.38994430e-04 9.99484678e-01 -1.58350491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.962639999999999 meters 0.01268241735484626 Centerline is valid? [True, True] Translation: X:5.27, Y:0.03, Z:-0.16 [[ 9.99487862e-01 -3.62274618e-03 3.17944785e-02 5.27324251e+00] [ 3.61706318e-03 9.99993430e-01 2.36256102e-04 2.51729642e-02] [-3.17951256e-02 -1.21132469e-04 9.99494400e-01 -1.60071816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.022639999999999 meters 0.011839617013293119 Centerline is valid? [True, True] Translation: X:5.34, Y:0.02, Z:-0.16 [[ 9.99463435e-01 -8.59149819e-03 3.16074152e-02 5.33607730e+00] [ 8.58850516e-03 9.99963092e-01 2.30459187e-04 1.84766107e-02] [-3.16082286e-02 4.11249179e-05 9.99500334e-01 -1.62273067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.08264 meters 0.02206382485448142 Centerline is valid? [True, True] Translation: X:5.40, Y:0.02, Z:-0.17 [[ 9.99480179e-01 -1.12731313e-02 3.02041158e-02 5.39813651e+00] [ 1.12718026e-02 9.99936448e-01 2.14263872e-04 1.52583856e-02] [-3.02046117e-02 1.26302338e-04 9.99543729e-01 -1.69139070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.142639999999998 meters 0.01502997964382693 Centerline is valid? [True, True] Translation: X:5.46, Y:0.01, Z:-0.17 [[ 9.99439365e-01 -1.45029911e-02 3.01764569e-02 5.45957470e+00] [ 1.45033026e-02 9.99894800e-01 2.08566902e-04 6.78923447e-03] [-3.01763072e-02 2.29208314e-04 9.99544565e-01 -1.70862356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.202639999999999 meters 0.016759851288924474 Centerline is valid? [True, True] Translation: X:5.52, Y:0.00, Z:-0.17 [[ 9.99424173e-01 -1.60638864e-02 2.98876784e-02 5.52060512e+00] [ 1.60650621e-02 9.99870928e-01 2.00805437e-04 3.50240190e-03] [-2.98870465e-02 2.79457602e-04 9.99553243e-01 -1.74470440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.26264 meters 0.023477309323263088 Centerline is valid? [True, True] Translation: X:5.58, Y:0.00, Z:-0.18 [[ 9.99440583e-01 -1.49630228e-02 2.99103454e-02 5.58255833e+00] [ 1.49638096e-02 9.99888016e-01 1.97543919e-04 4.39300701e-03] [-2.99099518e-02 2.50139304e-04 9.99552566e-01 -1.78116982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.32264 meters 0.012745539850713227 Centerline is valid? [True, True] Translation: X:5.64, Y:0.01, Z:-0.18 [[ 9.99496237e-01 -1.02490834e-02 3.00371134e-02 5.64464245e+00] [ 1.02477941e-02 9.99947471e-01 1.96868616e-04 1.04682478e-02] [-3.00375533e-02 1.11044714e-04 9.99548765e-01 -1.77608877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.382639999999999 meters 0.012328902914105556 Centerline is valid? [True, True] Translation: X:5.71, Y:0.01, Z:-0.18 [[ 9.99539917e-01 -6.64117152e-03 2.95947534e-02 5.70769540e+00] [ 6.63837065e-03 9.99977947e-01 1.92892572e-04 1.40517548e-02] [-2.95953817e-02 3.65711713e-06 9.99561961e-01 -1.81325452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.442639999999999 meters 0.013348357315024458 Centerline is valid? [True, True] Translation: X:5.77, Y:0.02, Z:-0.19 [[ 9.99572230e-01 -5.67228443e-03 2.86911471e-02 5.76809881e+00] [ 5.66928353e-03 9.99983912e-01 1.85938807e-04 1.58874020e-02] [-2.86917402e-02 -2.32010202e-05 9.99588307e-01 -1.88382364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.50264 meters 0.013690946297958395 Centerline is valid? [True, True] Translation: X:5.83, Y:0.02, Z:-0.19 [[ 9.99651855e-01 -4.97846858e-03 2.59110677e-02 5.83002110e+00] [ 4.97584584e-03 9.99987607e-01 1.65695771e-04 1.80559135e-02] [-2.59115715e-02 -3.67086061e-05 9.99664238e-01 -1.94053932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.562639999999998 meters 0.014747159012156508 Centerline is valid? [True, True] Translation: X:5.89, Y:0.02, Z:-0.20 [[ 9.99679283e-01 -4.84564658e-03 2.48565986e-02 5.89090997e+00] [ 4.84329933e-03 9.99988259e-01 1.54634763e-04 1.72674625e-02] [-2.48570561e-02 -3.41972219e-05 9.99691015e-01 -2.01114008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.622639999999999 meters 0.013350002208026658 Centerline is valid? [True, True] Translation: X:5.95, Y:0.02, Z:-0.20 [[ 9.99616865e-01 -4.85696595e-03 2.72494769e-02 5.95332292e+00] [ 4.85428235e-03 9.99988204e-01 1.64632725e-04 1.69399622e-02] [-2.72499551e-02 -3.22929932e-05 9.99628651e-01 -1.96879372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.68264 meters 0.012695265906273196 Centerline is valid? [True, True] Translation: X:6.02, Y:0.02, Z:-0.20 [[ 9.99568209e-01 -4.97288255e-03 2.89597391e-02 6.01512384e+00] [ 4.97005938e-03 9.99987635e-01 1.69466733e-04 1.82905351e-02] [-2.89602237e-02 -2.54619355e-05 9.99580564e-01 -1.96723323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.74264 meters 0.012369163165867314 Centerline is valid? [True, True] Translation: X:6.08, Y:0.02, Z:-0.20 [[ 9.99537926e-01 -3.92287774e-03 3.01420735e-02 6.07720094e+00] [ 3.91950956e-03 9.99992304e-01 1.70827139e-04 1.89653101e-02] [-3.01425117e-02 -5.26060589e-05 9.99545610e-01 -1.96840660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.802639999999998 meters 0.012949904618641955 Centerline is valid? [True, True] Translation: X:6.14, Y:0.02, Z:-0.20 [[ 9.99522299e-01 -1.30696459e-03 3.08782339e-02 6.13870012e+00] [ 1.30237599e-03 9.99999138e-01 1.68714995e-04 2.16886721e-02] [-3.08784278e-02 -1.28419330e-04 9.99523139e-01 -1.98818426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.862639999999999 meters 0.016171029819792456 Centerline is valid? [True, True] Translation: X:6.20, Y:0.03, Z:-0.20 [[ 9.99550003e-01 4.34374504e-03 2.96803474e-02 6.20098068e+00] [-4.35033902e-03 9.99990525e-01 1.57595781e-04 3.45937682e-02] [-2.96793816e-02 -2.86644438e-04 9.99559429e-01 -2.02592129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.92264 meters 0.020868337119583188 Centerline is valid? [True, True] Translation: X:6.26, Y:0.05, Z:-0.21 [[ 9.99518281e-01 1.06386716e-02 2.91551951e-02 6.26246082e+00] [-1.06476590e-02 9.99943300e-01 1.53023419e-04 4.72085647e-02] [-2.91519140e-02 -4.63384279e-04 9.99574885e-01 -2.05794787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.98264 meters 0.026451669937443054 Centerline is valid? [True, True] Translation: X:6.32, Y:0.06, Z:-0.21 [[ 9.99509457e-01 1.45511430e-02 2.77328203e-02 6.32210911e+00] [-1.45607790e-02 9.99893976e-01 1.45534474e-04 5.82120838e-02] [-2.77277623e-02 -5.49274551e-04 9.99615361e-01 -2.12648034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.042639999999999 meters 0.027770043439241648 Centerline is valid? [True, True] Translation: X:6.38, Y:0.07, Z:-0.22 [[ 9.99486509e-01 1.71622852e-02 2.70587310e-02 6.38452231e+00] [-1.71723660e-02 9.99852534e-01 1.40202617e-04 6.69320216e-02] [-2.70523346e-02 -6.04793055e-04 9.99633836e-01 -2.15286571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.10264 meters 0.025897870977746436 Centerline is valid? [True, True] Translation: X:6.45, Y:0.07, Z:-0.22 [[ 9.99500696e-01 1.64371155e-02 2.69848108e-02 6.44705746e+00] [-1.64469023e-02 9.99864731e-01 1.40754111e-04 6.89091533e-02] [-2.69788470e-02 -5.84500381e-04 9.99635834e-01 -2.17101939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.16264 meters 0.022245600390473727 Centerline is valid? [True, True] Translation: X:6.51, Y:0.07, Z:-0.22 [[ 9.99515191e-01 1.19706661e-02 2.87417167e-02 6.50640183e+00] [-1.19796788e-02 9.99928231e-01 1.41396180e-04 7.11044786e-02] [-2.87379613e-02 -4.85644165e-04 9.99586862e-01 -2.17434978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.222639999999998 meters 0.02486895742208165 Centerline is valid? [True, True] Translation: X:6.57, Y:0.07, Z:-0.22 [[ 9.99540725e-01 6.65489769e-03 2.95643436e-02 6.56764677e+00] [-6.66213759e-03 9.99977797e-01 1.46389537e-04 7.05643879e-02] [-2.95627130e-02 -3.43284029e-04 9.99562869e-01 -2.21517712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.282639999999999 meters 0.015815128015695002 Centerline is valid? [True, True] Translation: X:6.63, Y:0.07, Z:-0.22 [[ 9.99538865e-01 3.89697107e-03 3.01142821e-02 6.62851524e+00] [-3.90326819e-03 9.99992371e-01 1.50324635e-04 7.21166141e-02] [-3.01134666e-02 -2.67799434e-04 9.99546451e-01 -2.21712540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.34264 meters 0.01366377466608897 Centerline is valid? [True, True] Translation: X:6.69, Y:0.07, Z:-0.23 [[ 9.99581661e-01 1.86963135e-04 2.89217736e-02 6.69058052e+00] [-1.91099743e-04 9.99999972e-01 1.40263490e-04 7.06780926e-02] [-2.89217465e-02 -1.45731756e-04 9.99581668e-01 -2.25526756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.40264 meters 0.01352965956315242 Centerline is valid? [True, True] Translation: X:6.75, Y:0.07, Z:-0.23 [[ 9.99586291e-01 -1.67927883e-03 2.87128278e-02 6.75131385e+00] [ 1.67614835e-03 9.99998586e-01 1.33095628e-04 7.08510565e-02] [-2.87130107e-02 -8.49136060e-05 9.99587693e-01 -2.30024904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.462639999999999 meters 0.013285159965203753 Centerline is valid? [True, True] Translation: X:6.81, Y:0.07, Z:-0.23 [[ 9.99594085e-01 -3.02264062e-03 2.83289260e-02 6.81380772e+00] [ 3.02016409e-03 9.99995431e-01 1.30207671e-04 7.29250161e-02] [-2.83291902e-02 -4.45968126e-05 9.99598647e-01 -2.32705510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.522639999999999 meters 0.013374043858462963 Centerline is valid? [True, True] Translation: X:6.88, Y:0.08, Z:-0.24 [[ 9.99598448e-01 -2.02931903e-03 2.82634778e-02 6.87639889e+00] [ 2.02660853e-03 9.99997939e-01 1.24546036e-04 7.64581518e-02] [-2.82636723e-02 -6.72170194e-05 9.99600500e-01 -2.35741783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.58264 meters 0.013911393993357711 Centerline is valid? [True, True] Translation: X:6.94, Y:0.08, Z:-0.24 [[ 9.99601878e-01 -4.33944299e-04 2.82116443e-02 6.93924971e+00] [ 4.30762827e-04 9.99999900e-01 1.18848942e-04 8.17604671e-02] [-2.82116930e-02 -1.06649098e-04 9.99601965e-01 -2.37889961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.642639999999998 meters 0.012844528903379646 Centerline is valid? [True, True] Translation: X:7.00, Y:0.09, Z:-0.24 [[ 9.99560180e-01 1.99461224e-04 2.96547956e-02 7.00174122e+00] [-2.03066362e-04 9.99999972e-01 1.18558582e-04 8.85564754e-02] [-2.96547711e-02 -1.24528329e-04 9.99560193e-01 -2.36458387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.702639999999999 meters 0.012699585878477321 Centerline is valid? [True, True] Translation: X:7.06, Y:0.09, Z:-0.24 [[ 9.99559430e-01 -1.64841468e-03 2.96349310e-02 7.06397145e+00] [ 1.64577753e-03 9.99998639e-01 1.13379376e-04 8.68126893e-02] [-2.96350776e-02 -6.45569212e-05 9.99560783e-01 -2.40782365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.76264 meters 0.013157228339661856 Centerline is valid? [True, True] Translation: X:7.13, Y:0.08, Z:-0.24 [[ 9.99561824e-01 -7.04282238e-03 2.87499297e-02 7.12633877e+00] [ 7.04272471e-03 9.99975194e-01 1.04658128e-04 7.83114130e-02] [-2.87499536e-02 9.78655707e-05 9.99586630e-01 -2.44830228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.82264 meters 0.01744257026640108 Centerline is valid? [True, True] Translation: X:7.19, Y:0.06, Z:-0.25 [[ 9.99456578e-01 -1.47771742e-02 2.94649649e-02 7.18763773e+00] [ 1.47806291e-02 9.99890755e-01 1.00556262e-04 6.37327734e-02] [-2.94632320e-02 3.35009102e-04 9.99565809e-01 -2.46807460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.882639999999999 meters 0.031073705912873888 Centerline is valid? [True, True] Translation: X:7.25, Y:0.05, Z:-0.25 [[ 9.99355229e-01 -2.19343187e-02 2.84255550e-02 7.24891857e+00] [ 2.19405245e-02 9.99759273e-01 9.36001938e-05 4.50357559e-02] [-2.84207653e-02 5.30131742e-04 9.99595908e-01 -2.54423046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.942639999999999 meters 0.026081442674710634 Centerline is valid? [True, True] Translation: X:7.31, Y:0.04, Z:-0.25 [[ 9.99330068e-01 -2.41471214e-02 2.75014687e-02 7.31089001e+00] [ 2.41537734e-02 9.99708251e-01 9.03412717e-05 3.52086946e-02] [-2.74956267e-02 5.73983494e-04 9.99621759e-01 -2.54931238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.00264 meters 0.02560639096894072 Centerline is valid? [True, True] Translation: X:7.37, Y:0.03, Z:-0.26 [[ 9.99405804e-01 -2.11287675e-02 2.72325868e-02 7.37235690e+00] [ 2.11342059e-02 9.99776644e-01 8.81375656e-05 2.73322964e-02] [-2.72283665e-02 4.87453902e-04 9.99629120e-01 -2.59589727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.062639999999998 meters 0.019546535562906014 Centerline is valid? [True, True] Translation: X:7.43, Y:0.03, Z:-0.26 [[ 9.99508212e-01 -1.63213154e-02 2.67759047e-02 7.43432486e+00] [ 1.63248877e-02 9.99866737e-01 8.51914669e-05 2.92436660e-02] [-2.67737269e-02 3.51964066e-04 9.99641458e-01 -2.59940760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.122639999999999 meters 0.0138681266748447 Centerline is valid? [True, True] Translation: X:7.49, Y:0.04, Z:-0.26 [[ 9.99629367e-01 -4.90881131e-03 2.67774624e-02 7.49449778e+00] [ 4.90832861e-03 9.99987951e-01 8.37546359e-05 3.78185816e-02] [-2.67775509e-02 4.77089913e-05 9.99641416e-01 -2.62781943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.18264 meters 0.019521736242971783 Centerline is valid? [True, True] Translation: X:7.56, Y:0.05, Z:-0.27 [[ 9.99601293e-01 9.62447791e-03 2.65447497e-02 7.55559087e+00] [-9.63007237e-03 9.99953626e-01 8.29245452e-05 5.38045970e-02] [-2.65427207e-02 -3.38519344e-04 9.99647623e-01 -2.65971126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.24264 meters 0.027231148949497696 Centerline is valid? [True, True] Translation: X:7.62, Y:0.06, Z:-0.27 [[ 9.99475094e-01 1.86951403e-02 2.64580403e-02 7.61677555e+00] [-1.87038511e-02 9.99825064e-01 8.17734510e-05 6.36101793e-02] [-2.64518831e-02 -5.76597775e-04 9.99649921e-01 -2.68778552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.302639999999998 meters 0.0467716791233068 Centerline is valid? [True, True] Translation: X:7.68, Y:0.08, Z:-0.28 [[ 9.99262869e-01 2.88994749e-02 2.52693430e-02 7.67629906e+00] [-2.89106900e-02 9.99581996e-01 7.85235703e-05 7.88934345e-02] [-2.52565110e-02 -8.09019832e-04 9.99680676e-01 -2.78768660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.362639999999999 meters 0.039756276162411265 Centerline is valid? [True, True] Translation: X:7.74, Y:0.08, Z:-0.28 [[ 9.99216641e-01 3.07536766e-02 2.49061344e-02 7.73880427e+00] [-3.07651184e-02 9.99526639e-01 7.62578952e-05 7.99791982e-02] [-2.48919996e-02 -8.42438331e-04 9.99689791e-01 -2.77139693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.42264 meters 0.04789742215532437 Centerline is valid? [True, True] Translation: X:7.80, Y:0.08, Z:-0.28 [[ 9.99163956e-01 3.26001056e-02 2.46702729e-02 7.79964348e+00] [-3.26119178e-02 9.99468087e-01 7.65171013e-05 8.47335471e-02] [-2.46546560e-02 -8.80998041e-04 9.99695640e-01 -2.84500455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.48264 meters 0.040390506750402344 Centerline is valid? [True, True] Translation: X:7.86, Y:0.08, Z:-0.28 [[ 9.99209124e-01 3.01918293e-02 2.58762346e-02 7.86141663e+00] [-3.02038469e-02 9.99543757e-01 7.36157099e-05 8.25106153e-02] [-2.58622062e-02 -8.55119317e-04 9.99665151e-01 -2.81947348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.542639999999999 meters 0.035113139062461496 Centerline is valid? [True, True] Translation: X:7.92, Y:0.08, Z:-0.28 [[ 9.99300189e-01 2.48245099e-02 2.79799224e-02 7.92193631e+00] [-2.48364130e-02 9.99691526e-01 7.79138332e-05 7.94591898e-02] [-2.79693572e-02 -7.72780217e-04 9.99608482e-01 -2.80428157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.60264 meters 0.030350970247788347 Centerline is valid? [True, True] Translation: X:7.98, Y:0.08, Z:-0.28 [[ 9.99357890e-01 1.98067927e-02 2.98579623e-02 7.98187743e+00] [-1.98181100e-02 9.99803599e-01 8.31257005e-05 7.82184633e-02] [-2.98504517e-02 -6.74800706e-04 9.99554148e-01 -2.80684735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.66264 meters 0.028454101517824078 Centerline is valid? [True, True] Translation: X:8.04, Y:0.07, Z:-0.28 [[ 9.99383590e-01 1.68020155e-02 3.08242015e-02 8.04298837e+00] [-1.68126605e-02 9.99858654e-01 8.61794050e-05 7.28285764e-02] [-3.08183966e-02 -6.04363118e-04 9.99524818e-01 -2.80935741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.722639999999998 meters 0.02074483268250079 Centerline is valid? [True, True] Translation: X:8.10, Y:0.07, Z:-0.28 [[ 9.99478712e-01 1.28570015e-02 2.96142230e-02 8.10484666e+00] [-1.28651424e-02 9.99917237e-01 8.43687170e-05 7.12612153e-02] [-2.96106873e-02 -4.65315934e-04 9.99561399e-01 -2.82475681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.782639999999999 meters 0.020067936392792314 Centerline is valid? [True, True] Translation: X:8.17, Y:0.08, Z:-0.29 [[ 9.99509941e-01 1.14699646e-02 2.91258855e-02 8.16615324e+00] [-1.14771009e-02 9.99934133e-01 7.78445072e-05 7.65221887e-02] [-2.91230742e-02 -4.12087085e-04 9.99575748e-01 -2.87058626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.84264 meters 0.025038667606805367 Centerline is valid? [True, True] Translation: X:8.23, Y:0.08, Z:-0.30 [[ 9.99554261e-01 1.12874219e-02 2.76382481e-02 8.22660607e+00] [-1.12936649e-02 9.99936222e-01 6.97901020e-05 8.00033681e-02] [-2.76356977e-02 -3.81896106e-04 9.99617988e-01 -2.96037629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.90264 meters 0.019843244472002745 Centerline is valid? [True, True] Translation: X:8.29, Y:0.08, Z:-0.30 [[ 9.99565182e-01 1.03615194e-02 2.76058907e-02 8.28882961e+00] [-1.03672801e-02 9.99946256e-01 6.55552278e-05 8.37847583e-02] [-2.76037278e-02 -3.51724725e-04 9.99618883e-01 -2.96072960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.962639999999999 meters 0.018108944778743696 Centerline is valid? [True, True] Translation: X:8.35, Y:0.09, Z:-0.30 [[ 9.99570939e-01 9.29084035e-03 2.77780147e-02 8.35102701e+00] [-9.29613152e-03 9.99956788e-01 6.13447299e-05 8.63779118e-02] [-2.77762444e-02 -3.19546488e-04 9.99614115e-01 -2.97544061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.022639999999999 meters 0.015095154082247162 Centerline is valid? [True, True] Translation: X:8.41, Y:0.09, Z:-0.30 [[ 9.99565727e-01 5.23815204e-03 2.89986127e-02 8.41337778e+00] [-5.24205824e-03 9.99986259e-01 5.86818774e-05 8.64075697e-02] [-2.89979068e-02 -2.10668810e-04 9.99579450e-01 -2.98092995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.08264 meters 0.012793772905160608 Centerline is valid? [True, True] Translation: X:8.48, Y:0.08, Z:-0.30 [[ 9.99582791e-01 -2.70686300e-04 2.88820094e-02 8.47528139e+00] [ 2.69251225e-04 9.99999962e-01 5.35765620e-05 7.87018125e-02] [-2.88820228e-02 -4.57776929e-05 9.99582826e-01 -3.00840058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.142639999999998 meters 0.013248884034129226 Centerline is valid? [True, True] Translation: X:8.54, Y:0.07, Z:-0.31 [[ 9.99600711e-01 -3.44233607e-03 2.80458257e-02 8.53763550e+00] [ 3.44236293e-03 9.99994074e-01 4.73239511e-05 7.42205108e-02] [-2.80458224e-02 4.92388555e-05 9.99606637e-01 -3.05100309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.202639999999999 meters 0.013537060068503491 Centerline is valid? [True, True] Translation: X:8.60, Y:0.07, Z:-0.31 [[ 9.99556609e-01 -5.63203161e-03 2.92380979e-02 8.59965215e+00] [ 5.63315522e-03 9.99984133e-01 4.39400651e-05 6.86252055e-02] [-2.92378815e-02 1.20782161e-04 9.99572474e-01 -3.05529192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.26264 meters 0.013800712915030336 Centerline is valid? [True, True] Translation: X:8.66, Y:0.06, Z:-0.31 [[ 9.99573031e-01 -5.90602914e-03 2.86159807e-02 8.66220175e+00] [ 5.90735264e-03 9.99982551e-01 3.82897718e-05 6.27217890e-02] [-2.86157075e-02 1.30771266e-04 9.99590478e-01 -3.08446705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.32264 meters 0.013414171944856544 Centerline is valid? [True, True] Translation: X:8.72, Y:0.06, Z:-0.31 [[ 9.99570046e-01 -4.54122229e-03 2.89672332e-02 8.72477763e+00] [ 4.54215451e-03 9.99989684e-01 3.36189426e-05 5.97099876e-02] [-2.89670870e-02 9.79691608e-05 9.99580361e-01 -3.10718485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.382639999999999 meters 0.012863676528046514 Centerline is valid? [True, True] Translation: X:8.79, Y:0.06, Z:-0.31 [[ 9.99573478e-01 -1.80649079e-03 2.91478721e-02 8.78653595e+00] [ 1.80642067e-03 9.99998368e-01 2.87380400e-05 5.50551153e-02] [-2.91478765e-02 2.39275360e-05 9.99575110e-01 -3.13087985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.442639999999999 meters 0.023125565186829216 Centerline is valid? [True, True] Translation: X:8.85, Y:0.05, Z:-0.32 [[ 9.99588434e-01 8.67654575e-04 2.86742016e-02 8.84932419e+00] [-8.68694444e-04 9.99999622e-01 2.38078474e-05 5.42357854e-02] [-2.86741701e-02 -4.87071686e-05 9.99588810e-01 -3.19306293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.50264 meters 0.014788268034169013 Centerline is valid? [True, True] Translation: X:8.91, Y:0.05, Z:-0.32 [[ 9.99559954e-01 5.95383764e-03 2.90594397e-02 8.91129686e+00] [-5.95687373e-03 9.99982258e-01 1.79088262e-05 5.10911796e-02] [-2.90588175e-02 -1.91004358e-04 9.99577685e-01 -3.19028131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.562639999999998 meters 0.01818953634722202 Centerline is valid? [True, True] Translation: X:8.97, Y:0.05, Z:-0.32 [[ 9.99496537e-01 1.15888094e-02 2.95359563e-02 8.97319004e+00] [-1.15942530e-02 9.99932784e-01 1.30460735e-05 5.26084173e-02] [-2.95338198e-02 -3.55486856e-04 9.99563718e-01 -3.19655744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.622639999999999 meters 0.026322710884937886 Centerline is valid? [True, True] Translation: X:9.03, Y:0.06, Z:-0.32 [[ 9.99306552e-01 2.18521330e-02 3.01479726e-02 9.03401371e+00] [-2.18622362e-02 9.99760993e-01 5.49529568e-06 6.08075558e-02] [-3.01406469e-02 -6.64593584e-04 9.99545447e-01 -3.20205634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.68264 meters 0.04341172310027684 Centerline is valid? [True, True] Translation: X:9.09, Y:0.08, Z:-0.33 [[ 9.99006929e-01 3.29975650e-02 2.99385496e-02 9.09320963e+00] [-3.30125325e-02 9.99454938e-01 5.65984198e-06 7.79596778e-02] [-2.99220445e-02 -9.94001563e-04 9.99551741e-01 -3.27106384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.74264 meters 0.04558499522012736 Centerline is valid? [True, True] Translation: X:9.15, Y:0.09, Z:-0.33 [[ 9.98742461e-01 3.99048830e-02 3.03495871e-02 9.15382324e+00] [-3.99234161e-02 9.99202743e-01 4.68878014e-06 8.87748343e-02] [-3.03252036e-02 -1.21634208e-03 9.99539345e-01 -3.26839809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.802639999999998 meters 0.05044001675049313 Centerline is valid? [True, True] Translation: X:9.21, Y:0.10, Z:-0.33 [[ 9.98665335e-01 4.21978763e-02 2.97806679e-02 9.21369002e+00] [-4.22167279e-02 9.99108477e-01 4.25808375e-06 1.01238031e-01] [-2.97539381e-02 -1.26149476e-03 9.99556458e-01 -3.31591834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.862639999999999 meters 0.045934002197796295 Centerline is valid? [True, True] Translation: X:9.28, Y:0.10, Z:-0.34 [[ 9.98711631e-01 4.20648829e-02 2.83835009e-02 9.27695026e+00] [-4.20819761e-02 9.99114161e-01 4.89060163e-06 1.02458718e-01] [-2.83581520e-02 -1.19931811e-03 9.99597107e-01 -3.35435579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.92264 meters 0.04392318114899528 Centerline is valid? [True, True] Translation: X:9.34, Y:0.10, Z:-0.34 [[ 9.99051809e-01 3.34213358e-02 2.79015476e-02 9.33740260e+00] [-3.34342506e-02 9.99440919e-01 -3.65732869e-06 9.97196564e-02] [-2.78860707e-02 -9.29213476e-04 9.99610676e-01 -3.43455837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.982639999999998 meters 0.02679567087027566 Centerline is valid? [True, True] Translation: X:9.40, Y:0.09, Z:-0.34 [[ 9.99328748e-01 2.35013230e-02 2.81023495e-02 9.39856249e+00] [-2.35104946e-02 9.99723590e-01 -4.05426888e-06 8.85126831e-02] [-2.80946770e-02 -6.56648588e-04 9.99605051e-01 -3.40945148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.042639999999999 meters 0.016952715705176695 Centerline is valid? [True, True] Translation: X:9.46, Y:0.08, Z:-0.35 [[ 9.99599100e-01 8.16926262e-03 2.71090690e-02 9.45829483e+00] [-8.17215198e-03 9.99966607e-01 -4.20749948e-06 7.64723670e-02] [-2.71081981e-02 -2.17333619e-04 9.99632482e-01 -3.48273767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.10264 meters 0.016919016059769344 Centerline is valid? [True, True] Translation: X:9.52, Y:0.07, Z:-0.35 [[ 9.99603416e-01 -8.99550970e-05 2.81603080e-02 9.52103843e+00] [ 9.00860748e-05 9.99999996e-01 -3.38247228e-06 6.51638795e-02] [-2.81603076e-02 5.91798245e-06 9.99603420e-01 -3.49098431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.16264 meters 0.016533350934823624 Centerline is valid? [True, True] Translation: X:9.58, Y:0.05, Z:-0.35 [[ 9.99550923e-01 -8.86288789e-03 2.86251993e-02 9.58278999e+00] [ 8.86662692e-03 9.99960691e-01 -3.69004854e-06 5.41455750e-02] [-2.86240413e-02 2.57497354e-04 9.99590215e-01 -3.48479140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.222639999999998 meters 0.022459682691201167 Centerline is valid? [True, True] Translation: X:9.65, Y:0.05, Z:-0.35 [[ 9.99474295e-01 -1.31928118e-02 2.96155798e-02 9.64513585e+00] [ 1.31988537e-02 9.99912891e-01 -8.52170562e-06 4.87210438e-02] [-2.96128876e-02 3.99408931e-04 9.99561362e-01 -3.50591951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.282639999999999 meters 0.020188306958065377 Centerline is valid? [True, True] Translation: X:9.71, Y:0.05, Z:-0.35 [[ 9.99468233e-01 -1.39704251e-02 2.94631711e-02 9.70660582e+00] [ 1.39768994e-02 9.99902318e-01 -1.37981521e-05 4.59517975e-02] [-2.94601003e-02 4.25594595e-04 9.99565866e-01 -3.51792718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.34264 meters 0.020644703957367536 Centerline is valid? [True, True] Translation: X:9.77, Y:0.04, Z:-0.36 [[ 9.99482131e-01 -1.43413565e-02 2.88061646e-02 9.76883543e+00] [ 1.43478208e-02 9.99897065e-01 -1.77132390e-05 3.96710433e-02] [-2.88029454e-02 4.31009753e-04 9.99585016e-01 -3.55362762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.402639999999998 meters 0.020106001032409358 Centerline is valid? [True, True] Translation: X:9.83, Y:0.04, Z:-0.36 [[ 9.99517694e-01 -1.27891812e-02 2.82986826e-02 9.82985076e+00] [ 1.27949384e-02 9.99918141e-01 -2.23693753e-05 3.78174590e-02] [-2.82960800e-02 3.84438486e-04 9.99599512e-01 -3.58982341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.462639999999999 meters 0.037823908781070836 Centerline is valid? [True, True] Translation: X:9.89, Y:0.04, Z:-0.36 [[ 9.99573341e-01 -8.28269463e-03 2.80095183e-02 9.89197792e+00] [ 8.28673872e-03 9.99965664e-01 -2.83074809e-05 3.97797543e-02] [-2.80083221e-02 2.60402963e-04 9.99607656e-01 -3.64080949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.522639999999999 meters 0.021636928734563722 Centerline is valid? [True, True] Translation: X:9.95, Y:0.04, Z:-0.37 [[ 9.99613074e-01 -1.61921492e-03 2.77683307e-02 9.95438342e+00] [ 1.62065796e-03 9.99998686e-01 -2.94612982e-05 4.25990329e-02] [-2.77682465e-02 7.44528649e-05 9.99614385e-01 -3.66068728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.58264 meters 0.013415345122952524 Centerline is valid? [True, True] Translation: X:10.02, Y:0.05, Z:-0.37 [[ 9.99583555e-01 3.58141849e-03 2.86337071e-02 1.00160984e+01] [-3.58197380e-03 9.99993584e-01 -3.18999658e-05 4.57371294e-02] [-2.86336377e-02 -7.06785074e-05 9.99589971e-01 -3.65938789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.642639999999998 meters 0.016933549188545807 Centerline is valid? [True, True] Translation: X:10.08, Y:0.05, Z:-0.37 [[ 9.99515381e-01 1.12301972e-02 2.90324819e-02 1.00779172e+01] [-1.12340069e-02 9.99936896e-01 -3.18903694e-05 5.07976442e-02] [-2.90310080e-02 -2.94276187e-04 9.99578468e-01 -3.68633521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.702639999999999 meters 0.02022819883270956 Centerline is valid? [True, True] Translation: X:10.14, Y:0.05, Z:-0.37 [[ 9.99417607e-01 1.53752708e-02 3.04638895e-02 1.01388457e+01] [-1.53812121e-02 9.99881701e-01 -3.93184906e-05 5.16282641e-02] [-3.04608902e-02 -4.29275953e-04 9.99535867e-01 -3.69432730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.76264 meters 0.02087720213484079 Centerline is valid? [True, True] Translation: X:10.20, Y:0.05, Z:-0.37 [[ 9.99391196e-01 1.71507057e-02 3.03823987e-02 1.02011232e+01] [-1.71572958e-02 9.99852802e-01 -4.37988492e-05 5.31606474e-02] [-3.03786777e-02 -4.77507619e-04 9.99538347e-01 -3.70810380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.82264 meters 0.02424643992967371 Centerline is valid? [True, True] Translation: X:10.26, Y:0.06, Z:-0.38 [[ 9.99380201e-01 2.03796606e-02 2.87033633e-02 1.02627232e+01] [-2.03867368e-02 9.99792168e-01 -4.61260385e-05 5.74265689e-02] [-2.86983379e-02 -5.39070463e-04 9.99587973e-01 -3.77350992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.882639999999999 meters 0.0269111571367258 Centerline is valid? [True, True] Translation: X:10.33, Y:0.07, Z:-0.38 [[ 9.99316060e-01 2.33396959e-02 2.86822557e-02 1.03250791e+01] [-2.33477997e-02 9.99727402e-01 -5.23772747e-05 6.54024047e-02] [-2.86756594e-02 -6.17326110e-04 9.99588578e-01 -3.79561662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.942639999999999 meters 0.029975173836877072 Centerline is valid? [True, True] Translation: X:10.39, Y:0.07, Z:-0.38 [[ 9.99183618e-01 2.79667438e-02 2.91540659e-02 1.03864723e+01] [-2.79770308e-02 9.99608565e-01 -5.50786394e-05 7.46116606e-02] [-2.91441944e-02 -7.60610528e-04 9.99574928e-01 -3.81082436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.00264 meters 0.028167346190569823 Centerline is valid? [True, True] Translation: X:10.45, Y:0.08, Z:-0.38 [[ 9.99228330e-01 2.57749667e-02 2.96377408e-02 1.04475041e+01] [-2.57846123e-02 9.99667520e-01 -5.67488376e-05 7.93524532e-02] [-2.96293495e-02 -7.07492609e-04 9.99560704e-01 -3.83808617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.062639999999998 meters 0.022573819736144637 Centerline is valid? [True, True] Translation: X:10.51, Y:0.07, Z:-0.39 [[ 9.99326847e-01 1.98310860e-02 3.08639193e-02 1.05085976e+01] [-1.98386832e-02 9.99803192e-01 -6.00815522e-05 7.44115313e-02] [-3.08590365e-02 -5.52258408e-04 9.99523594e-01 -3.85110189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.122639999999999 meters 0.014380461596854096 Centerline is valid? [True, True] Translation: X:10.57, Y:0.06, Z:-0.39 [[ 9.99482311e-01 8.84555202e-03 3.09332559e-02 1.05690172e+01] [-8.84790630e-03 9.99960855e-01 -6.07734621e-05 6.23807298e-02] [-3.09325826e-02 -2.12952550e-04 9.99521450e-01 -3.88083473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.18264 meters 0.012640775728676407 Centerline is valid? [True, True] Translation: X:10.63, Y:0.06, Z:-0.39 [[ 9.99535348e-01 3.23362967e-03 3.03089512e-02 1.06300138e+01] [-3.23338126e-03 9.99994771e-01 -5.72075491e-05 5.97834345e-02] [-3.03089777e-02 -4.08194274e-05 9.99540577e-01 -3.91456145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.24264 meters 0.012548833679222044 Centerline is valid? [True, True] Translation: X:10.69, Y:0.06, Z:-0.39 [[ 9.99526843e-01 1.83639330e-03 3.07037051e-02 1.06923894e+01] [-1.83532900e-03 9.99998314e-01 -6.28457260e-05 6.00122512e-02] [-3.07037687e-02 6.46458966e-06 9.99528528e-01 -3.93723249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.302639999999998 meters 0.0188771336828905 Centerline is valid? [True, True] Translation: X:10.76, Y:0.06, Z:-0.40 [[ 9.99500163e-01 5.99087292e-04 3.16079964e-02 1.07550228e+01] [-5.97116109e-04 9.99999819e-01 -7.18025563e-05 6.05050515e-02] [-3.16080337e-02 5.28930229e-05 9.99500340e-01 -3.95874221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.362639999999999 meters 0.023288747889677 Centerline is valid? [True, True] Translation: X:10.82, Y:0.06, Z:-0.40 [[ 9.99444978e-01 -4.36428824e-03 3.30255850e-02 1.08171607e+01] [ 4.36917364e-03 9.99990452e-01 -7.57618276e-05 5.82525080e-02] [-3.30249390e-02 2.20014294e-04 9.99454504e-01 -3.98289889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.42264 meters 0.020702773395717546 Centerline is valid? [True, True] Translation: X:10.88, Y:0.05, Z:-0.40 [[ 9.99396143e-01 -8.56161976e-03 3.36756170e-02 1.08792623e+01] [ 8.56930252e-03 9.99963279e-01 -8.38148068e-05 5.37954755e-02] [-3.36736628e-02 3.72340744e-04 9.99432812e-01 -3.99199802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.482639999999998 meters 0.022664130423169695 Centerline is valid? [True, True] Translation: X:10.94, Y:0.04, Z:-0.40 [[ 9.99320679e-01 -1.45697466e-02 3.38511915e-02 1.09391748e+01] [ 1.45811941e-02 9.99893685e-01 -9.13170240e-05 4.22979638e-02] [-3.38462621e-02 5.84845783e-04 9.99426880e-01 -4.01007380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.542639999999999 meters 0.027193719701939966 Centerline is valid? [True, True] Translation: X:11.00, Y:0.03, Z:-0.40 [[ 9.99228463e-01 -2.06029269e-02 3.34364828e-02 1.10002281e+01] [ 2.06175548e-02 9.99787431e-01 -9.27188565e-05 3.46017823e-02] [-3.34274650e-02 7.82025835e-04 9.99440840e-01 -4.03964433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.60264 meters 0.032820001608450056 Centerline is valid? [True, True] Translation: X:11.06, Y:0.02, Z:-0.41 [[ 9.99153310e-01 -2.45047318e-02 3.30481531e-02 1.10603164e+01] [ 2.45211595e-02 9.99699307e-01 -9.18142679e-05 2.33286683e-02] [-3.30359659e-02 9.02115564e-04 9.99453756e-01 -4.08988858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.66264 meters 0.037850730489795675 Centerline is valid? [True, True] Translation: X:11.12, Y:0.01, Z:-0.42 [[ 9.99154984e-01 -2.73523485e-02 3.06784571e-02 1.11214827e+01] [ 2.73678737e-02 9.99625426e-01 -8.61980214e-05 1.02124249e-02] [-3.06646080e-02 9.25729323e-04 9.99529302e-01 -4.16877809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.722639999999998 meters 0.038226119291997 Centerline is valid? [True, True] Translation: X:11.18, Y:0.00, Z:-0.42 [[ 9.99203844e-01 -2.46758292e-02 3.13493628e-02 1.11823973e+01] [ 2.46907500e-02 9.99695133e-01 -8.88685706e-05 4.99231977e-03] [-3.13376125e-02 8.62837095e-04 9.99508484e-01 -4.19077362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.782639999999999 meters 0.027155965221432682 Centerline is valid? [True, True] Translation: X:11.24, Y:0.01, Z:-0.42 [[ 9.99320064e-01 -1.79312232e-02 3.22161712e-02 1.12433128e+01] [ 1.79435123e-02 9.99838998e-01 -9.23642687e-05 1.35968189e-02] [-3.22093281e-02 6.70372732e-04 9.99480920e-01 -4.17440647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.84264 meters 0.01298805073991069 Centerline is valid? [True, True] Translation: X:11.30, Y:0.03, Z:-0.42 [[ 9.99419685e-01 -2.90464958e-03 3.39390114e-02 1.13036170e+01] [ 2.90963712e-03 9.99995762e-01 -9.75673448e-05 3.15270998e-02] [-3.39385842e-02 1.96260932e-04 9.99423901e-01 -4.16372796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.902639999999998 meters 0.014623016909704445 Centerline is valid? [True, True] Translation: X:11.37, Y:0.05, Z:-0.42 [[ 9.99349443e-01 1.11807475e-02 3.42882173e-02 1.13658186e+01] [-1.11839617e-02 9.99937453e-01 -9.80606673e-05 4.73391771e-02] [-3.42871690e-02 -2.85481234e-04 9.99411981e-01 -4.20126849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.962639999999999 meters 0.019878628150417216 Centerline is valid? [True, True] Translation: X:11.43, Y:0.06, Z:-0.43 [[ 9.99313032e-01 1.78546893e-02 3.24757555e-02 1.14264311e+01] [-1.78610409e-02 9.99840474e-01 -9.45338046e-05 5.69472171e-02] [-3.24722626e-02 -4.85581935e-04 9.99472519e-01 -4.25988716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.02264 meters 0.024428853889182506 Centerline is valid? [True, True] Translation: X:11.49, Y:0.07, Z:-0.43 [[ 9.99241167e-01 2.28166208e-02 3.15672593e-02 1.14874753e+01] [-2.28250596e-02 9.99739470e-01 -9.30442081e-05 6.69404803e-02] [-3.15611581e-02 -6.27550973e-04 9.99501626e-01 -4.31426880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.082639999999998 meters 0.02454397764451726 Centerline is valid? [True, True] Translation: X:11.55, Y:0.07, Z:-0.43 [[ 9.99189312e-01 2.19690313e-02 3.37354448e-02 1.15488936e+01] [-2.19781843e-02 9.99758446e-01 -9.95323100e-05 6.90952339e-02] [-3.37294825e-02 -6.41992204e-04 9.99430793e-01 -4.31805728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.14264 meters 0.021351107285454876 Centerline is valid? [True, True] Translation: X:11.61, Y:0.06, Z:-0.43 [[ 9.99189574e-01 2.05595991e-02 3.46048722e-02 1.16111175e+01] [-2.05682910e-02 9.99788445e-01 -1.04831501e-04 6.47368636e-02] [-3.45997066e-02 -6.07016537e-04 9.99401067e-01 -4.32156775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.20264 meters 0.014871636073613031 Centerline is valid? [True, True] Translation: X:11.67, Y:0.05, Z:-0.43 [[ 9.99311108e-01 1.22875082e-02 3.50189533e-02 1.16714370e+01] [-1.22910549e-02 9.99924456e-01 -1.14002873e-04 5.33221799e-02] [-3.50177086e-02 -3.16495541e-04 9.99386642e-01 -4.34878683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.262639999999998 meters 0.011505737405345485 Centerline is valid? [True, True] Translation: X:11.73, Y:0.05, Z:-0.44 [[ 9.99358901e-01 6.05758262e-03 3.52858813e-02 1.17333871e+01] [-6.05735970e-03 9.99981648e-01 -1.13221699e-04 4.50507823e-02] [-3.52859196e-02 -1.00590163e-04 9.99377253e-01 -4.37545955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.32264 meters 0.012356192024867398 Centerline is valid? [True, True] Translation: X:11.80, Y:0.03, Z:-0.44 [[ 9.99372825e-01 -1.59945904e-03 3.53751129e-02 1.17950077e+01] [ 1.60469585e-03 9.99998705e-01 -1.19644817e-04 3.28562159e-02] [-3.53748757e-02 1.76336076e-04 9.99374098e-01 -4.40116041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.38264 meters 0.01359769346049015 Centerline is valid? [True, True] Translation: X:11.86, Y:0.03, Z:-0.44 [[ 9.99401675e-01 -3.29344474e-03 3.44303082e-02 1.18574857e+01] [ 3.29960898e-03 9.99994549e-01 -1.22216533e-04 2.80954231e-02] [-3.44297180e-02 2.35749962e-04 9.99407094e-01 -4.43663634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.442639999999997 meters 0.012798528526130991 Centerline is valid? [True, True] Translation: X:11.92, Y:0.03, Z:-0.44 [[ 9.99380498e-01 -1.93409596e-03 3.51408382e-02 1.19193363e+01] [ 1.93989734e-03 9.99998110e-01 -1.30994646e-04 2.57090152e-02] [-3.51405185e-02 1.99083113e-04 9.99382361e-01 -4.44931766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.50264 meters 0.011071656636139139 Centerline is valid? [True, True] Translation: X:11.98, Y:0.03, Z:-0.44 [[ 9.99343854e-01 2.02445772e-03 3.61630007e-02 1.19819417e+01] [-2.02067184e-03 9.99997948e-01 -1.41237773e-04 2.85534865e-02] [-3.61632124e-02 6.80715437e-05 9.99345895e-01 -4.44945904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.56264 meters 0.012011704407059518 Centerline is valid? [True, True] Translation: X:12.04, Y:0.04, Z:-0.45 [[ 9.99333632e-01 8.67203629e-03 3.54554387e-02 1.20443782e+01] [-8.67236707e-03 9.99962384e-01 -1.44463125e-04 3.74475302e-02] [-3.54553578e-02 -1.63115719e-04 9.99371248e-01 -4.49889982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.62264 meters 0.014403575012186436 Centerline is valid? [True, True] Translation: X:12.11, Y:0.04, Z:-0.45 [[ 9.99303983e-01 1.29465331e-02 3.49848080e-02 1.21064889e+01] [-1.29492666e-02 9.99916144e-01 -1.48456020e-04 4.19897968e-02] [-3.49837963e-02 -3.04674913e-04 9.99387833e-01 -4.53493427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.68264 meters 0.019479941097461897 Centerline is valid? [True, True] Translation: X:12.17, Y:0.05, Z:-0.46 [[ 9.99270404e-01 1.78622796e-02 3.37579382e-02 1.21668754e+01] [-1.78674048e-02 9.99840354e-01 -1.49864182e-04 5.10671226e-02] [-3.37552258e-02 -4.53411907e-04 9.99430027e-01 -4.59581817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.742639999999998 meters 0.02120435991773811 Centerline is valid? [True, True] Translation: X:12.23, Y:0.06, Z:-0.46 [[ 9.99203173e-01 2.09040575e-02 3.40005773e-02 1.22292800e+01] [-2.09109470e-02 9.99781331e-01 -1.52992738e-04 5.65042887e-02] [-3.39963406e-02 -5.58113440e-04 9.99421802e-01 -4.61069999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.80264 meters 0.020948091676993994 Centerline is valid? [True, True] Translation: X:12.29, Y:0.06, Z:-0.47 [[ 9.99242290e-01 1.95564699e-02 3.36509951e-02 1.22905890e+01] [-1.95622579e-02 9.99808628e-01 -1.57259459e-04 5.53229709e-02] [-3.36476307e-02 -5.01149144e-04 9.99433633e-01 -4.66355967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.86264 meters 0.017345520885224692 Centerline is valid? [True, True] Translation: X:12.35, Y:0.05, Z:-0.47 [[ 9.99312099e-01 1.68213923e-02 3.30510055e-02 1.23532095e+01] [-1.68252765e-02 9.99858432e-01 -1.60615618e-04 4.70067369e-02] [-3.30490283e-02 -3.95587177e-04 9.99453653e-01 -4.68876129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.922639999999998 meters 0.015084725811372246 Centerline is valid? [True, True] Translation: X:12.41, Y:0.04, Z:-0.47 [[ 9.99373293e-01 1.28849499e-02 3.29696582e-02 1.24146122e+01] [-1.28866491e-02 9.99916951e-01 -1.60961097e-04 3.91430096e-02] [-3.29689941e-02 -2.64008195e-04 9.99456340e-01 -4.73554990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.98264 meters 0.014795577796570977 Centerline is valid? [True, True] Translation: X:12.48, Y:0.03, Z:-0.47 [[ 9.99322790e-01 1.28438871e-02 3.44818171e-02 1.24758540e+01] [-1.28454996e-02 9.99917478e-01 -1.74780081e-04 3.46731485e-02] [-3.44812165e-02 -2.68274448e-04 9.99405310e-01 -4.73867504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.04264 meters 0.01676277247148004 Centerline is valid? [True, True] Translation: X:12.54, Y:0.04, Z:-0.47 [[ 9.99230421e-01 1.58707371e-02 3.58703914e-02 1.25383340e+01] [-1.58742292e-02 9.99873979e-01 -1.87460423e-04 3.64281789e-02] [-3.58688461e-02 -3.82098657e-04 9.99356433e-01 -4.73274057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.102639999999997 meters 0.023456967504582996 Centerline is valid? [True, True] Translation: X:12.60, Y:0.05, Z:-0.48 [[ 9.99132833e-01 2.18612431e-02 3.54354078e-02 1.25985391e+01] [-2.18681617e-02 9.99760845e-01 -1.92364280e-04 4.53014525e-02] [-3.54311386e-02 -5.82709760e-04 9.99371950e-01 -4.76784337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.16264 meters 0.025989497475639278 Centerline is valid? [True, True] Translation: X:12.66, Y:0.05, Z:-0.48 [[ 9.99024861e-01 2.70446516e-02 3.48986212e-02 1.26596858e+01] [-2.70545084e-02 9.99633942e-01 -1.89841832e-04 4.87963957e-02] [-3.48909805e-02 -7.54508329e-04 9.99390840e-01 -4.78723032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.22264 meters 0.03162894117156378 Centerline is valid? [True, True] Translation: X:12.72, Y:0.06, Z:-0.48 [[ 9.98846955e-01 3.39026823e-02 3.39907075e-02 1.27204171e+01] [-3.39159819e-02 9.99424670e-01 -1.85401103e-04 5.77478023e-02] [-3.39774372e-02 -9.67640891e-04 9.99422132e-01 -4.82294481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.28264 meters 0.037035427571744786 Centerline is valid? [True, True] Translation: X:12.78, Y:0.07, Z:-0.48 [[ 9.98651742e-01 3.85377445e-02 3.47784620e-02 1.27807041e+01] [-3.85544743e-02 9.99256482e-01 -1.89719001e-04 7.00178864e-02] [-3.47599149e-02 -1.15140211e-03 9.99395028e-01 -4.84857156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.34264 meters 0.0395530172167031 Centerline is valid? [True, True] Translation: X:12.84, Y:0.07, Z:-0.49 [[ 9.98563673e-01 4.08465032e-02 3.46720984e-02 1.28422713e+01] [-4.08645585e-02 9.99164677e-01 -1.88034996e-04 7.42790408e-02] [-3.46508165e-02 -1.22909508e-03 9.99398724e-01 -4.88879633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.402639999999998 meters 0.03517974174488737 Centerline is valid? [True, True] Translation: X:12.90, Y:0.07, Z:-0.49 [[ 9.98731788e-01 3.77594593e-02 3.33022276e-02 1.29034598e+01] [-3.77741772e-02 9.99286284e-01 -1.87320763e-04 7.42152029e-02] [-3.32855324e-02 -1.07088105e-03 9.99445309e-01 -4.93707666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.46264 meters 0.03352756729573066 Centerline is valid? [True, True] Translation: X:12.96, Y:0.07, Z:-0.50 [[ 9.98909822e-01 3.28987442e-02 3.31185717e-02 1.29631403e+01] [-3.29105943e-02 9.99458282e-01 -1.87399659e-04 7.35309558e-02] [-3.31067960e-02 -9.02756519e-04 9.99451412e-01 -4.98365162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.52264 meters 0.02636526961035142 Centerline is valid? [True, True] Translation: X:13.03, Y:0.07, Z:-0.50 [[ 9.99097021e-01 2.81682621e-02 3.18071053e-02 1.30250823e+01] [-2.81768116e-02 9.99602939e-01 -1.79490927e-04 6.51040430e-02] [-3.17995318e-02 -7.16893962e-04 9.99494010e-01 -5.01071175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.582639999999998 meters 0.02324544416703056 Centerline is valid? [True, True] Translation: X:13.09, Y:0.06, Z:-0.51 [[ 9.99219971e-01 2.38887841e-02 3.14447995e-02 1.30850146e+01] [-2.38950008e-02 9.99714458e-01 -1.78115492e-04 6.05561490e-02] [-3.14400756e-02 -5.73396953e-04 9.99505474e-01 -5.05173744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.64264 meters 0.032402378980015384 Centerline is valid? [True, True] Translation: X:13.15, Y:0.06, Z:-0.51 [[ 9.99235385e-01 2.28201618e-02 3.17472175e-02 1.31456315e+01] [-2.28259185e-02 9.99739438e-01 -1.81129599e-04 6.43341256e-02] [-3.17430788e-02 -5.43668292e-04 9.99495914e-01 -5.10429037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.70264 meters 0.030643308022968392 Centerline is valid? [True, True] Translation: X:13.21, Y:0.06, Z:-0.51 [[ 9.99166030e-01 2.32870944e-02 3.35403571e-02 1.32076597e+01] [-2.32935993e-02 9.99728648e-01 -1.96846140e-04 6.27668657e-02] [-3.35358398e-02 -5.84593661e-04 9.99437345e-01 -5.07463888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.762639999999998 meters 0.028308234533503167 Centerline is valid? [True, True] Translation: X:13.27, Y:0.06, Z:-0.51 [[ 9.99171402e-01 2.17219639e-02 3.44189671e-02 1.32691638e+01] [-2.17276466e-02 9.99763905e-01 -2.08965089e-04 6.06868382e-02] [-3.44153800e-02 -5.39051211e-04 9.99407470e-01 -5.09108528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.82264 meters 0.02528229847363855 Centerline is valid? [True, True] Translation: X:13.33, Y:0.06, Z:-0.51 [[ 9.99233983e-01 2.03664263e-02 3.34163891e-02 1.33312339e+01] [-2.03709480e-02 9.99792470e-01 -2.05172598e-04 5.56959456e-02] [-3.34136328e-02 -4.75708092e-04 9.99441495e-01 -5.13284158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.88264 meters 0.028782553717141765 Centerline is valid? [True, True] Translation: X:13.39, Y:0.05, Z:-0.52 [[ 9.99272460e-01 2.00129118e-02 3.24659036e-02 1.33945360e+01] [-2.00168262e-02 9.99799622e-01 -2.04476850e-04 5.38646897e-02] [-3.24634904e-02 -4.45536264e-04 9.99472823e-01 -5.18339632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.942639999999997 meters 0.020500566944396916 Centerline is valid? [True, True] Translation: X:13.46, Y:0.06, Z:-0.52 [[ 9.99232791e-01 2.22676018e-02 3.22177593e-02 1.34565923e+01] [-2.22724136e-02 9.99751917e-01 -2.09563409e-04 5.55477333e-02] [-3.22144331e-02 -5.08164629e-04 9.99480851e-01 -5.19373442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.00264 meters 0.02440285591504994 Centerline is valid? [True, True] Translation: X:13.52, Y:0.06, Z:-0.52 [[ 9.99136515e-01 2.68986354e-02 3.16652480e-02 1.35179165e+01] [-2.69053751e-02 9.99637962e-01 -2.13303802e-04 6.10901431e-02] [-3.16595215e-02 -6.38845757e-04 9.99498508e-01 -5.22240490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.06264 meters 0.028685604049656945 Centerline is valid? [True, True] Translation: X:13.58, Y:0.07, Z:-0.53 [[ 9.99030470e-01 3.08354955e-02 3.14211914e-02 1.35781133e+01] [-3.08440475e-02 9.99524187e-01 -2.12604573e-04 6.63627719e-02] [-3.14127966e-02 -7.56758274e-04 9.99506210e-01 -5.26445157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.12264 meters 0.030175769216312317 Centerline is valid? [True, True] Translation: X:13.64, Y:0.07, Z:-0.53 [[ 9.98937107e-01 3.36215343e-02 3.15317068e-02 1.36402529e+01] [-3.36315368e-02 9.99434277e-01 -2.13238473e-04 7.06892614e-02] [-3.15210380e-02 -8.47447935e-04 9.99502729e-01 -5.28304212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.18264 meters 0.03662926245847378 Centerline is valid? [True, True] Translation: X:13.70, Y:0.08, Z:-0.53 [[ 9.98835013e-01 3.67561391e-02 3.12666542e-02 1.37004919e+01] [-3.67674435e-02 9.99323826e-01 -2.13506497e-04 8.24701754e-02] [-3.12533602e-02 -9.36337180e-04 9.99511056e-01 -5.32976886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.242639999999998 meters 0.04123364656347572 Centerline is valid? [True, True] Translation: X:13.76, Y:0.09, Z:-0.54 [[ 9.98758352e-01 3.89698657e-02 3.10339299e-02 1.37613081e+01] [-3.89821175e-02 9.99239886e-01 -2.10374308e-04 8.82847917e-02] [-3.10185389e-02 -9.99655205e-04 9.99518309e-01 -5.37478727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.30264 meters 0.03729957920293553 Centerline is valid? [True, True] Translation: X:13.82, Y:0.09, Z:-0.53 [[ 9.98607996e-01 4.14078512e-02 3.26720102e-02 1.38236703e+01] [-4.14225205e-02 9.99141693e-01 -2.28035985e-04 8.75916854e-02] [-3.26534101e-02 -1.12563846e-03 9.99466101e-01 -5.34580988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.36264 meters 0.03764110792278951 Centerline is valid? [True, True] Translation: X:13.88, Y:0.09, Z:-0.54 [[ 9.98699838e-01 3.85590209e-02 3.33442000e-02 1.38841876e+01] [-3.85726484e-02 9.99255771e-01 -2.34717822e-04 9.07777465e-02] [-3.33284348e-02 -1.05176145e-03 9.99443900e-01 -5.38803511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.422639999999998 meters 0.028399867455422535 Centerline is valid? [True, True] Translation: X:13.94, Y:0.08, Z:-0.54 [[ 9.98994885e-01 3.14283212e-02 3.19605962e-02 1.39442020e+01] [-3.14371616e-02 9.99505705e-01 -2.25985565e-04 7.94939004e-02] [-3.19519006e-02 -7.78992004e-04 9.99489104e-01 -5.41993011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.48264 meters 0.02438474226003254 Centerline is valid? [True, True] Translation: X:14.01, Y:0.07, Z:-0.55 [[ 9.99134496e-01 2.71702386e-02 3.14966054e-02 1.40057176e+01] [-2.71767199e-02 9.99630620e-01 -2.22374690e-04 7.31419545e-02] [-3.14910131e-02 -6.33792199e-04 9.99503834e-01 -5.45035596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.54264 meters 0.022380925346464416 Centerline is valid? [True, True] Translation: X:14.07, Y:0.07, Z:-0.55 [[ 9.99220187e-01 2.42844139e-02 3.11333542e-02 1.40665835e+01] [-2.42893369e-02 9.99704946e-01 -2.20114124e-04 7.27634686e-02] [-3.11295136e-02 -5.36266055e-04 9.99515215e-01 -5.49308524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.602639999999997 meters 0.024822144020912634 Centerline is valid? [True, True] Translation: X:14.13, Y:0.08, Z:-0.55 [[ 9.99244799e-01 2.50133945e-02 2.97348626e-02 1.41289826e+01] [-2.50181591e-02 9.99686974e-01 -2.11851787e-04 7.60997171e-02] [-2.97308539e-02 -5.32219726e-04 9.99557799e-01 -5.54571540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.66264 meters 0.025319749220699295 Centerline is valid? [True, True] Translation: X:14.19, Y:0.08, Z:-0.56 [[ 9.99230849e-01 2.58791987e-02 2.94614414e-02 1.41899504e+01] [-2.58840672e-02 9.99664928e-01 -2.16175750e-04 8.20336665e-02] [-2.94571641e-02 -5.46572451e-04 9.99565894e-01 -5.59828173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.72264 meters 0.02174657175990466 Centerline is valid? [True, True] Translation: X:14.25, Y:0.08, Z:-0.56 [[ 9.99247452e-01 2.35084440e-02 3.08525993e-02 1.42513592e+01] [-2.35125285e-02 9.99723516e-01 -2.30453100e-04 7.74727943e-02] [-3.08494867e-02 -4.95142950e-04 9.99523919e-01 -5.59098196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.782639999999997 meters 0.01712000713618693 Centerline is valid? [True, True] Translation: X:14.31, Y:0.07, Z:-0.56 [[ 9.99276207e-01 1.88983748e-02 3.30138497e-02 1.43133365e+01] [-1.89005193e-02 9.99821339e-01 -2.47144162e-04 7.12856490e-02] [-3.30126220e-02 -3.77013624e-04 9.99454864e-01 -5.57716056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.84264 meters 0.023937403703982098 Centerline is valid? [True, True] Translation: X:14.37, Y:0.06, Z:-0.56 [[ 9.99316777e-01 1.44150161e-02 3.40321461e-02 1.43748138e+01] [-1.44146750e-02 9.99896071e-01 -2.55387259e-04 6.30161005e-02] [-3.40322905e-02 -2.35349553e-04 9.99420706e-01 -5.60660413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.902639999999998 meters 0.01149105372482236 Centerline is valid? [True, True] Translation: X:14.44, Y:0.05, Z:-0.56 [[ 9.99415201e-01 8.46230910e-03 3.31307306e-02 1.44372961e+01] [-8.45853640e-03 9.99964194e-01 -2.54031483e-04 4.78997799e-02] [-3.31316940e-02 -2.63545648e-05 9.99450994e-01 -5.62890864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.96264 meters 0.012289042351787327 Centerline is valid? [True, True] Translation: X:14.50, Y:0.04, Z:-0.57 [[ 9.99475904e-01 7.52718725e-03 3.14842688e-02 1.44980929e+01] [-7.52315061e-03 9.99971670e-01 -2.46670934e-04 3.98663756e-02] [-3.14852336e-02 9.68075917e-06 9.99504217e-01 -5.69603999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.02264 meters 0.012465494733126052 Centerline is valid? [True, True] Translation: X:14.56, Y:0.04, Z:-0.57 [[ 9.99466454e-01 1.09634969e-02 3.07670263e-02 1.45604610e+01] [-1.09611307e-02 9.99939895e-01 -2.45568860e-04 4.24647989e-02] [-3.07678693e-02 -9.18035599e-05 9.99526553e-01 -5.71112623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.082639999999998 meters 0.01955628699793984 Centerline is valid? [True, True] Translation: X:14.62, Y:0.06, Z:-0.57 [[ 9.99247989e-01 2.20886500e-02 3.18676617e-02 1.46212987e+01] [-2.20915192e-02 9.99755918e-01 -2.62095787e-04 5.83357750e-02] [-3.18656728e-02 -4.42106374e-04 9.99492063e-01 -5.72121478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.14264 meters 0.03022693445905307 Centerline is valid? [True, True] Translation: X:14.68, Y:0.07, Z:-0.58 [[ 9.98934661e-01 3.32113584e-02 3.20397885e-02 1.46816013e+01] [-3.32199399e-02 9.99448030e-01 -2.64586156e-04 7.47013920e-02] [-3.20308908e-02 -8.00055567e-04 9.99486559e-01 -5.75298061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.20264 meters 0.0333110199691154 Centerline is valid? [True, True] Translation: X:14.74, Y:0.08, Z:-0.58 [[ 9.98761201e-01 3.76228334e-02 3.25666372e-02 1.47427027e+01] [-3.76340513e-02 9.99291552e-01 -2.68658214e-04 8.22151928e-02] [-3.25536731e-02 -9.57289092e-04 9.99469530e-01 -5.77369507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.262639999999998 meters 0.03743083037719052 Centerline is valid? [True, True] Translation: X:14.80, Y:0.09, Z:-0.58 [[ 9.98715700e-01 3.87399765e-02 3.26521860e-02 1.48039896e+01] [-3.87518665e-02 9.99248828e-01 -2.68853453e-04 9.18275586e-02] [-3.26380740e-02 -9.96824986e-04 9.99466739e-01 -5.81659838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.32264 meters 0.032526039777565345 Centerline is valid? [True, True] Translation: X:14.87, Y:0.09, Z:-0.58 [[ 9.98786334e-01 3.69561760e-02 3.25591738e-02 1.48659599e+01] [-3.69668903e-02 9.99316454e-01 -2.73040013e-04 8.76009381e-02] [-3.25470086e-02 -9.30902772e-04 9.99469772e-01 -5.82993155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.38264 meters 0.02937354645107579 Centerline is valid? [True, True] Translation: X:14.93, Y:0.09, Z:-0.59 [[ 9.98941380e-01 3.35679210e-02 3.14533544e-02 1.49276667e+01] [-3.35760226e-02 9.99436130e-01 -2.70709219e-04 8.70658945e-02] [-3.14447059e-02 -7.85655896e-04 9.99505184e-01 -5.87892913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.442639999999997 meters 0.028256747935197737 Centerline is valid? [True, True] Translation: X:14.99, Y:0.09, Z:-0.60 [[ 9.99100327e-01 3.05016599e-02 2.94649730e-02 1.49883241e+01] [-3.05074622e-02 9.99534507e-01 -2.52711921e-04 9.03918305e-02] [-2.94589654e-02 -6.46416986e-04 9.99565781e-01 -5.96073665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.50264 meters 0.023908120277256747 Centerline is valid? [True, True] Translation: X:15.05, Y:0.09, Z:-0.60 [[ 9.99192345e-01 2.58179828e-02 3.07910696e-02 1.50482840e+01] [-2.58218678e-02 9.99666523e-01 -2.71523725e-04 8.68594365e-02] [-3.07878117e-02 -5.23778500e-04 9.99525806e-01 -5.96755553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.56264 meters 0.021094976135510656 Centerline is valid? [True, True] Translation: X:15.11, Y:0.09, Z:-0.60 [[ 9.99215893e-01 2.37156532e-02 3.17043639e-02 1.51106543e+01] [-2.37187843e-02 9.99718632e-01 -2.77381157e-04 8.58328612e-02] [-3.17020216e-02 -4.74825308e-04 9.99497252e-01 -5.96927970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.62264 meters 0.019528456086613973 Centerline is valid? [True, True] Translation: X:15.17, Y:0.09, Z:-0.60 [[ 9.99184641e-01 2.22034777e-02 3.37203076e-02 1.51719615e+01] [-2.22059477e-02 9.99753372e-01 -3.01296001e-04 8.72074170e-02] [-3.37186811e-02 -4.47741052e-04 9.99431263e-01 -5.96709152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.68264 meters 0.025358304014517514 Centerline is valid? [True, True] Translation: X:15.23, Y:0.09, Z:-0.60 [[ 9.99159481e-01 2.48386924e-02 3.26093713e-02 1.52337244e+01] [-2.48422561e-02 9.99691340e-01 -2.95923674e-04 9.40901313e-02] [-3.26066565e-02 -5.14415411e-04 9.99468129e-01 -6.01988460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.742639999999998 meters 0.025862779916395462 Centerline is valid? [True, True] Translation: X:15.29, Y:0.11, Z:-0.61 [[ 9.99074952e-01 2.88561634e-02 3.18835608e-02 1.52946897e+01] [-2.88614389e-02 9.99583378e-01 -2.94840136e-04 1.06388692e-01] [-3.18787853e-02 -6.25638047e-04 9.99491547e-01 -6.05796711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.80264 meters 0.03558349409997355 Centerline is valid? [True, True] Translation: X:15.36, Y:0.11, Z:-0.61 [[ 9.99083479e-01 2.93437405e-02 3.11632264e-02 1.53560784e+01] [-2.93488657e-02 9.99569186e-01 -2.93037876e-04 1.09290807e-01] [-3.11583997e-02 -6.21836045e-04 9.99514266e-01 -6.12762904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.86264 meters 0.025040512216470398 Centerline is valid? [True, True] Translation: X:15.42, Y:0.11, Z:-0.61 [[ 9.99071817e-01 2.75549192e-02 3.31093856e-02 1.54181228e+01] [-2.75595005e-02 9.99620114e-01 -3.18074362e-04 1.08412390e-01] [-3.31055723e-02 -5.94698999e-04 9.99451683e-01 -6.09418294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922639999999998 meters 0.02292729176055488 Centerline is valid? [True, True] Translation: X:15.48, Y:0.11, Z:-0.61 [[ 9.99068992e-01 2.70995027e-02 3.35673389e-02 1.54804857e+01] [-2.71039457e-02 9.99632568e-01 -3.22746718e-04 1.07896209e-01] [-3.35637515e-02 -5.87361091e-04 9.99436406e-01 -6.09926107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.98264 meters 0.021260085832905336 Centerline is valid? [True, True] Translation: X:15.54, Y:0.11, Z:-0.61 [[ 9.99084241e-01 2.75917140e-02 3.27013180e-02 1.55422079e+01] [-2.75960228e-02 9.99619106e-01 -3.19648641e-04 1.06173842e-01] [-3.26976819e-02 -5.83070397e-04 9.99465118e-01 -6.12108510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.04264 meters 0.024907657864404877 Centerline is valid? [True, True] Translation: X:15.60, Y:0.11, Z:-0.62 [[ 9.99027029e-01 3.05601251e-02 3.17974041e-02 1.56036159e+01] [-3.05655203e-02 9.99532715e-01 -3.16502374e-04 1.14100561e-01] [-3.17922180e-02 -6.55709774e-04 9.99494285e-01 -6.17765112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102639999999997 meters 0.02719854926190346 Centerline is valid? [True, True] Translation: X:15.67, Y:0.12, Z:-0.62 [[ 9.98951468e-01 3.26931311e-02 3.20487562e-02 1.56657785e+01] [-3.26995413e-02 9.99465174e-01 -3.24230395e-04 1.19701005e-01] [-3.20422158e-02 -7.24089196e-04 9.99486254e-01 -6.20458786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.16264 meters 0.027144325373483363 Centerline is valid? [True, True] Translation: X:15.73, Y:0.12, Z:-0.62 [[ 9.98965119e-01 3.26723811e-02 3.16418333e-02 1.57291504e+01] [-3.26784591e-02 9.99465864e-01 -3.25166192e-04 1.20030740e-01] [-3.16355562e-02 -7.09176670e-04 9.99499219e-01 -6.24531314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.22264 meters 0.027163041741341237 Centerline is valid? [True, True] Translation: X:15.79, Y:0.12, Z:-0.63 [[ 9.99136074e-01 2.85525828e-02 3.01969344e-02 1.57894810e+01] [-2.85559919e-02 9.99592144e-01 -3.18436304e-04 1.16759184e-01] [-3.01937105e-02 -5.44142213e-04 9.99543918e-01 -6.34224206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.282639999999997 meters 0.02125492402082581 Centerline is valid? [True, True] Translation: X:15.85, Y:0.11, Z:-0.63 [[ 9.99236227e-01 2.53673353e-02 2.97230725e-02 1.58521222e+01] [-2.53692245e-02 9.99678100e-01 -3.13608052e-04 1.05805487e-01] [-2.97214600e-02 -4.40682773e-04 9.99558123e-01 -6.34770709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.34264 meters 0.019015545268935667 Centerline is valid? [True, True] Translation: X:15.91, Y:0.10, Z:-0.64 [[ 9.99308200e-01 2.23749809e-02 2.97066072e-02 1.59132196e+01] [-2.23755355e-02 9.99749587e-01 -3.13794278e-04 1.00255930e-01] [-2.97061894e-02 -3.51124049e-04 9.99558612e-01 -6.38704101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.402639999999998 meters 0.017163906983769635 Centerline is valid? [True, True] Translation: X:15.98, Y:0.09, Z:-0.64 [[ 9.99340189e-01 2.07328043e-02 2.98217554e-02 1.59750536e+01] [-2.07324973e-02 9.99785008e-01 -3.19537179e-04 9.15792707e-02] [-2.98219689e-02 -2.98953118e-04 9.99555181e-01 -6.41049716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.46264 meters 0.018387593866525484 Centerline is valid? [True, True] Translation: X:16.04, Y:0.09, Z:-0.64 [[ 9.99320971e-01 2.18027074e-02 2.97025122e-02 1.60363860e+01] [-2.18026936e-02 9.99762240e-01 -3.24372383e-04 9.39815002e-02] [-2.97025223e-02 -3.23442648e-04 9.99558730e-01 -6.44172029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.52264 meters 0.019065917266928033 Centerline is valid? [True, True] Translation: X:16.10, Y:0.10, Z:-0.65 [[ 9.99269037e-01 2.41926828e-02 2.95990765e-02 1.60983854e+01] [-2.41936744e-02 9.99707237e-01 -3.24684066e-04 9.58197221e-02] [-2.95982660e-02 -3.91663687e-04 9.99561799e-01 -6.46301141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582639999999998 meters 0.018916640317298974 Centerline is valid? [True, True] Translation: X:16.16, Y:0.09, Z:-0.65 [[ 9.99284635e-01 2.43483943e-02 2.89374033e-02 1.61600193e+01] [-2.43492636e-02 9.99703461e-01 -3.22387484e-04 9.35085516e-02] [-2.89366718e-02 -3.82447602e-04 9.99581174e-01 -6.48867544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.64264 meters 0.018222644637271725 Centerline is valid? [True, True] Translation: X:16.22, Y:0.09, Z:-0.65 [[ 9.99277003e-01 2.40082500e-02 2.94800896e-02 1.62219171e+01] [-2.40088655e-02 9.99711690e-01 -3.33142797e-04 9.22817757e-02] [-2.94795884e-02 -3.74881569e-04 9.99565312e-01 -6.50851807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.70264 meters 0.01854255893669016 Centerline is valid? [True, True] Translation: X:16.28, Y:0.09, Z:-0.65 [[ 9.99277601e-01 2.39146678e-02 2.95358382e-02 1.62833821e+01] [-2.39150953e-02 9.99713936e-01 -3.38832762e-04 9.32525089e-02] [-2.95354921e-02 -3.67764394e-04 9.99563665e-01 -6.54391928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.762639999999998 meters 0.017258876727769507 Centerline is valid? [True, True] Translation: X:16.34, Y:0.09, Z:-0.66 [[ 9.99255589e-01 2.20576237e-02 3.16500961e-02 1.63444444e+01] [-2.20569657e-02 9.99756647e-01 -3.69975235e-04 9.10450106e-02] [-3.16505547e-02 -3.28405261e-04 9.99498942e-01 -6.55279723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.82264 meters 0.013555510138814945 Centerline is valid? [True, True] Translation: X:16.41, Y:0.08, Z:-0.65 [[ 9.99311197e-01 1.86372915e-02 3.20902297e-02 1.64062880e+01] [-1.86346928e-02 9.99826287e-01 -3.80075080e-04 8.18333393e-02] [-3.20917388e-02 -2.18178292e-04 9.99484904e-01 -6.54462630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.88264 meters 0.012222901882961813 Centerline is valid? [True, True] Translation: X:16.47, Y:0.08, Z:-0.66 [[ 9.99378289e-01 1.39040041e-02 3.23992926e-02 1.64668781e+01] [-1.38986754e-02 9.99903333e-01 -3.89688710e-04 7.57801023e-02] [-3.24015789e-02 -6.08608135e-05 9.99474929e-01 -6.58676457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.942639999999997 meters 0.024940614360067812 Centerline is valid? [True, True] Translation: X:16.53, Y:0.07, Z:-0.66 [[ 9.99414375e-01 1.29746065e-02 3.16633397e-02 1.65293552e+01] [-1.29689081e-02 9.99915826e-01 -3.85342108e-04 7.20606148e-02] [-3.16656741e-02 -2.55225010e-05 9.99498516e-01 -6.62552977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.00264 meters 0.012807689379170565 Centerline is valid? [True, True] Translation: X:16.59, Y:0.07, Z:-0.66 [[ 9.99388204e-01 1.62927871e-02 3.09477431e-02 1.65913933e+01] [-1.62887453e-02 9.99867256e-01 -3.82721569e-04 7.40251224e-02] [-3.09498705e-02 -1.21612483e-04 9.99520931e-01 -6.63065572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.06264 meters 0.016824495851823495 Centerline is valid? [True, True] Translation: X:16.65, Y:0.09, Z:-0.67 [[ 9.99242366e-01 2.32051723e-02 3.12444267e-02 1.66523663e+01] [-2.32042543e-02 9.99730668e-01 -3.92021351e-04 8.57707290e-02] [-3.12451085e-02 -3.33279280e-04 9.99511697e-01 -6.65528050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.122639999999997 meters 0.020663791154562627 Centerline is valid? [True, True] Translation: X:16.71, Y:0.09, Z:-0.67 [[ 9.99087122e-01 2.83570599e-02 3.19499493e-02 1.67146332e+01] [-2.83585210e-02 9.99597733e-01 -4.07500973e-04 9.31279780e-02] [-3.19486524e-02 -4.98924333e-04 9.99489387e-01 -6.66528536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.18264 meters 0.029204978681107715 Centerline is valid? [True, True] Translation: X:16.77, Y:0.11, Z:-0.67 [[ 9.98880498e-01 3.51234406e-02 3.16874604e-02 1.67743753e+01] [-3.51282301e-02 9.99382731e-01 -4.05710971e-04 1.08362225e-01] [-3.16821506e-02 -7.07867624e-04 9.99497744e-01 -6.71405051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.242639999999998 meters 0.03051844925765793 Centerline is valid? [True, True] Translation: X:16.84, Y:0.12, Z:-0.67 [[ 9.98810641e-01 3.76277863e-02 3.10072935e-02 1.68367914e+01] [-3.76335318e-02 9.99291528e-01 -3.98488985e-04 1.15359931e-01] [-3.10003200e-02 -7.68898928e-04 9.99519079e-01 -6.74078474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.30264 meters 0.03157981534831399 Centerline is valid? [True, True] Translation: X:16.90, Y:0.12, Z:-0.68 [[ 9.98809753e-01 3.74033891e-02 3.13059722e-02 1.68977642e+01] [-3.74091073e-02 9.99299953e-01 -4.03236082e-04 1.18454289e-01] [-3.12991390e-02 -7.68372344e-04 9.99509767e-01 -6.77527112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.36264 meters 0.028522954895361642 Centerline is valid? [True, True] Translation: X:16.96, Y:0.12, Z:-0.68 [[ 9.98861991e-01 3.45786219e-02 3.28487776e-02 1.69597465e+01] [-3.45832578e-02 9.99401729e-01 -4.27192702e-04 1.16645902e-01] [-3.28438969e-02 -7.09311191e-04 9.99460242e-01 -6.77856840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.422639999999998 meters 0.033585843675955 Centerline is valid? [True, True] Translation: X:17.02, Y:0.11, Z:-0.68 [[ 9.98934470e-01 3.19857005e-02 3.32692042e-02 1.70223702e+01] [-3.19889894e-02 9.99488127e-01 -4.33546366e-04 1.11160317e-01] [-3.32660419e-02 -6.31163813e-04 9.99446333e-01 -6.80391888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.48264 meters 0.021697825735944344 Centerline is valid? [True, True] Translation: X:17.08, Y:0.11, Z:-0.68 [[ 9.99080712e-01 2.90875470e-02 3.14903965e-02 1.70837069e+01] [-2.90890379e-02 9.99576740e-01 -4.10878668e-04 1.10644146e-01] [-3.14890193e-02 -5.05524384e-04 9.99503970e-01 -6.84814356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.54264 meters 0.021466941344151672 Centerline is valid? [True, True] Translation: X:17.15, Y:0.11, Z:-0.69 [[ 9.99187283e-01 2.75129865e-02 2.94586036e-02 1.71453727e+01] [-2.75134886e-02 9.99621357e-01 -3.88374395e-04 1.10514913e-01] [-2.94581347e-02 -4.22450199e-04 9.99565926e-01 -6.92137853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.602639999999997 meters 0.023823192672775946 Centerline is valid? [True, True] Translation: X:17.21, Y:0.12, Z:-0.69 [[ 9.99124662e-01 2.95742428e-02 2.95850442e-02 1.72067159e+01] [-2.95754793e-02 9.99562471e-01 -3.95890664e-04 1.17801232e-01] [-2.95838080e-02 -4.79447737e-04 9.99562188e-01 -6.94482551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.66264 meters 0.022533993349488787 Centerline is valid? [True, True] Translation: X:17.27, Y:0.12, Z:-0.69 [[ 9.99070850e-01 3.16011635e-02 2.93053397e-02 1.72689717e+01] [-3.16031321e-02 9.99500418e-01 -3.96105517e-04 1.17475523e-01] [-2.93032167e-02 -5.30403049e-04 9.99570428e-01 -6.94643094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.72264 meters 0.02460757803377794 Centerline is valid? [True, True] Translation: X:17.33, Y:0.12, Z:-0.70 [[ 9.99047212e-01 3.27312379e-02 2.88675277e-02 1.73301007e+01] [-3.27334694e-02 9.99464038e-01 -3.95389134e-04 1.23261439e-01] [-2.88649974e-02 -5.49921922e-04 9.99583168e-01 -6.98872612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.782639999999997 meters 0.02279155646017913 Centerline is valid? [True, True] Translation: X:17.39, Y:0.13, Z:-0.70 [[ 9.99080150e-01 3.10112698e-02 2.96167894e-02 1.73921378e+01] [-3.10127193e-02 9.99518906e-01 -4.10514694e-04 1.25681807e-01] [-2.96152715e-02 -5.08360096e-04 9.99561242e-01 -7.01582125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.84264 meters 0.017707274735557593 Centerline is valid? [True, True] Translation: X:17.45, Y:0.12, Z:-0.70 [[ 9.99189940e-01 2.51233621e-02 3.14369362e-02 1.74528703e+01] [-2.51218353e-02 9.99684298e-01 -4.43605087e-04 1.21267775e-01] [-3.14381564e-02 -3.46507792e-04 9.99505639e-01 -7.01713985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.902639999999998 meters 0.015841700930168408 Centerline is valid? [True, True] Translation: X:17.51, Y:0.12, Z:-0.70 [[ 9.99220436e-01 2.27260463e-02 3.22807519e-02 1.75142979e+01] [-2.27232125e-02 9.99741691e-01 -4.54688106e-04 1.16953828e-01] [-3.22827467e-02 -2.79188736e-04 9.99478737e-01 -7.04078608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.96264 meters 0.012035690278061001 Centerline is valid? [True, True] Translation: X:17.58, Y:0.11, Z:-0.71 [[ 9.99345952e-01 1.67902293e-02 3.20274351e-02 1.75760488e+01] [-1.67842456e-02 9.99859031e-01 -4.55687453e-04 1.05671214e-01] [-3.20305713e-02 -8.21669253e-05 9.99486886e-01 -7.05155468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.02264 meters 0.014728652669339468 Centerline is valid? [True, True] Translation: X:17.64, Y:0.09, Z:-0.71 [[ 9.99465181e-01 6.17077768e-03 3.21134452e-02 1.76364930e+01] [-6.15904015e-03 9.99980925e-01 -4.64409721e-04 9.19617855e-02] [-3.21156985e-02 2.66373347e-04 9.99484122e-01 -7.08116855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.082639999999998 meters 0.021209066665261067 Centerline is valid? [True, True] Translation: X:17.70, Y:0.08, Z:-0.71 [[ 9.99525400e-01 -2.39108361e-03 3.07125092e-02 1.76967258e+01] [ 2.40588635e-03 9.99997007e-01 -4.45032353e-04 7.57415286e-02] [-3.07113532e-02 5.18711947e-04 9.99528161e-01 -7.12219698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.14264 meters 0.024475959636365 Centerline is valid? [True, True] Translation: X:17.76, Y:0.07, Z:-0.72 [[ 9.99552034e-01 -4.78646975e-03 2.95435427e-02 1.77573145e+01] [ 4.80118938e-03 9.99988383e-01 -4.27317309e-04 6.73212997e-02] [-2.95411541e-02 5.68970029e-04 9.99563403e-01 -7.17021890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.20264 meters 0.022531599785081936 Centerline is valid? [True, True] Translation: X:17.82, Y:0.07, Z:-0.72 [[ 9.99579651e-01 -1.95971162e-03 2.89254435e-02 1.78194869e+01] [ 1.97267059e-03 9.99997966e-01 -4.19483468e-04 6.58622722e-02] [-2.89245626e-02 4.76367510e-04 9.99581484e-01 -7.21234540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.262639999999998 meters 0.016117547624515546 Centerline is valid? [True, True] Translation: X:17.88, Y:0.07, Z:-0.72 [[ 9.99524009e-01 6.19165359e-03 3.02228098e-02 1.78792237e+01] [-6.18098911e-03 9.99980798e-01 -4.46274744e-04 7.37747541e-02] [-3.02249926e-02 2.59255463e-04 9.99543087e-01 -7.22059411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.32264 meters 0.0124952238594085 Centerline is valid? [True, True] Translation: X:17.94, Y:0.08, Z:-0.72 [[ 9.99425007e-01 1.31238797e-02 3.12637076e-02 1.79420421e+01] [-1.31159137e-02 9.99913877e-01 -4.59873327e-04 8.10157898e-02] [-3.12670504e-02 4.95568138e-05 9.99511065e-01 -7.22200642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.38264 meters 0.01208035208063919 Centerline is valid? [True, True] Translation: X:18.00, Y:0.08, Z:-0.72 [[ 9.99406994e-01 1.43717635e-02 3.12907802e-02 1.80046403e+01] [-1.43643521e-02 9.99896721e-01 -4.61645074e-04 7.90258869e-02] [-3.12941832e-02 1.18995304e-05 9.99510217e-01 -7.23848553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.442639999999997 meters 0.013476154142016018 Centerline is valid? [True, True] Translation: X:18.07, Y:0.07, Z:-0.73 [[ 9.99477963e-01 1.29021356e-02 2.96198789e-02 1.80651356e+01] [-1.28946418e-02 9.99916762e-01 -4.44003019e-04 7.01118238e-02] [-2.96231420e-02 6.18335047e-05 9.99561137e-01 -7.33174204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.50264 meters 0.014095376679473096 Centerline is valid? [True, True] Translation: X:18.13, Y:0.06, Z:-0.74 [[ 9.99529753e-01 1.15906505e-02 2.83888865e-02 1.81272086e+01] [-1.15832034e-02 9.99932821e-01 -4.26767986e-04 6.23326122e-02] [-2.83919259e-02 9.77330548e-05 9.99596863e-01 -7.37618050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.56264 meters 0.014183906948663935 Centerline is valid? [True, True] Translation: X:18.19, Y:0.06, Z:-0.74 [[ 9.99542447e-01 1.21241442e-02 2.77110516e-02 1.81888965e+01] [-1.21171311e-02 9.99926496e-01 -4.20994088e-04 5.76091604e-02] [-2.77141189e-02 8.50230154e-05 9.99615886e-01 -7.40906099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.622639999999997 meters 0.014552707536460348 Centerline is valid? [True, True] Translation: X:18.25, Y:0.06, Z:-0.75 [[ 9.99547797e-01 1.54870487e-02 2.57750268e-02 1.82512719e+01] [-1.54820024e-02 9.99880068e-01 -3.95340595e-04 5.64255210e-02] [-2.57780582e-02 -3.88720693e-06 9.99667691e-01 -7.47273641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.68264 meters 0.015111027978475196 Centerline is valid? [True, True] Translation: X:18.31, Y:0.06, Z:-0.75 [[ 9.99499358e-01 1.82425318e-02 2.58504157e-02 1.83128784e+01] [-1.82382710e-02 9.99833589e-01 -4.00606681e-04 5.76174035e-02] [-2.58534220e-02 -7.10607682e-05 9.99665742e-01 -7.50999169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.742639999999998 meters 0.015067041918940103 Centerline is valid? [True, True] Translation: X:18.37, Y:0.06, Z:-0.75 [[ 9.99394633e-01 2.03529677e-02 2.82156590e-02 1.83744309e+01] [-2.03485578e-02 9.99792848e-01 -4.43443372e-04 5.61584041e-02] [-2.82188395e-02 -1.30973043e-04 9.99601761e-01 -7.50438666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.80264 meters 0.014157633797848053 Centerline is valid? [True, True] Translation: X:18.44, Y:0.05, Z:-0.75 [[ 9.99384166e-01 2.06900104e-02 2.83409991e-02 1.84370674e+01] [-2.06855970e-02 9.99785929e-01 -4.48932021e-04 5.07964347e-02] [-2.83442205e-02 -1.37594932e-04 9.99598212e-01 -7.49542849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.86264 meters 0.014364706774106789 Centerline is valid? [True, True] Translation: X:18.50, Y:0.05, Z:-0.75 [[ 9.99372375e-01 2.13678289e-02 2.82537039e-02 1.85004026e+01] [-2.13635576e-02 9.99771671e-01 -4.53062054e-04 4.91338815e-02] [-2.82569337e-02 -1.50821930e-04 9.99600682e-01 -7.52641164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.922639999999998 meters 0.014551623556817005 Centerline is valid? [True, True] Translation: X:18.56, Y:0.04, Z:-0.76 [[ 9.99365013e-01 2.09341373e-02 2.88328336e-02 1.85617957e+01] [-2.09293207e-02 9.99780848e-01 -4.68866954e-04 4.35350656e-02] [-2.88363301e-02 -1.34882389e-04 9.99584137e-01 -7.56430175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.98264 meters 0.013366785032913409 Centerline is valid? [True, True] Translation: X:18.62, Y:0.04, Z:-0.76 [[ 9.99377310e-01 1.95948747e-02 2.93433689e-02 1.86234520e+01] [-1.95891737e-02 9.99807998e-01 -4.81769330e-04 3.58066810e-02] [-2.93471751e-02 -9.33430137e-05 9.99569275e-01 -7.57452380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.04264 meters 0.014157980625268362 Centerline is valid? [True, True] Translation: X:18.68, Y:0.03, Z:-0.76 [[ 9.99408985e-01 1.93648556e-02 2.84021560e-02 1.86846681e+01] [-1.93592834e-02 9.99812480e-01 -4.71181392e-04 3.21828624e-02] [-2.84059544e-02 -7.89424698e-05 9.99596466e-01 -7.63451668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.102639999999997 meters 0.014526019687742354 Centerline is valid? [True, True] Translation: X:18.75, Y:0.03, Z:-0.77 [[ 9.99405469e-01 2.06526586e-02 2.76075544e-02 1.87469759e+01] [-2.06477752e-02 9.99786705e-01 -4.61976854e-04 3.01200345e-02] [-2.76112069e-02 -1.08332384e-04 9.99618732e-01 -7.66770273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.16264 meters 0.015445055403011956 Centerline is valid? [True, True] Translation: X:18.81, Y:0.03, Z:-0.77 [[ 9.99378943e-01 2.29911066e-02 2.67046233e-02 1.88094049e+01] [-2.29872604e-02 9.99735656e-01 -4.51044160e-04 2.81367517e-02] [-2.67079341e-02 -1.63102094e-04 9.99643266e-01 -7.69395022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.22264 meters 0.016833686030779935 Centerline is valid? [True, True] Translation: X:18.87, Y:0.03, Z:-0.77 [[ 9.99314819e-01 2.55297570e-02 2.67978209e-02 1.88715113e+01] [-2.55266727e-02 9.99674037e-01 -4.57238492e-04 2.94472868e-02] [-2.68007590e-02 -2.27134002e-04 9.99640769e-01 -7.72011860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.282639999999997 meters 0.018323624894087134 Centerline is valid? [True, True] Translation: X:18.93, Y:0.03, Z:-0.78 [[ 9.99257609e-01 2.78086416e-02 2.66628914e-02 1.89339392e+01] [-2.78062785e-02 9.99613225e-01 -4.59460142e-04 3.07472192e-02] [-2.66653558e-02 -2.82276740e-04 9.99644376e-01 -7.75198320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.34264 meters 0.02038296195722723 Centerline is valid? [True, True] Translation: X:19.00, Y:0.03, Z:-0.78 [[ 9.99149083e-01 3.00749270e-02 2.82242486e-02 1.89956184e+01] [-3.00730383e-02 9.99547583e-01 -4.91491840e-04 3.40446173e-02] [-2.82262610e-02 -3.57715287e-04 9.99601496e-01 -7.76758145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.402639999999998 meters 0.017961337810723347 Centerline is valid? [True, True] Translation: X:19.06, Y:0.03, Z:-0.78 [[ 9.99171983e-01 2.87296125e-02 2.88090021e-02 1.90582294e+01] [-2.87268887e-02 9.99587168e-01 -5.08512136e-04 3.02412728e-02] [-2.88117182e-02 -3.19501918e-04 9.99584805e-01 -7.76815974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.46264 meters 0.017668362428831057 Centerline is valid? [True, True] Translation: X:19.12, Y:0.03, Z:-0.78 [[ 9.99209118e-01 2.69026086e-02 2.92812039e-02 1.91196619e+01] [-2.68989632e-02 9.99638023e-01 -5.18459071e-04 2.75805833e-02] [-2.92845527e-02 -2.69584998e-04 9.99571079e-01 -7.81506995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.52264 meters 0.01556541616098886 Centerline is valid? [True, True] Translation: X:19.18, Y:0.02, Z:-0.78 [[ 9.99232506e-01 2.55898294e-02 2.96573542e-02 1.91823039e+01] [-2.55853574e-02 9.99672500e-01 -5.30320645e-04 2.37353235e-02] [-2.96612122e-02 -2.28880379e-04 9.99559983e-01 -7.80893121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.582639999999998 meters 0.015233648083707255 Centerline is valid? [True, True] Translation: X:19.24, Y:0.02, Z:-0.78 [[ 9.99230230e-01 2.52538032e-02 3.00198633e-02 1.92445826e+01] [-2.52489123e-02 9.99681048e-01 -5.42042735e-04 2.19377792e-02] [-3.00239771e-02 -2.16343408e-04 9.99549155e-01 -7.83353927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.64264 meters 0.014187158357182128 Centerline is valid? [True, True] Translation: X:19.31, Y:0.02, Z:-0.79 [[ 9.99269019e-01 2.34236205e-02 3.02119591e-02 1.93062012e+01] [-2.34176723e-02 9.99725617e-01 -5.50744308e-04 1.69682470e-02] [-3.02165699e-02 -1.57152033e-04 9.99543363e-01 -7.86342041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.70264 meters 0.01305865242323127 Centerline is valid? [True, True] Translation: X:19.37, Y:0.01, Z:-0.79 [[ 9.99379227e-01 1.89862174e-02 2.96763088e-02 1.93690995e+01] [-1.89783862e-02 9.99819745e-01 -5.45554210e-04 5.69869818e-03] [-2.96813175e-02 -1.79929059e-05 9.99559412e-01 -7.89458436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.762639999999998 meters 0.013059034540505412 Centerline is valid? [True, True] Translation: X:19.43, Y:0.00, Z:-0.79 [[ 9.99405552e-01 1.79724981e-02 2.94199196e-02 1.94318286e+01] [-1.79641933e-02 9.99838481e-01 -5.46591233e-04 2.69676465e-03] [-2.94249914e-02 1.77611906e-05 9.99566991e-01 -7.92417741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.82264 meters 0.013838375023080048 Centerline is valid? [True, True] Translation: X:19.49, Y:-0.00, Z:-0.80 [[ 9.99417311e-01 1.64082359e-02 2.99300658e-02 1.94939799e+01] [-1.63987504e-02 9.99865373e-01 -5.62372634e-04 -4.12122001e-03] [-2.99352640e-02 7.12292655e-05 9.99551837e-01 -7.96590421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.88264 meters 0.013375138381057465 Centerline is valid? [True, True] Translation: X:19.56, Y:-0.01, Z:-0.80 [[ 9.99394825e-01 1.84747720e-02 2.94731468e-02 1.95573108e+01] [-1.84663214e-02 9.99829327e-01 -5.58908387e-04 -7.14450021e-03] [-2.94784423e-02 1.43095485e-05 9.99565416e-01 -7.99457412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.942639999999997 meters 0.014075931287624082 Centerline is valid? [True, True] Translation: X:19.62, Y:-0.01, Z:-0.80 [[ 9.99301426e-01 2.23107139e-02 2.99815264e-02 1.96195742e+01] [-2.23035083e-02 9.99751081e-01 -5.74778218e-04 -8.34015714e-03] [-2.99868871e-02 -9.43165285e-05 9.99550288e-01 -8.02866442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.00264 meters 0.015372906791124978 Centerline is valid? [True, True] Translation: X:19.68, Y:-0.01, Z:-0.81 [[ 9.99240277e-01 2.56827099e-02 2.93132732e-02 1.96816962e+01] [-2.56771166e-02 9.99670128e-01 -5.67278283e-04 -5.93091602e-03] [-2.93181728e-02 -1.85833026e-04 9.99570113e-01 -8.05956690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.06264 meters 0.02054942768202428 Centerline is valid? [True, True] Translation: X:19.74, Y:0.00, Z:-0.81 [[ 9.99046234e-01 3.28030756e-02 2.88197957e-02 1.97437042e+01] [-3.28004366e-02 9.99461762e-01 -5.64443068e-04 4.27848498e-04] [-2.88227992e-02 -3.81397159e-04 9.99584464e-01 -8.09729365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.122639999999997 meters 0.028123096456591428 Centerline is valid? [True, True] Translation: X:19.80, Y:0.01, Z:-0.81 [[ 9.98736531e-01 4.07216180e-02 2.94464255e-02 1.98046831e+01] [-4.07222483e-02 9.99170338e-01 -5.78534968e-04 1.02350386e-02] [-2.94455537e-02 -6.21320643e-04 9.99566193e-01 -8.11166357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.18264 meters 0.031202357417129404 Centerline is valid? [True, True] Translation: X:19.87, Y:0.02, Z:-0.81 [[ 9.98512420e-01 4.55328782e-02 2.99950685e-02 1.98656457e+01] [-4.55356704e-02 9.98962539e-01 -5.90337021e-04 1.63125580e-02] [-2.99908295e-02 -7.76386704e-04 9.99549872e-01 -8.11613246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.242639999999998 meters 0.034491301922409616 Centerline is valid? [True, True] Translation: X:19.93, Y:0.02, Z:-0.82 [[ 9.98474317e-01 4.55804907e-02 3.11682148e-02 1.99264646e+01] [-4.55835788e-02 9.98960341e-01 -6.11836048e-04 2.16177082e-02] [-3.11636983e-02 -8.09856194e-04 9.99513966e-01 -8.15692580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.30264 meters 0.026998486705477182 Centerline is valid? [True, True] Translation: X:19.99, Y:0.01, Z:-0.82 [[ 9.98689154e-01 4.12544359e-02 3.02992511e-02 1.99877556e+01] [-4.12551656e-02 9.99148462e-01 -6.01328666e-04 9.92912876e-03] [-3.02982576e-02 -6.49460202e-04 9.99540691e-01 -8.17762682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.36264 meters 0.026747564848295192 Centerline is valid? [True, True] Translation: X:20.05, Y:0.01, Z:-0.82 [[ 9.98810080e-01 3.77566704e-02 3.08683929e-02 2.00483953e+01] [-3.77557341e-02 9.99286810e-01 -6.13406897e-04 9.98379403e-03] [-3.08695381e-02 -5.52781843e-04 9.99523269e-01 -8.22329960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.422639999999998 meters 0.02054423842896105 Centerline is valid? [True, True] Translation: X:20.11, Y:0.00, Z:-0.82 [[ 9.98955564e-01 3.34601658e-02 3.11158770e-02 2.01101851e+01] [-3.34571119e-02 9.99439962e-01 -6.18934283e-04 4.93916189e-03] [-3.11191606e-02 -4.22759534e-04 9.99515592e-01 -8.22742107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.48264 meters 0.017256682483356343 Centerline is valid? [True, True] Translation: X:20.17, Y:0.00, Z:-0.83 [[ 9.99097618e-01 2.97829575e-02 3.02807696e-02 2.01720967e+01] [-2.97784046e-02 9.99556344e-01 -6.01404802e-04 1.92532745e-04] [-3.02852470e-02 -3.00850903e-04 9.99541251e-01 -8.26638800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.54264 meters 0.016552040795990104 Centerline is valid? [True, True] Translation: X:20.23, Y:-0.00, Z:-0.83 [[ 9.99199641e-01 2.61823277e-02 3.02417606e-02 2.02331364e+01] [-2.61759744e-02 9.99657167e-01 -6.06026683e-04 -3.55834974e-03] [-3.02472599e-02 -1.86065906e-04 9.99542430e-01 -8.34012901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.602639999999997 meters 0.013143803811626801 Centerline is valid? [True, True] Translation: X:20.30, Y:-0.01, Z:-0.83 [[ 9.99295074e-01 1.96928242e-02 3.19616737e-02 2.02957304e+01] [-1.96821936e-02 9.99806077e-01 -6.47220235e-04 -1.41831474e-02] [-3.19682212e-02 1.76881448e-05 9.99488886e-01 -8.31440706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.66264 meters 0.01428929843485033 Centerline is valid? [True, True] Translation: X:20.36, Y:-0.02, Z:-0.83 [[ 9.99379141e-01 1.46827108e-02 3.20273489e-02 2.03581333e+01] [-1.46694497e-02 9.99892187e-01 -6.49000498e-04 -2.20886427e-02] [-3.20334250e-02 1.78773977e-04 9.99486782e-01 -8.32591463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.72264 meters 0.01507295921568213 Centerline is valid? [True, True] Translation: X:20.42, Y:-0.03, Z:-0.83 [[ 9.99406208e-01 1.30949299e-02 3.18709097e-02 2.04206570e+01] [-1.30808190e-02 9.99914230e-01 -6.51222222e-04 -2.50378878e-02] [-3.18767039e-02 2.33937929e-04 9.99491781e-01 -8.34349007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.782639999999997 meters 0.0150409616134396 Centerline is valid? [True, True] Translation: X:20.48, Y:-0.03, Z:-0.84 [[ 9.99402791e-01 1.32733943e-02 3.19042071e-02 2.04832727e+01] [-1.32591786e-02 9.99911877e-01 -6.57106044e-04 -2.55644474e-02] [-3.19101176e-02 2.33690034e-04 9.99490715e-01 -8.37492602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.84264 meters 0.014550884662213227 Centerline is valid? [True, True] Translation: X:20.55, Y:-0.02, Z:-0.84 [[ 9.99404622e-01 1.49399483e-02 3.10998180e-02 2.05466426e+01] [-1.49270631e-02 9.99888376e-01 -6.46459321e-04 -2.45331075e-02] [-3.11060046e-02 1.81845488e-04 9.99516075e-01 -8.42476138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.902639999999998 meters 0.013744021403754077 Centerline is valid? [True, True] Translation: X:20.61, Y:-0.02, Z:-0.85 [[ 9.99342081e-01 1.86234588e-02 3.11218972e-02 2.06077292e+01] [-1.86121331e-02 9.99826566e-01 -6.53593921e-04 -1.95523947e-02] [-3.11286718e-02 7.39190164e-05 9.99515383e-01 -8.47644750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.96264 meters 0.013711114325517715 Centerline is valid? [True, True] Translation: X:20.67, Y:-0.02, Z:-0.85 [[ 9.99329978e-01 2.07905436e-02 3.01222322e-02 2.06701308e+01] [-2.07807865e-02 9.99783853e-01 -6.36967010e-04 -1.67164724e-02] [-3.01289643e-02 1.05765520e-05 9.99546020e-01 -8.52115313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.02264 meters 0.013667063461981203 Centerline is valid? [True, True] Translation: X:20.73, Y:-0.02, Z:-0.85 [[ 9.99299933e-01 1.91950422e-02 3.21121983e-02 2.07309903e+01] [-1.91829323e-02 9.99815756e-01 -6.85181924e-04 -1.94871816e-02] [-3.21194339e-02 6.86961264e-05 9.99484036e-01 -8.53953631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.082639999999998 meters 0.014848379096865006 Centerline is valid? [True, True] Translation: X:20.79, Y:-0.03, Z:-0.86 [[ 9.99372168e-01 1.67686164e-02 3.12103127e-02 2.07929995e+01] [-1.67558503e-02 9.99859386e-01 -6.70549900e-04 -2.56097854e-02] [-3.12171683e-02 1.47173579e-04 9.99512615e-01 -8.58300269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.14264 meters 0.016825407524541203 Centerline is valid? [True, True] Translation: X:20.85, Y:-0.04, Z:-0.86 [[ 9.99440914e-01 1.23348113e-02 3.10758909e-02 2.08548213e+01] [-1.23198602e-02 9.99923881e-01 -6.72548472e-04 -3.62028789e-02] [-3.10818212e-02 2.89321829e-04 9.99516802e-01 -8.60512735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.20264 meters 0.0213834182797138 Centerline is valid? [True, True] Translation: X:20.91, Y:-0.05, Z:-0.87 [[ 9.99522099e-01 7.96706744e-03 2.98680301e-02 2.09149709e+01] [-7.95112583e-03 9.99968176e-01 -6.52467616e-04 -4.84248107e-02] [-2.98722778e-02 4.14671336e-04 9.99553638e-01 -8.67482524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.262639999999998 meters 0.022606717066611458 Centerline is valid? [True, True] Translation: X:20.98, Y:-0.05, Z:-0.87 [[ 9.99530820e-01 6.74589060e-03 2.98769762e-02 2.09770824e+01] [-6.72935415e-03 9.99977144e-01 -6.53999941e-04 -5.49815142e-02] [-2.98807052e-02 4.52640343e-04 9.99553370e-01 -8.70203892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.32264 meters 0.019426575529516616 Centerline is valid? [True, True] Translation: X:21.04, Y:-0.05, Z:-0.87 [[ 9.99457162e-01 1.00244844e-02 3.13829594e-02 2.10390888e+01] [-1.00076267e-02 9.99949681e-01 -6.94191369e-04 -5.34732856e-02] [-3.13883392e-02 3.79745594e-04 9.99507193e-01 -8.68837795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.38264 meters 0.013800135751689485 Centerline is valid? [True, True] Translation: X:21.10, Y:-0.04, Z:-0.87 [[ 9.99315294e-01 1.87842447e-02 3.18762547e-02 2.11006310e+01] [-1.87712658e-02 9.99823555e-01 -7.06398326e-04 -4.02609610e-02] [-3.18838994e-02 1.07557000e-04 9.99491573e-01 -8.69875130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.442639999999997 meters 0.013819484037191378 Centerline is valid? [True, True] Translation: X:21.16, Y:-0.03, Z:-0.87 [[ 9.99193762e-01 2.50854452e-02 3.13455906e-02 2.11633198e+01] [-2.50760436e-02 9.99685306e-01 -6.93067842e-04 -3.33638574e-02] [-3.13531122e-02 -9.35143311e-05 9.99508366e-01 -8.73732773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.50264 meters 0.016371941117688877 Centerline is valid? [True, True] Translation: X:21.22, Y:-0.03, Z:-0.88 [[ 9.99018771e-01 3.01324633e-02 3.24581144e-02 2.12243034e+01] [-3.01248120e-02 9.99545882e-01 -7.24841994e-04 -2.62900791e-02] [-3.24652159e-02 -2.53663835e-04 9.99472834e-01 -8.77758942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.56264 meters 0.014167906256398853 Centerline is valid? [True, True] Translation: X:21.29, Y:-0.03, Z:-0.88 [[ 9.99051270e-01 2.76406033e-02 3.36534766e-02 2.12865475e+01] [-2.76307813e-02 9.99617910e-01 -7.56979688e-04 -3.29872375e-02] [-3.36615413e-02 -1.73610333e-04 9.99433275e-01 -8.78164273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.622639999999997 meters 0.012959980592742636 Centerline is valid? [True, True] Translation: X:21.35, Y:-0.04, Z:-0.88 [[ 9.99127727e-01 2.37562069e-02 3.43427918e-02 2.13471991e+01] [-2.37434720e-02 9.99717781e-01 -7.78657043e-04 -4.11693839e-02] [-3.43515975e-02 -3.74392735e-05 9.99409809e-01 -8.80800083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.68264 meters 0.01335491750317529 Centerline is valid? [True, True] Translation: X:21.41, Y:-0.05, Z:-0.89 [[ 9.99231485e-01 2.10170809e-02 3.30865686e-02 2.14086407e+01] [-2.10036011e-02 9.99779115e-01 -7.54959990e-04 -5.01442231e-02] [-3.30951274e-02 5.94427041e-05 9.99452204e-01 -8.86066223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.742639999999998 meters 0.013922401189969935 Centerline is valid? [True, True] Translation: X:21.47, Y:-0.05, Z:-0.89 [[ 9.99275300e-01 2.14092299e-02 3.14725144e-02 2.14693528e+01] [-2.13970676e-02 9.99770795e-01 -7.23224735e-04 -5.43546947e-02] [-3.14807844e-02 4.92810981e-05 9.99504356e-01 -8.92251419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.80264 meters 0.01843522992142179 Centerline is valid? [True, True] Translation: X:21.53, Y:-0.05, Z:-0.90 [[ 9.99238009e-01 2.42904011e-02 3.05512361e-02 2.15309058e+01] [-2.42801477e-02 9.99704944e-01 -7.06604682e-04 -5.29286062e-02] [-3.05593855e-02 -3.57222696e-05 9.99532952e-01 -8.97643550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.86264 meters 0.015439189026378542 Centerline is valid? [True, True] Translation: X:21.59, Y:-0.05, Z:-0.89 [[ 9.99024976e-01 3.08717926e-02 3.15599283e-02 2.15929559e+01] [-3.08639803e-02 9.99523324e-01 -7.34779012e-04 -4.51586652e-02] [-3.15675684e-02 -2.40002421e-04 9.99501591e-01 -8.94946070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.922639999999998 meters 0.02043870384982624 Centerline is valid? [True, True] Translation: X:21.65, Y:-0.04, Z:-0.90 [[ 9.98794003e-01 3.60208201e-02 3.33622580e-02 2.16539099e+01] [-3.60147633e-02 9.99350952e-01 -7.82660139e-04 -3.66776255e-02] [-3.33687963e-02 -4.19817570e-04 9.99443018e-01 -8.97198436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.98264 meters 0.023265583049781467 Centerline is valid? [True, True] Translation: X:21.72, Y:-0.03, Z:-0.90 [[ 9.98542529e-01 4.15799915e-02 3.44081763e-02 2.17161211e+01] [-4.15766061e-02 9.99134987e-01 -8.14191157e-04 -3.01967305e-02] [-3.44122668e-02 -6.17570696e-04 9.99407532e-01 -8.95513227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.04264 meters 0.02624155833430365 Centerline is valid? [True, True] Translation: X:21.78, Y:-0.02, Z:-0.90 [[ 9.98413987e-01 4.35170846e-02 3.57179791e-02 2.17769258e+01] [-4.35146207e-02 9.99052431e-01 -8.46722262e-04 -2.49847702e-02] [-3.57209808e-02 -7.08874965e-04 9.99361551e-01 -8.97174056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.102639999999997 meters 0.023450539537740674 Centerline is valid? [True, True] Translation: X:21.84, Y:-0.03, Z:-0.90 [[ 9.98422241e-01 4.21673616e-02 3.70802138e-02 2.18392948e+01] [-4.21636774e-02 9.99110328e-01 -8.81688320e-04 -2.69727261e-02] [-3.70844030e-02 -6.83140944e-04 9.99311903e-01 -8.96890124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.16264 meters 0.018974430309167012 Centerline is valid? [True, True] Translation: X:21.90, Y:-0.03, Z:-0.90 [[ 9.98652286e-01 3.69544794e-02 3.64414402e-02 2.19008882e+01] [-3.69471846e-02 9.99316838e-01 -8.73816544e-04 -3.32711504e-02] [-3.64488362e-02 -4.73769728e-04 9.99335408e-01 -9.01463223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.22264 meters 0.01736092249072692 Centerline is valid? [True, True] Translation: X:21.96, Y:-0.04, Z:-0.91 [[ 9.98798335e-01 3.46819673e-02 3.46272533e-02 2.19630025e+01] [-3.46740214e-02 9.99398331e-01 -8.30139128e-04 -3.55767655e-02] [-3.46352100e-02 -3.71524542e-04 9.99399952e-01 -9.07348905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.282639999999997 meters 0.017830110443455116 Centerline is valid? [True, True] Translation: X:22.03, Y:-0.03, Z:-0.91 [[ 9.98778971e-01 3.53313775e-02 3.45291246e-02 2.20264611e+01] [-3.53236682e-02 9.99375577e-01 -8.33466617e-04 -3.35504370e-02] [-3.45370113e-02 -3.87246409e-04 9.99403344e-01 -9.10229967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.34264 meters 0.019407534535338656 Centerline is valid? [True, True] Translation: X:22.09, Y:-0.03, Z:-0.91 [[ 9.98733545e-01 3.67209592e-02 3.43929810e-02 2.20877061e+01] [-3.67138898e-02 9.99325467e-01 -8.37274736e-04 -2.67271154e-02] [-3.44005274e-02 -4.26485751e-04 9.99408036e-01 -9.13902739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.402639999999998 meters 0.01810586946045091 Centerline is valid? [True, True] Translation: X:22.15, Y:-0.02, Z:-0.92 [[ 9.98778845e-01 3.55391787e-02 3.43188754e-02 2.21494501e+01] [-3.55312622e-02 9.99368212e-01 -8.40716797e-04 -2.46771356e-02] [-3.43270716e-02 -3.79702810e-04 9.99410580e-01 -9.16937612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.462639999999997 meters 0.015052808851731929 Centerline is valid? [True, True] Translation: X:22.21, Y:-0.03, Z:-0.92 [[ 9.98903113e-01 3.13286387e-02 3.48006727e-02 2.22104939e+01] [-3.13177319e-02 9.99509111e-01 -8.58601107e-04 -2.79703069e-02] [-3.48104882e-02 -2.32218818e-04 9.99393904e-01 -9.19605941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.52264 meters 0.017430414554937202 Centerline is valid? [True, True] Translation: X:22.27, Y:-0.03, Z:-0.92 [[ 9.98990420e-01 2.80329294e-02 3.51040768e-02 2.22721395e+01] [-2.80196107e-02 9.99606994e-01 -8.71399472e-04 -3.49678689e-02] [-3.51147086e-02 -1.13082840e-04 9.99383282e-01 -9.21548983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.582639999999998 meters 0.012650805101783628 Centerline is valid? [True, True] Translation: X:22.33, Y:-0.04, Z:-0.92 [[ 9.99066297e-01 2.46509545e-02 3.54804721e-02 2.23332621e+01] [-2.46349922e-02 9.99696119e-01 -8.87054069e-04 -3.76010912e-02] [-3.54915570e-02 1.21646699e-05 9.99369976e-01 -9.22796183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.64264 meters 0.013034629959957512 Centerline is valid? [True, True] Translation: X:22.39, Y:-0.04, Z:-0.93 [[ 9.99092922e-01 2.26362546e-02 3.60684590e-02 2.23945983e+01] [-2.26182430e-02 9.99743763e-01 -9.07383322e-04 -4.41470803e-02] [-3.60797567e-02 9.07550845e-05 9.99348910e-01 -9.26607731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.70264 meters 0.01642948807870589 Centerline is valid? [True, True] Translation: X:22.46, Y:-0.06, Z:-0.93 [[ 9.99273940e-01 1.74772098e-02 3.38546990e-02 2.24563700e+01] [-1.74581479e-02 9.99847226e-01 -8.58595937e-04 -5.69621616e-02] [-3.38645328e-02 2.66932203e-04 9.99426397e-01 -9.34593014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.762639999999998 meters 0.018643873536187773 Centerline is valid? [True, True] Translation: X:22.52, Y:-0.07, Z:-0.94 [[ 9.99418140e-01 1.32412816e-02 3.14332564e-02 2.25178343e+01] [-1.32227166e-02 9.99912257e-01 -7.98420512e-04 -7.03951900e-02] [-3.14410705e-02 3.82322901e-04 9.99505534e-01 -9.39266388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.82264 meters 0.018838917623219428 Centerline is valid? [True, True] Translation: X:22.58, Y:-0.08, Z:-0.94 [[ 9.99413948e-01 1.29447581e-02 3.16890082e-02 2.25804055e+01] [-1.29257522e-02 9.99916135e-01 -8.04550902e-04 -7.67717891e-02] [-3.16967653e-02 3.94475125e-04 9.99497453e-01 -9.41338272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.88264 meters 0.01483335225907115 Centerline is valid? [True, True] Translation: X:22.64, Y:-0.08, Z:-0.94 [[ 9.99275522e-01 1.92937391e-02 3.28052192e-02 2.26424128e+01] [-1.92765062e-02 9.99813837e-01 -8.41529865e-04 -7.56134481e-02] [-3.28153484e-02 2.08550184e-04 9.99461410e-01 -9.42044849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.942639999999997 meters 0.014400578208399293 Centerline is valid? [True, True] Translation: X:22.70, Y:-0.07, Z:-0.94 [[ 9.98935283e-01 3.09306222e-02 3.42285968e-02 2.27043939e+01] [-3.09186906e-02 9.99521517e-01 -8.77962315e-04 -6.61037880e-02] [-3.42393749e-02 -1.81275862e-04 9.99413644e-01 -9.42437198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.00264 meters 0.024903404281459204 Centerline is valid? [True, True] Translation: X:22.77, Y:-0.05, Z:-0.94 [[ 9.98366817e-01 4.45097170e-02 3.58131837e-02 2.27662207e+01] [-4.45051033e-02 9.99008727e-01 -9.26401714e-04 -4.72610576e-02] [-3.58189170e-02 -6.68980710e-04 9.99358073e-01 -9.42644111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.06264 meters 0.03836803807171487 Centerline is valid? [True, True] Translation: X:22.83, Y:-0.03, Z:-0.95 [[ 9.97728321e-01 5.67319965e-02 3.63273789e-02 2.28259696e+01] [-5.67353283e-02 9.98388812e-01 -9.39972830e-04 -2.90581787e-02] [-3.63221752e-02 -1.12320825e-03 9.99339501e-01 -9.45257068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.122639999999997 meters 0.04544581961586962 Centerline is valid? [True, True] Translation: X:22.89, Y:-0.02, Z:-0.95 [[ 9.97354348e-01 6.26234601e-02 3.69134935e-02 2.28872222e+01] [-6.26308735e-02 9.98036301e-01 -9.56627479e-04 -1.82951797e-02] [-3.69009138e-02 -1.35782777e-03 9.99318007e-01 -9.47824263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.18264 meters 0.04475425717157344 Centerline is valid? [True, True] Translation: X:22.95, Y:-0.02, Z:-0.95 [[ 9.97163289e-01 6.58068529e-02 3.65353754e-02 2.29484178e+01] [-6.58162482e-02 9.97831311e-01 -9.46803258e-04 -1.60314825e-02] [-3.65184477e-02 -1.46050388e-03 9.99331912e-01 -9.50289703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.242639999999998 meters 0.04704313929568839 Centerline is valid? [True, True] Translation: X:23.01, Y:-0.01, Z:-0.95 [[ 9.97217760e-01 6.48143227e-02 3.68217665e-02 2.30096569e+01] [-6.48232167e-02 9.97896308e-01 -9.53522508e-04 -1.13325523e-02] [-3.68061068e-02 -1.43603577e-03 9.99321394e-01 -9.54140697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.30264 meters 0.041616210305151044 Centerline is valid? [True, True] Translation: X:23.07, Y:-0.02, Z:-0.96 [[ 9.97604468e-01 5.87096891e-02 3.65854778e-02 2.30696928e+01] [-5.87141127e-02 9.98274382e-01 -9.54408981e-04 -1.56776664e-02] [-3.65783783e-02 -1.19596120e-03 9.99330072e-01 -9.58085147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.36264 meters 0.032605297876440696 Centerline is valid? [True, True] Translation: X:23.13, Y:-0.02, Z:-0.96 [[ 9.98039330e-01 5.06053729e-02 3.68319498e-02 2.31299322e+01] [-5.06043437e-02 9.98718317e-01 -9.60787629e-04 -2.46720492e-02] [-3.68333639e-02 -9.04952803e-04 9.99321012e-01 -9.60825075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.422639999999998 meters 0.02244083405945679 Centerline is valid? [True, True] Translation: X:23.19, Y:-0.04, Z:-0.96 [[ 9.98443320e-01 4.21003063e-02 3.65855312e-02 2.31907093e+01] [-4.20935765e-02 9.99113217e-01 -9.54534970e-04 -3.64892800e-02] [-3.65932740e-02 -5.86966792e-04 9.99330069e-01 -9.63882246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.48264 meters 0.017566318312497987 Centerline is valid? [True, True] Translation: X:23.25, Y:-0.04, Z:-0.97 [[ 9.98673525e-01 3.70439127e-02 3.57622499e-02 2.32516436e+01] [-3.70342408e-02 9.99313562e-01 -9.33066189e-04 -4.36626049e-02] [-3.57722658e-02 -3.92599273e-04 9.99359891e-01 -9.67495135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.54264 meters 0.013690421781528718 Centerline is valid? [True, True] Translation: X:23.31, Y:-0.05, Z:-0.97 [[ 9.98885084e-01 3.08216695e-02 3.57577120e-02 2.33135614e+01] [-3.08080297e-02 9.99524885e-01 -9.32508156e-04 -5.20359494e-02] [-3.57694644e-02 -1.70156166e-04 9.99360053e-01 -9.71359892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.602639999999997 meters 0.01310943628005084 Centerline is valid? [True, True] Translation: X:23.37, Y:-0.06, Z:-0.97 [[ 9.98931692e-01 2.88971294e-02 3.60614758e-02 2.33744527e+01] [-2.88817739e-02 9.99582386e-01 -9.46780262e-04 -5.62383029e-02] [-3.60737752e-02 -9.57505810e-05 9.99349125e-01 -9.74659469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.66264 meters 0.012960812240164677 Centerline is valid? [True, True] Translation: X:23.44, Y:-0.06, Z:-0.98 [[ 9.99045950e-01 2.42266688e-02 3.63353499e-02 2.34368670e+01] [-2.42077923e-02 9.99706488e-01 -9.59424610e-04 -6.49990113e-02] [-3.63479287e-02 7.89106674e-05 9.99339193e-01 -9.76747699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.72264 meters 0.013296310167483118 Centerline is valid? [True, True] Translation: X:23.50, Y:-0.07, Z:-0.98 [[ 9.99097455e-01 2.25491930e-02 3.59973443e-02 2.34986458e+01] [-2.25293338e-02 9.99745724e-01 -9.57271395e-04 -7.06220445e-02] [-3.60097767e-02 1.45411229e-04 9.99351427e-01 -9.79592026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.782639999999997 meters 0.01370990834932556 Centerline is valid? [True, True] Translation: X:23.56, Y:-0.07, Z:-0.98 [[ 9.99115103e-01 2.18649717e-02 3.59295796e-02 2.35610359e+01] [-2.18445292e-02 9.99760917e-01 -9.61467597e-04 -7.42981777e-02] [-3.59420119e-02 1.75752047e-04 9.99353862e-01 -9.82535796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.84264 meters 0.014199094235890903 Centerline is valid? [True, True] Translation: X:23.62, Y:-0.08, Z:-0.99 [[ 9.99204329e-01 2.16013414e-02 3.35274708e-02 2.36226957e+01] [-2.15832028e-02 9.99766648e-01 -9.02870622e-04 -8.12273773e-02] [-3.35391503e-02 1.78522031e-04 9.99437388e-01 -9.89628300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.902639999999998 meters 0.014774317596589833 Centerline is valid? [True, True] Translation: X:23.68, Y:-0.09, Z:-0.99 [[ 9.99209494e-01 2.11443743e-02 3.36645492e-02 2.36842394e+01] [-2.11256365e-02 9.99776413e-01 -9.12240614e-04 -8.57884443e-02] [-3.36763110e-02 2.00334455e-04 9.99432772e-01 -9.93229400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.962639999999997 meters 0.014235304739314574 Centerline is valid? [True, True] Translation: X:23.75, Y:-0.09, Z:-0.99 [[ 9.99152078e-01 2.09203212e-02 3.54607529e-02 2.37462078e+01] [-2.08991420e-02 9.99781121e-01 -9.67859225e-04 -9.16872156e-02] [-3.54732392e-02 2.25939246e-04 9.99370601e-01 -9.91303228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.02264 meters 0.014797297042628913 Centerline is valid? [True, True] Translation: X:23.81, Y:-0.10, Z:-1.00 [[ 9.99134985e-01 2.09709852e-02 3.59095989e-02 2.38078615e+01] [-2.09490756e-02 9.99780058e-01 -9.86321484e-04 -1.00769557e-01] [-3.59223850e-02 2.33195398e-04 9.99354556e-01 -9.95284861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.082639999999998 meters 0.013742107318423246 Centerline is valid? [True, True] Translation: X:23.87, Y:-0.11, Z:-1.00 [[ 9.99075635e-01 2.25185328e-02 3.66168163e-02 2.38702803e+01] [-2.24965329e-02 9.99746408e-01 -1.01276965e-03 -1.05318086e-01] [-3.66303367e-02 1.88082073e-04 9.99328866e-01 -9.97250378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.14264 meters 0.012596020386628383 Centerline is valid? [True, True] Translation: X:23.93, Y:-0.11, Z:-1.00 [[ 9.98992876e-01 2.51795721e-02 3.71378969e-02 2.39326475e+01] [-2.51585465e-02 9.99682940e-01 -1.03344229e-03 -1.07320676e-01] [-3.71521435e-02 9.80659805e-05 9.99309616e-01 -9.98712133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.20264 meters 0.0121904049934818 Centerline is valid? [True, True] Translation: X:23.99, Y:-0.12, Z:-1.00 [[ 9.98939809e-01 2.65354997e-02 3.76181498e-02 2.39943110e+01] [-2.65146506e-02 9.99647870e-01 -1.05310178e-03 -1.15592555e-01] [-3.76328479e-02 5.45531931e-05 9.99291632e-01 -1.00010980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.262639999999998 meters 0.012189122052560548 Centerline is valid? [True, True] Translation: X:24.06, Y:-0.12, Z:-1.00 [[ 9.98918708e-01 2.81140412e-02 3.70272151e-02 2.40567237e+01] [-2.80947061e-02 9.99604722e-01 -1.04249964e-03 -1.19288964e-01] [-3.70418880e-02 1.10367014e-06 9.99313714e-01 -1.00389716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.32264 meters 0.013224160805495787 Centerline is valid? [True, True] Translation: X:24.12, Y:-0.12, Z:-1.01 [[ 9.98811124e-01 3.25644331e-02 3.62752776e-02 2.41172786e+01] [-3.25485386e-02 9.99469626e-01 -1.02878299e-03 -1.20160808e-01] [-3.62895399e-02 -1.53147376e-04 9.99341306e-01 -1.00848177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.38264 meters 0.01683763508272756 Centerline is valid? [True, True] Translation: X:24.18, Y:-0.12, Z:-1.01 [[ 9.98593534e-01 3.87861133e-02 3.61467899e-02 2.41790929e+01] [-3.87742152e-02 9.99247466e-01 -1.03037638e-03 -1.15497425e-01] [-3.61595525e-02 -3.72636220e-04 9.99345960e-01 -1.01121254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.442639999999997 meters 0.022113181232866038 Centerline is valid? [True, True] Translation: X:24.24, Y:-0.11, Z:-1.02 [[ 9.98385889e-01 4.42757659e-02 3.55706666e-02 2.42405542e+01] [-4.42676404e-02 9.99019191e-01 -1.01635034e-03 -1.07255044e-01] [-3.55807783e-02 -5.59919641e-04 9.99366647e-01 -1.01579080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.50264 meters 0.023631916271845237 Centerline is valid? [True, True] Translation: X:24.30, Y:-0.11, Z:-1.02 [[ 9.98305739e-01 4.64744553e-02 3.50110958e-02 2.43026213e+01] [-4.64677504e-02 9.98919284e-01 -1.00561696e-03 -1.05325031e-01] [-3.50199943e-02 -6.22973678e-04 9.99386418e-01 -1.01981412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.56264 meters 0.024719049383718876 Centerline is valid? [True, True] Translation: X:24.36, Y:-0.11, Z:-1.03 [[ 9.98316724e-01 4.70823862e-02 3.38668996e-02 2.43639012e+01] [-4.70762705e-02 9.98890819e-01 -9.78392755e-04 -1.05606373e-01] [-3.38754001e-02 -6.17581474e-04 9.99425873e-01 -1.02537590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.622639999999997 meters 0.021752656537287383 Centerline is valid? [True, True] Translation: X:24.42, Y:-0.11, Z:-1.03 [[ 9.98487547e-01 4.32205925e-02 3.39793960e-02 2.44239199e+01] [-4.32119677e-02 9.99065438e-01 -9.88497831e-04 -1.08665306e-01] [-3.39903636e-02 -4.81313786e-04 9.99422045e-01 -1.02905584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.68264 meters 0.016094166834845915 Centerline is valid? [True, True] Translation: X:24.49, Y:-0.12, Z:-1.03 [[ 9.98726210e-01 3.77536883e-02 3.34756137e-02 2.44853790e+01] [-3.77422434e-02 9.99287033e-01 -9.73948214e-04 -1.20812802e-01] [-3.34885169e-02 -2.90737151e-04 9.99439060e-01 -1.03152645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.742639999999998 meters 0.013146938965296822 Centerline is valid? [True, True] Translation: X:24.55, Y:-0.14, Z:-1.03 [[ 9.99065906e-01 2.55115595e-02 3.48780145e-02 2.45463673e+01] [-2.54916740e-02 9.99674519e-01 -1.01478358e-03 -1.44101578e-01] [-3.48925511e-02 1.24736702e-04 9.99391062e-01 -1.03257266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.802639999999997 meters 0.022096866489819372 Centerline is valid? [True, True] Translation: X:24.61, Y:-0.17, Z:-1.04 [[ 9.99326925e-01 1.32424387e-02 3.42101454e-02 2.46070984e+01] [-1.32158741e-02 9.99912164e-01 -1.00253080e-03 -1.69130062e-01] [-3.42204164e-02 5.49739044e-04 9.99414159e-01 -1.03616257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.86264 meters 0.02555703127992581 Centerline is valid? [True, True] Translation: X:24.67, Y:-0.18, Z:-1.04 [[ 9.99411814e-01 8.41468773e-03 3.32448455e-02 2.46672974e+01] [-8.38690262e-03 9.99964354e-01 -9.75135098e-04 -1.82395032e-01] [-3.32518659e-02 6.95740255e-04 9.99446762e-01 -1.03896618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.922639999999998 meters 0.025181869735177227 Centerline is valid? [True, True] Translation: X:24.73, Y:-0.19, Z:-1.04 [[ 9.99343890e-01 9.73685422e-03 3.48852780e-02 2.47281333e+01] [-9.70709735e-03 9.99952362e-01 -1.02226351e-03 -1.92986480e-01] [-3.48935697e-02 6.82958005e-04 9.99390801e-01 -1.03914721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.98264 meters 0.019061181130460268 Centerline is valid? [True, True] Translation: X:24.79, Y:-0.19, Z:-1.04 [[ 9.99238866e-01 1.77898403e-02 3.47161390e-02 2.47880418e+01] [-1.77649842e-02 9.99841666e-01 -1.02433387e-03 -1.92730211e-01] [-3.47288650e-02 4.06822550e-04 9.99396688e-01 -1.04196907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.04264 meters 0.013415072563318904 Centerline is valid? [True, True] Translation: X:24.85, Y:-0.19, Z:-1.04 [[ 9.99084956e-01 2.55610758e-02 3.42911357e-02 2.48501278e+01] [-2.55414595e-02 9.99673253e-01 -1.01005138e-03 -1.85208003e-01] [-3.43057492e-02 1.33281483e-04 9.99411376e-01 -1.04443541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.102639999999997 meters 0.01588414000249152 Centerline is valid? [True, True] Translation: X:24.91, Y:-0.17, Z:-1.05 [[ 9.98686067e-01 3.80527163e-02 3.43239072e-02 2.49123113e+01] [-3.80402395e-02 9.99275691e-01 -1.01670288e-03 -1.72404390e-01] [-3.43377343e-02 -2.90322646e-04 9.99410244e-01 -1.04630940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.16264 meters 0.025795245932548085 Centerline is valid? [True, True] Translation: X:24.97, Y:-0.16, Z:-1.05 [[ 9.98178800e-01 4.90829110e-02 3.50706506e-02 2.49733724e+01] [-4.90764226e-02 9.98794478e-01 -1.04633922e-03 -1.56791268e-01] [-3.50797295e-02 -6.76708442e-04 9.99384288e-01 -1.04803598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.22264 meters 0.032009615982859924 Centerline is valid? [True, True] Translation: X:25.03, Y:-0.15, Z:-1.05 [[ 9.97883050e-01 5.45034574e-02 3.54794614e-02 2.50337721e+01] [-5.45002376e-02 9.98513196e-01 -1.05858733e-03 -1.46977315e-01] [-3.54844071e-02 -8.77292727e-04 9.99369845e-01 -1.05038279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.282639999999997 meters 0.04016517937495687 Centerline is valid? [True, True] Translation: X:25.09, Y:-0.13, Z:-1.06 [[ 9.97677279e-01 5.83695274e-02 3.51147534e-02 2.50941173e+01] [-5.83686836e-02 9.98294543e-01 -1.05002101e-03 -1.32417430e-01] [-3.51161559e-02 -1.00201983e-03 9.99382735e-01 -1.05595925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.34264 meters 0.03402005424668067 Centerline is valid? [True, True] Translation: X:25.16, Y:-0.14, Z:-1.06 [[ 9.97743574e-01 5.71158125e-02 3.52922636e-02 2.51564627e+01] [-5.71142320e-02 9.98367094e-01 -1.05376670e-03 -1.40217179e-01] [-3.52948214e-02 -9.64301577e-04 9.99376478e-01 -1.05661064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.402639999999998 meters 0.029487556818098542 Centerline is valid? [True, True] Translation: X:25.22, Y:-0.14, Z:-1.06 [[ 9.98068443e-01 5.20320802e-02 3.39417984e-02 2.52159943e+01] [-5.20274393e-02 9.98645134e-01 -1.02052247e-03 -1.43710771e-01] [-3.39489118e-02 -7.47353587e-04 9.99423290e-01 -1.06248028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.462639999999997 meters 0.022495083241366325 Centerline is valid? [True, True] Translation: X:25.28, Y:-0.15, Z:-1.07 [[ 9.98367685e-01 4.66179788e-02 3.29959041e-02 2.52769477e+01] [-4.66106465e-02 9.98912641e-01 -9.91793110e-04 -1.48773590e-01] [-3.30062611e-02 -5.47786229e-04 9.99454995e-01 -1.06588122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.52264 meters 0.020920142414577635 Centerline is valid? [True, True] Translation: X:25.34, Y:-0.15, Z:-1.07 [[ 9.98428890e-01 4.52508561e-02 3.30471054e-02 2.53389108e+01] [-4.52427831e-02 9.98975528e-01 -9.92404663e-04 -1.50864629e-01] [-3.30581567e-02 -5.04297535e-04 9.99453303e-01 -1.06920076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.582639999999998 meters 0.019634550112238296 Centerline is valid? [True, True] Translation: X:25.40, Y:-0.15, Z:-1.08 [[ 9.98612849e-01 4.14573483e-02 3.24602138e-02 2.53996988e+01] [-4.14473728e-02 9.99140207e-01 -9.80416596e-04 -1.51266739e-01] [-3.24729503e-02 -3.66333974e-04 9.99472548e-01 -1.07652501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.64264 meters 0.01650326299555889 Centerline is valid? [True, True] Translation: X:25.46, Y:-0.15, Z:-1.08 [[ 9.98752775e-01 3.93384681e-02 3.07470214e-02 2.54629059e+01] [-3.93283925e-02 9.99225904e-01 -9.32617367e-04 -1.53520074e-01] [-3.07599080e-02 -2.77776744e-04 9.99526763e-01 -1.07943247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.70264 meters 0.01517760171162953 Centerline is valid? [True, True] Translation: X:25.52, Y:-0.15, Z:-1.08 [[ 9.98858036e-01 3.65112295e-02 3.08148466e-02 2.55245000e+01] [-3.64995646e-02 9.99333226e-01 -9.41148782e-04 -1.51983301e-01] [-3.08286625e-02 -1.84654459e-04 9.99524667e-01 -1.08354418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.762639999999998 meters 0.013157116839474807 Centerline is valid? [True, True] Translation: X:25.59, Y:-0.16, Z:-1.08 [[ 9.98972146e-01 3.27181433e-02 3.13715604e-02 2.55870552e+01] [-3.27039659e-02 9.99464616e-01 -9.65063299e-04 -1.57150573e-01] [-3.13863396e-02 -6.19030858e-05 9.99507326e-01 -1.08361512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.82264 meters 0.013384281609291948 Centerline is valid? [True, True] Translation: X:25.65, Y:-0.16, Z:-1.08 [[ 9.99100940e-01 2.65459397e-02 3.30548831e-02 2.56494556e+01] [-2.65267921e-02 9.99647585e-01 -1.01774863e-03 -1.62743217e-01] [-3.30702511e-02 1.39993601e-04 9.99453020e-01 -1.08375954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.88264 meters 0.01966667338751007 Centerline is valid? [True, True] Translation: X:25.71, Y:-0.18, Z:-1.09 [[ 9.99245615e-01 1.79412654e-02 3.44428843e-02 2.57101353e+01] [-1.79151431e-02 9.99838942e-01 -1.06691568e-03 -1.77407199e-01] [-3.44564788e-02 4.49061611e-04 9.99406098e-01 -1.08593839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.942639999999997 meters 0.02380104706182842 Centerline is valid? [True, True] Translation: X:25.77, Y:-0.19, Z:-1.09 [[ 9.99340692e-01 1.29520526e-02 3.39179298e-02 2.57705606e+01] [-1.29236158e-02 9.99915927e-01 -1.05751108e-03 -1.88121542e-01] [-3.39287752e-02 6.18471566e-04 9.99424062e-01 -1.08899436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.00264 meters 0.02642571555525835 Centerline is valid? [True, True] Translation: X:25.83, Y:-0.20, Z:-1.09 [[ 9.99408197e-01 1.01067215e-02 3.28802305e-02 2.58318933e+01] [-1.00785040e-02 9.99948686e-01 -1.02381872e-03 -1.98650494e-01] [-3.28888908e-02 6.91829288e-04 9.99458775e-01 -1.09284625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.06264 meters 0.025117484477742036 Centerline is valid? [True, True] Translation: X:25.89, Y:-0.20, Z:-1.10 [[ 9.99394038e-01 1.30766400e-02 3.22576806e-02 2.58935154e+01] [-1.30508738e-02 9.99914324e-01 -1.00919100e-03 -1.97748590e-01] [-3.22681137e-02 5.87588554e-04 9.99479076e-01 -1.09765287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.122639999999997 meters 0.029721381405773562 Centerline is valid? [True, True] Translation: X:25.96, Y:-0.20, Z:-1.10 [[ 9.99375067e-01 1.54900127e-02 3.17731955e-02 2.59554691e+01] [-1.54660684e-02 9.99879894e-01 -9.99240471e-04 -1.98297374e-01] [-3.17848576e-02 5.07209596e-04 9.99494605e-01 -1.10471642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.18264 meters 0.017130653178663486 Centerline is valid? [True, True] Translation: X:26.02, Y:-0.19, Z:-1.10 [[ 9.99243968e-01 2.10162951e-02 3.27079017e-02 2.60171511e+01] [-2.09936438e-02 9.99779073e-01 -1.03583909e-03 -1.90083854e-01] [-3.27224451e-02 3.48397930e-04 9.99464417e-01 -1.10034210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.242639999999998 meters 0.01588663796316115 Centerline is valid? [True, True] Translation: X:26.08, Y:-0.19, Z:-1.10 [[ 9.99151229e-01 2.39785868e-02 3.34940201e-02 2.60784706e+01] [-2.39565185e-02 9.99712439e-01 -1.06008906e-03 -1.88338045e-01] [-3.35098080e-02 2.56789172e-04 9.99438356e-01 -1.10411981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.302639999999997 meters 0.014000741252798347 Centerline is valid? [True, True] Translation: X:26.14, Y:-0.19, Z:-1.11 [[ 9.99035296e-01 2.74126231e-02 3.43077977e-02 2.61401355e+01] [-2.73913002e-02 9.99624192e-01 -1.09145974e-03 -1.85091550e-01] [-3.43248243e-02 1.50671616e-04 9.99410718e-01 -1.10628472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.36264 meters 0.024249435309200082 Centerline is valid? [True, True] Translation: X:26.20, Y:-0.19, Z:-1.11 [[ 9.98977069e-01 2.77164423e-02 3.57297486e-02 2.62022556e+01] [-2.76933136e-02 9.99615814e-01 -1.14215179e-03 -1.85071668e-01] [-3.57476781e-02 1.51508312e-04 9.99360836e-01 -1.10887043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.422639999999998 meters 0.014089993627430122 Centerline is valid? [True, True] Translation: X:26.26, Y:-0.19, Z:-1.11 [[ 9.98978598e-01 2.72324582e-02 3.60576552e-02 2.62640341e+01] [-2.72083669e-02 9.99629112e-01 -1.15874880e-03 -1.90628067e-01] [-3.60758374e-02 1.76495337e-04 9.99349040e-01 -1.10975062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.48264 meters 0.013810195053420014 Centerline is valid? [True, True] Translation: X:26.33, Y:-0.19, Z:-1.11 [[ 9.99005760e-01 2.73300980e-02 3.52215348e-02 2.63263499e+01] [-2.73069483e-02 9.99626448e-01 -1.13822774e-03 -1.92153211e-01] [-3.52394856e-02 1.75303442e-04 9.99378881e-01 -1.11304522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.54264 meters 0.013236225158242158 Centerline is valid? [True, True] Translation: X:26.39, Y:-0.19, Z:-1.12 [[ 9.98996565e-01 2.91899443e-02 3.39677939e-02 2.63891547e+01] [-2.91693164e-02 9.99573877e-01 -1.10277675e-03 -1.91049572e-01] [-3.39855094e-02 1.10852856e-04 9.99422320e-01 -1.11729558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.602639999999997 meters 0.012830125490597383 Centerline is valid? [True, True] Translation: X:26.45, Y:-0.19, Z:-1.12 [[ 9.98847298e-01 3.41723453e-02 3.37094446e-02 2.64509347e+01] [-3.41546437e-02 9.99415954e-01 -1.10098292e-03 -1.87188189e-01] [-3.37273799e-02 -5.16202596e-05 9.99431069e-01 -1.12094958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.66264 meters 0.014066957969667348 Centerline is valid? [True, True] Translation: X:26.51, Y:-0.18, Z:-1.12 [[ 9.98701271e-01 3.79324244e-02 3.40132642e-02 2.65121333e+01] [-3.79163617e-02 9.99280292e-01 -1.11737332e-03 -1.81737051e-01] [-3.40311692e-02 -1.73737074e-04 9.99420757e-01 -1.12483147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.72264 meters 0.01596373141545001 Centerline is valid? [True, True] Translation: X:26.57, Y:-0.18, Z:-1.13 [[ 9.98550744e-01 4.12792056e-02 3.45317157e-02 2.65748246e+01] [-4.12644659e-02 9.99147609e-01 -1.13971844e-03 -1.75415079e-01] [-3.45493279e-02 -2.86866110e-04 9.99402953e-01 -1.12720482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.782639999999997 meters 0.015580832620683858 Centerline is valid? [True, True] Translation: X:26.64, Y:-0.17, Z:-1.13 [[ 9.98608292e-01 4.07029352e-02 3.35372858e-02 2.66382743e+01] [-4.06885381e-02 9.99171260e-01 -1.11194079e-03 -1.73938978e-01] [-3.35547514e-02 -2.54189834e-04 9.99436848e-01 -1.13204267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.84264 meters 0.013752806125919332 Centerline is valid? [True, True] Translation: X:26.70, Y:-0.18, Z:-1.13 [[ 9.98736942e-01 3.79950508e-02 3.28769896e-02 2.67000597e+01] [-3.79795437e-02 9.99277916e-01 -1.09626293e-03 -1.80057073e-01] [-3.28949022e-02 -1.53774778e-04 9.99458804e-01 -1.13499524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.902639999999998 meters 0.012924687842575559 Centerline is valid? [True, True] Translation: X:26.76, Y:-0.19, Z:-1.14 [[ 9.98933891e-01 3.17521603e-02 3.35094387e-02 2.67617337e+01] [-3.17323412e-02 9.99495771e-01 -1.12323159e-03 -1.90892436e-01] [-3.35282073e-02 5.87011548e-05 9.99437770e-01 -1.13744081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.962639999999997 meters 0.016013074376747233 Centerline is valid? [True, True] Translation: X:26.82, Y:-0.20, Z:-1.14 [[ 9.99093378e-01 2.55149568e-02 3.40794434e-02 2.68221150e+01] [-2.54906197e-02 9.99674402e-01 -1.14848606e-03 -2.03567361e-01] [-3.40976507e-02 2.78738684e-04 9.99418467e-01 -1.14129390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.02264 meters 0.01815670012159782 Centerline is valid? [True, True] Translation: X:26.88, Y:-0.21, Z:-1.15 [[ 9.99185774e-01 2.26926082e-02 3.33591744e-02 2.68842807e+01] [-2.26675499e-02 9.99742420e-01 -1.12921466e-03 -2.11922015e-01] [-3.33762066e-02 3.72124473e-04 9.99442790e-01 -1.14536046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.082639999999998 meters 0.02005945057395214 Centerline is valid? [True, True] Translation: X:26.94, Y:-0.22, Z:-1.15 [[ 9.99235892e-01 2.11411379e-02 3.28737659e-02 2.69449712e+01] [-2.11157818e-02 9.99776412e-01 -1.11833504e-03 -2.20280157e-01] [-3.28900586e-02 4.23325239e-04 9.99458886e-01 -1.14957796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.14264 meters 0.02052301491689256 Centerline is valid? [True, True] Translation: X:27.01, Y:-0.23, Z:-1.15 [[ 9.99238690e-01 2.11071163e-02 3.28105310e-02 2.70068309e+01] [-2.10816829e-02 9.99777128e-01 -1.12094988e-03 -2.25774166e-01] [-3.28268784e-02 4.28395281e-04 9.99460961e-01 -1.15269207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.20264 meters 0.01968971465225631 Centerline is valid? [True, True] Translation: X:27.07, Y:-0.23, Z:-1.16 [[ 9.99204538e-01 2.27135261e-02 3.27778487e-02 2.70681139e+01] [-2.26888103e-02 9.99741942e-01 -1.12583415e-03 -2.30233861e-01] [-3.27949618e-02 3.81248197e-04 9.99462028e-01 -1.15719763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.262639999999998 meters 0.01791299267557119 Centerline is valid? [True, True] Translation: X:27.13, Y:-0.23, Z:-1.16 [[ 9.99172801e-01 2.43357725e-02 3.25804342e-02 2.71305474e+01] [-2.43120644e-02 9.99703787e-01 -1.12369119e-03 -2.32208370e-01] [-3.25981293e-02 3.30664061e-04 9.99468485e-01 -1.15885293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.32264 meters 0.01562653636116945 Centerline is valid? [True, True] Translation: X:27.19, Y:-0.23, Z:-1.16 [[ 9.99095444e-01 2.65866696e-02 3.31879814e-02 2.71930026e+01] [-2.65631264e-02 9.99646476e-01 -1.15017593e-03 -2.31983596e-01] [-3.32068280e-02 2.67558985e-04 9.99448465e-01 -1.15900909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.38264 meters 0.01487620115737208 Centerline is valid? [True, True] Translation: X:27.25, Y:-0.23, Z:-1.16 [[ 9.99038522e-01 2.87132745e-02 3.31297312e-02 2.72539932e+01] [-2.86907894e-02 9.99587668e-01 -1.15398673e-03 -2.33380683e-01] [-3.31492055e-02 2.02359056e-04 9.99450394e-01 -1.16254353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.442639999999997 meters 0.014579329158090248 Centerline is valid? [True, True] Translation: X:27.32, Y:-0.24, Z:-1.17 [[ 9.99045672e-01 2.92998332e-02 3.23923623e-02 2.73165807e+01] [-2.92785025e-02 9.99570651e-01 -1.13274036e-03 -2.35838178e-01] [-3.24116438e-02 1.83259496e-04 9.99474588e-01 -1.16611651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.50264 meters 0.015163638713958861 Centerline is valid? [True, True] Translation: X:27.38, Y:-0.24, Z:-1.17 [[ 9.99002219e-01 2.85510464e-02 3.43424648e-02 2.73778129e+01] [-2.85263618e-02 9.99592310e-01 -1.20864011e-03 -2.41638371e-01] [-3.43629717e-02 2.27768570e-04 9.99409393e-01 -1.16674568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.56264 meters 0.014939537950001974 Centerline is valid? [True, True] Translation: X:27.44, Y:-0.24, Z:-1.17 [[ 9.99028708e-01 2.85453272e-02 3.35679258e-02 2.74400515e+01] [-2.85215726e-02 9.99592473e-01 -1.18638359e-03 -2.43750835e-01] [-3.35881117e-02 2.27821232e-04 9.99435734e-01 -1.16969533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.622639999999997 meters 0.014374805118980791 Centerline is valid? [True, True] Translation: X:27.50, Y:-0.24, Z:-1.17 [[ 9.98958042e-01 3.01547646e-02 3.42566993e-02 2.75009323e+01] [-3.01307596e-02 9.99545225e-01 -1.21688167e-03 -2.43016384e-01] [-3.42778150e-02 1.83433352e-04 9.99412326e-01 -1.17247242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.68264 meters 0.013364100260822874 Centerline is valid? [True, True] Translation: X:27.56, Y:-0.24, Z:-1.17 [[ 9.98886069e-01 3.16130947e-02 3.50318843e-02 2.75628794e+01] [-3.15886952e-02 9.99500171e-01 -1.24988843e-03 -2.42405909e-01] [-3.50538872e-02 1.41884623e-04 9.99385414e-01 -1.17361882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.742639999999998 meters 0.013265371717066387 Centerline is valid? [True, True] Translation: X:27.62, Y:-0.24, Z:-1.18 [[ 9.98865000e-01 3.38017969e-02 3.35581720e-02 2.76239517e+01] [-3.37804542e-02 9.99428554e-01 -1.20291600e-03 -2.39680690e-01] [-3.35796560e-02 6.79404008e-05 9.99436042e-01 -1.17951207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802639999999997 meters 0.02911474678105406 Centerline is valid? [True, True] Translation: X:27.69, Y:-0.24, Z:-1.19 [[ 9.98819496e-01 3.49770087e-02 3.37078964e-02 2.76867075e+01] [-3.49559761e-02 9.99388117e-01 -1.21325683e-03 -2.40374377e-01] [-3.37297072e-02 3.35321562e-05 9.99430991e-01 -1.18707751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.86264 meters 0.013356982087371318 Centerline is valid? [True, True] Translation: X:27.75, Y:-0.24, Z:-1.19 [[ 9.98854997e-01 3.43464796e-02 3.33018734e-02 2.77486702e+01] [-3.43253854e-02 9.99409984e-01 -1.20509392e-03 -2.43765286e-01] [-3.33236155e-02 6.06144426e-05 9.99444612e-01 -1.18610445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.922639999999998 meters 0.013402391536890757 Centerline is valid? [True, True] Translation: X:27.81, Y:-0.24, Z:-1.19 [[ 9.98849400e-01 3.49312792e-02 3.28585015e-02 2.78120047e+01] [-3.49108756e-02 9.99389716e-01 -1.19463924e-03 -2.42699520e-01] [-3.28801788e-02 4.61456346e-05 9.99459300e-01 -1.18813401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.98264 meters 0.0133938290515283 Centerline is valid? [True, True] Translation: X:27.88, Y:-0.24, Z:-1.19 [[ 9.98657277e-01 3.96356047e-02 3.33565875e-02 2.78752891e+01] [-3.96169857e-02 9.99214195e-01 -1.21918504e-03 -2.37125402e-01] [-3.33786989e-02 -1.03939440e-04 9.99442771e-01 -1.18881780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04264 meters 0.015383903240474278 Centerline is valid? [True, True] Translation: X:27.94, Y:-0.23, Z:-1.19 [[ 9.98472205e-01 4.37468928e-02 3.37559780e-02 2.79363361e+01] [-4.37299363e-02 9.99042618e-01 -1.24080219e-03 -2.31301170e-01] [-3.37779418e-02 -2.37240271e-04 9.99429334e-01 -1.19074848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.10264 meters 0.01738252508370199 Centerline is valid? [True, True] Translation: X:28.00, Y:-0.23, Z:-1.19 [[ 9.98339344e-01 4.67969571e-02 3.35946372e-02 2.79990017e+01] [-4.67817181e-02 9.98904367e-01 -1.23993225e-03 -2.25967605e-01] [-3.36158548e-02 -3.33741695e-04 9.99434772e-01 -1.19329065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162639999999996 meters 0.015994986165531324 Centerline is valid? [True, True] Translation: X:28.06, Y:-0.23, Z:-1.20 [[ 9.98438165e-01 4.40298821e-02 3.43889439e-02 2.80602792e+01] [-4.40120453e-02 9.99030186e-01 -1.27586109e-03 -2.28066733e-01] [-3.44117690e-02 -2.39659351e-04 9.99407711e-01 -1.19578707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22264 meters 0.013264235201479202 Centerline is valid? [True, True] Translation: X:28.12, Y:-0.24, Z:-1.20 [[ 9.98611342e-01 3.96853207e-02 3.46476871e-02 2.81226553e+01] [-3.96644733e-02 9.99212224e-01 -1.28910725e-03 -2.37700468e-01] [-3.46715511e-02 -8.69651376e-05 9.99398757e-01 -1.19630961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28264 meters 0.014530250095562912 Centerline is valid? [True, True] Translation: X:28.18, Y:-0.26, Z:-1.20 [[ 9.98949669e-01 3.22703342e-02 3.25297504e-02 2.81839044e+01] [-3.22480129e-02 9.99479164e-01 -1.21073141e-03 -2.55807917e-01] [-3.25518784e-02 1.60439932e-04 9.99470034e-01 -1.20244029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342639999999996 meters 0.021054364602312723 Centerline is valid? [True, True] Translation: X:28.24, Y:-0.27, Z:-1.21 [[ 9.99153026e-01 2.48273288e-02 3.28151643e-02 2.82446595e+01] [-2.48004147e-02 9.99691669e-01 -1.22700449e-03 -2.73576284e-01] [-3.28355096e-02 4.12135562e-04 9.99460684e-01 -1.20604314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.40264 meters 0.02256103334149055 Centerline is valid? [True, True] Translation: X:28.31, Y:-0.28, Z:-1.21 [[ 9.99279459e-01 2.13165774e-02 3.14032825e-02 2.83059191e+01] [-2.12900585e-02 9.99772646e-01 -1.17862815e-03 -2.82371516e-01] [-3.14212672e-02 5.09201175e-04 9.99506100e-01 -1.20816299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46264 meters 0.023928851780516475 Centerline is valid? [True, True] Translation: X:28.37, Y:-0.29, Z:-1.21 [[ 9.99368469e-01 1.97323645e-02 2.95515820e-02 2.83674402e+01] [-1.97080177e-02 9.99805156e-01 -1.11494169e-03 -2.94190539e-01] [-2.95678245e-02 5.31834463e-04 9.99562635e-01 -1.21309498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.522639999999996 meters 0.023426015778883695 Centerline is valid? [True, True] Translation: X:28.43, Y:-0.30, Z:-1.22 [[ 9.99328621e-01 2.22119343e-02 2.91365273e-02 2.84279560e+01] [-2.21893290e-02 9.99753183e-01 -1.09897975e-03 -2.98080649e-01] [-2.91537463e-02 4.51721933e-04 9.99574837e-01 -1.21773260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.58264 meters 0.017263791521140808 Centerline is valid? [True, True] Translation: X:28.49, Y:-0.29, Z:-1.22 [[ 9.99184488e-01 2.79218319e-02 2.91672935e-02 2.84902737e+01] [-2.79014226e-02 9.99610067e-01 -1.10656718e-03 -2.91072141e-01] [-2.91868176e-02 2.91855781e-04 9.99573931e-01 -1.21652669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64264 meters 0.014613890152673321 Centerline is valid? [True, True] Translation: X:28.55, Y:-0.29, Z:-1.22 [[ 9.98957421e-01 3.39500315e-02 3.05199506e-02 2.85511424e+01] [-3.39304542e-02 9.99423524e-01 -1.15927636e-03 -2.89145193e-01] [-3.05417140e-02 1.22511935e-04 9.99533486e-01 -1.21959224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.702639999999995 meters 0.013697661471425341 Centerline is valid? [True, True] Translation: X:28.61, Y:-0.29, Z:-1.22 [[ 9.98825800e-01 3.69979313e-02 3.12757778e-02 2.86134140e+01] [-3.69789002e-02 9.99315342e-01 -1.18688697e-03 -2.88534326e-01] [-3.12982769e-02 2.89494653e-05 9.99510089e-01 -1.22095497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.76264 meters 0.013647883538658975 Centerline is valid? [True, True] Translation: X:28.68, Y:-0.29, Z:-1.22 [[ 9.98622984e-01 4.08908758e-02 3.28644421e-02 2.86759276e+01] [-4.08717781e-02 9.99163614e-01 -1.25297237e-03 -2.85199207e-01] [-3.28881899e-02 -9.19811732e-05 9.99459033e-01 -1.22154988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82264 meters 0.013287954821746429 Centerline is valid? [True, True] Translation: X:28.74, Y:-0.29, Z:-1.22 [[ 9.98673900e-01 3.98491143e-02 3.25958611e-02 2.87382350e+01] [-3.98296122e-02 9.99205707e-01 -1.24765205e-03 -2.93952705e-01] [-3.26196883e-02 -5.22829743e-05 9.99467835e-01 -1.22461696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.882639999999995 meters 0.01327062712723799 Centerline is valid? [True, True] Translation: X:28.80, Y:-0.30, Z:-1.23 [[ 9.98815326e-01 3.66759102e-02 3.19815849e-02 2.87999215e+01] [-3.66553126e-02 9.99327211e-01 -1.23030255e-03 -3.03605349e-01] [-3.20051905e-02 5.65500495e-05 9.99487701e-01 -1.22694205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.94264 meters 0.01509047014567427 Centerline is valid? [True, True] Translation: X:28.86, Y:-0.32, Z:-1.23 [[ 9.98984113e-01 3.22157166e-02 3.15101615e-02 2.88603194e+01] [-3.21933281e-02 9.99480919e-01 -1.21772746e-03 -3.16943749e-01] [-3.15330352e-02 2.02073421e-04 9.99502690e-01 -1.23129828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00264 meters 0.014635715134311438 Centerline is valid? [True, True] Translation: X:28.92, Y:-0.32, Z:-1.24 [[ 9.98921045e-01 3.46435790e-02 3.09284224e-02 2.89225858e+01] [-3.46230335e-02 9.99399723e-01 -1.19975136e-03 -3.19417284e-01] [-3.09514205e-02 1.27621075e-04 9.99520882e-01 -1.23534890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06264 meters 0.013416121246940058 Centerline is valid? [True, True] Translation: X:28.98, Y:-0.32, Z:-1.24 [[ 9.98726892e-01 3.96760211e-02 3.11513929e-02 2.89847818e+01] [-3.96574429e-02 9.99212596e-01 -1.21424436e-03 -3.15445654e-01] [-3.11750406e-02 -2.26860930e-05 9.99513940e-01 -1.23618604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.12264 meters 0.015863507466354447 Centerline is valid? [True, True] Translation: X:29.05, Y:-0.31, Z:-1.24 [[ 9.98410316e-01 4.66164704e-02 3.16819364e-02 2.90463423e+01] [-4.66005646e-02 9.98912833e-01 -1.24064651e-03 -3.05822420e-01] [-3.17053274e-02 -2.37721845e-04 9.99497231e-01 -1.23894326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18264 meters 0.017704355428310413 Centerline is valid? [True, True] Translation: X:29.11, Y:-0.30, Z:-1.24 [[ 9.98290811e-01 4.96920569e-02 3.07596470e-02 2.91084299e+01] [-4.96783862e-02 9.98764535e-01 -1.20897524e-03 -3.01900487e-01] [-3.07817210e-02 -3.21180745e-04 9.99526079e-01 -1.24226934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24264 meters 0.018004464135640195 Centerline is valid? [True, True] Translation: X:29.17, Y:-0.30, Z:-1.25 [[ 9.98311319e-01 4.93833175e-02 3.05908286e-02 2.91705167e+01] [-4.93694970e-02 9.98779853e-01 -1.20738761e-03 -3.04203201e-01] [-3.06131281e-02 -3.04905100e-04 9.99531262e-01 -1.24649667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.30264 meters 0.017223647979065306 Centerline is valid? [True, True] Translation: X:29.23, Y:-0.31, Z:-1.25 [[ 9.98319405e-01 4.88469403e-02 3.11823849e-02 2.92329160e+01] [-4.88321292e-02 9.98806234e-01 -1.23679821e-03 -3.07728455e-01] [-3.12055743e-02 -2.87982590e-04 9.99512946e-01 -1.24770674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36264 meters 0.01735155237198567 Centerline is valid? [True, True] Translation: X:29.30, Y:-0.31, Z:-1.25 [[ 9.98213875e-01 5.02331288e-02 3.23371613e-02 2.92963800e+01] [-5.02177546e-02 9.98737462e-01 -1.28793426e-03 -3.05634308e-01] [-3.23610313e-02 -3.38265780e-04 9.99476187e-01 -1.24689244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42264 meters 0.020511057691764003 Centerline is valid? [True, True] Translation: X:29.36, Y:-0.30, Z:-1.25 [[ 9.98001441e-01 5.36290264e-02 3.34223053e-02 2.93582546e+01] [-5.36142621e-02 9.98560824e-01 -1.33844536e-03 -2.96289017e-01] [-3.34459843e-02 -4.56141844e-04 9.99440422e-01 -1.24789715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.482639999999996 meters 0.02240251646268558 Centerline is valid? [True, True] Translation: X:29.42, Y:-0.29, Z:-1.25 [[ 9.97945684e-01 5.58366266e-02 3.14115164e-02 2.94205276e+01] [-5.58244906e-02 9.98439797e-01 -1.26389084e-03 -2.91474845e-01] [-3.14330795e-02 -4.92237491e-04 9.99505737e-01 -1.25332462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54264 meters 0.023730038180539537 Centerline is valid? [True, True] Translation: X:29.48, Y:-0.29, Z:-1.26 [[ 9.97919527e-01 5.64026058e-02 3.12308066e-02 2.94820573e+01] [-5.63908846e-02 9.98407977e-01 -1.25666750e-03 -2.86766501e-01] [-3.12519658e-02 -5.07079775e-04 9.99511409e-01 -1.25749172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.60264 meters 0.019273634991074488 Centerline is valid? [True, True] Translation: X:29.55, Y:-0.29, Z:-1.26 [[ 9.97993619e-01 5.44021348e-02 3.23904885e-02 2.95465526e+01] [-5.44610094e-02 9.98515458e-01 9.37538336e-04 -2.85968104e-01] [-3.22913994e-02 -2.69967598e-03 9.99474851e-01 -1.25637459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.662639999999996 meters 0.017986036264586062 Centerline is valid? [True, True] Translation: X:29.61, Y:-0.28, Z:-1.26 [[ 9.98188007e-01 5.12030185e-02 3.16062183e-02 2.96058191e+01] [-5.11128269e-02 9.98686195e-01 -3.65551151e-03 -2.84052196e-01] [-3.17518671e-02 2.03340458e-03 9.99493714e-01 -1.26121372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72264 meters 0.014789969843167411 Centerline is valid? [True, True] Translation: X:29.67, Y:-0.29, Z:-1.27 [[ 9.98505041e-01 4.51093656e-02 3.08679247e-02 2.96667549e+01] [-4.50922466e-02 9.98982044e-01 -1.25083636e-03 -2.90327616e-01] [-3.08929269e-02 -1.42937662e-04 9.99522689e-01 -1.26709843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78264 meters 0.013836323458344093 Centerline is valid? [True, True] Translation: X:29.73, Y:-0.29, Z:-1.27 [[ 9.98674538e-01 4.15556235e-02 3.03693417e-02 2.97296949e+01] [-4.15373647e-02 9.99136192e-01 -1.23212880e-03 -2.93471084e-01] [-3.03943103e-02 -3.09667576e-05 9.99537986e-01 -1.26978215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.842639999999996 meters 0.014833745511663872 Centerline is valid? [True, True] Translation: X:29.79, Y:-0.30, Z:-1.27 [[ 9.98876775e-01 3.48802790e-02 3.20710898e-02 2.97923814e+01] [-3.48562655e-02 9.99391480e-01 -1.30770562e-03 -3.01949816e-01] [-3.20971870e-02 1.88358350e-04 9.99484735e-01 -1.26976023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90264 meters 0.020042971553743624 Centerline is valid? [True, True] Translation: X:29.85, Y:-0.31, Z:-1.27 [[ 9.99079709e-01 2.72675693e-02 3.31091383e-02 2.98544966e+01] [-2.72375226e-02 9.99628067e-01 -1.35827935e-03 -3.12495468e-01] [-3.31338609e-02 4.55218431e-04 9.99450819e-01 -1.27090022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96264 meters 0.023817858086560065 Centerline is valid? [True, True] Translation: X:29.92, Y:-0.32, Z:-1.27 [[ 9.99172681e-01 2.21308887e-02 3.41200326e-02 2.99166843e+01] [-2.20959273e-02 9.99754873e-01 -1.40142943e-03 -3.21856071e-01] [-3.41426837e-02 6.46356239e-04 9.99416760e-01 -1.27186829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.022639999999996 meters 0.03392055059197923 Centerline is valid? [True, True] Translation: X:29.98, Y:-0.34, Z:-1.28 [[ 9.99340809e-01 1.60350526e-02 3.25703059e-02 2.99759727e+01] [-1.59998978e-02 9.99871096e-01 -1.33971080e-03 -3.41067310e-01] [-3.25875897e-02 8.17706111e-04 9.99468549e-01 -1.27974265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.08264 meters 0.033928476677804506 Centerline is valid? [True, True] Translation: X:30.04, Y:-0.35, Z:-1.28 [[ 9.99360576e-01 1.26339471e-02 3.34487912e-02 3.00369646e+01] [-1.25949592e-02 9.99919734e-01 -1.37605413e-03 -3.48588266e-01] [-3.34634913e-02 9.53888091e-04 9.99439485e-01 -1.27899213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14264 meters 0.03300926846699257 Centerline is valid? [True, True] Translation: X:30.10, Y:-0.35, Z:-1.28 [[ 9.99340927e-01 1.24305854e-02 3.41055911e-02 3.00996000e+01] [-1.23899651e-02 9.99922258e-01 -1.40211158e-03 -3.54242349e-01] [-3.41203687e-02 9.78620400e-04 9.99417252e-01 -1.28019573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.202639999999995 meters 0.030695597387069014 Centerline is valid? [True, True] Translation: X:30.16, Y:-0.36, Z:-1.28 [[ 9.99341298e-01 1.47799169e-02 3.31440037e-02 3.01618179e+01] [-1.47425944e-02 9.99890383e-01 -1.37018455e-03 -3.61948990e-01] [-3.31606218e-02 8.80653402e-04 9.99449647e-01 -1.28482571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.26264 meters 0.028405093257986857 Centerline is valid? [True, True] Translation: X:30.22, Y:-0.36, Z:-1.29 [[ 9.99249848e-01 1.92739640e-02 3.35895072e-02 3.02210591e+01] [-1.92380931e-02 9.99813963e-01 -1.39081194e-03 -3.64567914e-01] [-3.36100648e-02 7.43570551e-04 9.99434746e-01 -1.28790128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32264 meters 0.017584872953679404 Centerline is valid? [True, True] Translation: X:30.28, Y:-0.36, Z:-1.29 [[ 9.98972289e-01 3.07026657e-02 3.33423413e-02 3.02817956e+01] [-3.06736135e-02 9.99528498e-01 -1.38260855e-03 -3.56431315e-01] [-3.33690701e-02 3.58457541e-04 9.99443033e-01 -1.29024684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.382639999999995 meters 0.01299618869275428 Centerline is valid? [True, True] Translation: X:30.34, Y:-0.34, Z:-1.29 [[ 9.98467435e-01 4.40736059e-02 3.34708678e-02 3.03431815e+01] [-4.40518908e-02 9.99028282e-01 -1.38629213e-03 -3.42608274e-01] [-3.34994425e-02 -9.02874621e-05 9.99438732e-01 -1.29327009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.44264 meters 0.01915056916161913 Centerline is valid? [True, True] Translation: X:30.41, Y:-0.33, Z:-1.30 [[ 9.98037813e-01 5.35168105e-02 3.25034451e-02 3.04052434e+01] [-5.35011538e-02 9.98566873e-01 -1.35184398e-03 -3.32495370e-01] [-3.25292099e-02 -3.89780404e-04 9.99470709e-01 -1.29808338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50264 meters 0.020361230878273618 Centerline is valid? [True, True] Translation: X:30.47, Y:-0.33, Z:-1.30 [[ 9.97866518e-01 5.69640462e-02 3.18984150e-02 3.04670341e+01] [-5.69506886e-02 9.98376109e-01 -1.32788590e-03 -3.30581956e-01] [-3.19222572e-02 -4.91583820e-04 9.99490234e-01 -1.30007179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56264 meters 0.024225445249087006 Centerline is valid? [True, True] Translation: X:30.53, Y:-0.33, Z:-1.30 [[ 9.97686711e-01 6.00046557e-02 3.19478962e-02 3.05287028e+01] [-5.99926460e-02 9.98197926e-01 -1.33521217e-03 -3.25240200e-01] [-3.19704427e-02 -5.84515388e-04 9.99488644e-01 -1.30405703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.62264 meters 0.026622120084842195 Centerline is valid? [True, True] Translation: X:30.59, Y:-0.32, Z:-1.31 [[ 9.97578769e-01 6.13640560e-02 3.27269349e-02 3.05897317e+01] [-6.13520029e-02 9.98115247e-01 -1.37331497e-03 -3.21903313e-01] [-3.27495249e-02 -6.37873151e-04 9.99463387e-01 -1.30581734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68264 meters 0.027181625610738502 Centerline is valid? [True, True] Translation: X:30.65, Y:-0.32, Z:-1.31 [[ 9.97526522e-01 6.22444382e-02 3.26568115e-02 3.06526329e+01] [-6.22327460e-02 9.98060716e-01 -1.37532926e-03 -3.15888864e-01] [-3.26790873e-02 -6.60395641e-04 9.99465678e-01 -1.30851977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74264 meters 0.02295598898507078 Centerline is valid? [True, True] Translation: X:30.71, Y:-0.32, Z:-1.31 [[ 9.97644196e-01 5.96879684e-02 3.38142790e-02 3.07144814e+01] [-5.96737196e-02 9.98216910e-01 -1.43132871e-03 -3.17295312e-01] [-3.38394182e-02 -5.89867024e-04 9.99427109e-01 -1.30876359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.80264 meters 0.029652572832349452 Centerline is valid? [True, True] Translation: X:30.77, Y:-0.32, Z:-1.31 [[ 9.97829477e-01 5.61973947e-02 3.43247496e-02 3.07745869e+01] [-5.61805949e-02 9.98419564e-01 -1.45447991e-03 -3.19806981e-01] [-3.43522395e-02 -4.77061929e-04 9.99409674e-01 -1.31306719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86264 meters 0.01577281224298444 Centerline is valid? [True, True] Translation: X:30.84, Y:-0.32, Z:-1.31 [[ 9.98076607e-01 5.10679185e-02 3.51447755e-02 3.08358254e+01] [-5.10471155e-02 9.98695135e-01 -1.48955229e-03 -3.24732810e-01] [-3.51749847e-02 -3.07352115e-04 9.99381121e-01 -1.31185102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92264 meters 0.01769537226063744 Centerline is valid? [True, True] Translation: X:30.90, Y:-0.32, Z:-1.32 [[ 9.98272021e-01 4.72207440e-02 3.49738870e-02 3.08979270e+01] [-4.71978024e-02 9.98884464e-01 -1.48173184e-03 -3.24962462e-01] [-3.50048408e-02 -1.71519175e-04 9.99387128e-01 -1.31563646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.982639999999996 meters 0.012760672436082785 Centerline is valid? [True, True] Translation: X:30.96, Y:-0.32, Z:-1.32 [[ 9.98357411e-01 4.60657110e-02 3.40650944e-02 3.09606847e+01] [-4.60430959e-02 9.98938404e-01 -1.44845787e-03 -3.24596606e-01] [-3.40956553e-02 -1.22383764e-04 9.99418567e-01 -1.31836172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04264 meters 0.013056552710962585 Centerline is valid? [True, True] Translation: X:31.02, Y:-0.32, Z:-1.32 [[ 9.98391970e-01 4.59626796e-02 3.31799114e-02 3.10217549e+01] [-4.59409504e-02 9.98943152e-01 -1.41736759e-03 -3.24389920e-01] [-3.32099912e-02 -1.09228244e-04 9.99448390e-01 -1.32383892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10264 meters 0.013332880824411985 Centerline is valid? [True, True] Translation: X:31.08, Y:-0.32, Z:-1.33 [[ 9.98377904e-01 4.68074262e-02 3.24133591e-02 3.10838320e+01] [-4.67869828e-02 9.98903923e-01 -1.38929851e-03 -3.18649514e-01] [-3.24428610e-02 -1.29478337e-04 9.99473583e-01 -1.32643146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.162639999999996 meters 0.014056212602589402 Centerline is valid? [True, True] Translation: X:31.15, Y:-0.32, Z:-1.33 [[ 9.98329884e-01 4.77140961e-02 3.25700441e-02 3.11459897e+01] [-4.76937646e-02 9.98861022e-01 -1.40129659e-03 -3.16323908e-01] [-3.25998091e-02 -1.54431755e-04 9.99468473e-01 -1.32995844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22264 meters 0.013251549286493221 Centerline is valid? [True, True] Translation: X:31.21, Y:-0.32, Z:-1.33 [[ 9.98308918e-01 4.79122274e-02 3.29199338e-02 3.12086328e+01] [-4.78913788e-02 9.98851537e-01 -1.42197934e-03 -3.17889219e-01] [-3.29502567e-02 -1.57006363e-04 9.99456981e-01 -1.32994233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28264 meters 0.013045448949326861 Centerline is valid? [True, True] Translation: X:31.27, Y:-0.32, Z:-1.33 [[ 9.98383007e-01 4.61825867e-02 3.31442397e-02 3.12699352e+01] [-4.61602688e-02 9.98933011e-01 -1.43863402e-03 -3.18983835e-01] [-3.31753150e-02 -9.36392498e-05 9.99449543e-01 -1.33439976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.342639999999996 meters 0.012718403882395599 Centerline is valid? [True, True] Translation: X:31.33, Y:-0.32, Z:-1.34 [[ 9.98597987e-01 4.17800414e-02 3.25036797e-02 3.13323510e+01] [-4.17560973e-02 9.99126831e-01 -1.41540134e-03 -3.24135805e-01] [-3.25344341e-02 5.61901199e-05 9.99470614e-01 -1.33681847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40264 meters 0.013555065094099384 Centerline is valid? [True, True] Translation: X:31.39, Y:-0.33, Z:-1.34 [[ 9.98720166e-01 3.84904033e-02 3.28103440e-02 3.13942979e+01] [-3.84640173e-02 9.99258955e-01 -1.43522960e-03 -3.30860201e-01] [-3.28412727e-02 1.71375099e-04 9.99460565e-01 -1.33860597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46264 meters 0.015411707652198504 Centerline is valid? [True, True] Translation: X:31.46, Y:-0.34, Z:-1.34 [[ 9.98799832e-01 3.54831803e-02 3.37614968e-02 3.14554064e+01] [-3.54532969e-02 9.99370233e-01 -1.48355654e-03 -3.38109222e-01] [-3.37928763e-02 2.84819648e-04 9.99428817e-01 -1.33981304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.522639999999996 meters 0.015613978337804469 Centerline is valid? [True, True] Translation: X:31.52, Y:-0.34, Z:-1.34 [[ 9.98852345e-01 3.48698798e-02 3.28341998e-02 3.15170225e+01] [-3.48412217e-02 9.99391816e-01 -1.44472806e-03 -3.43895744e-01] [-3.28646081e-02 2.99086381e-04 9.99459768e-01 -1.34307066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58264 meters 0.015229256354023089 Centerline is valid? [True, True] Translation: X:31.58, Y:-0.35, Z:-1.35 [[ 9.98779188e-01 3.62084799e-02 3.36017723e-02 3.15779578e+01] [-3.61790194e-02 9.99344222e-01 -1.48455205e-03 -3.45800214e-01] [-3.36334904e-02 2.67060521e-04 9.99434198e-01 -1.34502844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64264 meters 0.013534469000490323 Centerline is valid? [True, True] Translation: X:31.64, Y:-0.35, Z:-1.35 [[ 9.98663888e-01 3.89710054e-02 3.39366866e-02 3.16404785e+01] [-3.89423698e-02 9.99240325e-01 -1.50461398e-03 -3.46700137e-01] [-3.39695421e-02 1.81028647e-04 9.99422852e-01 -1.34644303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.702639999999995 meters 0.013182240125423834 Centerline is valid? [True, True] Translation: X:31.70, Y:-0.35, Z:-1.35 [[ 9.98646067e-01 4.00986597e-02 3.31380469e-02 3.17032362e+01] [-4.00718116e-02 9.99195715e-01 -1.47419290e-03 -3.50086105e-01] [-3.31705076e-02 1.44295369e-04 9.99449697e-01 -1.35065151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.76264 meters 0.01423632359269973 Centerline is valid? [True, True] Translation: X:31.76, Y:-0.36, Z:-1.35 [[ 9.98725065e-01 3.85955931e-02 3.25365187e-02 3.17647564e+01] [-3.85687075e-02 9.99254893e-01 -1.45376251e-03 -3.58981307e-01] [-3.25683844e-02 1.97017585e-04 9.99469490e-01 -1.35427687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82264 meters 0.016966261231790833 Centerline is valid? [True, True] Translation: X:31.83, Y:-0.37, Z:-1.36 [[ 9.98851203e-01 3.49471083e-02 3.27867840e-02 3.18255332e+01] [-3.49176570e-02 9.99389111e-01 -1.47058580e-03 -3.74228129e-01] [-3.28181476e-02 3.24058712e-04 9.99461287e-01 -1.35694940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.882639999999995 meters 0.024630261558601308 Centerline is valid? [True, True] Translation: X:31.89, Y:-0.38, Z:-1.36 [[ 9.98953884e-01 3.35645945e-02 3.10573013e-02 3.18873461e+01] [-3.35373691e-02 9.99436487e-01 -1.39726653e-03 -3.81447149e-01] [-3.10866988e-02 3.54224645e-04 9.99516629e-01 -1.36353032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.94264 meters 0.017629034075484926 Centerline is valid? [True, True] Translation: X:31.95, Y:-0.39, Z:-1.36 [[ 9.98898467e-01 3.50626680e-02 3.11843274e-02 3.19493201e+01] [-3.50357871e-02 9.99385066e-01 -1.40816656e-03 -3.89551569e-01] [-3.12145252e-02 3.14047963e-04 9.99512659e-01 -1.36438956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00264 meters 0.015201457873101919 Centerline is valid? [True, True] Translation: X:32.01, Y:-0.39, Z:-1.37 [[ 9.98758512e-01 3.97847964e-02 2.99767416e-02 3.20102165e+01] [-3.97619407e-02 9.99208258e-01 -1.35840001e-03 -3.89614192e-01] [-3.00070515e-02 1.64780148e-04 9.99549673e-01 -1.36890126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.062639999999995 meters 0.013368998953019583 Centerline is valid? [True, True] Translation: X:32.07, Y:-0.39, Z:-1.37 [[ 9.98558809e-01 4.38741312e-02 3.09089994e-02 3.20717378e+01] [-4.38516149e-02 9.99037065e-01 -1.40628638e-03 -3.87127896e-01] [-3.09409357e-02 4.88501084e-05 9.99521213e-01 -1.37000669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.12264 meters 0.013114607795361059 Centerline is valid? [True, True] Translation: X:32.13, Y:-0.39, Z:-1.37 [[ 9.98517833e-01 4.41378814e-02 3.18431223e-02 3.21333542e+01] [-4.41140481e-02 9.99025448e-01 -1.45095583e-03 -3.92410782e-01] [-3.18761317e-02 4.40762450e-05 9.99491826e-01 -1.37249744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18264 meters 0.014425553801716447 Centerline is valid? [True, True] Translation: X:32.19, Y:-0.41, Z:-1.38 [[ 9.98644518e-01 4.12831305e-02 3.16990527e-02 3.21943012e+01] [-4.12579108e-02 9.99147478e-01 -1.44954669e-03 -4.06072361e-01] [-3.17318704e-02 1.39745170e-04 9.99496408e-01 -1.37713374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24264 meters 0.016048872354253233 Centerline is valid? [True, True] Translation: X:32.25, Y:-0.41, Z:-1.38 [[ 9.98740391e-01 3.88397456e-02 3.17664273e-02 3.22546138e+01] [-3.88130068e-02 9.99245427e-01 -1.45816099e-03 -4.14829016e-01] [-3.17990918e-02 2.23373714e-04 9.99494256e-01 -1.37947545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.30264 meters 0.017355801051073184 Centerline is valid? [True, True] Translation: X:32.32, Y:-0.43, Z:-1.38 [[ 9.98819333e-01 3.63821776e-02 3.21912448e-02 3.23163904e+01] [-3.63533942e-02 9.99337902e-01 -1.47916009e-03 -4.27557748e-01] [-3.22237461e-02 3.07152683e-04 9.99480633e-01 -1.37951184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36264 meters 0.019626641722823367 Centerline is valid? [True, True] Translation: X:32.38, Y:-0.44, Z:-1.38 [[ 9.98888805e-01 3.42208944e-02 3.24050402e-02 3.23777883e+01] [-3.41904213e-02 9.99414220e-01 -1.49419565e-03 -4.44069336e-01] [-3.24371906e-02 3.84593335e-04 9.99473702e-01 -1.38308216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42264 meters 0.01916540475095649 Centerline is valid? [True, True] Translation: X:32.44, Y:-0.45, Z:-1.39 [[ 9.98919836e-01 3.41499202e-02 3.15110109e-02 3.24398696e+01] [-3.41209220e-02 9.99416649e-01 -1.45767944e-03 -4.50574891e-01] [-3.15424085e-02 3.80920159e-04 9.99502342e-01 -1.38591239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.482639999999996 meters 0.01775720699733209 Centerline is valid? [True, True] Translation: X:32.50, Y:-0.46, Z:-1.39 [[ 9.98892236e-01 3.55697629e-02 3.08073500e-02 3.25023815e+01] [-3.55425834e-02 9.99367140e-01 -1.42958372e-03 -4.58803021e-01] [-3.08387033e-02 3.33027274e-04 9.99524319e-01 -1.38947078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54264 meters 0.01759549715720807 Centerline is valid? [True, True] Translation: X:32.56, Y:-0.47, Z:-1.39 [[ 9.98782811e-01 3.70502423e-02 3.25603420e-02 3.25631734e+01] [-3.70204335e-02 9.99313356e-01 -1.51808495e-03 -4.71414745e-01] [-3.25942301e-02 3.10839179e-04 9.99468619e-01 -1.39095194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60264 meters 0.015182048737069386 Centerline is valid? [True, True] Translation: X:32.63, Y:-0.48, Z:-1.39 [[ 9.98734267e-01 3.84046629e-02 3.24799313e-02 3.26253267e+01] [-3.83755614e-02 9.99262232e-01 -1.51912048e-03 -4.76704483e-01] [-3.25143100e-02 2.70762086e-04 9.99471233e-01 -1.39128234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.662639999999996 meters 0.014163524476226496 Centerline is valid? [True, True] Translation: X:32.69, Y:-0.48, Z:-1.40 [[ 9.98642910e-01 4.11519331e-02 3.19195285e-02 3.26864699e+01] [-4.11250545e-02 9.99152884e-01 -1.49840723e-03 -4.84674160e-01] [-3.19541513e-02 1.83681408e-04 9.99489319e-01 -1.39635177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72264 meters 0.013139682731523996 Centerline is valid? [True, True] Translation: X:32.75, Y:-0.49, Z:-1.40 [[ 9.98536263e-01 4.42847191e-02 3.10515045e-02 3.27493018e+01] [-4.42606661e-02 9.99018947e-01 -1.46187349e-03 -4.92687802e-01] [-3.10857800e-02 8.53734221e-05 9.99516717e-01 -1.40085115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78264 meters 0.01248629481438715 Centerline is valid? [True, True] Translation: X:32.81, Y:-0.50, Z:-1.40 [[ 9.98439576e-01 4.67177022e-02 3.05919897e-02 3.28118969e+01] [-4.66953258e-02 9.98908132e-01 -1.44584825e-03 -4.97008430e-01] [-3.06261340e-02 1.50891830e-05 9.99530910e-01 -1.40225248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.842639999999996 meters 0.01286210070698991 Centerline is valid? [True, True] Translation: X:32.87, Y:-0.50, Z:-1.40 [[ 9.98228227e-01 5.06775399e-02 3.11800181e-02 3.28740876e+01] [-5.06560214e-02 9.98715063e-01 -1.48017959e-03 -5.02076226e-01] [-3.12149656e-02 -1.01898613e-04 9.99512689e-01 -1.40497513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90264 meters 0.013579321182405324 Centerline is valid? [True, True] Translation: X:32.94, Y:-0.51, Z:-1.41 [[ 9.98117105e-01 5.25373757e-02 3.16554864e-02 3.29358160e+01] [-5.25159409e-02 9.98618946e-01 -1.50874034e-03 -5.07720321e-01] [-3.16910338e-02 -1.56518111e-04 9.99497701e-01 -1.40833094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96264 meters 0.013395330604897792 Centerline is valid? [True, True] Translation: X:33.00, Y:-0.52, Z:-1.41 [[ 9.98085809e-01 5.32844399e-02 3.13924505e-02 3.29986371e+01] [-5.32635631e-02 9.98579360e-01 -1.50148785e-03 -5.16257300e-01] [-3.14278590e-02 -1.73460048e-04 9.99506008e-01 -1.41001147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.022639999999996 meters 0.01364813884955811 Centerline is valid? [True, True] Translation: X:33.06, Y:-0.53, Z:-1.41 [[ 9.98113048e-01 5.28615929e-02 3.12409195e-02 3.30600162e+01] [-5.28405135e-02 9.98601837e-01 -1.50052252e-03 -5.26202336e-01] [-3.12765596e-02 -1.53095122e-04 9.99510757e-01 -1.41467687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08264 meters 0.013113835722348791 Centerline is valid? [True, True] Translation: X:33.12, Y:-0.54, Z:-1.42 [[ 9.98188236e-01 5.14598148e-02 3.11790599e-02 3.31215529e+01] [-5.14379560e-02 9.98675061e-01 -1.50328926e-03 -5.38592054e-01] [-3.12151085e-02 -1.03221463e-04 9.99512684e-01 -1.41794650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14264 meters 0.012504319230579937 Centerline is valid? [True, True] Translation: X:33.18, Y:-0.54, Z:-1.42 [[ 9.98175660e-01 5.14768141e-02 3.15513710e-02 3.31840909e+01] [-5.14542672e-02 9.98674185e-01 -1.52666022e-03 -5.44393794e-01] [-3.15881273e-02 -9.95776032e-05 9.99500966e-01 -1.41830925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.202639999999995 meters 0.013820705557666294 Centerline is valid? [True, True] Translation: X:33.25, Y:-0.55, Z:-1.42 [[ 9.98067574e-01 5.31807590e-02 3.21391474e-02 3.32457286e+01] [-5.31580317e-02 9.98584891e-01 -1.56179377e-03 -5.48924674e-01] [-3.21767244e-02 -1.49678100e-04 9.99482184e-01 -1.42248653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26264 meters 0.016056283549812398 Centerline is valid? [True, True] Translation: X:33.31, Y:-0.55, Z:-1.42 [[ 9.97804314e-01 5.78387258e-02 3.22681490e-02 3.33078981e+01] [-5.78180500e-02 9.98325896e-01 -1.57424719e-03 -5.48631092e-01] [-3.23051812e-02 -2.94890820e-04 9.99478008e-01 -1.42376658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32264 meters 0.01991226750281263 Centerline is valid? [True, True] Translation: X:33.37, Y:-0.55, Z:-1.43 [[ 9.97583667e-01 6.21488004e-02 3.10540493e-02 3.33698211e+01] [-6.21315373e-02 9.98066810e-01 -1.52147994e-03 -5.48804790e-01] [-3.10885741e-02 -4.11632285e-04 9.99516549e-01 -1.42841380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.382639999999995 meters 0.01944563523260653 Centerline is valid? [True, True] Translation: X:33.43, Y:-0.55, Z:-1.43 [[ 9.97546563e-01 6.27515450e-02 3.10338101e-02 3.34323337e+01] [-6.27346133e-02 9.98029087e-01 -1.51993016e-03 -5.51173871e-01] [-3.10680232e-02 -4.30692975e-04 9.99517180e-01 -1.42968184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.44264 meters 0.015346810636226428 Centerline is valid? [True, True] Translation: X:33.49, Y:-0.56, Z:-1.43 [[ 9.97758813e-01 5.77738433e-02 3.37569837e-02 3.34929527e+01] [-5.77506492e-02 9.98329654e-01 -1.66252603e-03 -5.61807481e-01] [-3.37966484e-02 -2.90687728e-04 9.99428688e-01 -1.42874212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50264 meters 0.012042719408804596 Centerline is valid? [True, True] Translation: X:33.55, Y:-0.57, Z:-1.43 [[ 9.97954680e-01 5.36380247e-02 3.47767070e-02 3.35548048e+01] [-5.36109184e-02 9.98560433e-01 -1.71212953e-03 -5.72364796e-01] [-3.48184789e-02 -1.55783529e-04 9.99393641e-01 -1.42784390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.562639999999995 meters 0.011433020269410047 Centerline is valid? [True, True] Translation: X:33.62, Y:-0.58, Z:-1.43 [[ 9.98171199e-01 4.97014212e-02 3.44096912e-02 3.36165505e+01] [-4.96723467e-02 9.98764121e-01 -1.69982516e-03 -5.84282602e-01] [-3.44516487e-02 -1.24935881e-05 9.99406366e-01 -1.43249542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.62264 meters 0.01232283186001242 Centerline is valid? [True, True] Translation: X:33.68, Y:-0.59, Z:-1.44 [[ 9.98295541e-01 4.84891302e-02 3.24779340e-02 3.36780155e+01] [-4.84624000e-02 9.98823710e-01 -1.61017205e-03 -5.92901289e-01] [-3.25178063e-02 3.34689473e-05 9.99471156e-01 -1.43942133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68264 meters 0.01208500338986663 Centerline is valid? [True, True] Translation: X:33.74, Y:-0.60, Z:-1.44 [[ 9.98274500e-01 4.92512558e-02 3.19740081e-02 3.37403749e+01] [-4.92255876e-02 9.98786420e-01 -1.58993596e-03 -5.98542150e-01] [-3.20135115e-02 1.32531868e-05 9.99487436e-01 -1.44188924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74264 meters 0.012750950299013932 Centerline is valid? [True, True] Translation: X:33.80, Y:-0.60, Z:-1.45 [[ 9.98159836e-01 5.21404289e-02 3.09566991e-02 3.38011849e+01] [-5.21175321e-02 9.98639760e-01 -1.54661501e-03 -6.03111733e-01] [-3.09952317e-02 -6.96177721e-05 9.99519530e-01 -1.44783053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.80264 meters 0.01578863084121921 Centerline is valid? [True, True] Translation: X:33.86, Y:-0.60, Z:-1.45 [[ 9.97797511e-01 5.88071063e-02 3.06896108e-02 3.38637613e+01] [-5.87877005e-02 9.98269327e-01 -1.53502254e-03 -5.99758822e-01] [-3.07267674e-02 -2.72529979e-04 9.99527784e-01 -1.45044253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86264 meters 0.02058340375882229 Centerline is valid? [True, True] Translation: X:33.93, Y:-0.60, Z:-1.45 [[ 9.97449981e-01 6.43332684e-02 3.08992990e-02 3.39253152e+01] [-6.43160450e-02 9.97928373e-01 -1.55201087e-03 -5.96245544e-01] [-3.09351331e-02 -4.39267492e-04 9.99521298e-01 -1.45327560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92264 meters 0.0257935146503838 Centerline is valid? [True, True] Translation: X:33.99, Y:-0.59, Z:-1.46 [[ 9.96979195e-01 7.17512720e-02 2.97361614e-02 3.39865064e+01] [-7.17385193e-02 9.97422350e-01 -1.49686549e-03 -5.91035800e-01] [-2.97669140e-02 -6.40884434e-04 9.99556662e-01 -1.45629907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.982639999999996 meters 0.032631236918711164 Centerline is valid? [True, True] Translation: X:34.05, Y:-0.58, Z:-1.46 [[ 9.96712903e-01 7.53017405e-02 2.98837132e-02 3.40479565e+01] [-7.52905094e-02 9.97160510e-01 -1.50248409e-03 -5.83187890e-01] [-2.99119983e-02 -7.52414709e-04 9.99552253e-01 -1.46155094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04264 meters 0.03383244874734505 Centerline is valid? [True, True] Translation: X:34.11, Y:-0.58, Z:-1.46 [[ 9.96500656e-01 7.78317361e-02 3.04739663e-02 3.41099645e+01] [-7.78210521e-02 9.96966157e-01 -1.53827664e-03 -5.81462708e-01] [-3.05012398e-02 -8.38622439e-04 9.99534377e-01 -1.46222955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.10264 meters 0.032909208436515056 Centerline is valid? [True, True] Translation: X:34.17, Y:-0.58, Z:-1.46 [[ 9.96537843e-01 7.71281354e-02 3.10415571e-02 3.41725516e+01] [-7.71166208e-02 9.97020844e-01 -1.56975703e-03 -5.83714164e-01] [-3.10701519e-02 -8.29497706e-04 9.99516862e-01 -1.46367550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162639999999996 meters 0.03013538014254744 Centerline is valid? [True, True] Translation: X:34.23, Y:-0.59, Z:-1.47 [[ 9.96744159e-01 7.41259108e-02 3.17242863e-02 3.42343908e+01] [-7.41122938e-02 9.97248608e-01 -1.60651152e-03 -5.88660300e-01] [-3.17560845e-02 -7.49878648e-04 9.99495367e-01 -1.46545727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22264 meters 0.021775059398766606 Centerline is valid? [True, True] Translation: X:34.30, Y:-0.60, Z:-1.46 [[ 9.97139663e-01 6.74417413e-02 3.41189776e-02 3.42951844e+01] [-6.74220255e-02 9.97723048e-01 -1.72935746e-03 -5.99560404e-01] [-3.41579212e-02 -5.75959671e-04 9.99416282e-01 -1.46406601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28264 meters 0.016991337941948795 Centerline is valid? [True, True] Translation: X:34.35, Y:-0.61, Z:-1.47 [[ 9.97550131e-01 6.11948982e-02 3.38957255e-02 3.43549355e+01] [-6.11718232e-02 9.98125771e-01 -1.71834892e-03 -6.11039423e-01] [-3.39373513e-02 -3.59324139e-04 9.99423898e-01 -1.46762766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.342639999999996 meters 0.026056406757431747 Centerline is valid? [True, True] Translation: X:34.42, Y:-0.62, Z:-1.47 [[ 9.97781466e-01 5.75469678e-02 3.34737595e-02 3.44171792e+01] [-5.75224166e-02 9.98342773e-01 -1.69680142e-03 -6.17701237e-01] [-3.35159316e-02 -2.32454526e-04 9.99438156e-01 -1.47190862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40264 meters 0.012988850493339461 Centerline is valid? [True, True] Translation: X:34.48, Y:-0.63, Z:-1.48 [[ 9.97959795e-01 5.49131982e-02 3.25697530e-02 3.44783874e+01] [-5.48885385e-02 9.98491122e-01 -1.65141862e-03 -6.25109373e-01] [-3.26112939e-02 -1.39656756e-04 9.99468101e-01 -1.47557830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46264 meters 0.012313417395017382 Centerline is valid? [True, True] Translation: X:34.54, Y:-0.63, Z:-1.48 [[ 9.97982254e-01 5.48302362e-02 3.20166521e-02 3.45416803e+01] [-5.48061909e-02 9.98495683e-01 -1.62878573e-03 -6.27414651e-01] [-3.20577956e-02 -1.29211493e-04 9.99486008e-01 -1.47612420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.522639999999996 meters 0.013886609200575951 Centerline is valid? [True, True] Translation: X:34.60, Y:-0.63, Z:-1.48 [[ 9.97915069e-01 5.64806076e-02 3.12322798e-02 3.46030839e+01] [-5.64583259e-02 9.98403682e-01 -1.59554010e-03 -6.28792836e-01] [-3.12725402e-02 -1.71108720e-04 9.99510880e-01 -1.48213577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58264 meters 0.029014199595893207 Centerline is valid? [True, True] Translation: X:34.67, Y:-0.63, Z:-1.48 [[ 9.97764043e-01 5.85773100e-02 3.21809479e-02 3.46656844e+01] [-5.85545788e-02 9.98282847e-01 -1.64912822e-03 -6.28092965e-01] [-3.22222897e-02 -2.38901003e-04 9.99480699e-01 -1.48442038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64264 meters 0.01475464016976105 Centerline is valid? [True, True] Translation: X:34.73, Y:-0.63, Z:-1.48 [[ 9.97669000e-01 5.93198358e-02 3.37301630e-02 3.47280290e+01] [-5.92950488e-02 9.98238992e-01 -1.73556989e-03 -6.32427564e-01] [-3.37737176e-02 -2.68507388e-04 9.99429469e-01 -1.48212260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.702639999999995 meters 0.017023745616277165 Centerline is valid? [True, True] Translation: X:34.79, Y:-0.63, Z:-1.49 [[ 9.97591523e-01 6.16378084e-02 3.18108960e-02 3.47900493e+01] [-6.16167856e-02 9.98098531e-01 -1.64166757e-03 -6.29983430e-01] [-3.18515973e-02 -3.22371503e-04 9.99492557e-01 -1.48813072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76264 meters 0.02153797847397671 Centerline is valid? [True, True] Translation: X:34.85, Y:-0.62, Z:-1.49 [[ 9.97265663e-01 6.69088661e-02 3.13751510e-02 3.48522599e+01] [-6.68908596e-02 9.97758976e-01 -1.62435287e-03 -6.22947309e-01] [-3.14135221e-02 -4.78799478e-04 9.99506359e-01 -1.49210134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82264 meters 0.02340689711791734 Centerline is valid? [True, True] Translation: X:34.91, Y:-0.62, Z:-1.50 [[ 9.97089115e-01 6.99322095e-02 3.03773272e-02 3.49147485e+01] [-6.99165523e-02 9.97551595e-01 -1.57860754e-03 -6.22054935e-01] [-3.04133467e-02 -5.49865584e-04 9.99537256e-01 -1.49528185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.882639999999995 meters 0.024629808296583705 Centerline is valid? [True, True] Translation: X:34.98, Y:-0.62, Z:-1.50 [[ 9.97026900e-01 7.10406949e-02 2.98426055e-02 3.49767566e+01] [-7.10260916e-02 9.97473253e-01 -1.55044051e-03 -6.20509067e-01] [-2.98773452e-02 -5.73772735e-04 9.99553408e-01 -1.49914152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94264 meters 0.020890535186914264 Centerline is valid? [True, True] Translation: X:35.04, Y:-0.63, Z:-1.50 [[ 9.97397420e-01 6.49939290e-02 3.12117768e-02 3.50360144e+01] [-6.49747482e-02 9.97885578e-01 -1.62945354e-03 -6.28437036e-01] [-3.12516865e-02 -4.02764583e-04 9.99511466e-01 -1.50203474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00264 meters 0.029232129599143536 Centerline is valid? [True, True] Translation: X:35.10, Y:-0.64, Z:-1.50 [[ 9.97580462e-01 6.20013610e-02 3.14492160e-02 3.50980158e+01] [-6.19804704e-02 9.98076016e-01 -1.63962765e-03 -6.38645520e-01] [-3.14903673e-02 -3.13576694e-04 9.99504006e-01 -1.50371987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062639999999995 meters 0.03007975318089654 Centerline is valid? [True, True] Translation: X:35.16, Y:-0.66, Z:-1.51 [[ 9.98112913e-01 5.25809537e-02 3.17152423e-02 3.51596737e+01] [-5.25547375e-02 9.98616665e-01 -1.66022808e-03 -6.61250711e-01] [-3.17586658e-02 -9.69114782e-06 9.99495566e-01 -1.50569490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.12264 meters 0.01303619134324565 Centerline is valid? [True, True] Translation: X:35.22, Y:-0.68, Z:-1.50 [[ 9.98337174e-01 4.78344074e-02 3.21676432e-02 3.52221436e+01] [-4.78049651e-02 9.98855269e-01 -1.68417884e-03 -6.80310779e-01] [-3.22113816e-02 1.43605280e-04 9.99481068e-01 -1.50435068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18264 meters 0.01323789204058702 Centerline is valid? [True, True] Translation: X:35.28, Y:-0.69, Z:-1.51 [[ 9.98331544e-01 4.80846852e-02 3.19686056e-02 3.52835852e+01] [-4.80555245e-02 9.98843253e-01 -1.68031883e-03 -6.88378197e-01] [-3.20124236e-02 1.41247186e-04 9.99487461e-01 -1.50695699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24264 meters 0.012135989891350691 Centerline is valid? [True, True] Translation: X:35.35, Y:-0.69, Z:-1.51 [[ 9.98123424e-01 5.24468859e-02 3.16062463e-02 3.53467765e+01] [-5.24203924e-02 9.98623715e-01 -1.66683713e-03 -6.91405488e-01] [-3.16501675e-02 6.89734813e-06 9.99499008e-01 -1.51054590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.30264 meters 0.012686662175701545 Centerline is valid? [True, True] Translation: X:35.41, Y:-0.69, Z:-1.51 [[ 9.97926953e-01 5.63553680e-02 3.10784421e-02 3.54082996e+01] [-5.63314416e-02 9.98410768e-01 -1.64558950e-03 -6.94345483e-01] [-3.11217891e-02 -1.08515334e-04 9.99515594e-01 -1.51401060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36264 meters 0.016454609201241654 Centerline is valid? [True, True] Translation: X:35.47, Y:-0.69, Z:-1.52 [[ 9.97652687e-01 6.18066501e-02 2.94797323e-02 3.54695415e+01] [-6.17873704e-02 9.98088108e-01 -1.56535662e-03 -6.92911474e-01] [-2.95201196e-02 -2.59792896e-04 9.99564153e-01 -1.52182888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42264 meters 0.01996113001525025 Centerline is valid? [True, True] Translation: X:35.53, Y:-0.69, Z:-1.52 [[ 9.97336294e-01 6.70483107e-02 2.87200487e-02 3.55313130e+01] [-6.70320566e-02 9.97749650e-01 -1.52944204e-03 -6.90453890e-01] [-2.87579650e-02 -3.99795868e-04 9.99586324e-01 -1.52440281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.482639999999996 meters 0.031670757376855485 Centerline is valid? [True, True] Translation: X:35.59, Y:-0.68, Z:-1.53 [[ 9.97000144e-01 7.17652674e-02 2.89906603e-02 3.55926254e+01] [-7.17505628e-02 9.97421405e-01 -1.54850923e-03 -6.84941992e-01] [-2.90270343e-02 -5.36232273e-04 9.99578483e-01 -1.52878960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54264 meters 0.025977760747362705 Centerline is valid? [True, True] Translation: X:35.65, Y:-0.69, Z:-1.53 [[ 9.96864595e-01 7.32180243e-02 3.00016851e-02 3.56549619e+01] [-7.32027911e-02 9.97315782e-01 -1.60726039e-03 -6.86669814e-01] [-3.00388345e-02 -5.93986107e-04 9.99548556e-01 -1.52809216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60264 meters 0.023946500940577806 Centerline is valid? [True, True] Translation: X:35.72, Y:-0.69, Z:-1.53 [[ 9.96988461e-01 7.16406622e-02 2.96921708e-02 3.57169494e+01] [-7.16249004e-02 9.97430363e-01 -1.59545191e-03 -6.93644464e-01] [-2.97301719e-02 -5.36051632e-04 9.99557817e-01 -1.53060687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.662639999999996 meters 0.019470741599589253 Centerline is valid? [True, True] Translation: X:35.78, Y:-0.70, Z:-1.53 [[ 9.97289868e-01 6.69644793e-02 3.04742234e-02 3.57776992e+01] [-6.69454713e-02 9.97755280e-01 -1.64475183e-03 -7.03581785e-01] [-3.05159572e-02 -3.99816915e-04 9.99534200e-01 -1.53208096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72264 meters 0.02999557758829219 Centerline is valid? [True, True] Translation: X:35.84, Y:-0.71, Z:-1.53 [[ 9.97545606e-01 6.28495996e-02 3.08657050e-02 3.58399478e+01] [-6.28281232e-02 9.98022971e-01 -1.66611903e-03 -7.14014453e-01] [-3.09093975e-02 -2.77204594e-04 9.99522152e-01 -1.53482345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78264 meters 0.013542172380182578 Centerline is valid? [True, True] Translation: X:35.90, Y:-0.73, Z:-1.54 [[ 9.97854999e-01 5.76681880e-02 3.09803367e-02 3.59004678e+01] [-5.76440367e-02 9.98335798e-01 -1.67287733e-03 -7.25403137e-01] [-3.10252510e-02 -1.16542662e-04 9.99518594e-01 -1.53757723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842639999999996 meters 0.012723715952960558 Centerline is valid? [True, True] Translation: X:35.96, Y:-0.73, Z:-1.54 [[ 9.97960126e-01 5.58889521e-02 3.08547033e-02 3.59628249e+01] [-5.58640147e-02 9.98436989e-01 -1.67034349e-03 -7.32948403e-01] [-3.08998308e-02 -5.67313988e-05 9.99522485e-01 -1.53883259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90264 meters 0.012960730287046062 Centerline is valid? [True, True] Translation: X:36.03, Y:-0.74, Z:-1.54 [[ 9.98044359e-01 5.49288718e-02 2.98374867e-02 3.60250366e+01] [-5.49049456e-02 9.98490270e-01 -1.62120575e-03 -7.37178065e-01] [-2.98814911e-02 -2.01903263e-05 9.99553448e-01 -1.54287153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96264 meters 0.013849768887195496 Centerline is valid? [True, True] Translation: X:36.09, Y:-0.74, Z:-1.55 [[ 9.98120934e-01 5.41524456e-02 2.86725190e-02 3.60855210e+01] [-5.41298900e-02 9.98532680e-01 -1.56283153e-03 -7.41893791e-01] [-2.87150784e-02 7.85457271e-06 9.99587637e-01 -1.54998944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.022639999999996 meters 0.013513239439090817 Centerline is valid? [True, True] Translation: X:36.15, Y:-0.75, Z:-1.55 [[ 9.98172367e-01 5.30419747e-02 2.89564361e-02 3.61487180e+01] [-5.30183845e-02 9.98592283e-01 -1.58238487e-03 -7.48755798e-01] [-2.89996065e-02 4.42693874e-05 9.99579422e-01 -1.54981010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08264 meters 0.013801019118949728 Centerline is valid? [True, True] Translation: X:36.21, Y:-0.76, Z:-1.55 [[ 9.98284308e-01 4.97526766e-02 3.08725157e-02 3.62101804e+01] [-4.97240701e-02 9.98761557e-01 -1.69412432e-03 -7.60311995e-01] [-3.09185690e-02 1.56110594e-04 9.99521895e-01 -1.54862852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14264 meters 0.0271856261851048 Centerline is valid? [True, True] Translation: X:36.27, Y:-0.78, Z:-1.56 [[ 9.98533161e-01 4.45767971e-02 3.07316641e-02 3.62701991e+01] [-4.45458252e-02 9.99005909e-01 -1.69206716e-03 -7.77379370e-01] [-3.07765409e-02 3.20617835e-04 9.99526239e-01 -1.55621265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.202639999999995 meters 0.023657126075185757 Centerline is valid? [True, True] Translation: X:36.33, Y:-0.79, Z:-1.56 [[ 9.98734744e-01 4.00133875e-02 3.04604573e-02 3.63299910e+01] [-3.99806265e-02 9.99199036e-01 -1.68406912e-03 -7.92809079e-01] [-3.05034449e-02 4.64110171e-04 9.99534554e-01 -1.55859055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26264 meters 0.025686527497013896 Centerline is valid? [True, True] Translation: X:36.39, Y:-0.81, Z:-1.56 [[ 9.98952383e-01 3.38151795e-02 3.08329297e-02 3.63903850e+01] [-3.37786333e-02 9.99427884e-01 -1.70554729e-03 -8.07858187e-01] [-3.08729630e-02 6.62266301e-04 9.99523097e-01 -1.55586234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32264 meters 0.03065660916530664 Centerline is valid? [True, True] Translation: X:36.45, Y:-0.82, Z:-1.56 [[ 9.98959455e-01 3.18257563e-02 3.26669285e-02 3.64505371e+01] [-3.17837125e-02 9.99493139e-01 -1.80564665e-03 -8.24723505e-01] [-3.27078370e-02 7.65491535e-04 9.99464662e-01 -1.55758362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.382639999999995 meters 0.03102461169754189 Centerline is valid? [True, True] Translation: X:36.51, Y:-0.84, Z:-1.56 [[ 9.98915671e-01 3.29375772e-02 3.29028692e-02 3.65104065e+01] [-3.28953462e-02 9.99457137e-01 -1.82415214e-03 -8.42939763e-01] [-3.29450906e-02 7.39822887e-04 9.99456889e-01 -1.56090109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44264 meters 0.022423580248261514 Centerline is valid? [True, True] Translation: X:36.57, Y:-0.84, Z:-1.56 [[ 9.98712429e-01 3.89286244e-02 3.25276186e-02 3.65710642e+01] [-3.88903076e-02 9.99241846e-01 -1.81005975e-03 -8.43325646e-01] [-3.25734208e-02 5.42720071e-04 9.99469198e-01 -1.56185075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50264 meters 0.03343993068546513 Centerline is valid? [True, True] Translation: X:36.63, Y:-0.85, Z:-1.57 [[ 9.98521959e-01 4.49891389e-02 3.04938584e-02 3.66326468e+01] [-4.49583648e-02 9.98987425e-01 -1.69442446e-03 -8.45090716e-01] [-3.05392118e-02 3.20966022e-04 9.99533518e-01 -1.56910400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.562639999999995 meters 0.014691949116644782 Centerline is valid? [True, True] Translation: X:36.69, Y:-0.85, Z:-1.58 [[ 9.98205046e-01 5.32405438e-02 2.74249872e-02 3.66935432e+01] [-5.32186506e-02 9.98581714e-01 -1.52809504e-03 -8.49956938e-01] [-2.74674474e-02 6.58313724e-05 9.99622696e-01 -1.57657170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62264 meters 0.024886038121943906 Centerline is valid? [True, True] Translation: X:36.76, Y:-0.85, Z:-1.58 [[ 9.97702810e-01 6.14185814e-02 2.85807605e-02 3.67562300e+01] [-6.13979723e-02 9.98112084e-01 -1.59893455e-03 -8.52229695e-01] [-2.86250067e-02 -1.59539248e-04 9.99590208e-01 -1.57659097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68264 meters 0.018229807864711848 Centerline is valid? [True, True] Translation: X:36.82, Y:-0.85, Z:-1.58 [[ 9.97394165e-01 6.58992942e-02 2.93626128e-02 3.68174433e+01] [-6.58794413e-02 9.97826235e-01 -1.64407443e-03 -8.53399623e-01] [-2.94071288e-02 -2.94602285e-04 9.99567473e-01 -1.58022066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74264 meters 0.021186538071583435 Centerline is valid? [True, True] Translation: X:36.88, Y:-0.86, Z:-1.58 [[ 9.97021887e-01 7.09529179e-02 3.02165455e-02 3.68792450e+01] [-7.09341586e-02 9.97479562e-01 -1.69366802e-03 -8.58176740e-01] [-3.02605573e-02 -4.54761145e-04 9.99541941e-01 -1.57996593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.80264 meters 0.024286048126684424 Centerline is valid? [True, True] Translation: X:36.94, Y:-0.86, Z:-1.58 [[ 9.96810813e-01 7.39808897e-02 2.99170841e-02 3.69411422e+01] [-7.39636664e-02 9.97259516e-01 -1.68344847e-03 -8.61504550e-01] [-2.99596399e-02 -5.34697589e-04 9.99550966e-01 -1.58337142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86264 meters 0.026829287289787625 Centerline is valid? [True, True] Translation: X:37.00, Y:-0.87, Z:-1.58 [[ 9.96467760e-01 7.82066279e-02 3.05896585e-02 3.70033959e+01] [-7.81905659e-02 9.96936943e-01 -1.72275377e-03 -8.65275743e-01] [-3.06306913e-02 -6.75154112e-04 9.99530542e-01 -1.58283957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92264 meters 0.03169654075754467 Centerline is valid? [True, True] Translation: X:37.06, Y:-0.86, Z:-1.58 [[ 9.96063559e-01 8.27138261e-02 3.18717775e-02 3.70644197e+01] [-8.26986277e-02 9.96572982e-01 -1.79704365e-03 -8.62173936e-01] [-3.19111927e-02 -8.45782569e-04 9.99490350e-01 -1.58422414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.982639999999996 meters 0.03245769326310118 Centerline is valid? [True, True] Translation: X:37.13, Y:-0.86, Z:-1.59 [[ 9.95954170e-01 8.41378832e-02 3.15611719e-02 3.71259672e+01] [-8.41237417e-02 9.96453729e-01 -1.77801020e-03 -8.64971561e-01] [-3.15988454e-02 -8.84227195e-04 9.99500241e-01 -1.58677122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04264 meters 0.03333320190087868 Centerline is valid? [True, True] Translation: X:37.19, Y:-0.87, Z:-1.59 [[ 9.95779159e-01 8.63019735e-02 3.12383870e-02 3.71878275e+01] [-8.62889893e-02 9.96268584e-01 -1.76602720e-03 -8.65719737e-01] [-3.12742352e-02 -9.36955764e-04 9.99510402e-01 -1.58973933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10264 meters 0.03431878009225504 Centerline is valid? [True, True] Translation: X:37.25, Y:-0.87, Z:-1.59 [[ 9.95818280e-01 8.59938812e-02 3.08383861e-02 3.72489347e+01] [-8.59810539e-02 9.96295245e-01 -1.74424678e-03 -8.66343163e-01] [-3.08741320e-02 -9.14564116e-04 9.99522862e-01 -1.59342849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.162639999999996 meters 0.0327558004583083 Centerline is valid? [True, True] Translation: X:37.31, Y:-0.87, Z:-1.60 [[ 9.95897369e-01 8.49389319e-02 3.12059043e-02 3.73106026e+01] [-8.49252171e-02 9.96385761e-01 -1.76703862e-03 -8.69536842e-01] [-3.12432091e-02 -8.90379082e-04 9.99511415e-01 -1.59525117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22264 meters 0.029881033737812056 Centerline is valid? [True, True] Translation: X:37.37, Y:-0.87, Z:-1.60 [[ 9.96134554e-01 8.18358274e-02 3.19193888e-02 3.73725753e+01] [-8.18196564e-02 9.96645499e-01 -1.81463494e-03 -8.71608990e-01] [-3.19608173e-02 -8.04012857e-04 9.99488799e-01 -1.59645287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28264 meters 0.026683507156525208 Centerline is valid? [True, True] Translation: X:37.43, Y:-0.87, Z:-1.60 [[ 9.96403685e-01 7.78892091e-02 3.33611778e-02 3.74322345e+01] [-7.78692776e-02 9.96961771e-01 -1.89827491e-03 -8.73932827e-01] [-3.34076740e-02 -7.06362696e-04 9.99441558e-01 -1.59734163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.342639999999996 meters 0.02354274725039056 Centerline is valid? [True, True] Translation: X:37.49, Y:-0.88, Z:-1.60 [[ 9.96593254e-01 7.54265965e-02 3.33573857e-02 3.74946436e+01] [-7.54053134e-02 9.97151161e-01 -1.89737967e-03 -8.78233061e-01] [-3.34054687e-02 -6.24408341e-04 9.99441687e-01 -1.59984040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40264 meters 0.021845693809682994 Centerline is valid? [True, True] Translation: X:37.56, Y:-0.88, Z:-1.61 [[ 9.96816360e-01 7.30081801e-02 3.20460731e-02 3.75570996e+01] [-7.29872301e-02 9.97331206e-01 -1.82460237e-03 -8.78750611e-01] [-3.20937597e-02 -5.20160615e-04 9.99484727e-01 -1.60556335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46264 meters 0.022201090783962013 Centerline is valid? [True, True] Translation: X:37.62, Y:-0.88, Z:-1.61 [[ 9.96797089e-01 7.33865258e-02 3.17801928e-02 3.76203854e+01] [-7.33661085e-02 9.97303434e-01 -1.80964223e-03 -8.75570886e-01] [-3.18272987e-02 -5.27742963e-04 9.99493244e-01 -1.60828408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.522639999999996 meters 0.02523232613010619 Centerline is valid? [True, True] Translation: X:37.68, Y:-0.87, Z:-1.61 [[ 9.96680519e-01 7.55654948e-02 3.02951952e-02 3.76815709e+01] [-7.55477123e-02 9.97140682e-01 -1.73281663e-03 -8.66341255e-01] [-3.03395127e-02 -5.61668111e-04 9.99539493e-01 -1.61491863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58264 meters 0.03148148249802167 Centerline is valid? [True, True] Translation: X:37.74, Y:-0.86, Z:-1.62 [[ 9.96600714e-01 7.72590217e-02 2.86017499e-02 3.77432738e+01] [-7.72439133e-02 9.97010886e-01 -1.63439481e-03 -8.64376556e-01] [-2.86425277e-02 -5.80472054e-04 9.99589550e-01 -1.62057519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64264 meters 0.02690704423089709 Centerline is valid? [True, True] Translation: X:37.81, Y:-0.86, Z:-1.62 [[ 9.96467359e-01 7.85768454e-02 2.96391819e-02 3.78061148e+01] [-7.85610667e-02 9.96907857e-01 -1.69828475e-03 -8.57067929e-01] [-2.96809792e-02 -6.36200433e-04 9.99559220e-01 -1.62082455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.702639999999995 meters 0.02897042300454504 Centerline is valid? [True, True] Translation: X:37.87, Y:-0.85, Z:-1.62 [[ 9.96437369e-01 7.87970382e-02 3.00598852e-02 3.78687332e+01] [-7.87807401e-02 9.96890470e-01 -1.72798666e-03 -8.52361210e-01] [-3.01025733e-02 -6.46309521e-04 9.99546606e-01 -1.62466444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76264 meters 0.02454556314148521 Centerline is valid? [True, True] Translation: X:37.93, Y:-0.85, Z:-1.62 [[ 9.96537549e-01 7.66583885e-02 3.21932525e-02 3.79299547e+01] [-7.66383166e-02 9.97057227e-01 -1.85877618e-03 -8.54924797e-01] [-3.22410058e-02 -6.14896415e-04 9.99479934e-01 -1.62173845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82264 meters 0.023535626548675685 Centerline is valid? [True, True] Translation: X:37.99, Y:-0.85, Z:-1.62 [[ 9.96606593e-01 7.53497672e-02 3.31317255e-02 3.79916517e+01] [-7.53277853e-02 9.97156991e-01 -1.91295999e-03 -8.53202477e-01] [-3.31816728e-02 -5.89270966e-04 9.99449163e-01 -1.62325302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.882639999999995 meters 0.021442284901726345 Centerline is valid? [True, True] Translation: X:38.05, Y:-0.86, Z:-1.62 [[ 9.96655843e-01 7.46641465e-02 3.32023456e-02 3.80542406e+01] [-7.46415720e-02 9.97208577e-01 -1.92059978e-03 -8.56075033e-01] [-3.32530637e-02 -5.64098279e-04 9.99446805e-01 -1.62448881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94264 meters 0.021406122176594794 Centerline is valid? [True, True] Translation: X:38.12, Y:-0.85, Z:-1.63 [[ 9.96830685e-01 7.29162708e-02 3.18088492e-02 3.81154370e+01] [-7.28946180e-02 9.97337949e-01 -1.84137565e-03 -8.51952212e-01] [-3.18584387e-02 -4.83154166e-04 9.99492274e-01 -1.63147924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00264 meters 0.0207011763596168 Centerline is valid? [True, True] Translation: X:38.18, Y:-0.85, Z:-1.64 [[ 9.96933306e-01 7.19676085e-02 3.07350944e-02 3.81780471e+01] [-7.19468951e-02 9.97406874e-01 -1.78074898e-03 -8.54397064e-01] [-3.07835507e-02 -4.36006648e-04 9.99525979e-01 -1.63649188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062639999999995 meters 0.019309251197315205 Centerline is valid? [True, True] Translation: X:38.24, Y:-0.85, Z:-1.64 [[ 9.97036639e-01 7.03850291e-02 3.10465411e-02 3.82407766e+01] [-7.03628850e-02 9.97519825e-01 -1.80656053e-03 -8.54434580e-01] [-3.10966950e-02 -3.83317161e-04 9.99516307e-01 -1.63896233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12264 meters 0.018216764542931585 Centerline is valid? [True, True] Translation: X:38.30, Y:-0.86, Z:-1.64 [[ 9.97055442e-01 6.98117241e-02 3.17296117e-02 3.83028728e+01] [-6.97882880e-02 9.97560116e-01 -1.84682865e-03 -8.57179231e-01] [-3.17811254e-02 -3.72964727e-04 9.99494783e-01 -1.63977861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18264 meters 0.016849086543831323 Centerline is valid? [True, True] Translation: X:38.36, Y:-0.86, Z:-1.64 [[ 9.97121414e-01 6.89615926e-02 3.15148175e-02 3.83647325e+01] [-6.89378850e-02 9.97619258e-01 -1.83949940e-03 -8.62757288e-01] [-3.15666437e-02 -3.38360617e-04 9.99501592e-01 -1.64275229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.242639999999994 meters 0.015385971001527136 Centerline is valid? [True, True] Translation: X:38.43, Y:-0.87, Z:-1.65 [[ 9.97273247e-01 6.71765772e-02 3.05512465e-02 3.84269179e+01] [-6.71533185e-02 9.97741066e-01 -1.78787405e-03 -8.68768368e-01] [-3.06023366e-02 -2.68618628e-04 9.99531603e-01 -1.64715637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30264 meters 0.01773990311944175 Centerline is valid? [True, True] Translation: X:38.49, Y:-0.88, Z:-1.65 [[ 9.97385667e-01 6.55019115e-02 3.05176997e-02 3.84873339e+01] [-6.54777144e-02 9.97852422e-01 -1.79263610e-03 -8.75011187e-01] [-3.05695816e-02 -2.10279670e-04 9.99532619e-01 -1.65376079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36264 meters 0.015984417131694687 Centerline is valid? [True, True] Translation: X:38.55, Y:-0.88, Z:-1.66 [[ 9.97286045e-01 6.68219222e-02 3.09091389e-02 3.85501402e+01] [-6.67975872e-02 9.97764886e-01 -1.82037170e-03 -8.76909383e-01] [-3.09616942e-02 -2.49224603e-04 9.99520541e-01 -1.65532940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42264 meters 0.03133619886856028 Centerline is valid? [True, True] Translation: X:38.61, Y:-0.87, Z:-1.66 [[ 9.96770877e-01 7.41977332e-02 3.07004148e-02 3.86112640e+01] [-7.41769656e-02 9.97243440e-01 -1.81638054e-03 -8.71815552e-01] [-3.07505586e-02 -4.66748388e-04 9.99526981e-01 -1.65620882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.482639999999996 meters 0.03269279716277977 Centerline is valid? [True, True] Translation: X:38.67, Y:-0.85, Z:-1.66 [[ 9.95792773e-01 8.57845591e-02 3.22143265e-02 3.86719161e+01] [-8.57677297e-02 9.96313335e-01 -1.90644189e-03 -8.52789065e-01] [-3.22591064e-02 -8.64528593e-04 9.99479166e-01 -1.65655248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54264 meters 0.03927305473254347 Centerline is valid? [True, True] Translation: X:38.73, Y:-0.84, Z:-1.66 [[ 9.95185088e-01 9.25531912e-02 3.22575249e-02 3.87330866e+01] [-9.25398571e-02 9.95707150e-01 -1.90927485e-03 -8.43042050e-01] [-3.22957576e-02 -1.08502488e-03 9.99477767e-01 -1.65928101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.60264 meters 0.040653119737472244 Centerline is valid? [True, True] Translation: X:38.79, Y:-0.84, Z:-1.66 [[ 9.94770799e-01 9.69222326e-02 3.22046208e-02 3.87947118e+01] [-9.69112337e-02 9.95291204e-01 -1.90594150e-03 -8.38810054e-01] [-3.22377039e-02 -1.22501458e-03 9.99479479e-01 -1.66058079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.662639999999996 meters 0.040631870193370175 Centerline is valid? [True, True] Translation: X:38.85, Y:-0.84, Z:-1.66 [[ 9.95162802e-01 9.26359134e-02 3.27045107e-02 3.88542559e+01] [-9.26222187e-02 9.95699439e-01 -1.93674771e-03 -8.37808727e-01] [-3.27432753e-02 -1.10178506e-03 9.99463188e-01 -1.66432051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72264 meters 0.036301430119641785 Centerline is valid? [True, True] Translation: X:38.91, Y:-0.84, Z:-1.67 [[ 9.95592927e-01 8.76632627e-02 3.33148064e-02 3.89136833e+01] [-8.76462869e-02 9.96149707e-01 -1.97240019e-03 -8.41366330e-01] [-3.33594417e-02 -9.56211406e-04 9.99442962e-01 -1.66681346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78264 meters 0.027256769431246008 Centerline is valid? [True, True] Translation: X:38.97, Y:-0.85, Z:-1.67 [[ 9.96061499e-01 8.24351033e-02 3.26487967e-02 3.89736104e+01] [-8.24160013e-02 9.96596141e-01 -1.93269184e-03 -8.52390947e-01] [-3.26969864e-02 -7.65703331e-04 9.99465017e-01 -1.66841714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.842639999999996 meters 0.027826940254907378 Centerline is valid? [True, True] Translation: X:39.04, Y:-0.85, Z:-1.67 [[ 9.96106801e-01 8.18457658e-02 3.27492123e-02 3.90351636e+01] [-8.18262955e-02 9.96644725e-01 -1.93657490e-03 -8.54199579e-01] [-3.27978301e-02 -7.50711292e-04 9.99461725e-01 -1.67223787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90264 meters 0.028269266563402336 Centerline is valid? [True, True] Translation: X:39.10, Y:-0.85, Z:-1.68 [[ 9.96166285e-01 8.11722489e-02 3.26159130e-02 3.90964905e+01] [-8.11523871e-02 9.96699828e-01 -1.93447166e-03 -8.52054126e-01] [-3.26653003e-02 -7.19803752e-04 9.99466087e-01 -1.67627116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96264 meters 0.03569760652047668 Centerline is valid? [True, True] Translation: X:39.16, Y:-0.85, Z:-1.68 [[ 9.96226906e-01 8.08980628e-02 3.14237938e-02 3.91600699e+01] [-8.08793586e-02 9.96722148e-01 -1.86793821e-03 -8.46619232e-01] [-3.14719038e-02 -6.80645987e-04 9.99504405e-01 -1.68106080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.022639999999996 meters 0.026159922597464906 Centerline is valid? [True, True] Translation: X:39.22, Y:-0.85, Z:-1.68 [[ 9.96357730e-01 7.86474055e-02 3.29523835e-02 3.92218891e+01] [-7.86253297e-02 9.96902296e-01 -1.96720554e-03 -8.47040765e-01] [-3.30050224e-02 -6.30851566e-04 9.99454987e-01 -1.68128294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08264 meters 0.022163277072768283 Centerline is valid? [True, True] Translation: X:39.28, Y:-0.85, Z:-1.68 [[ 9.96593670e-01 7.50792410e-02 3.41198463e-02 3.92824423e+01] [-7.50534338e-02 9.97177430e-01 -2.03833126e-03 -8.50771595e-01] [-3.41765770e-02 -5.29423597e-04 9.99415670e-01 -1.68351875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14264 meters 0.015634791394775926 Centerline is valid? [True, True] Translation: X:39.34, Y:-0.86, Z:-1.69 [[ 9.97091624e-01 6.83692866e-02 3.36739427e-02 3.93434162e+01] [-6.83402960e-02 9.97660039e-01 -2.01248750e-03 -8.61037329e-01] [-3.37327393e-02 -2.94652789e-04 9.99430846e-01 -1.68640719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.202639999999995 meters 0.012783357014237686 Centerline is valid? [True, True] Translation: X:39.40, Y:-0.87, Z:-1.69 [[ 9.97452584e-01 6.29695641e-02 3.35138329e-02 3.94038649e+01] [-6.29378007e-02 9.98015442e-01 -2.00291497e-03 -8.70650194e-01] [-3.35734454e-02 -1.11474221e-04 9.99436247e-01 -1.69121846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26264 meters 0.012251009793385711 Centerline is valid? [True, True] Translation: X:39.46, Y:-0.88, Z:-1.69 [[ 9.97611913e-01 6.02691361e-02 3.37357632e-02 3.94646923e+01] [-6.02353168e-02 9.98182163e-01 -2.01883840e-03 -8.77003703e-01] [-3.37961108e-02 -1.80671447e-05 9.99428748e-01 -1.69396520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32264 meters 0.011919120416661407 Centerline is valid? [True, True] Translation: X:39.53, Y:-0.88, Z:-1.70 [[ 9.97647016e-01 5.95275486e-02 3.40132590e-02 3.95278219e+01] [-5.94925768e-02 9.98226663e-01 -2.04021745e-03 -8.80509430e-01] [-3.40743912e-02 1.18804323e-05 9.99419299e-01 -1.69526877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.382639999999995 meters 0.012373635956906841 Centerline is valid? [True, True] Translation: X:39.59, Y:-0.88, Z:-1.70 [[ 9.97499928e-01 6.20592523e-02 3.38015272e-02 3.95896741e+01] [-6.20259371e-02 9.98072465e-01 -2.03431966e-03 -8.80395431e-01] [-3.38626219e-02 -6.73376851e-05 9.99426495e-01 -1.69917124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44264 meters 0.013220398248115732 Centerline is valid? [True, True] Translation: X:39.65, Y:-0.88, Z:-1.70 [[ 9.97326378e-01 6.47574325e-02 3.38610386e-02 3.96532112e+01] [-6.47253444e-02 9.97901023e-01 -2.04408368e-03 -8.77815211e-01] [-3.39223346e-02 -1.53048805e-04 9.99424460e-01 -1.70210588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50264 meters 0.014469806439173437 Centerline is valid? [True, True] Translation: X:39.72, Y:-0.87, Z:-1.70 [[ 9.97139677e-01 6.75297665e-02 3.39440041e-02 3.97152373e+01] [-6.74988728e-02 9.97717231e-01 -2.05654472e-03 -8.74127626e-01] [-3.40053957e-02 -2.40519673e-04 9.99421620e-01 -1.70322041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.562639999999995 meters 0.013541709381632898 Centerline is valid? [True, True] Translation: X:39.78, Y:-0.88, Z:-1.70 [[ 9.97191061e-01 6.61475993e-02 3.51352023e-02 3.97759670e+01] [-6.61135230e-02 9.97809830e-01 -2.13206904e-03 -8.78754084e-01] [-3.51992815e-02 -1.96831818e-04 9.99380294e-01 -1.70482110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62264 meters 0.011775084365706437 Centerline is valid? [True, True] Translation: X:39.84, Y:-0.89, Z:-1.71 [[ 9.97364113e-01 6.33435883e-02 3.53894980e-02 3.98373997e+01] [-6.33071572e-02 9.97991774e-01 -2.15016879e-03 -8.87799899e-01] [-3.54546273e-02 -9.59073324e-05 9.99371282e-01 -1.70557670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68264 meters 0.01214452348314251 Centerline is valid? [True, True] Translation: X:39.90, Y:-0.90, Z:-1.71 [[ 9.97707940e-01 5.73681344e-02 3.58854142e-02 3.98982437e+01] [-5.73265837e-02 9.98353085e-01 -2.18657621e-03 -9.00955779e-01] [-3.59517538e-02 1.24376245e-04 9.99353519e-01 -1.70769696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.742639999999994 meters 0.014295766916265171 Centerline is valid? [True, True] Translation: X:39.96, Y:-0.91, Z:-1.71 [[ 9.97936859e-01 5.32213934e-02 3.59097191e-02 3.99593446e+01] [-5.31768595e-02 9.98582698e-01 -2.19479283e-03 -9.13511089e-01] [-3.59756341e-02 2.80698572e-04 9.99352628e-01 -1.71027699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80264 meters 0.02486704589437934 Centerline is valid? [True, True] Translation: X:40.02, Y:-0.93, Z:-1.72 [[ 9.98271061e-01 4.81954881e-02 3.36464367e-02 4.00202062e+01] [-4.81533133e-02 9.98837826e-01 -2.06314139e-03 -9.31266636e-01] [-3.37067678e-02 4.39386938e-04 9.99431669e-01 -1.71622021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86264 meters 0.021365367001987944 Centerline is valid? [True, True] Translation: X:40.08, Y:-0.94, Z:-1.72 [[ 9.98339198e-01 4.68333022e-02 3.35482809e-02 4.00808720e+01] [-4.67905650e-02 9.98902601e-01 -2.05829338e-03 -9.43561429e-01] [-3.36078618e-02 4.85131938e-04 9.99434979e-01 -1.72131277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92264 meters 0.02487706996573349 Centerline is valid? [True, True] Translation: X:40.14, Y:-0.95, Z:-1.72 [[ 9.98326728e-01 4.77840317e-02 3.25642387e-02 4.01435268e+01] [-4.77442221e-02 9.98857593e-01 -1.99942573e-03 -9.51974403e-01] [-3.26225777e-02 4.41325905e-04 9.99467645e-01 -1.72172486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.982639999999996 meters 0.017182824753987646 Centerline is valid? [True, True] Translation: X:40.20, Y:-0.96, Z:-1.72 [[ 9.98191633e-01 5.01914173e-02 3.30799774e-02 4.02047235e+01] [-5.01514193e-02 9.98739546e-01 -2.03828010e-03 -9.60649472e-01] [-3.31405858e-02 3.75586325e-04 9.99450629e-01 -1.72314783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04264 meters 0.013784836379051318 Centerline is valid? [True, True] Translation: X:40.27, Y:-0.96, Z:-1.73 [[ 9.97817643e-01 5.73215865e-02 3.27747887e-02 4.02660979e+01] [-5.72859775e-02 9.98355756e-01 -2.02523963e-03 -9.64253058e-01] [-3.28369889e-02 1.43284031e-04 9.99460710e-01 -1.72871733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.10264 meters 0.012500958909168506 Centerline is valid? [True, True] Translation: X:40.33, Y:-0.96, Z:-1.73 [[ 9.97400904e-01 6.40744578e-02 3.29529920e-02 4.03291364e+01] [-6.40419129e-02 9.97945118e-01 -2.04322937e-03 -9.61151974e-01] [-3.30161963e-02 -7.24538241e-05 9.99454814e-01 -1.72914875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.162639999999996 meters 0.020851601595786962 Centerline is valid? [True, True] Translation: X:40.39, Y:-0.95, Z:-1.73 [[ 9.96459238e-01 7.71196838e-02 3.34894212e-02 4.03904772e+01] [-7.70933387e-02 9.97021712e-01 -2.07915261e-03 -9.50359617e-01] [-3.35500237e-02 -5.10020474e-04 9.99436909e-01 -1.72983083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22264 meters 0.03237059286420438 Centerline is valid? [True, True] Translation: X:40.45, Y:-0.94, Z:-1.73 [[ 9.95378124e-01 8.98869819e-02 3.38041583e-02 4.04525858e+01] [-8.98674769e-02 9.95951520e-01 -2.09902342e-03 -9.36382561e-01] [-3.38559777e-02 -9.48572423e-04 9.99426272e-01 -1.73072944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28264 meters 0.04050828709522303 Centerline is valid? [True, True] Translation: X:40.51, Y:-0.92, Z:-1.73 [[ 9.94782607e-01 9.61941066e-02 3.39743869e-02 4.05126881e+01] [-9.61780486e-02 9.95361909e-01 -2.11040120e-03 -9.23801268e-01] [-3.40198187e-02 -1.16819983e-03 9.99420476e-01 -1.73411895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.342639999999996 meters 0.04238723920525829 Centerline is valid? [True, True] Translation: X:40.57, Y:-0.92, Z:-1.74 [[ 9.94504400e-01 9.92556491e-02 3.33063876e-02 4.05742372e+01] [-9.92419211e-02 9.95061184e-01 -2.06916990e-03 -9.17452716e-01] [-3.33472703e-02 -1.24759132e-03 9.99443046e-01 -1.73775667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40264 meters 0.04607732102846589 Centerline is valid? [True, True] Translation: X:40.64, Y:-0.92, Z:-1.74 [[ 9.94570663e-01 9.85641250e-02 3.33812904e-02 4.06369689e+01] [-9.85499511e-02 9.95129945e-01 -2.07368012e-03 -9.16985780e-01] [-3.34231122e-02 -1.22730313e-03 9.99440538e-01 -1.74153684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46264 meters 0.03676640101791494 Centerline is valid? [True, True] Translation: X:40.70, Y:-0.92, Z:-1.74 [[ 9.95080314e-01 9.30959652e-02 3.38867299e-02 4.06972863e+01] [-9.30780987e-02 9.95656580e-01 -2.10780529e-03 -9.17441903e-01] [-3.39357737e-02 -1.05667684e-03 9.99423457e-01 -1.74300810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.522639999999996 meters 0.03037293807873361 Centerline is valid? [True, True] Translation: X:40.76, Y:-0.92, Z:-1.75 [[ 9.95764663e-01 8.55361337e-02 3.37091261e-02 4.07562389e+01] [-8.55141176e-02 9.96334752e-01 -2.09694197e-03 -9.19637616e-01] [-3.37649382e-02 -7.94545462e-04 9.99429486e-01 -1.74684149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58264 meters 0.023835407016182374 Centerline is valid? [True, True] Translation: X:40.82, Y:-0.92, Z:-1.75 [[ 9.96308160e-01 7.91403343e-02 3.32694710e-02 4.08170124e+01] [-7.91153465e-02 9.96863321e-01 -2.06890228e-03 -9.21664138e-01] [-3.33288490e-02 -5.70861507e-04 9.99444277e-01 -1.75005200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64264 meters 0.0209729058935569 Centerline is valid? [True, True] Translation: X:40.88, Y:-0.92, Z:-1.75 [[ 9.96550831e-01 7.62906499e-02 3.26523727e-02 4.08796975e+01] [-7.62650533e-02 9.97085512e-01 -2.03046350e-03 -9.22468507e-01] [-3.27121131e-02 -4.66774855e-04 9.99464707e-01 -1.75334108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.702639999999995 meters 0.030694970360463373 Centerline is valid? [True, True] Translation: X:40.94, Y:-0.92, Z:-1.76 [[ 9.96840214e-01 7.28363726e-02 3.16930746e-02 4.09421691e+01] [-7.28104992e-02 9.97343845e-01 -1.97123008e-03 -9.21944596e-01] [-3.17524701e-02 -3.42587162e-04 9.99495704e-01 -1.75890153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76264 meters 0.01631795608903213 Centerline is valid? [True, True] Translation: X:41.01, Y:-0.93, Z:-1.76 [[ 9.96983998e-01 7.12306611e-02 3.08074922e-02 4.10053857e+01] [-7.12053093e-02 9.97459831e-01 -1.92061388e-03 -9.26920442e-01] [-3.08660426e-02 -2.78835705e-04 9.99523491e-01 -1.76162686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82264 meters 0.014551011112935008 Centerline is valid? [True, True] Translation: X:41.07, Y:-0.93, Z:-1.77 [[ 9.97226983e-01 6.81106294e-02 2.99881101e-02 4.10677578e+01] [-6.80850163e-02 9.97677760e-01 -1.87556984e-03 -9.30400417e-01] [-3.00462167e-02 -1.71372105e-04 9.99548496e-01 -1.76591797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.882639999999995 meters 0.013370126729703535 Centerline is valid? [True, True] Translation: X:41.13, Y:-0.93, Z:-1.77 [[ 9.97621198e-01 6.22137746e-02 2.96882378e-02 4.11299687e+01] [-6.21859092e-02 9.98062847e-01 -1.86187460e-03 -9.34294037e-01] [-2.97465614e-02 1.12555141e-05 9.99557473e-01 -1.76916009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94264 meters 0.0335680198312041 Centerline is valid? [True, True] Translation: X:41.19, Y:-0.95, Z:-1.77 [[ 9.97969153e-01 5.55367420e-02 3.11967878e-02 4.11915124e+01] [-5.55025338e-02 9.98456618e-01 -1.96209027e-03 -9.46922140e-01] [-3.12576073e-02 2.26604801e-04 9.99511336e-01 -1.77086840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00264 meters 0.0234633260906385 Centerline is valid? [True, True] Translation: X:41.25, Y:-0.95, Z:-1.77 [[ 9.98104951e-01 5.26937068e-02 3.17785994e-02 4.12538893e+01] [-5.26565756e-02 9.98610668e-01 -2.00477424e-03 -9.53139815e-01] [-3.18400874e-02 3.27622871e-04 9.99492922e-01 -1.77075032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.062639999999995 meters 0.018970002087036027 Centerline is valid? [True, True] Translation: X:41.31, Y:-0.96, Z:-1.77 [[ 9.98171731e-01 5.12423526e-02 3.20533328e-02 4.13145168e+01] [-5.12036176e-02 9.98686174e-01 -2.02866082e-03 -9.59225261e-01] [-3.21151736e-02 3.83705286e-04 9.99484101e-01 -1.77379001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12264 meters 0.016762491216369895 Centerline is valid? [True, True] Translation: X:41.38, Y:-0.96, Z:-1.77 [[ 9.98080263e-01 5.27060910e-02 3.25247140e-02 4.13770568e+01] [-5.26669167e-02 9.98610009e-01 -2.06058586e-03 -9.59346542e-01] [-3.25881104e-02 3.43653675e-04 9.99468807e-01 -1.77362563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18264 meters 0.015658638755768447 Centerline is valid? [True, True] Translation: X:41.44, Y:-0.96, Z:-1.78 [[ 9.97920924e-01 5.61024718e-02 3.17228909e-02 4.14382830e+01] [-5.60667474e-02 9.98424989e-01 -2.01524571e-03 -9.63082251e-01] [-3.17859872e-02 2.32456555e-04 9.99494671e-01 -1.77941158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.242639999999994 meters 0.013912140906012489 Centerline is valid? [True, True] Translation: X:41.50, Y:-0.96, Z:-1.78 [[ 9.97776858e-01 5.85305033e-02 3.18672491e-02 4.15005458e+01] [-5.84955342e-02 9.98285608e-01 -2.02931379e-03 -9.64382482e-01] [-3.19313929e-02 1.60710570e-04 9.99490050e-01 -1.78056614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30264 meters 0.013542605576664098 Centerline is valid? [True, True] Translation: X:41.56, Y:-0.97, Z:-1.78 [[ 9.97657300e-01 6.02000520e-02 3.24940744e-02 4.15610069e+01] [-6.01643862e-02 9.98186326e-01 -2.07513609e-03 -9.72091899e-01] [-3.25600641e-02 1.15288633e-04 9.99469774e-01 -1.78364537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36264 meters 0.01903157419583733 Centerline is valid? [True, True] Translation: X:41.62, Y:-0.98, Z:-1.79 [[ 9.97542018e-01 6.19393970e-02 3.27633071e-02 4.16232849e+01] [-6.19039072e-02 9.98079910e-01 -2.09744646e-03 -9.79078263e-01] [-3.28303131e-02 6.41142561e-05 9.99460938e-01 -1.78629693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42264 meters 0.012513670726053291 Centerline is valid? [True, True] Translation: X:41.69, Y:-0.98, Z:-1.79 [[ 9.97391404e-01 6.42585283e-02 3.28820347e-02 4.16866181e+01] [-6.42238734e-02 9.97933285e-01 -2.11012049e-03 -9.84417470e-01] [-3.29496701e-02 -7.19559160e-06 9.99457012e-01 -1.78693873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.482639999999996 meters 0.013248615032302149 Centerline is valid? [True, True] Translation: X:41.75, Y:-0.99, Z:-1.79 [[ 9.97001982e-01 6.94365327e-02 3.41411164e-02 4.17501893e+01] [-6.94019678e-02 9.97586355e-01 -2.19788147e-03 -9.86336486e-01] [-3.42113252e-02 -1.78168482e-04 9.99414605e-01 -1.78676195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54264 meters 0.015180211333455366 Centerline is valid? [True, True] Translation: X:41.81, Y:-0.99, Z:-1.79 [[ 9.96719435e-01 7.31669868e-02 3.45970998e-02 4.18121835e+01] [-7.31334877e-02 9.97319658e-01 -2.23445685e-03 -9.86973253e-01] [-3.46678562e-02 -3.03079998e-04 9.99398843e-01 -1.78948396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.60264 meters 0.019425057299211426 Centerline is valid? [True, True] Translation: X:41.87, Y:-0.98, Z:-1.79 [[ 9.96300150e-01 7.85553812e-02 3.48577680e-02 4.18746454e+01] [-7.85244154e-02 9.96909632e-01 -2.25858779e-03 -9.83046356e-01] [-3.49274689e-02 -4.86954496e-04 9.99389731e-01 -1.79219115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.662639999999996 meters 0.024240806449762033 Centerline is valid? [True, True] Translation: X:41.94, Y:-0.98, Z:-1.80 [[ 9.96004772e-01 8.26442791e-02 3.38292451e-02 4.19362574e+01] [-8.26174565e-02 9.96578923e-01 -2.19235579e-03 -9.78723640e-01] [-3.38946983e-02 -6.11289354e-04 9.99425223e-01 -1.79832941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72264 meters 0.025002093391548817 Centerline is valid? [True, True] Translation: X:42.00, Y:-0.98, Z:-1.80 [[ 9.95918563e-01 8.40241591e-02 3.29568830e-02 4.19987257e+01] [-8.39992936e-02 9.96463515e-01 -2.14076813e-03 -9.76998449e-01] [-3.30202077e-02 -6.36324176e-04 9.99454482e-01 -1.80215182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78264 meters 0.023140034807069335 Centerline is valid? [True, True] Translation: X:42.06, Y:-0.98, Z:-1.81 [[ 9.96116451e-01 8.16699359e-02 3.28943396e-02 4.20602173e+01] [-8.16436973e-02 9.96659278e-01 -2.14229298e-03 -9.79786490e-01] [-3.29594097e-02 -5.51642225e-04 9.99456539e-01 -1.80562028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.842639999999996 meters 0.015391745061069688 Centerline is valid? [True, True] Translation: X:42.12, Y:-0.99, Z:-1.81 [[ 9.96751076e-01 7.28741429e-02 3.43023560e-02 4.21197360e+01] [-7.28401310e-02 9.97341110e-01 -2.24181756e-03 -9.93005257e-01] [-3.43745204e-02 -2.64054038e-04 9.99408987e-01 -1.80613422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90264 meters 0.011876878162620988 Centerline is valid? [True, True] Translation: X:42.18, Y:-1.01, Z:-1.81 [[ 9.97214876e-01 6.56176750e-02 3.54515529e-02 4.21811212e+01] [-6.55768156e-02 9.97844838e-01 -2.31533552e-03 -1.00905930e+00] [-3.55270760e-02 -1.59129248e-05 9.99368714e-01 -1.80622140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96264 meters 0.015689901386435636 Centerline is valid? [True, True] Translation: X:42.24, Y:-1.03, Z:-1.81 [[ 9.97740740e-01 5.61104590e-02 3.69463299e-02 4.22412613e+01] [-5.60593103e-02 9.98424508e-01 -2.41971690e-03 -1.02846015e+00] [-3.70238927e-02 3.43064357e-04 9.99314322e-01 -1.80694814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.022639999999996 meters 0.02066360267731183 Centerline is valid? [True, True] Translation: X:42.30, Y:-1.05, Z:-1.81 [[ 9.98066531e-01 5.02305980e-02 3.66072045e-02 4.23024029e+01] [-5.01761892e-02 9.98737488e-01 -2.40406548e-03 -1.04606284e+00] [-3.66817451e-02 5.62607271e-04 9.99326840e-01 -1.81043183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08264 meters 0.022274513208856952 Centerline is valid? [True, True] Translation: X:42.36, Y:-1.06, Z:-1.82 [[ 9.98151922e-01 4.93840403e-02 3.54112512e-02 4.23626811e+01] [-4.93325754e-02 9.98779698e-01 -2.32615293e-03 -1.05578580e+00] [-3.54829137e-02 5.74925803e-04 9.99370118e-01 -1.81619356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14264 meters 0.021341273559352468 Centerline is valid? [True, True] Translation: X:42.42, Y:-1.07, Z:-1.82 [[ 9.98133708e-01 5.09192123e-02 3.37095594e-02 4.24245419e+01] [-5.08733005e-02 9.98702650e-01 -2.21884135e-03 -1.06598303e+00] [-3.37788080e-02 4.99783796e-04 9.99429208e-01 -1.82298419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.202639999999995 meters 0.023743296734145023 Centerline is valid? [True, True] Translation: X:42.49, Y:-1.07, Z:-1.83 [[ 9.97979695e-01 5.36660440e-02 3.40071116e-02 4.24868946e+01] [-5.36206448e-02 9.98558852e-01 -2.24625199e-03 -1.07106711e+00] [-3.40786497e-02 4.18230629e-04 9.99419067e-01 -1.82538269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26264 meters 0.014447564012515738 Centerline is valid? [True, True] Translation: X:42.55, Y:-1.07, Z:-1.83 [[ 9.97637070e-01 6.04135468e-02 3.27181864e-02 4.25484649e+01] [-6.03751321e-02 9.98173417e-01 -2.16168949e-03 -1.07293807e+00] [-3.27890193e-02 1.81216746e-04 9.99462279e-01 -1.83034484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32264 meters 0.012934144001879443 Centerline is valid? [True, True] Translation: X:42.61, Y:-1.07, Z:-1.83 [[ 9.97328966e-01 6.58327561e-02 3.16382871e-02 4.26117958e+01] [-6.57994158e-02 9.97830671e-01 -2.09492610e-03 -1.07242172e+00] [-3.17075680e-02 7.54967497e-06 9.99497189e-01 -1.83423983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.382639999999995 meters 0.013930323598296785 Centerline is valid? [True, True] Translation: X:42.67, Y:-1.07, Z:-1.83 [[ 9.96813670e-01 7.27055586e-02 3.28086786e-02 4.26747745e+01] [-7.26732131e-02 9.97353426e-01 -2.17886636e-03 -1.07411052e+00] [-3.28802637e-02 -2.12388322e-04 9.99459275e-01 -1.83429818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44264 meters 0.016297280533836132 Centerline is valid? [True, True] Translation: X:42.74, Y:-1.08, Z:-1.84 [[ 9.96500732e-01 7.64648714e-02 3.37552284e-02 4.27360479e+01] [-7.64325106e-02 9.97072219e-01 -2.24991271e-03 -1.07526327e+00] [-3.38284398e-02 -3.37957196e-04 9.99427597e-01 -1.83646964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50264 meters 0.03044553278684786 Centerline is valid? [True, True] Translation: X:42.80, Y:-1.08, Z:-1.84 [[ 9.96338409e-01 7.84973883e-02 3.38811780e-02 4.27977635e+01] [-7.84658800e-02 9.96914237e-01 -2.26066202e-03 -1.08093651e+00] [-3.39540848e-02 -4.06132042e-04 9.99423311e-01 -1.84026069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.562639999999995 meters 0.027728641851876238 Centerline is valid? [True, True] Translation: X:42.86, Y:-1.09, Z:-1.84 [[ 9.96399302e-01 7.74586113e-02 3.44759924e-02 4.28579195e+01] [-7.74251500e-02 9.96995499e-01 -2.30657420e-03 -1.09179359e+00] [-3.45510733e-02 -3.71039956e-04 9.99402865e-01 -1.84274475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62264 meters 0.030935877022039922 Centerline is valid? [True, True] Translation: X:42.92, Y:-1.10, Z:-1.84 [[ 9.96386971e-01 7.73388131e-02 3.50957574e-02 4.29196583e+01] [-7.73038692e-02 9.97004801e-01 -2.35355774e-03 -1.09856726e+00] [-3.51726599e-02 -3.67983571e-04 9.99381183e-01 -1.84382571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68264 meters 0.016105877382972058 Centerline is valid? [True, True] Translation: X:42.98, Y:-1.11, Z:-1.85 [[ 9.96510639e-01 7.58932082e-02 3.47385597e-02 4.29797912e+01] [-7.58578835e-02 9.97115904e-01 -2.33564433e-03 -1.10719888e+00] [-3.48156299e-02 -3.07699195e-04 9.99393705e-01 -1.84850176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.742639999999994 meters 0.015140754728135052 Centerline is valid? [True, True] Translation: X:43.04, Y:-1.12, Z:-1.85 [[ 9.96641299e-01 7.45837327e-02 3.38140090e-02 4.30420024e+01] [-7.45493482e-02 9.97214723e-01 -2.27826145e-03 -1.11968571e+00] [-3.38897488e-02 -2.50202873e-04 9.99425546e-01 -1.85346431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80264 meters 0.015035764796776258 Centerline is valid? [True, True] Translation: X:43.10, Y:-1.13, Z:-1.86 [[ 9.96623231e-01 7.50224002e-02 3.33732703e-02 4.31048509e+01] [-7.49889432e-02 9.97181816e-01 -2.25481387e-03 -1.12648339e+00] [-3.34483799e-02 -2.55426390e-04 9.99440414e-01 -1.85668503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86264 meters 0.015617987824448933 Centerline is valid? [True, True] Translation: X:43.17, Y:-1.13, Z:-1.86 [[ 9.96407788e-01 7.70957934e-02 3.50393908e-02 4.31679225e+01] [-7.70599358e-02 9.97023634e-01 -2.37469852e-03 -1.13200739e+00] [-3.51181800e-02 -3.33965108e-04 9.99383111e-01 -1.85715863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92264 meters 0.02730799607046428 Centerline is valid? [True, True] Translation: X:43.23, Y:-1.14, Z:-1.86 [[ 9.96332253e-01 7.82030210e-02 3.47322557e-02 4.32298293e+01] [-7.81682124e-02 9.96937388e-01 -2.36104347e-03 -1.13784756e+00] [-3.48105250e-02 -3.62574581e-04 9.99393864e-01 -1.86016394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.982639999999996 meters 0.016188119313521612 Centerline is valid? [True, True] Translation: X:43.29, Y:-1.15, Z:-1.86 [[ 9.96303949e-01 7.82754474e-02 3.53750722e-02 4.32910753e+01] [-7.82391607e-02 9.96931703e-01 -2.41103032e-03 -1.14589136e+00] [-3.54552554e-02 -3.65596927e-04 9.99371198e-01 -1.86344943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04264 meters 0.015029555306982953 Centerline is valid? [True, True] Translation: X:43.35, Y:-1.16, Z:-1.87 [[ 9.96372695e-01 7.69886844e-02 3.62518365e-02 4.33530847e+01] [-7.69494889e-02 9.97031915e-01 -2.47727630e-03 -1.15540732e+00] [-3.63349602e-02 -3.21269833e-04 9.99339616e-01 -1.86527680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.10264 meters 0.022305818082890828 Centerline is valid? [True, True] Translation: X:43.41, Y:-1.16, Z:-1.87 [[ 9.96462250e-01 7.58977992e-02 3.60902678e-02 4.34134613e+01] [-7.58579852e-02 9.97115565e-01 -2.47319393e-03 -1.16314173e+00] [-3.61738778e-02 -2.73290614e-04 9.99345474e-01 -1.86825133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.162639999999996 meters 0.021963024669589763 Centerline is valid? [True, True] Translation: X:43.48, Y:-1.17, Z:-1.87 [[ 9.96457724e-01 7.58384924e-02 3.63390484e-02 4.34761605e+01] [-7.57979871e-02 9.97120078e-01 -2.49301066e-03 -1.17105428e+00] [-3.64234610e-02 -2.70246993e-04 9.99336409e-01 -1.86942691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22264 meters 0.0156891205890551 Centerline is valid? [True, True] Translation: X:43.54, Y:-1.17, Z:-1.87 [[ 9.96178429e-01 7.86452638e-02 3.79928975e-02 4.35379641e+01] [-7.86027170e-02 9.96902591e-01 -2.61460012e-03 -1.17344917e+00] [-3.80808439e-02 -3.81736734e-04 9.99274589e-01 -1.87010806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28264 meters 0.01775390860067833 Centerline is valid? [True, True] Translation: X:43.60, Y:-1.18, Z:-1.88 [[ 9.96078783e-01 8.07318442e-02 3.61860011e-02 4.35991307e+01] [-8.06944064e-02 9.96735763e-01 -2.49627331e-03 -1.17613160e+00] [-3.62694102e-02 -4.33523003e-04 9.99341954e-01 -1.87677970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.342639999999996 meters 0.016097428469296286 Centerline is valid? [True, True] Translation: X:43.66, Y:-1.18, Z:-1.88 [[ 9.96250481e-01 7.89090500e-02 3.54730954e-02 4.36606471e+01] [-7.88717265e-02 9.96881756e-01 -2.45247457e-03 -1.18425837e+00] [-3.55560040e-02 -3.54545306e-04 9.99367622e-01 -1.88145197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40264 meters 0.021813756323935656 Centerline is valid? [True, True] Translation: X:43.72, Y:-1.19, Z:-1.88 [[ 9.96382352e-01 7.68407711e-02 3.63001990e-02 4.37222602e+01] [-7.68000804e-02 9.97043338e-01 -2.51607849e-03 -1.19287960e+00] [-3.63862090e-02 -2.80881992e-04 9.99337763e-01 -1.88231383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46264 meters 0.013690306799200119 Centerline is valid? [True, True] Translation: X:43.78, Y:-1.20, Z:-1.88 [[ 9.96459846e-01 7.56454951e-02 3.66815369e-02 4.37844279e+01] [-7.56028678e-02 9.97134748e-01 -2.54977506e-03 -1.20155986e+00] [-3.67693140e-02 -2.32480921e-04 9.99323753e-01 -1.88464895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.522639999999996 meters 0.015526657549960044 Centerline is valid? [True, True] Translation: X:43.85, Y:-1.20, Z:-1.89 [[ 9.96290984e-01 7.83966748e-02 3.54716244e-02 4.38460075e+01] [-7.83585140e-02 9.96922192e-01 -2.46687091e-03 -1.20246477e+00] [-3.55558441e-02 -3.21782530e-04 9.99367639e-01 -1.88909635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58264 meters 0.02158854131234553 Centerline is valid? [True, True] Translation: X:43.91, Y:-1.19, Z:-1.89 [[ 9.95724522e-01 8.54147876e-02 3.51708695e-02 4.39072161e+01] [-8.53813997e-02 9.96345322e-01 -2.45289984e-03 -1.19314776e+00] [-3.52518452e-02 -5.60525543e-04 9.99378303e-01 -1.89275115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64264 meters 0.024450649751077237 Centerline is valid? [True, True] Translation: X:43.97, Y:-1.19, Z:-1.89 [[ 9.95316091e-01 8.98752863e-02 3.56133793e-02 4.39697344e+01] [-8.98439017e-02 9.95952762e-01 -2.48385713e-03 -1.19065838e+00] [-3.56924808e-02 -7.27421980e-04 9.99362556e-01 -1.89347889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.702639999999995 meters 0.030478719815734925 Centerline is valid? [True, True] Translation: X:44.03, Y:-1.18, Z:-1.90 [[ 9.94965785e-01 9.35091164e-02 3.60434579e-02 4.40310547e+01] [-9.34792962e-02 9.95618046e-01 -2.51536244e-03 -1.18023011e+00] [-3.61207264e-02 -8.66617504e-04 9.99347058e-01 -1.89716473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76264 meters 0.027143141721425162 Centerline is valid? [True, True] Translation: X:44.09, Y:-1.19, Z:-1.90 [[ 9.95023592e-01 9.23290268e-02 3.74620050e-02 4.40930965e+01] [-9.22958732e-02 9.95728187e-01 -2.61713483e-03 -1.18541031e+00] [-3.75436118e-02 -8.53477566e-04 9.99294626e-01 -1.89809566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82264 meters 0.0305361223787791 Centerline is valid? [True, True] Translation: X:44.15, Y:-1.19, Z:-1.90 [[ 9.95388189e-01 8.87183494e-02 3.64884462e-02 4.41533509e+01] [-8.86842078e-02 9.96056513e-01 -2.55633656e-03 -1.19148920e+00] [-3.65713485e-02 -6.91401730e-04 9.99330805e-01 -1.90311539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.882639999999995 meters 0.01690410316247078 Centerline is valid? [True, True] Translation: X:44.21, Y:-1.21, Z:-1.91 [[ 9.96095979e-01 8.07858608e-02 3.55871635e-02 4.42141362e+01] [-8.07482961e-02 9.96731405e-01 -2.49391744e-03 -1.20658766e+00] [-3.56723167e-02 -3.89421679e-04 9.99363464e-01 -1.90799189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94264 meters 0.020898260998969923 Centerline is valid? [True, True] Translation: X:44.27, Y:-1.22, Z:-1.91 [[ 9.96646991e-01 7.40758596e-02 3.47497236e-02 4.42749607e+01] [-7.40359681e-02 9.97252599e-01 -2.43508948e-03 -1.22227157e+00] [-3.48346335e-02 -1.45804822e-04 9.99393079e-01 -1.91128300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00264 meters 0.012020749542309594 Centerline is valid? [True, True] Translation: X:44.34, Y:-1.23, Z:-1.91 [[ 9.96801904e-01 7.16003743e-02 3.54873218e-02 4.43353037e+01] [-7.15569742e-02 9.97433398e-01 -2.49318672e-03 -1.23063184e+00] [-3.55747530e-02 -5.41520940e-05 9.99367017e-01 -1.91438749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.062639999999995 meters 0.02767514620540754 Centerline is valid? [True, True] Translation: X:44.40, Y:-1.24, Z:-1.92 [[ 9.96838131e-01 7.09924996e-02 3.56904051e-02 4.43982719e+01] [-7.09480180e-02 9.97476849e-01 -2.51286497e-03 -1.23871245e+00] [-3.57787474e-02 -2.72438885e-05 9.99359735e-01 -1.91600605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12264 meters 0.012011550632347849 Centerline is valid? [True, True] Translation: X:44.46, Y:-1.24, Z:-1.92 [[ 9.96659337e-01 7.31269738e-02 3.63677259e-02 4.44613647e+01] [-7.30819460e-02 9.97322634e-01 -2.56772379e-03 -1.24171337e+00] [-3.64581261e-02 -9.86782928e-05 9.99335177e-01 -1.91780664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18264 meters 0.01415056995645556 Centerline is valid? [True, True] Translation: X:44.52, Y:-1.24, Z:-1.92 [[ 9.96198222e-01 7.87223157e-02 3.73081569e-02 4.45237864e+01] [-7.86785717e-02 9.96896537e-01 -2.64152896e-03 -1.24040090e+00] [-3.74003197e-02 -3.03866047e-04 9.99300317e-01 -1.91752247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.242639999999994 meters 0.018441764382652874 Centerline is valid? [True, True] Translation: X:44.59, Y:-1.24, Z:-1.92 [[ 9.95756020e-01 8.42693561e-02 3.69949244e-02 4.45860874e+01] [-8.42298974e-02 9.96442886e-01 -2.62665792e-03 -1.23712749e+00] [-3.70846760e-02 -5.00568251e-04 9.99312001e-01 -1.92070344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30264 meters 0.03014791651142097 Centerline is valid? [True, True] Translation: X:44.65, Y:-1.22, Z:-1.92 [[ 9.94929596e-01 9.32361824e-02 3.77109065e-02 4.46468357e+01] [-9.32015381e-02 9.95643658e-01 -2.67946476e-03 -1.22339542e+00] [-3.77964479e-02 -8.48835688e-04 9.99285098e-01 -1.92364716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36264 meters 0.03633706444325836 Centerline is valid? [True, True] Translation: X:44.71, Y:-1.22, Z:-1.93 [[ 9.94300621e-01 1.00364200e-01 3.59625168e-02 4.47079603e+01] [-1.00337287e-01 9.94950195e-01 -2.55693624e-03 -1.21787280e+00] [-3.60375380e-02 -1.06601806e-03 9.99349868e-01 -1.92969728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42264 meters 0.03911997062192366 Centerline is valid? [True, True] Translation: X:44.77, Y:-1.22, Z:-1.93 [[ 9.94003650e-01 1.03331821e-01 3.57669904e-02 4.47695597e+01] [-1.03307122e-01 9.94646255e-01 -2.54291526e-03 -1.21540427e+00] [-3.58382671e-02 -1.16731778e-03 9.99356921e-01 -1.93281576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.482639999999996 meters 0.03940298873923221 Centerline is valid? [True, True] Translation: X:44.83, Y:-1.21, Z:-1.93 [[ 9.93725602e-01 1.05876503e-01 3.60498874e-02 4.48313951e+01] [-1.05853053e-01 9.94378478e-01 -2.56387817e-03 -1.21373671e+00] [-3.61186867e-02 -1.26819927e-03 9.99346703e-01 -1.93343848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54264 meters 0.03931474556182763 Centerline is valid? [True, True] Translation: X:44.89, Y:-1.22, Z:-1.94 [[ 9.93643981e-01 1.06455322e-01 3.65910191e-02 4.48936931e+01] [-1.06431565e-01 9.94316625e-01 -2.60207841e-03 -1.21704840e+00] [-3.66600637e-02 -1.30889987e-03 9.99326937e-01 -1.93525987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.60264 meters 0.039622841842112226 Centerline is valid? [True, True] Translation: X:44.96, Y:-1.21, Z:-1.94 [[ 9.93628234e-01 1.06583244e-01 3.66462157e-02 4.49567625e+01] [-1.06559279e-01 9.94302920e-01 -2.61207502e-03 -1.21256823e+00] [-3.67158427e-02 -1.30956283e-03 9.99324888e-01 -1.93792301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.662639999999996 meters 0.040550386396630826 Centerline is valid? [True, True] Translation: X:45.02, Y:-1.21, Z:-1.94 [[ 9.93747377e-01 1.05545379e-01 3.64187180e-02 4.50181881e+01] [-1.05520745e-01 9.94413694e-01 -2.60322438e-03 -1.21085401e+00] [-3.64900302e-02 -1.25598285e-03 9.99333228e-01 -1.94216731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72264 meters 0.03535435808716144 Centerline is valid? [True, True] Translation: X:45.08, Y:-1.21, Z:-1.95 [[ 9.94055518e-01 1.02603141e-01 3.64173490e-02 4.50791920e+01] [-1.02576288e-01 9.94721716e-01 -2.60994102e-03 -1.21284539e+00] [-3.64929161e-02 -1.14113023e-03 9.99333260e-01 -1.94538081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.78264 meters 0.029661805466534394 Centerline is valid? [True, True] Translation: X:45.14, Y:-1.22, Z:-1.95 [[ 9.94675659e-01 9.65672248e-02 3.59875586e-02 4.51393927e+01] [-9.65370172e-02 9.95326051e-01 -2.58014995e-03 -1.22048775e+00] [-3.60685125e-02 -9.07719208e-04 9.99348907e-01 -1.94945258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.842639999999996 meters 0.02428923516247987 Centerline is valid? [True, True] Translation: X:45.20, Y:-1.23, Z:-1.95 [[ 9.95245110e-01 9.05893213e-02 3.57875085e-02 4.51999444e+01] [-9.05555748e-02 9.95888098e-01 -2.56608544e-03 -1.22865434e+00] [-3.58728137e-02 -6.86874424e-04 9.99356127e-01 -1.95297690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90264 meters 0.022864790090891228 Centerline is valid? [True, True] Translation: X:45.26, Y:-1.24, Z:-1.95 [[ 9.96017131e-01 8.14830381e-02 3.61993001e-02 4.52599506e+01] [-8.14424789e-02 9.96674663e-01 -2.59605489e-03 -1.24290141e+00] [-3.62904597e-02 -3.62445589e-04 9.99341219e-01 -1.95457204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96264 meters 0.019379729247031824 Centerline is valid? [True, True] Translation: X:45.32, Y:-1.25, Z:-1.96 [[ 9.96382466e-01 7.73953987e-02 3.50989006e-02 4.53216833e+01] [-7.73547733e-02 9.97000456e-01 -2.51597575e-03 -1.25489556e+00] [-3.51883448e-02 -2.08193372e-04 9.99380677e-01 -1.95828804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.022639999999996 meters 0.014426279855656463 Centerline is valid? [True, True] Translation: X:45.38, Y:-1.25, Z:-1.96 [[ 9.96290561e-01 7.89703434e-02 3.41877484e-02 4.53833141e+01] [-7.89325225e-02 9.96876934e-01 -2.45662977e-03 -1.25375630e+00] [-3.42749787e-02 -2.51008162e-04 9.99412409e-01 -1.96320849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08264 meters 0.01869520180374695 Centerline is valid? [True, True] Translation: X:45.45, Y:-1.24, Z:-1.96 [[ 9.95730807e-01 8.53714324e-02 3.50981343e-02 4.54459501e+01] [-8.53353347e-02 9.96349080e-01 -2.52795647e-03 -1.24470287e+00] [-3.51858091e-02 -4.77946901e-04 9.99380673e-01 -1.96373711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14264 meters 0.03207682892092095 Centerline is valid? [True, True] Translation: X:45.51, Y:-1.24, Z:-1.97 [[ 9.95396860e-01 8.92630619e-02 3.48883539e-02 4.55082859e+01] [-8.92295503e-02 9.96007901e-01 -2.51948951e-03 -1.24080088e+00] [-3.49739735e-02 -6.05180177e-04 9.99388040e-01 -1.96740443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.202639999999995 meters 0.02708383876555675 Centerline is valid? [True, True] Translation: X:45.57, Y:-1.23, Z:-1.97 [[ 9.95110212e-01 9.25801366e-02 3.44177939e-02 4.55700662e+01] [-9.25494862e-02 9.95704982e-01 -2.48605220e-03 -1.23333603e+00] [-3.45001279e-02 -7.11453214e-04 9.99404440e-01 -1.97251840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26264 meters 0.025249424210328622 Centerline is valid? [True, True] Translation: X:45.63, Y:-1.24, Z:-1.97 [[ 9.95035002e-01 9.33955829e-02 3.43890826e-02 4.56324700e+01] [-9.33652867e-02 9.95628810e-01 -2.48929951e-03 -1.23660451e+00] [-3.44712510e-02 -7.33806408e-04 9.99405420e-01 -1.97414998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32264 meters 0.028743496388465295 Centerline is valid? [True, True] Translation: X:45.69, Y:-1.23, Z:-1.98 [[ 9.94971543e-01 9.41638631e-02 3.41291128e-02 4.56939931e+01] [-9.41342669e-02 9.95556431e-01 -2.47655520e-03 -1.23091345e+00] [-3.42106597e-02 -7.48617066e-04 9.99414364e-01 -1.97888448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.382639999999995 meters 0.02471984757706998 Centerline is valid? [True, True] Translation: X:45.76, Y:-1.24, Z:-1.98 [[ 9.95063220e-01 9.34103702e-02 3.35215011e-02 4.57556074e+01] [-9.33812198e-02 9.95627443e-01 -2.43756495e-03 -1.23617972e+00] [-3.36026203e-02 -7.04747433e-04 9.99435024e-01 -1.97982966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44264 meters 0.024752736981313625 Centerline is valid? [True, True] Translation: X:45.82, Y:-1.24, Z:-1.98 [[ 9.95278051e-01 9.09793784e-02 3.38282950e-02 4.58168311e+01] [-9.09480780e-02 9.95852582e-01 -2.46607541e-03 -1.23694803e+00] [-3.39123569e-02 -6.22187678e-04 9.99424617e-01 -1.98492883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50264 meters 0.022281155932162358 Centerline is valid? [True, True] Translation: X:45.88, Y:-1.24, Z:-1.99 [[ 9.95439373e-01 8.91291294e-02 3.40066489e-02 4.58786910e+01] [-8.90962302e-02 9.96019924e-01 -2.48460666e-03 -1.24288586e+00] [-3.40927507e-02 -5.56588919e-04 9.99418518e-01 -1.98715129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.562639999999995 meters 0.01998096600577926 Centerline is valid? [True, True] Translation: X:45.94, Y:-1.25, Z:-1.99 [[ 9.95704475e-01 8.66161892e-02 3.27144409e-02 4.59406979e+01] [-8.65842167e-02 9.96241655e-01 -2.39538546e-03 -1.24617575e+00] [-3.27989679e-02 -4.47458213e-04 9.99461869e-01 -1.99186462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62264 meters 0.022595314939268803 Centerline is valid? [True, True] Translation: X:46.00, Y:-1.25, Z:-1.99 [[ 9.95842852e-01 8.50365353e-02 3.26466087e-02 4.60031968e+01] [-8.50036266e-02 9.96377758e-01 -2.39713865e-03 -1.24983644e+00] [-3.27321992e-02 -3.87906749e-04 9.99464083e-01 -1.99383336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68264 meters 0.0174058114068536 Centerline is valid? [True, True] Translation: X:46.07, Y:-1.25, Z:-2.00 [[ 9.95848119e-01 8.47922391e-02 3.31179643e-02 4.60655401e+01] [-8.47582110e-02 9.96398579e-01 -2.43256315e-03 -1.25372631e+00] [-3.32049551e-02 -3.84555972e-04 9.99448489e-01 -1.99521798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.742639999999994 meters 0.019989571146900868 Centerline is valid? [True, True] Translation: X:46.13, Y:-1.25, Z:-1.99 [[ 9.95541799e-01 8.75549177e-02 3.50808140e-02 4.61277673e+01] [-8.75182181e-02 9.96159570e-01 -2.58331506e-03 -1.24728103e+00] [-3.51722705e-02 -4.98412208e-04 9.99381140e-01 -1.99480960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80264 meters 0.02003434906603766 Centerline is valid? [True, True] Translation: X:46.19, Y:-1.25, Z:-2.00 [[ 9.95312250e-01 9.00600508e-02 3.52521178e-02 4.61898395e+01] [-9.00243727e-02 9.95936165e-01 -2.60128076e-03 -1.24918913e+00] [-3.53431305e-02 -5.84463182e-04 9.99375065e-01 -1.99543351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86264 meters 0.026729461878175192 Centerline is valid? [True, True] Translation: X:46.25, Y:-1.25, Z:-2.00 [[ 9.95214414e-01 9.13030119e-02 3.48142170e-02 4.62510103e+01] [-9.12687318e-02 9.95822968e-01 -2.57592500e-03 -1.24677821e+00] [-3.49039866e-02 -6.13851745e-04 9.99390482e-01 -2.00177244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92264 meters 0.02869590681272179 Centerline is valid? [True, True] Translation: X:46.31, Y:-1.25, Z:-2.01 [[ 9.95366530e-01 8.97808462e-02 3.44219404e-02 4.63132022e+01] [-8.97463392e-02 9.95961392e-01 -2.54937397e-03 -1.25145623e+00] [-3.45118086e-02 -5.51681612e-04 9.99404138e-01 -2.00524863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.982639999999996 meters 0.025764251611722164 Centerline is valid? [True, True] Translation: X:46.37, Y:-1.26, Z:-2.01 [[ 9.95523116e-01 8.83524912e-02 3.35792047e-02 4.63744764e+01] [-8.83186479e-02 9.96089154e-01 -2.49269423e-03 -1.25613018e+00] [-3.36681174e-02 -4.84135226e-04 9.99432951e-01 -2.01010095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04264 meters 0.017003390373227147 Centerline is valid? [True, True] Translation: X:46.44, Y:-1.26, Z:-2.02 [[ 9.95834648e-01 8.54346655e-02 3.18476462e-02 4.64356903e+01] [-8.54025890e-02 9.96343710e-01 -2.36860112e-03 -1.26451349e+00] [-3.19335626e-02 -3.61136376e-04 9.99489928e-01 -2.01557963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.10264 meters 0.026630026103466296 Centerline is valid? [True, True] Translation: X:46.50, Y:-1.27, Z:-2.02 [[ 9.95969362e-01 8.40274788e-02 3.13753653e-02 4.64974483e+01] [-8.39954813e-02 9.96463391e-01 -2.33879301e-03 -1.27071920e+00] [-3.14609258e-02 -3.06022735e-04 9.99504936e-01 -2.01901631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.162639999999996 meters 0.01599755336425147 Centerline is valid? [True, True] Translation: X:46.56, Y:-1.27, Z:-2.02 [[ 9.95920836e-01 8.42448634e-02 3.23186043e-02 4.65590049e+01] [-8.42108371e-02 9.96445033e-01 -2.41496678e-03 -1.27466889e+00] [-3.24071613e-02 -3.16460990e-04 9.99474700e-01 -2.02033487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22264 meters 0.016895013254422223 Centerline is valid? [True, True] Translation: X:46.62, Y:-1.28, Z:-2.02 [[ 9.95734175e-01 8.61567584e-02 3.30221940e-02 4.66208396e+01] [-8.61220622e-02 9.96281521e-01 -2.47426778e-03 -1.27526748e+00] [-3.31125766e-02 -3.80226461e-04 9.99451556e-01 -2.02104218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28264 meters 0.021371599247122727 Centerline is valid? [True, True] Translation: X:46.68, Y:-1.27, Z:-2.02 [[ 9.95325445e-01 9.04498772e-02 3.38537897e-02 4.66823376e+01] [-9.04158021e-02 9.95900866e-01 -2.53922927e-03 -1.26971179e+00] [-3.39446915e-02 -5.33558054e-04 9.99423570e-01 -2.02297666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.342639999999996 meters 0.024460894473316185 Centerline is valid? [True, True] Translation: X:46.74, Y:-1.27, Z:-2.02 [[ 9.94999311e-01 9.37195317e-02 3.45401229e-02 4.67446378e+01] [-9.36858359e-02 9.95598425e-01 -2.59628239e-03 -1.26645192e+00] [-3.46314144e-02 -6.52621100e-04 9.99399940e-01 -2.02415100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40264 meters 0.026903680376409587 Centerline is valid? [True, True] Translation: X:46.81, Y:-1.27, Z:-2.03 [[ 9.94690289e-01 9.68075950e-02 3.49215927e-02 4.68071442e+01] [-9.67748026e-02 9.95302823e-01 -2.63207468e-03 -1.26559340e+00] [-3.50123646e-02 -7.61431114e-04 9.99386589e-01 -2.02647267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46264 meters 0.031223984628553535 Centerline is valid? [True, True] Translation: X:46.87, Y:-1.27, Z:-2.03 [[ 9.94644283e-01 9.73425462e-02 3.47444778e-02 4.68684510e+01] [-9.73103904e-02 9.95250635e-01 -2.61933428e-03 -1.26742919e+00] [-3.48344363e-02 -7.75692834e-04 9.99392796e-01 -2.03009276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.522639999999996 meters 0.030642943783187222 Centerline is valid? [True, True] Translation: X:46.93, Y:-1.27, Z:-2.04 [[ 9.94755196e-01 9.66845203e-02 3.33796947e-02 4.69307402e+01] [-9.66543088e-02 9.95314818e-01 -2.52129259e-03 -1.26845223e+00] [-3.34670747e-02 -7.18222413e-04 9.99439562e-01 -2.03512842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58264 meters 0.02431280474595378 Centerline is valid? [True, True] Translation: X:46.99, Y:-1.27, Z:-2.04 [[ 9.94973543e-01 9.49109760e-02 3.19304754e-02 4.69925990e+01] [-9.48822533e-02 9.95485568e-01 -2.41697264e-03 -1.27308199e+00] [-3.20157247e-02 -6.24811631e-04 9.99487170e-01 -2.03997689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64264 meters 0.021726050500008316 Centerline is valid? [True, True] Translation: X:47.05, Y:-1.28, Z:-2.04 [[ 9.95232831e-01 9.23368947e-02 3.13928300e-02 4.70540648e+01] [-9.23076833e-02 9.95727683e-01 -2.38160359e-03 -1.27949196e+00] [-3.14786198e-02 -5.27549331e-04 9.99504286e-01 -2.04342766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.702639999999995 meters 0.020781414965376114 Centerline is valid? [True, True] Translation: X:47.12, Y:-1.28, Z:-2.04 [[ 9.95352561e-01 9.07192442e-02 3.23001247e-02 4.71152717e+01] [-9.06872479e-02 9.95876390e-01 -2.45723505e-03 -1.28255047e+00] [-3.23898501e-02 -4.83394215e-04 9.99475194e-01 -2.04411517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76264 meters 0.02012884605423345 Centerline is valid? [True, True] Translation: X:47.18, Y:-1.29, Z:-2.04 [[ 9.95370490e-01 9.00125443e-02 3.36946596e-02 4.71765316e+01] [-8.99772012e-02 9.95940518e-01 -2.56684977e-03 -1.28711128e+00] [-3.37889254e-02 -4.76784653e-04 9.99428878e-01 -2.04429870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82264 meters 0.019849362165814576 Centerline is valid? [True, True] Translation: X:47.24, Y:-1.29, Z:-2.05 [[ 9.95322878e-01 9.04189986e-02 3.40113813e-02 4.72383847e+01] [-9.03831391e-02 9.95903691e-01 -2.59349520e-03 -1.28937292e+00] [-3.41065614e-02 -4.92690303e-04 9.99418081e-01 -2.04524530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.882639999999995 meters 0.02191904624042537 Centerline is valid? [True, True] Translation: X:47.30, Y:-1.29, Z:-2.05 [[ 9.95051307e-01 9.33028732e-02 3.41682544e-02 4.73002881e+01] [-9.32681771e-02 9.95637599e-01 -2.61140013e-03 -1.28845340e+00] [-3.42628499e-02 -5.88333691e-04 9.99412683e-01 -2.04652272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94264 meters 0.02952519480211587 Centerline is valid? [True, True] Translation: X:47.36, Y:-1.28, Z:-2.05 [[ 9.94328429e-01 1.00357167e-01 3.52053060e-02 4.73613392e+01] [-1.00324506e-01 9.94951113e-01 -2.69752937e-03 -1.27801964e+00] [-3.52982748e-02 -8.49724774e-04 9.99376460e-01 -2.04797923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00264 meters 0.03632206894204897 Centerline is valid? [True, True] Translation: X:47.42, Y:-1.28, Z:-2.05 [[ 9.94065065e-01 1.03577711e-01 3.32611668e-02 4.74211904e+01] [-1.03550277e-01 9.94620949e-01 -2.55095624e-03 -1.27805362e+00] [-3.33464755e-02 -9.08386566e-04 9.99443439e-01 -2.05378366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.062639999999995 meters 0.03491615608821176 Centerline is valid? [True, True] Translation: X:47.48, Y:-1.27, Z:-2.06 [[ 9.93905939e-01 1.04983736e-01 3.36065414e-02 4.74799540e+01] [-1.04956549e-01 9.94473470e-01 -2.57695226e-03 -1.27136998e+00] [-3.36913519e-02 -9.65978460e-04 9.99431818e-01 -2.05628520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12264 meters 0.038565399480627996 Centerline is valid? [True, True] Translation: X:47.54, Y:-1.27, Z:-2.06 [[ 9.94055113e-01 1.03719385e-01 3.31167968e-02 4.75387809e+01] [-1.03692280e-01 9.94606184e-01 -2.53952985e-03 -1.27295111e+00] [-3.32015694e-02 -9.09523535e-04 9.99448262e-01 -2.06071628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18264 meters 0.02821337487533665 Centerline is valid? [True, True] Translation: X:47.60, Y:-1.28, Z:-2.06 [[ 9.94538746e-01 9.91243496e-02 3.26656638e-02 4.75981275e+01] [-9.90955474e-02 9.95074774e-01 -2.50349322e-03 -1.28201728e+00] [-3.27529352e-02 -7.47200830e-04 9.99463199e-01 -2.06218832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.242639999999994 meters 0.024036373463588088 Centerline is valid? [True, True] Translation: X:47.66, Y:-1.29, Z:-2.07 [[ 9.95094903e-01 9.32689117e-02 3.29703612e-02 4.76569374e+01] [-9.32363696e-02 9.95640797e-01 -2.52643372e-03 -1.29163576e+00] [-3.30622744e-02 -5.59995461e-04 9.99453137e-01 -2.06575561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30264 meters 0.022177084407677544 Centerline is valid? [True, True] Translation: X:47.72, Y:-1.30, Z:-2.07 [[ 9.95433976e-01 8.93526226e-02 3.35754227e-02 4.77173305e+01] [-8.93166708e-02 9.95999958e-01 -2.57210974e-03 -1.30166391e+00] [-3.36709444e-02 -4.38479555e-04 9.99432877e-01 -2.06759592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36264 meters 0.015292328537399534 Centerline is valid? [True, True] Translation: X:47.78, Y:-1.31, Z:-2.07 [[ 9.95794661e-01 8.52208358e-02 3.36214625e-02 4.77788266e+01] [-8.51824759e-02 9.96362042e-01 -2.57428802e-03 -1.31163983e+00] [-3.37185320e-02 -3.00497155e-04 9.99431323e-01 -2.06948414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.422639999999994 meters 0.014695842414229417 Centerline is valid? [True, True] Translation: X:47.84, Y:-1.32, Z:-2.07 [[ 9.95818465e-01 8.47980683e-02 3.39834092e-02 4.78405403e+01] [-8.47584310e-02 9.96398117e-01 -2.60788746e-03 -1.31522417e+00] [-3.40821488e-02 -2.83397957e-04 9.99418995e-01 -2.07209327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.482639999999996 meters 0.014549072591892597 Centerline is valid? [True, True] Translation: X:47.90, Y:-1.32, Z:-2.07 [[ 9.95734457e-01 8.50795532e-02 3.56981842e-02 4.79025290e+01] [-8.50357617e-02 9.96374116e-01 -2.74598161e-03 -1.31782686e+00] [-3.58023736e-02 -3.01353771e-04 9.99358844e-01 -2.07273166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54264 meters 0.013179954553425896 Centerline is valid? [True, True] Translation: X:47.96, Y:-1.32, Z:-2.08 [[ 9.95879505e-01 8.32728244e-02 3.59116665e-02 4.79641807e+01] [-8.32271129e-02 9.96526760e-01 -2.76851243e-03 -1.32294281e+00] [-3.60174785e-02 -2.31719533e-04 9.99351133e-01 -2.07529378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.60264 meters 0.012039733496899878 Centerline is valid? [True, True] Translation: X:48.03, Y:-1.33, Z:-2.08 [[ 9.96233349e-01 7.96627990e-02 3.42483931e-02 4.80258794e+01] [-7.96189108e-02 9.96821865e-01 -2.64554379e-03 -1.33469690e+00] [-3.43502985e-02 -9.12408067e-05 9.99409850e-01 -2.08252834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.662639999999996 meters 0.013354387986202148 Centerline is valid? [True, True] Translation: X:48.09, Y:-1.35, Z:-2.09 [[ 9.96850694e-01 7.25048519e-02 3.21207135e-02 4.80864639e+01] [-7.24623374e-02 9.97368048e-01 -2.48722255e-03 -1.35193944e+00] [-3.22165090e-02 1.51847545e-04 9.99480902e-01 -2.09020700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72264 meters 0.015443410217923514 Centerline is valid? [True, True] Translation: X:48.15, Y:-1.36, Z:-2.09 [[ 9.97093097e-01 6.94215314e-02 3.14007553e-02 4.81468499e+01] [-6.93792042e-02 9.97587384e-01 -2.43683119e-03 -1.36213186e+00] [-3.14941659e-02 2.51188145e-04 9.99503904e-01 -2.09475498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78264 meters 0.026764754810239426 Centerline is valid? [True, True] Translation: X:48.21, Y:-1.37, Z:-2.10 [[ 9.97147288e-01 6.90433699e-02 3.05007917e-02 4.82086799e+01] [-6.90031238e-02 9.97613625e-01 -2.37137303e-03 -1.37202424e+00] [-3.05917330e-02 2.59958282e-04 9.99531930e-01 -2.09871845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.842639999999996 meters 0.014155553009420932 Centerline is valid? [True, True] Translation: X:48.27, Y:-1.38, Z:-2.10 [[ 9.96907797e-01 7.12580515e-02 3.31230295e-02 4.82706379e+01] [-7.12116037e-02 9.97457891e-01 -2.58137227e-03 -1.37658466e+00] [-3.32227707e-02 2.14646097e-04 9.99447948e-01 -2.09695013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90264 meters 0.0273270605901289 Centerline is valid? [True, True] Translation: X:48.33, Y:-1.38, Z:-2.10 [[ 9.96588670e-01 7.49788834e-02 3.44846258e-02 4.83333202e+01] [-7.49305165e-02 9.97185117e-01 -2.69461297e-03 -1.37940145e+00] [-3.45895946e-02 1.01469936e-04 9.99401596e-01 -2.09757380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96264 meters 0.012010651064797854 Centerline is valid? [True, True] Translation: X:48.40, Y:-1.38, Z:-2.10 [[ 9.96264142e-01 7.94583226e-02 3.38250630e-02 4.83965816e+01] [-7.94143541e-02 9.96838188e-01 -2.64351184e-03 -1.38195106e+00] [-3.39281635e-02 -5.25594795e-05 9.99424273e-01 -2.10179543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.022639999999996 meters 0.012827259482981043 Centerline is valid? [True, True] Translation: X:48.46, Y:-1.39, Z:-2.11 [[ 9.95999055e-01 8.28349593e-02 3.35298778e-02 4.84590418e+01] [-8.27934385e-02 9.96563267e-01 -2.62724192e-03 -1.38572444e+00] [-3.36322720e-02 -1.59323404e-04 9.99434262e-01 -2.10569013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08264 meters 0.018594485210075326 Centerline is valid? [True, True] Translation: X:48.52, Y:-1.38, Z:-2.11 [[ 9.95566460e-01 8.82552416e-02 3.25336047e-02 4.85201193e+01] [-8.82188313e-02 9.96097840e-01 -2.55569383e-03 -1.38107550e+00] [-3.26322067e-02 -3.25713515e-04 9.99467375e-01 -2.11109298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14264 meters 0.020178537275571642 Centerline is valid? [True, True] Translation: X:48.58, Y:-1.38, Z:-2.11 [[ 9.95200980e-01 9.21053768e-02 3.30394951e-02 4.85807530e+01] [-9.20698198e-02 9.95749161e-01 -2.59921690e-03 -1.38002135e+00] [-3.31384514e-02 -4.55197158e-04 9.99450667e-01 -2.11401688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.202639999999995 meters 0.02466333815438162 Centerline is valid? [True, True] Translation: X:48.64, Y:-1.38, Z:-2.12 [[ 9.94699006e-01 9.75610665e-02 3.24919305e-02 4.86422991e+01] [-9.75295738e-02 9.95229344e-01 -2.55651245e-03 -1.37504478e+00] [-3.25863387e-02 -6.25963739e-04 9.99468728e-01 -2.11750082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26264 meters 0.028806377440651895 Centerline is valid? [True, True] Translation: X:48.70, Y:-1.37, Z:-2.12 [[ 9.94415731e-01 1.00425664e-01 3.24351757e-02 4.87023110e+01] [-1.00395781e-01 9.94944305e-01 -2.55274265e-03 -1.36991391e+00] [-3.25275542e-02 -7.17867353e-04 9.99470581e-01 -2.12245240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32264 meters 0.02743372438901437 Centerline is valid? [True, True] Translation: X:48.76, Y:-1.37, Z:-2.13 [[ 9.94524276e-01 9.95276141e-02 3.18703348e-02 4.87614605e+01] [-9.94983092e-02 9.95034570e-01 -2.50806222e-03 -1.37251366e+00] [-3.19617063e-02 -6.76715655e-04 9.99488865e-01 -2.12592288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.382639999999995 meters 0.02213219836396823 Centerline is valid? [True, True] Translation: X:48.82, Y:-1.38, Z:-2.13 [[ 9.94800320e-01 9.61086515e-02 3.36964334e-02 4.88212746e+01] [-9.60739698e-02 9.95370668e-01 -2.65062699e-03 -1.38318142e+00] [-3.37951896e-02 -6.00505545e-04 9.99428599e-01 -2.12542218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44264 meters 0.023790677037138108 Centerline is valid? [True, True] Translation: X:48.88, Y:-1.39, Z:-2.13 [[ 9.95272472e-01 9.09814496e-02 3.39865088e-02 4.88809231e+01] [-9.09431836e-02 9.95852494e-01 -2.67331031e-03 -1.39310926e+00] [-3.40887712e-02 -4.30169146e-04 9.99418716e-01 -2.12754948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50264 meters 0.013588886942248527 Centerline is valid? [True, True] Translation: X:48.94, Y:-1.41, Z:-2.13 [[ 9.95940608e-01 8.32337356e-02 3.42702594e-02 4.89399575e+01] [-8.31902465e-02 9.96530038e-01 -2.69543075e-03 -1.40609790e+00] [-3.43756937e-02 -1.66462381e-04 9.99408967e-01 -2.13224232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.562639999999995 meters 0.012021995231807981 Centerline is valid? [True, True] Translation: X:49.00, Y:-1.42, Z:-2.13 [[ 9.96299884e-01 7.84950733e-02 3.50009302e-02 4.90010034e+01] [-7.84467235e-02 9.96914502e-01 -2.75465168e-03 -1.41874442e+00] [-3.51091615e-02 -1.24914620e-06 9.99383483e-01 -2.13332293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62264 meters 0.013958216597678883 Centerline is valid? [True, True] Translation: X:49.06, Y:-1.43, Z:-2.14 [[ 9.96743353e-01 7.26370674e-02 3.50220607e-02 4.90616006e+01] [-7.25848339e-02 9.97358417e-01 -2.76225403e-03 -1.43240795e+00] [-3.51301890e-02 2.11187885e-04 9.99382722e-01 -2.13608912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68264 meters 0.015221622652095958 Centerline is valid? [True, True] Translation: X:49.12, Y:-1.44, Z:-2.14 [[ 9.96892526e-01 7.00731326e-02 3.59867847e-02 4.91236323e+01] [-7.00161117e-02 9.97541807e-01 -2.84384550e-03 -1.44123720e+00] [-3.60975994e-02 3.15353589e-04 9.99348220e-01 -2.13630409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.742639999999994 meters 0.015212304007183472 Centerline is valid? [True, True] Translation: X:49.19, Y:-1.45, Z:-2.14 [[ 9.96882253e-01 7.02279173e-02 3.59696029e-02 4.91861697e+01] [-7.01708426e-02 9.97530922e-01 -2.84827791e-03 -1.44876205e+00] [-3.60808197e-02 3.15380363e-04 9.99348825e-01 -2.13940322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80264 meters 0.013839179930858958 Centerline is valid? [True, True] Translation: X:49.25, Y:-1.45, Z:-2.14 [[ 9.96727031e-01 7.29295966e-02 3.48783452e-02 4.92468568e+01] [-7.28773491e-02 9.97337068e-01 -2.76866011e-03 -1.45121050e+00] [-3.49873838e-02 2.17757033e-04 9.99387730e-01 -2.14420083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86264 meters 0.01272575626512233 Centerline is valid? [True, True] Translation: X:49.31, Y:-1.45, Z:-2.15 [[ 9.96543104e-01 7.55974167e-02 3.44510081e-02 4.93086782e+01] [-7.55478604e-02 9.97138413e-01 -2.73979753e-03 -1.45289486e+00] [-3.45595451e-02 1.27626387e-04 9.99402632e-01 -2.14721895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.922639999999994 meters 0.012394300529370818 Centerline is valid? [True, True] Translation: X:49.37, Y:-1.45, Z:-2.15 [[ 9.96164899e-01 8.06716237e-02 3.38759935e-02 4.93706840e+01] [-8.06264541e-02 9.96740732e-01 -2.69954532e-03 -1.45161003e+00] [-3.39833593e-02 -4.21089430e-05 9.99422398e-01 -2.15093815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.982639999999996 meters 0.023845921486986287 Centerline is valid? [True, True] Translation: X:49.43, Y:-1.45, Z:-2.15 [[ 9.95781298e-01 8.52917758e-02 3.38366682e-02 4.94328520e+01] [-8.52491675e-02 9.96355998e-01 -2.70256679e-03 -1.45206127e+00] [-3.39438740e-02 -1.93382330e-04 9.99423722e-01 -2.15223366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04264 meters 0.014972791462270351 Centerline is valid? [True, True] Translation: X:49.49, Y:-1.45, Z:-2.16 [[ 9.95642286e-01 8.68727202e-02 3.39052919e-02 4.94941205e+01] [-8.68306291e-02 9.96219390e-01 -2.71468801e-03 -1.45283107e+00] [-3.40129415e-02 -2.41159646e-04 9.99421363e-01 -2.15562296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.10264 meters 0.014039236953531051 Centerline is valid? [True, True] Translation: X:49.56, Y:-1.46, Z:-2.16 [[ 9.95642471e-01 8.61166737e-02 3.57769279e-02 4.95559161e+01] [-8.60692108e-02 9.96285034e-01 -2.86753108e-03 -1.45797468e+00] [-3.58909601e-02 -2.24256225e-04 9.99355687e-01 -2.15613393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.162639999999996 meters 0.012577004009876666 Centerline is valid? [True, True] Translation: X:49.62, Y:-1.47, Z:-2.16 [[ 9.95897208e-01 8.34469283e-02 3.50051475e-02 4.96178451e+01] [-8.33996493e-02 9.96512216e-01 -2.81116926e-03 -1.46669059e+00] [-3.51176405e-02 -1.19781405e-04 9.99383178e-01 -2.16017808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22264 meters 0.012734832764565477 Centerline is valid? [True, True] Translation: X:49.68, Y:-1.47, Z:-2.17 [[ 9.96085505e-01 8.18519656e-02 3.33754835e-02 4.96786576e+01] [-8.18079138e-02 9.96644497e-01 -2.68562285e-03 -1.47428408e+00] [-3.34833155e-02 -5.52686835e-05 9.99439275e-01 -2.16604284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28264 meters 0.012024342984509686 Centerline is valid? [True, True] Translation: X:49.74, Y:-1.48, Z:-2.16 [[ 9.96157098e-01 8.05078096e-02 3.44895496e-02 4.97404819e+01] [-8.04597792e-02 9.96753978e-01 -2.78053331e-03 -1.47761689e+00] [-3.46014504e-02 -5.17355588e-06 9.99401191e-01 -2.16466671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.342639999999996 meters 0.01225715513485672 Centerline is valid? [True, True] Translation: X:49.80, Y:-1.48, Z:-2.17 [[ 9.96228503e-01 7.96011479e-02 3.45315231e-02 4.98026660e+01] [-7.95522561e-02 9.96826793e-01 -2.78968282e-03 -1.48339806e+00] [-3.46440094e-02 3.21009698e-05 9.99399716e-01 -2.16750991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40264 meters 0.012980136727404541 Centerline is valid? [True, True] Translation: X:49.86, Y:-1.49, Z:-2.17 [[ 9.96451849e-01 7.67651322e-02 3.45083609e-02 4.98644661e+01] [-7.67143840e-02 9.97049194e-01 -2.79420455e-03 -1.49087030e+00] [-3.46210309e-02 1.37002638e-04 9.99400503e-01 -2.16951458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46264 meters 0.0245637430151302 Centerline is valid? [True, True] Translation: X:49.93, Y:-1.50, Z:-2.17 [[ 9.96722928e-01 7.24939270e-02 3.58892072e-02 4.99257431e+01] [-7.24360455e-02 9.97368808e-01 -2.91213490e-03 -1.50274917e+00] [-3.60058879e-02 3.02919372e-04 9.99351532e-01 -2.16806049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.522639999999996 meters 0.016669102458208473 Centerline is valid? [True, True] Translation: X:49.99, Y:-1.51, Z:-2.17 [[ 9.96909817e-01 6.91917209e-02 3.71930500e-02 4.99862633e+01] [-6.91269995e-02 9.97603282e-01 -3.02485083e-03 -1.51312476e+00] [-3.73132034e-02 4.44459541e-04 9.99303521e-01 -2.16799907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58264 meters 0.021020353355339843 Centerline is valid? [True, True] Translation: X:50.05, Y:-1.53, Z:-2.17 [[ 9.97251243e-01 6.51413332e-02 3.53067334e-02 5.00461129e+01] [-6.50802606e-02 9.97875884e-01 -2.87748985e-03 -1.53110399e+00] [-3.54191814e-02 5.71808916e-04 9.99372380e-01 -2.17450488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64264 meters 0.02159802721884458 Centerline is valid? [True, True] Translation: X:50.11, Y:-1.54, Z:-2.18 [[ 9.97326029e-01 6.41593585e-02 3.49909757e-02 5.01077332e+01] [-6.40987039e-02 9.97939484e-01 -2.85362762e-03 -1.54108293e+00] [-3.51019631e-02 6.03120910e-04 9.99383554e-01 -2.17714512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.702639999999995 meters 0.022006584234652588 Centerline is valid? [True, True] Translation: X:50.17, Y:-1.55, Z:-2.18 [[ 9.97285710e-01 6.44807417e-02 3.55449962e-02 5.01685461e+01] [-6.44181307e-02 9.97918767e-01 -2.90508074e-03 -1.55281504e+00] [-3.56583406e-02 6.07453299e-04 9.99363855e-01 -2.17925805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76264 meters 0.0215468915686723 Centerline is valid? [True, True] Translation: X:50.23, Y:-1.56, Z:-2.19 [[ 9.97272199e-01 6.57797228e-02 3.34841516e-02 5.02309604e+01] [-6.57247470e-02 9.97834026e-01 -2.74107804e-03 -1.56478595e+00] [-3.35919332e-02 5.32863536e-04 9.99435490e-01 -2.18506718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82264 meters 0.018320193928485703 Centerline is valid? [True, True] Translation: X:50.29, Y:-1.57, Z:-2.19 [[ 9.97121674e-01 6.86228234e-02 3.22377818e-02 5.02922590e+01] [-6.85731572e-02 9.97642584e-01 -2.64501785e-03 -1.57299351e+00] [-3.23432925e-02 4.26758147e-04 9.99476728e-01 -2.18808490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.882639999999995 meters 0.022341910755290722 Centerline is valid? [True, True] Translation: X:50.35, Y:-1.58, Z:-2.19 [[ 9.96937550e-01 7.14308198e-02 3.18301735e-02 5.03526198e+01] [-7.13836547e-02 9.97445499e-01 -2.61713685e-03 -1.58163849e+00] [-3.19358075e-02 3.36967891e-04 9.99489865e-01 -2.19239225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94264 meters 0.013965093515437337 Centerline is valid? [True, True] Translation: X:50.42, Y:-1.59, Z:-2.20 [[ 9.96532745e-01 7.72849518e-02 3.08143615e-02 5.04151289e+01] [-7.72433601e-02 9.97009034e-01 -2.53964207e-03 -1.58547405e+00] [-3.09184729e-02 1.50631663e-04 9.99521898e-01 -2.19554944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00264 meters 0.014076307412665051 Centerline is valid? [True, True] Translation: X:50.48, Y:-1.59, Z:-2.20 [[ 9.96045242e-01 8.39569810e-02 2.90706093e-02 5.04760337e+01] [-8.39228005e-02 9.96469379e-01 -2.39604521e-03 -1.58779542e+00] [-2.91691367e-02 -5.31175163e-05 9.99574489e-01 -2.20213781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.062639999999995 meters 0.016023864173826587 Centerline is valid? [True, True] Translation: X:50.54, Y:-1.59, Z:-2.20 [[ 9.95595157e-01 8.90754164e-02 2.92549906e-02 5.05373624e+01] [-8.90428723e-02 9.96024864e-01 -2.41590113e-03 -1.58719550e+00] [-2.93538955e-02 -1.99688927e-04 9.99569062e-01 -2.20413195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12264 meters 0.01980926891226935 Centerline is valid? [True, True] Translation: X:50.60, Y:-1.59, Z:-2.20 [[ 9.95029701e-01 9.50030315e-02 2.98382108e-02 5.05997969e+01] [-9.49717026e-02 9.95476912e-01 -2.46863396e-03 -1.58597736e+00] [-2.99377777e-02 -3.77421574e-04 9.99551693e-01 -2.20493354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18264 meters 0.02192132267529163 Centerline is valid? [True, True] Translation: X:50.66, Y:-1.59, Z:-2.21 [[ 9.94790742e-01 9.75857858e-02 2.94685223e-02 5.06609455e+01] [-9.75561525e-02 9.95227019e-01 -2.44509397e-03 -1.58837403e+00] [-2.95664760e-02 -4.42478806e-04 9.99562718e-01 -2.20796128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.242639999999994 meters 0.02213395957379805 Centerline is valid? [True, True] Translation: X:50.72, Y:-1.59, Z:-2.21 [[ 9.94649781e-01 9.87789610e-02 3.02411890e-02 5.07226514e+01] [-9.87482814e-02 9.95109279e-01 -2.50995886e-03 -1.59240872e+00] [-3.03412189e-02 -4.89735405e-04 9.99539479e-01 -2.20736952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30264 meters 0.022561469005588967 Centerline is valid? [True, True] Translation: X:50.78, Y:-1.60, Z:-2.21 [[ 9.94680686e-01 9.85800986e-02 2.98713256e-02 5.07831967e+01] [-9.85501135e-02 9.95129004e-01 -2.47798569e-03 -1.59619094e+00] [-2.99701026e-02 -4.79018022e-04 9.99550681e-01 -2.21109964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36264 meters 0.02021265290254902 Centerline is valid? [True, True] Translation: X:50.84, Y:-1.60, Z:-2.21 [[ 9.94886698e-01 9.65638475e-02 2.95953121e-02 5.08442999e+01] [-9.65333225e-02 9.95326709e-01 -2.46181042e-03 -1.60219974e+00] [-2.96947265e-02 -4.07711368e-04 9.99558931e-01 -2.21288684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.422639999999994 meters 0.017230022348362597 Centerline is valid? [True, True] Translation: X:50.91, Y:-1.61, Z:-2.22 [[ 9.95332991e-01 9.22302564e-02 2.83869153e-02 5.09052778e+01] [-9.22004613e-02 9.95737670e-01 -2.35952509e-03 -1.61313387e+00] [-2.84835405e-02 -2.68773527e-04 9.99594226e-01 -2.21779532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.482639999999996 meters 0.014537338001456486 Centerline is valid? [True, True] Translation: X:50.97, Y:-1.62, Z:-2.22 [[ 9.95707670e-01 8.78037664e-02 2.92700440e-02 5.09667721e+01] [-8.77700177e-02 9.96137781e-01 -2.43830409e-03 -1.62264222e+00] [-2.93710890e-02 -1.41194203e-04 9.99568567e-01 -2.21876653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54264 meters 0.0142062485060078 Centerline is valid? [True, True] Translation: X:51.03, Y:-1.64, Z:-2.22 [[ 9.96412357e-01 7.92685374e-02 2.96464637e-02 5.10264436e+01] [-7.92299732e-02 9.96853292e-01 -2.47510468e-03 -1.63931866e+00] [-2.97493728e-02 1.17336364e-04 9.99557383e-01 -2.22052091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.60264 meters 0.023499721942130392 Centerline is valid? [True, True] Translation: X:51.09, Y:-1.66, Z:-2.22 [[ 9.97039708e-01 7.12355737e-02 2.89363668e-02 5.10870962e+01] [-7.11952737e-02 9.97459456e-01 -2.42192569e-03 -1.65998517e+00] [-2.90353799e-02 3.54623535e-04 9.99578322e-01 -2.22306143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.662639999999996 meters 0.023471605388495395 Centerline is valid? [True, True] Translation: X:51.15, Y:-1.67, Z:-2.23 [[ 9.97197343e-01 6.89208554e-02 2.91097147e-02 5.11484494e+01] [-6.88790985e-02 9.97622041e-01 -2.43597059e-03 -1.67187374e+00] [-2.92083822e-02 4.24092492e-04 9.99573254e-01 -2.22511408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72264 meters 0.0302553830727942 Centerline is valid? [True, True] Translation: X:51.21, Y:-1.68, Z:-2.23 [[ 9.97174716e-01 6.95889639e-02 2.82836145e-02 5.12108207e+01] [-6.95496944e-02 9.97575670e-01 -2.37100535e-03 -1.67988672e+00] [-2.83800415e-02 3.97189833e-04 9.99597127e-01 -2.22718095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78264 meters 0.017380739903133484 Centerline is valid? [True, True] Translation: X:51.27, Y:-1.68, Z:-2.23 [[ 9.96917375e-01 7.29871741e-02 2.87857431e-02 5.12723391e+01] [-7.29477298e-02 9.97332831e-01 -2.41944880e-03 -1.68406724e+00] [-2.88855554e-02 3.12135941e-04 9.99582677e-01 -2.22873156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.842639999999996 meters 0.01398499121550784 Centerline is valid? [True, True] Translation: X:51.33, Y:-1.68, Z:-2.23 [[ 9.96283580e-01 8.08918359e-02 2.95895118e-02 5.13333098e+01] [-8.08534158e-02 9.96722881e-01 -2.49457612e-03 -1.68286504e+00] [-2.96943343e-02 9.28921326e-05 9.99559022e-01 -2.23223179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90264 meters 0.01676488352034464 Centerline is valid? [True, True] Translation: X:51.40, Y:-1.67, Z:-2.24 [[ 9.95362927e-01 9.15806382e-02 2.94216025e-02 5.13957719e+01] [-9.15473539e-02 9.95797638e-01 -2.47916832e-03 -1.67331364e+00] [-2.95250061e-02 -2.25797624e-04 9.99564016e-01 -2.23626961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96264 meters 0.022420716283394065 Centerline is valid? [True, True] Translation: X:51.46, Y:-1.67, Z:-2.24 [[ 9.94701361e-01 9.87251757e-02 2.86799867e-02 5.14574311e+01] [-9.86963281e-02 9.95114648e-01 -2.42317488e-03 -1.66760533e+00] [-2.87791032e-02 -4.20274023e-04 9.99585707e-01 -2.23985626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.022639999999996 meters 0.029349061773640585 Centerline is valid? [True, True] Translation: X:51.52, Y:-1.66, Z:-2.24 [[ 9.93931309e-01 1.06377861e-01 2.80054203e-02 5.15188289e+01] [-1.06353374e-01 9.94325580e-01 -2.36666492e-03 -1.66106522e+00] [-2.80982665e-02 -6.26168586e-04 9.99604970e-01 -2.24394785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08264 meters 0.03482137687817644 Centerline is valid? [True, True] Translation: X:51.58, Y:-1.66, Z:-2.25 [[ 9.93704092e-01 1.08400529e-01 2.83108365e-02 5.15774700e+01] [-1.08376301e-01 9.94107061e-01 -2.39335446e-03 -1.65636674e+00] [-2.84034434e-02 -6.89937622e-04 9.99596303e-01 -2.24930222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14264 meters 0.029646238351325602 Centerline is valid? [True, True] Translation: X:51.64, Y:-1.67, Z:-2.25 [[ 9.93985080e-01 1.05843982e-01 2.81196034e-02 5.16369712e+01] [-1.05819112e-01 9.94382559e-01 -2.37524893e-03 -1.66591907e+00] [-2.82130490e-02 -6.14629461e-04 9.99601744e-01 -2.25123967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.202639999999995 meters 0.027549022606653636 Centerline is valid? [True, True] Translation: X:51.70, Y:-1.67, Z:-2.26 [[ 9.94266380e-01 1.03257253e-01 2.77903668e-02 5.16964387e+01] [-1.03231967e-01 9.94654540e-01 -2.34691044e-03 -1.67446020e+00] [-2.78841500e-02 -5.35400068e-04 9.99611018e-01 -2.25619181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26264 meters 0.02507136603686252 Centerline is valid? [True, True] Translation: X:51.76, Y:-1.68, Z:-2.26 [[ 9.94495537e-01 1.00859356e-01 2.83904554e-02 5.17567028e+01] [-1.00831989e-01 9.94900579e-01 -2.39758822e-03 -1.67971949e+00] [-2.84874997e-02 -4.78275297e-04 9.99594034e-01 -2.25809362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32264 meters 0.023917762847422336 Centerline is valid? [True, True] Translation: X:51.82, Y:-1.69, Z:-2.26 [[ 9.94569316e-01 1.00262891e-01 2.79146756e-02 5.18174708e+01] [-1.00236210e-01 9.94960877e-01 -2.35700386e-03 -1.68555235e+00] [-2.80103302e-02 -4.53857564e-04 9.99607531e-01 -2.26039699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.382639999999995 meters 0.022927536603041872 Centerline is valid? [True, True] Translation: X:51.88, Y:-1.69, Z:-2.26 [[ 9.94628772e-01 9.92300729e-02 2.94448448e-02 5.18775386e+01] [-9.91999004e-02 9.95064416e-01 -2.48734328e-03 -1.68755265e+00] [-2.95463365e-02 -4.46942473e-04 9.99563312e-01 -2.26152337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44264 meters 0.02197518035632012 Centerline is valid? [True, True] Translation: X:51.94, Y:-1.69, Z:-2.26 [[ 9.94819980e-01 9.69658747e-02 3.05094604e-02 5.19378228e+01] [-9.69324212e-02 9.95287629e-01 -2.57710964e-03 -1.69179469e+00] [-3.06155802e-02 -3.93595714e-04 9.99531156e-01 -2.26452607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50264 meters 0.017393345896356924 Centerline is valid? [True, True] Translation: X:52.00, Y:-1.70, Z:-2.27 [[ 9.95197086e-01 9.31364582e-02 3.01390082e-02 5.19996660e+01] [-9.31020667e-02 9.95653316e-01 -2.54547038e-03 -1.70315936e+00] [-3.02450795e-02 -2.72759245e-04 9.99542476e-01 -2.26619344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.562639999999995 meters 0.014743495751382289 Centerline is valid? [True, True] Translation: X:52.06, Y:-1.71, Z:-2.27 [[ 9.95544173e-01 8.94650224e-02 2.97961287e-02 5.20611244e+01] [-8.94297619e-02 9.95989952e-01 -2.51659985e-03 -1.71492322e+00] [-2.99017925e-02 -1.59274382e-04 9.99552829e-01 -2.26869166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62264 meters 0.01360315190624288 Centerline is valid? [True, True] Translation: X:52.12, Y:-1.73, Z:-2.27 [[ 9.95799259e-01 8.65078931e-02 3.00036642e-02 5.21222465e+01] [-8.64706415e-02 9.96251163e-01 -2.53930522e-03 -1.72576882e+00] [-3.01108553e-02 -6.57978408e-05 9.99546563e-01 -2.27038594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68264 meters 0.013605448685884498 Centerline is valid? [True, True] Translation: X:52.18, Y:-1.73, Z:-2.27 [[ 9.95735013e-01 8.71499098e-02 3.02766739e-02 5.21846659e+01] [-8.71121236e-02 9.96195205e-01 -2.56734567e-03 -1.73087921e+00] [-3.03852213e-02 -8.10693826e-05 9.99538259e-01 -2.27277786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.742639999999994 meters 0.015404143070433467 Centerline is valid? [True, True] Translation: X:52.25, Y:-1.73, Z:-2.28 [[ 9.95551461e-01 8.94044078e-02 2.97344992e-02 5.22458199e+01] [-8.93687794e-02 9.95995398e-01 -2.52769913e-03 -1.73238331e+00] [-2.98414118e-02 -1.40881337e-04 9.99554636e-01 -2.27897189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80264 meters 0.0326076316482716 Centerline is valid? [True, True] Translation: X:52.31, Y:-1.73, Z:-2.28 [[ 9.95225192e-01 9.25143042e-02 3.11114130e-02 5.23070136e+01] [-9.24766238e-02 9.95711327e-01 -2.65095125e-03 -1.73437087e+00] [-3.12232372e-02 -2.38784962e-04 9.99512407e-01 -2.27951657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86264 meters 0.017878450557029135 Centerline is valid? [True, True] Translation: X:52.37, Y:-1.74, Z:-2.28 [[ 9.94991412e-01 9.50665096e-02 3.08941520e-02 5.23685826e+01] [-9.50305235e-02 9.95470873e-01 -2.63436687e-03 -1.73874599e+00] [-3.10046686e-02 -3.14715026e-04 9.99519190e-01 -2.28085094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.922639999999994 meters 0.019640050900816768 Centerline is valid? [True, True] Translation: X:52.43, Y:-1.74, Z:-2.29 [[ 9.94827156e-01 9.69497835e-02 3.03260476e-02 5.24302810e+01] [-9.69158446e-02 9.95289208e-01 -2.59048851e-03 -1.73976165e+00] [-3.04343352e-02 -3.61986196e-04 9.99536703e-01 -2.28541066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.982639999999996 meters 0.020288293308787887 Centerline is valid? [True, True] Translation: X:52.49, Y:-1.74, Z:-2.29 [[ 9.94626860e-01 9.91452870e-02 2.97929723e-02 5.24917122e+01] [-9.91133251e-02 9.95072882e-01 -2.55131043e-03 -1.74255091e+00] [-2.98991292e-02 -4.15278668e-04 9.99552835e-01 -2.28759603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04264 meters 0.024188317188308647 Centerline is valid? [True, True] Translation: X:52.55, Y:-1.74, Z:-2.30 [[ 9.94654742e-01 9.90151414e-02 2.92907265e-02 5.25520778e+01] [-9.89841653e-02 9.95085845e-01 -2.50919911e-03 -1.74299506e+00] [-2.93952360e-02 -4.03531325e-04 9.99567785e-01 -2.29682841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.10264 meters 0.029053445983317258 Centerline is valid? [True, True] Translation: X:52.61, Y:-1.76, Z:-2.30 [[ 9.94966397e-01 9.58822616e-02 2.91283334e-02 5.26127468e+01] [-9.58502807e-02 9.95392634e-01 -2.49545743e-03 -1.75755939e+00] [-2.92333987e-02 -3.09062650e-04 9.99572565e-01 -2.29518699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.162639999999996 meters 0.019917285434823215 Centerline is valid? [True, True] Translation: X:52.67, Y:-1.77, Z:-2.30 [[ 9.95156368e-01 9.37671269e-02 2.95216807e-02 5.26741413e+01] [-9.37333899e-02 9.95594125e-01 -2.52766494e-03 -1.76755455e+00] [-2.96286237e-02 -2.51745342e-04 9.99560944e-01 -2.29669763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22264 meters 0.015697448515560184 Centerline is valid? [True, True] Translation: X:52.74, Y:-1.78, Z:-2.30 [[ 9.95311805e-01 9.20826656e-02 2.95836681e-02 5.27350500e+01] [-9.20478868e-02 9.95751346e-01 -2.53822330e-03 -1.77585903e+00] [-2.96917037e-02 -1.96790510e-04 9.99559085e-01 -2.30000138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28264 meters 0.014771781297093967 Centerline is valid? [True, True] Translation: X:52.80, Y:-1.79, Z:-2.30 [[ 9.95376312e-01 9.10688441e-02 3.05362720e-02 5.27962779e+01] [-9.10311622e-02 9.95844585e-01 -2.62483752e-03 -1.78525609e+00] [-3.06484221e-02 -1.67051245e-04 9.99530213e-01 -2.30073306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.342639999999996 meters 0.021947398483654935 Centerline is valid? [True, True] Translation: X:52.86, Y:-1.79, Z:-2.30 [[ 9.95249874e-01 9.25993409e-02 3.00507913e-02 5.28588856e+01] [-9.25634015e-02 9.95703430e-01 -2.58787475e-03 -1.78857235e+00] [-3.01613114e-02 -2.06021435e-04 9.99545023e-01 -2.30108049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40264 meters 0.023794381378044998 Centerline is valid? [True, True] Translation: X:52.92, Y:-1.79, Z:-2.30 [[ 9.94735421e-01 9.77428926e-02 3.07858563e-02 5.29206210e+01] [-9.77074298e-02 9.95211633e-01 -2.65779208e-03 -1.78650894e+00] [-3.08982226e-02 -3.64206978e-04 9.99522470e-01 -2.30439034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46264 meters 0.023979889448467157 Centerline is valid? [True, True] Translation: X:52.98, Y:-1.78, Z:-2.31 [[ 9.94119018e-01 1.03681686e-01 3.12647589e-02 5.29822597e+01] [-1.03647918e-01 9.94610377e-01 -2.70317276e-03 -1.78090298e+00] [-3.13765231e-02 -5.53251730e-04 9.99507483e-01 -2.30509093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.522639999999996 meters 0.02788229257906813 Centerline is valid? [True, True] Translation: X:53.04, Y:-1.78, Z:-2.31 [[ 9.93583985e-01 1.08728337e-01 3.11289802e-02 5.30427632e+01] [-1.08697314e-01 9.94071248e-01 -2.69214165e-03 -1.77501403e+00] [-3.12371363e-02 -7.08767703e-04 9.99511750e-01 -2.30733447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58264 meters 0.03200936952749561 Centerline is valid? [True, True] Translation: X:53.10, Y:-1.77, Z:-2.31 [[ 9.93467118e-01 1.10053076e-01 3.01895097e-02 5.31015942e+01] [-1.10024509e-01 9.93925445e-01 -2.61089013e-03 -1.77116846e+00] [-3.02934584e-02 -7.27752485e-04 9.99540783e-01 -2.31451614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64264 meters 0.02918025806181075 Centerline is valid? [True, True] Translation: X:53.16, Y:-1.78, Z:-2.32 [[ 9.93743178e-01 1.07915507e-01 2.87878539e-02 5.31606872e+01] [-1.07888669e-01 9.94159868e-01 -2.48846763e-03 -1.77571118e+00] [-2.88882732e-02 -6.32985499e-04 9.99582446e-01 -2.31919307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.702639999999995 meters 0.02458601821489817 Centerline is valid? [True, True] Translation: X:53.22, Y:-1.78, Z:-2.32 [[ 9.94246803e-01 1.03205852e-01 2.86678587e-02 5.32201602e+01] [-1.03177305e-01 9.94659895e-01 -2.47721059e-03 -1.78283623e+00] [-2.87704320e-02 -4.94913693e-04 9.99585923e-01 -2.32273196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76264 meters 0.024539580343306066 Centerline is valid? [True, True] Translation: X:53.28, Y:-1.79, Z:-2.33 [[ 9.94571109e-01 1.00241393e-01 2.79279854e-02 5.32791555e+01] [-1.00213136e-01 9.94963067e-01 -2.41315497e-03 -1.78996393e+00] [-2.80292120e-02 -3.98696783e-04 9.99607025e-01 -2.32647783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82264 meters 0.018296433337783004 Centerline is valid? [True, True] Translation: X:53.34, Y:-1.80, Z:-2.33 [[ 9.95012580e-01 9.59242701e-02 2.73587374e-02 5.33394014e+01] [-9.58955498e-02 9.95388598e-01 -2.36291286e-03 -1.79648386e+00] [-2.74592359e-02 -2.72453143e-04 9.99622887e-01 -2.33038906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.882639999999995 meters 0.025184488745125497 Centerline is valid? [True, True] Translation: X:53.40, Y:-1.80, Z:-2.33 [[ 9.95360389e-01 9.19114047e-02 2.84603005e-02 5.33979922e+01] [-9.18786786e-02 9.95767174e-01 -2.45824812e-03 -1.80452093e+00] [-2.85657740e-02 -1.68051996e-04 9.99591901e-01 -2.33367312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94264 meters 0.013969411269129279 Centerline is valid? [True, True] Translation: X:53.46, Y:-1.81, Z:-2.33 [[ 9.95709504e-01 8.76276492e-02 2.97317961e-02 5.34584523e+01] [-8.75900504e-02 9.96153298e-01 -2.56715722e-03 -1.81443810e+00] [-2.98423807e-02 -4.80666779e-05 9.99554616e-01 -2.33351915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00264 meters 0.02764007092004427 Centerline is valid? [True, True] Translation: X:53.52, Y:-1.82, Z:-2.33 [[ 9.95784110e-01 8.65026823e-02 3.05170903e-02 5.35208037e+01] [-8.64625820e-02 9.96251618e-01 -2.63367121e-03 -1.82089091e+00] [-3.06305202e-02 -1.60184788e-05 9.99530775e-01 -2.33368441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.062639999999995 meters 0.013131448982406636 Centerline is valid? [True, True] Translation: X:53.58, Y:-1.82, Z:-2.33 [[ 9.95654060e-01 8.78493866e-02 3.09108105e-02 5.35834227e+01] [-8.78087319e-02 9.96133767e-01 -2.67285048e-03 -1.82318825e+00] [-3.10261103e-02 -5.30046403e-05 9.99518573e-01 -2.33444593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12264 meters 0.01399870207585754 Centerline is valid? [True, True] Translation: X:53.64, Y:-1.82, Z:-2.34 [[ 9.95413319e-01 9.04905826e-02 3.10448003e-02 5.36448018e+01] [-9.04506566e-02 9.95897303e-01 -2.69091321e-03 -1.82377172e+00] [-3.11609351e-02 -1.29451720e-04 9.99514372e-01 -2.33787794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18264 meters 0.014343324415404176 Centerline is valid? [True, True] Translation: X:53.71, Y:-1.83, Z:-2.34 [[ 9.95308321e-01 9.13950820e-02 3.17535182e-02 5.37052633e+01] [-9.13536352e-02 9.95814699e-01 -2.75663199e-03 -1.82890817e+00] [-3.18725627e-02 -1.57100558e-04 9.99491928e-01 -2.34004979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.242639999999994 meters 0.013770918999473077 Centerline is valid? [True, True] Translation: X:53.77, Y:-1.83, Z:-2.34 [[ 9.95274177e-01 9.12515882e-02 3.32033092e-02 5.37662139e+01] [-9.12061800e-02 9.95827858e-01 -2.88277796e-03 -1.83449475e+00] [-3.33278383e-02 -1.59192528e-04 9.99444461e-01 -2.33923162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30264 meters 0.014078561630209364 Centerline is valid? [True, True] Translation: X:53.83, Y:-1.84, Z:-2.34 [[ 9.95085638e-01 9.25035573e-02 3.53223145e-02 5.38274382e+01] [-9.24529658e-02 9.95712331e-01 -3.06645362e-03 -1.83952671e+00] [-3.54545220e-02 -2.14268784e-04 9.99371268e-01 -2.33855192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36264 meters 0.015743648913270934 Centerline is valid? [True, True] Translation: X:53.89, Y:-1.84, Z:-2.34 [[ 9.94801967e-01 9.56775241e-02 3.48548197e-02 5.38892715e+01] [-9.56300262e-02 9.95412332e-01 -3.03112073e-03 -1.84185257e+00] [-3.49849275e-02 -3.17802464e-04 9.99387790e-01 -2.34240362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.422639999999994 meters 0.022355350433142553 Centerline is valid? [True, True] Translation: X:53.95, Y:-1.84, Z:-2.35 [[ 9.94117692e-01 1.03054211e-01 3.33143325e-02 5.39502441e+01] [-1.03014724e-01 9.94675592e-01 -2.90409832e-03 -1.83607819e+00] [-3.34362330e-02 -5.44851254e-04 9.99440704e-01 -2.34905392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.482639999999996 meters 0.028771274810422007 Centerline is valid? [True, True] Translation: X:54.01, Y:-1.83, Z:-2.35 [[ 9.93310374e-01 1.10699973e-01 3.28636099e-02 5.40107400e+01] [-1.10665675e-01 9.93853557e-01 -2.86636444e-03 -1.82738913e+00] [-3.29789220e-02 -7.89684039e-04 9.99455735e-01 -2.35358170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54264 meters 0.03470281582588573 Centerline is valid? [True, True] Translation: X:54.07, Y:-1.82, Z:-2.36 [[ 9.93120769e-01 1.12556231e-01 3.22836454e-02 5.40691806e+01] [-1.12524111e-01 9.93645005e-01 -2.81584581e-03 -1.82262907e+00] [-3.23954240e-02 -8.36213531e-04 9.99474781e-01 -2.36018852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.602639999999994 meters 0.029145050742357004 Centerline is valid? [True, True] Translation: X:54.13, Y:-1.83, Z:-2.36 [[ 9.93370068e-01 1.10247255e-01 3.25799234e-02 5.41277189e+01] [-1.10213354e-01 9.93903894e-01 -2.84005361e-03 -1.82993268e+00] [-3.26944209e-02 -7.69518391e-04 9.99465098e-01 -2.36078872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.662639999999996 meters 0.02745207064409603 Centerline is valid? [True, True] Translation: X:54.19, Y:-1.84, Z:-2.37 [[ 9.93880363e-01 1.05849750e-01 3.15856642e-02 5.41859362e+01] [-1.05815720e-01 9.94381950e-01 -2.75171403e-03 -1.83593103e+00] [-3.16994826e-02 -6.07385257e-04 9.99497261e-01 -2.36688652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72264 meters 0.02327052493419456 Centerline is valid? [True, True] Translation: X:54.25, Y:-1.84, Z:-2.37 [[ 9.94156575e-01 1.03030451e-01 3.22091660e-02 5.42451978e+01] [-1.02993629e-01 9.94678062e-01 -2.80466256e-03 -1.84403341e+00] [-3.23267164e-02 -5.29065183e-04 9.99477215e-01 -2.36723552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78264 meters 0.021155282396363065 Centerline is valid? [True, True] Translation: X:54.30, Y:-1.85, Z:-2.37 [[ 9.94323708e-01 1.01410738e-01 3.21904742e-02 5.43047400e+01] [-1.01373135e-01 9.94844528e-01 -2.80226751e-03 -1.84943027e+00] [-3.23086972e-02 -4.76888284e-04 9.99477824e-01 -2.36951735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.842639999999996 meters 0.01795861245020248 Centerline is valid? [True, True] Translation: X:54.36, Y:-1.86, Z:-2.37 [[ 9.94689832e-01 9.77373402e-02 3.22420546e-02 5.43638208e+01] [-9.76977122e-02 9.95212180e-01 -2.80597483e-03 -1.85822384e+00] [-3.23619340e-02 -3.58900343e-04 9.99476151e-01 -2.37278462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90264 meters 0.01638392559335362 Centerline is valid? [True, True] Translation: X:54.42, Y:-1.86, Z:-2.37 [[ 9.94907910e-01 9.51967778e-02 3.31032284e-02 5.44227355e+01] [-9.51536261e-02 9.95458433e-01 -2.88008384e-03 -1.86429745e+00] [-3.32270626e-02 -2.84474028e-04 9.99447788e-01 -2.37445911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96264 meters 0.014943008343670607 Centerline is valid? [True, True] Translation: X:54.48, Y:-1.87, Z:-2.38 [[ 9.95050571e-01 9.36114145e-02 3.33356251e-02 5.44826456e+01] [-9.35668013e-02 9.95608783e-01 -2.89922098e-03 -1.87173887e+00] [-3.34606413e-02 -2.34236319e-04 9.99440009e-01 -2.37586027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.022639999999996 meters 0.01449841077273945 Centerline is valid? [True, True] Translation: X:54.54, Y:-1.88, Z:-2.38 [[ 9.95089174e-01 9.28425602e-02 3.43190170e-02 5.45424277e+01] [-9.27948140e-02 9.95680779e-01 -2.98487060e-03 -1.87599495e+00] [-3.44479086e-02 -2.14414385e-04 9.99406472e-01 -2.37700129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08264 meters 0.014218386022336608 Centerline is valid? [True, True] Translation: X:54.60, Y:-1.88, Z:-2.38 [[ 9.95134607e-01 9.24425631e-02 3.40806006e-02 5.46022424e+01] [-9.23952618e-02 9.95717999e-01 -2.96360509e-03 -1.88086911e+00] [-3.42086306e-02 -1.99700032e-04 9.99414694e-01 -2.37959547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14264 meters 0.013692337014200313 Centerline is valid? [True, True] Translation: X:54.66, Y:-1.89, Z:-2.38 [[ 9.95280099e-01 9.11675536e-02 3.32566174e-02 5.46628921e+01] [-9.11218099e-02 9.95835556e-01 -2.89168062e-03 -1.88901118e+00] [-3.33817495e-02 -1.52370996e-04 9.99442662e-01 -2.38388700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.202639999999995 meters 0.013772557370253739 Centerline is valid? [True, True] Translation: X:54.72, Y:-1.89, Z:-2.39 [[ 9.95275446e-01 9.16964365e-02 3.19147459e-02 5.47240395e+01] [-9.16545597e-02 9.95786994e-01 -2.77571020e-03 -1.89244833e+00] [-3.20348116e-02 -1.62535781e-04 9.99486740e-01 -2.38752354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26264 meters 0.01487322740629647 Centerline is valid? [True, True] Translation: X:54.78, Y:-1.89, Z:-2.39 [[ 9.95134786e-01 9.30578603e-02 3.23572539e-02 5.47834789e+01] [-9.30154918e-02 9.95660681e-01 -2.81547224e-03 -1.89297015e+00] [-3.24788473e-02 -2.07951524e-04 9.99472401e-01 -2.39119351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32264 meters 0.015743446788349266 Centerline is valid? [True, True] Translation: X:54.84, Y:-1.90, Z:-2.39 [[ 9.95027343e-01 9.39510666e-02 3.30724067e-02 5.48429673e+01] [-9.39073213e-02 9.95576787e-01 -2.87697959e-03 -1.89569168e+00] [-3.31964157e-02 -2.43067764e-04 9.99448818e-01 -2.39380900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.382639999999995 meters 0.024369211576518314 Centerline is valid? [True, True] Translation: X:54.90, Y:-1.90, Z:-2.40 [[ 9.94813201e-01 9.59284177e-02 3.38294665e-02 5.49030947e+01] [-9.58837632e-02 9.95388185e-01 -2.94359429e-03 -1.89642722e+00] [-3.39558256e-02 -3.15370099e-04 9.99423285e-01 -2.39554694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44264 meters 0.020877493055827857 Centerline is valid? [True, True] Translation: X:54.96, Y:-1.89, Z:-2.40 [[ 9.94388541e-01 1.00580178e-01 3.27880660e-02 5.49633505e+01] [-1.00540765e-01 9.94928850e-01 -2.85274543e-03 -1.89033875e+00] [-3.29087224e-02 -4.59799865e-04 9.99458256e-01 -2.39795649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50264 meters 0.030528986884074797 Centerline is valid? [True, True] Translation: X:55.02, Y:-1.87, Z:-2.40 [[ 9.93448312e-01 1.09252467e-01 3.35313150e-02 5.50246035e+01] [-1.09216211e-01 9.94013739e-01 -2.91646119e-03 -1.87322784e+00] [-3.36492183e-02 -7.64809732e-04 9.99433412e-01 -2.40011544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.562639999999995 meters 0.03383114515529166 Centerline is valid? [True, True] Translation: X:55.09, Y:-1.87, Z:-2.40 [[ 9.92886255e-01 1.14431701e-01 3.28978829e-02 5.50856979e+01] [-1.14399652e-01 9.93430689e-01 -2.86103713e-03 -1.86674545e+00] [-3.30091598e-02 -9.22821906e-04 9.99454623e-01 -2.40323288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62264 meters 0.03740373001010605 Centerline is valid? [True, True] Translation: X:55.15, Y:-1.86, Z:-2.41 [[ 9.92626939e-01 1.17121078e-01 3.12155829e-02 5.51460291e+01] [-1.17093556e-01 9.93117179e-01 -2.71455254e-03 -1.85548998e+00] [-3.13186629e-02 -9.60605615e-04 9.99508989e-01 -2.41007719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68264 meters 0.029062707471271248 Centerline is valid? [True, True] Translation: X:55.21, Y:-1.86, Z:-2.41 [[ 9.93299853e-01 1.11231544e-01 3.13519484e-02 5.52062483e+01] [-1.11200898e-01 9.93794212e-01 -2.72484211e-03 -1.86379089e+00] [-3.14604732e-02 -7.79779552e-04 9.99504693e-01 -2.41224232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.742639999999994 meters 0.021632141824682368 Centerline is valid? [True, True] Translation: X:55.26, Y:-1.88, Z:-2.41 [[ 9.94175560e-01 1.02761433e-01 3.24814303e-02 5.52649189e+01] [-1.02724018e-01 9.94705890e-01 -2.82297165e-03 -1.87522809e+00] [-3.25995626e-02 -5.30093624e-04 9.99468352e-01 -2.41345530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80264 meters 0.012273302685296443 Centerline is valid? [True, True] Translation: X:55.32, Y:-1.90, Z:-2.41 [[ 9.95662832e-01 8.66250471e-02 3.39356090e-02 5.53223138e+01] [-8.65748390e-02 9.96240986e-01 -2.94890575e-03 -1.89646816e+00] [-3.40634936e-02 -1.85403605e-06 9.99419671e-01 -2.41401014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86264 meters 0.025160359683993418 Centerline is valid? [True, True] Translation: X:55.38, Y:-1.92, Z:-2.42 [[ 9.96777030e-01 7.21667467e-02 3.50358737e-02 5.53814751e+01] [-7.21043345e-02 9.97392452e-01 -3.04328182e-03 -1.92127320e+00] [-3.51641397e-02 5.07235064e-04 9.99381422e-01 -2.41618633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.922639999999994 meters 0.02502463249108495 Centerline is valid? [True, True] Translation: X:55.44, Y:-1.94, Z:-2.42 [[ 9.97269005e-01 6.57198018e-02 3.36962891e-02 5.54410251e+01] [-6.56583800e-02 9.97837867e-01 -2.92731088e-03 -1.93597460e+00] [-3.38158155e-02 7.06872650e-04 9.99427832e-01 -2.41914389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.982639999999996 meters 0.03017748537659593 Centerline is valid? [True, True] Translation: X:55.50, Y:-1.95, Z:-2.42 [[ 9.97634071e-01 6.09682277e-02 3.17669072e-02 5.54995739e+01] [-6.09112352e-02 9.98139372e-01 -2.75963126e-03 -1.95145459e+00] [-3.18760506e-02 8.18140608e-04 9.99491495e-01 -2.42475824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04264 meters 0.032758661507287894 Centerline is valid? [True, True] Translation: X:55.56, Y:-1.97, Z:-2.43 [[ 9.97754506e-01 5.83563185e-02 3.28707512e-02 5.55609607e+01] [-5.82938292e-02 9.98295381e-01 -2.85702017e-03 -1.96760170e+00] [-3.29814443e-02 9.34442786e-04 9.99455527e-01 -2.42567923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.102639999999994 meters 0.030762480705407668 Centerline is valid? [True, True] Translation: X:55.62, Y:-1.98, Z:-2.43 [[ 9.97624793e-01 6.05986244e-02 3.27502522e-02 5.56225151e+01] [-6.05377949e-02 9.98161846e-01 -2.84668871e-03 -1.98024888e+00] [-3.28625577e-02 8.57299186e-04 9.99459513e-01 -2.42843677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.162639999999996 meters 0.026656416735182268 Centerline is valid? [True, True] Translation: X:55.68, Y:-1.98, Z:-2.43 [[ 9.97366979e-01 6.51315444e-02 3.18902954e-02 5.56837570e+01] [-6.50759630e-02 9.97876444e-01 -2.77881610e-03 -1.98404016e+00] [-3.20035631e-02 6.96207742e-04 9.99487512e-01 -2.43227747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22264 meters 0.018434246710613906 Centerline is valid? [True, True] Translation: X:55.74, Y:-1.99, Z:-2.44 [[ 9.96778599e-01 7.39027897e-02 3.11576934e-02 5.57440942e+01] [-7.38539814e-02 9.97265367e-01 -2.71600750e-03 -1.98668786e+00] [-3.12732091e-02 4.06138446e-04 9.99510791e-01 -2.43540645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28264 meters 0.015156259682803394 Centerline is valid? [True, True] Translation: X:55.81, Y:-1.99, Z:-2.44 [[ 9.96357132e-01 7.97323630e-02 3.02525487e-02 5.58064139e+01] [-7.96891089e-02 9.96816284e-01 -2.63468034e-03 -1.98964371e+00] [-3.03663024e-02 2.14283902e-04 9.99538815e-01 -2.43976302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.342639999999996 meters 0.012958394868288309 Centerline is valid? [True, True] Translation: X:55.87, Y:-2.00, Z:-2.44 [[ 9.95938911e-01 8.46779767e-02 3.05830827e-02 5.58680920e+01] [-8.46359446e-02 9.96408368e-01 -2.66860026e-03 -1.99845930e+00] [-3.06992112e-02 6.93347454e-05 9.99528666e-01 -2.44008184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40264 meters 0.013146821867048686 Centerline is valid? [True, True] Translation: X:55.93, Y:-2.01, Z:-2.44 [[ 9.95710530e-01 8.70705005e-02 3.12932716e-02 5.59282976e+01] [-8.70274900e-02 9.96202152e-01 -2.73642897e-03 -2.00990088e+00] [-3.14126868e-02 1.31625516e-06 9.99506500e-01 -2.44374698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46264 meters 0.029125998481285196 Centerline is valid? [True, True] Translation: X:55.99, Y:-2.02, Z:-2.45 [[ 9.95396116e-01 9.02649474e-02 3.22306051e-02 5.59877588e+01] [-9.02207775e-02 9.95917783e-01 -2.82510426e-03 -2.01880672e+00] [-3.23540406e-02 -9.57724427e-05 9.99476466e-01 -2.44907752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.522639999999996 meters 0.015727081223822492 Centerline is valid? [True, True] Translation: X:56.05, Y:-2.02, Z:-2.45 [[ 9.95084593e-01 9.39445718e-02 3.13220559e-02 5.60488027e+01] [-9.39046061e-02 9.95577408e-01 -2.74779414e-03 -2.02406428e+00] [-3.14416716e-02 -2.06997711e-04 9.99505567e-01 -2.44910155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58264 meters 0.01899631949910236 Centerline is valid? [True, True] Translation: X:56.11, Y:-2.03, Z:-2.45 [[ 9.94519242e-01 9.95794877e-02 3.18653938e-02 5.61093646e+01] [-9.95409794e-02 9.95029534e-01 -2.79650926e-03 -2.02779836e+00] [-3.19854829e-02 -3.90730243e-04 9.99488257e-01 -2.44892119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64264 meters 0.02442584446391197 Centerline is valid? [True, True] Translation: X:56.17, Y:-2.03, Z:-2.45 [[ 9.94037168e-01 1.04445633e-01 3.13243903e-02 5.61684948e+01] [-1.04410825e-01 9.94530452e-01 -2.74935157e-03 -2.02685439e+00] [-3.14402178e-02 -5.37647783e-04 9.99505490e-01 -2.45352783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.702639999999995 meters 0.025143539596536493 Centerline is valid? [True, True] Translation: X:56.23, Y:-2.03, Z:-2.46 [[ 9.93956533e-01 1.05691710e-01 2.96592958e-02 5.62272966e+01] [-1.05661073e-01 9.94398795e-01 -2.60273447e-03 -2.03249989e+00] [-2.97682554e-02 -5.46828079e-04 9.99556678e-01 -2.45797145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76264 meters 0.023301551996348497 Centerline is valid? [True, True] Translation: X:56.29, Y:-2.04, Z:-2.46 [[ 9.94082283e-01 1.04358125e-01 3.01628457e-02 5.62864832e+01] [-1.04325864e-01 9.94539650e-01 -2.64562507e-03 -2.04243337e+00] [-3.02742385e-02 -5.16795946e-04 9.99541497e-01 -2.45917611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82264 meters 0.0244848003610241 Centerline is valid? [True, True] Translation: X:56.35, Y:-2.05, Z:-2.46 [[ 9.94485419e-01 1.00391064e-01 3.03378758e-02 5.63453840e+01] [-1.00356610e-01 9.94947976e-01 -2.66004213e-03 -2.05401607e+00] [-3.04516525e-02 -3.99233259e-04 9.99536161e-01 -2.46277801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.882639999999995 meters 0.017960174941197223 Centerline is valid? [True, True] Translation: X:56.41, Y:-2.06, Z:-2.46 [[ 9.94641713e-01 9.86011821e-02 3.10752102e-02 5.64051347e+01] [-9.85641774e-02 9.95126968e-01 -2.72413454e-03 -2.06407295e+00] [-3.11923826e-02 -3.53364683e-04 9.99513337e-01 -2.46086938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94264 meters 0.017547885538457396 Centerline is valid? [True, True] Translation: X:56.46, Y:-2.07, Z:-2.46 [[ 9.94779899e-01 9.70919753e-02 3.14022429e-02 5.64640956e+01] [-9.70534307e-02 9.95275365e-01 -2.75296428e-03 -2.07183244e+00] [-3.15211695e-02 -3.09101876e-04 9.99503037e-01 -2.46356430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00264 meters 0.017056703547764517 Centerline is valid? [True, True] Translation: X:56.52, Y:-2.08, Z:-2.47 [[ 9.94793303e-01 9.69690941e-02 3.13572946e-02 5.65242275e+01] [-9.69306158e-02 9.95287346e-01 -2.74848124e-03 -2.07861743e+00] [-3.14760363e-02 -3.05311150e-04 9.99504460e-01 -2.46599584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.062639999999995 meters 0.018610441624124882 Centerline is valid? [True, True] Translation: X:56.58, Y:-2.08, Z:-2.47 [[ 9.94692887e-01 9.86296222e-02 2.92960465e-02 5.65849987e+01] [-9.85967680e-02 9.95124156e-01 -2.56743773e-03 -2.08392251e+00] [-2.94064289e-02 -3.34683451e-04 9.99567481e-01 -2.47139766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12264 meters 0.024075640368760465 Centerline is valid? [True, True] Translation: X:56.64, Y:-2.08, Z:-2.48 [[ 9.94256507e-01 1.03350731e-01 2.77961345e-02 5.66446213e+01] [-1.03322979e-01 9.94644874e-01 -2.43668228e-03 -2.08040088e+00] [-2.78991155e-02 -4.49292205e-04 9.99610643e-01 -2.47706639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18264 meters 0.028060185588786913 Centerline is valid? [True, True] Translation: X:56.70, Y:-2.08, Z:-2.48 [[ 9.93771589e-01 1.07714663e-01 2.85583724e-02 5.67042390e+01] [-1.07687126e-01 9.94181678e-01 -2.50500376e-03 -2.07756095e+00] [-2.86620362e-02 -5.85967471e-04 9.99588988e-01 -2.47765731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.242639999999994 meters 0.03746515513220224 Centerline is valid? [True, True] Translation: X:56.76, Y:-2.08, Z:-2.48 [[ 9.93231727e-01 1.12446481e-01 2.90951003e-02 5.67644762e+01] [-1.12419963e-01 9.93657509e-01 -2.55084368e-03 -2.07575391e+00] [-2.91973983e-02 -7.37291220e-04 9.99573393e-01 -2.47834285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30264 meters 0.03621646668600333 Centerline is valid? [True, True] Translation: X:56.82, Y:-2.07, Z:-2.48 [[ 9.92912804e-01 1.15012974e-01 2.99362546e-02 5.68236560e+01] [-1.14986083e-01 9.93363637e-01 -2.62397316e-03 -2.06636939e+00] [-3.00393777e-02 -8.36876119e-04 9.99548366e-01 -2.48033604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36264 meters 0.030895988994613436 Centerline is valid? [True, True] Translation: X:56.88, Y:-2.08, Z:-2.49 [[ 9.92889548e-01 1.14025441e-01 3.41839796e-02 5.68796872e+01] [-1.14490099e-01 9.93352489e-01 1.19520146e-02 -2.08101447e+00] [-3.25939074e-02 -1.57807576e-02 9.99344087e-01 -2.48514428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.422639999999994 meters 0.03307703013535358 Centerline is valid? [True, True] Translation: X:56.94, Y:-2.06, Z:-2.49 [[ 9.93108202e-01 1.14018880e-01 2.71255349e-02 5.69421519e+01] [-1.13581469e-01 9.93380502e-01 -1.71588956e-02 -2.06236407e+00] [-2.89024155e-02 1.39596819e-02 9.99484756e-01 -2.48541217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.482639999999996 meters 0.03760109442217121 Centerline is valid? [True, True] Translation: X:57.00, Y:-2.07, Z:-2.49 [[ 9.93324400e-01 1.11864544e-01 2.81595353e-02 5.70005236e+01] [-1.11839512e-01 9.93723219e-01 -2.46730607e-03 -2.07146967e+00] [-2.82587881e-02 -6.98513370e-04 9.99600397e-01 -2.49240549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54264 meters 0.0318008454000962 Centerline is valid? [True, True] Translation: X:57.06, Y:-2.07, Z:-2.49 [[ 9.93472279e-01 1.10370569e-01 2.88299843e-02 5.70588819e+01] [-1.10343739e-01 9.93890278e-01 -2.52476242e-03 -2.06954446e+00] [-2.89325006e-02 -6.72926795e-04 9.99581141e-01 -2.49479893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.602639999999994 meters 0.024174282521197858 Centerline is valid? [True, True] Translation: X:57.12, Y:-2.08, Z:-2.49 [[ 9.93981284e-01 1.04935541e-01 3.14601158e-02 5.71190305e+01] [-1.04900959e-01 9.94478865e-01 -2.75228577e-03 -2.07699681e+00] [-3.15752328e-02 -5.64475775e-04 9.99501219e-01 -2.49184555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.662639999999996 meters 0.016494296354501385 Centerline is valid? [True, True] Translation: X:57.18, Y:-2.09, Z:-2.49 [[ 9.94840183e-01 9.64238010e-02 3.15509107e-02 5.71784598e+01] [-9.63847451e-02 9.95340325e-01 -2.75998180e-03 -2.08849468e+00] [-3.16700216e-02 -2.95285688e-04 9.99498335e-01 -2.49441515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72264 meters 0.012858399598121925 Centerline is valid? [True, True] Translation: X:57.24, Y:-2.10, Z:-2.50 [[ 9.95379968e-01 8.94079369e-02 3.49991430e-02 5.72375139e+01] [-8.98729928e-02 9.95881603e-01 1.19447850e-02 -2.10459628e+00] [-3.37870440e-02 -1.50350774e-02 9.99315957e-01 -2.49777785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78264 meters 0.023791731155340334 Centerline is valid? [True, True] Translation: X:57.30, Y:-2.10, Z:-2.50 [[ 9.95776497e-01 8.64753354e-02 3.08412873e-02 5.72987861e+01] [-8.59555892e-02 9.96139945e-01 -1.78001761e-02 -2.09674962e+00] [-3.22615144e-02 1.50740160e-02 9.99365783e-01 -2.49982063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.842639999999996 meters 0.01431868867730896 Centerline is valid? [True, True] Translation: X:57.36, Y:-2.11, Z:-2.50 [[ 9.96214850e-01 8.12207464e-02 3.09703489e-02 5.73586038e+01] [-8.11756661e-02 9.96696120e-01 -2.71223056e-03 -2.11206711e+00] [-3.10883159e-02 1.87925665e-04 9.99516624e-01 -2.50389476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90264 meters 0.016612134123483918 Centerline is valid? [True, True] Translation: X:57.42, Y:-2.12, Z:-2.51 [[ 9.96476454e-01 7.79048511e-02 3.10726700e-02 5.74189535e+01] [-7.78578931e-02 9.96960756e-01 -2.72014270e-03 -2.12225891e+00] [-3.11901449e-02 2.91305535e-04 9.99513427e-01 -2.50779955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96264 meters 0.019351494629381363 Centerline is valid? [True, True] Translation: X:57.48, Y:-2.13, Z:-2.51 [[ 9.96796868e-01 7.42258173e-02 2.97746877e-02 5.74800433e+01] [-7.41809296e-02 9.97241381e-01 -2.61088680e-03 -2.13112258e+00] [-2.98863459e-02 3.93809766e-04 9.99553226e-01 -2.51234921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.022639999999996 meters 0.020618773564098126 Centerline is valid? [True, True] Translation: X:57.54, Y:-2.14, Z:-2.52 [[ 9.96879472e-01 7.34486194e-02 2.89243495e-02 5.75401921e+01] [-7.34058061e-02 9.97298918e-01 -2.54067701e-03 -2.14085244e+00] [-2.90328317e-02 4.09533562e-04 9.99578375e-01 -2.51754359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08264 meters 0.01686998517904368 Centerline is valid? [True, True] Translation: X:57.60, Y:-2.14, Z:-2.52 [[ 9.96654727e-01 7.49326662e-02 3.26259215e-02 5.76039012e+01] [-7.51233399e-02 9.97163377e-01 4.65645959e-03 -2.14136569e+00] [-3.21844531e-02 -7.09185065e-03 9.99456786e-01 -2.51561035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14264 meters 0.014112888151380665 Centerline is valid? [True, True] Translation: X:57.66, Y:-2.13, Z:-2.52 [[ 9.96105374e-01 8.23596595e-02 3.14796817e-02 5.76617422e+01] [-8.20658373e-02 9.96571421e-01 -1.05166698e-02 -2.13264682e+00] [-3.22379005e-02 7.89230486e-03 9.99449063e-01 -2.51508475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.202639999999995 meters 0.015089383710822267 Centerline is valid? [True, True] Translation: X:57.72, Y:-2.13, Z:-2.52 [[ 9.95588456e-01 8.81395455e-02 3.21721580e-02 5.77224282e+01] [-8.80939622e-02 9.96108137e-01 -2.83433612e-03 -2.13133832e+00] [-3.22967654e-02 -1.23405438e-05 9.99478323e-01 -2.51935243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26264 meters 0.013455744345554126 Centerline is valid? [True, True] Translation: X:57.78, Y:-2.13, Z:-2.52 [[ 9.95247404e-01 9.18524031e-02 3.23379081e-02 5.77811964e+01] [-9.18082924e-02 9.95772624e-01 -2.84940379e-03 -2.12922130e+00] [-3.24629282e-02 -1.33026392e-04 9.99472931e-01 -2.52194851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32264 meters 0.01817135327382577 Centerline is valid? [True, True] Translation: X:57.84, Y:-2.13, Z:-2.53 [[ 9.95244935e-01 9.20411745e-02 3.18738332e-02 5.78397188e+01] [-9.19984558e-02 9.95755192e-01 -2.80732703e-03 -2.12944111e+00] [-3.19969245e-02 -1.38365419e-04 9.99487958e-01 -2.52775207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.382639999999995 meters 0.01426899748882359 Centerline is valid? [True, True] Translation: X:57.90, Y:-2.13, Z:-2.53 [[ 9.95307963e-01 9.15728487e-02 3.12485554e-02 5.78978344e+01] [-9.15315839e-02 9.95798372e-01 -2.75146683e-03 -2.13205146e+00] [-3.13692203e-02 -1.21672928e-04 9.99507858e-01 -2.53022425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44264 meters 0.02486461472224852 Centerline is valid? [True, True] Translation: X:57.96, Y:-2.14, Z:-2.53 [[ 9.95521230e-01 8.92986644e-02 3.10359447e-02 5.79575530e+01] [-8.92569263e-02 9.96004892e-01 -2.73043620e-03 -2.13714167e+00] [-3.11557770e-02 -5.19658259e-05 9.99514540e-01 -2.53337087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50264 meters 0.013072303200478967 Centerline is valid? [True, True] Translation: X:58.02, Y:-2.14, Z:-2.53 [[ 9.95712854e-01 8.69958469e-02 3.14266464e-02 5.80159779e+01] [-8.69519243e-02 9.96208674e-01 -2.76416815e-03 -2.14344628e+00] [-3.15479689e-02 1.97103767e-05 9.99502239e-01 -2.53371246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.562639999999995 meters 0.014146581404191077 Centerline is valid? [True, True] Translation: X:58.07, Y:-2.15, Z:-2.54 [[ 9.96106413e-01 8.22200308e-02 3.18100682e-02 5.80748254e+01] [-8.21726379e-02 9.96614187e-01 -2.79652061e-03 -2.15298901e+00] [-3.19322953e-02 1.71714893e-04 9.99490019e-01 -2.53565580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62264 meters 0.01596687011806925 Centerline is valid? [True, True] Translation: X:58.14, Y:-2.16, Z:-2.54 [[ 9.96463635e-01 7.76304846e-02 3.21517054e-02 5.81350886e+01] [-7.75797189e-02 9.96982149e-01 -2.82531257e-03 -2.16303975e+00] [-3.22740067e-02 3.21000966e-04 9.99479007e-01 -2.53587111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68264 meters 0.019123430821733216 Centerline is valid? [True, True] Translation: X:58.20, Y:-2.17, Z:-2.54 [[ 9.96729165e-01 7.41685570e-02 3.20935764e-02 5.81958530e+01] [-7.41162276e-02 9.97245626e-01 -2.81874238e-03 -2.17257503e+00] [-3.22142408e-02 4.30867921e-04 9.99480894e-01 -2.53976002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.742639999999994 meters 0.02060709213931634 Centerline is valid? [True, True] Translation: X:58.26, Y:-2.18, Z:-2.54 [[ 9.96814292e-01 7.32171238e-02 3.16310106e-02 5.82560486e+01] [-7.31656542e-02 9.97315918e-01 -2.78313333e-03 -2.18083037e+00] [-3.17498834e-02 4.59963501e-04 9.99495740e-01 -2.54411461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80264 meters 0.02075227506003358 Centerline is valid? [True, True] Translation: X:58.32, Y:-2.18, Z:-2.55 [[ 9.96822035e-01 7.34402499e-02 3.08603456e-02 5.83179940e+01] [-7.33912286e-02 9.97299519e-01 -2.71973942e-03 -2.18478942e+00] [-3.09767461e-02 4.46217506e-04 9.99520006e-01 -2.54765649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86264 meters 0.02397009904047839 Centerline is valid? [True, True] Translation: X:58.38, Y:-2.18, Z:-2.55 [[ 9.96986101e-01 7.33913511e-02 2.51480418e-02 5.83842045e+01] [-7.29483956e-02 9.97171430e-01 -1.81016887e-02 -2.17831498e+00] [-2.64054162e-02 1.62126228e-02 9.99519837e-01 -2.54560991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.922639999999994 meters 0.019891865168024193 Centerline is valid? [True, True] Translation: X:58.44, Y:-2.20, Z:-2.56 [[ 9.96850933e-01 7.32445286e-02 3.03884092e-02 5.84367311e+01] [-7.36652320e-02 9.97198784e-01 1.29621906e-02 -2.20201121e+00] [-2.93538752e-02 -1.51599410e-02 9.99454114e-01 -2.55704849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.982639999999996 meters 0.022942386673300175 Centerline is valid? [True, True] Translation: X:58.50, Y:-2.21, Z:-2.56 [[ 9.97144186e-01 6.98457372e-02 2.87236120e-02 5.84986891e+01] [-6.98015049e-02 9.97557664e-01 -2.54096559e-03 -2.20637144e+00] [-2.88309349e-02 5.28757716e-04 9.99584162e-01 -2.55604513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04264 meters 0.027357671475817226 Centerline is valid? [True, True] Translation: X:58.56, Y:-2.22, Z:-2.56 [[ 9.97369178e-01 6.63681257e-02 2.91546802e-02 5.85587350e+01] [-6.63210770e-02 9.97795001e-01 -2.57886772e-03 -2.21953072e+00] [-2.92615488e-02 6.38513387e-04 9.99571585e-01 -2.55879300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.102639999999994 meters 0.028138667695085964 Centerline is valid? [True, True] Translation: X:58.62, Y:-2.23, Z:-2.56 [[ 9.97534544e-01 6.36384030e-02 2.95801823e-02 5.86202274e+01] [-6.35885793e-02 9.97972751e-01 -2.62296356e-03 -2.23105162e+00] [-2.96871371e-02 7.35534995e-04 9.99558969e-01 -2.55704748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.162639999999996 meters 0.027964342022481756 Centerline is valid? [True, True] Translation: X:58.68, Y:-2.24, Z:-2.56 [[ 9.97352049e-01 6.63777279e-02 2.97134357e-02 5.86805092e+01] [-6.63286135e-02 9.97794349e-01 -2.63662723e-03 -2.23934222e+00] [-2.98229115e-02 6.58794583e-04 9.99554981e-01 -2.55996079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22264 meters 0.023154907790811488 Centerline is valid? [True, True] Translation: X:58.74, Y:-2.24, Z:-2.56 [[ 9.97130448e-01 7.00123159e-02 2.87948682e-02 5.87425901e+01] [-6.99677553e-02 9.97545986e-01 -2.55342048e-03 -2.23964101e+00] [-2.89029760e-02 5.31381016e-04 9.99582080e-01 -2.56108765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28264 meters 0.020512329822883067 Centerline is valid? [True, True] Translation: X:58.80, Y:-2.24, Z:-2.56 [[ 9.96841984e-01 7.42222700e-02 2.82331855e-02 5.88037939e+01] [-7.41809784e-02 9.97241641e-01 -2.50855637e-03 -2.24396916e+00] [-2.83414989e-02 4.06268985e-04 9.99598216e-01 -2.56431675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.342639999999996 meters 0.022759555752360557 Centerline is valid? [True, True] Translation: X:58.87, Y:-2.26, Z:-2.57 [[ 9.96866194e-01 7.42707221e-02 2.72332618e-02 5.88651137e+01] [-7.42322156e-02 9.97238038e-01 -2.42361438e-03 -2.25575022e+00] [-2.73380481e-02 3.94433885e-04 9.99626168e-01 -2.56775644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40264 meters 0.021577343573324442 Centerline is valid? [True, True] Translation: X:58.93, Y:-2.26, Z:-2.57 [[ 9.96895550e-01 7.37684432e-02 2.75223478e-02 5.89256055e+01] [-7.37287220e-02 9.97275308e-01 -2.45662405e-03 -2.26425484e+00] [-2.76285792e-02 4.19810049e-04 9.99618170e-01 -2.56911380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46264 meters 0.019899982118118994 Centerline is valid? [True, True] Translation: X:58.99, Y:-2.27, Z:-2.57 [[ 9.96714547e-01 7.60497688e-02 2.78665625e-02 5.89863944e+01] [-7.60099194e-02 9.97103957e-01 -2.48803995e-03 -2.27355196e+00] [-2.79750746e-02 3.61730446e-04 9.99608556e-01 -2.57029480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.522639999999996 meters 0.026804753237912957 Centerline is valid? [True, True] Translation: X:59.05, Y:-2.28, Z:-2.58 [[ 9.96355848e-01 8.11226570e-02 2.63465293e-02 5.90465582e+01] [-8.10887884e-02 9.96704104e-01 -2.35312707e-03 -2.27627033e+00] [-2.64505858e-02 2.08143776e-04 9.99650100e-01 -2.57638909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58264 meters 0.016148383364949278 Centerline is valid? [True, True] Translation: X:59.11, Y:-2.28, Z:-2.58 [[ 9.96081699e-01 8.46144938e-02 2.57222759e-02 5.91069729e+01] [-8.45833557e-02 9.96413757e-01 -2.29812515e-03 -2.27675116e+00] [-2.58244842e-02 1.13443991e-04 9.99666486e-01 -2.57698319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64264 meters 0.014245267128190468 Centerline is valid? [True, True] Translation: X:59.16, Y:-2.29, Z:-2.58 [[ 9.95276724e-01 8.97265460e-02 3.70592615e-02 5.91620808e+01] [-9.02661033e-02 9.95830878e-01 1.31488439e-02 -2.28933453e+00] [-3.57249566e-02 -1.64319334e-02 9.99226560e-01 -2.57963370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.702639999999995 meters 0.015839710964121595 Centerline is valid? [True, True] Translation: X:59.23, Y:-2.28, Z:-2.58 [[ 9.95569394e-01 9.08072361e-02 2.44054810e-02 5.92284520e+01] [-9.03740565e-02 9.95739668e-01 -1.83041879e-02 -2.27688168e+00] [-2.59636583e-02 1.60174670e-02 9.99534556e-01 -2.57894053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76264 meters 0.01604397625275928 Centerline is valid? [True, True] Translation: X:59.28, Y:-2.30, Z:-2.58 [[ 9.94619264e-01 9.62297516e-02 3.83712724e-02 5.92819169e+01] [-9.67830039e-02 9.95222847e-01 1.28271157e-02 -2.29558577e+00] [-3.69536168e-02 -1.64717833e-02 9.99181220e-01 -2.58451929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82264 meters 0.018917516555001433 Centerline is valid? [True, True] Translation: X:59.34, Y:-2.28, Z:-2.58 [[ 9.94366559e-01 1.00575319e-01 3.34626870e-02 5.93440206e+01] [-1.00230080e-01 9.94893793e-01 -1.18436478e-02 -2.28145995e+00] [-3.44829982e-02 8.42295950e-03 9.99369790e-01 -2.58440368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.882639999999995 meters 0.01931114254704219 Centerline is valid? [True, True] Translation: X:59.40, Y:-2.30, Z:-2.59 [[ 9.93906476e-01 1.02898255e-01 3.95204400e-02 5.93994959e+01] [-1.03517544e-01 9.94529772e-01 1.39517577e-02 -2.29990197e+00] [-3.78686426e-02 -1.79578012e-02 9.99121356e-01 -2.58849671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94264 meters 0.020158049696462847 Centerline is valid? [True, True] Translation: X:59.46, Y:-2.30, Z:-2.59 [[ 9.93828422e-01 1.03807165e-01 3.91042151e-02 5.94594514e+01] [-1.03839849e-01 9.94593307e-01 -1.19981194e-03 -2.29608660e+00] [-3.90173397e-02 -2.86816860e-03 9.99234417e-01 -2.59210546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00264 meters 0.019460895782147148 Centerline is valid? [True, True] Translation: X:59.53, Y:-2.29, Z:-2.59 [[ 9.94787617e-01 9.95979500e-02 2.18596873e-02 5.95251894e+01] [-9.89482547e-02 9.94669145e-01 -2.90264593e-02 -2.28910128e+00] [-2.46341323e-02 2.67121843e-02 9.99339591e-01 -2.59304351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.062639999999995 meters 0.01854600517273761 Centerline is valid? [True, True] Translation: X:59.58, Y:-2.32, Z:-2.60 [[ 9.95197824e-01 9.52031947e-02 2.27517705e-02 5.95811273e+01] [-9.51812691e-02 9.95457852e-01 -2.04713117e-03 -2.31575159e+00] [-2.28433221e-02 -1.28241910e-04 9.99739049e-01 -2.60262931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12264 meters 0.016986370289809784 Centerline is valid? [True, True] Translation: X:59.63, Y:-2.34, Z:-2.61 [[ 9.94708422e-01 9.46179240e-02 4.00325386e-02 5.96325323e+01] [-9.58189868e-02 9.94969628e-01 2.92260360e-02 -2.34363062e+00] [-3.70658532e-02 -3.29072615e-02 9.98770862e-01 -2.61067982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18264 meters 0.01808522087617694 Centerline is valid? [True, True] Translation: X:59.70, Y:-2.31, Z:-2.60 [[ 9.95255045e-01 9.51028388e-02 2.05632255e-02 5.97028243e+01] [-9.43639237e-02 9.94945603e-01 -3.43321706e-02 -2.31187022e+00] [-2.37243777e-02 3.22288393e-02 9.99198907e-01 -2.60289717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.242639999999994 meters 0.017716101276085923 Centerline is valid? [True, True] Translation: X:59.76, Y:-2.34, Z:-2.61 [[ 9.95308559e-01 9.35049310e-02 2.48535710e-02 5.97582032e+01] [-9.34781930e-02 9.95618812e-01 -2.23801580e-03 -2.33732687e+00] [-2.49539483e-02 -9.57506232e-05 9.99688597e-01 -2.60943906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30264 meters 0.01709470420592698 Centerline is valid? [True, True] Translation: X:59.82, Y:-2.34, Z:-2.61 [[ 9.95356708e-01 9.29404973e-02 2.50417126e-02 5.98166450e+01] [-9.29132179e-02 9.95671661e-01 -2.25322419e-03 -2.34356701e+00] [-2.51427393e-02 -8.39442862e-05 9.99683868e-01 -2.60877554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36264 meters 0.016840083756722506 Centerline is valid? [True, True] Translation: X:59.88, Y:-2.35, Z:-2.61 [[ 9.95270878e-01 9.35219573e-02 2.62587592e-02 5.98757258e+01] [-9.34922001e-02 9.95617212e-01 -2.36135831e-03 -2.34869848e+00] [-2.63645115e-02 -1.04798009e-04 9.99652390e-01 -2.60893323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.422639999999994 meters 0.016652254129696002 Centerline is valid? [True, True] Translation: X:59.93, Y:-2.38, Z:-2.62 [[ 9.94473389e-01 9.50471208e-02 4.45951090e-02 5.99277497e+01] [-9.67588414e-02 9.94584698e-01 3.79342264e-02 -2.37630865e+00] [-4.07480740e-02 -4.20395498e-02 9.98284664e-01 -2.61676195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.482639999999996 meters 0.021897909898526715 Centerline is valid? [True, True] Translation: X:60.00, Y:-2.32, Z:-2.61 [[ 9.94525908e-01 1.02008769e-01 2.26369002e-02 6.00001713e+01] [-1.00959193e-01 9.93940308e-01 -4.34730359e-02 -2.32028833e+00] [-2.69343585e-02 4.09496573e-02 9.98798111e-01 -2.61027351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54264 meters 0.02355886374773946 Centerline is valid? [True, True] Translation: X:60.06, Y:-2.34, Z:-2.62 [[ 9.94277490e-01 1.03674992e-01 2.57637054e-02 6.00575760e+01] [-1.03649717e-01 9.94611161e-01 -2.31814877e-03 -2.33899468e+00] [-2.58652030e-02 -3.65517628e-04 9.99665373e-01 -2.61887943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.602639999999994 meters 0.027529497813773566 Centerline is valid? [True, True] Translation: X:60.12, Y:-2.34, Z:-2.62 [[ 9.94240323e-01 1.04029441e-01 2.57692868e-02 6.01168894e+01] [-1.04004291e-01 9.94574147e-01 -2.31796885e-03 -2.34017964e+00] [-2.58706035e-02 -3.75498316e-04 9.99665229e-01 -2.62245159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.662639999999996 meters 0.02076111725784478 Centerline is valid? [True, True] Translation: X:60.17, Y:-2.36, Z:-2.63 [[ 9.93850444e-01 1.02855208e-01 4.10134363e-02 6.01675170e+01] [-1.04222464e-01 9.94015723e-01 3.27172771e-02 -2.36345711e+00] [-3.74028581e-02 -3.67906018e-02 9.98622791e-01 -2.62880224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72264 meters 0.02064739496802762 Centerline is valid? [True, True] Translation: X:60.24, Y:-2.32, Z:-2.62 [[ 9.94516278e-01 1.02093963e-01 2.26758665e-02 6.02383887e+01] [-1.01193118e-01 9.94146714e-01 -3.78452582e-02 -2.31954696e+00] [-2.64069105e-02 3.53430837e-02 9.99026297e-01 -2.61774856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78264 meters 0.018874588795679367 Centerline is valid? [True, True] Translation: X:60.30, Y:-2.34, Z:-2.63 [[ 9.94757242e-01 9.88728261e-02 2.61188461e-02 6.02954616e+01] [-9.88452892e-02 9.95100047e-01 -2.34645063e-03 -2.34214094e+00] [-2.62228651e-02 -2.47576136e-04 9.99656091e-01 -2.62678094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.842639999999996 meters 0.018099369286590786 Centerline is valid? [True, True] Translation: X:60.35, Y:-2.34, Z:-2.63 [[ 9.94954847e-01 9.66538773e-02 2.68864362e-02 6.03532191e+01] [-9.66239196e-02 9.95318034e-01 -2.41422781e-03 -2.34269730e+00] [-2.69938993e-02 -1.95825193e-04 9.99635579e-01 -2.63004894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90264 meters 0.016731211755452623 Centerline is valid? [True, True] Translation: X:60.41, Y:-2.35, Z:-2.64 [[ 9.95497251e-01 9.06149474e-02 2.78236218e-02 6.04105878e+01] [-9.05805564e-02 9.95886003e-01 -2.49654130e-03 -2.34734837e+00] [-2.79353795e-02 -3.49791448e-05 9.99609731e-01 -2.63663241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96264 meters 0.015998328531594858 Centerline is valid? [True, True] Translation: X:60.47, Y:-2.36, Z:-2.64 [[ 9.95988771e-01 8.52115967e-02 2.73011168e-02 6.04684966e+01] [-8.51764977e-02 9.96362871e-01 -2.44809789e-03 -2.35582400e+00] [-2.74104255e-02 1.12864496e-04 9.99624257e-01 -2.63513684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02264 meters 0.020195833271289668 Centerline is valid? [True, True] Translation: X:60.53, Y:-2.37, Z:-2.64 [[ 9.96652165e-01 7.74734133e-02 2.61214727e-02 6.05266835e+01] [-7.74386738e-02 9.96994370e-01 -2.34041056e-03 -2.36656765e+00] [-2.62242808e-02 3.09763055e-04 9.99656036e-01 -2.63971066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08264 meters 0.025530750972198958 Centerline is valid? [True, True] Translation: X:60.58, Y:-2.38, Z:-2.64 [[ 9.97115549e-01 7.12337756e-02 2.61979162e-02 6.05848745e+01] [-7.11967155e-02 9.97459535e-01 -2.34586129e-03 -2.38042535e+00] [-2.62984659e-02 4.73889189e-04 9.99654023e-01 -2.64362440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14264 meters 0.02542208869373718 Centerline is valid? [True, True] Translation: X:60.64, Y:-2.39, Z:-2.64 [[ 9.97335920e-01 6.79279505e-02 2.65867624e-02 6.06449532e+01] [-6.78886220e-02 9.97690067e-01 -2.38013864e-03 -2.38676255e+00] [-2.66870267e-02 5.68859091e-04 9.99643676e-01 -2.64213432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20264 meters 0.03518045121883415 Centerline is valid? [True, True] Translation: X:60.70, Y:-2.40, Z:-2.65 [[ 9.97546117e-01 6.41938101e-02 2.79445705e-02 6.07046106e+01] [-6.41489395e-02 9.97937204e-01 -2.50015895e-03 -2.40168211e+00] [-2.80474213e-02 7.01409287e-04 9.99606348e-01 -2.64610388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26263999999999 meters 0.04002881988397772 Centerline is valid? [True, True] Translation: X:60.77, Y:-2.41, Z:-2.65 [[ 9.97576459e-01 6.34640533e-02 2.85223063e-02 6.07654494e+01] [-6.34169741e-02 9.97983852e-01 -2.55308820e-03 -2.41438840e+00] [-2.86268305e-02 7.38102327e-04 9.99589896e-01 -2.64772693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32263999999999 meters 0.04180596780296588 Centerline is valid? [True, True] Translation: X:60.83, Y:-2.43, Z:-2.66 [[ 9.97431285e-01 6.54967834e-02 2.90000476e-02 6.08255898e+01] [-6.54488394e-02 9.97852538e-01 -2.60039404e-03 -2.43106832e+00] [-2.91080886e-02 6.95694907e-04 9.99576028e-01 -2.65517476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38264 meters 0.027794886147963785 Centerline is valid? [True, True] Translation: X:60.89, Y:-2.43, Z:-2.65 [[ 9.97345559e-01 6.72107212e-02 2.80099101e-02 6.08875833e+01] [-6.71665445e-02 9.97738605e-01 -2.51612272e-03 -2.43483203e+00] [-2.81156790e-02 6.28114947e-04 9.99604479e-01 -2.65370299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44264 meters 0.03425005759184944 Centerline is valid? [True, True] Translation: X:60.95, Y:-2.45, Z:-2.66 [[ 9.97165694e-01 7.00766398e-02 2.73832766e-02 6.09473145e+01] [-7.00353700e-02 9.97541464e-01 -2.46448126e-03 -2.45074558e+00] [-2.74886564e-02 5.39698252e-04 9.99621970e-01 -2.66135504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50264 meters 0.025894076934328936 Centerline is valid? [True, True] Translation: X:61.01, Y:-2.45, Z:-2.66 [[ 9.96627193e-01 7.73207592e-02 2.74906914e-02 6.10082632e+01] [-7.72817274e-02 9.97006208e-01 -2.48105386e-03 -2.45187316e+00] [-2.76002269e-02 3.48157627e-04 9.99618981e-01 -2.66085991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56264 meters 0.02501819885520672 Centerline is valid? [True, True] Translation: X:61.07, Y:-2.45, Z:-2.66 [[ 9.95666424e-01 8.85165956e-02 2.85163874e-02 6.10683215e+01] [-8.84791595e-02 9.96074701e-01 -2.57442053e-03 -2.44956574e+00] [-2.86323310e-02 4.01580848e-05 9.99590010e-01 -2.66321661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62264 meters 0.01671116278030756 Centerline is valid? [True, True] Translation: X:61.13, Y:-2.45, Z:-2.66 [[ 9.94943041e-01 9.60978150e-02 2.92156698e-02 6.11272345e+01] [-9.60617844e-02 9.95371879e-01 -2.63758318e-03 -2.44620886e+00] [-2.93339221e-02 -1.82264349e-04 9.99569651e-01 -2.66386475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68263999999999 meters 0.021956343496265646 Centerline is valid? [True, True] Translation: X:61.19, Y:-2.44, Z:-2.66 [[ 9.94054372e-01 1.04405016e-01 3.09111355e-02 6.11875906e+01] [-1.04368736e-01 9.94534759e-01 -2.78925128e-03 -2.44176581e+00] [-3.10334106e-02 -4.53488725e-04 9.99518245e-01 -2.66475766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74264 meters 0.025306658168148265 Centerline is valid? [True, True] Translation: X:61.25, Y:-2.44, Z:-2.67 [[ 9.93737174e-01 1.07141199e-01 3.17362816e-02 6.12452245e+01] [-1.07104354e-01 9.94243661e-01 -2.86359006e-03 -2.44043513e+00] [-3.18604053e-02 -5.53438050e-04 9.99492175e-01 -2.66856494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80264 meters 0.02775270322134398 Centerline is valid? [True, True] Translation: X:61.30, Y:-2.45, Z:-2.67 [[ 9.93883469e-01 1.05800298e-01 3.16535426e-02 6.13028235e+01] [-1.05763049e-01 9.94387266e-01 -2.85350677e-03 -2.45115089e+00] [-3.17777816e-02 -5.11721957e-04 9.99494828e-01 -2.67246725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86264 meters 0.02242133333547155 Centerline is valid? [True, True] Translation: X:61.36, Y:-2.46, Z:-2.68 [[ 9.94210679e-01 1.02868896e-01 3.10341168e-02 6.13605762e+01] [-1.02831709e-01 9.94694838e-01 -2.79617178e-03 -2.45924114e+00] [-3.11571149e-02 -4.11307436e-04 9.99514415e-01 -2.67599495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92264 meters 0.01827479461460504 Centerline is valid? [True, True] Translation: X:61.42, Y:-2.47, Z:-2.68 [[ 9.94590608e-01 9.90758872e-02 3.12008156e-02 6.14183712e+01] [-9.90364814e-02 9.95079837e-01 -2.80965063e-03 -2.46908636e+00] [-3.13256711e-02 -2.95566871e-04 9.99509187e-01 -2.67780752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98264 meters 0.016396448833852866 Centerline is valid? [True, True] Translation: X:61.48, Y:-2.48, Z:-2.68 [[ 9.94842713e-01 9.63056921e-02 3.18306495e-02 6.14773239e+01] [-9.62633225e-02 9.95351781e-01 -2.86444853e-03 -2.47895043e+00] [-3.19585563e-02 -2.14448325e-04 9.99489172e-01 -2.67940982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04263999999999 meters 0.014958717653958474 Centerline is valid? [True, True] Translation: X:61.54, Y:-2.48, Z:-2.68 [[ 9.94820489e-01 9.55054850e-02 3.47979423e-02 6.15366732e+01] [-9.54543887e-02 9.95428882e-01 -3.13054524e-03 -2.48354875e+00] [-3.49378611e-02 -2.07285770e-04 9.99389465e-01 -2.67680832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10264 meters 0.014803122527565746 Centerline is valid? [True, True] Translation: X:61.60, Y:-2.49, Z:-2.68 [[ 9.94910758e-01 9.48481375e-02 3.40060926e-02 6.15964887e+01] [-9.47989940e-02 9.95491737e-01 -3.05822212e-03 -2.49204512e+00] [-3.41428509e-02 -1.81085283e-04 9.99416946e-01 -2.68162257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16264 meters 0.013797893681800358 Centerline is valid? [True, True] Translation: X:61.66, Y:-2.50, Z:-2.68 [[ 9.94903781e-01 9.40994380e-02 3.62182487e-02 6.16563316e+01] [-9.40431863e-02 9.95562790e-01 -3.25739964e-03 -2.49798237e+00] [-3.63640602e-02 -1.65280295e-04 9.99338595e-01 -2.68150248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22264 meters 0.023720631224097434 Centerline is valid? [True, True] Translation: X:61.72, Y:-2.51, Z:-2.69 [[ 9.95200768e-01 9.07871397e-02 3.65120097e-02 6.17156031e+01] [-9.07277876e-02 9.95870319e-01 -3.28258814e-03 -2.50906004e+00] [-3.66592436e-02 -4.58196247e-05 9.99327823e-01 -2.68531780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28264 meters 0.01335143384270176 Centerline is valid? [True, True] Translation: X:61.78, Y:-2.53, Z:-2.69 [[ 9.95657601e-01 8.56450382e-02 3.64810668e-02 6.17769729e+01] [-8.55823731e-02 9.96325703e-01 -3.27875717e-03 -2.52633400e+00] [-3.66278338e-02 1.42383233e-04 9.99328966e-01 -2.68604905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34264 meters 0.016281371067635567 Centerline is valid? [True, True] Translation: X:61.84, Y:-2.55, Z:-2.69 [[ 9.96112383e-01 8.05676493e-02 3.56226681e-02 6.18367466e+01] [-8.05044385e-02 9.96749089e-01 -3.20759326e-03 -2.54638108e+00] [-3.57652903e-02 3.27340471e-04 9.99360164e-01 -2.69153597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40263999999999 meters 0.024328571910780264 Centerline is valid? [True, True] Translation: X:61.90, Y:-2.56, Z:-2.69 [[ 9.96244014e-01 7.85399060e-02 3.64602318e-02 6.18977732e+01] [-7.84721213e-02 9.96910884e-01 -3.28867978e-03 -2.55802102e+00] [-3.66058945e-02 4.15215807e-04 9.99329693e-01 -2.69469031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46264 meters 0.018784243984222255 Centerline is valid? [True, True] Translation: X:61.96, Y:-2.57, Z:-2.70 [[ 9.96346388e-01 7.69639181e-02 3.70193332e-02 6.19576044e+01] [-7.68927067e-02 9.97033760e-01 -3.34565943e-03 -2.57253991e+00] [-3.71670200e-02 4.86918960e-04 9.99308949e-01 -2.69627146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52264 meters 0.018936326787209568 Centerline is valid? [True, True] Translation: X:62.02, Y:-2.59, Z:-2.70 [[ 9.96420545e-01 7.64978436e-02 3.59746739e-02 6.20187494e+01] [-7.64301019e-02 9.97069624e-01 -3.25652408e-03 -2.58643543e+00] [-3.61183716e-02 4.95319507e-04 9.99347396e-01 -2.70111199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58264 meters 0.019021809375640398 Centerline is valid? [True, True] Translation: X:62.08, Y:-2.60, Z:-2.70 [[ 9.96392412e-01 7.67266084e-02 3.62655369e-02 6.20806418e+01] [-7.66576970e-02 9.97052045e-01 -3.28891300e-03 -2.59703338e+00] [-3.64109749e-02 4.97015413e-04 9.99336777e-01 -2.70392671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64264 meters 0.018637551773700696 Centerline is valid? [True, True] Translation: X:62.14, Y:-2.61, Z:-2.71 [[ 9.96196646e-01 7.91368306e-02 3.64637392e-02 6.21405717e+01] [-7.90685025e-02 9.96863675e-01 -3.31438123e-03 -2.60959739e+00] [-3.66116667e-02 4.18642216e-04 9.99329481e-01 -2.70782369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70264 meters 0.01469157828813879 Centerline is valid? [True, True] Translation: X:62.20, Y:-2.61, Z:-2.71 [[ 9.95926045e-01 8.23930860e-02 3.66427723e-02 6.22027005e+01] [-8.23260838e-02 9.96599862e-01 -3.33618681e-03 -2.61485905e+00] [-3.67930605e-02 3.05939395e-04 9.99322859e-01 -2.70829156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76263999999999 meters 0.013262813908026161 Centerline is valid? [True, True] Translation: X:62.26, Y:-2.62, Z:-2.71 [[ 9.95552249e-01 8.68644898e-02 3.64730064e-02 6.22637906e+01] [-8.68008642e-02 9.96220126e-01 -3.32732089e-03 -2.62019704e+00] [-3.66241691e-02 1.46633321e-04 9.99329099e-01 -2.71220722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82263999999999 meters 0.012549237709503683 Centerline is valid? [True, True] Translation: X:62.32, Y:-2.62, Z:-2.72 [[ 9.95020844e-01 9.24670236e-02 3.71936862e-02 6.23243485e+01] [-9.24045135e-02 9.95715746e-01 -3.39988631e-03 -2.62406245e+00] [-3.73487164e-02 -5.39067348e-05 9.99302292e-01 -2.71513100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88264 meters 0.014281692695442397 Centerline is valid? [True, True] Translation: X:62.39, Y:-2.63, Z:-2.72 [[ 9.94500037e-01 9.76085669e-02 3.79768805e-02 6.23860845e+01] [-9.75470155e-02 9.95224852e-01 -3.47476974e-03 -2.62624513e+00] [-3.81347026e-02 -2.48872720e-04 9.99272577e-01 -2.71678285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94264 meters 0.015418998568415183 Centerline is valid? [True, True] Translation: X:62.45, Y:-2.63, Z:-2.72 [[ 9.94268236e-01 9.99717010e-02 3.78990068e-02 6.24474247e+01] [-9.99118983e-02 9.94990225e-01 -3.47339987e-03 -2.63292266e+00] [-3.80563830e-02 -3.33070554e-04 9.99275538e-01 -2.71976817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00264 meters 0.015253657299469179 Centerline is valid? [True, True] Translation: X:62.51, Y:-2.64, Z:-2.72 [[ 9.94256418e-01 9.99259975e-02 3.83271429e-02 6.25088768e+01] [-9.98645476e-02 9.94994818e-01 -3.51923453e-03 -2.64108189e+00] [-3.84869716e-02 -3.28501276e-04 9.99259048e-01 -2.72256907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06264 meters 0.018018059649089584 Centerline is valid? [True, True] Translation: X:62.57, Y:-2.65, Z:-2.72 [[ 9.94386968e-01 9.80730246e-02 3.97018975e-02 6.25704652e+01] [-9.80053048e-02 9.95179187e-01 -3.65310254e-03 -2.65197362e+00] [-3.98687729e-02 -2.58399011e-04 9.99204891e-01 -2.72398001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12264 meters 0.014952672342258536 Centerline is valid? [True, True] Translation: X:62.63, Y:-2.67, Z:-2.73 [[ 9.94808790e-01 9.40852357e-02 3.87742126e-02 6.26307449e+01] [-9.40173582e-02 9.95564142e-01 -3.57434881e-03 -2.66740314e+00] [-3.89385092e-02 -8.96554234e-05 9.99241605e-01 -2.72950003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18263999999999 meters 0.012774178073588244 Centerline is valid? [True, True] Translation: X:62.69, Y:-2.69, Z:-2.73 [[ 9.95335501e-01 8.86798653e-02 3.79884577e-02 6.26913081e+01] [-8.86105537e-02 9.96060172e-01 -3.50769888e-03 -2.68592039e+00] [-3.81498520e-02 1.25158947e-04 9.99272022e-01 -2.73327621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24264 meters 0.013844607076409136 Centerline is valid? [True, True] Translation: X:62.75, Y:-2.70, Z:-2.74 [[ 9.95517131e-01 8.64712690e-02 3.83192147e-02 6.27519035e+01] [-8.63988508e-02 9.96254321e-01 -3.54494151e-03 -2.69959730e+00] [-3.84822189e-02 2.18313883e-04 9.99259261e-01 -2.73613223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30264 meters 0.013972498308897553 Centerline is valid? [True, True] Translation: X:62.81, Y:-2.71, Z:-2.74 [[ 9.95531943e-01 8.64932274e-02 3.78823466e-02 6.28136493e+01] [-8.64222558e-02 9.96252414e-01 -3.51008828e-03 -2.71192669e+00] [-3.80439781e-02 2.20527161e-04 9.99276041e-01 -2.73995175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36264 meters 0.012883347995843428 Centerline is valid? [True, True] Translation: X:62.87, Y:-2.72, Z:-2.74 [[ 9.95179785e-01 9.05259036e-02 3.77128045e-02 6.28746939e+01] [-9.04581761e-02 9.95894098e-01 -3.50185759e-03 -2.71733435e+00] [-3.78749683e-02 7.35463725e-05 9.99282483e-01 -2.74395639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42264 meters 0.013748918154872752 Centerline is valid? [True, True] Translation: X:62.94, Y:-2.72, Z:-2.75 [[ 9.94717967e-01 9.61384812e-02 3.59660718e-02 6.29367152e+01] [-9.60803657e-02 9.95367960e-01 -3.34475905e-03 -2.71718235e+00] [-3.61210356e-02 -1.28541412e-04 9.99347414e-01 -2.75046031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48264 meters 0.015654737922132126 Centerline is valid? [True, True] Translation: X:63.00, Y:-2.72, Z:-2.75 [[ 9.94378823e-01 9.98298212e-02 3.52811882e-02 6.29982910e+01] [-9.97759918e-02 9.95004494e-01 -3.28751304e-03 -2.72008068e+00] [-3.54331327e-02 -2.51182202e-04 9.99372018e-01 -2.75476681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54263999999999 meters 0.01811145635847066 Centerline is valid? [True, True] Translation: X:63.06, Y:-2.72, Z:-2.76 [[ 9.93918169e-01 1.04356056e-01 3.51637087e-02 6.30606481e+01] [-1.04305336e-01 9.94539917e-01 -3.27880643e-03 -2.72376465e+00] [-3.53138753e-02 -4.08897155e-04 9.99376187e-01 -2.75686341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60264 meters 0.02160809332053939 Centerline is valid? [True, True] Translation: X:63.12, Y:-2.73, Z:-2.76 [[ 9.93771901e-01 1.05708681e-01 3.52573868e-02 6.31209208e+01] [-1.05658292e-01 9.94397039e-01 -3.29457170e-03 -2.73194245e+00] [-3.54081058e-02 -4.51182486e-04 9.99372835e-01 -2.76214866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66264 meters 0.018951689999075004 Centerline is valid? [True, True] Translation: X:63.18, Y:-2.74, Z:-2.76 [[ 9.93816640e-01 1.04986024e-01 3.61444337e-02 6.31823178e+01] [-1.04932487e-01 9.94473603e-01 -3.38026039e-03 -2.74277940e+00] [-3.62995653e-02 -4.33366297e-04 9.99340860e-01 -2.76318537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72264 meters 0.0185214832331791 Centerline is valid? [True, True] Translation: X:63.24, Y:-2.75, Z:-2.77 [[ 9.93834631e-01 1.04709938e-01 3.64493368e-02 6.32438899e+01] [-1.04655080e-01 9.94502716e-01 -3.41500819e-03 -2.75286570e+00] [-3.66065497e-02 -4.20654859e-04 9.99329667e-01 -2.76521650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78264 meters 0.019320093337883905 Centerline is valid? [True, True] Translation: X:63.31, Y:-2.76, Z:-2.77 [[ 9.93549455e-01 1.06890575e-01 3.78666755e-02 6.33056052e+01] [-1.06832696e-01 9.94270658e-01 -3.55446777e-03 -2.76284600e+00] [-3.80296634e-02 -5.13859504e-04 9.99276479e-01 -2.76509945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84264 meters 0.024797325124265256 Centerline is valid? [True, True] Translation: X:63.37, Y:-2.76, Z:-2.77 [[ 9.92881381e-01 1.12911703e-01 3.79145140e-02 6.33670582e+01] [-1.12857759e-01 9.93604752e-01 -3.56689396e-03 -2.76198139e+00] [-3.80747853e-02 -7.37444469e-04 9.99274620e-01 -2.76734257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90263999999999 meters 0.03223539171643822 Centerline is valid? [True, True] Translation: X:63.43, Y:-2.76, Z:-2.77 [[ 9.92202078e-01 1.18710929e-01 3.79835732e-02 6.34279533e+01] [-1.18661024e-01 9.92928392e-01 -3.57356656e-03 -2.75557842e+00] [-3.81391897e-02 -9.61469534e-04 9.99271974e-01 -2.77083076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96264 meters 0.04084660321042238 Centerline is valid? [True, True] Translation: X:63.49, Y:-2.75, Z:-2.77 [[ 9.91164713e-01 1.27166708e-01 3.76980121e-02 6.34894805e+01] [-1.27123567e-01 9.91880539e-01 -3.54898371e-03 -2.74585204e+00] [-3.78432371e-02 -1.27467834e-03 9.99282875e-01 -2.77349555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02264 meters 0.04358034097938802 Centerline is valid? [True, True] Translation: X:63.55, Y:-2.75, Z:-2.78 [[ 9.90964044e-01 1.28643886e-01 3.79607020e-02 6.35491141e+01] [-1.28601224e-01 9.91689949e-01 -3.57368811e-03 -2.74552852e+00] [-3.81049798e-02 -1.34039632e-03 9.99272843e-01 -2.77680062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08264 meters 0.04066053789610532 Centerline is valid? [True, True] Translation: X:63.61, Y:-2.75, Z:-2.78 [[ 9.91205553e-01 1.26924677e-01 3.74390013e-02 6.36092053e+01] [-1.26881975e-01 9.91911561e-01 -3.52403725e-03 -2.74981030e+00] [-3.75834656e-02 -1.25728913e-03 9.99292701e-01 -2.77973946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14264 meters 0.03457896590964077 Centerline is valid? [True, True] Translation: X:63.67, Y:-2.76, Z:-2.78 [[ 9.91598824e-01 1.23366468e-01 3.88907148e-02 6.36689162e+01] [-1.23317656e-01 9.92360497e-01 -3.66068331e-03 -2.76071250e+00] [-3.90452146e-02 -1.16598252e-03 9.99236765e-01 -2.77979637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20264 meters 0.0323263904818189 Centerline is valid? [True, True] Translation: X:63.73, Y:-2.76, Z:-2.78 [[ 9.92207247e-01 1.18723198e-01 3.78097912e-02 6.37283472e+01] [-1.18673689e-01 9.92926930e-01 -3.55903818e-03 -2.76157139e+00] [-3.79649003e-02 -9.55723923e-04 9.99278616e-01 -2.78495830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26263999999999 meters 0.02901810725472151 Centerline is valid? [True, True] Translation: X:63.79, Y:-2.77, Z:-2.79 [[ 9.92608806e-01 1.15340897e-01 3.77390381e-02 6.37894383e+01] [-1.15289159e-01 9.93325624e-01 -3.55162137e-03 -2.76815758e+00] [-3.78968008e-02 -8.25531303e-04 9.99281317e-01 -2.78920456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32263999999999 meters 0.024720812239136847 Centerline is valid? [True, True] Translation: X:63.85, Y:-2.77, Z:-2.79 [[ 9.93090868e-01 1.11497635e-01 3.65896898e-02 6.38501664e+01] [-1.11446362e-01 9.93764482e-01 -3.44429181e-03 -2.77458096e+00] [-3.67455645e-02 -6.57293072e-04 9.99324438e-01 -2.79392915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38264 meters 0.0216841064343635 Centerline is valid? [True, True] Translation: X:63.91, Y:-2.78, Z:-2.80 [[ 9.93497932e-01 1.08154752e-01 3.55585381e-02 6.39125537e+01] [-1.08104171e-01 9.94133935e-01 -3.34768245e-03 -2.77829246e+00] [-3.57120172e-02 -5.18110711e-04 9.99361988e-01 -2.79924024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44264 meters 0.018650216386480997 Centerline is valid? [True, True] Translation: X:63.97, Y:-2.79, Z:-2.80 [[ 9.93815833e-01 1.05215432e-01 3.54937133e-02 6.39747132e+01] [-1.05163086e-01 9.94449368e-01 -3.34368029e-03 -2.78571142e+00] [-3.56485075e-02 -4.09626017e-04 9.99364306e-01 -2.80165660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50264 meters 0.01410831826979202 Centerline is valid? [True, True] Translation: X:64.03, Y:-2.80, Z:-2.80 [[ 9.94347364e-01 9.92222675e-02 3.77923322e-02 6.40349032e+01] [-9.91584865e-02 9.95065274e-01 -3.56297500e-03 -2.79508683e+00] [-3.79593638e-02 -2.04595658e-04 9.99279263e-01 -2.80037462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56264 meters 0.012545846501353305 Centerline is valid? [True, True] Translation: X:64.10, Y:-2.81, Z:-2.80 [[ 9.94976348e-01 9.23908112e-02 3.85487283e-02 6.40957653e+01] [-9.23193255e-02 9.95722820e-01 -3.63419816e-03 -2.81020348e+00] [-3.87196150e-02 5.71486163e-05 9.99250113e-01 -2.80232297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62264 meters 0.019727161040363757 Centerline is valid? [True, True] Translation: X:64.16, Y:-2.82, Z:-2.81 [[ 9.95228574e-01 9.00837072e-02 3.74834785e-02 6.41570117e+01] [-9.00142618e-02 9.95934186e-01 -3.53964632e-03 -2.81971546e+00] [-3.76499421e-02 1.48709515e-04 9.99290979e-01 -2.80550026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68263999999999 meters 0.014509768922635018 Centerline is valid? [True, True] Translation: X:64.22, Y:-2.83, Z:-2.81 [[ 9.95495597e-01 8.73509504e-02 3.68554993e-02 6.42182493e+01] [-8.72817142e-02 9.96177568e-01 -3.48645783e-03 -2.82832249e+00] [-3.70191671e-02 2.53942258e-04 9.99314523e-01 -2.80980070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74264 meters 0.015555878211644596 Centerline is valid? [True, True] Translation: X:64.28, Y:-2.84, Z:-2.82 [[ 9.95489399e-01 8.76910555e-02 3.62095972e-02 6.42796459e+01] [-8.76242310e-02 9.96147690e-01 -3.43138924e-03 -2.83524492e+00] [-3.63710087e-02 2.43073502e-04 9.99338326e-01 -2.81621904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80264 meters 0.022480424684103384 Centerline is valid? [True, True] Translation: X:64.34, Y:-2.84, Z:-2.82 [[ 9.95482708e-01 8.81866516e-02 3.51751744e-02 6.43415019e+01] [-8.81236752e-02 9.96103942e-01 -3.33975559e-03 -2.84136263e+00] [-3.53326518e-02 2.24903296e-04 9.99375582e-01 -2.81995641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86264 meters 0.015091999486032234 Centerline is valid? [True, True] Translation: X:64.40, Y:-2.85, Z:-2.82 [[ 9.95475073e-01 8.80710580e-02 3.56772635e-02 6.44035477e+01] [-8.80059888e-02 9.96114166e-01 -3.39320626e-03 -2.85016695e+00] [-3.58374708e-02 2.38039402e-04 9.99357603e-01 -2.82314104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92264 meters 0.029493940566799555 Centerline is valid? [True, True] Translation: X:64.46, Y:-2.86, Z:-2.82 [[ 9.95654949e-01 8.61897809e-02 3.52497402e-02 6.44648354e+01] [-8.61248439e-02 9.96278689e-01 -3.35931120e-03 -2.86122086e+00] [-3.54081032e-02 3.08836458e-04 9.99372889e-01 -2.82449446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98264 meters 0.01963267751956915 Centerline is valid? [True, True] Translation: X:64.53, Y:-2.87, Z:-2.83 [[ 9.95604607e-01 8.63884676e-02 3.61731850e-02 6.45265634e+01] [-8.63199775e-02 9.96261478e-01 -3.45380361e-03 -2.87201706e+00] [-3.63363195e-02 3.16154275e-04 9.99339568e-01 -2.82556948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04263999999999 meters 0.014718851605317631 Centerline is valid? [True, True] Translation: X:64.59, Y:-2.88, Z:-2.83 [[ 9.95440537e-01 8.83188918e-02 3.60265249e-02 6.45877202e+01] [-8.82519945e-02 9.96092220e-01 -3.44602360e-03 -2.88381532e+00] [-3.61900901e-02 2.50898905e-04 9.99344893e-01 -2.82990187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10264 meters 0.01412743867517296 Centerline is valid? [True, True] Translation: X:64.65, Y:-2.89, Z:-2.83 [[ 9.95260410e-01 9.01426353e-02 3.64831663e-02 6.46485720e+01] [-9.00750175e-02 9.95928847e-01 -3.49618830e-03 -2.89052846e+00] [-3.66497934e-02 1.93395960e-04 9.99328152e-01 -2.83255598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16264 meters 0.012917553177730605 Centerline is valid? [True, True] Translation: X:64.71, Y:-2.90, Z:-2.84 [[ 9.94923091e-01 9.39602839e-02 3.60486938e-02 6.47104142e+01] [-9.38965718e-02 9.95575945e-01 -3.46006884e-03 -2.89585848e+00] [-3.62143214e-02 5.76536224e-05 9.99344045e-01 -2.83605629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22264 meters 0.013413324578078449 Centerline is valid? [True, True] Translation: X:64.77, Y:-2.90, Z:-2.84 [[ 9.94695882e-01 9.72161108e-02 3.36025258e-02 6.47719811e+01] [-9.71624398e-02 9.95263294e-01 -3.23034869e-03 -2.90174451e+00] [-3.37574025e-02 -5.16888589e-05 9.99430055e-01 -2.84277793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28264 meters 0.025971693014438524 Centerline is valid? [True, True] Translation: X:64.83, Y:-2.90, Z:-2.85 [[ 9.94394894e-01 1.00186425e-01 3.37857209e-02 6.48339700e+01] [-1.00133687e-01 9.94968672e-01 -3.25366629e-03 -2.90479051e+00] [-3.39417070e-02 -1.47659652e-04 9.99423803e-01 -2.84576418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34264 meters 0.017488614334628907 Centerline is valid? [True, True] Translation: X:64.90, Y:-2.90, Z:-2.85 [[ 9.93828391e-01 1.05654927e-01 3.37959506e-02 6.48955042e+01] [-1.05605096e-01 9.94402800e-01 -3.26112371e-03 -2.90464355e+00] [-3.39513417e-02 -3.28027272e-04 9.99423433e-01 -2.84951315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40263999999999 meters 0.02133441873094713 Centerline is valid? [True, True] Translation: X:64.96, Y:-2.90, Z:-2.85 [[ 9.93304571e-01 1.10122167e-01 3.49161476e-02 6.49574523e+01] [-1.10071535e-01 9.93917938e-01 -3.37490156e-03 -2.90413425e+00] [-3.50754369e-02 -4.90968803e-04 9.99384547e-01 -2.85010391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46264 meters 0.022330800610458276 Centerline is valid? [True, True] Translation: X:65.02, Y:-2.91, Z:-2.85 [[ 9.93192326e-01 1.11323601e-01 3.42937150e-02 6.50193975e+01] [-1.11275301e-01 9.93784074e-01 -3.31975309e-03 -2.90602959e+00] [-3.44501147e-02 -5.18890164e-04 9.99406284e-01 -2.85314203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52264 meters 0.02100377291218433 Centerline is valid? [True, True] Translation: X:65.08, Y:-2.92, Z:-2.85 [[ 9.93522108e-01 1.07936100e-01 3.55474183e-02 6.50793667e+01] [-1.07881757e-01 9.94157750e-01 -3.44890584e-03 -2.91590119e+00] [-3.57120028e-02 -4.08353750e-04 9.99362040e-01 -2.85421614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58264 meters 0.015215820305711438 Centerline is valid? [True, True] Translation: X:65.14, Y:-2.93, Z:-2.86 [[ 9.94060682e-01 1.02805651e-01 3.56981452e-02 6.51399149e+01] [-1.02747578e-01 9.94701436e-01 -3.46241690e-03 -2.93282737e+00] [-3.58649523e-02 -2.26045434e-04 9.99356620e-01 -2.85693312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64264 meters 0.013554939590465002 Centerline is valid? [True, True] Translation: X:65.20, Y:-2.95, Z:-2.86 [[ 9.94349321e-01 9.99480496e-02 3.57744932e-02 6.52016111e+01] [-9.98876311e-02 9.94992650e-01 -3.47668256e-03 -2.94609772e+00] [-3.59428454e-02 -1.16392430e-04 9.99353840e-01 -2.85860688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70264 meters 0.012986950631569886 Centerline is valid? [True, True] Translation: X:65.26, Y:-2.96, Z:-2.86 [[ 9.94628088e-01 9.73699124e-02 3.51292906e-02 6.52633302e+01] [-9.73100247e-02 9.95248260e-01 -3.41458967e-03 -2.96047354e+00] [-3.52948436e-02 -2.21853401e-05 9.99376943e-01 -2.86188698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76263999999999 meters 0.012969166054177639 Centerline is valid? [True, True] Translation: X:65.33, Y:-2.97, Z:-2.86 [[ 9.94644760e-01 9.71991979e-02 3.51300030e-02 6.53259379e+01] [-9.71389647e-02 9.95264948e-01 -3.42135930e-03 -2.96908627e+00] [-3.52962140e-02 -9.45502229e-06 9.99376894e-01 -2.86438995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82263999999999 meters 0.013841781666562742 Centerline is valid? [True, True] Translation: X:65.39, Y:-2.97, Z:-2.87 [[ 9.94282527e-01 1.01152567e-01 3.42113108e-02 6.53880176e+01] [-1.01097558e-01 9.94870916e-01 -3.33840441e-03 -2.97340495e+00] [-3.43735262e-02 -1.39362799e-04 9.99409046e-01 -2.86814788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88264 meters 0.026522005971550532 Centerline is valid? [True, True] Translation: X:65.45, Y:-2.97, Z:-2.87 [[ 9.93365550e-01 1.09644814e-01 3.46828284e-02 6.54499519e+01] [-1.09593230e-01 9.93970738e-01 -3.39065476e-03 -2.96547483e+00] [-3.48454842e-02 -4.32843548e-04 9.99392618e-01 -2.87019272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94264 meters 0.03745916907839829 Centerline is valid? [True, True] Translation: X:65.51, Y:-2.95, Z:-2.87 [[ 9.92156826e-01 1.20088025e-01 3.46943771e-02 6.55116834e+01] [-1.20042522e-01 9.92762932e-01 -3.39918192e-03 -2.95009502e+00] [-3.48514925e-02 -7.92278958e-04 9.99392188e-01 -2.87344583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00264 meters 0.03547115800670134 Centerline is valid? [True, True] Translation: X:65.57, Y:-2.94, Z:-2.88 [[ 9.91346582e-01 1.26570967e-01 3.48101224e-02 6.55732488e+01] [-1.26529165e-01 9.91957026e-01 -3.41005762e-03 -2.94405774e+00] [-3.49617598e-02 -1.02394675e-03 9.99388126e-01 -2.87514233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06264 meters 0.03776540125299063 Centerline is valid? [True, True] Translation: X:65.63, Y:-2.94, Z:-2.88 [[ 9.91253714e-01 1.27112451e-01 3.54753384e-02 6.56327576e+01] [-1.27069384e-01 9.91887743e-01 -3.47518464e-03 -2.94309424e+00] [-3.56292926e-02 -1.06303970e-03 9.99364510e-01 -2.87741632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12264 meters 0.033868837438589025 Centerline is valid? [True, True] Translation: X:65.69, Y:-2.95, Z:-2.88 [[ 9.91776301e-01 1.22896485e-01 3.57242509e-02 6.56926450e+01] [-1.22850063e-01 9.92419071e-01 -3.49996882e-03 -2.95057144e+00] [-3.58835617e-02 -9.17540348e-04 9.99355556e-01 -2.88058934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18263999999999 meters 0.024843712929208724 Centerline is valid? [True, True] Translation: X:65.75, Y:-2.96, Z:-2.88 [[ 9.92558549e-01 1.16328544e-01 3.59888459e-02 6.57520657e+01] [-1.16277116e-01 9.93210552e-01 -3.52589167e-03 -2.96412627e+00] [-3.61546634e-02 -6.85025278e-04 9.99345972e-01 -2.88166944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24264 meters 0.023637664731233084 Centerline is valid? [True, True] Translation: X:65.81, Y:-2.97, Z:-2.89 [[ 9.92970227e-01 1.12869573e-01 3.56453171e-02 6.58127459e+01] [-1.12816951e-01 9.93609657e-01 -3.49061324e-03 -2.97083564e+00] [-3.58115153e-02 -5.55320969e-04 9.99358408e-01 -2.88731214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30264 meters 0.018736478901443695 Centerline is valid? [True, True] Translation: X:65.87, Y:-2.98, Z:-2.89 [[ 9.93338792e-01 1.09736961e-01 3.51545685e-02 6.58742928e+01] [-1.09683629e-01 9.93960569e-01 -3.44787403e-03 -2.98241103e+00] [-3.53206142e-02 -4.30973638e-04 9.99375940e-01 -2.88871107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36264 meters 0.020269805092018346 Centerline is valid? [True, True] Translation: X:65.94, Y:-2.98, Z:-2.90 [[ 9.93387303e-01 1.09511544e-01 3.44802550e-02 6.59359803e+01] [-1.09459907e-01 9.93985440e-01 -3.38739008e-03 -2.98426077e+00] [-3.46438297e-02 -4.09215215e-04 9.99399639e-01 -2.89543409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42264 meters 0.01787585490967809 Centerline is valid? [True, True] Translation: X:66.00, Y:-2.99, Z:-2.90 [[ 9.93480797e-01 1.08734014e-01 3.42464539e-02 6.59979375e+01] [-1.08682397e-01 9.94070810e-01 -3.37072764e-03 -2.99276002e+00] [-3.44099129e-02 -3.73233506e-04 9.99407734e-01 -2.89638397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48264 meters 0.02579662136862378 Centerline is valid? [True, True] Translation: X:66.06, Y:-3.00, Z:-2.90 [[ 9.93480981e-01 1.08802268e-01 3.40236133e-02 6.60599146e+01] [-1.08751168e-01 9.94063344e-01 -3.35441908e-03 -2.99785774e+00] [-3.41865952e-02 -3.67556119e-04 9.99415400e-01 -2.90092589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54263999999999 meters 0.018366869773717615 Centerline is valid? [True, True] Translation: X:66.12, Y:-3.00, Z:-2.90 [[ 9.93445842e-01 1.09255602e-01 3.35942330e-02 6.61217385e+01] [-1.09205836e-01 9.94013619e-01 -3.31820384e-03 -3.00357665e+00] [-3.37556575e-02 -3.72230491e-04 9.99430046e-01 -2.90339078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60264 meters 0.01845644370081868 Centerline is valid? [True, True] Translation: X:66.18, Y:-3.01, Z:-2.90 [[ 9.93392638e-01 1.09550787e-01 3.42007667e-02 6.61834213e+01] [-1.09499130e-01 9.93981126e-01 -3.38546006e-03 -3.00811300e+00] [-3.43657965e-02 -3.81863108e-04 9.99409249e-01 -2.90485631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66264 meters 0.021221575838801174 Centerline is valid? [True, True] Translation: X:66.25, Y:-3.02, Z:-2.91 [[ 9.93454035e-01 1.08966961e-01 3.42823968e-02 6.62451019e+01] [-1.08914704e-01 9.94045306e-01 -3.39370159e-03 -3.01675067e+00] [-3.44480570e-02 -3.62370557e-04 9.99406424e-01 -2.90877210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72264 meters 0.027187171819625537 Centerline is valid? [True, True] Translation: X:66.31, Y:-3.03, Z:-2.91 [[ 9.93739767e-01 1.06594910e-01 3.34484851e-02 6.63068051e+01] [-1.06543636e-01 9.94302496e-01 -3.31665078e-03 -3.02781286e+00] [-3.36114503e-02 -2.67835437e-04 9.99434940e-01 -2.91311221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78264 meters 0.014748486057512914 Centerline is valid? [True, True] Translation: X:66.37, Y:-3.04, Z:-2.91 [[ 9.93994675e-01 1.04353330e-01 3.29388460e-02 6.63676736e+01] [-1.04302199e-01 9.94540270e-01 -3.27149263e-03 -3.04118640e+00] [-3.31004000e-02 -1.83747808e-04 9.99452015e-01 -2.91475435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84264 meters 0.014495878513379584 Centerline is valid? [True, True] Translation: X:66.43, Y:-3.05, Z:-2.92 [[ 9.93971162e-01 1.04130831e-01 3.43234643e-02 6.64279769e+01] [-1.04074954e-01 9.94563592e-01 -3.41544380e-03 -3.05071755e+00] [-3.44925210e-02 -1.77360336e-04 9.99404940e-01 -2.91627500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90263999999999 meters 0.0286916920335952 Centerline is valid? [True, True] Translation: X:66.49, Y:-3.06, Z:-2.92 [[ 9.93924302e-01 1.04648997e-01 3.41037953e-02 6.64903218e+01] [-1.04593970e-01 9.94509201e-01 -3.39850397e-03 -3.06039362e+00] [-3.42721882e-02 -1.89195642e-04 9.99412518e-01 -2.92014262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96264 meters 0.015913123662618368 Centerline is valid? [True, True] Translation: X:66.55, Y:-3.07, Z:-2.92 [[ 9.93697891e-01 1.06830405e-01 3.39376852e-02 6.65515036e+01] [-1.06776947e-01 9.94277224e-01 -3.38892117e-03 -3.06621964e+00] [-3.41055073e-02 -2.56198592e-04 9.99418205e-01 -2.92259046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02264 meters 0.017018463575318426 Centerline is valid? [True, True] Translation: X:66.61, Y:-3.07, Z:-2.93 [[ 9.93526738e-01 1.08458129e-01 3.37854177e-02 6.66135772e+01] [-1.08405916e-01 9.94100971e-01 -3.37882520e-03 -3.07114245e+00] [-3.39525776e-02 -3.05585970e-04 9.99423398e-01 -2.92566799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08264 meters 0.018333999090860212 Centerline is valid? [True, True] Translation: X:66.68, Y:-3.08, Z:-2.93 [[ 9.93377059e-01 1.10187136e-01 3.25701316e-02 6.66753355e+01] [-1.10139374e-01 9.93910798e-01 -3.26239124e-03 -3.07883824e+00] [-3.27312790e-02 -3.46469282e-04 9.99464128e-01 -2.93096264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14264 meters 0.01774731948752404 Centerline is valid? [True, True] Translation: X:66.74, Y:-3.09, Z:-2.93 [[ 9.93350629e-01 1.10171380e-01 3.34184934e-02 6.67373437e+01] [-1.10120895e-01 9.93912544e-01 -3.35312038e-03 -3.08843957e+00] [-3.35844777e-02 -3.49250184e-04 9.99435821e-01 -2.93220920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20264 meters 0.01642615404981832 Centerline is valid? [True, True] Translation: X:66.80, Y:-3.10, Z:-2.93 [[ 9.93436785e-01 1.08972787e-01 3.47604106e-02 6.67987889e+01] [-1.08917214e-01 9.94044683e-01 -3.49400919e-03 -3.09974310e+00] [-3.49341533e-02 -3.14929826e-04 9.99389567e-01 -2.93245859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26263999999999 meters 0.016491110061665284 Centerline is valid? [True, True] Translation: X:66.86, Y:-3.11, Z:-2.93 [[ 9.93328194e-01 1.09689615e-01 3.55989772e-02 6.68610435e+01] [-1.09631572e-01 9.93965830e-01 -3.58430781e-03 -3.10756104e+00] [-3.57773283e-02 -3.42377827e-04 9.99359728e-01 -2.93281334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32263999999999 meters 0.01852289503476545 Centerline is valid? [True, True] Translation: X:66.92, Y:-3.11, Z:-2.94 [[ 9.93166921e-01 1.11511748e-01 3.44179733e-02 6.69216456e+01] [-1.11458294e-01 9.93763041e-01 -3.47385108e-03 -3.10982151e+00] [-3.45906850e-02 -3.86054607e-04 9.99401489e-01 -2.93786127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38264 meters 0.022214393820029765 Centerline is valid? [True, True] Translation: X:66.98, Y:-3.11, Z:-2.94 [[ 9.92759440e-01 1.15572308e-01 3.27373910e-02 6.69835080e+01] [-1.15526155e-01 9.93298943e-01 -3.30419253e-03 -3.10849330e+00] [-3.28998890e-02 -5.01756574e-04 9.99458526e-01 -2.94376782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44264 meters 0.02213328479749039 Centerline is valid? [True, True] Translation: X:67.05, Y:-3.11, Z:-2.95 [[ 9.92715808e-01 1.16208269e-01 3.17956437e-02 6.70454732e+01] [-1.16165019e-01 9.93224739e-01 -3.21042098e-03 -3.11400915e+00] [-3.19532974e-02 -5.06505899e-04 9.99489235e-01 -2.94754450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50264 meters 0.021446216796712575 Centerline is valid? [True, True] Translation: X:67.11, Y:-3.12, Z:-2.95 [[ 9.92854507e-01 1.14718278e-01 3.28579513e-02 6.71067833e+01] [-1.14671043e-01 9.93397956e-01 -3.32464774e-03 -3.11804879e+00] [-3.30224195e-02 -4.66964063e-04 9.99454502e-01 -2.94953258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56264 meters 0.017388801781193022 Centerline is valid? [True, True] Translation: X:67.17, Y:-3.13, Z:-2.95 [[ 9.93246588e-01 1.11125706e-01 3.33510527e-02 6.71681199e+01] [-1.11074937e-01 9.93806296e-01 -3.37693744e-03 -3.12952848e+00] [-3.35197507e-02 -3.50334486e-04 9.99437994e-01 -2.95009098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62263999999999 meters 0.02112171937394624 Centerline is valid? [True, True] Translation: X:67.23, Y:-3.14, Z:-2.95 [[ 9.93491147e-01 1.08814457e-01 3.36861369e-02 6.72297657e+01] [-1.08761132e-01 9.94062041e-01 -3.41681281e-03 -3.13963177e+00] [-3.38579086e-02 -2.69169105e-04 9.99426620e-01 -2.95349060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68263999999999 meters 0.01295114462546603 Centerline is valid? [True, True] Translation: X:67.29, Y:-3.16, Z:-2.95 [[ 9.94091930e-01 1.02914250e-01 3.44948135e-02 6.72912492e+01] [-1.02854521e-01 9.94690230e-01 -3.50632487e-03 -3.15543758e+00] [-3.46725048e-02 -6.23382726e-05 9.99398726e-01 -2.95413437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74264 meters 0.017423182347054787 Centerline is valid? [True, True] Translation: X:67.35, Y:-3.17, Z:-2.96 [[ 9.94374206e-01 1.00266828e-01 3.41540977e-02 6.73527862e+01] [-1.00206664e-01 9.94960583e-01 -3.47308676e-03 -3.16685671e+00] [-3.43302163e-02 3.10797145e-05 9.99410544e-01 -2.95817444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80264 meters 0.014003813097928655 Centerline is valid? [True, True] Translation: X:67.41, Y:-3.18, Z:-2.96 [[ 9.94676814e-01 9.76371643e-02 3.29396286e-02 6.74138839e+01] [-9.75796539e-02 9.95222070e-01 -3.35284717e-03 -3.18168430e+00] [-3.31096078e-02 1.20761784e-04 9.99451719e-01 -2.96295846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86264 meters 0.014113756205588177 Centerline is valid? [True, True] Translation: X:67.48, Y:-3.19, Z:-2.96 [[ 9.94691904e-01 9.73498239e-02 3.33320865e-02 6.74759956e+01] [-9.72905904e-02 9.95250216e-01 -3.39824601e-03 -3.19325589e+00] [-3.35045849e-02 1.37309420e-04 9.99438554e-01 -2.96405276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92264 meters 0.03490794889646377 Centerline is valid? [True, True] Translation: X:67.54, Y:-3.20, Z:-2.97 [[ 9.94459315e-01 9.95017073e-02 3.39128522e-02 6.75367812e+01] [-9.94413947e-02 9.95037389e-01 -3.46469799e-03 -3.19884509e+00] [-3.40892992e-02 7.31598677e-05 9.99418788e-01 -2.96668245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98264 meters 0.0131834707316652 Centerline is valid? [True, True] Translation: X:67.60, Y:-3.21, Z:-2.97 [[ 9.94094195e-01 1.02868735e-01 3.45652356e-02 6.75987054e+01] [-1.02807924e-01 9.94694939e-01 -3.53680283e-03 -3.20639299e+00] [-3.47456914e-02 -3.76649345e-05 9.99396185e-01 -2.96782197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04263999999999 meters 0.013333769039550783 Centerline is valid? [True, True] Translation: X:67.66, Y:-3.22, Z:-2.97 [[ 9.93737797e-01 1.05875485e-01 3.57151460e-02 6.76611840e+01] [-1.05812288e-01 9.94379385e-01 -3.66033690e-03 -3.21735365e+00] [-3.59019449e-02 -1.41686187e-04 9.99355307e-01 -2.96752647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10264 meters 0.015506880155644488 Centerline is valid? [True, True] Translation: X:67.72, Y:-3.22, Z:-2.97 [[ 9.93454480e-01 1.08800598e-01 3.47940483e-02 6.77214874e+01] [-1.08742160e-01 9.94063567e-01 -3.57316564e-03 -3.22282601e+00] [-3.49762583e-02 -2.33802538e-04 9.99388116e-01 -2.97396822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16264 meters 0.01681608600824596 Centerline is valid? [True, True] Translation: X:67.78, Y:-3.23, Z:-2.98 [[ 9.93217507e-01 1.11088812e-01 3.43257886e-02 6.77826392e+01] [-1.11033115e-01 9.93810436e-01 -3.53046859e-03 -3.23088512e+00] [-3.45055225e-02 -3.04776032e-04 9.99404461e-01 -2.97759197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22264 meters 0.020614836026328198 Centerline is valid? [True, True] Translation: X:67.84, Y:-3.23, Z:-2.98 [[ 9.92533564e-01 1.16986423e-01 3.45152222e-02 6.78444696e+01] [-1.16933465e-01 9.93133385e-01 -3.55591798e-03 -3.23389674e+00] [-3.46942136e-02 -5.06616582e-04 9.99397846e-01 -2.97861007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28264 meters 0.02702951037427577 Centerline is valid? [True, True] Translation: X:67.90, Y:-3.23, Z:-2.98 [[ 9.91789139e-01 1.23115958e-01 3.45942767e-02 6.79045644e+01] [-1.23066221e-01 9.92392034e-01 -3.57154240e-03 -3.23247411e+00] [-3.47707984e-02 -7.15169933e-04 9.99395057e-01 -2.98241901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34264 meters 0.03143563402163439 Centerline is valid? [True, True] Translation: X:67.96, Y:-3.23, Z:-2.99 [[ 9.91431053e-01 1.26319176e-01 3.32856348e-02 6.79644575e+01] [-1.26274959e-01 9.91989330e-01 -3.43568511e-03 -3.23272789e+00] [-3.34529874e-02 -7.96897265e-04 9.99439974e-01 -2.98895137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40263999999999 meters 0.029369948555182015 Centerline is valid? [True, True] Translation: X:68.03, Y:-3.24, Z:-2.99 [[ 9.91388332e-01 1.26667703e-01 3.32335381e-02 6.80263465e+01] [-1.26623813e-01 9.91944878e-01 -3.43053974e-03 -3.24252076e+00] [-3.34003765e-02 -8.07160227e-04 9.99441726e-01 -2.99101264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46264 meters 0.03491809196060592 Centerline is valid? [True, True] Translation: X:68.09, Y:-3.25, Z:-2.99 [[ 9.91583978e-01 1.25205373e-01 3.29367544e-02 6.80876648e+01] [-1.25161234e-01 9.92130566e-01 -3.40664593e-03 -3.25250955e+00] [-3.31040912e-02 -7.44429294e-04 9.99451632e-01 -2.99214421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52264 meters 0.026926440905146114 Centerline is valid? [True, True] Translation: X:68.15, Y:-3.26, Z:-3.00 [[ 9.91907328e-01 1.22483715e-01 3.34304099e-02 6.81472658e+01] [-1.22436454e-01 9.92470306e-01 -3.46494697e-03 -3.25905935e+00] [-3.36030888e-02 -6.56194542e-04 9.99435041e-01 -2.99698845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58264 meters 0.023351586793624233 Centerline is valid? [True, True] Translation: X:68.21, Y:-3.27, Z:-3.00 [[ 9.92231227e-01 1.19822414e-01 3.34631421e-02 6.82090830e+01] [-1.19773505e-01 9.92795180e-01 -3.46958810e-03 -3.26844220e+00] [-3.36377806e-02 -5.65364166e-04 9.99433930e-01 -2.99889695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64264 meters 0.020787425137840546 Centerline is valid? [True, True] Translation: X:68.27, Y:-3.28, Z:-3.00 [[ 9.92458524e-01 1.17732670e-01 3.41335184e-02 6.82703637e+01] [-1.17680341e-01 9.93045200e-01 -3.54507261e-03 -3.27920505e+00] [-3.43134975e-02 -4.98506544e-04 9.99410994e-01 -2.99973522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70264 meters 0.016207832389319155 Centerline is valid? [True, True] Translation: X:68.33, Y:-3.29, Z:-3.00 [[ 9.93117159e-01 1.11992516e-01 3.42926505e-02 6.83304089e+01] [-1.11936009e-01 9.93709007e-01 -3.56928195e-03 -3.29492051e+00] [-3.44766486e-02 -2.93867291e-04 9.99405460e-01 -3.00186456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76263999999999 meters 0.013533346198836754 Centerline is valid? [True, True] Translation: X:68.39, Y:-3.31, Z:-3.01 [[ 9.93834251e-01 1.05384859e-01 3.44603044e-02 6.83903989e+01] [-1.05323853e-01 9.94431510e-01 -3.58591079e-03 -3.31355000e+00] [-3.46463132e-02 -6.56910554e-05 9.99399634e-01 -3.00636695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82263999999999 meters 0.014327539036995945 Centerline is valid? [True, True] Translation: X:68.45, Y:-3.33, Z:-3.01 [[ 9.94362296e-01 1.00707460e-01 3.31908337e-02 6.84513266e+01] [-1.00648075e-01 9.94916076e-01 -3.45936433e-03 -3.33081751e+00] [-3.33704778e-02 9.92679336e-05 9.99443046e-01 -3.01174012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88264 meters 0.015442816494074382 Centerline is valid? [True, True] Translation: X:68.51, Y:-3.35, Z:-3.02 [[ 9.94626231e-01 9.82860727e-02 3.25347391e-02 6.85119636e+01] [-9.82275481e-02 9.95158186e-01 -3.39618124e-03 -3.34577841e+00] [-3.27110093e-02 1.82123294e-04 9.99464835e-01 -3.01538991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94264 meters 0.02424307546361636 Centerline is valid? [True, True] Translation: X:68.57, Y:-3.36, Z:-3.02 [[ 9.94754359e-01 9.74658067e-02 3.10512863e-02 6.85734272e+01] [-9.74119552e-02 9.95238853e-01 -3.24594155e-03 -3.35945440e+00] [-3.12198148e-02 2.04147994e-04 9.99512522e-01 -3.01691168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00264 meters 0.015212223152414486 Centerline is valid? [True, True] Translation: X:68.63, Y:-3.37, Z:-3.02 [[ 9.94561338e-01 9.89456090e-02 3.25193979e-02 6.86328703e+01] [-9.88871220e-02 9.95092828e-01 -3.40589135e-03 -3.37457737e+00] [-3.26968176e-02 1.71618196e-04 9.99465301e-01 -3.01960308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06264 meters 0.013476424271982292 Centerline is valid? [True, True] Translation: X:68.69, Y:-3.39, Z:-3.02 [[ 9.94294442e-01 1.00975216e-01 3.43884937e-02 6.86943071e+01] [-1.00910814e-01 9.94888935e-01 -3.60770569e-03 -3.38874980e+00] [-3.45770207e-02 1.16950827e-04 9.99402029e-01 -3.01818807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12263999999999 meters 0.012971383324511598 Centerline is valid? [True, True] Translation: X:68.76, Y:-3.40, Z:-3.02 [[ 9.93888641e-01 1.04959865e-01 3.41876629e-02 6.87567183e+01] [-1.04898374e-01 9.94476458e-01 -3.59231437e-03 -3.40109912e+00] [-3.43758748e-02 -1.58697905e-05 9.99408975e-01 -3.02054320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18263999999999 meters 0.015498603850854446 Centerline is valid? [True, True] Translation: X:68.82, Y:-3.41, Z:-3.03 [[ 9.93149420e-01 1.11993873e-01 3.33406980e-02 6.88171316e+01] [-1.11939061e-01 9.93708867e-01 -3.51195963e-03 -3.40560311e+00] [-3.35242652e-02 -2.44225756e-04 9.99437874e-01 -3.02576780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24264 meters 0.019327173740899553 Centerline is valid? [True, True] Translation: X:68.88, Y:-3.41, Z:-3.03 [[ 9.92483126e-01 1.17742497e-01 3.33758759e-02 6.88791746e+01] [-1.17690799e-01 9.93044064e-01 -3.51618642e-03 -3.40956287e+00] [-3.35577200e-02 -4.38277806e-04 9.99436685e-01 -3.02782725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30264 meters 0.02682879961658579 Centerline is valid? [True, True] Translation: X:68.94, Y:-3.41, Z:-3.03 [[ 9.91606532e-01 1.24866936e-01 3.35370623e-02 6.89400494e+01] [-1.24818733e-01 9.92173264e-01 -3.53531035e-03 -3.40876649e+00] [-3.37160200e-02 -6.80416798e-04 9.99431222e-01 -3.03073122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36264 meters 0.02970682744919968 Centerline is valid? [True, True] Translation: X:69.00, Y:-3.41, Z:-3.03 [[ 9.91106591e-01 1.28786184e-01 3.34939291e-02 6.90012950e+01] [-1.28740332e-01 9.91672052e-01 -3.53102290e-03 -3.41296875e+00] [-3.36697404e-02 -8.12399498e-04 9.99432683e-01 -3.03310725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42264 meters 0.03675679985409634 Centerline is valid? [True, True] Translation: X:69.06, Y:-3.42, Z:-3.04 [[ 9.91060252e-01 1.29245609e-01 3.30930413e-02 6.90626013e+01] [-1.29201142e-01 9.91612274e-01 -3.48762823e-03 -3.42078553e+00] [-3.32662266e-02 -8.19209006e-04 9.99446190e-01 -3.03604638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48264 meters 0.02564397645824522 Centerline is valid? [True, True] Translation: X:69.12, Y:-3.43, Z:-3.04 [[ 9.91547887e-01 1.25839383e-01 3.15790660e-02 6.91233564e+01] [-1.25797001e-01 9.92050404e-01 -3.33322780e-03 -3.43311222e+00] [-3.17474765e-02 -6.67496801e-04 9.99495699e-01 -3.04140088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54263999999999 meters 0.020040405009671435 Centerline is valid? [True, True] Translation: X:69.18, Y:-3.45, Z:-3.04 [[ 9.92428490e-01 1.18736821e-01 3.14206818e-02 6.91827890e+01] [-1.18691057e-01 9.92925668e-01 -3.32427954e-03 -3.45119548e+00] [-3.15931158e-02 -4.30244219e-04 9.99500720e-01 -3.04460893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60264 meters 0.016209042640091112 Centerline is valid? [True, True] Translation: X:69.24, Y:-3.47, Z:-3.05 [[ 9.93244514e-01 1.11403872e-01 3.24732453e-02 6.92416667e+01] [-1.11351061e-01 9.93775194e-01 -3.43589645e-03 -3.46913008e+00] [-3.26538778e-02 -2.03245005e-04 9.99466699e-01 -3.04888136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66264 meters 0.01762237191991339 Centerline is valid? [True, True] Translation: X:69.30, Y:-3.49, Z:-3.05 [[ 9.93839973e-01 1.05799128e-01 3.29947497e-02 6.93022457e+01] [-1.05741552e-01 9.94387522e-01 -3.48997877e-03 -3.48906228e+00] [-3.31788041e-02 -2.04356431e-05 9.99449432e-01 -3.04679877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72264 meters 0.013817681516122482 Centerline is valid? [True, True] Translation: X:69.36, Y:-3.50, Z:-3.05 [[ 9.94151348e-01 1.03181926e-01 3.18839604e-02 6.93636201e+01] [-1.03126647e-01 9.94662498e-01 -3.37779169e-03 -3.50227611e+00] [-3.20623068e-02 6.99502441e-05 9.99485870e-01 -3.05101820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78264 meters 0.01411606939219347 Centerline is valid? [True, True] Translation: X:69.43, Y:-3.51, Z:-3.05 [[ 9.94319006e-01 1.01569846e-01 3.18320692e-02 6.94257869e+01] [-1.01513757e-01 9.94828402e-01 -3.37740127e-03 -3.51468720e+00] [-3.20104887e-02 1.26821324e-04 9.99487525e-01 -3.05290851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84264 meters 0.013948504449556223 Centerline is valid? [True, True] Translation: X:69.49, Y:-3.52, Z:-3.06 [[ 9.94063213e-01 1.04238702e-01 3.11868938e-02 6.94868834e+01] [-1.04185976e-01 9.94552307e-01 -3.31535491e-03 -3.52298732e+00] [-3.13625855e-02 4.64353748e-05 9.99508072e-01 -3.05732057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90263999999999 meters 0.014262514164025932 Centerline is valid? [True, True] Translation: X:69.55, Y:-3.53, Z:-3.06 [[ 9.93579778e-01 1.08560830e-01 3.18397585e-02 6.95478669e+01] [-1.08507878e-01 9.94089804e-01 -3.39140198e-03 -3.52502209e+00] [-3.20197527e-02 -8.52361917e-05 9.99487233e-01 -3.06051196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96264 meters 0.017145066892239685 Centerline is valid? [True, True] Translation: X:69.61, Y:-3.53, Z:-3.07 [[ 9.92984062e-01 1.14170997e-01 3.07836998e-02 6.96090454e+01] [-1.14124045e-01 9.93461081e-01 -3.28368635e-03 -3.52707021e+00] [-3.09573094e-02 -2.52512125e-04 9.99520676e-01 -3.06615707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02264 meters 0.018501476513518366 Centerline is valid? [True, True] Translation: X:69.67, Y:-3.53, Z:-3.07 [[ 9.92638061e-01 1.17214596e-01 3.05027496e-02 6.96704714e+01] [-1.17169792e-01 9.93106552e-01 -3.25830866e-03 -3.53214561e+00] [-3.06744018e-02 -3.39679644e-04 9.99529372e-01 -3.06791546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08264 meters 0.03127150806127176 Centerline is valid? [True, True] Translation: X:69.73, Y:-3.54, Z:-3.07 [[ 9.92635191e-01 1.16825178e-01 3.20508337e-02 6.97319462e+01] [-1.16775340e-01 9.93152437e-01 -3.42886755e-03 -3.54472326e+00] [-3.22319416e-02 -3.39132399e-04 9.99480358e-01 -3.06772720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14264 meters 0.016023540533910214 Centerline is valid? [True, True] Translation: X:69.79, Y:-3.56, Z:-3.07 [[ 9.92970662e-01 1.13967373e-01 3.19484323e-02 6.97921920e+01] [-1.13916186e-01 9.93484464e-01 -3.42375797e-03 -3.55850720e+00] [-3.21304678e-02 -2.39752337e-04 9.99483654e-01 -3.07103393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20264 meters 0.014633707930604757 Centerline is valid? [True, True] Translation: X:69.85, Y:-3.57, Z:-3.07 [[ 9.93045178e-01 1.12874646e-01 3.34751927e-02 6.98536349e+01] [-1.12817637e-01 9.93609214e-01 -3.59304644e-03 -3.57153190e+00] [-3.36668238e-02 -2.08534688e-04 9.99433090e-01 -3.07070011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26263999999999 meters 0.014935973434856056 Centerline is valid? [True, True] Translation: X:69.92, Y:-3.58, Z:-3.07 [[ 9.92905406e-01 1.13957918e-01 3.39477119e-02 6.99156454e+01] [-1.13899728e-01 9.93485548e-01 -3.64942166e-03 -3.58097789e+00] [-3.41424416e-02 -2.43104641e-04 9.99416947e-01 -3.07230776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32263999999999 meters 0.028184039606995493 Centerline is valid? [True, True] Translation: X:69.98, Y:-3.59, Z:-3.08 [[ 9.92823462e-01 1.14711947e-01 3.38044724e-02 6.99780489e+01] [-1.14654457e-01 9.93398762e-01 -3.64066950e-03 -3.58850630e+00] [-3.39989493e-02 -2.61291316e-04 9.99421834e-01 -3.07634037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38264 meters 0.030282518290509246 Centerline is valid? [True, True] Translation: X:70.04, Y:-3.59, Z:-3.08 [[ 9.92500305e-01 1.17763078e-01 3.27872192e-02 7.00395934e+01] [-1.17710448e-01 9.93041659e-01 -3.53758706e-03 -3.59405580e+00] [-3.29756717e-02 -3.48342013e-04 9.99456094e-01 -3.08033642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44264 meters 0.020544916807850967 Centerline is valid? [True, True] Translation: X:70.10, Y:-3.59, Z:-3.08 [[ 9.91961670e-01 1.22250291e-01 3.26636069e-02 7.01004797e+01] [-1.22200232e-01 9.92499183e-01 -3.53200159e-03 -3.59448692e+00] [-3.28503914e-02 -4.87890129e-04 9.99460161e-01 -3.08219992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50264 meters 0.022890647514504633 Centerline is valid? [True, True] Translation: X:70.16, Y:-3.60, Z:-3.08 [[ 9.91615756e-01 1.24999486e-01 3.27615879e-02 7.01624647e+01] [-1.24950661e-01 9.92156636e-01 -3.54149775e-03 -3.59795552e+00] [-3.29473122e-02 -5.81777102e-04 9.99456921e-01 -3.08474151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56264 meters 0.02616961279715506 Centerline is valid? [True, True] Translation: X:70.22, Y:-3.60, Z:-3.09 [[ 9.91244037e-01 1.27820463e-01 3.31238397e-02 7.02236409e+01] [-1.27771896e-01 9.91797092e-01 -3.58755763e-03 -3.59621801e+00] [-3.33106912e-02 -6.76150709e-04 9.99444816e-01 -3.08800587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62263999999999 meters 0.02705981195216275 Centerline is valid? [True, True] Translation: X:70.29, Y:-3.60, Z:-3.09 [[ 9.91128189e-01 1.28495929e-01 3.39662882e-02 7.02864526e+01] [-1.28445196e-01 9.91709779e-01 -3.68053154e-03 -3.60013232e+00] [-3.41576335e-02 -7.14927993e-04 9.99416202e-01 -3.09062602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68263999999999 meters 0.024545522086062234 Centerline is valid? [True, True] Translation: X:70.35, Y:-3.61, Z:-3.09 [[ 9.91230556e-01 1.27807074e-01 3.35758425e-02 7.03486705e+01] [-1.27756887e-01 9.91798817e-01 -3.64471221e-03 -3.60655601e+00] [-3.37663009e-02 -6.76795016e-04 9.99429527e-01 -3.09192450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74264 meters 0.022924798760623498 Centerline is valid? [True, True] Translation: X:70.41, Y:-3.61, Z:-3.10 [[ 9.91601835e-01 1.25070153e-01 3.29128839e-02 7.04092460e+01] [-1.25020231e-01 9.92147739e-01 -3.57850058e-03 -3.60988288e+00] [-3.31020069e-02 -5.66328603e-04 9.99451818e-01 -3.09772333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80264 meters 0.017711433522983263 Centerline is valid? [True, True] Translation: X:70.47, Y:-3.62, Z:-3.10 [[ 9.92338926e-01 1.19254565e-01 3.22770108e-02 7.04697579e+01] [-1.19203266e-01 9.92863646e-01 -3.51584983e-03 -3.62418040e+00] [-3.24659518e-02 -3.58610464e-04 9.99472778e-01 -3.10131897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86264 meters 0.014427342156697383 Centerline is valid? [True, True] Translation: X:70.53, Y:-3.64, Z:-3.11 [[ 9.93177764e-01 1.12282341e-01 3.14738831e-02 7.05295745e+01] [-1.12230030e-01 9.93676336e-01 -3.42932985e-03 -3.63869042e+00] [-3.16599060e-02 -1.26380699e-04 9.99498692e-01 -3.10610175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92264 meters 0.014022480577135458 Centerline is valid? [True, True] Translation: X:70.59, Y:-3.65, Z:-3.11 [[ 9.93674770e-01 1.07613813e-01 3.20892372e-02 7.05895744e+01] [-1.07556922e-01 9.94192771e-01 -3.49883095e-03 -3.64992522e+00] [-3.22794102e-02 2.52804526e-05 9.99478884e-01 -3.10975700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98264 meters 0.01363674508802554 Centerline is valid? [True, True] Translation: X:70.65, Y:-3.66, Z:-3.11 [[ 9.93660645e-01 1.07675719e-01 3.23181490e-02 7.06516860e+01] [-1.07617895e-01 9.94186068e-01 -3.52846412e-03 -3.65809223e+00] [-3.25101834e-02 2.80847746e-05 9.99471404e-01 -3.11094083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04263999999999 meters 0.013928585629550214 Centerline is valid? [True, True] Translation: X:70.71, Y:-3.66, Z:-3.11 [[ 9.93294294e-01 1.10986970e-01 3.23780524e-02 7.07139903e+01] [-1.10930471e-01 9.93821859e-01 -3.54168669e-03 -3.65911892e+00] [-3.25710973e-02 -7.37754232e-05 9.99469418e-01 -3.11446732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10264 meters 0.01493726576937845 Centerline is valid? [True, True] Translation: X:70.78, Y:-3.66, Z:-3.12 [[ 9.92825767e-01 1.14989868e-01 3.27769092e-02 7.07763650e+01] [-1.14933938e-01 9.93366644e-01 -3.59167504e-03 -3.65979140e+00] [-3.29724945e-02 -2.01271707e-04 9.99456239e-01 -3.11610206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16264 meters 0.02778622275485647 Centerline is valid? [True, True] Translation: X:70.84, Y:-3.66, Z:-3.12 [[ 9.92602471e-01 1.16925478e-01 3.26919907e-02 7.08376391e+01] [-1.16870694e-01 9.93140657e-01 -3.58820962e-03 -3.66337424e+00] [-3.28872982e-02 -2.59069913e-04 9.99459033e-01 -3.11947226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22264 meters 0.016527860933936395 Centerline is valid? [True, True] Translation: X:70.90, Y:-3.67, Z:-3.12 [[ 9.92324046e-01 1.18962457e-01 3.37775234e-02 7.09007752e+01] [-1.18904980e-01 9.92898697e-01 -3.71247913e-03 -3.66780144e+00] [-3.39793046e-02 -3.32333427e-04 9.99422481e-01 -3.12006310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28264 meters 0.018642985113050393 Centerline is valid? [True, True] Translation: X:70.96, Y:-3.67, Z:-3.12 [[ 9.91966614e-01 1.21650717e-01 3.46891882e-02 7.09623781e+01] [-1.21591468e-01 9.92572879e-01 -3.82035776e-03 -3.66877077e+00] [-3.48962967e-02 -4.28241975e-04 9.99390847e-01 -3.12227556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34264 meters 0.021166448476809 Centerline is valid? [True, True] Translation: X:71.02, Y:-3.67, Z:-3.13 [[ 9.91761429e-01 1.23418342e-01 3.43100653e-02 7.10232885e+01] [-1.23361223e-01 9.92354616e-01 -3.78485041e-03 -3.67076112e+00] [-3.45148716e-02 -4.78862968e-04 9.99404070e-01 -3.12746330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40263999999999 meters 0.021197121547960787 Centerline is valid? [True, True] Translation: X:71.09, Y:-3.67, Z:-3.13 [[ 9.91716340e-01 1.23913985e-01 3.38234335e-02 7.10851117e+01] [-1.23858692e-01 9.92292843e-01 -3.73326847e-03 -3.67464929e+00] [-3.40253551e-02 -4.86982877e-04 9.99420851e-01 -3.13169393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46264 meters 0.020876227431450723 Centerline is valid? [True, True] Translation: X:71.15, Y:-3.68, Z:-3.13 [[ 9.91750781e-01 1.23673840e-01 3.36922742e-02 7.11479742e+01] [-1.23618656e-01 9.92322810e-01 -3.72410161e-03 -3.68278417e+00] [-3.38941862e-02 -4.71612987e-04 9.99425316e-01 -3.13476309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52264 meters 0.03374910386981612 Centerline is valid? [True, True] Translation: X:71.21, Y:-3.69, Z:-3.13 [[ 9.91700696e-01 1.24045849e-01 3.37987587e-02 7.12104840e+01] [-1.23990313e-01 9.92276372e-01 -3.74229165e-03 -3.69100314e+00] [-3.40019254e-02 -4.79485441e-04 9.99421652e-01 -3.13467956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58264 meters 0.021155739963078374 Centerline is valid? [True, True] Translation: X:71.27, Y:-3.69, Z:-3.14 [[ 9.91554302e-01 1.24917823e-01 3.48654987e-02 7.12723257e+01] [-1.24859001e-01 9.92166956e-01 -3.86789730e-03 -3.69065765e+00] [-3.50755650e-02 -5.18041141e-04 9.99384529e-01 -3.13943074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64264 meters 0.021312079357780574 Centerline is valid? [True, True] Translation: X:71.33, Y:-3.70, Z:-3.14 [[ 9.91366343e-01 1.26051715e-01 3.61073148e-02 7.13349566e+01] [-1.25989129e-01 9.92023507e-01 -4.01255535e-03 -3.69509876e+00] [-3.63250946e-02 -5.71216820e-04 9.99339863e-01 -3.14014411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70264 meters 0.023395831361018166 Centerline is valid? [True, True] Translation: X:71.40, Y:-3.70, Z:-3.14 [[ 9.91189811e-01 1.27363933e-01 3.63481337e-02 7.13965626e+01] [-1.27301111e-01 9.91855861e-01 -4.04696964e-03 -3.69705182e+00] [-3.65675475e-02 -6.15842731e-04 9.99330994e-01 -3.14427176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76263999999999 meters 0.02982720959708723 Centerline is valid? [True, True] Translation: X:71.46, Y:-3.70, Z:-3.14 [[ 9.90930372e-01 1.29257585e-01 3.67351922e-02 7.14586627e+01] [-1.29194503e-01 9.91610813e-01 -4.09586944e-03 -3.69919884e+00] [-3.69564360e-02 -6.87263463e-04 9.99316641e-01 -3.14401456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82263999999999 meters 0.023578641617482247 Centerline is valid? [True, True] Translation: X:71.52, Y:-3.70, Z:-3.15 [[ 9.90760010e-01 1.30220408e-01 3.79110428e-02 7.15215487e+01] [-1.30153675e-01 9.91484795e-01 -4.23352482e-03 -3.70059247e+00] [-3.81395139e-02 -7.39854471e-04 9.99272150e-01 -3.14835391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88264 meters 0.02444172606030998 Centerline is valid? [True, True] Translation: X:71.58, Y:-3.70, Z:-3.15 [[ 9.90808088e-01 1.30175238e-01 3.67932220e-02 7.15835568e+01] [-1.30112081e-01 9.91490749e-01 -4.11602631e-03 -3.70243560e+00] [-3.70159439e-02 -7.09050504e-04 9.99314424e-01 -3.15431221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94264 meters 0.02346793232838507 Centerline is valid? [True, True] Translation: X:71.64, Y:-3.71, Z:-3.16 [[ 9.91041274e-01 1.28549289e-01 3.62253060e-02 7.16448224e+01] [-1.28486727e-01 9.91702920e-01 -4.05947885e-03 -3.70520280e+00] [-3.64465848e-02 -6.31359918e-04 9.99335403e-01 -3.15929365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00264 meters 0.02122088635998741 Centerline is valid? [True, True] Translation: X:71.71, Y:-3.71, Z:-3.16 [[ 9.91332314e-01 1.25970883e-01 3.73038859e-02 7.17053519e+01] [-1.25902484e-01 9.92033789e-01 -4.18646915e-03 -3.71113588e+00] [-3.75340885e-02 -5.46469763e-04 9.99295198e-01 -3.16091093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06264 meters 0.019577238728043102 Centerline is valid? [True, True] Translation: X:71.77, Y:-3.72, Z:-3.16 [[ 9.91523855e-01 1.24282122e-01 3.78734556e-02 7.17672902e+01] [-1.24210160e-01 9.92246804e-01 -4.25633823e-03 -3.71807133e+00] [-3.81088020e-02 -4.84007062e-04 9.99273479e-01 -3.16298679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12263999999999 meters 0.018498057986856747 Centerline is valid? [True, True] Translation: X:71.83, Y:-3.72, Z:-3.17 [[ 9.91703801e-01 1.22839564e-01 3.78683667e-02 7.18284596e+01] [-1.22766322e-01 9.92426452e-01 -4.26226711e-03 -3.72160457e+00] [-3.81051438e-02 -4.22053597e-04 9.99273646e-01 -3.16608104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18263999999999 meters 0.01763569630783699 Centerline is valid? [True, True] Translation: X:71.89, Y:-3.72, Z:-3.17 [[ 9.91689574e-01 1.22836756e-01 3.82481275e-02 7.18914425e+01] [-1.22761816e-01 9.92426801e-01 -4.31069405e-03 -3.72334591e+00] [-3.84879785e-02 -4.20539241e-04 9.99258975e-01 -3.16854407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24264 meters 0.017621398622364885 Centerline is valid? [True, True] Translation: X:71.95, Y:-3.73, Z:-3.17 [[ 9.91668527e-01 1.22899515e-01 3.85906824e-02 7.19542654e+01] [-1.22822975e-01 9.92419031e-01 -4.35700049e-03 -3.72837850e+00] [-3.88336008e-02 -4.19122143e-04 9.99245603e-01 -3.17122342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30264 meters 0.018516458123758933 Centerline is valid? [True, True] Translation: X:72.02, Y:-3.73, Z:-3.17 [[ 9.91507998e-01 1.23909132e-01 3.94767879e-02 7.20170301e+01] [-1.23829514e-01 9.92293462e-01 -4.46511806e-03 -3.72673849e+00] [-3.97258274e-02 -4.61191186e-04 9.99210511e-01 -3.17321956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36264 meters 0.018820024262181618 Centerline is valid? [True, True] Translation: X:72.08, Y:-3.73, Z:-3.17 [[ 9.91365833e-01 1.24756015e-01 4.03698180e-02 7.20807688e+01] [-1.24673148e-01 9.92187325e-01 -4.57366453e-03 -3.72713457e+00] [-4.06250139e-02 -4.98857551e-04 9.99174339e-01 -3.17439330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42264 meters 0.017952468646427362 Centerline is valid? [True, True] Translation: X:72.14, Y:-3.73, Z:-3.18 [[ 9.91421719e-01 1.24595310e-01 3.94839742e-02 7.21436012e+01] [-1.24515618e-01 9.92207531e-01 -4.48070819e-03 -3.72948615e+00] [-3.97345718e-02 -4.74100050e-04 9.99210158e-01 -3.17824741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48264 meters 0.01745331145519537 Centerline is valid? [True, True] Translation: X:72.20, Y:-3.73, Z:-3.18 [[ 9.91616156e-01 1.22966712e-01 3.97062610e-02 7.22048387e+01] [-1.22884483e-01 9.92410714e-01 -4.51424516e-03 -3.72929463e+00] [-3.99600207e-02 -4.02884936e-04 9.99201198e-01 -3.18188599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54263999999999 meters 0.015179381627986602 Centerline is valid? [True, True] Translation: X:72.27, Y:-3.73, Z:-3.19 [[ 9.91970741e-01 1.20053829e-01 3.97633828e-02 7.22666387e+01] [-1.19968765e-01 9.92767344e-01 -4.52719563e-03 -3.73491456e+00] [-4.00192951e-02 -2.79518311e-04 9.99198868e-01 -3.18501000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60264 meters 0.013566676652181846 Centerline is valid? [True, True] Translation: X:72.33, Y:-3.74, Z:-3.19 [[ 9.92266946e-01 1.17591414e-01 3.97311788e-02 7.23290809e+01] [-1.17504250e-01 9.93062047e-01 -4.53012117e-03 -3.73776862e+00] [-3.99882291e-02 -1.73492873e-04 9.99200136e-01 -3.18723701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66264 meters 0.022567679807669588 Centerline is valid? [True, True] Translation: X:72.39, Y:-3.74, Z:-3.19 [[ 9.92454695e-01 1.16045688e-01 3.95863294e-02 7.23919343e+01] [-1.15957664e-01 9.93243871e-01 -4.52027933e-03 -3.74134385e+00] [-3.98434380e-02 -1.04165819e-04 9.99205930e-01 -3.18999373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72264 meters 0.012812666902991455 Centerline is valid? [True, True] Translation: X:72.45, Y:-3.74, Z:-3.20 [[ 9.92648371e-01 1.14545384e-01 3.90968801e-02 7.24549494e+01] [-1.14458062e-01 9.93418016e-01 -4.47194896e-03 -3.74376640e+00] [-3.93517861e-02 -3.58802752e-05 9.99225418e-01 -3.19569372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78264 meters 0.012809523044638373 Centerline is valid? [True, True] Translation: X:72.52, Y:-3.75, Z:-3.20 [[ 9.92874136e-01 1.12783846e-01 3.84805630e-02 7.25171934e+01] [-1.12697645e-01 9.93619546e-01 -4.40890439e-03 -3.74978875e+00] [-3.87322927e-02 4.08183293e-05 9.99249622e-01 -3.19928342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84264 meters 0.013464495304619158 Centerline is valid? [True, True] Translation: X:72.58, Y:-3.76, Z:-3.20 [[ 9.93130226e-01 1.09871830e-01 4.02558810e-02 7.25788458e+01] [-1.09774744e-01 9.93945749e-01 -4.62098646e-03 -3.75837739e+00] [-4.05198780e-02 1.70162283e-04 9.99178718e-01 -3.20067919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90263999999999 meters 0.01430262326483692 Centerline is valid? [True, True] Translation: X:72.64, Y:-3.77, Z:-3.20 [[ 9.93370587e-01 1.07905186e-01 3.96402236e-02 7.26406093e+01] [-1.07809187e-01 9.94161157e-01 -4.55772210e-03 -3.76674658e+00] [-3.99005724e-02 2.53926820e-04 9.99203623e-01 -3.20403414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96264 meters 0.015219153941013272 Centerline is valid? [True, True] Translation: X:72.70, Y:-3.77, Z:-3.21 [[ 9.93450236e-01 1.06796430e-01 4.06343596e-02 7.27024669e+01] [-1.06694324e-01 9.94280858e-01 -4.67940813e-03 -3.77411604e+00] [-4.09017100e-02 3.13303590e-04 9.99163126e-01 -3.20586879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02264 meters 0.014813945795499224 Centerline is valid? [True, True] Translation: X:72.77, Y:-3.78, Z:-3.21 [[ 9.93413278e-01 1.07801132e-01 3.88455252e-02 7.27652254e+01] [-1.07708435e-01 9.94172443e-01 -4.47735674e-03 -3.77889001e+00] [-3.91018148e-02 2.63874928e-04 9.99235197e-01 -3.21161715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08264 meters 0.014250174216506354 Centerline is valid? [True, True] Translation: X:72.83, Y:-3.79, Z:-3.22 [[ 9.93300933e-01 1.09055813e-01 3.82110759e-02 7.28279669e+01] [-1.08966773e-01 9.94035604e-01 -4.41137930e-03 -3.78608023e+00] [-3.84642564e-02 2.18089549e-04 9.99259953e-01 -3.21616074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14264 meters 0.02158484779792348 Centerline is valid? [True, True] Translation: X:72.89, Y:-3.79, Z:-3.22 [[ 9.93113225e-01 1.10385548e-01 3.92575203e-02 7.28896037e+01] [-1.10292283e-01 9.93888826e-01 -4.54021050e-03 -3.79165260e+00] [-3.95187843e-02 1.79141557e-04 9.99218812e-01 -3.21623143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20264 meters 0.01758621655653304 Centerline is valid? [True, True] Translation: X:72.95, Y:-3.80, Z:-3.22 [[ 9.92915364e-01 1.11533557e-01 4.09798181e-02 7.29499544e+01] [-1.11432593e-01 9.93760657e-01 -4.74688641e-03 -3.79889296e+00] [-4.12535681e-02 1.46769044e-04 9.99148698e-01 -3.21709114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26263999999999 meters 0.01307466947270981 Centerline is valid? [True, True] Translation: X:73.01, Y:-3.81, Z:-3.22 [[ 9.92938311e-01 1.11613988e-01 4.01973662e-02 7.30116502e+01] [-1.11516665e-01 9.93751627e-01 -4.66231888e-03 -3.81114205e+00] [-4.04665781e-02 1.46718802e-04 9.99180882e-01 -3.22291764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32263999999999 meters 0.013297652535828925 Centerline is valid? [True, True] Translation: X:73.07, Y:-3.82, Z:-3.23 [[ 9.93035160e-01 1.11425302e-01 3.82828109e-02 7.30725494e+01] [-1.11336621e-01 9.93772800e-01 -4.44729049e-03 -3.82088975e+00] [-3.85399569e-02 1.54036998e-04 9.99257048e-01 -3.22808096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38264 meters 0.012405468204391005 Centerline is valid? [True, True] Translation: X:73.13, Y:-3.83, Z:-3.23 [[ 9.92691504e-01 1.14037722e-01 3.94838759e-02 7.31331377e+01] [-1.13945170e-01 9.93476419e-01 -4.59392229e-03 -3.82920492e+00] [-3.97501801e-02 6.13506741e-05 9.99209647e-01 -3.23016905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44264 meters 0.012467136140908053 Centerline is valid? [True, True] Translation: X:73.20, Y:-3.84, Z:-3.23 [[ 9.92129014e-01 1.18488302e-01 4.05036009e-02 7.31959434e+01] [-1.18394351e-01 9.92955442e-01 -4.71893575e-03 -3.83541574e+00] [-4.07774096e-02 -1.13604474e-04 9.99168249e-01 -3.23078824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50264 meters 0.013933878078277798 Centerline is valid? [True, True] Translation: X:73.26, Y:-3.84, Z:-3.23 [[ 9.91714645e-01 1.21776734e-01 4.08960856e-02 7.32564166e+01] [-1.21683399e-01 9.92557489e-01 -4.77308680e-03 -3.84328838e+00] [-4.11729670e-02 -2.42834624e-04 9.99152004e-01 -3.23403841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56264 meters 0.015071409181689789 Centerline is valid? [True, True] Translation: X:73.32, Y:-3.85, Z:-3.24 [[ 9.91488376e-01 1.23800455e-01 4.03019664e-02 7.33175146e+01] [-1.23711356e-01 9.92307082e-01 -4.70689535e-03 -3.85212747e+00] [-4.05746425e-02 -3.18978884e-04 9.99176459e-01 -3.23842109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62263999999999 meters 0.016723122739547777 Centerline is valid? [True, True] Translation: X:73.38, Y:-3.86, Z:-3.24 [[ 9.91161809e-01 1.26595515e-01 3.96464762e-02 7.33784081e+01] [-1.26511260e-01 9.91954333e-01 -4.63701240e-03 -3.86146950e+00] [-3.99145188e-02 -4.19696038e-04 9.99203010e-01 -3.24276313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68263999999999 meters 0.01995077184911339 Centerline is valid? [True, True] Translation: X:73.44, Y:-3.86, Z:-3.25 [[ 9.90775891e-01 1.29658144e-01 3.93941615e-02 7.34399325e+01] [-1.29577125e-01 9.91558612e-01 -4.61383355e-03 -3.86399524e+00] [-3.96598412e-02 -5.33307127e-04 9.99213097e-01 -3.24669466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74264 meters 0.023733233327091964 Centerline is valid? [True, True] Translation: X:73.50, Y:-3.87, Z:-3.25 [[ 9.90164390e-01 1.33929585e-01 4.04641536e-02 7.35022094e+01] [-1.33847370e-01 9.90990592e-01 -4.74641815e-03 -3.86506227e+00] [-4.07352813e-02 -7.16286306e-04 9.99169717e-01 -3.24816775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80264 meters 0.032328199593349684 Centerline is valid? [True, True] Translation: X:73.56, Y:-3.87, Z:-3.25 [[ 9.89852532e-01 1.36543958e-01 3.93409731e-02 7.35634681e+01] [-1.36468261e-01 9.90633690e-01 -4.61582385e-03 -3.86789666e+00] [-3.96027562e-02 -7.99809265e-04 9.99215183e-01 -3.25348529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86264 meters 0.027042069816475237 Centerline is valid? [True, True] Translation: X:73.63, Y:-3.87, Z:-3.25 [[ 9.89591992e-01 1.37772370e-01 4.15507243e-02 7.36260504e+01] [-1.37688727e-01 9.90463519e-01 -4.88186671e-03 -3.87248537e+00] [-4.18270629e-02 -8.90010104e-04 9.99124469e-01 -3.25401508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92264 meters 0.025777118393010817 Centerline is valid? [True, True] Translation: X:73.69, Y:-3.88, Z:-3.25 [[ 9.89505192e-01 1.37982747e-01 4.28979690e-02 7.36890089e+01] [-1.37893466e-01 9.90434205e-01 -5.04760372e-03 -3.87859824e+00] [-4.31840981e-02 -9.20719557e-04 9.99066707e-01 -3.25451152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98264 meters 0.026477707597164002 Centerline is valid? [True, True] Translation: X:73.75, Y:-3.88, Z:-3.26 [[ 9.89670136e-01 1.37256656e-01 4.13960471e-02 7.37503838e+01] [-1.37172545e-01 9.90535152e-01 -4.87898644e-03 -3.88203763e+00] [-4.16739132e-02 -8.49813981e-04 9.99130904e-01 -3.26191464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04263999999999 meters 0.023832715166164 Centerline is valid? [True, True] Translation: X:73.81, Y:-3.89, Z:-3.27 [[ 9.89848053e-01 1.36171353e-01 4.07209411e-02 7.38123808e+01] [-1.36088787e-01 9.90684989e-01 -4.80572919e-03 -3.88732567e+00] [-4.09960277e-02 -7.84721813e-04 9.99159001e-01 -3.26616980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10264 meters 0.02566344554589199 Centerline is valid? [True, True] Translation: X:73.87, Y:-3.90, Z:-3.27 [[ 9.90166468e-01 1.33744850e-01 4.10204936e-02 7.38738364e+01] [-1.33658685e-01 9.91015565e-01 -4.84832137e-03 -3.89568304e+00] [-4.13003856e-02 -6.82099975e-04 9.99146542e-01 -3.26783213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16264 meters 0.01824267672772205 Centerline is valid? [True, True] Translation: X:73.94, Y:-3.91, Z:-3.27 [[ 9.90629075e-01 1.30078473e-01 4.16368290e-02 7.39354841e+01] [-1.29986128e-01 9.91503561e-01 -4.92908571e-03 -3.90696569e+00] [-4.19242322e-02 -5.29314577e-04 9.99120653e-01 -3.27150528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22264 meters 0.024420252919185172 Centerline is valid? [True, True] Translation: X:74.00, Y:-3.92, Z:-3.28 [[ 9.91684064e-01 1.22058858e-01 4.07964709e-02 7.39952791e+01] [-1.21963303e-01 9.92522847e-01 -4.83230161e-03 -3.92490515e+00] [-4.10812546e-02 -1.83555843e-04 9.99155792e-01 -3.27520326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28264 meters 0.024163185578816495 Centerline is valid? [True, True] Translation: X:74.06, Y:-3.94, Z:-3.28 [[ 9.92515976e-01 1.15381841e-01 3.99883552e-02 7.40561148e+01] [-1.15284615e-01 9.93321208e-01 -4.73655909e-03 -3.94198285e+00] [-4.02677942e-02 9.10684219e-05 9.99188919e-01 -3.28045574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34264 meters 0.03067771090681564 Centerline is valid? [True, True] Translation: X:74.12, Y:-3.95, Z:-3.29 [[ 9.92751219e-01 1.13544318e-01 3.94043843e-02 7.41156597e+01] [-1.13448141e-01 9.93532918e-01 -4.67556178e-03 -3.95367978e+00] [-3.96804363e-02 1.71315529e-04 9.99212407e-01 -3.28550234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40263999999999 meters 0.015359090799347854 Centerline is valid? [True, True] Translation: X:74.18, Y:-3.96, Z:-3.29 [[ 9.92478739e-01 1.16391430e-01 3.79339945e-02 7.41779640e+01] [-1.16304209e-01 9.93203419e-01 -4.50550897e-03 -3.95997964e+00] [-3.82005756e-02 5.97386552e-05 9.99270090e-01 -3.29145231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46264 meters 0.012967411094559112 Centerline is valid? [True, True] Translation: X:74.24, Y:-3.96, Z:-3.29 [[ 9.92040113e-01 1.19706285e-01 3.90745323e-02 7.42399379e+01] [-1.19615980e-01 9.92809348e-01 -4.64927267e-03 -3.96401260e+00] [-3.93501081e-02 -6.16734997e-05 9.99225483e-01 -3.29333199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52264 meters 0.014460990523610088 Centerline is valid? [True, True] Translation: X:74.30, Y:-3.97, Z:-3.30 [[ 9.91550305e-01 1.24071953e-01 3.78700763e-02 7.43020590e+01] [-1.23990068e-01 9.92273199e-01 -4.51238772e-03 -3.96785466e+00] [-3.81373226e-02 -2.21253912e-04 9.99272483e-01 -3.29875759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58264 meters 0.01611388322960438 Centerline is valid? [True, True] Translation: X:74.36, Y:-3.97, Z:-3.30 [[ 9.91225253e-01 1.26875135e-01 3.70836517e-02 7.43640397e+01] [-1.26798341e-01 9.91918646e-01 -4.42498055e-03 -3.97320618e+00] [-3.73453856e-02 -3.15993059e-04 9.99302368e-01 -3.30370101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64264 meters 0.02752031674727342 Centerline is valid? [True, True] Translation: X:74.43, Y:-3.98, Z:-3.30 [[ 9.90982914e-01 1.28207354e-01 3.89324832e-02 7.44253885e+01] [-1.28123460e-01 9.91747313e-01 -4.65264979e-03 -3.98223294e+00] [-3.92076895e-02 -3.77468008e-04 9.99231012e-01 -3.30358113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70264 meters 0.017620057863741805 Centerline is valid? [True, True] Translation: X:74.49, Y:-3.99, Z:-3.30 [[ 9.90660850e-01 1.30256485e-01 4.03029530e-02 7.44873478e+01] [-1.30167957e-01 9.91480222e-01 -4.82419254e-03 -3.99103875e+00] [-4.05879631e-02 -4.67014370e-04 9.99175860e-01 -3.30488175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76263999999999 meters 0.018911999272710193 Centerline is valid? [True, True] Translation: X:74.55, Y:-4.00, Z:-3.31 [[ 9.90438116e-01 1.32043266e-01 3.99613999e-02 7.45481199e+01] [-1.31957407e-01 9.91243813e-01 -4.79023596e-03 -4.00308133e+00] [-4.02440088e-02 -5.28770452e-04 9.99189742e-01 -3.30933786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82263999999999 meters 0.020681724284222616 Centerline is valid? [True, True] Translation: X:74.61, Y:-4.02, Z:-3.31 [[ 9.90148355e-01 1.34192807e-01 3.99815602e-02 7.46092483e+01] [-1.34108330e-01 9.90955054e-01 -4.79968337e-03 -4.01574675e+00] [-4.02640121e-02 -6.09461649e-04 9.99188890e-01 -3.31385411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88264 meters 0.02006672661332169 Centerline is valid? [True, True] Translation: X:74.67, Y:-4.03, Z:-3.32 [[ 9.90187496e-01 1.34081789e-01 3.93801570e-02 7.46708186e+01] [-1.33999487e-01 9.90970094e-01 -4.73401782e-03 -4.03127605e+00] [-3.96593035e-02 -5.89355596e-04 9.99213087e-01 -3.31899927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94264 meters 0.01932888432020228 Centerline is valid? [True, True] Translation: X:74.73, Y:-4.05, Z:-3.32 [[ 9.90400567e-01 1.32766254e-01 3.84686825e-02 7.47299507e+01] [-1.32686406e-01 9.91147242e-01 -4.63271931e-03 -4.04728897e+00] [-3.87431974e-02 -5.16023399e-04 9.99249067e-01 -3.32423559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00264 meters 0.018683034872634677 Centerline is valid? [True, True] Translation: X:74.79, Y:-4.07, Z:-3.33 [[ 9.90489676e-01 1.32366463e-01 3.75409194e-02 7.47914157e+01] [-1.32290029e-01 9.91200728e-01 -4.52377456e-03 -4.06616784e+00] [-3.78093827e-02 -4.85537300e-04 9.99284852e-01 -3.32946886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06264 meters 0.019611085724509893 Centerline is valid? [True, True] Translation: X:74.85, Y:-4.08, Z:-3.34 [[ 9.90466462e-01 1.33010698e-01 3.58377083e-02 7.48509542e+01] [-1.32941204e-01 9.91114486e-01 -4.32575496e-03 -4.07841507e+00] [-3.60946435e-02 -4.79792874e-04 9.99348261e-01 -3.33630747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12263999999999 meters 0.023226819577055736 Centerline is valid? [True, True] Translation: X:74.91, Y:-4.09, Z:-3.34 [[ 9.90074793e-01 1.36134339e-01 3.49191370e-02 7.49112354e+01] [-1.36070082e-01 9.90690221e-01 -4.22119114e-03 -4.08820700e+00] [-3.51686966e-02 -5.72154902e-04 9.99381226e-01 -3.34290826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18263999999999 meters 0.02609903958089733 Centerline is valid? [True, True] Translation: X:74.97, Y:-4.10, Z:-3.34 [[ 9.89329096e-01 1.41221589e-01 3.58385633e-02 7.49717998e+01] [-1.41157101e-01 9.89977713e-01 -4.33606024e-03 -4.09872730e+00] [-3.60917243e-02 -7.69077165e-04 9.99348186e-01 -3.34335788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24264 meters 0.03185343037780282 Centerline is valid? [True, True] Translation: X:75.03, Y:-4.11, Z:-3.35 [[ 9.88523179e-01 1.46564026e-01 3.66184426e-02 7.50316067e+01] [-1.46500320e-01 9.89200697e-01 -4.43147378e-03 -4.10534453e+00] [-3.68724836e-02 -9.83999026e-04 9.99319494e-01 -3.34611164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30264 meters 0.03510247285037035 Centerline is valid? [True, True] Translation: X:75.09, Y:-4.11, Z:-3.35 [[ 9.87993113e-01 1.50238016e-01 3.60298197e-02 7.50915987e+01] [-1.50178766e-01 9.88649241e-01 -4.36067421e-03 -4.11310741e+00] [-3.62759929e-02 -1.10259779e-03 9.99341201e-01 -3.35117843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36264 meters 0.03563481861220697 Centerline is valid? [True, True] Translation: X:75.15, Y:-4.13, Z:-3.36 [[ 9.88010525e-01 1.50109896e-01 3.60863086e-02 7.51511106e+01] [-1.50050409e-01 9.88668705e-01 -4.36654859e-03 -4.12618897e+00] [-3.63328661e-02 -1.10056941e-03 9.99339137e-01 -3.35537951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42264 meters 0.03316176791008053 Centerline is valid? [True, True] Translation: X:75.21, Y:-4.14, Z:-3.36 [[ 9.88395986e-01 1.47463272e-01 3.64411719e-02 7.52112467e+01] [-1.47400557e-01 9.89067020e-01 -4.41642519e-03 -4.14296721e+00] [-3.66940218e-02 -1.00627212e-03 9.99326041e-01 -3.35824016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48264 meters 0.03153201657146119 Centerline is valid? [True, True] Translation: X:75.27, Y:-4.16, Z:-3.36 [[ 9.88830921e-01 1.44771999e-01 3.54186008e-02 7.52702542e+01] [-1.44710977e-01 9.89464651e-01 -4.29397898e-03 -4.15808480e+00] [-3.56671013e-02 -8.79441126e-04 9.99363340e-01 -3.36469325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54263999999999 meters 0.02959786445318453 Centerline is valid? [True, True] Translation: X:75.33, Y:-4.18, Z:-3.37 [[ 9.88979393e-01 1.43637540e-01 3.58889604e-02 7.53309662e+01] [-1.43574179e-01 9.89629998e-01 -4.34989964e-03 -4.17502432e+00] [-3.61416007e-02 -8.50766928e-04 9.99346317e-01 -3.36714618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60264 meters 0.02866335415818419 Centerline is valid? [True, True] Translation: X:75.39, Y:-4.19, Z:-3.37 [[ 9.89200531e-01 1.42559902e-01 3.40438530e-02 7.53917586e+01] [-1.42502070e-01 9.89785881e-01 -4.13157213e-03 -4.19096829e+00] [-3.42851216e-02 -7.64366185e-04 9.99411800e-01 -3.37425680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66264 meters 0.026096983222657598 Centerline is valid? [True, True] Translation: X:75.45, Y:-4.21, Z:-3.38 [[ 9.89407321e-01 1.41266259e-01 3.34215037e-02 7.54520248e+01] [-1.41209604e-01 9.89971390e-01 -4.06141137e-03 -4.20671259e+00] [-3.36600729e-02 -7.01047164e-04 9.99433093e-01 -3.37811413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72264 meters 0.024517200255829062 Centerline is valid? [True, True] Translation: X:75.51, Y:-4.22, Z:-3.38 [[ 9.89656422e-01 1.39505350e-01 3.34428549e-02 7.55126502e+01] [-1.39447424e-01 9.90221113e-01 -4.06974896e-03 -4.22131191e+00] [-3.36835728e-02 -6.35866786e-04 9.99432345e-01 -3.38093006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78264 meters 0.020833636166655588 Centerline is valid? [True, True] Translation: X:75.57, Y:-4.24, Z:-3.39 [[ 9.90192414e-01 1.35848681e-01 3.26208312e-02 7.55731415e+01] [-1.35791409e-01 9.90729475e-01 -3.97504931e-03 -4.24026519e+00] [-3.28584242e-02 -4.93564949e-04 9.99459894e-01 -3.38500813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84264 meters 0.017025555671068126 Centerline is valid? [True, True] Translation: X:75.63, Y:-4.26, Z:-3.39 [[ 9.90858632e-01 1.30790812e-01 3.30595734e-02 7.56324208e+01] [-1.30728919e-01 9.91409935e-01 -4.03613574e-03 -4.26400531e+00] [-3.33034790e-02 -3.22602357e-04 9.99445233e-01 -3.38769465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90263999999999 meters 0.015554779637552122 Centerline is valid? [True, True] Translation: X:75.69, Y:-4.28, Z:-3.39 [[ 9.91196395e-01 1.28053922e-01 3.36437220e-02 7.56922894e+01] [-1.27988257e-01 9.91767179e-01 -4.10709779e-03 -4.28178686e+00] [-3.38926693e-02 -2.35060835e-04 9.99425451e-01 -3.39071519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96264 meters 0.02180464614960359 Centerline is valid? [True, True] Translation: X:75.75, Y:-4.30, Z:-3.40 [[ 9.91102530e-01 1.29106408e-01 3.23621783e-02 7.57530460e+01] [-1.29046037e-01 9.91630713e-01 -3.95603061e-03 -4.29620563e+00] [-3.26020788e-02 -2.55378921e-04 9.99468378e-01 -3.39763228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02264 meters 0.0169882443640242 Centerline is valid? [True, True] Translation: X:75.81, Y:-4.31, Z:-3.40 [[ 9.91056766e-01 1.29665666e-01 3.15166865e-02 7.58141448e+01] [-1.29608525e-01 9.91557737e-01 -3.85791144e-03 -4.30559951e+00] [-3.17508530e-02 -2.61422021e-04 9.99495780e-01 -3.40139603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08264 meters 0.018987043622507128 Centerline is valid? [True, True] Translation: X:75.87, Y:-4.32, Z:-3.41 [[ 9.90795590e-01 1.31646185e-01 3.15179444e-02 7.58740144e+01] [-1.31589865e-01 9.91296716e-01 -3.86362434e-03 -4.31540875e+00] [-3.17522662e-02 -3.19380091e-04 9.99495719e-01 -3.40663001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14264 meters 0.021040080131186 Centerline is valid? [True, True] Translation: X:75.93, Y:-4.33, Z:-3.41 [[ 9.90494726e-01 1.34364224e-01 2.94355889e-02 7.59346625e+01] [-1.34316177e-01 9.90931942e-01 -3.61253688e-03 -4.32636599e+00] [-2.96540610e-02 -3.75477037e-04 9.99560151e-01 -3.41334441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20264 meters 0.023067126369585963 Centerline is valid? [True, True] Translation: X:76.00, Y:-4.33, Z:-3.42 [[ 9.90099595e-01 1.37882196e-01 2.62924141e-02 7.59954296e+01] [-1.37844950e-01 9.90448545e-01 -3.23256729e-03 -4.33463900e+00] [-2.64869967e-02 -4.23712930e-04 9.99649068e-01 -3.41923358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26263999999999 meters 0.03019449635603614 Centerline is valid? [True, True] Translation: X:76.06, Y:-4.34, Z:-3.43 [[ 9.89443032e-01 1.42648569e-01 2.55709134e-02 7.60554983e+01] [-1.42614900e-01 9.89773257e-01 -3.14496186e-03 -4.33645530e+00] [-2.57580306e-02 -5.35032675e-04 9.99668064e-01 -3.42742597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32263999999999 meters 0.03247113180695212 Centerline is valid? [True, True] Translation: X:76.12, Y:-4.34, Z:-3.43 [[ 9.89188879e-01 1.44614904e-01 2.43288109e-02 7.61168584e+01] [-1.44585100e-01 9.89487855e-01 -2.98899557e-03 -4.34264679e+00] [-2.45053162e-02 -5.60902370e-04 9.99699542e-01 -3.43313974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38264 meters 0.0269451773822435 Centerline is valid? [True, True] Translation: X:76.18, Y:-4.36, Z:-3.43 [[ 9.89453409e-01 1.42557102e-01 2.56792549e-02 7.61771851e+01] [-1.42523045e-01 9.89786436e-01 -3.16105845e-03 -4.35934161e+00] [-2.58676095e-02 -5.32165535e-04 9.99665236e-01 -3.42955986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44264 meters 0.02352668836266341 Centerline is valid? [True, True] Translation: X:76.24, Y:-4.38, Z:-3.43 [[ 9.89972592e-01 1.38682794e-01 2.68579751e-02 7.62377436e+01] [-1.38644071e-01 9.90336751e-01 -3.30767478e-03 -4.37557707e+00] [-2.70571574e-02 -4.49191625e-04 9.99633787e-01 -3.42970865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50264 meters 0.02097827742358175 Centerline is valid? [True, True] Translation: X:76.30, Y:-4.39, Z:-3.43 [[ 9.90386167e-01 1.35231936e-01 2.91129370e-02 7.62972413e+01] [-1.35184880e-01 9.90813896e-01 -3.58763241e-03 -4.38985251e+00] [-2.93306651e-02 -3.82487392e-04 9.99569690e-01 -3.42964580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56264 meters 0.027147482518146613 Centerline is valid? [True, True] Translation: X:76.36, Y:-4.40, Z:-3.43 [[ 9.90558944e-01 1.33824564e-01 2.97315268e-02 7.63574922e+01] [-1.33774898e-01 9.91004977e-01 -3.66231907e-03 -4.40326398e+00] [-2.99541993e-02 -3.49589059e-04 9.99551211e-01 -3.43467857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62263999999999 meters 0.019102894612549725 Centerline is valid? [True, True] Translation: X:76.42, Y:-4.41, Z:-3.44 [[ 9.90769339e-01 1.32448252e-01 2.88717452e-02 7.64194736e+01] [-1.32400711e-01 9.91189878e-01 -3.56061939e-03 -4.41337240e+00] [-2.90889794e-02 -2.94887083e-04 9.99576783e-01 -3.43637606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68263999999999 meters 0.01815784373601095 Centerline is valid? [True, True] Translation: X:76.48, Y:-4.43, Z:-3.44 [[ 9.91114938e-01 1.30524758e-01 2.55825442e-02 7.64797757e+01] [-1.30486683e-01 9.91445029e-01 -3.15923827e-03 -4.42886212e+00] [-2.57760450e-02 -2.07013093e-04 9.99667721e-01 -3.44234758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74264 meters 0.017713738948385984 Centerline is valid? [True, True] Translation: X:76.54, Y:-4.44, Z:-3.45 [[ 9.91317290e-01 1.29392804e-01 2.33994180e-02 7.65410146e+01] [-1.29360560e-01 9.91593403e-01 -2.89286751e-03 -4.43947275e+00] [-2.35770247e-02 -1.59212224e-04 9.99722011e-01 -3.44713686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80264 meters 0.018442325124432894 Centerline is valid? [True, True] Translation: X:76.60, Y:-4.45, Z:-3.45 [[ 9.91136738e-01 1.30671629e-01 2.39351568e-02 7.66022345e+01] [-1.30638162e-01 9.91425685e-01 -2.96335290e-03 -4.44551310e+00] [-2.41171554e-02 -1.89756952e-04 9.99709121e-01 -3.44988255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86264 meters 0.02002495860823575 Centerline is valid? [True, True] Translation: X:76.66, Y:-4.45, Z:-3.46 [[ 9.90983295e-01 1.31873381e-01 2.36964242e-02 7.66632191e+01] [-1.31840799e-01 9.91266547e-01 -2.93889558e-03 -4.44950250e+00] [-2.38770347e-02 -2.11759077e-04 9.99714881e-01 -3.45636243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92264 meters 0.019299503924794795 Centerline is valid? [True, True] Translation: X:76.72, Y:-4.46, Z:-3.46 [[ 9.91121495e-01 1.31180643e-01 2.16753750e-02 7.67245235e+01] [-1.31153161e-01 9.91358466e-01 -2.69079254e-03 -4.46180047e+00] [-2.18410464e-02 -1.75891616e-04 9.99761440e-01 -3.45978401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98264 meters 0.03012551889934149 Centerline is valid? [True, True] Translation: X:76.79, Y:-4.47, Z:-3.47 [[ 9.91157011e-01 1.31094853e-01 2.05406695e-02 7.67864453e+01] [-1.31070088e-01 9.91369817e-01 -2.55315216e-03 -4.46853424e+00] [-2.06981049e-02 -1.61692699e-04 9.99785758e-01 -3.46726872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04263999999999 meters 0.019591376682141833 Centerline is valid? [True, True] Translation: X:76.85, Y:-4.48, Z:-3.47 [[ 9.91391571e-01 1.29342552e-01 2.03287404e-02 7.68464077e+01] [-1.29317848e-01 9.91599965e-01 -2.53064732e-03 -4.47935681e+00] [-2.04852986e-02 -1.20006542e-04 9.99790147e-01 -3.46968153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10264 meters 0.026374731905976327 Centerline is valid? [True, True] Translation: X:76.91, Y:-4.49, Z:-3.47 [[ 9.91718263e-01 1.26649973e-01 2.13230174e-02 7.69061474e+01] [-1.26622089e-01 9.91947469e-01 -2.65825791e-03 -4.49412211e+00] [-2.14879814e-02 -6.37220832e-05 9.99769105e-01 -3.47338531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16264 meters 0.01836640756837118 Centerline is valid? [True, True] Translation: X:76.97, Y:-4.51, Z:-3.47 [[ 9.92193701e-01 1.22895421e-01 2.11748779e-02 7.69678681e+01] [-1.22867020e-01 9.92419626e-01 -2.64206346e-03 -4.51171853e+00] [-2.13390619e-02 1.97445875e-05 9.99772296e-01 -3.47339140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22264 meters 0.019741911564555754 Centerline is valid? [True, True] Translation: X:77.03, Y:-4.53, Z:-3.48 [[ 9.92247777e-01 1.22676904e-01 1.98676946e-02 7.70269954e+01] [-1.22651700e-01 9.92446662e-01 -2.48683208e-03 -4.52515897e+00] [-2.00227040e-02 3.07471002e-05 9.99799525e-01 -3.48034837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28264 meters 0.017739135492374623 Centerline is valid? [True, True] Translation: X:77.09, Y:-4.53, Z:-3.48 [[ 9.91676502e-01 1.27066904e-01 2.07778305e-02 7.70891579e+01] [-1.27040369e-01 9.91894147e-01 -2.59744387e-03 -4.52969245e+00] [-2.09394576e-02 -6.37992019e-05 9.99780743e-01 -3.47640595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34264 meters 0.019974718071067096 Centerline is valid? [True, True] Translation: X:77.15, Y:-4.53, Z:-3.48 [[ 9.91125313e-01 1.31466089e-01 1.96794918e-02 7.71494190e+01] [-1.31443043e-01 9.91320658e-01 -2.46561161e-03 -4.53457896e+00] [-1.98328311e-02 -1.43002216e-04 9.99803300e-01 -3.48232708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40263999999999 meters 0.021066326021056677 Centerline is valid? [True, True] Translation: X:77.21, Y:-4.54, Z:-3.49 [[ 9.90949999e-01 1.32751113e-01 1.98806835e-02 7.72113510e+01] [-1.32727865e-01 9.91149390e-01 -2.49020356e-03 -4.54076998e+00] [-2.00353046e-02 -1.71053458e-04 9.99799259e-01 -3.48621994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46264 meters 0.02074974511784741 Centerline is valid? [True, True] Translation: X:77.27, Y:-4.55, Z:-3.49 [[ 9.91069821e-01 1.31954065e-01 1.92024818e-02 7.72725510e+01] [-1.31932158e-01 9.91255821e-01 -2.40880122e-03 -4.55284902e+00] [-1.93524230e-02 -1.46134669e-04 9.99812714e-01 -3.48883157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52264 meters 0.019239789448074952 Centerline is valid? [True, True] Translation: X:77.33, Y:-4.57, Z:-3.49 [[ 9.91317999e-01 1.30015884e-01 1.96085281e-02 7.73333701e+01] [-1.29992595e-01 9.91511905e-01 -2.46308832e-03 -4.56736566e+00] [-1.97623297e-02 -1.07259664e-04 9.99804700e-01 -3.48817041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58264 meters 0.019760395928570477 Centerline is valid? [True, True] Translation: X:77.39, Y:-4.58, Z:-3.49 [[ 9.91674861e-01 1.27650419e-01 1.69216214e-02 7.73942107e+01] [-1.27632638e-01 9.91819222e-01 -2.13103526e-03 -4.58122463e+00] [-1.70552169e-02 -4.64570794e-05 9.99854548e-01 -3.49363986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64264 meters 0.020414175869808704 Centerline is valid? [True, True] Translation: X:77.45, Y:-4.60, Z:-3.50 [[ 9.91868111e-01 1.26391634e-01 1.49266868e-02 7.74544806e+01] [-1.26377702e-01 9.91980420e-01 -1.87673857e-03 -4.59538555e+00] [-1.50441851e-02 -2.49232379e-05 9.99886830e-01 -3.49898392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70264 meters 0.022418000692663965 Centerline is valid? [True, True] Translation: X:77.51, Y:-4.61, Z:-3.51 [[ 9.91870093e-01 1.26280311e-01 1.57162798e-02 7.75143462e+01] [-1.26264804e-01 9.91994598e-01 -1.97909634e-03 -4.60519606e+00] [-1.58403856e-02 -2.14065061e-05 9.99874533e-01 -3.50757660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76263999999999 meters 0.020369703865623714 Centerline is valid? [True, True] Translation: X:77.58, Y:-4.62, Z:-3.50 [[ 9.91869861e-01 1.26201311e-01 1.63526248e-02 7.75760900e+01] [-1.26184467e-01 9.92004652e-01 -2.06189553e-03 -4.61652351e+00] [-1.64820938e-02 -1.83152184e-05 9.99864161e-01 -3.50244053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82263999999999 meters 0.02060239001336151 Centerline is valid? [True, True] Translation: X:77.64, Y:-4.62, Z:-3.50 [[ 9.91746290e-01 1.27360461e-01 1.47854064e-02 7.76376702e+01] [-1.27346795e-01 9.91856498e-01 -1.86597669e-03 -4.62464888e+00] [-1.49026530e-02 -3.22986644e-05 9.99888949e-01 -3.50464502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88264 meters 0.025075641332937493 Centerline is valid? [True, True] Translation: X:77.70, Y:-4.63, Z:-3.51 [[ 9.91594073e-01 1.28361861e-01 1.62612281e-02 7.76985022e+01] [-1.28345367e-01 9.91727397e-01 -2.05821687e-03 -4.63075385e+00] [-1.63909020e-02 -4.61376555e-05 9.99865659e-01 -3.50680306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94264 meters 0.02006288026874837 Centerline is valid? [True, True] Translation: X:77.76, Y:-4.64, Z:-3.51 [[ 9.91583202e-01 1.28340298e-01 1.70739928e-02 7.77604985e+01] [-1.28322113e-01 9.91730188e-01 -2.16093719e-03 -4.63923419e+00] [-1.72101294e-02 -4.82218251e-05 9.99851894e-01 -3.50697293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00264 meters 0.020177001605073425 Centerline is valid? [True, True] Translation: X:77.82, Y:-4.65, Z:-3.51 [[ 9.91719588e-01 1.27455570e-01 1.57269418e-02 7.78220121e+01] [-1.27439999e-01 9.91844281e-01 -1.99243821e-03 -4.64788131e+00] [-1.58526247e-02 -2.83014527e-05 9.99874339e-01 -3.51038964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06264 meters 0.027894345471600964 Centerline is valid? [True, True] Translation: X:77.88, Y:-4.66, Z:-3.52 [[ 9.91714898e-01 1.27733380e-01 1.36288498e-02 7.78819240e+01] [-1.27721688e-01 9.91808541e-01 -1.72844658e-03 -4.65827003e+00] [-1.37379900e-02 -2.65734696e-05 9.99905629e-01 -3.51857595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12263999999999 meters 0.021763177262221246 Centerline is valid? [True, True] Translation: X:77.94, Y:-4.66, Z:-3.52 [[ 9.91604313e-01 1.28539726e-01 1.40863265e-02 7.79439312e+01] [-1.28527285e-01 9.91704360e-01 -1.78876045e-03 -4.66217613e+00] [-1.41993982e-02 -3.67347189e-05 9.99899183e-01 -3.51955525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18263999999999 meters 0.023751398887403144 Centerline is valid? [True, True] Translation: X:78.01, Y:-4.67, Z:-3.53 [[ 9.91377465e-01 1.30317575e-01 1.37131905e-02 7.80052397e+01] [-1.30305918e-01 9.91472302e-01 -1.74396968e-03 -4.66568486e+00] [-1.38235185e-02 -5.79776412e-05 9.99904449e-01 -3.52763190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24264 meters 0.03316313677124443 Centerline is valid? [True, True] Translation: X:78.07, Y:-4.67, Z:-3.52 [[ 9.91050342e-01 1.32843807e-01 1.31050534e-02 7.80677206e+01] [-1.32833366e-01 9.91136981e-01 -1.66776641e-03 -4.66985902e+00] [-1.32104555e-02 -8.79478928e-05 9.99912734e-01 -3.52464946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30264 meters 0.02391004686078581 Centerline is valid? [True, True] Translation: X:78.13, Y:-4.67, Z:-3.53 [[ 9.90869592e-01 1.34204387e-01 1.29086971e-02 7.81282260e+01] [-1.34194338e-01 9.90953668e-01 -1.64546348e-03 -4.67425549e+00] [-1.30127491e-02 -1.01834320e-04 9.99915325e-01 -3.52949581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36264 meters 0.02409076379302496 Centerline is valid? [True, True] Translation: X:78.19, Y:-4.68, Z:-3.53 [[ 9.90829460e-01 1.34510231e-01 1.28054276e-02 7.81914964e+01] [-1.34500354e-01 9.90912199e-01 -1.63334045e-03 -4.67912346e+00] [-1.29087555e-02 -1.03972719e-04 9.99916673e-01 -3.53221168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42264 meters 0.023165119814093214 Centerline is valid? [True, True] Translation: X:78.25, Y:-4.69, Z:-3.53 [[ 9.90782901e-01 1.34817488e-01 1.31714967e-02 7.82531221e+01] [-1.34807019e-01 9.90870442e-01 -1.68349831e-03 -4.68831366e+00] [-1.32782117e-02 -1.07628871e-04 9.99911835e-01 -3.53038498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48264 meters 0.024348680942163504 Centerline is valid? [True, True] Translation: X:78.31, Y:-4.69, Z:-3.53 [[ 9.90470804e-01 1.37017679e-01 1.39191554e-02 7.83146794e+01] [-1.37006159e-01 9.90568592e-01 -1.78237441e-03 -4.69119880e+00] [-1.40320949e-02 -1.41620196e-04 9.99901535e-01 -3.53219972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54263999999999 meters 0.024463242785674157 Centerline is valid? [True, True] Translation: X:78.38, Y:-4.69, Z:-3.53 [[ 9.89924831e-01 1.40960646e-01 1.33763323e-02 7.83767458e+01] [-1.40950344e-01 9.90015182e-01 -1.71450366e-03 -4.69355999e+00] [-1.34844496e-02 -1.88168886e-04 9.99909063e-01 -3.52973127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60264 meters 0.02758827467785982 Centerline is valid? [True, True] Translation: X:78.44, Y:-4.69, Z:-3.53 [[ 9.89483230e-01 1.43975132e-01 1.39319229e-02 7.84400140e+01] [-1.43964223e-01 9.89581278e-01 -1.78807163e-03 -4.69109134e+00] [-1.40442079e-02 -2.36431561e-04 9.99901347e-01 -3.53214358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66264 meters 0.02805643671791998 Centerline is valid? [True, True] Translation: X:78.50, Y:-4.70, Z:-3.54 [[ 9.89426973e-01 1.44303884e-01 1.45139148e-02 7.85010814e+01] [-1.44292001e-01 9.89533389e-01 -1.86809284e-03 -4.69566641e+00] [-1.46315763e-02 -2.45900360e-04 9.99892923e-01 -3.53677355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72264 meters 0.024615318245935047 Centerline is valid? [True, True] Translation: X:78.56, Y:-4.70, Z:-3.53 [[ 9.89697943e-01 1.42431616e-01 1.45333092e-02 7.85627326e+01] [-1.42419515e-01 9.89804620e-01 -1.86957920e-03 -4.70351242e+00] [-1.46514238e-02 -2.19508159e-04 9.99892638e-01 -3.53304644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78264 meters 0.024428894775104626 Centerline is valid? [True, True] Translation: X:78.62, Y:-4.71, Z:-3.54 [[ 9.90043196e-01 1.39835735e-01 1.61380847e-02 7.86227555e+01] [-1.39820326e-01 9.90174697e-01 -2.08473909e-03 -4.70926014e+00] [-1.62710442e-02 -1.92450515e-04 9.99867599e-01 -3.53779550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84264 meters 0.025272852017379693 Centerline is valid? [True, True] Translation: X:78.68, Y:-4.71, Z:-3.55 [[ 9.90526313e-01 1.36475613e-01 1.52325097e-02 7.86836970e+01] [-1.36461553e-01 9.90643422e-01 -1.96351060e-03 -4.71252014e+00] [-1.53579568e-02 -1.33743011e-04 9.99882051e-01 -3.54726124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90263999999999 meters 0.021360007092777602 Centerline is valid? [True, True] Translation: X:78.75, Y:-4.72, Z:-3.54 [[ 9.90806174e-01 1.34492716e-01 1.46572481e-02 7.87462229e+01] [-1.34479472e-01 9.90914577e-01 -1.88994162e-03 -4.71943912e+00] [-1.47782642e-02 -9.85331695e-05 9.99890791e-01 -3.54072853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96264 meters 0.022818321865539084 Centerline is valid? [True, True] Translation: X:78.81, Y:-4.72, Z:-3.55 [[ 9.90757009e-01 1.34931437e-01 1.39303995e-02 7.88084115e+01] [-1.34919467e-01 9.90854933e-01 -1.79984670e-03 -4.71506840e+00] [-1.40458610e-02 -9.62713456e-05 9.99901347e-01 -3.54577884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02264 meters 0.030273884334348643 Centerline is valid? [True, True] Translation: X:78.87, Y:-4.72, Z:-3.55 [[ 9.90834748e-01 1.34374007e-01 1.37887105e-02 7.88715114e+01] [-1.34362210e-01 9.90930683e-01 -1.78261968e-03 -4.71615761e+00] [-1.39031941e-02 -8.64000938e-05 9.99903342e-01 -3.54896342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08264 meters 0.030536734968598503 Centerline is valid? [True, True] Translation: X:78.93, Y:-4.72, Z:-3.55 [[ 9.91321994e-01 1.30669775e-01 1.43566686e-02 7.89332135e+01] [-1.30656539e-01 9.91425947e-01 -1.86008320e-03 -4.72047494e+00] [-1.44766304e-02 -3.18512372e-05 9.99895208e-01 -3.55250415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14264 meters 0.020934479586894213 Centerline is valid? [True, True] Translation: X:79.00, Y:-4.73, Z:-3.55 [[ 9.91667525e-01 1.27983613e-01 1.46872333e-02 7.89952616e+01] [-1.27969427e-01 9.91776283e-01 -1.90552591e-03 -4.72545148e+00] [-1.48103257e-02 1.01313318e-05 9.99890321e-01 -3.55106663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20264 meters 0.02317395481655723 Centerline is valid? [True, True] Translation: X:79.06, Y:-4.73, Z:-3.56 [[ 9.92337875e-01 1.22535429e-01 1.58306628e-02 7.90556969e+01] [-1.22518192e-01 9.92464134e-01 -2.05777752e-03 -4.73284363e+00] [-1.59635157e-02 1.02466393e-04 9.99872570e-01 -3.55574480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26263999999999 meters 0.024127326829202215 Centerline is valid? [True, True] Translation: X:79.12, Y:-4.74, Z:-3.56 [[ 9.92713271e-01 1.19469132e-01 1.57317461e-02 7.91173607e+01] [-1.19451684e-01 9.92837904e-01 -2.04748948e-03 -4.73773904e+00] [-1.58636856e-02 1.53386409e-04 9.99874152e-01 -3.55665329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32263999999999 meters 0.025736349709657064 Centerline is valid? [True, True] Translation: X:79.18, Y:-4.74, Z:-3.56 [[ 9.93131074e-01 1.15971627e-01 1.55322482e-02 7.91799271e+01] [-1.15954160e-01 9.93252505e-01 -2.02350414e-03 -4.74145719e+00] [-1.56621135e-02 2.08576037e-04 9.99877320e-01 -3.55814173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38264 meters 0.028484821805640322 Centerline is valid? [True, True] Translation: X:79.24, Y:-4.75, Z:-3.56 [[ 9.93520177e-01 1.12564904e-01 1.57098672e-02 7.92405363e+01] [-1.12546556e-01 9.93644338e-01 -2.04999574e-03 -4.74843720e+00] [-1.58407782e-02 2.68620673e-04 9.99874491e-01 -3.56131170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44264 meters 0.02956511502024281 Centerline is valid? [True, True] Translation: X:79.30, Y:-4.75, Z:-3.56 [[ 9.93640158e-01 1.11410805e-01 1.63361465e-02 7.93037635e+01] [-1.11390777e-01 9.93774392e-01 -2.13365588e-03 -4.75358336e+00] [-1.64721564e-02 3.00390117e-04 9.99864280e-01 -3.56310059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50264 meters 0.0280568281918516 Centerline is valid? [True, True] Translation: X:79.37, Y:-4.76, Z:-3.56 [[ 9.93541732e-01 1.12199959e-01 1.69113908e-02 7.93658474e+01] [-1.12178536e-01 9.93685603e-01 -2.21314181e-03 -4.75646885e+00] [-1.70529200e-02 3.01753690e-04 9.99854543e-01 -3.56316569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56264 meters 0.03367630994360047 Centerline is valid? [True, True] Translation: X:79.43, Y:-4.75, Z:-3.57 [[ 9.93009461e-01 1.16799147e-01 1.70343797e-02 7.94280613e+01] [-1.16777959e-01 9.93155529e-01 -2.23669939e-03 -4.75236707e+00] [-1.71790330e-02 2.31823568e-04 9.99852403e-01 -3.56562500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62263999999999 meters 0.022170854344419965 Centerline is valid? [True, True] Translation: X:79.49, Y:-4.75, Z:-3.57 [[ 9.92276752e-01 1.22582902e-01 1.89810065e-02 7.94890621e+01] [-1.22557626e-01 9.92458266e-01 -2.49359489e-03 -4.74852724e+00] [-1.91435289e-02 1.48069128e-04 9.99816735e-01 -3.56811656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68263999999999 meters 0.020290883347715928 Centerline is valid? [True, True] Translation: X:79.55, Y:-4.74, Z:-3.57 [[ 9.91212908e-01 1.30978913e-01 1.84795730e-02 7.95532851e+01] [-1.30956501e-01 9.91385154e-01 -2.42302538e-03 -4.73820853e+00] [-1.86377395e-02 -1.82861716e-05 9.99826302e-01 -3.57131083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74264 meters 0.027922138478462744 Centerline is valid? [True, True] Translation: X:79.62, Y:-4.74, Z:-3.57 [[ 9.90637844e-01 1.35320751e-01 1.80265432e-02 7.96163116e+01] [-1.35300090e-01 9.90801840e-01 -2.36645691e-03 -4.73592627e+00] [-1.81809629e-02 -9.46911580e-05 9.99834708e-01 -3.57434926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80264 meters 0.021537190784248633 Centerline is valid? [True, True] Translation: X:79.68, Y:-4.74, Z:-3.58 [[ 9.90422367e-01 1.36604080e-01 2.00713713e-02 7.96784312e+01] [-1.36578638e-01 9.90625716e-01 -2.63937609e-03 -4.73501583e+00] [-2.02437661e-02 -1.27223446e-04 9.99795066e-01 -3.57774798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86264 meters 0.032068354875327 Centerline is valid? [True, True] Translation: X:79.74, Y:-4.74, Z:-3.58 [[ 9.90520789e-01 1.36082722e-01 1.87098855e-02 7.97396996e+01] [-1.36060472e-01 9.90697472e-01 -2.46302518e-03 -4.74312065e+00] [-1.88710114e-02 -1.05998195e-04 9.99821921e-01 -3.57928775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92264 meters 0.019900037265400832 Centerline is valid? [True, True] Translation: X:79.80, Y:-4.75, Z:-3.58 [[ 9.90667078e-01 1.34999155e-01 1.88140432e-02 7.98018101e+01] [-1.34976400e-01 9.90845710e-01 -2.47994088e-03 -4.75031836e+00] [-1.89766039e-02 -8.26560317e-05 9.99819925e-01 -3.58120604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98264 meters 0.02062738090694127 Centerline is valid? [True, True] Translation: X:79.86, Y:-4.75, Z:-3.59 [[ 9.90629108e-01 1.35216806e-01 1.92454021e-02 7.98632422e+01] [-1.35192959e-01 9.90816031e-01 -2.54081458e-03 -4.75412158e+00] [-1.94122137e-02 -8.48379672e-05 9.99811562e-01 -3.58620546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04263999999999 meters 0.01898695240566622 Centerline is valid? [True, True] Translation: X:79.92, Y:-4.76, Z:-3.58 [[ 9.90654451e-01 1.34634275e-01 2.18488254e-02 7.99244133e+01] [-1.34603223e-01 9.90895356e-01 -2.89241695e-03 -4.75963946e+00] [-2.20393181e-02 -7.55365987e-05 9.99757102e-01 -3.58322627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10264 meters 0.018552857032864623 Centerline is valid? [True, True] Translation: X:79.99, Y:-4.77, Z:-3.58 [[ 9.90663997e-01 1.34609390e-01 2.15674837e-02 7.99868991e+01] [-1.34579209e-01 9.90898737e-01 -2.85135407e-03 -4.76558015e+00] [-2.17550113e-02 -7.78010774e-05 9.99763329e-01 -3.58473022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16264 meters 0.0184830146541776 Centerline is valid? [True, True] Translation: X:80.05, Y:-4.77, Z:-3.59 [[ 9.90800561e-01 1.33345019e-01 2.30944574e-02 8.00480187e+01] [-1.33309929e-01 9.91069677e-01 -3.05924964e-03 -4.77304886e+00] [-2.32961521e-02 -4.76142297e-05 9.99728607e-01 -3.58931678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22264 meters 0.019104083706756078 Centerline is valid? [True, True] Translation: X:80.11, Y:-4.78, Z:-3.60 [[ 9.91003751e-01 1.31978889e-01 2.22067291e-02 8.01079696e+01] [-1.31946011e-01 9.91252527e-01 -2.94576086e-03 -4.78381368e+00] [-2.24012546e-02 -1.08292518e-05 9.99749060e-01 -3.59556077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28264 meters 0.0231135984510448 Centerline is valid? [True, True] Translation: X:80.17, Y:-4.79, Z:-3.59 [[ 9.90985584e-01 1.32046910e-01 2.26094051e-02 8.01699227e+01] [-1.32012773e-01 9.91243468e-01 -3.00237907e-03 -4.79123499e+00] [-2.28078800e-02 -9.41587391e-06 9.99739866e-01 -3.59469701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34264 meters 0.01820770897255212 Centerline is valid? [True, True] Translation: X:80.23, Y:-4.79, Z:-3.60 [[ 9.90484888e-01 1.35504748e-01 2.40447374e-02 8.02315857e+01] [-1.35467001e-01 9.90776693e-01 -3.19942900e-03 -4.79467937e+00] [-2.42565032e-02 -8.82823839e-05 9.99705764e-01 -3.59613347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40263999999999 meters 0.029137585040520667 Centerline is valid? [True, True] Translation: X:80.30, Y:-4.79, Z:-3.60 [[ 9.89531915e-01 1.41986193e-01 2.58168613e-02 8.02964108e+01] [-1.41944851e-01 9.89868603e-01 -3.43630733e-03 -4.78741522e+00] [-2.60432086e-02 -2.64234748e-04 9.99660783e-01 -3.59690316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46264 meters 0.025020965976288174 Centerline is valid? [True, True] Translation: X:80.36, Y:-4.78, Z:-3.60 [[ 9.88780213e-01 1.47191004e-01 2.54656293e-02 8.03585486e+01] [-1.47152360e-01 9.89108010e-01 -3.39516195e-03 -4.78344919e+00] [-2.56879952e-02 -3.90258481e-04 9.99669933e-01 -3.60069957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52264 meters 0.029835277592228333 Centerline is valid? [True, True] Translation: X:80.42, Y:-4.77, Z:-3.60 [[ 9.87883186e-01 1.53047233e-01 2.57556687e-02 8.04204932e+01] [-1.53009497e-01 9.88218727e-01 -3.44126974e-03 -4.77348943e+00] [-2.59789109e-02 -5.41289381e-04 9.99662345e-01 -3.60230364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58264 meters 0.032353438102501075 Centerline is valid? [True, True] Translation: X:80.48, Y:-4.77, Z:-3.60 [[ 9.87608665e-01 1.54545944e-01 2.72887422e-02 8.04803280e+01] [-1.54504151e-01 9.87985411e-01 -3.64617976e-03 -4.77103053e+00] [-2.75243814e-02 -6.15225203e-04 9.99620943e-01 -3.60459129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64264 meters 0.027380469937191097 Centerline is valid? [True, True] Translation: X:80.54, Y:-4.78, Z:-3.60 [[ 9.87883232e-01 1.52576301e-01 2.84111193e-02 8.05407944e+01] [-1.52530234e-01 9.88291521e-01 -3.79444964e-03 -4.77777738e+00] [-2.86574114e-02 -5.85081485e-04 9.99589121e-01 -3.60212632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70264 meters 0.024292037586442914 Centerline is valid? [True, True] Translation: X:80.60, Y:-4.78, Z:-3.61 [[ 9.88593158e-01 1.47817930e-01 2.88691388e-02 8.06003162e+01] [-1.47768335e-01 9.89014486e-01 -3.85562048e-03 -4.78239915e+00] [-2.91219263e-02 -4.54304555e-04 9.99575764e-01 -3.60598403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76263999999999 meters 0.02016358883098112 Centerline is valid? [True, True] Translation: X:80.66, Y:-4.79, Z:-3.61 [[ 9.89089761e-01 1.44332016e-01 2.94909021e-02 8.06611652e+01] [-1.44278738e-01 9.89529252e-01 -3.93778696e-03 -4.79377521e+00] [-2.97504590e-02 -3.60085367e-04 9.99557292e-01 -3.60645856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82263999999999 meters 0.018091745730554616 Centerline is valid? [True, True] Translation: X:80.72, Y:-4.80, Z:-3.61 [[ 9.89694749e-01 1.40132609e-01 2.94475118e-02 8.07214118e+01] [-1.40077634e-01 9.90132717e-01 -3.93181457e-03 -4.80138365e+00] [-2.97079203e-02 -2.33641530e-04 9.99558595e-01 -3.61116507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88264 meters 0.01645603142255697 Centerline is valid? [True, True] Translation: X:80.78, Y:-4.81, Z:-3.61 [[ 9.89955779e-01 1.38036798e-01 3.05515764e-02 8.07836717e+01] [-1.37976415e-01 9.90427086e-01 -4.08599021e-03 -4.80951079e+00] [-3.08231258e-02 -1.70447371e-04 9.99524840e-01 -3.61115479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94264 meters 0.016601117074779133 Centerline is valid? [True, True] Translation: X:80.84, Y:-4.82, Z:-3.62 [[ 9.90160140e-01 1.36859609e-01 2.91949433e-02 8.08448922e+01] [-1.36803958e-01 9.90590446e-01 -3.90462748e-03 -4.81532008e+00] [-2.94546177e-02 -1.27777297e-04 9.99566110e-01 -3.61630098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00264 meters 0.01576168252378752 Centerline is valid? [True, True] Translation: X:80.91, Y:-4.82, Z:-3.62 [[ 9.90174169e-01 1.36690854e-01 2.95080687e-02 8.09066211e+01] [-1.36633795e-01 9.90613747e-01 -3.95092582e-03 -4.82202183e+00] [-2.97711540e-02 -1.19694738e-04 9.99556734e-01 -3.61724360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06264 meters 0.015261492477075759 Centerline is valid? [True, True] Translation: X:80.97, Y:-4.83, Z:-3.62 [[ 9.90424661e-01 1.34768023e-01 2.99427930e-02 8.09680647e+01] [-1.34708229e-01 9.90877175e-01 -4.01452035e-03 -4.82866675e+00] [-3.02106591e-02 -5.74606664e-05 9.99543552e-01 -3.61956037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12263999999999 meters 0.015264088331522277 Centerline is valid? [True, True] Translation: X:81.03, Y:-4.84, Z:-3.62 [[ 9.90868404e-01 1.31503051e-01 2.97784197e-02 8.10298489e+01] [-1.31442295e-01 9.91315765e-01 -3.99720828e-03 -4.84028354e+00] [-3.00454620e-02 4.65635555e-05 9.99548532e-01 -3.62258839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18263999999999 meters 0.017052739010661074 Centerline is valid? [True, True] Translation: X:81.09, Y:-4.86, Z:-3.63 [[ 9.91430292e-01 1.27292802e-01 2.93686681e-02 8.10894158e+01] [-1.27231670e-01 9.91865168e-01 -3.94857106e-03 -4.85654455e+00] [-2.96323836e-02 1.78108261e-04 9.99560849e-01 -3.62679803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24264 meters 0.020268260364418596 Centerline is valid? [True, True] Translation: X:81.15, Y:-4.87, Z:-3.63 [[ 9.92180537e-01 1.21313217e-01 2.93408567e-02 8.11495544e+01] [-1.21249394e-01 9.92614211e-01 -3.95128628e-03 -4.87497326e+00] [-2.96034946e-02 3.62828253e-04 9.99561655e-01 -3.62807474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30264 meters 0.0261286617819568 Centerline is valid? [True, True] Translation: X:81.21, Y:-4.89, Z:-3.63 [[ 9.92428418e-01 1.19212432e-01 2.95673836e-02 8.12100879e+01] [-1.19146702e-01 9.92868678e-01 -3.98129856e-03 -4.89152001e+00] [-2.98311493e-02 4.28297581e-04 9.99554860e-01 -3.63170822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36264 meters 0.023831042349064798 Centerline is valid? [True, True] Translation: X:81.27, Y:-4.90, Z:-3.63 [[ 9.92265221e-01 1.20564968e-01 2.95604325e-02 8.12709274e+01] [-1.20499718e-01 9.92705361e-01 -3.98541233e-03 -4.90188548e+00] [-2.98253010e-02 3.92562263e-04 9.99555050e-01 -3.63414478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42264 meters 0.02011829107582708 Centerline is valid? [True, True] Translation: X:81.33, Y:-4.91, Z:-3.63 [[ 9.91774837e-01 1.24263999e-01 3.06778778e-02 8.13312633e+01] [-1.24195238e-01 9.92249146e-01 -4.14418016e-03 -4.90752300e+00] [-3.09550705e-02 3.00047255e-04 9.99520732e-01 -3.63454088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48263999999999 meters 0.014814633581680527 Centerline is valid? [True, True] Translation: X:81.39, Y:-4.91, Z:-3.63 [[ 9.90762142e-01 1.31927419e-01 3.13932069e-02 8.13931774e+01] [-1.31859317e-01 9.91259377e-01 -4.23887940e-03 -4.91176731e+00] [-3.16780351e-02 6.02344238e-05 9.99498123e-01 -3.63399143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54263999999999 meters 0.01607128102817704 Centerline is valid? [True, True] Translation: X:81.46, Y:-4.92, Z:-3.64 [[ 9.89847372e-01 1.38601811e-01 3.14915671e-02 8.14550608e+01] [-1.38536483e-01 9.90348179e-01 -4.25755354e-03 -4.91761556e+00] [-3.17777208e-02 -1.48402782e-04 9.99494950e-01 -3.63980993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60264 meters 0.017690342183786015 Centerline is valid? [True, True] Translation: X:81.52, Y:-4.93, Z:-3.64 [[ 9.89484335e-01 1.41379373e-01 3.05388931e-02 8.15169154e+01] [-1.41319084e-01 9.89955465e-01 -4.13449736e-03 -4.92550067e+00] [-3.08166768e-02 -2.24708052e-04 9.99525028e-01 -3.64429010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66264 meters 0.01866720270907151 Centerline is valid? [True, True] Translation: X:81.58, Y:-4.94, Z:-3.65 [[ 9.89036421e-01 1.44496400e-01 3.04589561e-02 8.15780722e+01] [-1.44437753e-01 9.89505276e-01 -4.12858393e-03 -4.93598865e+00] [-3.07358632e-02 -3.16103285e-04 9.99527492e-01 -3.64532900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72264 meters 0.01999187437828839 Centerline is valid? [True, True] Translation: X:81.64, Y:-4.94, Z:-3.65 [[ 9.88932744e-01 1.45233330e-01 3.03201023e-02 8.16388400e+01] [-1.45175405e-01 9.89397377e-01 -4.11488814e-03 -4.94456429e+00] [-3.05962486e-02 -3.32385507e-04 9.99531770e-01 -3.65039406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78264 meters 0.020387589326230166 Centerline is valid? [True, True] Translation: X:81.70, Y:-4.96, Z:-3.65 [[ 9.88848393e-01 1.45995855e-01 2.93949955e-02 8.16996493e+01] [-1.45941586e-01 9.89285143e-01 -3.99479645e-03 -4.95621452e+00] [-2.96632560e-02 -3.39704205e-04 9.99559891e-01 -3.65449425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84264 meters 0.018578583811373887 Centerline is valid? [True, True] Translation: X:81.76, Y:-4.97, Z:-3.65 [[ 9.88978357e-01 1.44865040e-01 3.05929663e-02 8.17605196e+01] [-1.44805549e-01 9.89451374e-01 -4.16303521e-03 -4.97265711e+00] [-3.08733308e-02 -3.12879546e-04 9.99523256e-01 -3.65367652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90263999999999 meters 0.01579457993767456 Centerline is valid? [True, True] Translation: X:81.82, Y:-4.99, Z:-3.65 [[ 9.89269604e-01 1.42188186e-01 3.35882401e-02 8.18208608e+01] [-1.42093015e-01 9.89839568e-01 -5.21586546e-03 -4.98984876e+00] [-3.39886036e-02 3.87242852e-04 9.99422145e-01 -3.65392279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96264 meters 0.01598169447128518 Centerline is valid? [True, True] Translation: X:81.88, Y:-5.01, Z:-3.66 [[ 9.89789827e-01 1.39375886e-01 2.98405999e-02 8.18790246e+01] [-1.39332632e-01 9.90239328e-01 -3.53419697e-03 -5.00836800e+00] [-3.00419174e-02 -6.59657105e-04 9.99548422e-01 -3.65906699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02264 meters 0.015837634942147252 Centerline is valid? [True, True] Translation: X:81.94, Y:-5.02, Z:-3.66 [[ 9.89940012e-01 1.38196672e-01 3.03389456e-02 8.19383864e+01] [-1.38134677e-01 9.90404802e-01 -4.13999022e-03 -5.02248922e+00] [-3.06199702e-02 -9.25184944e-05 9.99531094e-01 -3.66265319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08264 meters 0.014359058691649872 Centerline is valid? [True, True] Translation: X:82.00, Y:-5.04, Z:-3.66 [[ 9.89866054e-01 1.37097353e-01 3.70068906e-02 8.19992546e+01] [-1.37189116e-01 9.90544872e-01 -6.02824202e-05 -5.04155137e+00] [-3.66652502e-02 -5.01727110e-03 9.99315009e-01 -3.66129609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14264 meters 0.014770994120581532 Centerline is valid? [True, True] Translation: X:82.06, Y:-5.05, Z:-3.66 [[ 9.90114756e-01 1.36706125e-01 3.13720411e-02 8.20601829e+01] [-1.36476714e-01 9.90599144e-01 -9.35104921e-03 -5.04785540e+00] [-3.23554628e-02 4.97705873e-03 9.99464033e-01 -3.66300449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20264 meters 0.014900394573194782 Centerline is valid? [True, True] Translation: X:82.12, Y:-5.07, Z:-3.67 [[ 9.89687378e-01 1.38103675e-01 3.80298386e-02 8.21214160e+01] [-1.38261785e-01 9.90394511e-01 1.54671960e-03 -5.06817166e+00] [-3.74509358e-02 -6.78884225e-03 9.99275407e-01 -3.66879980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26263999999999 meters 0.015559438870623478 Centerline is valid? [True, True] Translation: X:82.18, Y:-5.07, Z:-3.67 [[ 9.89353381e-01 1.40674532e-01 3.72902713e-02 8.21835073e+01] [-1.40624999e-01 9.90055009e-01 -3.96099711e-03 -5.07370590e+00] [-3.74766313e-02 -1.32511850e-03 9.99296626e-01 -3.67299447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32263999999999 meters 0.01711964386574633 Centerline is valid? [True, True] Translation: X:82.24, Y:-5.08, Z:-3.67 [[ 9.89096964e-01 1.44171255e-01 3.00307247e-02 8.22441966e+01] [-1.43845648e-01 9.89518051e-01 -1.27458000e-02 -5.07603667e+00] [-3.15535221e-02 8.28704305e-03 9.99467708e-01 -3.67393280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38264 meters 0.018715326156505525 Centerline is valid? [True, True] Translation: X:82.31, Y:-5.09, Z:-3.68 [[ 9.88774288e-01 1.46400105e-01 2.98733405e-02 8.23050863e+01] [-1.46343176e-01 9.89225407e-01 -4.09508812e-03 -5.08813639e+00] [-3.01509888e-02 -3.22641683e-04 9.99545304e-01 -3.67818527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44264 meters 0.02258913067079231 Centerline is valid? [True, True] Translation: X:82.37, Y:-5.10, Z:-3.68 [[ 9.87504908e-01 1.52655269e-01 3.91206633e-02 8.23668034e+01] [-1.53196262e-01 9.88132219e-01 1.12081590e-02 -5.10217079e+00] [-3.69454033e-02 -1.70612514e-02 9.99171632e-01 -3.68276749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50264 meters 0.030027327926211253 Centerline is valid? [True, True] Translation: X:82.43, Y:-5.08, Z:-3.69 [[ 9.86946550e-01 1.58947349e-01 2.59277516e-02 8.24301748e+01] [-1.58451265e-01 9.87160275e-01 -2.01937543e-02 -5.07839941e+00] [-2.88045901e-02 1.58218711e-02 9.99459836e-01 -3.68865734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56264 meters 0.034768576924934486 Centerline is valid? [True, True] Translation: X:82.49, Y:-5.10, Z:-3.69 [[ 9.85256952e-01 1.66733110e-01 3.83250495e-02 8.24879269e+01] [-1.67208487e-01 9.85875500e-01 9.52994917e-03 -5.09530988e+00] [-3.61947693e-02 -1.57977222e-02 9.99219881e-01 -3.68855657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62263999999999 meters 0.03995909609956247 Centerline is valid? [True, True] Translation: X:82.55, Y:-5.07, Z:-3.69 [[ 9.85194845e-01 1.69037101e-01 2.85932689e-02 8.25530946e+01] [-1.68546041e-01 9.85514321e-01 -1.88083679e-02 -5.07460205e+00] [-3.13583879e-02 1.37106248e-02 9.99414164e-01 -3.69013903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68263999999999 meters 0.03830253325138847 Centerline is valid? [True, True] Translation: X:82.61, Y:-5.09, Z:-3.69 [[ 9.85565317e-01 1.66595625e-01 3.01148411e-02 8.26128261e+01] [-1.66546606e-01 9.86024865e-01 -4.14646971e-03 -5.09023253e+00] [-3.03847659e-02 -9.28907833e-04 9.99537845e-01 -3.69257330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74264 meters 0.0329080596758432 Centerline is valid? [True, True] Translation: X:82.67, Y:-5.10, Z:-3.70 [[ 9.86249651e-01 1.62562728e-01 2.97487004e-02 8.26728894e+01] [-1.62513032e-01 9.86697892e-01 -4.09697780e-03 -5.10038377e+00] [-3.00189959e-02 -7.93908562e-04 9.99549013e-01 -3.69634116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80264 meters 0.026276538317485398 Centerline is valid? [True, True] Translation: X:82.73, Y:-5.12, Z:-3.70 [[ 9.87585822e-01 1.54285474e-01 2.94997645e-02 8.27307061e+01] [-1.54232889e-01 9.88026166e-01 -4.06342388e-03 -5.11537328e+00] [-2.97734665e-02 -5.36854096e-04 9.99556528e-01 -3.70102858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86264 meters 0.02165024770190971 Centerline is valid? [True, True] Translation: X:82.79, Y:-5.13, Z:-3.70 [[ 9.88367669e-01 1.49130549e-01 2.98233137e-02 8.27913360e+01] [-1.49074489e-01 9.88817440e-01 -4.10693397e-03 -5.12910348e+00] [-3.01022820e-02 -3.86734490e-04 9.99546749e-01 -3.70233614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92264 meters 0.02087356725269718 Centerline is valid? [True, True] Translation: X:82.85, Y:-5.14, Z:-3.70 [[ 9.89147699e-01 1.43854124e-01 2.98801031e-02 8.28524949e+01] [-1.43795423e-01 9.89598878e-01 -4.11537907e-03 -5.14414906e+00] [-3.01613308e-02 -2.25904321e-04 9.99545018e-01 -3.70176602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98263999999999 meters 0.02061119925761994 Centerline is valid? [True, True] Translation: X:82.91, Y:-5.15, Z:-3.71 [[ 9.89486403e-01 1.41550434e-01 2.96670438e-02 8.29125145e+01] [-1.41491526e-01 9.89931033e-01 -4.08624283e-03 -5.15296868e+00] [-2.99467367e-02 -1.54353566e-04 9.99551484e-01 -3.70809214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04263999999999 meters 0.03249355753128768 Centerline is valid? [True, True] Translation: X:82.97, Y:-5.16, Z:-3.71 [[ 9.89822771e-01 1.39360427e-01 2.88019657e-02 8.29747941e+01] [-1.39303863e-01 9.90241720e-01 -3.97104321e-03 -5.16463140e+00] [-2.90743144e-02 -8.15960883e-05 9.99577249e-01 -3.71157958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10264 meters 0.015258804782954341 Centerline is valid? [True, True] Translation: X:83.04, Y:-5.17, Z:-3.71 [[ 9.90058306e-01 1.37485480e-01 2.97034293e-02 8.30363135e+01] [-1.37424281e-01 9.90503782e-01 -4.10179112e-03 -5.17406534e+00] [-2.99852958e-02 -2.09600442e-05 9.99550340e-01 -3.71097956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16264 meters 0.015216806825023533 Centerline is valid? [True, True] Translation: X:83.10, Y:-5.18, Z:-3.71 [[ 9.90063874e-01 1.37329853e-01 3.02330331e-02 8.30979061e+01] [-1.37266212e-01 9.90525371e-01 -4.18038880e-03 -5.18371921e+00] [-3.05206785e-02 -1.11220064e-05 9.99534136e-01 -3.71362818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22264 meters 0.015365294728406054 Centerline is valid? [True, True] Translation: X:83.16, Y:-5.19, Z:-3.72 [[ 9.89951379e-01 1.38254357e-01 2.96984798e-02 8.31597719e+01] [-1.38193212e-01 9.90396755e-01 -4.11150275e-03 -5.19069022e+00] [-2.99817111e-02 -3.39404986e-05 9.99550447e-01 -3.71698875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28264 meters 0.02593493564374841 Centerline is valid? [True, True] Translation: X:83.22, Y:-5.20, Z:-3.72 [[ 9.89718482e-01 1.40154378e-01 2.85320342e-02 8.32217790e+01] [-1.40098600e-01 9.90129660e-01 -3.95461534e-03 -5.19576974e+00] [-2.88046700e-02 -8.33421494e-05 9.99585056e-01 -3.72197633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34264 meters 0.01759263251848951 Centerline is valid? [True, True] Translation: X:83.28, Y:-5.20, Z:-3.73 [[ 9.89087175e-01 1.44605473e-01 2.82102310e-02 8.32840952e+01] [-1.44552616e-01 9.89489371e-01 -3.91488357e-03 -5.19648972e+00] [-2.84798373e-02 -2.05701548e-04 9.99594346e-01 -3.72515100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40263999999999 meters 0.019622177951097476 Centerline is valid? [True, True] Translation: X:83.35, Y:-5.20, Z:-3.73 [[ 9.88647832e-01 1.47486478e-01 2.86915005e-02 8.33460021e+01] [-1.47432859e-01 9.89064030e-01 -3.98704622e-03 -5.19798300e+00] [-2.89657665e-02 -2.88285338e-04 9.99580363e-01 -3.72844716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46264 meters 0.020041517633802266 Centerline is valid? [True, True] Translation: X:83.41, Y:-5.20, Z:-3.73 [[ 9.88361479e-01 1.49628098e-01 2.74412078e-02 8.34087589e+01] [-1.49579771e-01 9.88742293e-01 -3.81705378e-03 -5.20022577e+00] [-2.77034212e-02 -3.32020671e-04 9.99616131e-01 -3.73071758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52264 meters 0.019699473264700316 Centerline is valid? [True, True] Translation: X:83.47, Y:-5.21, Z:-3.73 [[ 9.88378184e-01 1.49391088e-01 2.81223731e-02 8.34710408e+01] [-1.49340089e-01 9.88778132e-01 -3.91698162e-03 -5.20682506e+00] [-2.83919496e-02 -3.28338525e-04 9.99596813e-01 -3.73285230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58264 meters 0.016623150158563603 Centerline is valid? [True, True] Translation: X:83.53, Y:-5.22, Z:-3.74 [[ 9.89097067e-01 1.44580033e-01 2.79929669e-02 8.35315438e+01] [-1.44527437e-01 9.89493092e-01 -3.90381772e-03 -5.22052927e+00] [-2.82632615e-02 -1.84497113e-04 9.99600497e-01 -3.73554041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64264 meters 0.02413516760128437 Centerline is valid? [True, True] Translation: X:83.59, Y:-5.24, Z:-3.74 [[ 9.89829481e-01 1.39241492e-01 2.91445741e-02 8.35914907e+01] [-1.39182000e-01 9.90258454e-01 -4.06999904e-03 -5.23666015e+00] [-2.94273737e-02 -2.77950822e-05 9.99566921e-01 -3.73777116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70264 meters 0.015881191959480553 Centerline is valid? [True, True] Translation: X:83.65, Y:-5.25, Z:-3.74 [[ 9.90565932e-01 1.33776423e-01 2.97153781e-02 8.36525108e+01] [-1.33711966e-01 9.91011528e-01 -4.15474206e-03 -5.25258199e+00] [-3.00040887e-02 1.42244325e-04 9.99549766e-01 -3.73778330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76263999999999 meters 0.02658184848884994 Centerline is valid? [True, True] Translation: X:83.71, Y:-5.27, Z:-3.74 [[ 9.91586242e-01 1.25924731e-01 2.99947681e-02 8.37123525e+01] [-1.25855202e-01 9.92039721e-01 -4.20232569e-03 -5.27338695e+00] [-3.02851781e-02 3.91970743e-04 9.99541222e-01 -3.73983846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82263999999999 meters 0.035246947317589566 Centerline is valid? [True, True] Translation: X:83.77, Y:-5.30, Z:-3.74 [[ 9.92154556e-01 1.21469443e-01 2.95721444e-02 8.37703087e+01] [-1.21399824e-01 9.92595034e-01 -4.14504846e-03 -5.29581210e+00] [-2.98566605e-02 5.22475587e-04 9.99554054e-01 -3.74368406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88264 meters 0.02554065644840672 Centerline is valid? [True, True] Translation: X:83.83, Y:-5.31, Z:-3.75 [[ 9.92107962e-01 1.21683558e-01 3.02473567e-02 8.38300257e+01] [-1.21610864e-01 9.92568806e-01 -4.23831119e-03 -5.30833989e+00] [-3.05383155e-02 5.26455104e-04 9.99533458e-01 -3.74648663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94264 meters 0.023915003816454453 Centerline is valid? [True, True] Translation: X:83.89, Y:-5.32, Z:-3.75 [[ 9.91883630e-01 1.23812192e-01 2.89379556e-02 8.38914797e+01] [-1.23746442e-01 9.92305569e-01 -4.05894303e-03 -5.31573485e+00] [-2.92178412e-02 4.45030090e-04 9.99572969e-01 -3.74956467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00264 meters 0.0192225804492274 Centerline is valid? [True, True] Translation: X:83.95, Y:-5.32, Z:-3.75 [[ 9.91447086e-01 1.27049292e-01 2.98521830e-02 8.39525611e+01] [-1.26980553e-01 9.91896336e-01 -4.19491422e-03 -5.32477114e+00] [-3.01432318e-02 3.68388769e-04 9.99545522e-01 -3.74910920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06264 meters 0.019679127166729347 Centerline is valid? [True, True] Translation: X:84.01, Y:-5.34, Z:-3.76 [[ 9.91254496e-01 1.28562427e-01 2.97695476e-02 8.40115895e+01] [-1.28494779e-01 9.91701366e-01 -4.18236198e-03 -5.34176551e+00] [-3.00601956e-02 3.20553670e-04 9.99548039e-01 -3.75500194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12263999999999 meters 0.0300242818488908 Centerline is valid? [True, True] Translation: X:84.07, Y:-5.35, Z:-3.76 [[ 9.91194333e-01 1.29084493e-01 2.95125133e-02 8.40739310e+01] [-1.29018115e-01 9.91633551e-01 -4.15043660e-03 -5.35381605e+00] [-2.98013554e-02 3.06240409e-04 9.99555794e-01 -3.75758591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18263999999999 meters 0.017989012054261087 Centerline is valid? [True, True] Translation: X:84.13, Y:-5.37, Z:-3.76 [[ 9.90993132e-01 1.30410455e-01 3.04257391e-02 8.41345032e+01] [-1.30340318e-01 9.91460052e-01 -4.28573583e-03 -5.37223289e+00] [-3.07248096e-02 2.81434267e-04 9.99527842e-01 -3.75836148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24264 meters 0.01546294546586432 Centerline is valid? [True, True] Translation: X:84.20, Y:-5.37, Z:-3.76 [[ 9.90313450e-01 1.36463094e-01 2.56338448e-02 8.41954066e+01] [-1.36007051e-01 9.90530020e-01 -1.87712778e-02 -5.37223356e+00] [-2.79526795e-02 1.51030652e-02 9.99495145e-01 -3.76080321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30264 meters 0.01547668204847161 Centerline is valid? [True, True] Translation: X:84.26, Y:-5.40, Z:-3.77 [[ 9.89706295e-01 1.39759363e-01 3.08021096e-02 8.42554478e+01] [-1.40152025e-01 9.90069225e-01 1.09699443e-02 -5.39548374e+00] [-2.89630684e-02 -1.51740010e-02 9.99465302e-01 -3.76685858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36264 meters 0.024921112857563522 Centerline is valid? [True, True] Translation: X:84.32, Y:-5.39, Z:-3.77 [[ 9.88660310e-01 1.47468221e-01 2.83534011e-02 8.43183010e+01] [-1.47413997e-01 9.89066770e-01 -4.00477466e-03 -5.39050156e+00] [-2.86339838e-02 -2.20326434e-04 9.99589939e-01 -3.77193270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42264 meters 0.017950868688130707 Centerline is valid? [True, True] Translation: X:84.38, Y:-5.39, Z:-3.77 [[ 9.88200793e-01 1.50615780e-01 2.78222935e-02 8.43782037e+01] [-1.50300622e-01 9.88553503e-01 -1.31032476e-02 -5.39440479e+00] [-2.94773816e-02 8.76693163e-03 9.99527001e-01 -3.77067837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48263999999999 meters 0.019547449571048137 Centerline is valid? [True, True] Translation: X:84.44, Y:-5.41, Z:-3.77 [[ 9.87893994e-01 1.51765033e-01 3.21376967e-02 8.44407326e+01] [-1.51994777e-01 9.88369562e-01 4.81637735e-03 -5.41315570e+00] [-3.10329635e-02 -9.64283228e-03 9.99471846e-01 -3.77288664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54263999999999 meters 0.025873241516785186 Centerline is valid? [True, True] Translation: X:84.50, Y:-5.42, Z:-3.78 [[ 9.87870359e-01 1.52377168e-01 2.98889946e-02 8.45022678e+01] [-1.52318774e-01 9.88322347e-01 -4.23428328e-03 -5.41827384e+00] [-3.01851694e-02 -3.69732061e-04 9.99544256e-01 -3.77914115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60264 meters 0.02116749392115475 Centerline is valid? [True, True] Translation: X:84.56, Y:-5.43, Z:-3.78 [[ 9.87877680e-01 1.52073244e-01 3.11675757e-02 8.45632868e+01] [-1.52009410e-01 9.88369157e-01 -4.42130438e-03 -5.42707694e+00] [-3.14774326e-02 -3.70056870e-04 9.99504394e-01 -3.78037105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66264 meters 0.01826490539438416 Centerline is valid? [True, True] Translation: X:84.62, Y:-5.44, Z:-3.78 [[ 9.88183912e-01 1.50148614e-01 3.07887823e-02 8.46233825e+01] [-1.50085223e-01 9.88663393e-01 -4.37287207e-03 -5.44150512e+00] [-3.10963227e-02 -2.99739434e-04 9.99516347e-01 -3.78394995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72264 meters 0.017565433747762246 Centerline is valid? [True, True] Translation: X:84.68, Y:-5.45, Z:-3.79 [[ 9.88420964e-01 1.48589168e-01 3.07450191e-02 8.46832594e+01] [-1.48525002e-01 9.88898984e-01 -4.37310189e-03 -5.45194912e+00] [-3.10535137e-02 -2.43938443e-04 9.99517694e-01 -3.78704642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78264 meters 0.017312803344211196 Centerline is valid? [True, True] Translation: X:84.75, Y:-5.46, Z:-3.79 [[ 9.88485998e-01 1.48194171e-01 3.05601090e-02 8.47452294e+01] [-1.48130543e-01 9.88958258e-01 -4.34821242e-03 -5.46074644e+00] [-3.08670519e-02 -2.28738430e-04 9.99523473e-01 -3.79043500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84264 meters 0.017926681721261727 Centerline is valid? [True, True] Translation: X:84.81, Y:-5.46, Z:-3.79 [[ 9.88302003e-01 1.49281700e-01 3.12109646e-02 8.48072730e+01] [-1.49160735e-01 9.88793639e-01 -6.18185575e-03 -5.46444083e+00] [-3.17840412e-02 1.45408999e-03 9.99493702e-01 -3.79241234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90263999999999 meters 0.029408316985346288 Centerline is valid? [True, True] Translation: X:84.87, Y:-5.47, Z:-3.80 [[ 9.87502492e-01 1.54858901e-01 2.92839505e-02 8.48701065e+01] [-1.54846934e-01 9.87934812e-01 -2.68974956e-03 -5.46563821e+00] [-2.93471658e-02 -1.87839555e-03 9.99567514e-01 -3.79615714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96264 meters 0.023862043827177788 Centerline is valid? [True, True] Translation: X:84.93, Y:-5.47, Z:-3.80 [[ 9.87144706e-01 1.57128792e-01 2.92552858e-02 8.49317042e+01] [-1.57074108e-01 9.87578005e-01 -4.17237141e-03 -5.46578575e+00] [-2.95474764e-02 -4.76513579e-04 9.99563264e-01 -3.80042150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02264 meters 0.02220321050429001 Centerline is valid? [True, True] Translation: X:84.99, Y:-5.48, Z:-3.80 [[ 9.87372441e-01 1.55640530e-01 2.95243683e-02 8.49925448e+01] [-1.55584028e-01 9.87813666e-01 -4.21555833e-03 -5.47621482e+00] [-2.98206862e-02 -4.31194017e-04 9.99555171e-01 -3.80291842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08264 meters 0.02032146902865344 Centerline is valid? [True, True] Translation: X:85.05, Y:-5.49, Z:-3.81 [[ 9.87893287e-01 1.52421156e-01 2.88902126e-02 8.50526888e+01] [-1.52365501e-01 9.88315581e-01 -4.13106928e-03 -5.48944057e+00] [-2.91823096e-02 -3.20816102e-04 9.99574054e-01 -3.80695637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14264 meters 0.016987284919222256 Centerline is valid? [True, True] Translation: X:85.11, Y:-5.50, Z:-3.81 [[ 9.88491645e-01 1.48333754e-01 2.96877820e-02 8.51132220e+01] [-1.48273087e-01 9.88937337e-01 -4.24686497e-03 -5.50334608e+00] [-2.99893095e-02 -2.03908551e-04 9.99550199e-01 -3.80727950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20264 meters 0.02687070487829728 Centerline is valid? [True, True] Translation: X:85.17, Y:-5.52, Z:-3.81 [[ 9.88820954e-01 1.45995832e-01 3.03040959e-02 8.51739500e+01] [-1.45931355e-01 9.89285197e-01 -4.34044462e-03 -5.51709111e+00] [-3.06130803e-02 -1.30395193e-04 9.99531301e-01 -3.81038745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26263999999999 meters 0.021657051189548394 Centerline is valid? [True, True] Translation: X:85.24, Y:-5.53, Z:-3.81 [[ 9.88749190e-01 1.46386927e-01 3.07555908e-02 8.52352581e+01] [-1.46320534e-01 9.89227400e-01 -4.41055877e-03 -5.52576687e+00] [-3.10699212e-02 -1.39238057e-04 9.99517204e-01 -3.81190655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32263999999999 meters 0.026490538392620125 Centerline is valid? [True, True] Translation: X:85.30, Y:-5.53, Z:-3.82 [[ 9.88458689e-01 1.48561646e-01 2.96455417e-02 8.52974733e+01] [-1.48500797e-01 9.88903129e-01 -4.25604457e-03 -5.53205526e+00] [-2.99488539e-02 -1.95462338e-04 9.99551413e-01 -3.81574754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38264 meters 0.03137203851781714 Centerline is valid? [True, True] Translation: X:85.36, Y:-5.54, Z:-3.82 [[ 9.88102759e-01 1.50908330e-01 2.96582877e-02 8.53589941e+01] [-1.50848287e-01 9.88547727e-01 -4.26451913e-03 -5.53663719e+00] [-2.99621843e-02 -2.60118761e-04 9.99550999e-01 -3.81948514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44264 meters 0.022404997077570515 Centerline is valid? [True, True] Translation: X:85.43, Y:-5.55, Z:-3.82 [[ 9.88239098e-01 1.47890194e-01 3.88841447e-02 8.54273147e+01] [-1.48497690e-01 9.88824479e-01 1.32130853e-02 -5.55178851e+00] [-3.64955084e-02 -1.88318932e-02 9.99156363e-01 -3.82100217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50264 meters 0.020716871332676964 Centerline is valid? [True, True] Translation: X:85.48, Y:-5.53, Z:-3.83 [[ 9.87318725e-01 1.56575442e-01 2.61890533e-02 8.54835462e+01] [-1.55986287e-01 9.87486412e-01 -2.32134654e-02 -5.53125490e+00] [-2.94959928e-02 1.88339558e-02 9.99387447e-01 -3.82715012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56264 meters 0.02168225829611394 Centerline is valid? [True, True] Translation: X:85.54, Y:-5.55, Z:-3.83 [[ 9.87173456e-01 1.56993853e-01 2.90085742e-02 8.55440529e+01] [-1.56938918e-01 9.87599486e-01 -4.17510061e-03 -5.54858027e+00] [-2.93043181e-02 -4.31025766e-04 9.99570443e-01 -3.82932530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62263999999999 meters 0.025421625025455113 Centerline is valid? [True, True] Translation: X:85.61, Y:-5.55, Z:-3.83 [[ 9.86431796e-01 1.61413982e-01 2.99639628e-02 8.56068655e+01] [-1.61357177e-01 9.86886618e-01 -4.32016953e-03 -5.54759307e+00] [-3.02683697e-02 -5.73347868e-04 9.99541643e-01 -3.83050663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68263999999999 meters 0.027264639922219704 Centerline is valid? [True, True] Translation: X:85.67, Y:-5.55, Z:-3.83 [[ 9.86143712e-01 1.63156965e-01 3.00064021e-02 8.56691093e+01] [-1.63100819e-01 9.86599924e-01 -4.32581745e-03 -5.55103194e+00] [-3.03101013e-02 -6.28191080e-04 9.99540346e-01 -3.83390863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74264 meters 0.022560854857762748 Centerline is valid? [True, True] Translation: X:85.74, Y:-5.57, Z:-3.84 [[ 9.86886835e-01 1.56553394e-01 3.93117011e-02 8.57356778e+01] [-1.57225408e-01 9.87454682e-01 1.46089714e-02 -5.57127469e+00] [-3.65314392e-02 -2.05981998e-02 9.99120197e-01 -3.83676621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80264 meters 0.022823038790595968 Centerline is valid? [True, True] Translation: X:85.79, Y:-5.56, Z:-3.84 [[ 9.86901717e-01 1.58838902e-01 2.81993794e-02 8.57917538e+01] [-1.58155375e-01 9.87097137e-01 -2.50223627e-02 -5.55754673e+00] [-3.18100513e-02 2.02347293e-02 9.99289085e-01 -3.83985465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86264 meters 0.016286867177977907 Centerline is valid? [True, True] Translation: X:85.85, Y:-5.59, Z:-3.84 [[ 9.88047660e-01 1.50625134e-01 3.27702831e-02 8.58491632e+01] [-1.50550810e-01 9.88590919e-01 -4.73795311e-03 -5.58946307e+00] [-3.31100591e-02 -2.52269180e-04 9.99451680e-01 -3.83804408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92264 meters 0.027826865108878024 Centerline is valid? [True, True] Translation: X:85.91, Y:-5.61, Z:-3.85 [[ 9.89241541e-01 1.42920727e-01 3.12224298e-02 8.59081797e+01] [-1.42849460e-01 9.89734139e-01 -4.51286853e-03 -5.60851594e+00] [-3.15468871e-02 4.20978433e-06 9.99502273e-01 -3.84622298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98263999999999 meters 0.015379334409082169 Centerline is valid? [True, True] Translation: X:85.97, Y:-5.62, Z:-3.85 [[ 9.89632901e-01 1.40144715e-01 3.14035167e-02 8.59701034e+01] [-1.40071075e-01 9.90131026e-01 -4.54362726e-03 -5.62380775e+00] [-3.17303616e-02 9.77986586e-05 9.99496461e-01 -3.84800002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04263999999999 meters 0.017531177730911934 Centerline is valid? [True, True] Translation: X:86.03, Y:-5.63, Z:-3.85 [[ 9.89575084e-01 1.40952882e-01 2.95539960e-02 8.60315169e+01] [-1.40887857e-01 9.90016303e-01 -4.28157883e-03 -5.63130858e+00] [-2.98624387e-02 7.31445536e-05 9.99554015e-01 -3.85193203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10264 meters 0.016024690705371623 Centerline is valid? [True, True] Translation: X:86.09, Y:-5.63, Z:-3.85 [[ 9.88580063e-01 1.47385611e-01 3.14156245e-02 8.60932696e+01] [-1.47315179e-01 9.89079100e-01 -4.55755064e-03 -5.62920977e+00] [-3.17442550e-02 -1.22494644e-04 9.99496017e-01 -3.85399675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16264 meters 0.017762969519871635 Centerline is valid? [True, True] Translation: X:86.16, Y:-5.63, Z:-3.86 [[ 9.87865704e-01 1.52286983e-01 3.04963152e-02 8.61560427e+01] [-1.52222805e-01 9.88336281e-01 -4.42878773e-03 -5.63040243e+00] [-3.08150614e-02 -2.67187120e-04 9.99525068e-01 -3.85512509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22264 meters 0.02088569076987556 Centerline is valid? [True, True] Translation: X:86.22, Y:-5.63, Z:-3.86 [[ 9.87168504e-01 1.56704150e-01 3.06945218e-02 8.62187116e+01] [-1.56641103e-01 9.87645507e-01 -4.46290873e-03 -5.63121908e+00] [-3.10146628e-02 -4.02380810e-04 9.99518849e-01 -3.85834072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28264 meters 0.020253735091601596 Centerline is valid? [True, True] Translation: X:86.28, Y:-5.64, Z:-3.86 [[ 9.87201608e-01 1.56697141e-01 2.96477846e-02 8.62804167e+01] [-1.56638177e-01 9.87646626e-01 -4.31539085e-03 -5.64002214e+00] [-2.99577438e-02 -3.83814151e-04 9.99551092e-01 -3.86189515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34264 meters 0.01930664501527979 Centerline is valid? [True, True] Translation: X:86.34, Y:-5.65, Z:-3.86 [[ 9.87474382e-01 1.54770900e-01 3.06645246e-02 8.63407721e+01] [-1.54706712e-01 9.87950332e-01 -4.46925840e-03 -5.64905406e+00] [-3.09867384e-02 -3.30729591e-04 9.99519741e-01 -3.86477838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40263999999999 meters 0.0169558276817153 Centerline is valid? [True, True] Translation: X:86.40, Y:-5.66, Z:-3.87 [[ 9.87854353e-01 1.52140373e-01 3.15766386e-02 8.64018774e+01] [-1.52070798e-01 9.88358864e-01 -4.60739804e-03 -5.66210386e+00] [-3.19100219e-02 -2.50446421e-04 9.99490714e-01 -3.86509712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46264 meters 0.015878157603130258 Centerline is valid? [True, True] Translation: X:86.46, Y:-5.67, Z:-3.87 [[ 9.88104874e-01 1.50397446e-01 3.20837459e-02 8.64635937e+01] [-1.50324517e-01 9.88625597e-01 -4.68702050e-03 -5.67193852e+00] [-3.24237284e-02 -1.91705796e-04 9.99474194e-01 -3.86642888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52264 meters 0.014761012495899697 Centerline is valid? [True, True] Translation: X:86.53, Y:-5.69, Z:-3.87 [[ 9.88692549e-01 1.46781921e-01 3.06938251e-02 8.65255291e+01] [-1.46713295e-01 9.89168875e-01 -4.48838615e-03 -5.68563123e+00] [-3.10201904e-02 -6.55582691e-05 9.99518756e-01 -3.87033703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58264 meters 0.015102639402859093 Centerline is valid? [True, True] Translation: X:86.59, Y:-5.70, Z:-3.88 [[ 9.89212021e-01 1.43391854e-01 2.99725532e-02 8.65857300e+01] [-1.43324668e-01 9.89665991e-01 -4.38923487e-03 -5.70166299e+00] [-3.02921971e-02 4.60776705e-05 9.99541085e-01 -3.87529679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64264 meters 0.016610385665568304 Centerline is valid? [True, True] Translation: X:86.65, Y:-5.72, Z:-3.88 [[ 9.89850203e-01 1.38590403e-01 3.14527587e-02 8.66455679e+01] [-1.38513807e-01 9.90349765e-01 -4.61178045e-03 -5.71926770e+00] [-3.17883806e-02 2.08330469e-04 9.99494600e-01 -3.87569077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70264 meters 0.018360498548154327 Centerline is valid? [True, True] Translation: X:86.70, Y:-5.73, Z:-3.88 [[ 9.90116938e-01 1.36754699e-01 3.10902011e-02 8.67047009e+01] [-1.36678759e-01 9.90604906e-01 -4.56482621e-03 -5.73412007e+00] [-3.14223671e-02 2.70341640e-04 9.99506159e-01 -3.88009533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76263999999999 meters 0.017703421879800434 Centerline is valid? [True, True] Translation: X:86.77, Y:-5.74, Z:-3.88 [[ 9.90035390e-01 1.37482548e-01 3.04709083e-02 8.67672086e+01] [-1.37409824e-01 9.90504159e-01 -4.47796488e-03 -5.74350680e+00] [-3.07972035e-02 2.46341559e-04 9.99525623e-01 -3.88370489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82263999999999 meters 0.015615804094225545 Centerline is valid? [True, True] Translation: X:86.83, Y:-5.75, Z:-3.89 [[ 9.89472649e-01 1.41277837e-01 3.13759477e-02 8.68278760e+01] [-1.41202382e-01 9.89969976e-01 -4.61887945e-03 -5.74840592e+00] [-3.17137915e-02 1.39896328e-04 9.99496981e-01 -3.88566067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88264 meters 0.01462254830758113 Centerline is valid? [True, True] Translation: X:86.89, Y:-5.75, Z:-3.89 [[ 9.88595403e-01 1.47315439e-01 3.12616363e-02 8.68906093e+01] [-1.47243488e-01 9.89089561e-01 -4.60397139e-03 -5.74899326e+00] [-3.15987942e-02 -5.16074042e-05 9.99500632e-01 -3.88794387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94264 meters 0.015853317553594346 Centerline is valid? [True, True] Translation: X:86.95, Y:-5.75, Z:-3.89 [[ 9.87656915e-01 1.53853596e-01 2.93749776e-02 8.69533237e+01] [-1.53643503e-01 9.88082640e-01 -9.29359835e-03 -5.74866735e+00] [-3.04547589e-02 4.66561224e-03 9.99525257e-01 -3.89016698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00264 meters 0.01980466223679876 Centerline is valid? [True, True] Translation: X:87.01, Y:-5.75, Z:-3.90 [[ 9.87027657e-01 1.57505567e-01 3.11191199e-02 8.70146454e+01] [-1.57592815e-01 9.87504115e-01 3.55757948e-04 -5.75014568e+00] [-3.06742251e-02 -5.25529264e-03 9.99515620e-01 -3.89554750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06264 meters 0.02011400383986895 Centerline is valid? [True, True] Translation: X:87.08, Y:-5.75, Z:-3.90 [[ 9.86860566e-01 1.58777225e-01 2.99335401e-02 8.70764652e+01] [-1.58716154e-01 9.87314358e-01 -4.42047156e-03 -5.75345460e+00] [-3.02556841e-02 -3.88547287e-04 9.99542116e-01 -3.89931386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12263999999999 meters 0.027005087248913987 Centerline is valid? [True, True] Translation: X:87.14, Y:-5.76, Z:-3.91 [[ 9.87488036e-01 1.54947906e-01 2.93006008e-02 8.71361884e+01] [-1.54887520e-01 9.87922608e-01 -4.33324538e-03 -5.76355698e+00] [-2.96181533e-02 -2.59269421e-04 9.99561253e-01 -3.90832242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18263999999999 meters 0.015473020150577122 Centerline is valid? [True, True] Translation: X:87.20, Y:-5.78, Z:-3.90 [[ 9.88046086e-01 1.50985183e-01 3.11192289e-02 8.71971832e+01] [-1.50915028e-01 9.88536015e-01 -4.60450373e-03 -5.77968173e+00] [-3.14576904e-02 -1.46897411e-04 9.99505074e-01 -3.90492322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24264 meters 0.02634294626867595 Centerline is valid? [True, True] Translation: X:87.26, Y:-5.80, Z:-3.91 [[ 9.88820134e-01 1.45664678e-01 3.18832773e-02 8.72564511e+01] [-1.45736941e-01 9.89323375e-01 -5.79904556e-05 -5.80065393e+00] [-3.15513187e-02 -4.58922918e-03 9.99491597e-01 -3.90739791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30264 meters 0.016209219472164593 Centerline is valid? [True, True] Translation: X:87.32, Y:-5.81, Z:-3.91 [[ 9.89630214e-01 1.40404088e-01 3.03106002e-02 8.73178319e+01] [-1.40186887e-01 9.90082445e-01 -9.18634939e-03 -5.80985571e+00] [-3.12997942e-02 4.84194023e-03 9.99498313e-01 -3.91052069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36264 meters 0.0190949145581978 Centerline is valid? [True, True] Translation: X:87.38, Y:-5.83, Z:-3.91 [[ 9.90098066e-01 1.37039392e-01 3.04306598e-02 8.73770559e+01] [-1.36965299e-01 9.90565552e-01 -4.51594314e-03 -5.82737817e+00] [-3.07624255e-02 3.03282146e-04 9.99526679e-01 -3.91431947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42264 meters 0.018467628732709337 Centerline is valid? [True, True] Translation: X:87.44, Y:-5.84, Z:-3.91 [[ 9.90087055e-01 1.36994860e-01 3.09843685e-02 8.74385703e+01] [-1.36917870e-01 9.90571708e-01 -4.60303174e-03 -5.83645260e+00] [-3.13228305e-02 3.15088395e-04 9.99509270e-01 -3.91434831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48263999999999 meters 0.021737686174493977 Centerline is valid? [True, True] Translation: X:87.50, Y:-5.85, Z:-3.92 [[ 9.89979939e-01 1.37941102e-01 3.01988943e-02 8.75006555e+01] [-1.37868264e-01 9.90440393e-01 -4.49101715e-03 -5.84563790e+00] [-3.05297006e-02 2.82547759e-04 9.99533820e-01 -3.91903797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54263999999999 meters 0.017561006966343218 Centerline is valid? [True, True] Translation: X:87.56, Y:-5.86, Z:-3.92 [[ 9.89751280e-01 1.39381912e-01 3.10658380e-02 8.75612461e+01] [-1.39305288e-01 9.90238668e-01 -4.62796866e-03 -5.85509651e+00] [-3.14076492e-02 2.52902391e-04 9.99506626e-01 -3.92095056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60264 meters 0.017521488911000558 Centerline is valid? [True, True] Translation: X:87.62, Y:-5.86, Z:-3.92 [[ 9.89239918e-01 1.42869191e-01 3.15083793e-02 8.76232621e+01] [-1.42792070e-01 9.89741569e-01 -4.69595314e-03 -5.86206030e+00] [-3.18560598e-02 1.46277598e-04 9.99492456e-01 -3.92217929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66264 meters 0.01464343356413756 Centerline is valid? [True, True] Translation: X:87.68, Y:-5.87, Z:-3.92 [[ 9.88678948e-01 1.46574349e-01 3.20920380e-02 8.76842827e+01] [-1.46496098e-01 9.89199656e-01 -4.78896375e-03 -5.86544101e+00] [-3.24473722e-02 3.33892948e-05 9.99473445e-01 -3.92478070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72264 meters 0.02863297193434329 Centerline is valid? [True, True] Translation: X:87.75, Y:-5.87, Z:-3.93 [[ 9.87639877e-01 1.53832058e-01 3.00528145e-02 8.77464148e+01] [-1.53766656e-01 9.88096991e-01 -4.48915750e-03 -5.86567040e+00] [-3.03856719e-02 -1.87449830e-04 9.99538231e-01 -3.93213603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78264 meters 0.020088139754127193 Centerline is valid? [True, True] Translation: X:87.81, Y:-5.87, Z:-3.93 [[ 9.86746304e-01 1.59488332e-01 2.99199367e-02 8.78087004e+01] [-1.59425969e-01 9.87199750e-01 -4.47380902e-03 -5.86755906e+00] [-3.02504743e-02 -3.55500371e-04 9.99542286e-01 -3.93385489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84264 meters 0.022649883228444637 Centerline is valid? [True, True] Translation: X:87.87, Y:-5.86, Z:-3.94 [[ 9.85880280e-01 1.65314185e-01 2.66700745e-02 8.78678560e+01] [-1.64908536e-01 9.86166317e-01 -1.67681299e-02 -5.86424268e+00] [-2.90731388e-02 1.21332457e-02 9.99503645e-01 -3.93600361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90263999999999 meters 0.030904169503787115 Centerline is valid? [True, True] Translation: X:87.93, Y:-5.88, Z:-3.94 [[ 9.85825084e-01 1.64831025e-01 3.12991397e-02 8.79287307e+01] [-1.65162503e-01 9.86231438e-01 8.30052580e-03 -5.87804737e+00] [-2.95000114e-02 -1.33523108e-02 9.99475595e-01 -3.94096525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96264 meters 0.02386697806692239 Centerline is valid? [True, True] Translation: X:87.99, Y:-5.88, Z:-3.94 [[ 9.85724462e-01 1.65683544e-01 2.99374063e-02 8.79915899e+01] [-1.65623701e-01 9.86178825e-01 -4.48497812e-03 -5.87935442e+00] [-3.02667233e-02 -5.37391400e-04 9.99541713e-01 -3.94021215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02264 meters 0.024624677697568105 Centerline is valid? [True, True] Translation: X:88.05, Y:-5.88, Z:-3.94 [[ 9.85732874e-01 1.65501951e-01 3.06562516e-02 8.80522721e+01] [-1.65438865e-01 9.86209317e-01 -4.60061583e-03 -5.88420574e+00] [-3.09948919e-02 -5.36757224e-04 9.99519399e-01 -3.94361562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08264 meters 0.02176568534791028 Centerline is valid? [True, True] Translation: X:88.11, Y:-5.90, Z:-3.94 [[ 9.85327295e-01 1.66053955e-01 3.94487770e-02 8.81090814e+01] [-1.66614030e-01 9.85956998e-01 1.13385792e-02 -5.90286354e+00] [-3.70119818e-02 -1.77449313e-02 9.99157260e-01 -3.94316529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14264 meters 0.02131930684804444 Centerline is valid? [True, True] Translation: X:88.17, Y:-5.90, Z:-3.95 [[ 9.85264896e-01 1.67081529e-01 3.65629284e-02 8.81696355e+01] [-1.66885584e-01 9.85940753e-01 -8.36860447e-03 -5.89880152e+00] [-3.74471204e-02 2.14346654e-03 9.99296312e-01 -3.94733225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20264 meters 0.02000538265888397 Centerline is valid? [True, True] Translation: X:88.24, Y:-5.90, Z:-3.95 [[ 9.86410554e-01 1.61848902e-01 2.82692753e-02 8.82366030e+01] [-1.61385912e-01 9.86727735e-01 -1.79712412e-02 -5.90010886e+00] [-3.08027036e-02 1.31647592e-02 9.99438784e-01 -3.95280232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26263999999999 meters 0.017997511865891616 Centerline is valid? [True, True] Translation: X:88.30, Y:-5.92, Z:-3.96 [[ 9.86852333e-01 1.58762269e-01 3.02822504e-02 8.82963474e+01] [-1.58697061e-01 9.87316792e-01 -4.56007554e-03 -5.91812362e+00] [-3.06221422e-02 -3.05582954e-04 9.99530986e-01 -3.95545642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32263999999999 meters 0.016551008845381916 Centerline is valid? [True, True] Translation: X:88.36, Y:-5.93, Z:-3.96 [[ 9.87482888e-01 1.54784799e-01 3.03185166e-02 8.83565842e+01] [-1.54717393e-01 9.87948194e-01 -4.57096383e-03 -5.93143060e+00] [-3.06606394e-02 -1.77053284e-04 9.99529836e-01 -3.96029048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38264 meters 0.01626139401237064 Centerline is valid? [True, True] Translation: X:88.42, Y:-5.94, Z:-3.96 [[ 9.87701200e-01 1.53554124e-01 2.94528594e-02 8.84190824e+01] [-1.53489829e-01 9.88140230e-01 -4.44504278e-03 -5.93956426e+00] [-2.97861100e-02 -1.30340265e-04 9.99556287e-01 -3.96421831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44264 meters 0.016104702014713704 Centerline is valid? [True, True] Translation: X:88.48, Y:-5.94, Z:-3.97 [[ 9.87721990e-01 1.53707708e-01 2.79143402e-02 8.84810422e+01] [-1.53649868e-01 9.88116352e-01 -4.21812741e-03 -5.94309647e+00] [-2.82309747e-02 -1.22697487e-04 9.99601419e-01 -3.96742328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50264 meters 0.015179570241849898 Centerline is valid? [True, True] Translation: X:88.54, Y:-5.96, Z:-3.97 [[ 9.87409103e-01 1.52668732e-01 4.14188494e-02 8.85359604e+01] [-1.53363879e-01 9.88068595e-01 1.41411553e-02 -5.96294420e+00] [-3.87657521e-02 -2.03152609e-02 9.99041794e-01 -3.97134829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56264 meters 0.02568173411681527 Centerline is valid? [True, True] Translation: X:88.60, Y:-5.95, Z:-3.97 [[ 9.88002801e-01 1.52327332e-01 2.54332216e-02 8.86037160e+01] [-1.51727894e-01 9.88129750e-01 -2.40466772e-02 -5.94740931e+00] [-2.87942891e-02 1.98992553e-02 9.99387267e-01 -3.97276974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62263999999999 meters 0.01623165301490775 Centerline is valid? [True, True] Translation: X:88.66, Y:-5.97, Z:-3.98 [[ 9.88579624e-01 1.47985186e-01 2.84729916e-02 8.86627433e+01] [-1.47922352e-01 9.88989576e-01 -4.31226717e-03 -5.97057709e+00] [-2.87976436e-02 5.12275761e-05 9.99585261e-01 -3.97748128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68263999999999 meters 0.01576999833088243 Centerline is valid? [True, True] Translation: X:88.73, Y:-5.97, Z:-3.98 [[ 9.88843404e-01 1.46214990e-01 2.84587264e-02 8.87260123e+01] [-1.45756104e-01 9.89164123e-01 -1.75924901e-02 -5.97329206e+00] [-3.07226369e-02 1.32481847e-02 9.99440146e-01 -3.97690380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74264 meters 0.016819538265331013 Centerline is valid? [True, True] Translation: X:88.78, Y:-6.00, Z:-3.98 [[ 9.89015827e-01 1.44623378e-01 3.05249473e-02 8.87837675e+01] [-1.44921537e-01 9.89412557e-01 7.78076473e-03 -6.00140529e+00] [-2.90764856e-02 -1.21190218e-02 9.99503721e-01 -3.97983666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80264 meters 0.019571878579489516 Centerline is valid? [True, True] Translation: X:88.85, Y:-6.01, Z:-3.98 [[ 9.89159987e-01 1.44033317e-01 2.85818697e-02 8.88461591e+01] [-1.43967944e-01 9.89572822e-01 -4.34284087e-03 -6.00639611e+00] [-2.89093552e-02 1.80891411e-04 9.99582021e-01 -3.98375403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86264 meters 0.0190556552170819 Centerline is valid? [True, True] Translation: X:88.91, Y:-6.02, Z:-3.98 [[ 9.89476744e-01 1.41655461e-01 2.94873518e-02 8.89079057e+01] [-1.41584677e-01 9.89915987e-01 -4.48529551e-03 -6.01958398e+00] [-2.98253675e-02 2.63138412e-04 9.99555090e-01 -3.98459667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92264 meters 0.029582570508973862 Centerline is valid? [True, True] Translation: X:88.97, Y:-6.03, Z:-3.99 [[ 9.89746465e-01 1.39996328e-01 2.83365987e-02 8.89683301e+01] [-1.39930126e-01 9.90151975e-01 -4.31575182e-03 -6.03440452e+00] [-2.86617286e-02 3.06356287e-04 9.99589121e-01 -3.98808119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98263999999999 meters 0.021900372051752395 Centerline is valid? [True, True] Translation: X:89.03, Y:-6.05, Z:-3.99 [[ 9.90098548e-01 1.37556940e-01 2.79813138e-02 8.90280683e+01] [-1.37491276e-01 9.90493789e-01 -4.26651140e-03 -6.05243814e+00] [-2.83022058e-02 3.77080218e-04 9.99599341e-01 -3.99035952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04263999999999 meters 0.03163857080540743 Centerline is valid? [True, True] Translation: X:89.09, Y:-6.07, Z:-3.99 [[ 9.90053523e-01 1.37702127e-01 2.88469428e-02 8.90871627e+01] [-1.37632235e-01 9.90473610e-01 -4.40404407e-03 -6.06947810e+00] [-2.91785818e-02 3.89970128e-04 9.99574138e-01 -3.99388274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10264 meters 0.02885398463897206 Centerline is valid? [True, True] Translation: X:89.15, Y:-6.08, Z:-4.00 [[ 9.89834473e-01 1.39419411e-01 2.81059449e-02 8.91485306e+01] [-1.39353638e-01 9.90233364e-01 -4.29508806e-03 -6.08023297e+00] [-2.84302631e-02 3.34760559e-04 9.99595722e-01 -3.99820854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16264 meters 0.017855287455219998 Centerline is valid? [True, True] Translation: X:89.21, Y:-6.08, Z:-4.00 [[ 9.89248413e-01 1.43421022e-01 2.86004801e-02 8.92137550e+01] [-1.43099742e-01 9.89623007e-01 -1.29910482e-02 -6.08395991e+00] [-3.01668825e-02 8.75865255e-03 9.99506501e-01 -3.99928960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22264 meters 0.017310523901822143 Centerline is valid? [True, True] Translation: X:89.27, Y:-6.10, Z:-4.00 [[ 9.88463016e-01 1.48847023e-01 2.80255138e-02 8.92694482e+01] [-1.49017257e-01 9.88826198e-01 4.07529880e-03 -6.09829734e+00] [-2.71057662e-02 -8.20456734e-03 9.99598901e-01 -4.00425810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28264 meters 0.027321007493714303 Centerline is valid? [True, True] Translation: X:89.33, Y:-6.09, Z:-4.01 [[ 9.87200888e-01 1.57266649e-01 2.64878797e-02 8.93328136e+01] [-1.57214409e-01 9.87556163e-01 -4.05634618e-03 -6.09469224e+00] [-2.67961968e-02 -1.59847817e-04 9.99640905e-01 -4.00821700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34264 meters 0.026895099194456047 Centerline is valid? [True, True] Translation: X:89.39, Y:-6.10, Z:-4.01 [[ 9.86835075e-01 1.59481331e-01 2.68745109e-02 8.93939347e+01] [-1.59428170e-01 9.87200921e-01 -4.12310234e-03 -6.10116346e+00] [-2.71880998e-02 -2.15732094e-04 9.99630312e-01 -4.01000984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40263999999999 meters 0.021692713514430792 Centerline is valid? [True, True] Translation: X:89.45, Y:-6.11, Z:-4.01 [[ 9.86103678e-01 1.63619050e-01 2.87809578e-02 8.94534813e+01] [-1.63559797e-01 9.86523534e-01 -4.41702742e-03 -6.10646607e+00] [-2.91158020e-02 -3.51760644e-04 9.99575983e-01 -4.00921666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46264 meters 0.02147195187350943 Centerline is valid? [True, True] Translation: X:89.51, Y:-6.12, Z:-4.01 [[ 9.86028267e-01 1.64070626e-01 2.87938510e-02 8.95137595e+01] [-1.64011541e-01 9.86448527e-01 -4.41800590e-03 -6.11600284e+00] [-2.91285169e-02 -3.66245179e-04 9.99575608e-01 -4.01023422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52264 meters 0.021357597205544317 Centerline is valid? [True, True] Translation: X:89.58, Y:-6.13, Z:-4.01 [[ 9.86155137e-01 1.63455698e-01 2.79335032e-02 8.95750902e+01] [-1.63399903e-01 9.86550617e-01 -4.28394254e-03 -6.12806870e+00] [-2.82580497e-02 -3.39699785e-04 9.99600604e-01 -4.01387870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58264 meters 0.019808806341785966 Centerline is valid? [True, True] Translation: X:89.64, Y:-6.14, Z:-4.02 [[ 9.86534204e-01 1.61349307e-01 2.67705939e-02 8.96360757e+01] [-1.61297174e-01 9.86897326e-01 -4.10977894e-03 -6.14258698e+00] [-2.70829375e-02 -2.63583643e-04 9.99633155e-01 -4.01735506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64264 meters 0.020084507511030376 Centerline is valid? [True, True] Translation: X:89.70, Y:-6.15, Z:-4.02 [[ 9.86834213e-01 1.59534642e-01 2.65882348e-02 8.96965202e+01] [-1.59482435e-01 9.87192309e-01 -4.08635050e-03 -6.15329514e+00] [-2.68996153e-02 -2.07805939e-04 9.99638118e-01 -4.02471871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70264 meters 0.026571557648724993 Centerline is valid? [True, True] Translation: X:89.76, Y:-6.17, Z:-4.02 [[ 9.87208733e-01 1.57158578e-01 2.68346490e-02 8.97566018e+01] [-1.57104395e-01 9.87573370e-01 -4.12879984e-03 -6.17002260e+00] [-2.71500611e-02 -1.39854055e-04 9.99631359e-01 -4.02242047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76263999999999 meters 0.018050026696576113 Centerline is valid? [True, True] Translation: X:89.82, Y:-6.18, Z:-4.03 [[ 9.87217575e-01 1.57210080e-01 2.62001829e-02 8.98166890e+01] [-1.57158324e-01 9.87565174e-01 -4.03588260e-03 -6.18068755e+00] [-2.65088696e-02 -1.33282609e-04 9.99648569e-01 -4.02703279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82263999999999 meters 0.018028013301672495 Centerline is valid? [True, True] Translation: X:89.88, Y:-6.19, Z:-4.03 [[ 9.87004168e-01 1.58569731e-01 2.60463448e-02 8.98785127e+01] [-1.58518952e-01 9.87347767e-01 -4.01603691e-03 -6.18678249e+00] [-2.63536222e-02 -1.64994101e-04 9.99652669e-01 -4.02778064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88264 meters 0.017995185611932998 Centerline is valid? [True, True] Translation: X:89.94, Y:-6.20, Z:-4.03 [[ 9.86786117e-01 1.59701060e-01 2.73629618e-02 8.99405000e+01] [-1.59645306e-01 9.87165402e-01 -4.22429460e-03 -6.19569236e+00] [-2.76863936e-02 -1.99893146e-04 9.99616638e-01 -4.02863065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94264 meters 0.02892520564940516 Centerline is valid? [True, True] Translation: X:90.00, Y:-6.20, Z:-4.03 [[ 9.86675812e-01 1.60492707e-01 2.67008215e-02 9.00007084e+01] [-1.60439780e-01 9.87037003e-01 -4.12686544e-03 -6.20320806e+00] [-2.70170307e-02 -2.11995625e-04 9.99634951e-01 -4.03360670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00264 meters 0.02694042590558721 Centerline is valid? [True, True] Translation: X:90.06, Y:-6.21, Z:-4.03 [[ 9.86794932e-01 1.59796978e-01 2.64705183e-02 9.00624264e+01] [-1.59744619e-01 9.87149882e-01 -4.09465022e-03 -6.21410256e+00] [-2.67846817e-02 -1.87942788e-04 9.99641208e-01 -4.03453150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06264 meters 0.017766788327760075 Centerline is valid? [True, True] Translation: X:90.12, Y:-6.23, Z:-4.04 [[ 9.87181635e-01 1.57343059e-01 2.67503524e-02 9.01224313e+01] [-1.57288515e-01 9.87543998e-01 -4.14422948e-03 -6.22737480e+00] [-2.70692157e-02 -1.16415970e-04 9.99633555e-01 -4.04084083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12263999999999 meters 0.017124772985772647 Centerline is valid? [True, True] Translation: X:90.18, Y:-6.24, Z:-4.04 [[ 9.87499424e-01 1.55306496e-01 2.69217504e-02 9.01826635e+01] [-1.55250378e-01 9.87866332e-01 -4.17506920e-03 -6.24287506e+00] [-2.72435061e-02 -5.67334826e-05 9.99628825e-01 -4.04255914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18263999999999 meters 0.016782470861399442 Centerline is valid? [True, True] Translation: X:90.24, Y:-6.26, Z:-4.04 [[ 9.87593052e-01 1.54585947e-01 2.76251610e-02 9.02439822e+01] [-1.54526438e-01 9.87979344e-01 -4.28906760e-03 -6.25522256e+00] [-2.79561180e-02 -3.29643590e-05 9.99609151e-01 -4.04414770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24264 meters 0.016645035394436413 Centerline is valid? [True, True] Translation: X:90.31, Y:-6.27, Z:-4.05 [[ 9.87638586e-01 1.54334610e-01 2.74016796e-02 9.03052897e+01] [-1.54275850e-01 9.88018637e-01 -4.25846509e-03 -6.26994796e+00] [-2.77305987e-02 -2.15929748e-05 9.99615433e-01 -4.04704537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30264 meters 0.016848469916803874 Centerline is valid? [True, True] Translation: X:90.37, Y:-6.28, Z:-4.05 [[ 9.87387154e-01 1.56130705e-01 2.62642483e-02 9.03673121e+01] [-1.56077220e-01 9.87736401e-01 -4.08689198e-03 -6.27823637e+00] [-2.65802435e-02 -6.39062191e-05 9.99646681e-01 -4.04947953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36264 meters 0.018197022308315266 Centerline is valid? [True, True] Translation: X:90.43, Y:-6.28, Z:-4.05 [[ 9.86633898e-01 1.60786690e-01 2.64800378e-02 9.04282675e+01] [-1.60733861e-01 9.86989162e-01 -4.12557729e-03 -6.28356189e+00] [-2.67988482e-02 -1.85804300e-04 9.99640829e-01 -4.05312351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42264 meters 0.020032101593698146 Centerline is valid? [True, True] Translation: X:90.49, Y:-6.29, Z:-4.06 [[ 9.86131191e-01 1.63658452e-01 2.75895968e-02 9.04901897e+01] [-1.63602099e-01 9.86517024e-01 -4.30293123e-03 -6.28860596e+00] [-2.79218180e-02 -2.70461248e-04 9.99610073e-01 -4.05644252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48263999999999 meters 0.020966086172237264 Centerline is valid? [True, True] Translation: X:90.55, Y:-6.29, Z:-4.06 [[ 9.85615055e-01 1.66627949e-01 2.82504764e-02 9.05520248e+01] [-1.66569919e-01 9.86019776e-01 -4.41170102e-03 -6.29418467e+00] [-2.85906411e-02 -3.57440628e-04 9.99591140e-01 -4.05622190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54263999999999 meters 0.022302917848034877 Centerline is valid? [True, True] Translation: X:90.61, Y:-6.30, Z:-4.06 [[ 9.85486020e-01 1.67659076e-01 2.66033569e-02 9.06118658e+01] [-1.67607870e-01 9.85844970e-01 -4.15899457e-03 -6.30375643e+00] [-2.69240788e-02 -3.60300996e-04 9.99637416e-01 -4.06436781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60264 meters 0.022335859779803256 Centerline is valid? [True, True] Translation: X:90.67, Y:-6.31, Z:-4.07 [[ 9.85414395e-01 1.67823343e-01 2.81743697e-02 9.06720053e+01] [-1.67765755e-01 9.85817013e-01 -4.41241212e-03 -6.31044850e+00] [-2.85152787e-02 -3.78639965e-04 9.99593285e-01 -4.06536320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66264 meters 0.021697674840248867 Centerline is valid? [True, True] Translation: X:90.73, Y:-6.32, Z:-4.07 [[ 9.85386022e-01 1.68008182e-01 2.80648868e-02 9.07344985e+01] [-1.67951205e-01 9.85785525e-01 -4.39211346e-03 -6.32136375e+00] [-2.84038702e-02 -3.85604352e-04 9.99596454e-01 -4.06637331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72264 meters 0.029780596825139966 Centerline is valid? [True, True] Translation: X:90.80, Y:-6.33, Z:-4.07 [[ 9.85425220e-01 1.67917472e-01 2.72186939e-02 9.07958891e+01] [-1.67863687e-01 9.85800988e-01 -4.26542952e-03 -6.33031058e+00] [-2.75484555e-02 -3.65768482e-04 9.99620402e-01 -4.07099233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78264 meters 0.021986833739924078 Centerline is valid? [True, True] Translation: X:90.86, Y:-6.34, Z:-4.07 [[ 9.85351290e-01 1.68082790e-01 2.88272573e-02 9.08561389e+01] [-1.68022284e-01 9.85772808e-01 -4.52591710e-03 -6.33745734e+00] [-2.91778552e-02 -3.84003351e-04 9.99574162e-01 -4.07340015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84264 meters 0.030849689952826234 Centerline is valid? [True, True] Translation: X:90.92, Y:-6.35, Z:-4.08 [[ 9.85513417e-01 1.67260544e-01 2.80573639e-02 9.09169184e+01] [-1.67202968e-01 9.85912667e-01 -4.40242150e-03 -6.34811611e+00] [-2.83984619e-02 -3.52629078e-04 9.99596620e-01 -4.07818199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90263999999999 meters 0.020206535801285373 Centerline is valid? [True, True] Translation: X:90.98, Y:-6.36, Z:-4.08 [[ 9.85704810e-01 1.66148504e-01 2.79410441e-02 9.09779452e+01] [-1.66090824e-01 9.86100692e-01 -4.38890967e-03 -6.36076546e+00] [-2.82818938e-02 -3.14581669e-04 9.99599938e-01 -4.08101555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96264 meters 0.020743118429713023 Centerline is valid? [True, True] Translation: X:91.04, Y:-6.37, Z:-4.09 [[ 9.85790812e-01 1.65586056e-01 2.82441637e-02 9.10384209e+01] [-1.65526735e-01 9.86195300e-01 -4.44181743e-03 -6.36754892e+00] [-2.85897646e-02 -2.96461404e-04 9.99591185e-01 -4.08611672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02264 meters 0.02107832267208098 Centerline is valid? [True, True] Translation: X:91.10, Y:-6.38, Z:-4.09 [[ 9.85600962e-01 1.66605014e-01 2.88706253e-02 9.10998515e+01] [-1.66543332e-01 9.86023662e-01 -4.54502205e-03 -6.37512170e+00] [-2.92243431e-02 -3.28632027e-04 9.99572824e-01 -4.08771865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08264 meters 0.02130903028621475 Centerline is valid? [True, True] Translation: X:91.16, Y:-6.39, Z:-4.09 [[ 9.85448348e-01 1.67509976e-01 2.88437544e-02 9.11602807e+01] [-1.67448579e-01 9.85870320e-01 -4.54821538e-03 -6.38576355e+00] [-2.91980728e-02 -3.47814360e-04 9.99573585e-01 -4.08996500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14264 meters 0.01969050186872921 Centerline is valid? [True, True] Translation: X:91.22, Y:-6.40, Z:-4.09 [[ 9.85574378e-01 1.66741666e-01 2.89890070e-02 9.12219265e+01] [-1.66679375e-01 9.86000562e-01 -4.56913185e-03 -6.39659924e+00] [-2.93450418e-02 -3.28650283e-04 9.99569287e-01 -4.09050959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20264 meters 0.019902560231209065 Centerline is valid? [True, True] Translation: X:91.28, Y:-6.41, Z:-4.10 [[ 9.85940417e-01 1.64415979e-01 2.98140775e-02 9.12821755e+01] [-1.64348853e-01 9.86391057e-01 -4.70499769e-03 -6.40597465e+00] [-3.01819162e-02 -2.61062046e-04 9.99544388e-01 -4.09722602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26263999999999 meters 0.017693493215930108 Centerline is valid? [True, True] Translation: X:91.34, Y:-6.42, Z:-4.10 [[ 9.86066963e-01 1.63620377e-01 3.00052891e-02 9.13430219e+01] [-1.63551872e-01 9.86523349e-01 -4.73998380e-03 -6.42033662e+00] [-3.03764762e-02 -2.33479787e-04 9.99538501e-01 -4.09546036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32263999999999 meters 0.02473618975596514 Centerline is valid? [True, True] Translation: X:91.40, Y:-6.43, Z:-4.10 [[ 9.86054001e-01 1.63764655e-01 2.96419278e-02 9.14038316e+01] [-1.63697716e-01 9.86499409e-01 -4.68753906e-03 -6.43278503e+00] [-3.00093975e-02 -2.30149237e-04 9.99549590e-01 -4.09942038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38264 meters 0.01945109040432233 Centerline is valid? [True, True] Translation: X:91.47, Y:-6.44, Z:-4.10 [[ 9.85613513e-01 1.66409644e-01 2.95606632e-02 9.14665396e+01] [-1.66344088e-01 9.86056661e-01 -4.68043492e-03 -6.43665608e+00] [-2.99273583e-02 -3.04141642e-04 9.99552030e-01 -4.10212311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44264 meters 0.02123912106355101 Centerline is valid? [True, True] Translation: X:91.53, Y:-6.44, Z:-4.11 [[ 9.85257322e-01 1.68543825e-01 2.93426069e-02 9.15278928e+01] [-1.68479953e-01 9.85694096e-01 -4.65352447e-03 -6.44206131e+00] [-2.97071572e-02 -3.58721966e-04 9.99558581e-01 -4.10710337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50264 meters 0.020182062852096307 Centerline is valid? [True, True] Translation: X:91.59, Y:-6.46, Z:-4.11 [[ 9.85301761e-01 1.68330247e-01 2.90752117e-02 9.15899014e+01] [-1.68267512e-01 9.85730594e-01 -4.60871345e-03 -6.45538881e+00] [-2.94361116e-02 -3.51440043e-04 9.99566602e-01 -4.10892573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56264 meters 0.019787155570745264 Centerline is valid? [True, True] Translation: X:91.65, Y:-6.47, Z:-4.11 [[ 9.85495737e-01 1.67335678e-01 2.82298326e-02 9.16516576e+01] [-1.67275972e-01 9.85899932e-01 -4.48022087e-03 -6.46796924e+00] [-2.85814908e-02 -3.06934119e-04 9.99591419e-01 -4.11321269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62263999999999 meters 0.019637475376126676 Centerline is valid? [True, True] Translation: X:91.71, Y:-6.48, Z:-4.11 [[ 9.85438489e-01 1.67498880e-01 2.92422452e-02 9.17132637e+01] [-1.67434688e-01 9.85872215e-01 -4.64757092e-03 -6.47755816e+00] [-2.96075800e-02 -3.16270949e-04 9.99561549e-01 -4.11485413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68263999999999 meters 0.026038509363499246 Centerline is valid? [True, True] Translation: X:91.77, Y:-6.49, Z:-4.12 [[ 9.85312849e-01 1.68118705e-01 2.99113921e-02 9.17737368e+01] [-1.68051656e-01 9.85766700e-01 -4.75955875e-03 -6.48648110e+00] [-3.02858252e-02 -3.37004608e-04 9.99541222e-01 -4.11764158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74264 meters 0.02014661413424722 Centerline is valid? [True, True] Translation: X:91.83, Y:-6.50, Z:-4.12 [[ 9.85165118e-01 1.69037384e-01 2.95982110e-02 9.18347051e+01] [-1.68972015e-01 9.85609576e-01 -4.71410946e-03 -6.49700161e+00] [-2.99691409e-02 -3.57093152e-04 9.99550761e-01 -4.11918514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80264 meters 0.022765008019473468 Centerline is valid? [True, True] Translation: X:91.89, Y:-6.50, Z:-4.12 [[ 9.84340627e-01 1.74223092e-01 2.68299252e-02 9.18943435e+01] [-1.73753732e-01 9.84606822e-01 -1.89485229e-02 -6.49600450e+00] [-2.97181976e-02 1.39900012e-02 9.99460409e-01 -4.12169169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86264 meters 0.023360027796045475 Centerline is valid? [True, True] Translation: X:91.95, Y:-6.52, Z:-4.13 [[ 9.84642768e-01 1.71925216e-01 3.03370951e-02 9.19539074e+01] [-1.72293630e-01 9.84995283e-01 9.95976006e-03 -6.51835366e+00] [-2.81695617e-02 -1.50336940e-02 9.99490102e-01 -4.12715551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92264 meters 0.02439785997755953 Centerline is valid? [True, True] Translation: X:92.01, Y:-6.52, Z:-4.13 [[ 9.84474020e-01 1.73284002e-01 2.79921172e-02 9.20146105e+01] [-1.73226931e-01 9.84871795e-01 -4.46959619e-03 -6.51759442e+00] [-2.83431563e-02 -4.48787232e-04 9.99598151e-01 -4.13153874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98263999999999 meters 0.031082554033217333 Centerline is valid? [True, True] Translation: X:92.07, Y:-6.52, Z:-4.13 [[ 9.84330051e-01 1.73921482e-01 2.90803884e-02 9.20745600e+01] [-1.73860147e-01 9.84759404e-01 -4.64395730e-03 -6.52389037e+00] [-2.94448699e-02 -4.84733864e-04 9.99566288e-01 -4.13283229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04263999999999 meters 0.025266718657317645 Centerline is valid? [True, True] Translation: X:92.13, Y:-6.53, Z:-4.14 [[ 9.84223281e-01 1.74529785e-01 2.90497288e-02 9.21343799e+01] [-1.74468844e-01 9.84651767e-01 -4.63906115e-03 -6.52978513e+00] [-2.94135211e-02 -5.02400601e-04 9.99567203e-01 -4.13526583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10264 meters 0.024563364639297456 Centerline is valid? [True, True] Translation: X:92.19, Y:-6.54, Z:-4.14 [[ 9.84211048e-01 1.74725844e-01 2.82752846e-02 9.21945480e+01] [-1.74668190e-01 9.84616999e-01 -4.51538723e-03 -6.53633471e+00] [-2.86292807e-02 -4.94698779e-04 9.99589976e-01 -4.13835562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16264 meters 0.026338280791282972 Centerline is valid? [True, True] Translation: X:92.25, Y:-6.54, Z:-4.14 [[ 9.84195277e-01 1.74780843e-01 2.84835710e-02 9.22538358e+01] [-1.74722353e-01 9.84607235e-01 -4.54887239e-03 -6.53960714e+00] [-2.88401859e-02 -4.99737829e-04 9.99583910e-01 -4.14237830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22264 meters 0.02409170176224739 Centerline is valid? [True, True] Translation: X:92.31, Y:-6.55, Z:-4.14 [[ 9.84526132e-01 1.72730296e-01 2.95387898e-02 9.23132535e+01] [-1.72666474e-01 9.84969054e-01 -4.71720178e-03 -6.54689494e+00] [-2.99095975e-02 -4.56150266e-04 9.99552504e-01 -4.14277323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28264 meters 0.02124255839619665 Centerline is valid? [True, True] Translation: X:92.37, Y:-6.56, Z:-4.15 [[ 9.85209567e-01 1.68866823e-01 2.90878829e-02 9.23720523e+01] [-1.68803283e-01 9.85638820e-01 -4.64409202e-03 -6.55827902e+00] [-2.94543797e-02 -3.34726258e-04 9.99566070e-01 -4.14653734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34264 meters 0.038500728172182086 Centerline is valid? [True, True] Translation: X:92.43, Y:-6.58, Z:-4.15 [[ 9.86832549e-01 1.59164204e-01 2.87798019e-02 9.24319518e+01] [-1.59097904e-01 9.87252123e-01 -4.59379211e-03 -6.57980145e+00] [-2.91440878e-02 -4.55025766e-05 9.99575220e-01 -4.14865320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40263999999999 meters 0.016633531391253294 Centerline is valid? [True, True] Translation: X:92.49, Y:-6.60, Z:-4.15 [[ 9.87799652e-01 1.52811428e-01 3.00085850e-02 9.24903591e+01] [-1.52736400e-01 9.88255354e-01 -4.79028055e-03 -6.59982426e+00] [-3.03881544e-02 1.48434231e-04 9.99538162e-01 -4.15019828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46264 meters 0.019568323322082942 Centerline is valid? [True, True] Translation: X:92.55, Y:-6.62, Z:-4.15 [[ 9.88749367e-01 1.46500686e-01 3.02032944e-02 9.25497199e+01] [-1.46421582e-01 9.89210507e-01 -4.82635647e-03 -6.61922391e+00] [-3.05844807e-02 3.49642762e-04 9.99532124e-01 -4.15037208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52264 meters 0.022296195123399067 Centerline is valid? [True, True] Translation: X:92.61, Y:-6.64, Z:-4.16 [[ 9.89043320e-01 1.44513990e-01 3.01499207e-02 9.26085035e+01] [-1.44434089e-01 9.89502670e-01 -4.82281894e-03 -6.63616492e+00] [-3.05303919e-02 4.15300505e-04 9.99533753e-01 -4.15553322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58264 meters 0.021640748144380127 Centerline is valid? [True, True] Translation: X:92.67, Y:-6.65, Z:-4.16 [[ 9.89208202e-01 1.43264059e-01 3.07008573e-02 9.26698471e+01] [-1.43180457e-01 9.89684390e-01 -4.91581491e-03 -6.64908770e+00] [-3.10884188e-02 4.67001636e-04 9.99516529e-01 -4.15508464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64264 meters 0.022072896788963424 Centerline is valid? [True, True] Translation: X:92.73, Y:-6.67, Z:-4.16 [[ 9.89146424e-01 1.44064281e-01 2.88935012e-02 9.27293458e+01] [-1.43990432e-01 9.89568242e-01 -4.63134653e-03 -6.66542656e+00] [-2.92593028e-02 4.20692136e-04 9.99571766e-01 -4.16151871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70264 meters 0.022375310062320727 Centerline is valid? [True, True] Translation: X:92.79, Y:-6.68, Z:-4.16 [[ 9.88862127e-01 1.46085066e-01 2.84753895e-02 9.27903525e+01] [-1.46014051e-01 9.89271967e-01 -4.56869615e-03 -6.67612577e+00] [-2.88373229e-02 3.60003607e-04 9.99584053e-01 -4.16469630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76263999999999 meters 0.017729428731983698 Centerline is valid? [True, True] Translation: X:92.85, Y:-6.69, Z:-4.17 [[ 9.88097941e-01 1.51221324e-01 2.81881138e-02 9.28520019e+01] [-1.51153641e-01 9.88499907e-01 -4.52896517e-03 -6.68654650e+00] [-2.85488240e-02 2.14325128e-04 9.99592376e-01 -4.16766439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82263999999999 meters 0.016647381569354316 Centerline is valid? [True, True] Translation: X:92.91, Y:-6.70, Z:-4.17 [[ 9.87414661e-01 1.55567145e-01 2.84807155e-02 9.29126387e+01] [-1.55499809e-01 9.87825316e-01 -4.57761210e-03 -6.69548486e+00] [-2.88460978e-02 9.12554879e-05 9.99583861e-01 -4.17240326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88264 meters 0.029655631687317816 Centerline is valid? [True, True] Translation: X:92.97, Y:-6.70, Z:-4.17 [[ 9.86194545e-01 1.62870567e-01 2.98914217e-02 9.29748009e+01] [-1.62799589e-01 9.86647436e-01 -4.80943883e-03 -6.70017830e+00] [-3.02756106e-02 -1.23268822e-04 9.99541581e-01 -4.17322209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94264 meters 0.018921311135010527 Centerline is valid? [True, True] Translation: X:93.04, Y:-6.71, Z:-4.18 [[ 9.85179632e-01 1.68898867e-01 2.99042837e-02 9.30371763e+01] [-1.68830447e-01 9.85633340e-01 -4.81661919e-03 -6.70536946e+00] [-3.02881806e-02 -3.03518462e-04 9.99541162e-01 -4.17505621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00264 meters 0.01974819756902782 Centerline is valid? [True, True] Translation: X:93.10, Y:-6.71, Z:-4.18 [[ 9.84735315e-01 1.71335991e-01 3.06649238e-02 9.30986505e+01] [-1.71265056e-01 9.85212582e-01 -4.94459359e-03 -6.71428124e+00] [-3.10586556e-02 -3.82713952e-04 9.99517490e-01 -4.17572232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06264 meters 0.02183211841610419 Centerline is valid? [True, True] Translation: X:93.16, Y:-6.72, Z:-4.18 [[ 9.84218383e-01 1.74282082e-01 3.06582840e-02 9.31601080e+01] [-1.74212437e-01 9.84695656e-01 -4.94893190e-03 -6.72167197e+00] [-3.10515892e-02 -4.70224638e-04 9.99517673e-01 -4.17781348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12263999999999 meters 0.024151750269531848 Centerline is valid? [True, True] Translation: X:93.22, Y:-6.73, Z:-4.18 [[ 9.83748307e-01 1.76754955e-01 3.15745819e-02 9.32208551e+01] [-1.76682165e-01 9.84254730e-01 -5.10284389e-03 -6.72689793e+00] [-3.19793845e-02 -5.58751440e-04 9.99488372e-01 -4.17959337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18263999999999 meters 0.03676649310172725 Centerline is valid? [True, True] Translation: X:93.28, Y:-6.73, Z:-4.19 [[ 9.83493946e-01 1.78412149e-01 3.01456953e-02 9.32828743e+01] [-1.78346441e-01 9.83955674e-01 -4.87636258e-03 -6.73299522e+00] [-3.05320303e-02 -5.80504382e-04 9.99533620e-01 -4.18591505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24264 meters 0.028446330497635598 Centerline is valid? [True, True] Translation: X:93.34, Y:-6.74, Z:-4.19 [[ 9.83497496e-01 1.78577820e-01 2.90282250e-02 9.33441124e+01] [-1.78516760e-01 9.83925633e-01 -4.70259970e-03 -6.73879307e+00] [-2.94013947e-02 -5.57029663e-04 9.99567530e-01 -4.19057159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30264 meters 0.022199513280377857 Centerline is valid? [True, True] Translation: X:93.40, Y:-6.75, Z:-4.19 [[ 9.84044514e-01 1.75259946e-01 3.06650409e-02 9.34045424e+01] [-1.75190170e-01 9.84522076e-01 -4.96855410e-03 -6.75082440e+00] [-3.10611982e-02 -4.82935302e-04 9.99517368e-01 -4.19056259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36264 meters 0.017041256761186903 Centerline is valid? [True, True] Translation: X:93.46, Y:-6.76, Z:-4.19 [[ 9.85370859e-01 1.67676129e-01 3.04792696e-02 9.34640872e+01] [-1.67603540e-01 9.85842106e-01 -4.93922295e-03 -6.76458997e+00] [-3.08759371e-02 -2.41467109e-04 9.99523195e-01 -4.19497274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42264 meters 0.019155162776865988 Centerline is valid? [True, True] Translation: X:93.52, Y:-6.78, Z:-4.20 [[ 9.86507298e-01 1.61026027e-01 2.95629814e-02 9.35244687e+01] [-1.60954746e-01 9.86950160e-01 -4.79081639e-03 -6.78223245e+00] [-2.99486354e-02 -3.21268374e-05 9.99551439e-01 -4.20113166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48263999999999 meters 0.028011916060354244 Centerline is valid? [True, True] Translation: X:93.58, Y:-6.80, Z:-4.20 [[ 9.87842510e-01 1.52399263e-01 3.06861639e-02 9.35840281e+01] [-1.52318288e-01 9.88318981e-01 -4.97308305e-03 -6.80303071e+00] [-3.10856125e-02 2.38558899e-04 9.99516697e-01 -4.20276548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54263999999999 meters 0.024901081846577675 Centerline is valid? [True, True] Translation: X:93.64, Y:-6.82, Z:-4.20 [[ 9.88360998e-01 1.48733202e-01 3.19526636e-02 9.36433897e+01] [-1.48643286e-01 9.88877290e-01 -5.18452015e-03 -6.81662903e+00] [-3.23683736e-02 3.74628587e-04 9.99475937e-01 -4.20452780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60264 meters 0.03025828022981638 Centerline is valid? [True, True] Translation: X:93.70, Y:-6.83, Z:-4.21 [[ 9.88999234e-01 1.44403133e-01 3.20663484e-02 9.37038687e+01] [-1.44310078e-01 9.89518802e-01 -5.20977998e-03 -6.83248694e+00] [-3.24825632e-02 5.24971186e-04 9.99472164e-01 -4.20752770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66264 meters 0.024476927653913128 Centerline is valid? [True, True] Translation: X:93.76, Y:-6.84, Z:-4.21 [[ 9.89353683e-01 1.42075921e-01 3.15233533e-02 9.37643274e+01] [-1.41984818e-01 9.89855587e-01 -5.12132847e-03 -6.84443876e+00] [-3.19311849e-02 5.90967608e-04 9.99489895e-01 -4.20967701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72264 meters 0.02447988658922092 Centerline is valid? [True, True] Translation: X:93.83, Y:-6.86, Z:-4.21 [[ 9.89290902e-01 1.42278180e-01 3.25642646e-02 9.38250140e+01] [-1.42180889e-01 9.89826524e-01 -5.29587569e-03 -6.85593743e+00] [-3.29864604e-02 6.09145538e-04 9.99455613e-01 -4.21152726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78264 meters 0.03259558715433869 Centerline is valid? [True, True] Translation: X:93.88, Y:-6.87, Z:-4.22 [[ 9.88969526e-01 1.44278052e-01 3.35129937e-02 9.38848986e+01] [-1.44175941e-01 9.89537026e-01 -5.45647491e-03 -6.86772423e+00] [-3.39495977e-02 5.64520011e-04 9.99423387e-01 -4.21598142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84264 meters 0.021777532123092504 Centerline is valid? [True, True] Translation: X:93.95, Y:-6.88, Z:-4.22 [[ 9.88708778e-01 1.46541461e-01 3.13137694e-02 9.39471917e+01] [-1.46453324e-01 9.89204423e-01 -5.10238351e-03 -6.87611705e+00] [-3.17234300e-02 4.58765753e-04 9.99496580e-01 -4.22052480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90263999999999 meters 0.029047284283676898 Centerline is valid? [True, True] Translation: X:94.01, Y:-6.89, Z:-4.23 [[ 9.88316884e-01 1.48984311e-01 3.21467339e-02 9.40074076e+01] [-1.48892450e-01 9.88839480e-01 -5.24615755e-03 -6.88611255e+00] [-3.25695548e-02 3.98460121e-04 9.99469392e-01 -4.22649040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96264 meters 0.023283073404951064 Centerline is valid? [True, True] Translation: X:94.07, Y:-6.89, Z:-4.22 [[ 9.88033665e-01 1.50396878e-01 3.42090067e-02 9.40688532e+01] [-1.50293600e-01 9.88625630e-01 -5.58541815e-03 -6.89474949e+00] [-3.46599303e-02 3.77186385e-04 9.99399093e-01 -4.22477770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02264 meters 0.029258634482388236 Centerline is valid? [True, True] Translation: X:94.13, Y:-6.91, Z:-4.23 [[ 9.87899809e-01 1.51417464e-01 3.35666376e-02 9.41299284e+01] [-1.51318434e-01 9.88469846e-01 -5.48595250e-03 -6.90830519e+00] [-3.40102782e-02 3.40320375e-04 9.99421425e-01 -4.22943131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08264 meters 0.03927958762029764 Centerline is valid? [True, True] Translation: X:94.19, Y:-6.93, Z:-4.24 [[ 9.88025122e-01 1.50699605e-01 3.31057014e-02 9.41877005e+01] [-1.50602597e-01 9.88579533e-01 -5.41888181e-03 -6.92908778e+00] [-3.35442421e-02 3.68186760e-04 9.99437166e-01 -4.23675309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14264 meters 0.02001191780627669 Centerline is valid? [True, True] Translation: X:94.25, Y:-6.95, Z:-4.24 [[ 9.88154614e-01 1.49921797e-01 3.27706298e-02 9.42478595e+01] [-1.49826256e-01 9.88697780e-01 -5.36582936e-03 -6.94603486e+00] [-3.32047037e-02 3.92368267e-04 9.99448495e-01 -4.23637741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20264 meters 0.024104149923904528 Centerline is valid? [True, True] Translation: X:94.31, Y:-6.96, Z:-4.24 [[ 9.88045378e-01 1.50366681e-01 3.40028220e-02 9.43079340e+01] [-1.50263874e-01 9.88630216e-01 -5.57360504e-03 -6.96120178e+00] [-3.44543017e-02 3.97578939e-04 9.99406195e-01 -4.23944400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26263999999999 meters 0.015240319767820488 Centerline is valid? [True, True] Translation: X:94.37, Y:-6.97, Z:-4.24 [[ 9.87183837e-01 1.55896160e-01 3.41241837e-02 9.43693161e+01] [-1.55795711e-01 9.87773427e-01 -5.59945187e-03 -6.97093056e+00] [-3.45798949e-02 2.11286925e-04 9.99401914e-01 -4.23881133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32263999999999 meters 0.01330604609004126 Centerline is valid? [True, True] Translation: X:94.43, Y:-6.97, Z:-4.24 [[ 9.86102906e-01 1.62418961e-01 3.49448215e-02 9.44319301e+01] [-1.62317488e-01 9.86721886e-01 -5.74040536e-03 -6.97386454e+00] [-3.54131709e-02 -1.15252373e-05 9.99372757e-01 -4.24096894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38264 meters 0.016895192267317054 Centerline is valid? [True, True] Translation: X:94.50, Y:-6.97, Z:-4.25 [[ 9.84501276e-01 1.71958422e-01 3.44606725e-02 9.44950812e+01] [-1.71865368e-01 9.85104148e-01 -5.66675860e-03 -6.97240194e+00] [-3.49217983e-02 -3.43665091e-04 9.99389989e-01 -4.24510332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44264 meters 0.022510328376462888 Centerline is valid? [True, True] Translation: X:94.56, Y:-6.97, Z:-4.25 [[ 9.83457190e-01 1.78107101e-01 3.30123541e-02 9.45554862e+01] [-1.78024937e-01 9.84010964e-01 -5.43543189e-03 -6.97243379e+00] [-3.34526074e-02 -5.31507679e-04 9.99440164e-01 -4.25178768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50264 meters 0.025469496002874438 Centerline is valid? [True, True] Translation: X:94.62, Y:-6.98, Z:-4.26 [[ 9.83099703e-01 1.80163807e-01 3.24958057e-02 9.46166563e+01] [-1.80085266e-01 9.83636444e-01 -5.35191559e-03 -6.97658601e+00] [-3.29282802e-02 -5.90549184e-04 9.99457543e-01 -4.25660641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56264 meters 0.023639489886507756 Centerline is valid? [True, True] Translation: X:94.68, Y:-6.99, Z:-4.26 [[ 9.83262046e-01 1.79076607e-01 3.35755409e-02 9.46782330e+01] [-1.78992007e-01 9.83834968e-01 -5.53320257e-03 -6.98791702e+00] [-3.40236583e-02 -5.69165369e-04 9.99420866e-01 -4.25741259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62263999999999 meters 0.026212213554285123 Centerline is valid? [True, True] Translation: X:94.74, Y:-7.00, Z:-4.26 [[ 9.83622696e-01 1.76785883e-01 3.51161532e-02 9.47388777e+01] [-1.76691849e-01 9.84249201e-01 -5.78796689e-03 -7.00292673e+00] [-3.55862766e-02 -5.11562450e-04 9.99366477e-01 -4.25859894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68263999999999 meters 0.014771839827363471 Centerline is valid? [True, True] Translation: X:94.80, Y:-7.01, Z:-4.26 [[ 9.85207366e-01 1.69099563e-01 2.77810114e-02 9.48047639e+01] [-1.68427523e-01 9.85397250e-01 -2.49885818e-02 -7.00677188e+00] [-3.16008905e-02 1.99398479e-02 9.99301649e-01 -4.25885487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74264 meters 0.013205936445441942 Centerline is valid? [True, True] Translation: X:94.86, Y:-7.05, Z:-4.26 [[ 9.85482195e-01 1.65319538e-01 3.86560863e-02 9.48574566e+01] [-1.65957762e-01 9.86034790e-01 1.39073544e-02 -7.04536435e+00] [-3.58170885e-02 -2.01207277e-02 9.99155790e-01 -4.26123484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80264 meters 0.014334583240742011 Centerline is valid? [True, True] Translation: X:94.92, Y:-7.04, Z:-4.27 [[ 9.86832436e-01 1.59425779e-01 2.72977108e-02 9.49245734e+01] [-1.58753549e-01 9.86995249e-01 -2.52524951e-02 -7.03899576e+00] [-3.09686096e-02 2.05863728e-02 9.99308334e-01 -4.26675522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86264 meters 0.03308588309946337 Centerline is valid? [True, True] Translation: X:94.98, Y:-7.07, Z:-4.27 [[ 9.86573872e-01 1.58520702e-01 3.92833535e-02 9.49772799e+01] [-1.59176537e-01 9.87148709e-01 1.41511838e-02 -7.07370227e+00] [-3.65352561e-02 -2.02141764e-02 9.99127901e-01 -4.26925774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92264 meters 0.013362627389446534 Centerline is valid? [True, True] Translation: X:95.04, Y:-7.07, Z:-4.27 [[ 9.86329943e-01 1.61321288e-01 3.35959181e-02 9.50416573e+01] [-1.61225503e-01 9.86901939e-01 -5.55875341e-03 -7.06697516e+00] [-3.40526220e-02 6.62461413e-05 9.99420039e-01 -4.27276953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98263999999999 meters 0.021425265279357807 Centerline is valid? [True, True] Translation: X:95.10, Y:-7.07, Z:-4.28 [[ 9.85987395e-01 1.63288821e-01 3.41411521e-02 9.51035515e+01] [-1.63190861e-01 9.86578310e-01 -5.65525457e-03 -7.07358750e+00] [-3.46063600e-02 4.48570453e-06 9.99401021e-01 -4.27822598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04263999999999 meters 0.03134685810688711 Centerline is valid? [True, True] Translation: X:95.17, Y:-7.07, Z:-4.28 [[ 9.85756585e-01 1.64434290e-01 3.52890740e-02 9.51680061e+01] [-1.64303021e-01 9.86387780e-01 -6.60796133e-03 -7.07432992e+00] [-3.58952868e-02 7.15739919e-04 9.99355300e-01 -4.28069490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10264 meters 0.013615802605085417 Centerline is valid? [True, True] Translation: X:95.23, Y:-7.08, Z:-4.28 [[ 9.85464272e-01 1.66538864e-01 3.35406640e-02 9.52261797e+01] [-1.66464998e-01 9.86034675e-01 -5.00247846e-03 -7.08415748e+00] [-3.39053648e-02 -6.53582796e-04 9.99424834e-01 -4.28248462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16264 meters 0.028065630454656095 Centerline is valid? [True, True] Translation: X:95.29, Y:-7.10, Z:-4.29 [[ 9.85927607e-01 1.63717419e-01 3.38136216e-02 9.52872543e+01] [-1.63620978e-01 9.86507277e-01 -5.61863281e-03 -7.09773842e+00] [-3.42772518e-02 6.94737355e-06 9.99412362e-01 -4.28697628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22264 meters 0.013473498081728267 Centerline is valid? [True, True] Translation: X:95.35, Y:-7.11, Z:-4.29 [[ 9.86337270e-01 1.61082654e-01 3.45132964e-02 9.53485863e+01] [-1.60980354e-01 9.86940914e-01 -5.74095570e-03 -7.11157615e+00] [-3.49873527e-02 1.06555917e-04 9.99387749e-01 -4.28550569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28264 meters 0.0157944996961058 Centerline is valid? [True, True] Translation: X:95.41, Y:-7.13, Z:-4.29 [[ 9.87011849e-01 1.57062172e-01 3.37503183e-02 9.54073584e+01] [-1.56961750e-01 9.87588685e-01 -5.62119148e-03 -7.12806683e+00] [-3.42143090e-02 2.50673588e-04 9.99414488e-01 -4.28935326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34264 meters 0.03235413534040424 Centerline is valid? [True, True] Translation: X:95.47, Y:-7.14, Z:-4.29 [[ 9.87192521e-01 1.55789278e-01 3.43602629e-02 9.54675415e+01] [-1.55684231e-01 9.87790265e-01 -5.72825919e-03 -7.14218095e+00] [-3.48331345e-02 3.05543542e-04 9.99393096e-01 -4.29442953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40263999999999 meters 0.023930000816069674 Centerline is valid? [True, True] Translation: X:95.53, Y:-7.15, Z:-4.29 [[ 9.86844104e-01 1.57911065e-01 3.46815538e-02 9.55294835e+01] [-1.57805120e-01 9.87453309e-01 -5.78841433e-03 -7.14979293e+00] [-3.51604698e-02 2.39335784e-04 9.99381651e-01 -4.29419630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46264 meters 0.02218221504609834 Centerline is valid? [True, True] Translation: X:95.59, Y:-7.16, Z:-4.30 [[ 9.86504578e-01 1.60087443e-01 3.43617186e-02 9.55891781e+01] [-1.59984518e-01 9.87102823e-01 -5.74204652e-03 -7.15990797e+00] [-3.48377789e-02 1.67212180e-04 9.99392966e-01 -4.29964764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52264 meters 0.02717515205738984 Centerline is valid? [True, True] Translation: X:95.65, Y:-7.17, Z:-4.30 [[ 9.85870277e-01 1.63964314e-01 3.42855637e-02 9.56509460e+01] [-1.63864099e-01 9.86466270e-01 -5.73188468e-03 -7.16584773e+00] [-3.47613767e-02 3.27217494e-05 9.99395640e-01 -4.30293024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58264 meters 0.02428542005633086 Centerline is valid? [True, True] Translation: X:95.71, Y:-7.18, Z:-4.31 [[ 9.85399655e-01 1.66649723e-01 3.48624456e-02 9.57118155e+01] [-1.66547563e-01 9.86016159e-01 -5.83459264e-03 -7.17527820e+00] [-3.53472680e-02 -5.68497999e-05 9.99375088e-01 -4.30520744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64264 meters 0.01540310671798983 Centerline is valid? [True, True] Translation: X:95.77, Y:-7.18, Z:-4.31 [[ 9.84603765e-01 1.71574191e-01 3.34323782e-02 9.57737868e+01] [-1.71482914e-01 9.85171178e-01 -5.60010382e-03 -7.18109133e+00] [-3.38974487e-02 -2.19198335e-04 9.99425292e-01 -4.30619103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70264 meters 0.020224649090782174 Centerline is valid? [True, True] Translation: X:95.83, Y:-7.18, Z:-4.31 [[ 9.83610428e-01 1.77199889e-01 3.33275379e-02 9.58349063e+01] [-1.77112179e-01 9.84174799e-01 -5.58935559e-03 -7.18205826e+00] [-3.37905561e-02 -4.04964393e-04 9.99428854e-01 -4.31061457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76263999999999 meters 0.023249324635557934 Centerline is valid? [True, True] Translation: X:95.90, Y:-7.19, Z:-4.31 [[ 9.82719846e-01 1.82092776e-01 3.32253779e-02 9.58972680e+01] [-1.82008285e-01 9.83281190e-01 -5.57547574e-03 -7.18574118e+00] [-3.36851429e-02 -5.68163392e-04 9.99432333e-01 -4.31223692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82263999999999 meters 0.02494003425535205 Centerline is valid? [True, True] Translation: X:95.96, Y:-7.19, Z:-4.32 [[ 9.82390362e-01 1.83860198e-01 3.32355930e-02 9.59587975e+01] [-1.83776664e-01 9.82952202e-01 -5.57722781e-03 -7.19283541e+00] [-3.36944295e-02 -6.28911575e-04 9.99431984e-01 -4.31512009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88264 meters 0.024835186396478148 Centerline is valid? [True, True] Translation: X:96.02, Y:-7.20, Z:-4.32 [[ 9.82205477e-01 1.84996406e-01 3.23841208e-02 9.60210066e+01] [-1.84917543e-01 9.82738985e-01 -5.43959782e-03 -7.20004571e+00] [-3.28314440e-02 -6.45589287e-04 9.99460694e-01 -4.31778523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94264 meters 0.03629836675422199 Centerline is valid? [True, True] Translation: X:96.08, Y:-7.21, Z:-4.33 [[ 9.82357001e-01 1.84153858e-01 3.25895565e-02 9.60813132e+01] [-1.84073330e-01 9.82897237e-01 -5.48007482e-03 -7.20816416e+00] [-3.30413620e-02 -6.15478337e-04 9.99453796e-01 -4.32528336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00264 meters 0.021956604220969702 Centerline is valid? [True, True] Translation: X:96.15, Y:-7.23, Z:-4.33 [[ 9.82844978e-01 1.78978014e-01 4.45266128e-02 9.61460581e+01] [-1.79747253e-01 9.83614828e-01 1.38851003e-02 -7.22932455e+00] [-4.13119089e-02 -2.16504374e-02 9.98911700e-01 -4.32739677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06264 meters 0.021725114561177903 Centerline is valid? [True, True] Translation: X:96.20, Y:-7.21, Z:-4.33 [[ 9.82822114e-01 1.82265419e-01 2.89829119e-02 9.62040712e+01] [-1.81509947e-01 9.83021827e-01 -2.68742925e-02 -7.21099261e+00] [-3.33890892e-02 2.11519622e-02 9.99218576e-01 -4.32660529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12263999999999 meters 0.021072226536072106 Centerline is valid? [True, True] Translation: X:96.26, Y:-7.23, Z:-4.33 [[ 9.83154711e-01 1.80235702e-01 3.03628928e-02 9.62636706e+01] [-1.80163768e-01 9.83623349e-01 -5.11108514e-03 -7.23162701e+00] [-3.07868504e-02 -4.45305747e-04 9.99525873e-01 -4.33216176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18263999999999 meters 0.018989762970313902 Centerline is valid? [True, True] Translation: X:96.33, Y:-7.24, Z:-4.33 [[ 9.83168548e-01 1.79277099e-01 3.52040947e-02 9.63253806e+01] [-1.79285600e-01 9.83792674e-01 -2.94094056e-03 -7.24225529e+00] [-3.51607738e-02 -3.42014699e-03 9.99375816e-01 -4.33446814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24264 meters 0.027034307225614992 Centerline is valid? [True, True] Translation: X:96.39, Y:-7.25, Z:-4.34 [[ 9.84266455e-01 1.74018133e-01 3.06143058e-02 9.63864457e+01] [-1.73843912e-01 9.84738378e-01 -8.28379732e-03 -7.24883399e+00] [-3.15886128e-02 2.83135314e-03 9.99496945e-01 -4.34165610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30264 meters 0.01728540164530042 Centerline is valid? [True, True] Translation: X:96.45, Y:-7.27, Z:-4.34 [[ 9.85104696e-01 1.69170470e-01 3.08235391e-02 9.64460811e+01] [-1.69090558e-01 9.85586802e-01 -5.19990391e-03 -7.26837794e+00] [-3.12589435e-02 -8.95196674e-05 9.99511316e-01 -4.34250415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36264 meters 0.016057310715474074 Centerline is valid? [True, True] Translation: X:96.51, Y:-7.29, Z:-4.34 [[ 9.86446464e-01 1.61380712e-01 2.96587192e-02 9.65052989e+01] [-1.61303058e-01 9.86892214e-01 -5.00819198e-03 -7.29306597e+00] [-3.00781846e-02 1.56271174e-04 9.99547537e-01 -4.34380926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42264 meters 0.02795678649894929 Centerline is valid? [True, True] Translation: X:96.57, Y:-7.31, Z:-4.35 [[ 9.87174629e-01 1.56752592e-01 3.02469281e-02 9.65651583e+01] [-1.56669482e-01 9.87637853e-01 -5.11311707e-03 -7.31130103e+00] [-3.06745055e-02 3.08768876e-04 9.99529379e-01 -4.34773374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48263999999999 meters 0.02931171021855838 Centerline is valid? [True, True] Translation: X:96.63, Y:-7.33, Z:-4.35 [[ 9.87651770e-01 1.53411478e-01 3.17631831e-02 9.66250940e+01] [-1.53317902e-01 9.88162297e-01 -5.37542813e-03 -7.33244068e+00] [-3.22118323e-02 4.39186502e-04 9.99480968e-01 -4.34801966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54263999999999 meters 0.02479201530468475 Centerline is valid? [True, True] Translation: X:96.68, Y:-7.35, Z:-4.36 [[ 9.87755040e-01 1.53755152e-01 2.64449252e-02 9.66837725e+01] [-1.53690248e-01 9.88108912e-01 -4.48170310e-03 -7.35113483e+00] [-2.68195512e-02 3.62497702e-04 9.99640225e-01 -4.35710494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60264 meters 0.019676258432753682 Centerline is valid? [True, True] Translation: X:96.74, Y:-7.36, Z:-4.36 [[ 9.86824352e-01 1.59851215e-01 2.50057559e-02 9.67438990e+01] [-1.59795201e-01 9.87141102e-01 -4.23539777e-03 -7.36113856e+00] [-2.53612429e-02 1.83793870e-04 9.99678335e-01 -4.36364015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66264 meters 0.016036355862818496 Centerline is valid? [True, True] Translation: X:96.81, Y:-7.35, Z:-4.36 [[ 9.85516283e-01 1.68191947e-01 2.16592926e-02 9.68083208e+01] [-1.67676112e-01 9.85555417e-01 -2.37748135e-02 -7.35482589e+00] [-2.53451653e-02 1.97987199e-02 9.99482683e-01 -4.36168342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72264 meters 0.018663534085294555 Centerline is valid? [True, True] Translation: X:96.87, Y:-7.38, Z:-4.36 [[ 9.83912215e-01 1.75959737e-01 3.09018482e-02 9.68664519e+01] [-1.76476470e-01 9.84192753e-01 1.48553350e-02 -7.38085153e+00] [-2.77994342e-02 -2.00697946e-02 9.99412025e-01 -4.35735342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78264 meters 0.02553464585809325 Centerline is valid? [True, True] Translation: X:96.93, Y:-7.37, Z:-4.36 [[ 9.82266395e-01 1.85181585e-01 2.93344443e-02 9.69295184e+01] [-1.85115285e-01 9.82704174e-01 -4.98364951e-03 -7.36689211e+00] [-2.97499610e-02 -5.34982576e-04 9.99557229e-01 -4.35902608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84264 meters 0.032236358790475574 Centerline is valid? [True, True] Translation: X:96.99, Y:-7.36, Z:-4.36 [[ 9.79922136e-01 1.97506243e-01 2.72743619e-02 9.69908102e+01] [-1.97040940e-01 9.80214346e-01 -1.88335688e-02 -7.36195331e+00] [-3.04544682e-02 1.30812651e-02 9.99450552e-01 -4.35990635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90263999999999 meters 0.033638257762896195 Centerline is valid? [True, True] Translation: X:97.05, Y:-7.39, Z:-4.36 [[ 9.80313132e-01 1.94756088e-01 3.24996952e-02 9.70494283e+01] [-1.95131608e-01 9.80737744e-01 8.78257809e-03 -7.38552577e+00] [-3.01632172e-02 -1.49513944e-02 9.99433157e-01 -4.36173591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96264 meters 0.039539612652798636 Centerline is valid? [True, True] Translation: X:97.11, Y:-7.39, Z:-4.37 [[ 9.80576294e-01 1.93806616e-01 3.01517472e-02 9.71107780e+01] [-1.93740694e-01 9.81039409e-01 -5.12063862e-03 -7.38953271e+00] [-3.05724659e-02 -8.20443598e-04 9.99532216e-01 -4.36761578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02264 meters 0.023769637008169458 Centerline is valid? [True, True] Translation: X:97.17, Y:-7.41, Z:-4.37 [[ 9.82364087e-01 1.84883521e-01 2.79085098e-02 9.71678889e+01] [-1.84823251e-01 9.82760316e-01 -4.74634621e-03 -7.41440391e+00] [-2.83048971e-02 -4.95501448e-04 9.99599213e-01 -4.37193629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08264 meters 0.01786341518746335 Centerline is valid? [True, True] Translation: X:97.22, Y:-7.44, Z:-4.38 [[ 9.84075088e-01 1.75619034e-01 2.74622790e-02 9.72242070e+01] [-1.75557048e-01 9.84458178e-01 -4.67103805e-03 -7.44149652e+00] [-2.78557884e-02 -2.24544460e-04 9.99611927e-01 -4.37544028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14264 meters 0.031480787551041875 Centerline is valid? [True, True] Translation: X:97.29, Y:-7.45, Z:-4.38 [[ 9.84235353e-01 1.74714697e-01 2.74871813e-02 9.72851111e+01] [-1.74652338e-01 9.84619081e-01 -4.67193238e-03 -7.45352627e+00] [-2.78806584e-02 -2.02419474e-04 9.99611238e-01 -4.38028309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20264 meters 0.017599184512469834 Centerline is valid? [True, True] Translation: X:97.35, Y:-7.46, Z:-4.38 [[ 9.84200803e-01 1.75061744e-01 2.64984130e-02 9.73458134e+01] [-1.75003794e-01 9.84557436e-01 -4.50846794e-03 -7.46452916e+00] [-2.68784698e-02 -2.00085054e-04 9.99638689e-01 -4.38148695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26263999999999 meters 0.020146318568762086 Centerline is valid? [True, True] Translation: X:97.41, Y:-7.47, Z:-4.39 [[ 9.83600818e-01 1.78431881e-01 2.62962732e-02 9.74070105e+01] [-1.78375899e-01 9.83952226e-01 -4.47843886e-03 -7.47029716e+00] [-2.66733728e-02 -2.85625241e-04 9.99644161e-01 -4.38687159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32263999999999 meters 0.02298320565836901 Centerline is valid? [True, True] Translation: X:97.47, Y:-7.48, Z:-4.39 [[ 9.82866104e-01 1.82411057e-01 2.64655901e-02 9.74688199e+01] [-1.82355672e-01 9.83222281e-01 -4.51173600e-03 -7.47528873e+00] [-2.68445484e-02 -3.91718086e-04 9.99639543e-01 -4.38898410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38264 meters 0.028909396631049338 Centerline is valid? [True, True] Translation: X:97.53, Y:-7.47, Z:-4.39 [[ 9.81313617e-01 1.90360892e-01 2.80413303e-02 9.75315444e+01] [-1.90301737e-01 9.81713973e-01 -4.78797625e-03 -7.47206259e+00] [-2.84400092e-02 -6.37807579e-04 9.99595298e-01 -4.38773822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44264 meters 0.03569051667250213 Centerline is valid? [True, True] Translation: X:97.59, Y:-7.47, Z:-4.39 [[ 9.79723012e-01 1.98418086e-01 2.78043718e-02 9.75933023e+01] [-1.98363147e-01 9.80117094e-01 -4.74807953e-03 -7.46806371e+00] [-2.81936449e-02 -8.63559922e-04 9.99602107e-01 -4.39110735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50264 meters 0.04646821363194809 Centerline is valid? [True, True] Translation: X:97.65, Y:-7.47, Z:-4.40 [[ 9.79258097e-01 2.00648450e-01 2.81740892e-02 9.76530573e+01] [-2.00592961e-01 9.79662858e-01 -4.81125272e-03 -7.46984477e+00] [-2.85664791e-02 -9.40065791e-04 9.99591453e-01 -4.39770234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56264 meters 0.03995794061123449 Centerline is valid? [True, True] Translation: X:97.71, Y:-7.48, Z:-4.40 [[ 9.79347984e-01 2.00026645e-01 2.94426213e-02 9.77124151e+01] [-1.99965754e-01 9.79789985e-01 -5.02825572e-03 -7.47739017e+00] [-2.98533706e-02 -9.63103853e-04 9.99553825e-01 -4.39760850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62263999999999 meters 0.03649428504149368 Centerline is valid? [True, True] Translation: X:97.77, Y:-7.49, Z:-4.40 [[ 9.79742435e-01 1.98012996e-01 2.99268066e-02 9.77708387e+01] [-1.97949169e-01 9.80198966e-01 -5.11021731e-03 -7.49040484e+00] [-3.03461143e-02 -9.17289743e-04 9.99539030e-01 -4.39807512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68263999999999 meters 0.03410755551516267 Centerline is valid? [True, True] Translation: X:97.83, Y:-7.50, Z:-4.40 [[ 9.79965430e-01 1.97120803e-01 2.84805990e-02 9.78303634e+01] [-1.97062652e-01 9.80378840e-01 -4.86218239e-03 -7.49885800e+00] [-2.88802140e-02 -8.47691716e-04 9.99582520e-01 -4.40170059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74264 meters 0.039705926507225195 Centerline is valid? [True, True] Translation: X:97.89, Y:-7.50, Z:-4.41 [[ 9.79549042e-01 1.99161380e-01 2.86080422e-02 9.78898281e+01] [-1.99103556e-01 9.79966282e-01 -4.88460579e-03 -7.49664414e+00] [-2.90077416e-02 -9.11252028e-04 9.99578772e-01 -4.40716700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80264 meters 0.042798355743797936 Centerline is valid? [True, True] Translation: X:97.95, Y:-7.50, Z:-4.41 [[ 9.78844789e-01 2.02392703e-01 3.00012198e-02 9.79505126e+01] [-2.02330669e-01 9.79303873e-01 -5.12105213e-03 -7.49559991e+00] [-3.04167744e-02 -1.05745168e-03 9.99536744e-01 -4.40744324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86264 meters 0.03987588114812984 Centerline is valid? [True, True] Translation: X:98.01, Y:-7.50, Z:-4.41 [[ 9.78689927e-01 2.03219267e-01 2.94611080e-02 9.80090764e+01] [-2.03159827e-01 9.79132676e-01 -5.02861789e-03 -7.50195642e+00] [-2.98682456e-02 -1.06385595e-03 9.99553278e-01 -4.40972527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92264 meters 0.048197084439538414 Centerline is valid? [True, True] Translation: X:98.07, Y:-7.51, Z:-4.42 [[ 9.79175990e-01 2.00983538e-01 2.86355940e-02 9.80669338e+01] [-2.00926468e-01 9.79594140e-01 -4.88632142e-03 -7.50753498e+00] [-2.90333303e-02 -9.69080167e-04 9.99577974e-01 -4.41907922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98263999999999 meters 0.03541707167110557 Centerline is valid? [True, True] Translation: X:98.13, Y:-7.52, Z:-4.42 [[ 9.79928845e-01 1.97134786e-01 2.96198459e-02 9.81257423e+01] [-1.97072027e-01 9.80375994e-01 -5.05230028e-03 -7.52065716e+00] [-3.00345701e-02 -8.86348303e-04 9.99548468e-01 -4.41822841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04263999999999 meters 0.02899150923021778 Centerline is valid? [True, True] Translation: X:98.18, Y:-7.53, Z:-4.42 [[ 9.81199300e-01 1.90517794e-01 3.08367412e-02 9.81845651e+01] [-1.90446539e-01 9.81683484e-01 -5.25868425e-03 -7.53320205e+00] [-3.12737924e-02 -7.12933330e-04 9.99510601e-01 -4.41833830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10264 meters 0.025296778800770796 Centerline is valid? [True, True] Translation: X:98.24, Y:-7.54, Z:-4.42 [[ 9.81763329e-01 1.87424325e-01 3.18259175e-02 9.82433446e+01] [-1.87346791e-01 9.82278841e-01 -5.42761541e-03 -7.54368646e+00] [-3.22791925e-02 -6.33849755e-04 9.99478690e-01 -4.41968237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16264 meters 0.02503501681268645 Centerline is valid? [True, True] Translation: X:98.30, Y:-7.55, Z:-4.42 [[ 9.82145373e-01 1.85392779e-01 3.19371787e-02 9.83012753e+01] [-1.85313649e-01 9.82664334e-01 -5.44594996e-03 -7.55040660e+00] [-3.23931663e-02 -5.69680577e-04 9.99475041e-01 -4.42396065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22264 meters 0.021762971805598323 Centerline is valid? [True, True] Translation: X:98.36, Y:-7.56, Z:-4.43 [[ 9.82853616e-01 1.81495437e-01 3.25296005e-02 9.83592276e+01] [-1.81411257e-01 9.83391683e-01 -5.54551457e-03 -7.56195382e+00] [-3.29958241e-02 -4.50806655e-04 9.99455388e-01 -4.42656689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28264 meters 0.01850945977693459 Centerline is valid? [True, True] Translation: X:98.42, Y:-7.57, Z:-4.43 [[ 9.83469450e-01 1.78185884e-01 3.22122981e-02 9.84185147e+01] [-1.78101599e-01 9.83996787e-01 -5.49030480e-03 -7.57292069e+00] [-3.26750926e-02 -3.37514766e-04 9.99465970e-01 -4.42970890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34263999999999 meters 0.015258410173679095 Centerline is valid? [True, True] Translation: X:98.48, Y:-7.60, Z:-4.43 [[ 9.84563528e-01 1.72042402e-01 3.21880637e-02 9.84778236e+01] [-1.71955040e-01 9.85089536e-01 -5.48368581e-03 -7.59564145e+00] [-3.26515512e-02 -1.35862732e-04 9.99466787e-01 -4.43496994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40263999999999 meters 0.014794846674183215 Centerline is valid? [True, True] Translation: X:98.54, Y:-7.61, Z:-4.44 [[ 9.85267500e-01 1.68027405e-01 3.18550541e-02 9.85381045e+01] [-1.67939570e-01 9.85782324e-01 -5.43229365e-03 -7.61236045e+00] [-3.23149235e-02 2.53830705e-06 9.99477736e-01 -4.43922554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46264 meters 0.02044932194486794 Centerline is valid? [True, True] Translation: X:98.60, Y:-7.62, Z:-4.44 [[ 9.85240448e-01 1.68260498e-01 3.14589257e-02 9.85999046e+01] [-1.68174781e-01 9.85742565e-01 -5.37013136e-03 -7.62300001e+00] [-3.19139831e-02 2.72695702e-07 9.99490619e-01 -4.44174008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52264 meters 0.028710579350248355 Centerline is valid? [True, True] Translation: X:98.66, Y:-7.63, Z:-4.45 [[ 9.84715817e-01 1.71382193e-01 3.10306765e-02 9.86602151e+01] [-1.71300112e-01 9.85204616e-01 -5.30437830e-03 -7.62946228e+00] [-3.14806417e-02 -9.22531394e-05 9.99504358e-01 -4.44588380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58264 meters 0.015586042212777767 Centerline is valid? [True, True] Translation: X:98.72, Y:-7.64, Z:-4.45 [[ 9.84227516e-01 1.74157493e-01 3.10703279e-02 9.87214741e+01] [-1.74076388e-01 9.84717796e-01 -5.31734184e-03 -7.63505574e+00] [-3.15215598e-02 -1.75136300e-04 9.99503057e-01 -4.44798646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64264 meters 0.026108883407267164 Centerline is valid? [True, True] Translation: X:98.78, Y:-7.64, Z:-4.45 [[ 9.83635526e-01 1.77306557e-01 3.19927667e-02 9.87824878e+01] [-1.77222188e-01 9.84155630e-01 -5.47643737e-03 -7.63731977e+00] [-3.24568697e-02 -2.83009767e-04 9.99473097e-01 -4.44992249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70264 meters 0.018887382509385195 Centerline is valid? [True, True] Translation: X:98.84, Y:-7.64, Z:-4.45 [[ 9.83210332e-01 1.79285623e-01 3.39721576e-02 9.88418709e+01] [-1.79191675e-01 9.83796996e-01 -5.81508285e-03 -7.64088081e+00] [-3.44642673e-02 -3.70078272e-04 9.99405862e-01 -4.45142821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76263999999999 meters 0.02513486258192433 Centerline is valid? [True, True] Translation: X:98.90, Y:-7.65, Z:-4.46 [[ 9.83652457e-01 1.77011997e-01 3.30846814e-02 9.89006112e+01] [-1.76921587e-01 9.84208653e-01 -5.66383148e-03 -7.65458081e+00] [-3.35647959e-02 -2.82152573e-04 9.99436504e-01 -4.45583630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82263999999999 meters 0.014045059325749353 Centerline is valid? [True, True] Translation: X:98.96, Y:-7.67, Z:-4.46 [[ 9.84474592e-01 1.72273045e-01 3.36418816e-02 9.89611397e+01] [-1.72176874e-01 9.85049228e-01 -5.75689211e-03 -7.67034451e+00] [-3.41306669e-02 -1.24840009e-04 9.99417371e-01 -4.45709128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88264 meters 0.013699684501240393 Centerline is valid? [True, True] Translation: X:99.02, Y:-7.69, Z:-4.46 [[ 9.85021043e-01 1.69058857e-01 3.39506578e-02 9.90206581e+01] [-1.68958780e-01 9.85605957e-01 -5.81618700e-03 -7.68607262e+00] [-3.44452485e-02 -7.19511579e-06 9.99406586e-01 -4.46123682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94264 meters 0.027038977470233216 Centerline is valid? [True, True] Translation: X:99.08, Y:-7.72, Z:-4.47 [[ 9.86978138e-01 1.57448985e-01 3.29237336e-02 9.90773504e+01] [-1.57348223e-01 9.87527045e-01 -5.64560444e-03 -7.71807515e+00] [-3.34019721e-02 3.91597178e-04 9.99441922e-01 -4.46851555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00264 meters 0.025555659515875986 Centerline is valid? [True, True] Translation: X:99.14, Y:-7.74, Z:-4.47 [[ 9.87381696e-01 1.54993879e-01 3.24697461e-02 9.91370087e+01] [-1.54894385e-01 9.87915317e-01 -5.57275658e-03 -7.73674488e+00] [-3.29411027e-02 4.73056476e-04 9.99457183e-01 -4.47159125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06264 meters 0.030196338961935226 Centerline is valid? [True, True] Translation: X:99.20, Y:-7.75, Z:-4.47 [[ 9.86856675e-01 1.58125757e-01 3.33188764e-02 9.91974195e+01] [-1.58022564e-01 9.87418907e-01 -5.72467940e-03 -7.74901591e+00] [-3.38049078e-02 3.84303810e-04 9.99428377e-01 -4.47418415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12263999999999 meters 0.017345328514931084 Centerline is valid? [True, True] Translation: X:99.26, Y:-7.76, Z:-4.47 [[ 9.86444035e-01 1.60620449e-01 3.36041179e-02 9.92595167e+01] [-1.60516724e-01 9.87016199e-01 -5.77966115e-03 -7.75754407e+00] [-3.40961405e-02 3.07289357e-04 9.99418510e-01 -4.47425876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18263999999999 meters 0.029684599961956434 Centerline is valid? [True, True] Translation: X:99.32, Y:-7.76, Z:-4.48 [[ 9.85020076e-01 1.69120061e-01 3.36727541e-02 9.93217283e+01] [-1.69020667e-01 9.85595457e-01 -5.79736948e-03 -7.75846993e+00] [-3.41681649e-02 1.91339604e-05 9.99416098e-01 -4.47977982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24264 meters 0.01607414347098529 Centerline is valid? [True, True] Translation: X:99.38, Y:-7.76, Z:-4.48 [[ 9.83587591e-01 1.77249345e-01 3.37360544e-02 9.93841173e+01] [-1.77154086e-01 9.84165943e-01 -5.81597771e-03 -7.75909179e+00] [-3.42327541e-02 -2.55956388e-04 9.99413855e-01 -4.47978445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30264 meters 0.018259672886860732 Centerline is valid? [True, True] Translation: X:99.44, Y:-7.77, Z:-4.48 [[ 9.83007249e-01 1.80613708e-01 3.27938675e-02 9.94445649e+01] [-1.80525552e-01 9.83554044e-01 -5.65400102e-03 -7.76617419e+00] [-3.32757311e-02 -3.62207036e-04 9.99446144e-01 -4.48430498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36264 meters 0.02118080297012622 Centerline is valid? [True, True] Translation: X:99.50, Y:-7.77, Z:-4.49 [[ 9.82376800e-01 1.83762744e-01 3.41625038e-02 9.95041840e+01] [-1.83668897e-01 9.82970507e-01 -5.89226169e-03 -7.76912557e+00] [-3.46635119e-02 -4.86168208e-04 9.99398922e-01 -4.48628035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42264 meters 0.021299121606901693 Centerline is valid? [True, True] Translation: X:99.56, Y:-7.78, Z:-4.49 [[ 9.82511570e-01 1.83258839e-01 3.29729106e-02 9.95617586e+01] [-1.83171115e-01 9.83064593e-01 -5.68759398e-03 -7.78149399e+00] [-3.34568028e-02 -4.51557901e-04 9.99440062e-01 -4.49199477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48263999999999 meters 0.018757839577191873 Centerline is valid? [True, True] Translation: X:99.62, Y:-7.79, Z:-4.49 [[ 9.82848026e-01 1.81534237e-01 3.24819603e-02 9.96220526e+01] [-1.81448195e-01 9.83384548e-01 -5.60200290e-03 -7.79485660e+00] [-3.29592131e-02 -3.87875558e-04 9.99456622e-01 -4.49433835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54263999999999 meters 0.015436277493365444 Centerline is valid? [True, True] Translation: X:99.68, Y:-7.81, Z:-4.50 [[ 9.83843173e-01 1.76053864e-01 3.25214971e-02 9.96817870e+01] [-1.75964658e-01 9.84380513e-01 -5.60754782e-03 -7.81320079e+00] [-3.30007584e-02 -2.05686468e-04 9.99455305e-01 -4.49878239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60264 meters 0.01409212610259769 Centerline is valid? [True, True] Translation: X:99.74, Y:-7.84, Z:-4.50 [[ 9.85222434e-01 1.68048116e-01 3.31147412e-02 9.97407574e+01] [-1.67950895e-01 9.85778791e-01 -5.71586301e-03 -7.83820273e+00] [-3.36043496e-02 6.97460301e-05 9.99435212e-01 -4.50038019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66264 meters 0.020097170649058648 Centerline is valid? [True, True] Translation: X:99.80, Y:-7.86, Z:-4.51 [[ 9.85973147e-01 1.63678651e-01 3.26535133e-02 9.97990387e+01] [-1.63581496e-01 9.86513685e-01 -5.64309714e-03 -7.85567466e+00] [-3.31367922e-02 2.22431709e-04 9.99450801e-01 -4.50690356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72264 meters 0.030372235035426576 Centerline is valid? [True, True] Translation: X:99.86, Y:-7.88, Z:-4.51 [[ 9.86667363e-01 1.59336705e-01 3.31561338e-02 9.98579837e+01] [-1.59234021e-01 9.87224226e-01 -5.73178359e-03 -7.87724245e+00] [-3.36458221e-02 3.75779280e-04 9.99433748e-01 -4.50991118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78264 meters 0.018264154418208188 Centerline is valid? [True, True] Translation: X:99.92, Y:-7.89, Z:-4.51 [[ 9.86653108e-01 1.59374135e-01 3.33995466e-02 9.99196260e+01] [-1.59269778e-01 9.87218182e-01 -5.77920063e-03 -7.89348871e+00] [-3.38936948e-02 3.82527898e-04 9.99425370e-01 -4.50878300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84263999999999 meters 0.01804804180967132 Centerline is valid? [True, True] Translation: X:99.98, Y:-7.90, Z:-4.51 [[ 9.86324321e-01 1.61439503e-01 3.31906668e-02 9.99799236e+01] [-1.61337371e-01 9.86882560e-01 -5.75033731e-03 -7.90274216e+00] [-3.36836218e-02 3.16802632e-04 9.99432496e-01 -4.51417078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90263999999999 meters 0.015390875143828095 Centerline is valid? [True, True] Translation: X:100.04, Y:-7.91, Z:-4.52 [[ 9.85536744e-01 1.66266366e-01 3.27539611e-02 1.00040883e+02] [-1.66169394e-01 9.86080865e-01 -5.67987873e-03 -7.91317762e+00] [-3.32424271e-02 1.55023323e-04 9.99447306e-01 -4.51795163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96264 meters 0.014290765826698294 Centerline is valid? [True, True] Translation: X:100.10, Y:-7.92, Z:-4.52 [[ 9.84517373e-01 1.72337524e-01 3.20206201e-02 1.00103841e+02] [-1.72247895e-01 9.85037957e-01 -5.55757670e-03 -7.91908545e+00] [-3.24993052e-02 -4.39535927e-05 9.99471757e-01 -4.52166760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02264 meters 0.02697893920453938 Centerline is valid? [True, True] Translation: X:100.17, Y:-7.92, Z:-4.52 [[ 9.83710622e-01 1.76651999e-01 3.32788743e-02 1.00166359e+02] [-1.76557418e-01 9.84273354e-01 -5.78288662e-03 -7.92468342e+00] [-3.37770677e-02 -1.86945123e-04 9.99429375e-01 -4.52398565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08264 meters 0.029557723704222844 Centerline is valid? [True, True] Translation: X:100.23, Y:-7.93, Z:-4.52 [[ 9.82655951e-01 1.82035206e-01 3.53619146e-02 1.00228707e+02] [-1.81931612e-01 9.83291937e-01 -6.15263407e-03 -7.92914393e+00] [-3.58910815e-02 -3.87527651e-04 9.99355632e-01 -4.52239128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14264 meters 0.02054999838201132 Centerline is valid? [True, True] Translation: X:100.29, Y:-7.94, Z:-4.52 [[ 9.81908403e-01 1.85646704e-01 3.72986480e-02 1.00289334e+02] [-1.85533754e-01 9.82616410e-01 -6.49744248e-03 -7.93555979e+00] [-3.78564924e-02 -5.40264826e-04 9.99283040e-01 -4.52089837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20264 meters 0.025023600576299876 Centerline is valid? [True, True] Translation: X:100.35, Y:-7.94, Z:-4.53 [[ 9.81677743e-01 1.87140792e-01 3.58766455e-02 1.00350713e+02] [-1.87037182e-01 9.82332936e-01 -6.25267518e-03 -7.93719168e+00] [-3.64129410e-02 -5.72154599e-04 9.99336665e-01 -4.52991799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26263999999999 meters 0.022184893607029414 Centerline is valid? [True, True] Translation: X:100.41, Y:-7.95, Z:-4.53 [[ 9.81664398e-01 1.87268911e-01 3.55719698e-02 1.00412447e+02] [-1.87167066e-01 9.82308521e-01 -6.20157661e-03 -7.95098454e+00] [-3.61040115e-02 -5.70034245e-04 9.99347875e-01 -4.53140575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32263999999999 meters 0.021577337729189766 Centerline is valid? [True, True] Translation: X:100.47, Y:-7.96, Z:-4.54 [[ 9.81815700e-01 1.86762911e-01 3.40227376e-02 1.00474801e+02] [-1.86669227e-01 9.82404878e-01 -5.93769116e-03 -7.95755771e+00] [-3.45330438e-02 -5.21279729e-04 9.99403421e-01 -4.53694201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38264 meters 0.032333294819383324 Centerline is valid? [True, True] Translation: X:100.54, Y:-7.97, Z:-4.54 [[ 9.82118745e-01 1.85508614e-01 3.20830784e-02 1.00535906e+02] [-1.85424444e-01 9.82642538e-01 -5.60523361e-03 -7.96581083e+00] [-3.25660167e-02 -4.43981960e-04 9.99469488e-01 -4.54449986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44264 meters 0.019802158090987156 Centerline is valid? [True, True] Translation: X:100.60, Y:-7.97, Z:-4.54 [[ 9.82181242e-01 1.85135142e-01 3.23262622e-02 1.00596896e+02] [-1.85049232e-01 9.82712978e-01 -5.65554053e-03 -7.97434925e+00] [-3.28144766e-02 -4.27184167e-04 9.99461369e-01 -4.54484041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50264 meters 0.028215093578614164 Centerline is valid? [True, True] Translation: X:100.66, Y:-7.98, Z:-4.55 [[ 9.82668212e-01 1.82179291e-01 3.42620863e-02 1.00657867e+02] [-1.82080951e-01 9.83265267e-01 -5.99514708e-03 -7.98217622e+00] [-3.47809111e-02 -3.47232796e-04 9.99394901e-01 -4.54571893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56264 meters 0.014436982863921753 Centerline is valid? [True, True] Translation: X:100.72, Y:-8.00, Z:-4.54 [[ 9.83235664e-01 1.78718183e-01 3.61585328e-02 1.00718494e+02] [-1.78606333e-01 9.83900277e-01 -6.32641029e-03 -7.99645335e+00] [-3.67070350e-02 -2.37790719e-04 9.99326041e-01 -4.54415671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62263999999999 meters 0.012797020289446102 Centerline is valid? [True, True] Translation: X:100.78, Y:-8.01, Z:-4.55 [[ 9.84411404e-01 1.72062244e-01 3.64523374e-02 1.00777530e+02] [-1.71943729e-01 9.85086079e-01 -6.38514768e-03 -8.01390285e+00] [-3.70073330e-02 1.78613681e-05 9.99314994e-01 -4.54688076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68263999999999 meters 0.01552359650228194 Centerline is valid? [True, True] Translation: X:100.84, Y:-8.03, Z:-4.55 [[ 9.85573535e-01 1.65531508e-01 3.52721879e-02 1.00835328e+02] [-1.65416231e-01 9.86204468e-01 -6.18199478e-03 -8.03439301e+00] [-3.58089042e-02 2.58218055e-04 9.99358622e-01 -4.55228016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74264 meters 0.028151906282320234 Centerline is valid? [True, True] Translation: X:100.89, Y:-8.05, Z:-4.56 [[ 9.86319645e-01 1.61035334e-01 3.52303731e-02 1.00894356e+02] [-1.60917380e-01 9.86948551e-01 -6.17694023e-03 -8.05340546e+00] [-3.57652713e-02 4.23258142e-04 9.99360128e-01 -4.55592858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80264 meters 0.029924537804375522 Centerline is valid? [True, True] Translation: X:100.95, Y:-8.07, Z:-4.56 [[ 9.86455822e-01 1.60147283e-01 3.54648892e-02 1.00954904e+02] [-1.60026979e-01 9.87093021e-01 -6.22363029e-03 -8.06623908e+00] [-3.60038421e-02 4.63997260e-04 9.99351544e-01 -4.55866736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86264 meters 0.03206106068012891 Centerline is valid? [True, True] Translation: X:101.01, Y:-8.08, Z:-4.56 [[ 9.86788027e-01 1.58367908e-01 3.41905646e-02 1.01014833e+02] [-1.58254838e-01 9.87380038e-01 -6.00550673e-03 -8.08444045e+00] [-3.47101605e-02 5.15339888e-04 9.99397288e-01 -4.56335690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92264 meters 0.023032342874459752 Centerline is valid? [True, True] Translation: X:101.08, Y:-8.10, Z:-4.56 [[ 9.86779434e-01 1.58353033e-01 3.45060117e-02 1.01076719e+02] [-1.58237661e-01 9.87382418e-01 -6.06652092e-03 -8.09839537e+00] [-3.50312813e-02 5.26167516e-04 9.99386078e-01 -4.56492042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98263999999999 meters 0.031998084714206385 Centerline is valid? [True, True] Translation: X:101.14, Y:-8.11, Z:-4.57 [[ 9.86428771e-01 1.60617926e-01 3.40611354e-02 1.01137579e+02] [-1.60506632e-01 9.87016556e-01 -5.99487791e-03 -8.11017767e+00] [-3.45817894e-02 4.46481919e-04 9.99401771e-01 -4.56928395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04263999999999 meters 0.027258067270054236 Centerline is valid? [True, True] Translation: X:101.20, Y:-8.12, Z:-4.57 [[ 9.86045296e-01 1.63175848e-01 3.29896586e-02 1.01198680e+02] [-1.63072697e-01 9.86596939e-01 -5.81170716e-03 -8.11984686e+00] [-3.34958264e-02 3.50893903e-04 9.99438796e-01 -4.57307946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10264 meters 0.015476567329926652 Centerline is valid? [True, True] Translation: X:101.26, Y:-8.13, Z:-4.57 [[ 9.85369373e-01 1.67029896e-01 3.38852863e-02 1.01260357e+02] [-1.66923096e-01 9.85951804e-01 -5.97666545e-03 -8.13101664e+00] [-3.44075410e-02 2.32986204e-04 9.99407858e-01 -4.57230598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16264 meters 0.02278340631794116 Centerline is valid? [True, True] Translation: X:101.32, Y:-8.14, Z:-4.58 [[ 9.85062712e-01 1.68879427e-01 3.36331966e-02 1.01319536e+02] [-1.68775175e-01 9.85636703e-01 -5.93548184e-03 -8.14483864e+00] [-3.41524938e-02 1.70373186e-04 9.99416619e-01 -4.57958344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22264 meters 0.027377836597230663 Centerline is valid? [True, True] Translation: X:101.38, Y:-8.16, Z:-4.58 [[ 9.84973681e-01 1.69187914e-01 3.46741630e-02 1.01380100e+02] [-1.69077206e-01 9.85583797e-01 -6.12179883e-03 -8.15854372e+00] [-3.52100276e-02 1.67200127e-04 9.99379921e-01 -4.57853281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28264 meters 0.014126657505318134 Centerline is valid? [True, True] Translation: X:101.44, Y:-8.17, Z:-4.58 [[ 9.84985131e-01 1.69045914e-01 3.50395461e-02 1.01441542e+02] [-1.68932554e-01 9.85608161e-01 -6.19240399e-03 -8.17326665e+00] [-3.55820632e-02 1.80105839e-04 9.99366742e-01 -4.57828451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34263999999999 meters 0.013367103494356988 Centerline is valid? [True, True] Translation: X:101.50, Y:-8.18, Z:-4.58 [[ 9.84347148e-01 1.72751346e-01 3.48950613e-02 1.01501400e+02] [-1.72640977e-01 9.84965466e-01 -6.17440910e-03 -8.18439031e+00] [-3.54370679e-02 5.34444957e-05 9.99371908e-01 -4.58351304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40263999999999 meters 0.014939217754747642 Centerline is valid? [True, True] Translation: X:101.56, Y:-8.19, Z:-4.59 [[ 9.83195757e-01 1.79553159e-01 3.29661370e-02 1.01563747e+02] [-1.79458313e-01 9.83748256e-01 -5.83798347e-03 -8.18709728e+00] [-3.34786081e-02 -1.76166736e-04 9.99439419e-01 -4.58909350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46264 meters 0.017721919426771676 Centerline is valid? [True, True] Translation: X:101.63, Y:-8.19, Z:-4.59 [[ 9.82288168e-01 1.84378283e-01 3.33856952e-02 1.01626025e+02] [-1.84283593e-01 9.82855297e-01 -5.91806812e-03 -8.18971223e+00] [-3.39044706e-02 -3.39187569e-04 9.99425021e-01 -4.59069761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52264 meters 0.019380903053773334 Centerline is valid? [True, True] Translation: X:101.69, Y:-8.20, Z:-4.59 [[ 9.81593101e-01 1.88148779e-01 3.27875243e-02 1.01687869e+02] [-1.88059376e-01 9.82140433e-01 -5.81735883e-03 -8.19516605e+00] [-3.32964823e-02 -4.55722086e-04 9.99445415e-01 -4.59213517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58264 meters 0.020556433817708164 Centerline is valid? [True, True] Translation: X:101.75, Y:-8.20, Z:-4.60 [[ 9.81529726e-01 1.88366117e-01 3.34305541e-02 1.01748321e+02] [-1.88273087e-01 9.82098767e-01 -5.93766683e-03 -8.20391500e+00] [-3.39505613e-02 -4.66077137e-04 9.99423405e-01 -4.59625687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64264 meters 0.01871895045779397 Centerline is valid? [True, True] Translation: X:101.81, Y:-8.21, Z:-4.60 [[ 9.81835811e-01 1.86726325e-01 3.36410308e-02 1.01809647e+02] [-1.86630970e-01 9.82411886e-01 -5.98052277e-03 -8.21340382e+00] [-3.41660696e-02 -4.06566798e-04 9.99416087e-01 -4.59822275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70264 meters 0.017367212028632232 Centerline is valid? [True, True] Translation: X:101.87, Y:-8.22, Z:-4.61 [[ 9.82400668e-01 1.84062495e-01 3.17793383e-02 1.01870116e+02] [-1.83975853e-01 9.82914499e-01 -5.65442488e-03 -8.22478633e+00] [-3.22771399e-02 -2.91720104e-04 9.99478915e-01 -4.60534552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76263999999999 meters 0.01532237061139604 Centerline is valid? [True, True] Translation: X:101.93, Y:-8.24, Z:-4.61 [[ 9.82943577e-01 1.81125422e-01 3.18670088e-02 1.01930257e+02] [-1.81036562e-01 9.83459987e-01 -5.67604645e-03 -8.23906610e+00] [-3.23680044e-02 -1.89860328e-04 9.99476001e-01 -4.60788213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82263999999999 meters 0.013555239064427538 Centerline is valid? [True, True] Translation: X:101.99, Y:-8.25, Z:-4.61 [[ 9.83769818e-01 1.76389439e-01 3.29197536e-02 1.01990946e+02] [-1.76291760e-01 9.84320458e-01 -5.86944185e-03 -8.25498010e+00] [-3.34388945e-02 -2.93015611e-05 9.99440763e-01 -4.60876653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88264 meters 0.01383555314937099 Centerline is valid? [True, True] Translation: X:102.05, Y:-8.27, Z:-4.61 [[ 9.84339129e-01 1.73306161e-01 3.22715741e-02 1.02051641e+02] [-1.73210461e-01 9.84867995e-01 -5.75915272e-03 -8.26860246e+00] [-3.27813372e-02 7.91851287e-05 9.99462544e-01 -4.61148113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94264 meters 0.015621166118587904 Centerline is valid? [True, True] Translation: X:102.11, Y:-8.28, Z:-4.61 [[ 9.85097428e-01 1.68955812e-01 3.22023281e-02 1.02111951e+02] [-1.68858012e-01 9.85623600e-01 -5.75244581e-03 -8.28486496e+00] [-3.27112837e-02 2.29098458e-04 9.99464817e-01 -4.61494530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00264 meters 0.02197669735492043 Centerline is valid? [True, True] Translation: X:102.17, Y:-8.30, Z:-4.62 [[ 9.85313429e-01 1.67521831e-01 3.30739121e-02 1.02173694e+02] [-1.67417662e-01 9.85868324e-01 -5.91390689e-03 -8.29705956e+00] [-3.35972308e-02 2.89894844e-04 9.99435412e-01 -4.61782253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06264 meters 0.019196826281358506 Centerline is valid? [True, True] Translation: X:102.23, Y:-8.31, Z:-4.62 [[ 9.85659520e-01 1.65573160e-01 3.25705437e-02 1.02232936e+02] [-1.65470841e-01 9.86197445e-01 -5.83095295e-03 -8.31170046e+00] [-3.30864363e-02 3.57859018e-04 9.99452430e-01 -4.62210640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12263999999999 meters 0.01791879065306718 Centerline is valid? [True, True] Translation: X:102.29, Y:-8.32, Z:-4.62 [[ 9.85477531e-01 1.66572894e-01 3.29773698e-02 1.02294805e+02] [-1.66468383e-01 9.86029087e-01 -5.90912850e-03 -8.32110933e+00] [-3.35009465e-02 3.33623928e-04 9.99438630e-01 -4.62282379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18263999999999 meters 0.017740427064921214 Centerline is valid? [True, True] Translation: X:102.36, Y:-8.33, Z:-4.62 [[ 9.85490621e-01 1.66205200e-01 3.44102839e-02 1.02355446e+02] [-1.66090963e-01 9.86091120e-01 -6.17215119e-03 -8.33492823e+00] [-3.49575190e-02 3.67359923e-04 9.99388732e-01 -4.62280189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24264 meters 0.019231934235078074 Centerline is valid? [True, True] Translation: X:102.42, Y:-8.35, Z:-4.63 [[ 9.85829006e-01 1.64239992e-01 3.41525449e-02 1.02416033e+02] [-1.64126077e-01 9.86420312e-01 -6.13180494e-03 -8.34948315e+00] [-3.46958516e-02 4.39587965e-04 9.99397821e-01 -4.62585411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30264 meters 0.021074098133605522 Centerline is valid? [True, True] Translation: X:102.48, Y:-8.37, Z:-4.63 [[ 9.86130277e-01 1.62464934e-01 3.39443978e-02 1.02475599e+02] [-1.62351146e-01 9.86714189e-01 -6.10041855e-03 -8.36793315e+00] [-3.44845230e-02 5.04895564e-04 9.99405104e-01 -4.62983751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36264 meters 0.02322746611891847 Centerline is valid? [True, True] Translation: X:102.53, Y:-8.39, Z:-4.63 [[ 9.86592091e-01 1.59686512e-01 3.37085271e-02 1.02534926e+02] [-1.59572477e-01 9.87167591e-01 -6.06392519e-03 -8.38952827e+00] [-3.42442926e-02 6.03667471e-04 9.99413310e-01 -4.63180454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42264 meters 0.023427331379731797 Centerline is valid? [True, True] Translation: X:102.59, Y:-8.41, Z:-4.64 [[ 9.86727354e-01 1.59031787e-01 3.28332031e-02 1.02594098e+02] [-1.58923056e-01 9.87273271e-01 -5.91186791e-03 -8.40888321e+00] [-3.33555188e-02 6.15448795e-04 9.99443360e-01 -4.63565343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48263999999999 meters 0.02480907042106951 Centerline is valid? [True, True] Translation: X:102.65, Y:-8.43, Z:-4.64 [[ 9.86549784e-01 1.60083115e-01 3.30593396e-02 1.02652837e+02] [-1.59973260e-01 9.87103362e-01 -5.95886382e-03 -8.42510706e+00] [-3.35868988e-02 5.90105494e-04 9.99435627e-01 -4.64046847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54263999999999 meters 0.02886125929089386 Centerline is valid? [True, True] Translation: X:102.71, Y:-8.44, Z:-4.64 [[ 9.86201730e-01 1.62218285e-01 3.30359688e-02 1.02714016e+02] [-1.62109600e-01 9.86754759e-01 -5.96005785e-03 -8.43649668e+00] [-3.35652298e-02 5.22371680e-04 9.99436392e-01 -4.64443448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60264 meters 0.033117036362309483 Centerline is valid? [True, True] Translation: X:102.78, Y:-8.45, Z:-4.65 [[ 9.85349481e-01 1.67447455e-01 3.23689593e-02 1.02775286e+02] [-1.67345751e-01 9.85880942e-01 -5.84526979e-03 -8.44815048e+00] [-3.28907157e-02 3.42825743e-04 9.99458895e-01 -4.64767979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66264 meters 0.026425534272143978 Centerline is valid? [True, True] Translation: X:102.84, Y:-8.45, Z:-4.65 [[ 9.83856151e-01 1.76220395e-01 3.12001045e-02 1.02836250e+02] [-1.76130103e-01 9.84350735e-01 -5.64068396e-03 -8.45269530e+00] [-3.17058494e-02 5.43439869e-05 9.99497242e-01 -4.65305823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72264 meters 0.01431629151260783 Centerline is valid? [True, True] Translation: X:102.90, Y:-8.46, Z:-4.65 [[ 9.83282146e-01 1.79357847e-01 3.14163079e-02 1.02897621e+02] [-1.79267836e-01 9.83783899e-01 -5.68174600e-03 -8.46101686e+00] [-3.19259237e-02 -4.51741435e-05 9.99490237e-01 -4.65489751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78264 meters 0.017529888443161334 Centerline is valid? [True, True] Translation: X:102.96, Y:-8.46, Z:-4.65 [[ 9.81648650e-01 1.87874977e-01 3.26943697e-02 1.02960750e+02] [-1.87781981e-01 9.82192896e-01 -5.91965561e-03 -8.46180979e+00] [-3.32243329e-02 -3.28391583e-04 9.99447866e-01 -4.65494920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84263999999999 meters 0.021097639215484736 Centerline is valid? [True, True] Translation: X:103.02, Y:-8.47, Z:-4.66 [[ 9.80843925e-01 1.92109348e-01 3.22365107e-02 1.03022647e+02] [-1.92020988e-01 9.81373420e-01 -5.84392347e-03 -8.46719226e+00] [-3.27587271e-02 -4.58109813e-04 9.99463184e-01 -4.65852363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90263999999999 meters 0.02517294215066938 Centerline is valid? [True, True] Translation: X:103.08, Y:-8.47, Z:-4.66 [[ 9.80044389e-01 1.96305414e-01 3.12598888e-02 1.03083938e+02] [-1.96224401e-01 9.80542630e-01 -5.66870541e-03 -8.47237056e+00] [-3.17644511e-02 -5.78370026e-04 9.99495215e-01 -4.66325047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96264 meters 0.026724771585920758 Centerline is valid? [True, True] Translation: X:103.15, Y:-8.48, Z:-4.67 [[ 9.79741257e-01 1.97794250e-01 3.13767995e-02 1.03146012e+02] [-1.97713438e-01 9.80243356e-01 -5.68851039e-03 -8.47888606e+00] [-3.18820539e-02 -6.30346569e-04 9.99491439e-01 -4.66541312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02264 meters 0.0341733712159998 Centerline is valid? [True, True] Translation: X:103.21, Y:-8.49, Z:-4.67 [[ 9.79597124e-01 1.98428998e-01 3.18654597e-02 1.03208150e+02] [-1.98345821e-01 9.80115045e-01 -5.78214142e-03 -8.48829950e+00] [-3.23791610e-02 -6.56211657e-04 9.99475442e-01 -4.66630234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08264 meters 0.02431259355714864 Centerline is valid? [True, True] Translation: X:103.27, Y:-8.50, Z:-4.67 [[ 9.79774867e-01 1.97553818e-01 3.18386364e-02 1.03270314e+02] [-1.97470047e-01 9.80291848e-01 -5.78567240e-03 -8.49725260e+00] [-3.23541373e-02 -6.18520622e-04 9.99476276e-01 -4.66656624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14264 meters 0.02410039791604324 Centerline is valid? [True, True] Translation: X:103.33, Y:-8.50, Z:-4.67 [[ 9.79824685e-01 1.97341906e-01 3.16189796e-02 1.03333559e+02] [-1.97259179e-01 9.80334536e-01 -5.74569089e-03 -8.50204614e+00] [-3.21310433e-02 -6.07364185e-04 9.99483480e-01 -4.66915452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20264 meters 0.02467207754494514 Centerline is valid? [True, True] Translation: X:103.40, Y:-8.51, Z:-4.67 [[ 9.80092676e-01 1.96227412e-01 3.02183672e-02 1.03396524e+02] [-1.96151148e-01 9.80558265e-01 -5.49690229e-03 -8.50948975e+00] [-3.07095127e-02 -5.39893761e-04 9.99528206e-01 -4.67421074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26263999999999 meters 0.0224210157125533 Centerline is valid? [True, True] Translation: X:103.46, Y:-8.51, Z:-4.68 [[ 9.80665689e-01 1.93394259e-01 2.98909298e-02 1.03457783e+02] [-1.93318122e-01 9.81121026e-01 -5.44396791e-03 -8.51351357e+00] [-3.03794518e-02 -4.39745864e-04 9.99538341e-01 -4.67889710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32263999999999 meters 0.027699945745921262 Centerline is valid? [True, True] Translation: X:103.52, Y:-8.53, Z:-4.68 [[ 9.81353067e-01 1.90071776e-01 2.86160311e-02 1.03518333e+02] [-1.90000463e-01 9.81770146e-01 -5.21588589e-03 -8.52571692e+00] [-2.90857577e-02 -3.18433523e-04 9.99576869e-01 -4.68221171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38264 meters 0.01574331591387158 Centerline is valid? [True, True] Translation: X:103.58, Y:-8.54, Z:-4.68 [[ 9.82485512e-01 1.84157959e-01 2.84264851e-02 1.03579275e+02] [-1.84084966e-01 9.82896651e-01 -5.18631878e-03 -8.53672043e+00] [-2.88953989e-02 -1.37405493e-04 9.99582431e-01 -4.68448868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44264 meters 0.015584922118684995 Centerline is valid? [True, True] Translation: X:103.64, Y:-8.55, Z:-4.69 [[ 9.83850577e-01 1.76519273e-01 2.96477542e-02 1.03638433e+02] [-1.76436223e-01 9.84297179e-01 -5.41501251e-03 -8.55416686e+00] [-3.01380549e-02 9.66254167e-05 9.99545741e-01 -4.68670673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50264 meters 0.01734143451035325 Centerline is valid? [True, True] Translation: X:103.70, Y:-8.57, Z:-4.69 [[ 9.84744695e-01 1.71438095e-01 2.97802768e-02 1.03698745e+02] [-1.71351833e-01 9.85194861e-01 -5.44390213e-03 -8.57052520e+00] [-3.02726678e-02 2.57948724e-04 9.99541644e-01 -4.68778679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56264 meters 0.026641018319657365 Centerline is valid? [True, True] Translation: X:103.76, Y:-8.59, Z:-4.69 [[ 9.85951993e-01 1.64454363e-01 2.92135327e-02 1.03757017e+02] [-1.64368053e-01 9.86384580e-01 -5.34817049e-03 -8.58888586e+00] [-2.96953081e-02 4.71267866e-04 9.99558886e-01 -4.69143879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62263999999999 meters 0.03888468234167026 Centerline is valid? [True, True] Translation: X:103.82, Y:-8.61, Z:-4.69 [[ 9.86480479e-01 1.61113547e-01 2.99781633e-02 1.03815845e+02] [-1.61021141e-01 9.86935703e-01 -5.48728452e-03 -8.60713510e+00] [-3.04705956e-02 5.85980988e-04 9.99535492e-01 -4.69464438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68263999999999 meters 0.02731169259285146 Centerline is valid? [True, True] Translation: X:103.88, Y:-8.62, Z:-4.70 [[ 9.86853403e-01 1.58815548e-01 2.99663768e-02 1.03875888e+02] [-1.58722115e-01 9.87308052e-01 -5.48646958e-03 -8.62291571e+00] [-3.04573818e-02 6.58014472e-04 9.99535850e-01 -4.69520446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74264 meters 0.03846963353211507 Centerline is valid? [True, True] Translation: X:103.93, Y:-8.64, Z:-4.70 [[ 9.86714403e-01 1.60022958e-01 2.80595922e-02 1.03934275e+02] [-1.59941358e-01 9.87113118e-01 -5.14331357e-03 -8.63907868e+00] [-2.85210398e-02 5.87092283e-04 9.99593020e-01 -4.70400943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80264 meters 0.030262452176500455 Centerline is valid? [True, True] Translation: X:104.00, Y:-8.64, Z:-4.70 [[ 9.85750880e-01 1.65825582e-01 2.82325765e-02 1.03996338e+02] [-1.65745250e-01 9.86155006e-01 -5.17847047e-03 -8.64458007e+00] [-2.87004196e-02 4.25266367e-04 9.99587968e-01 -4.70448671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86264 meters 0.017561877279485168 Centerline is valid? [True, True] Translation: X:104.06, Y:-8.65, Z:-4.71 [[ 9.84645865e-01 1.72096099e-01 2.92481396e-02 1.04058232e+02] [-1.72012610e-01 9.85080133e-01 -5.36591391e-03 -8.64923740e+00] [-2.97352141e-02 2.52476110e-04 9.99557779e-01 -4.70569854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92264 meters 0.015479782626853776 Centerline is valid? [True, True] Translation: X:104.12, Y:-8.65, Z:-4.71 [[ 9.82714665e-01 1.82821219e-01 2.91254038e-02 1.04120816e+02] [-1.82743160e-01 9.83146173e-01 -5.34234873e-03 -8.64765126e+00] [-2.96112240e-02 -7.24638823e-05 9.99561489e-01 -4.71056793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98263999999999 meters 0.019117488979226004 Centerline is valid? [True, True] Translation: X:104.18, Y:-8.65, Z:-4.71 [[ 9.81065439e-01 1.91188083e-01 3.09470724e-02 1.04182136e+02] [-1.91103850e-01 9.81553362e-01 -5.68467442e-03 -8.64661344e+00] [-3.14630450e-02 -3.37067072e-04 9.99504859e-01 -4.71019995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04263999999999 meters 0.02685693243382482 Centerline is valid? [True, True] Translation: X:104.24, Y:-8.65, Z:-4.72 [[ 9.80594817e-01 1.93802050e-01 2.95731391e-02 1.04242807e+02] [-1.93726348e-01 9.81040571e-01 -5.43133983e-03 -8.65348506e+00] [-3.00650541e-02 -4.03152548e-04 9.99547863e-01 -4.71565212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10264 meters 0.020582274661145233 Centerline is valid? [True, True] Translation: X:104.30, Y:-8.67, Z:-4.72 [[ 9.80609511e-01 1.93788205e-01 2.91739459e-02 1.04302767e+02] [-1.93714506e-01 9.81043309e-01 -5.35872479e-03 -8.66737668e+00] [-2.96593620e-02 -3.96600004e-04 9.99559986e-01 -4.71838781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16264 meters 0.0227770123474849 Centerline is valid? [True, True] Translation: X:104.36, Y:-8.68, Z:-4.72 [[ 9.80687357e-01 1.93402979e-01 2.91135065e-02 1.04363285e+02] [-1.93329473e-01 9.81119329e-01 -5.34566796e-03 -8.68046900e+00] [-2.95976920e-02 -3.86069885e-04 9.99561818e-01 -4.72046224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22264 meters 0.021462026870122157 Centerline is valid? [True, True] Translation: X:104.42, Y:-8.69, Z:-4.72 [[ 9.80535716e-01 1.94005210e-01 3.01941615e-02 1.04424262e+02] [-1.93926245e-01 9.81000412e-01 -5.55012076e-03 -8.68709263e+00] [-3.06972372e-02 -4.13348718e-04 9.99528643e-01 -4.72413223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28264 meters 0.019831167021897297 Centerline is valid? [True, True] Translation: X:104.49, Y:-8.70, Z:-4.73 [[ 9.80662893e-01 1.93496045e-01 2.93184496e-02 1.04485266e+02] [-1.93421234e-01 9.81100981e-01 -5.39364319e-03 -8.70002560e+00] [-2.98080083e-02 -3.81464964e-04 9.99555570e-01 -4.72640544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34263999999999 meters 0.02057652689681618 Centerline is valid? [True, True] Translation: X:104.55, Y:-8.71, Z:-4.73 [[ 9.80898694e-01 1.92372649e-01 2.88186588e-02 1.04545137e+02] [-1.92299651e-01 9.81321890e-01 -5.30956952e-03 -8.70770058e+00] [-2.93017967e-02 -3.33668227e-04 9.99570554e-01 -4.73404661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40263999999999 meters 0.016452205504320687 Centerline is valid? [True, True] Translation: X:104.60, Y:-8.72, Z:-4.73 [[ 9.81546210e-01 1.88728865e-01 3.07969550e-02 1.04604788e+02] [-1.88643698e-01 9.82029204e-01 -5.67427922e-03 -8.72208290e+00] [-3.13144094e-02 -2.40084212e-04 9.99509555e-01 -4.73100208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46264 meters 0.015143334409785086 Centerline is valid? [True, True] Translation: X:104.67, Y:-8.74, Z:-4.73 [[ 9.81935862e-01 1.86629726e-01 3.11658132e-02 1.04665877e+02] [-1.86541441e-01 9.82430310e-01 -5.74246208e-03 -8.73629626e+00] [-3.16899536e-02 -1.74986248e-04 9.99497732e-01 -4.73264506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52264 meters 0.024211205020615186 Centerline is valid? [True, True] Translation: X:104.73, Y:-8.74, Z:-4.74 [[ 9.81798146e-01 1.87356831e-01 3.11419035e-02 1.04726818e+02] [-1.87269032e-01 9.82291901e-01 -5.73852921e-03 -8.74147074e+00] [-3.16655923e-02 -1.97836807e-04 9.99498500e-01 -4.73727096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58264 meters 0.016724122294458188 Centerline is valid? [True, True] Translation: X:104.79, Y:-8.75, Z:-4.74 [[ 9.81581073e-01 1.88502139e-01 3.10731604e-02 1.04787102e+02] [-1.88415125e-01 9.82072753e-01 -5.73142772e-03 -8.74859816e+00] [-3.15964906e-02 -2.28792448e-04 9.99500680e-01 -4.74043848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64264 meters 0.017653275533044587 Centerline is valid? [True, True] Translation: X:104.85, Y:-8.75, Z:-4.74 [[ 9.81026645e-01 1.91368387e-01 3.10622202e-02 1.04848123e+02] [-1.91282668e-01 9.81518233e-01 -5.73579063e-03 -8.75095084e+00] [-3.15857845e-02 -3.14700929e-04 9.99500995e-01 -4.74140075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70264 meters 0.019607763304801604 Centerline is valid? [True, True] Translation: X:104.91, Y:-8.75, Z:-4.75 [[ 9.80608935e-01 1.93542377e-01 3.07809054e-02 1.04907593e+02] [-1.93459256e-01 9.81091843e-01 -5.68443437e-03 -8.75354863e+00] [-3.12990742e-02 -3.80643926e-04 9.99509991e-01 -4.74550254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76263999999999 meters 0.02011273344334081 Centerline is valid? [True, True] Translation: X:104.97, Y:-8.75, Z:-4.75 [[ 9.80289037e-01 1.94945785e-01 3.20865256e-02 1.04967865e+02] [-1.94856260e-01 9.80813919e-01 -5.92407692e-03 -8.75432310e+00] [-3.26257847e-02 -4.44952732e-04 9.99467538e-01 -4.74726789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82263999999999 meters 0.019233832315100317 Centerline is valid? [True, True] Translation: X:105.03, Y:-8.76, Z:-4.75 [[ 9.80544435e-01 1.93648979e-01 3.21353888e-02 1.05027287e+02] [-1.93558512e-01 9.81070798e-01 -5.93227183e-03 -8.76101616e+00] [-3.26758699e-02 -4.03221905e-04 9.99465920e-01 -4.75088851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88264 meters 0.016886939516468937 Centerline is valid? [True, True] Translation: X:105.09, Y:-8.77, Z:-4.76 [[ 9.81216162e-01 1.90262409e-01 3.18599798e-02 1.05085890e+02] [-1.90171727e-01 9.81733229e-01 -5.88063033e-03 -8.77045354e+00] [-3.23968637e-02 -2.88697867e-04 9.99475042e-01 -4.75542416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94264 meters 0.02935083634902835 Centerline is valid? [True, True] Translation: X:105.15, Y:-8.78, Z:-4.76 [[ 9.81454717e-01 1.88766395e-01 3.33749312e-02 1.05145660e+02] [-1.88666048e-01 9.82021988e-01 -6.15934472e-03 -8.77555272e+00] [-3.39375936e-02 -2.51598445e-04 9.99423922e-01 -4.75735223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00264 meters 0.018284775378591685 Centerline is valid? [True, True] Translation: X:105.20, Y:-8.78, Z:-4.76 [[ 9.81318050e-01 1.89483652e-01 3.33291146e-02 1.05204651e+02] [-1.89384012e-01 9.81883837e-01 -6.15036891e-03 -8.78002428e+00] [-3.38907133e-02 -2.76533395e-04 9.99425507e-01 -4.75929683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06264 meters 0.026994979022961076 Centerline is valid? [True, True] Translation: X:105.26, Y:-8.77, Z:-4.77 [[ 9.80886553e-01 1.91726216e-01 3.32058335e-02 1.05264674e+02] [-1.91628644e-01 9.81448385e-01 -6.12620697e-03 -8.77423682e+00] [-3.37643662e-02 -3.54074802e-04 9.99429759e-01 -4.76668456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12263999999999 meters 0.01993388330016311 Centerline is valid? [True, True] Translation: X:105.32, Y:-8.78, Z:-4.77 [[ 9.80796164e-01 1.92101817e-01 3.37012798e-02 1.05322679e+02] [-1.92001616e-01 9.81374929e-01 -6.21514697e-03 -8.77727685e+00] [-3.42675321e-02 -3.74907880e-04 9.99412625e-01 -4.76710539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18263999999999 meters 0.027136323103734983 Centerline is valid? [True, True] Translation: X:105.38, Y:-8.78, Z:-4.77 [[ 9.80879532e-01 1.91478891e-01 3.48019811e-02 1.05381573e+02] [-1.91371743e-01 9.81496663e-01 -6.41536226e-03 -8.78302113e+00] [-3.53864348e-02 -3.67418253e-04 9.99373636e-01 -4.76831463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24264 meters 0.015930401128330916 Centerline is valid? [True, True] Translation: X:105.44, Y:-8.79, Z:-4.77 [[ 9.81302393e-01 1.89122404e-01 3.57537391e-02 1.05440780e+02] [-1.89007815e-01 9.81953477e-01 -6.58899219e-03 -8.78619877e+00] [-3.63546345e-02 -2.91942307e-04 9.99338909e-01 -4.76749683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30264 meters 0.013072464242965624 Centerline is valid? [True, True] Translation: X:105.50, Y:-8.80, Z:-4.77 [[ 9.82190786e-01 1.84288514e-01 3.65923987e-02 1.05497487e+02] [-1.84165197e-01 9.82872184e-01 -6.74169891e-03 -8.80105103e+00] [-3.72080685e-02 -1.17411776e-04 9.99307533e-01 -4.76986368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36264 meters 0.014131833491414787 Centerline is valid? [True, True] Translation: X:105.55, Y:-8.82, Z:-4.77 [[ 9.83825389e-01 1.75526516e-01 3.57497761e-02 1.05553959e+02] [-1.75403093e-01 9.84474682e-01 -6.58450180e-03 -8.82112016e+00] [-3.63505041e-02 2.07378740e-04 9.99339081e-01 -4.77424684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42264 meters 0.018175409351457686 Centerline is valid? [True, True] Translation: X:105.61, Y:-8.84, Z:-4.78 [[ 9.84789611e-01 1.70397950e-01 3.39699830e-02 1.05611471e+02] [-1.70283494e-01 9.85375257e-01 -6.25575773e-03 -8.83602548e+00] [-3.45391490e-02 3.76077817e-04 9.99403275e-01 -4.78056045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48263999999999 meters 0.02128667457964092 Centerline is valid? [True, True] Translation: X:105.67, Y:-8.85, Z:-4.78 [[ 9.85604155e-01 1.65638192e-01 3.38886412e-02 1.05669555e+02] [-1.65521483e-01 9.86186441e-01 -6.24037080e-03 -8.85157184e+00] [-3.44541622e-02 5.41237241e-04 9.99406133e-01 -4.78327041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54263999999999 meters 0.022077994855891216 Centerline is valid? [True, True] Translation: X:105.73, Y:-8.86, Z:-4.79 [[ 9.85642913e-01 1.65547646e-01 3.31967597e-02 1.05727753e+02] [-1.65435618e-01 9.86201649e-01 -6.11256078e-03 -8.86342411e+00] [-3.37506192e-02 5.32875759e-04 9.99430144e-01 -4.78799509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60264 meters 0.02206698374333552 Centerline is valid? [True, True] Translation: X:105.79, Y:-8.87, Z:-4.79 [[ 9.85567023e-01 1.66012361e-01 3.31291370e-02 1.05786086e+02] [-1.65901065e-01 9.86123537e-01 -6.09970014e-03 -8.87404566e+00] [-3.36820474e-02 5.15504176e-04 9.99432466e-01 -4.79213525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66264 meters 0.02379871134943162 Centerline is valid? [True, True] Translation: X:105.84, Y:-8.89, Z:-4.79 [[ 9.85950801e-01 1.63647949e-01 3.34718680e-02 1.05844547e+02] [-1.63532994e-01 9.86518619e-01 -6.16223765e-03 -8.89104513e+00] [-3.40290586e-02 6.01908338e-04 9.99420663e-01 -4.79450975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72264 meters 0.02399140662935846 Centerline is valid? [True, True] Translation: X:105.90, Y:-8.91, Z:-4.79 [[ 9.86338657e-01 1.61170572e-01 3.40602584e-02 1.05904712e+02] [-1.61050139e-01 9.86926320e-01 -6.26836053e-03 -8.90700649e+00] [-3.46252407e-02 6.97316959e-04 9.99400123e-01 -4.79435161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78264 meters 0.029600570983429473 Centerline is valid? [True, True] Translation: X:105.96, Y:-8.93, Z:-4.80 [[ 9.86783176e-01 1.58220481e-01 3.50034638e-02 1.05961928e+02] [-1.58091133e-01 9.87403458e-01 -6.45021537e-03 -8.93022752e+00] [-3.55830974e-02 8.31226766e-04 9.99366375e-01 -4.79767094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84263999999999 meters 0.030690779942717548 Centerline is valid? [True, True] Translation: X:106.02, Y:-8.95, Z:-4.80 [[ 9.86890243e-01 1.57748210e-01 3.41049924e-02 1.06021021e+02] [-1.57625169e-01 9.87479023e-01 -6.28376299e-03 -8.94964267e+00] [-3.46692170e-02 8.25579204e-04 9.99398501e-01 -4.80263626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90263999999999 meters 0.02698349066122394 Centerline is valid? [True, True] Translation: X:106.08, Y:-8.96, Z:-4.80 [[ 9.86683029e-01 1.59060512e-01 3.40052135e-02 1.06082837e+02] [-1.58938728e-01 9.87268524e-01 -6.27233178e-03 -8.95975971e+00] [-3.45699573e-02 7.84057937e-04 9.99401973e-01 -4.80475806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96264 meters 0.0333077889148922 Centerline is valid? [True, True] Translation: X:106.14, Y:-8.97, Z:-4.81 [[ 9.85962831e-01 1.63318105e-01 3.47057847e-02 1.06142776e+02] [-1.63193793e-01 9.86573248e-01 -6.40409456e-03 -8.97354360e+00] [-3.52857033e-02 6.50430557e-04 9.99377054e-01 -4.80826154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02264 meters 0.020804353771366257 Centerline is valid? [True, True] Translation: X:106.20, Y:-8.98, Z:-4.81 [[ 9.84922510e-01 1.69740213e-01 3.34052239e-02 1.06203892e+02] [-1.69628688e-01 9.85488760e-01 -6.16545946e-03 -8.98068426e+00] [-3.39669991e-02 4.06015500e-04 9.99422873e-01 -4.81196344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08264 meters 0.015523931382640582 Centerline is valid? [True, True] Translation: X:106.27, Y:-8.99, Z:-4.82 [[ 9.84302911e-01 1.73434694e-01 3.26831342e-02 1.06265119e+02] [-1.73329960e-01 9.84845334e-01 -6.03263160e-03 -8.98918281e+00] [-3.32340998e-02 2.72970506e-04 9.99447557e-01 -4.81583568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14264 meters 0.013574928050798343 Centerline is valid? [True, True] Translation: X:106.32, Y:-9.00, Z:-4.82 [[ 9.83515156e-01 1.77503176e-01 3.45044874e-02 1.06323636e+02] [-1.77388862e-01 9.84120217e-01 -6.37105412e-03 -8.99839716e+00] [-3.50874460e-02 1.45316548e-04 9.99384235e-01 -4.81725877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20264 meters 0.012704350110853394 Centerline is valid? [True, True] Translation: X:106.38, Y:-9.01, Z:-4.82 [[ 9.83143346e-01 1.79526498e-01 3.46323210e-02 1.06383624e+02] [-1.79412548e-01 9.83753135e-01 -6.39584055e-03 -9.00829310e+00] [-3.52178773e-02 7.45551291e-05 9.99379655e-01 -4.81879934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26263999999999 meters 0.012250400068497305 Centerline is valid? [True, True] Translation: X:106.44, Y:-9.02, Z:-4.82 [[ 9.82672208e-01 1.82042826e-01 3.48674872e-02 1.06443456e+02] [-1.81928906e-01 9.83290603e-01 -6.43927066e-03 -9.01915519e+00] [-3.54570955e-02 -1.57114765e-05 9.99371199e-01 -4.82151460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32263999999999 meters 0.01275780894848978 Centerline is valid? [True, True] Translation: X:106.50, Y:-9.03, Z:-4.82 [[ 9.82403850e-01 1.83430797e-01 3.51542047e-02 1.06502439e+02] [-1.83315878e-01 9.83032623e-01 -6.49236113e-03 -9.02769912e+00] [-3.57486291e-02 -6.62033322e-05 9.99360811e-01 -4.82481079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38264 meters 0.012726405545562473 Centerline is valid? [True, True] Translation: X:106.56, Y:-9.04, Z:-4.83 [[ 9.82489742e-01 1.83027752e-01 3.48532582e-02 1.06560492e+02] [-1.82914549e-01 9.83107746e-01 -6.43648318e-03 -9.04049254e+00] [-3.54425632e-02 -5.13893342e-05 9.99371714e-01 -4.82825205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44264 meters 0.012538229181944504 Centerline is valid? [True, True] Translation: X:106.62, Y:-9.06, Z:-4.83 [[ 9.82916083e-01 1.80899179e-01 3.39331853e-02 1.06619515e+02] [-1.80790650e-01 9.83501645e-01 -6.26531627e-03 -9.05540551e+00] [-3.45067341e-02 2.34775055e-05 9.99404465e-01 -4.83131052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50264 meters 0.013541297977128074 Centerline is valid? [True, True] Translation: X:106.68, Y:-9.07, Z:-4.84 [[ 9.83440043e-01 1.78104418e-01 3.35335212e-02 1.06678253e+02] [-1.77996858e-01 9.84011586e-01 -6.19001986e-03 -9.07292244e+00] [-3.40998433e-02 1.18651979e-04 9.99418424e-01 -4.83629082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56264 meters 0.014309449729229417 Centerline is valid? [True, True] Translation: X:106.74, Y:-9.09, Z:-4.84 [[ 9.83851931e-01 1.75757405e-01 3.38336071e-02 1.06738006e+02] [-1.75646336e-01 9.84433488e-01 -6.25085643e-03 -9.09044634e+00] [-3.44055701e-02 2.07168053e-04 9.99407932e-01 -4.83657826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62263999999999 meters 0.015221905994904188 Centerline is valid? [True, True] Translation: X:106.80, Y:-9.10, Z:-4.84 [[ 9.84034663e-01 1.74758910e-01 3.36913114e-02 1.06798976e+02] [-1.74647985e-01 9.84611224e-01 -6.23048598e-03 -9.10425015e+00] [-3.42616763e-02 2.46894530e-04 9.99412866e-01 -4.83982438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68263999999999 meters 0.014716123876679692 Centerline is valid? [True, True] Translation: X:106.86, Y:-9.12, Z:-4.84 [[ 9.83950839e-01 1.75165973e-01 3.40239259e-02 1.06859063e+02] [-1.75052883e-01 9.84538889e-01 -6.29795535e-03 -9.11900943e+00] [-3.46010657e-02 2.40892129e-04 9.99401175e-01 -4.84091836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74264 meters 0.01690722293534157 Centerline is valid? [True, True] Translation: X:106.92, Y:-9.13, Z:-4.85 [[ 9.83857133e-01 1.75870066e-01 3.30886927e-02 1.06919671e+02] [-1.75763317e-01 9.84413365e-01 -6.13049125e-03 -9.13376375e+00] [-3.36511213e-02 2.15749142e-04 9.99433617e-01 -4.84542020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80264 meters 0.015441911401000725 Centerline is valid? [True, True] Translation: X:106.98, Y:-9.15, Z:-4.85 [[ 9.83792982e-01 1.76329392e-01 3.25471058e-02 1.06979966e+02] [-1.76226178e-01 9.84331197e-01 -6.03567993e-03 -9.14935678e+00] [-3.31013994e-02 2.02207494e-04 9.99451978e-01 -4.85038753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86264 meters 0.014081643714764341 Centerline is valid? [True, True] Translation: X:107.04, Y:-9.16, Z:-4.85 [[ 9.83355439e-01 1.78885867e-01 3.18108025e-02 1.07041905e+02] [-1.78788426e-01 9.83869825e-01 -5.90477143e-03 -9.16109720e+00] [-3.23539688e-02 1.19085814e-04 9.99476466e-01 -4.85314323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92264 meters 0.013416351227992052 Centerline is valid? [True, True] Translation: X:107.10, Y:-9.17, Z:-4.86 [[ 9.82662854e-01 1.82537011e-01 3.24646702e-02 1.07102660e+02] [-1.82437271e-01 9.83198983e-01 -6.03344667e-03 -9.17065364e+00] [-3.30205581e-02 6.07809385e-06 9.99454673e-01 -4.85515294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98263999999999 meters 0.027769629605461935 Centerline is valid? [True, True] Translation: X:107.16, Y:-9.18, Z:-4.86 [[ 9.81570776e-01 1.88244163e-01 3.29081612e-02 1.07163233e+02] [-1.88144625e-01 9.82122244e-01 -6.12353576e-03 -9.17691429e+00] [-3.34725569e-02 -1.80809884e-04 9.99439621e-01 -4.85864273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04263999999999 meters 0.017092255518374677 Centerline is valid? [True, True] Translation: X:107.22, Y:-9.18, Z:-4.86 [[ 9.80825260e-01 1.92020077e-01 3.33181612e-02 1.07223245e+02] [-1.91920208e-01 9.81390948e-01 -6.20014610e-03 -9.18285849e+00] [-3.38886943e-02 -3.13168508e-04 9.99425564e-01 -4.85828266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10264 meters 0.026446042049386047 Centerline is valid? [True, True] Translation: X:107.28, Y:-9.19, Z:-4.86 [[ 9.80446179e-01 1.93894238e-01 3.36201507e-02 1.07281864e+02] [-1.93793679e-01 9.81022364e-01 -6.25551118e-03 -9.19085860e+00] [-3.41950273e-02 -3.82180685e-04 9.99415106e-01 -4.86265093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16264 meters 0.018447619109162885 Centerline is valid? [True, True] Translation: X:107.35, Y:-9.20, Z:-4.86 [[ 9.80295594e-01 1.93592381e-01 3.92751695e-02 1.07347833e+02] [-1.93757356e-01 9.81049400e-01 4.02117410e-04 -9.20391540e+00] [-3.84530346e-02 -8.00404692e-03 9.99228352e-01 -4.86425297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22264 meters 0.024408011596419532 Centerline is valid? [True, True] Translation: X:107.40, Y:-9.20, Z:-4.87 [[ 9.79483064e-01 1.99201484e-01 3.05236885e-02 1.07401869e+02] [-1.98855766e-01 9.79928732e-01 -1.40023423e-02 -9.19953410e+00] [-3.27003268e-02 7.64524569e-03 9.99435960e-01 -4.86967466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28264 meters 0.021535886675212352 Centerline is valid? [True, True] Translation: X:107.46, Y:-9.22, Z:-4.87 [[ 9.79538386e-01 1.98565157e-01 3.28089788e-02 1.07459053e+02] [-1.98471987e-01 9.80087545e-01 -6.10526237e-03 -9.21565125e+00] [-3.33679638e-02 -5.31324371e-04 9.99442993e-01 -4.86861190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34263999999999 meters 0.032540320025180536 Centerline is valid? [True, True] Translation: X:107.52, Y:-9.23, Z:-4.88 [[ 9.80134646e-01 1.95790204e-01 3.16586726e-02 1.07517278e+02] [-1.95702068e-01 9.80645714e-01 -5.88931699e-03 -9.22780377e+00] [-3.21990122e-02 -4.23344061e-04 9.99481388e-01 -4.87560294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40263999999999 meters 0.01865657490366917 Centerline is valid? [True, True] Translation: X:107.57, Y:-9.24, Z:-4.88 [[ 9.80453853e-01 1.94072753e-01 3.23420643e-02 1.07574662e+02] [-1.93979866e-01 9.80987067e-01 -6.01551554e-03 -9.23958670e+00] [-3.28945944e-02 -3.75773892e-04 9.99458756e-01 -4.87671619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46264 meters 0.016832055249433438 Centerline is valid? [True, True] Translation: X:107.63, Y:-9.25, Z:-4.88 [[ 9.80767054e-01 1.92486807e-01 3.23235886e-02 1.07633128e+02] [-1.92393182e-01 9.81299508e-01 -6.01154596e-03 -9.25254224e+00] [-3.28762649e-02 -3.22911857e-04 9.99459377e-01 -4.87918979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52264 meters 0.022247910614890665 Centerline is valid? [True, True] Translation: X:107.69, Y:-9.26, Z:-4.89 [[ 9.80937606e-01 1.91906647e-01 3.05491785e-02 1.07692518e+02] [-1.91822762e-01 9.81413143e-01 -5.68082959e-03 -9.25887361e+00] [-3.10715542e-02 -2.87488402e-04 9.99517121e-01 -4.88587388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58264 meters 0.017729780387869716 Centerline is valid? [True, True] Translation: X:107.75, Y:-9.27, Z:-4.89 [[ 9.80923179e-01 1.92139761e-01 2.95301452e-02 1.07750979e+02] [-1.92061501e-01 9.81367531e-01 -5.49082902e-03 -9.26634714e+00] [-3.00349323e-02 -2.85522566e-04 9.99548809e-01 -4.89054475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64264 meters 0.017418610548870513 Centerline is valid? [True, True] Translation: X:107.81, Y:-9.28, Z:-4.89 [[ 9.81093780e-01 1.91212112e-01 2.98818098e-02 1.07807980e+02] [-1.91131569e-01 9.81548705e-01 -5.55546506e-03 -9.27506723e+00] [-3.03927239e-02 -2.60924971e-04 9.99538000e-01 -4.89387546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70264 meters 0.01575965508057513 Centerline is valid? [True, True] Translation: X:107.87, Y:-9.29, Z:-4.89 [[ 9.81328782e-01 1.89692636e-01 3.17887699e-02 1.07866333e+02] [-1.89600773e-01 9.81843496e-01 -5.90730353e-03 -9.28662541e+00] [-3.23321689e-02 -2.30168359e-04 9.99477152e-01 -4.89211717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76263999999999 meters 0.01999889356230967 Centerline is valid? [True, True] Translation: X:107.93, Y:-9.30, Z:-4.90 [[ 9.82324950e-01 1.84653909e-01 3.06696307e-02 1.07925242e+02] [-1.84565984e-01 9.82803607e-01 -5.69803638e-03 -9.30270819e+00] [-3.11943883e-02 -6.32472698e-05 9.99513335e-01 -4.89645443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82263999999999 meters 0.027474230442969025 Centerline is valid? [True, True] Translation: X:107.98, Y:-9.32, Z:-4.90 [[ 9.83390762e-01 1.78856504e-01 3.08700562e-02 1.07983332e+02] [-1.78764560e-01 9.83875163e-01 -5.73547521e-03 -9.32275003e+00] [-3.13981087e-02 1.21741309e-04 9.99506950e-01 -4.89984170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88264 meters 0.015589217334051154 Centerline is valid? [True, True] Translation: X:108.04, Y:-9.34, Z:-4.90 [[ 9.83980976e-01 1.75593166e-01 3.07973988e-02 1.08043098e+02] [-1.75500105e-01 9.84462793e-01 -5.72041811e-03 -9.33947682e+00] [-3.13233596e-02 2.23835876e-04 9.99509278e-01 -4.90168265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94264 meters 0.01677301912605548 Centerline is valid? [True, True] Translation: X:108.10, Y:-9.35, Z:-4.91 [[ 9.84189302e-01 1.74497549e-01 3.03648228e-02 1.08102376e+02] [-1.74406394e-01 9.84657574e-01 -5.64554554e-03 -9.35384647e+00] [-3.08840866e-02 2.60466270e-04 9.99522939e-01 -4.90582754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00264 meters 0.016393360232634345 Centerline is valid? [True, True] Translation: X:108.16, Y:-9.36, Z:-4.91 [[ 9.83947227e-01 1.75974753e-01 2.96772763e-02 1.08162721e+02] [-1.75888212e-01 9.84394657e-01 -5.52235860e-03 -9.36475764e+00] [-3.01859479e-02 2.13826374e-04 9.99544278e-01 -4.91061239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06264 meters 0.014593750015715636 Centerline is valid? [True, True] Translation: X:108.22, Y:-9.37, Z:-4.91 [[ 9.83446440e-01 1.78591418e-01 3.06301299e-02 1.08222704e+02] [-1.78500260e-01 9.83923312e-01 -5.70724447e-03 -9.37374361e+00] [-3.11569638e-02 1.45283096e-04 9.99514493e-01 -4.91097476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12263999999999 meters 0.013669525526366454 Centerline is valid? [True, True] Translation: X:108.28, Y:-9.37, Z:-4.91 [[ 9.82198353e-01 1.85224646e-01 3.12765915e-02 1.08283090e+02] [-1.85132946e-01 9.82696202e-01 -5.82806276e-03 -9.37407742e+00] [-3.18148886e-02 -6.60138782e-05 9.99493776e-01 -4.91281745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18263999999999 meters 0.015728327707316955 Centerline is valid? [True, True] Translation: X:108.34, Y:-9.38, Z:-4.91 [[ 9.81296830e-01 1.89846040e-01 3.18592649e-02 1.08341982e+02] [-1.89753337e-01 9.81813848e-01 -5.93618880e-03 -9.37957721e+00] [-3.24068294e-02 -2.20238582e-04 9.99474737e-01 -4.91446906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24264 meters 0.02111997168151369 Centerline is valid? [True, True] Translation: X:108.40, Y:-9.38, Z:-4.92 [[ 9.79966173e-01 1.96651486e-01 3.15355781e-02 1.08402642e+02] [-1.96564235e-01 9.80473354e-01 -5.87402454e-03 -9.37893306e+00] [-3.20749297e-02 -4.42421454e-04 9.99485369e-01 -4.91789244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30264 meters 0.027442434487975873 Centerline is valid? [True, True] Translation: X:108.46, Y:-9.38, Z:-4.92 [[ 9.78644422e-01 2.03016688e-01 3.22384792e-02 1.08462407e+02] [-2.02928971e-01 9.79175051e-01 -6.00430551e-03 -9.38006782e+00] [-3.27860887e-02 -6.66041321e-04 9.99462170e-01 -4.91913231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36264 meters 0.03156826859363392 Centerline is valid? [True, True] Translation: X:108.52, Y:-9.38, Z:-4.92 [[ 9.77790609e-01 2.07244840e-01 3.12266000e-02 1.08523112e+02] [-2.07164743e-01 9.78288793e-01 -5.81439129e-03 -9.38200935e+00] [-3.17536354e-02 -7.83793379e-04 9.99495419e-01 -4.92349581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42264 meters 0.0324512179206343 Centerline is valid? [True, True] Translation: X:108.58, Y:-9.39, Z:-4.93 [[ 9.77608168e-01 2.08134973e-01 3.10177794e-02 1.08581680e+02] [-2.08056386e-01 9.78099781e-01 -5.77569355e-03 -9.39071198e+00] [-3.15406070e-02 -8.07081892e-04 9.99502145e-01 -4.92648856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48263999999999 meters 0.038709556992943296 Centerline is valid? [True, True] Translation: X:108.64, Y:-9.40, Z:-4.93 [[ 9.77378803e-01 2.09234778e-01 3.08461126e-02 1.08640426e+02] [-2.09157653e-01 9.77865074e-01 -5.74222417e-03 -9.39671348e+00] [-3.13648092e-02 -8.39372335e-04 9.99507651e-01 -4.93174009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54263999999999 meters 0.04108079022838994 Centerline is valid? [True, True] Translation: X:108.70, Y:-9.40, Z:-4.93 [[ 9.77527892e-01 2.08136013e-01 3.34457932e-02 1.08699166e+02] [-2.08044756e-01 9.78099503e-01 -6.22434999e-03 -9.39984022e+00] [-3.40088251e-02 -8.73746172e-04 9.99421151e-01 -4.93265667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60264 meters 0.027095020436757596 Centerline is valid? [True, True] Translation: X:108.76, Y:-9.42, Z:-4.94 [[ 9.78768362e-01 2.02506280e-01 3.16812333e-02 1.08757297e+02] [-2.02421512e-01 9.79280752e-01 -5.89403377e-03 -9.41558668e+00] [-3.22184008e-02 -6.44069356e-04 9.99480645e-01 -4.93540125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66264 meters 0.02076364550796599 Centerline is valid? [True, True] Translation: X:108.82, Y:-9.43, Z:-4.94 [[ 9.79943338e-01 1.96893731e-01 3.07231567e-02 1.08815218e+02] [-1.96811265e-01 9.80424734e-01 -5.71544168e-03 -9.43289899e+00] [-3.12470774e-02 -4.45854320e-04 9.99511591e-01 -4.93888212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72264 meters 0.01439753465075395 Centerline is valid? [True, True] Translation: X:108.87, Y:-9.45, Z:-4.94 [[ 9.81752998e-01 1.87760266e-01 3.01186599e-02 1.08872205e+02] [-1.87676714e-01 9.82214874e-01 -5.60283018e-03 -9.45288657e+00] [-3.06349846e-02 -1.51975787e-04 9.99530627e-01 -4.94226590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78264 meters 0.014191170228239519 Centerline is valid? [True, True] Translation: X:108.93, Y:-9.47, Z:-4.95 [[ 9.83338923e-01 1.79272569e-01 3.00983297e-02 1.08928043e+02] [-1.79185165e-01 9.83799438e-01 -5.59847287e-03 -9.47302378e+00] [-3.06143724e-02 1.12022105e-04 9.99531264e-01 -4.94557583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84263999999999 meters 0.016101767619681982 Centerline is valid? [True, True] Translation: X:108.99, Y:-9.49, Z:-4.95 [[ 9.84176936e-01 1.74683922e-01 2.96864499e-02 1.08987097e+02] [-1.74596859e-01 9.84624530e-01 -5.52012061e-03 -9.48823031e+00] [-3.01942831e-02 2.49614499e-04 9.99544018e-01 -4.94703258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90263999999999 meters 0.01918145030835135 Centerline is valid? [True, True] Translation: X:109.04, Y:-9.50, Z:-4.95 [[ 9.84737593e-01 1.71267740e-01 3.09714928e-02 1.09044689e+02] [-1.71171288e-01 9.85224454e-01 -5.75892341e-03 -9.50220271e+00] [-3.15001899e-02 3.69598050e-04 9.99503678e-01 -4.94951817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96264 meters 0.019303983141291094 Centerline is valid? [True, True] Translation: X:109.10, Y:-9.51, Z:-4.95 [[ 9.84889102e-01 1.70155144e-01 3.22596292e-02 1.09104298e+02] [-1.70049889e-01 9.85417195e-01 -5.99890818e-03 -9.51427708e+00] [-3.28099384e-02 4.22512936e-04 9.99461520e-01 -4.94905106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02264 meters 0.019197676269628768 Centerline is valid? [True, True] Translation: X:109.16, Y:-9.53, Z:-4.95 [[ 9.84824415e-01 1.70339485e-01 3.32465375e-02 1.09163571e+02] [-1.70227794e-01 9.85385344e-01 -6.18243083e-03 -9.52566561e+00] [-3.38137629e-02 4.29124075e-04 9.99428059e-01 -4.95005804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08264 meters 0.024967557212063462 Centerline is valid? [True, True] Translation: X:109.22, Y:-9.54, Z:-4.96 [[ 9.84569847e-01 1.72113571e-01 3.16090895e-02 1.09221743e+02] [-1.72013533e-01 9.85077051e-01 -5.87776521e-03 -9.53628339e+00] [-3.21490319e-02 3.49879211e-04 9.99483025e-01 -4.95849329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14264 meters 0.017473246630270486 Centerline is valid? [True, True] Translation: X:109.28, Y:-9.55, Z:-4.96 [[ 9.84258230e-01 1.74075034e-01 3.05551673e-02 1.09281736e+02] [-1.73982486e-01 9.84732352e-01 -5.68230655e-03 -9.54645167e+00] [-3.10778095e-02 2.76793004e-04 9.99516930e-01 -4.96134751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20264 meters 0.014706436027552176 Centerline is valid? [True, True] Translation: X:109.34, Y:-9.55, Z:-4.96 [[ 9.83421987e-01 1.78547546e-01 3.16538894e-02 1.09340908e+02] [-1.78450524e-01 9.83931275e-01 -5.88698457e-03 -9.55163827e+00] [-3.21963584e-02 1.40736922e-04 9.99481553e-01 -4.96168217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26263999999999 meters 0.013696773785733134 Centerline is valid? [True, True] Translation: X:109.40, Y:-9.56, Z:-4.96 [[ 9.82437600e-01 1.83936906e-01 3.13620418e-02 1.09399574e+02] [-1.83844419e-01 9.82938052e-01 -5.83234198e-03 -9.55568666e+00] [-3.18997272e-02 -3.58242912e-05 9.99491074e-01 -4.96447966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32263999999999 meters 0.013910942089915002 Centerline is valid? [True, True] Translation: X:109.46, Y:-9.56, Z:-4.97 [[ 9.81896362e-01 1.86767563e-01 3.15818216e-02 1.09458386e+02] [-1.86675287e-01 9.82404123e-01 -5.87167184e-03 -9.56260241e+00] [-3.21227495e-02 -1.30172398e-04 9.99483923e-01 -4.96592360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38264 meters 0.014521601864935856 Centerline is valid? [True, True] Translation: X:109.52, Y:-9.57, Z:-4.97 [[ 9.81765760e-01 1.87482743e-01 3.14040530e-02 1.09515347e+02] [-1.87391914e-01 9.82267885e-01 -5.83721318e-03 -9.57220193e+00] [-3.19415694e-02 -1.54089583e-04 9.99489726e-01 -4.96938685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44264 meters 0.01405879804893505 Centerline is valid? [True, True] Translation: X:109.57, Y:-9.59, Z:-4.97 [[ 9.82372626e-01 1.84405297e-01 3.06383815e-02 1.09570988e+02] [-1.84317405e-01 9.82850285e-01 -5.69302901e-03 -9.58972095e+00] [-3.11627667e-02 -5.45111287e-05 9.99514322e-01 -4.97447326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50264 meters 0.014389953196591348 Centerline is valid? [True, True] Translation: X:109.63, Y:-9.61, Z:-4.98 [[ 9.82933752e-01 1.81500370e-01 2.99809124e-02 1.09628018e+02] [-1.81414926e-01 9.83390876e-01 -5.56865047e-03 -9.60545559e+00] [-3.04936678e-02 3.46294862e-05 9.99534959e-01 -4.97861023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56264 meters 0.0156743004485845 Centerline is valid? [True, True] Translation: X:109.68, Y:-9.63, Z:-4.98 [[ 9.83625369e-01 1.77753958e-01 2.97433000e-02 1.09684768e+02] [-1.77668189e-01 9.84074951e-01 -5.52323483e-03 -9.62586464e+00] [-3.02514133e-02 1.48355657e-04 9.99542310e-01 -4.98220238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62263999999999 meters 0.027052434041684656 Centerline is valid? [True, True] Translation: X:109.74, Y:-9.64, Z:-4.98 [[ 9.83954895e-01 1.75856675e-01 3.01196745e-02 1.09743828e+02] [-1.75767867e-01 9.84415759e-01 -5.59199748e-03 -9.64137792e+00] [-3.06336723e-02 2.08202343e-04 9.99530657e-01 -4.98440361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68263999999999 meters 0.015479073354629126 Centerline is valid? [True, True] Translation: X:109.80, Y:-9.66, Z:-4.98 [[ 9.83904815e-01 1.76197002e-01 2.97645989e-02 1.09803424e+02] [-1.76110445e-01 9.84354905e-01 -5.52565343e-03 -9.65638116e+00] [-3.02725325e-02 1.94860270e-04 9.99541663e-01 -4.98382942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74264 meters 0.026414828071448297 Centerline is valid? [True, True] Translation: X:109.86, Y:-9.66, Z:-4.99 [[ 9.83426914e-01 1.78726726e-01 3.04673916e-02 1.09863526e+02] [-1.78637207e-01 9.83898746e-01 -5.65733117e-03 -9.66369998e+00] [-3.09879447e-02 1.20962007e-04 9.99519751e-01 -4.98730270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80264 meters 0.014231684162864355 Centerline is valid? [True, True] Translation: X:109.92, Y:-9.67, Z:-4.99 [[ 9.82965329e-01 1.81273276e-01 3.03176592e-02 1.09922530e+02] [-1.81185840e-01 9.83432762e-01 -5.62972980e-03 -9.67292236e+00] [-3.08358989e-02 4.06986787e-05 9.99524460e-01 -4.98972039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86264 meters 0.013704084757131155 Centerline is valid? [True, True] Translation: X:109.98, Y:-9.68, Z:-4.99 [[ 9.82595319e-01 1.83250368e-01 3.04260179e-02 1.09980991e+02] [-1.83163258e-01 9.83066276e-01 -5.64966720e-03 -9.68320963e+00] [-3.09460957e-02 -2.15920302e-05 9.99521055e-01 -4.99034050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92264 meters 0.014235452662607959 Centerline is valid? [True, True] Translation: X:110.04, Y:-9.69, Z:-4.99 [[ 9.82033687e-01 1.86177124e-01 3.07882395e-02 1.10040135e+02] [-1.86089389e-01 9.82516191e-01 -5.71612714e-03 -9.69111034e+00] [-3.13141559e-02 -1.15935262e-04 9.99509585e-01 -4.99262477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98263999999999 meters 0.0176053985584735 Centerline is valid? [True, True] Translation: X:110.10, Y:-9.69, Z:-5.00 [[ 9.81072805e-01 1.91294970e-01 3.00397428e-02 1.10098541e+02] [-1.91213844e-01 9.81532557e-01 -5.57721432e-03 -9.69046451e+00] [-3.05518786e-02 -2.72361400e-04 9.99533145e-01 -4.99751073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04263999999999 meters 0.019990756689803584 Centerline is valid? [True, True] Translation: X:110.16, Y:-9.69, Z:-5.00 [[ 9.80063709e-01 1.96172237e-01 3.14893689e-02 1.10155423e+02] [-1.95873802e-01 9.80551618e-01 -1.23279440e-02 -9.69143999e+00] [-3.32953520e-02 5.91422811e-03 9.99428057e-01 -4.99934790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10264 meters 0.025670535592080098 Centerline is valid? [True, True] Translation: X:110.22, Y:-9.70, Z:-5.00 [[ 9.79938887e-01 1.96902924e-01 3.08061135e-02 1.10215458e+02] [-1.96982079e-01 9.80406975e-01 -4.73929439e-04 -9.70343211e+00] [-3.02958466e-02 -5.60383041e-03 9.99525267e-01 -5.00242104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16264 meters 0.02979375245421423 Centerline is valid? [True, True] Translation: X:110.27, Y:-9.70, Z:-5.01 [[ 9.79823445e-01 1.97622073e-01 2.98585389e-02 1.10273733e+02] [-1.97544782e-01 9.80278175e-01 -5.54604507e-03 -9.70411080e+00] [-3.03656949e-02 -4.64253562e-04 9.99538748e-01 -5.00825620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22264 meters 0.02299570059947252 Centerline is valid? [True, True] Translation: X:110.33, Y:-9.71, Z:-5.01 [[ 9.80047490e-01 1.96635431e-01 2.90073312e-02 1.10330854e+02] [-1.96562095e-01 9.80476582e-01 -5.38651087e-03 -9.71077881e+00] [-2.95001878e-02 -4.22705315e-04 9.99564685e-01 -5.01043776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28264 meters 0.019955289104627332 Centerline is valid? [True, True] Translation: X:110.39, Y:-9.72, Z:-5.01 [[ 9.80039924e-01 1.95847485e-01 3.41395782e-02 1.10386657e+02] [-1.95936719e-01 9.80616259e-01 -7.44593758e-04 -9.72353511e+00] [-3.36236522e-02 -5.95946534e-03 9.99416797e-01 -5.01245579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34263999999999 meters 0.02017487240953798 Centerline is valid? [True, True] Translation: X:110.45, Y:-9.73, Z:-5.01 [[ 9.80438290e-01 1.95013042e-01 2.66584606e-02 1.10448916e+02] [-1.94799379e-01 9.80787812e-01 -1.04148826e-02 -9.72684805e+00] [-2.81773311e-02 5.01809807e-03 9.99590344e-01 -5.01489648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40263999999999 meters 0.02132089105112425 Centerline is valid? [True, True] Translation: X:110.51, Y:-9.73, Z:-5.02 [[ 9.80926224e-01 1.92551198e-01 2.66041340e-02 1.10505792e+02] [-1.92488091e-01 9.81286889e-01 -4.93721686e-03 -9.73376574e+00] [-2.70569550e-02 -2.77933470e-04 9.99633855e-01 -5.02399473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46264 meters 0.016290318691593426 Centerline is valid? [True, True] Translation: X:110.56, Y:-9.75, Z:-5.02 [[ 9.81817764e-01 1.87998422e-01 2.62768228e-02 1.10563418e+02] [-1.87935297e-01 9.82169318e-01 -4.87383834e-03 -9.74933763e+00] [-2.67245630e-02 -1.53121431e-04 9.99642823e-01 -5.02148038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52264 meters 0.01524512179235455 Centerline is valid? [True, True] Translation: X:110.62, Y:-9.77, Z:-5.02 [[ 9.82667022e-01 1.83289864e-01 2.77551610e-02 1.10619767e+02] [-1.83217582e-01 9.83058912e-01 -5.14708424e-03 -9.76526537e+00] [-2.82283667e-02 -2.73635430e-05 9.99601500e-01 -5.02420447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58264 meters 0.016167236771946588 Centerline is valid? [True, True] Translation: X:110.68, Y:-9.79, Z:-5.02 [[ 9.84111525e-01 1.75265031e-01 2.84020373e-02 1.10675812e+02] [-1.75186037e-01 9.84521268e-01 -5.26552958e-03 -9.78578530e+00] [-2.88852730e-02 2.06227971e-04 9.99582712e-01 -5.02197222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64264 meters 0.018212576242651338 Centerline is valid? [True, True] Translation: X:110.73, Y:-9.80, Z:-5.02 [[ 9.84723508e-01 1.71859788e-01 2.79968751e-02 1.10733192e+02] [-1.71781703e-01 9.85121375e-01 -5.18877513e-03 -9.80090525e+00] [-2.84720619e-02 3.00157955e-04 9.99594544e-01 -5.02481052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70264 meters 0.019764772682715103 Centerline is valid? [True, True] Translation: X:110.79, Y:-9.82, Z:-5.03 [[ 9.85049108e-01 1.70008662e-01 2.78443702e-02 1.10790508e+02] [-1.69930722e-01 9.85442506e-01 -5.15921146e-03 -9.81721395e+00] [-2.83161366e-02 3.50462705e-04 9.99598956e-01 -5.02783124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76263999999999 meters 0.018859373389076787 Centerline is valid? [True, True] Translation: X:110.85, Y:-9.83, Z:-5.03 [[ 9.84880085e-01 1.70743919e-01 2.92870637e-02 1.10849169e+02] [-1.70658040e-01 9.85315378e-01 -5.42572015e-03 -9.82989464e+00] [-2.97834030e-02 3.45610820e-04 9.99556316e-01 -5.02764445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82263999999999 meters 0.017725689677156584 Centerline is valid? [True, True] Translation: X:110.91, Y:-9.84, Z:-5.03 [[ 9.84642867e-01 1.72207537e-01 2.86877694e-02 1.10908200e+02] [-1.72125779e-01 9.85060647e-01 -5.31399468e-03 -9.84043954e+00] [-2.91743026e-02 2.94482292e-04 9.99574296e-01 -5.03067691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88264 meters 0.016457154929299386 Centerline is valid? [True, True] Translation: X:110.97, Y:-9.85, Z:-5.04 [[ 9.84042777e-01 1.75673406e-01 2.82607225e-02 1.10965642e+02] [-1.75595507e-01 9.84448485e-01 -5.23440468e-03 -9.85009740e+00] [-2.87407712e-02 1.88422216e-04 9.99586881e-01 -5.03542161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94264 meters 0.014838624069248465 Centerline is valid? [True, True] Translation: X:111.02, Y:-9.86, Z:-5.04 [[ 9.83101160e-01 1.80879838e-01 2.81885415e-02 1.11024681e+02] [-1.80804505e-01 9.83505202e-01 -5.21996364e-03 -9.85700955e+00] [-2.86677634e-02 3.51370012e-05 9.99588995e-01 -5.03724216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00264 meters 0.015134268687748547 Centerline is valid? [True, True] Translation: X:111.08, Y:-9.86, Z:-5.04 [[ 9.82474624e-01 1.84327922e-01 2.76916962e-02 1.11083273e+02] [-1.84256613e-01 9.82864799e-01 -5.12716779e-03 -9.86391008e+00] [-2.81622736e-02 -6.50659026e-05 9.99603362e-01 -5.04093615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06264 meters 0.01558421131933629 Centerline is valid? [True, True] Translation: X:111.14, Y:-9.87, Z:-5.04 [[ 9.81869341e-01 1.87341785e-01 2.89076542e-02 1.11142059e+02] [-1.87265412e-01 9.82294778e-01 -5.35120156e-03 -9.87236549e+00] [-2.93983414e-02 -1.59223026e-04 9.99567763e-01 -5.04165162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12263999999999 meters 0.0162391529377117 Centerline is valid? [True, True] Translation: X:111.20, Y:-9.88, Z:-5.04 [[ 9.81535713e-01 1.88826311e-01 3.05330653e-02 1.11199159e+02] [-1.88741913e-01 9.82010477e-01 -5.64919434e-03 -9.88242454e+00] [-3.10505065e-02 -2.17983153e-04 9.99517793e-01 -5.04236741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18263999999999 meters 0.017838224566790007 Centerline is valid? [True, True] Translation: X:111.26, Y:-9.89, Z:-5.05 [[ 9.81264465e-01 1.90313898e-01 3.00111583e-02 1.11256347e+02] [-1.90233115e-01 9.81723256e-01 -5.55072626e-03 -9.88852800e+00] [-3.05190324e-02 -2.62385684e-04 9.99534151e-01 -5.04661904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24264 meters 0.024137509303948618 Centerline is valid? [True, True] Translation: X:111.31, Y:-9.90, Z:-5.05 [[ 9.80640647e-01 1.93602658e-01 2.93586731e-02 1.11314768e+02] [-1.93526881e-01 9.81079957e-01 -5.42809102e-03 -9.89587800e+00] [-2.98540985e-02 -3.58685726e-04 9.99554203e-01 -5.05084057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30264 meters 0.022304790363897393 Centerline is valid? [True, True] Translation: X:111.37, Y:-9.90, Z:-5.05 [[ 9.79969336e-01 1.97006032e-01 2.91328771e-02 1.11373641e+02] [-1.96932963e-01 9.80402168e-01 -5.38484365e-03 -9.89924136e+00] [-2.96227825e-02 -4.60242138e-04 9.99561043e-01 -5.05267757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36264 meters 0.025799990006316043 Centerline is valid? [True, True] Translation: X:111.43, Y:-9.90, Z:-5.06 [[ 9.79543780e-01 1.99286827e-01 2.79059937e-02 1.11432647e+02] [-1.99220754e-01 9.79941071e-01 -5.15648548e-03 -9.90153830e+00] [-2.83738489e-02 -5.08449815e-04 9.99597252e-01 -5.05960720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42264 meters 0.021257153084401587 Centerline is valid? [True, True] Translation: X:111.49, Y:-9.92, Z:-5.06 [[ 9.80283026e-01 1.95438728e-01 2.91357693e-02 1.11490897e+02] [-1.95365049e-01 9.80715826e-01 -5.38211109e-03 -9.91850364e+00] [-2.96257830e-02 -4.16118868e-04 9.99560974e-01 -5.05879656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48263999999999 meters 0.030079616217984273 Centerline is valid? [True, True] Translation: X:111.55, Y:-9.93, Z:-5.06 [[ 9.81081772e-01 1.91262777e-01 2.99517522e-02 1.11548280e+02] [-1.91182965e-01 9.81538823e-01 -5.53286241e-03 -9.93308351e+00] [-3.04570382e-02 -2.98074318e-04 9.99536032e-01 -5.06291874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54263999999999 meters 0.02175992806408415 Centerline is valid? [True, True] Translation: X:111.61, Y:-9.95, Z:-5.07 [[ 9.81618505e-01 1.88569302e-01 2.94402551e-02 1.11605209e+02] [-1.88491008e-01 9.82059863e-01 -5.43747984e-03 -9.94819785e+00] [-2.99374347e-02 -2.11692535e-04 9.99551752e-01 -5.06584233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60264 meters 0.01890272513742838 Centerline is valid? [True, True] Translation: X:111.66, Y:-9.95, Z:-5.07 [[ 9.81142437e-01 1.91069380e-01 2.91892010e-02 1.11663106e+02] [-1.90993560e-01 9.81576492e-01 -5.38983687e-03 -9.95363098e+00] [-2.96812663e-02 -2.86751717e-04 9.99559373e-01 -5.06833115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66264 meters 0.02140814709765531 Centerline is valid? [True, True] Translation: X:111.72, Y:-9.96, Z:-5.07 [[ 9.80412248e-01 1.94772134e-01 2.92513250e-02 1.11722388e+02] [-1.94697699e-01 9.80848436e-01 -5.39923068e-03 -9.95683188e+00] [-2.97427360e-02 -4.01693769e-04 9.99557506e-01 -5.06972921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72264 meters 0.025581985721890868 Centerline is valid? [True, True] Translation: X:111.78, Y:-9.96, Z:-5.07 [[ 9.79275751e-01 2.00400922e-01 2.92997152e-02 1.11783255e+02] [-2.00328812e-01 9.79713805e-01 -5.40627983e-03 -9.95506651e+00] [-2.97887589e-02 -5.75338392e-04 9.99556051e-01 -5.07152469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78264 meters 0.027358287351734283 Centerline is valid? [True, True] Translation: X:111.84, Y:-9.96, Z:-5.08 [[ 9.78887049e-01 2.02523268e-01 2.76490859e-02 1.11842107e+02] [-2.02459918e-01 9.79277264e-01 -5.10107276e-03 -9.96302705e+00] [-2.81092071e-02 -6.04457609e-04 9.99604675e-01 -5.07605699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84263999999999 meters 0.03136044241539582 Centerline is valid? [True, True] Translation: X:111.90, Y:-9.96, Z:-5.08 [[ 9.78719412e-01 2.03316932e-01 2.77585591e-02 1.11900717e+02] [-2.03253399e-01 9.79112776e-01 -5.12124265e-03 -9.96140821e+00] [-2.82199952e-02 -6.29761891e-04 9.99601538e-01 -5.08202654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90263999999999 meters 0.03235907753540896 Centerline is valid? [True, True] Translation: X:111.96, Y:-9.97, Z:-5.08 [[ 9.79066691e-01 2.01578634e-01 2.81863098e-02 1.11957940e+02] [-2.01512467e-01 9.79472156e-01 -5.19809705e-03 -9.97392421e+00] [-2.86555310e-02 -5.90609158e-04 9.99589171e-01 -5.08454433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96264 meters 0.02436964082197915 Centerline is valid? [True, True] Translation: X:112.02, Y:-9.99, Z:-5.09 [[ 9.80076886e-01 1.96604486e-01 2.82130190e-02 1.12015139e+02] [-1.96536184e-01 9.80482777e-01 -5.20120015e-03 -9.98626403e+00] [-2.86849585e-02 -4.47303032e-04 9.99588402e-01 -5.08815496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02264 meters 0.030140329093368882 Centerline is valid? [True, True] Translation: X:112.07, Y:-10.00, Z:-5.09 [[ 9.81267690e-01 1.90279306e-01 3.01248558e-02 1.12073221e+02] [-1.90198485e-01 9.81729956e-01 -5.55243248e-03 -1.00037233e+01] [-3.06309863e-02 -2.81279343e-04 9.99530722e-01 -5.09111265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08264 meters 0.016665448007558138 Centerline is valid? [True, True] Translation: X:112.13, Y:-10.02, Z:-5.09 [[ 9.82100172e-01 1.86280352e-01 2.79084549e-02 1.12130667e+02] [-1.86209363e-01 9.82496621e-01 -5.14428842e-03 -1.00184875e+01] [-2.83782425e-02 -1.44609059e-04 9.99597246e-01 -5.09476427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14264 meters 0.015859484672731815 Centerline is valid? [True, True] Translation: X:112.19, Y:-10.03, Z:-5.10 [[ 9.82383734e-01 1.84839868e-01 2.75031453e-02 1.12187658e+02] [-1.84770384e-01 9.82768647e-01 -5.06875743e-03 -1.00298247e+01] [-2.79661373e-02 -1.02301869e-04 9.99608866e-01 -5.09679807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20263999999999 meters 0.02795534839009668 Centerline is valid? [True, True] Translation: X:112.25, Y:-10.04, Z:-5.10 [[ 9.82542988e-01 1.83860555e-01 2.83649862e-02 1.12245090e+02] [-1.83786317e-01 9.82952333e-01 -5.22490303e-03 -1.00404235e+01] [-2.88420830e-02 -7.94045330e-05 9.99583977e-01 -5.10117307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26263999999999 meters 0.016106951093562135 Centerline is valid? [True, True] Translation: X:112.30, Y:-10.05, Z:-5.11 [[ 9.82792747e-01 1.82572372e-01 2.80311375e-02 1.12301679e+02] [-1.82499382e-01 9.83192416e-01 -5.16222473e-03 -1.00525760e+01] [-2.85024815e-02 -4.22682424e-05 9.99593721e-01 -5.10574211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32263999999999 meters 0.015107743255256986 Centerline is valid? [True, True] Translation: X:112.36, Y:-10.06, Z:-5.11 [[ 9.82892890e-01 1.82064102e-01 2.78249697e-02 1.12359354e+02] [-1.81992034e-01 9.83286663e-01 -5.12229043e-03 -1.00639892e+01] [-2.82925068e-02 -2.92599697e-05 9.99599686e-01 -5.10502541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38264 meters 0.014523090470585429 Centerline is valid? [True, True] Translation: X:112.42, Y:-10.07, Z:-5.11 [[ 9.82829605e-01 1.82122406e-01 2.96208713e-02 1.12417668e+02] [-1.82040808e-01 9.83275866e-01 -5.45124684e-03 -1.00742583e+01] [-3.01182821e-02 -3.45605616e-05 9.99546341e-01 -5.10530992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44264 meters 0.014384176954700416 Centerline is valid? [True, True] Translation: X:112.47, Y:-10.09, Z:-5.11 [[ 9.83010347e-01 1.80928776e-01 3.09101145e-02 1.12473881e+02] [-1.80839374e-01 9.83496201e-01 -5.68707740e-03 -1.00883321e+01] [-3.14289362e-02 6.90180751e-07 9.99505989e-01 -5.10788871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50264 meters 0.02866483314750033 Centerline is valid? [True, True] Translation: X:112.53, Y:-10.10, Z:-5.11 [[ 9.83176233e-01 1.80016456e-01 3.09607952e-02 1.12531143e+02] [-1.79926380e-01 9.83663598e-01 -5.69412017e-03 -1.01008502e+01] [-3.14800426e-02 2.76598032e-05 9.99504380e-01 -5.11363237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56264 meters 0.015025924622392581 Centerline is valid? [True, True] Translation: X:112.59, Y:-10.11, Z:-5.12 [[ 9.82732972e-01 1.82646858e-01 2.95978137e-02 1.12589163e+02] [-1.82565773e-01 9.83178581e-01 -5.44209669e-03 -1.01102327e+01] [-3.00939184e-02 -5.54198757e-05 9.99547074e-01 -5.11569942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62263999999999 meters 0.01557216191023729 Centerline is valid? [True, True] Translation: X:112.65, Y:-10.12, Z:-5.12 [[ 9.82357698e-01 1.84682043e-01 2.94261032e-02 1.12647495e+02] [-1.84602851e-01 9.82798315e-01 -5.40910866e-03 -1.01183690e+01] [-2.99188899e-02 -1.18463023e-04 9.99552323e-01 -5.11851791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68263999999999 meters 0.014870260284066598 Centerline is valid? [True, True] Translation: X:112.71, Y:-10.13, Z:-5.12 [[ 9.82019230e-01 1.86080609e-01 3.18157148e-02 1.12705650e+02] [-1.85988819e-01 9.82534466e-01 -5.84663552e-03 -1.01272626e+01] [-3.23479818e-02 -1.75858704e-04 9.99476652e-01 -5.11628143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74264 meters 0.015332876530128067 Centerline is valid? [True, True] Translation: X:112.76, Y:-10.14, Z:-5.12 [[ 9.82154476e-01 1.85402803e-01 3.15972544e-02 1.12762447e+02] [-1.85311965e-01 9.82662596e-01 -5.80503636e-03 -1.01391983e+01] [-3.21257100e-02 -1.53906872e-04 9.99483824e-01 -5.12191452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80264 meters 0.014756909510346163 Centerline is valid? [True, True] Translation: X:112.82, Y:-10.16, Z:-5.13 [[ 9.82740786e-01 1.82445511e-01 3.05644042e-02 1.12819280e+02] [-1.82359152e-01 9.83215964e-01 -5.61316375e-03 -1.01560142e+01] [-3.10755066e-02 -5.74138616e-05 9.99517038e-01 -5.12733728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86264 meters 0.014418593751629698 Centerline is valid? [True, True] Translation: X:112.88, Y:-10.18, Z:-5.13 [[ 9.83461498e-01 1.78638841e-01 2.98604553e-02 1.12875114e+02] [-1.78554701e-01 9.83914712e-01 -5.48250437e-03 -1.01750878e+01] [-3.03595295e-02 6.01073108e-05 9.99539041e-01 -5.13004458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92264 meters 0.014743210908122795 Centerline is valid? [True, True] Translation: X:112.93, Y:-10.19, Z:-5.13 [[ 9.83827234e-01 1.76525297e-01 3.03775196e-02 1.12932271e+02] [-1.76437259e-01 9.84296095e-01 -5.57585312e-03 -1.01905176e+01] [-3.08847531e-02 1.25949860e-04 9.99522944e-01 -5.13104516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98263999999999 meters 0.015131736632907518 Centerline is valid? [True, True] Translation: X:112.99, Y:-10.20, Z:-5.13 [[ 9.84039697e-01 1.75314680e-01 3.05063680e-02 1.12989845e+02] [-1.75225360e-01 9.84512436e-01 -5.59793610e-03 -1.02037882e+01] [-3.10152991e-02 1.63102030e-04 9.99518897e-01 -5.13447249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04263999999999 meters 0.022968167724699704 Centerline is valid? [True, True] Translation: X:113.05, Y:-10.22, Z:-5.14 [[ 9.84301781e-01 1.73931023e-01 2.99666851e-02 1.13047900e+02] [-1.73844252e-01 9.84757817e-01 -5.49702443e-03 -1.02181524e+01] [-3.04660305e-02 2.01194985e-04 9.99535783e-01 -5.14029879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10264 meters 0.022525135826640206 Centerline is valid? [True, True] Translation: X:113.10, Y:-10.24, Z:-5.15 [[ 9.84543149e-01 1.72506192e-01 3.02721122e-02 1.13103876e+02] [-1.72416987e-01 9.85008402e-01 -5.55245624e-03 -1.02369922e+01] [-3.07761180e-02 2.47206371e-04 9.99526273e-01 -5.14503635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16264 meters 0.022094663520212172 Centerline is valid? [True, True] Translation: X:113.16, Y:-10.25, Z:-5.15 [[ 9.84668997e-01 1.71942451e-01 2.93727697e-02 1.13163019e+02] [-1.71858270e-01 9.85106963e-01 -5.38579398e-03 -1.02508269e+01] [-2.98613666e-02 2.55270980e-04 9.99554017e-01 -5.14684478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22264 meters 0.016241710589473865 Centerline is valid? [True, True] Translation: X:113.22, Y:-10.27, Z:-5.15 [[ 9.84222027e-01 1.74288484e-01 3.05045283e-02 1.13219740e+02] [-1.74198797e-01 9.84694616e-01 -5.59390523e-03 -1.02660372e+01] [-3.10125981e-02 1.91792610e-04 9.99518975e-01 -5.15002376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28264 meters 0.014339220103077506 Centerline is valid? [True, True] Translation: X:113.28, Y:-10.28, Z:-5.15 [[ 9.83553967e-01 1.77882656e-01 3.12946443e-02 1.13278600e+02] [-1.77790124e-01 9.84051703e-01 -5.73735917e-03 -1.02769796e+01] [-3.18161247e-02 7.91236813e-05 9.99493736e-01 -5.15053056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34263999999999 meters 0.013572789884555084 Centerline is valid? [True, True] Translation: X:113.34, Y:-10.29, Z:-5.15 [[ 9.83296289e-01 1.79174761e-01 3.20126858e-02 1.13336787e+02] [-1.79078644e-01 9.83817261e-01 -5.86820835e-03 -1.02898178e+01] [-3.25460677e-02 3.73991386e-05 9.99470236e-01 -5.15130068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40263999999999 meters 0.023405650135796364 Centerline is valid? [True, True] Translation: X:113.39, Y:-10.31, Z:-5.16 [[ 9.83137627e-01 1.80295435e-01 3.05607945e-02 1.13394754e+02] [-1.80208416e-01 9.83612503e-01 -5.60095116e-03 -1.03055553e+01] [-3.10698055e-02 -8.06518636e-07 9.99517217e-01 -5.15797206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46264 meters 0.014097208982926546 Centerline is valid? [True, True] Translation: X:113.45, Y:-10.32, Z:-5.16 [[ 9.82608222e-01 1.83092425e-01 3.09555480e-02 1.13453348e+02] [-1.83004517e-01 9.83095700e-01 -5.67368720e-03 -1.03172020e+01] [-3.14710752e-02 -8.99934202e-05 9.99504659e-01 -5.15882946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52264 meters 0.015304239748127217 Centerline is valid? [True, True] Translation: X:113.51, Y:-10.33, Z:-5.16 [[ 9.81978561e-01 1.86393270e-01 3.12354742e-02 1.13512168e+02] [-1.86305459e-01 9.82475195e-01 -5.72417757e-03 -1.03261577e+01] [-3.17550268e-02 -1.98319711e-04 9.99495662e-01 -5.16100548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58264 meters 0.020607427944659362 Centerline is valid? [True, True] Translation: X:113.57, Y:-10.33, Z:-5.16 [[ 9.80690369e-01 1.92834776e-01 3.25752942e-02 1.13570506e+02] [-1.92742829e-01 9.81231150e-01 -5.96933838e-03 -1.03264944e+01] [-3.31149894e-02 -4.24581695e-04 9.99451458e-01 -5.16369275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64264 meters 0.022015223861791732 Centerline is valid? [True, True] Translation: X:113.63, Y:-10.33, Z:-5.16 [[ 9.79887126e-01 1.96666020e-01 3.38185783e-02 1.13628859e+02] [-1.96569275e-01 9.80470368e-01 -6.19492614e-03 -1.03324153e+01] [-3.43764454e-02 -5.77365046e-04 9.99408789e-01 -5.16194013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70263999999999 meters 0.03218654136968792 Centerline is valid? [True, True] Translation: X:113.69, Y:-10.34, Z:-5.17 [[ 9.79248387e-01 1.99712997e-01 3.44574390e-02 1.13687274e+02] [-1.99614530e-01 9.79854188e-01 -6.30953255e-03 -1.03386077e+01] [-3.50233616e-02 -6.99605920e-04 9.99386249e-01 -5.16581612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76263999999999 meters 0.02383928438745378 Centerline is valid? [True, True] Translation: X:113.74, Y:-10.35, Z:-5.17 [[ 9.79497549e-01 1.98480682e-01 3.44959474e-02 1.13744733e+02] [-1.98381293e-01 9.80104579e-01 -6.31481451e-03 -1.03489341e+01] [-3.50630047e-02 -6.58005306e-04 9.99384887e-01 -5.16786957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82263999999999 meters 0.019804091981068805 Centerline is valid? [True, True] Translation: X:113.80, Y:-10.36, Z:-5.17 [[ 9.80431722e-01 1.93701653e-01 3.51184885e-02 1.13802954e+02] [-1.93595656e-01 9.81060356e-01 -6.42652764e-03 -1.03645980e+01] [-3.56981859e-02 -4.98015278e-04 9.99362493e-01 -5.16982397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88264 meters 0.02044050319218578 Centerline is valid? [True, True] Translation: X:113.86, Y:-10.38, Z:-5.18 [[ 9.81392303e-01 1.89111799e-01 3.32546948e-02 1.13860973e+02] [-1.89014129e-01 9.81955513e-01 -6.08523831e-03 -1.03800151e+01] [-3.38054213e-02 -3.13601125e-04 9.99428384e-01 -5.17567238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94264 meters 0.015459267202582653 Centerline is valid? [True, True] Translation: X:113.92, Y:-10.39, Z:-5.18 [[ 9.81732999e-01 1.87304089e-01 3.34289939e-02 1.13919165e+02] [-1.87204373e-01 9.82301946e-01 -6.11627370e-03 -1.03936428e+01] [-3.39829689e-02 -2.53506131e-04 9.99422380e-01 -5.17778561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00264 meters 0.014982918689729802 Centerline is valid? [True, True] Translation: X:113.98, Y:-10.41, Z:-5.18 [[ 9.82023556e-01 1.85883541e-01 3.28183570e-02 1.13975987e+02] [-1.85786669e-01 9.82571763e-01 -6.00372611e-03 -1.04058267e+01] [-3.33623847e-02 -2.01412771e-04 9.99443300e-01 -5.18165419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06264 meters 0.019606655105882387 Centerline is valid? [True, True] Translation: X:114.03, Y:-10.42, Z:-5.19 [[ 9.82249797e-01 1.85106660e-01 3.03456851e-02 1.14033894e+02] [-1.85023490e-01 9.82718422e-01 -5.55070773e-03 -1.04170680e+01] [-3.08487368e-02 -1.62483012e-04 9.99524051e-01 -5.18973778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12263999999999 meters 0.014887768463234504 Centerline is valid? [True, True] Translation: X:114.09, Y:-10.43, Z:-5.19 [[ 9.82325570e-01 1.84589612e-01 3.10346356e-02 1.14092793e+02] [-1.84502389e-01 9.82815676e-01 -5.67591039e-03 -1.04291678e+01] [-3.15490404e-02 -1.50372506e-04 9.99502194e-01 -5.19099002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18263999999999 meters 0.014120196717672893 Centerline is valid? [True, True] Translation: X:114.15, Y:-10.44, Z:-5.19 [[ 9.82591278e-01 1.82958879e-01 3.22556719e-02 1.14149776e+02] [-1.82863800e-01 9.83120561e-01 -5.89852943e-03 -1.04429239e+01] [-3.27904026e-02 -1.02551158e-04 9.99462245e-01 -5.19221873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24264 meters 0.0136407635663536 Centerline is valid? [True, True] Translation: X:114.21, Y:-10.46, Z:-5.19 [[ 9.82579747e-01 1.82872477e-01 3.30862164e-02 1.14208444e+02] [-1.82772448e-01 9.83136637e-01 -6.04862564e-03 -1.04563742e+01] [-3.36343987e-02 -1.03991715e-04 9.99434198e-01 -5.19209198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30264 meters 0.01596330767285918 Centerline is valid? [True, True] Translation: X:114.27, Y:-10.46, Z:-5.20 [[ 9.81731360e-01 1.87484885e-01 3.24492609e-02 1.14267772e+02] [-1.87391177e-01 9.82267454e-01 -5.93252712e-03 -1.04618068e+01] [-3.29861121e-02 -2.56557265e-04 9.99455777e-01 -5.19644126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36264 meters 0.01977734049107681 Centerline is valid? [True, True] Translation: X:114.33, Y:-10.47, Z:-5.20 [[ 9.80894383e-01 1.91742616e-01 3.28782441e-02 1.14326934e+02] [-1.91648824e-01 9.81445161e-01 -6.01027082e-03 -1.04654309e+01] [-3.34206186e-02 -4.05635944e-04 9.99441293e-01 -5.19993872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42264 meters 0.026217933784834214 Centerline is valid? [True, True] Translation: X:114.39, Y:-10.46, Z:-5.20 [[ 9.79677046e-01 1.98013239e-01 3.19944210e-02 1.14388737e+02] [-1.97927816e-01 9.80199159e-01 -5.84700645e-03 -1.04635037e+01] [-3.25186892e-02 -6.04407872e-04 9.99470945e-01 -5.20492538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48263999999999 meters 0.0298759075445161 Centerline is valid? [True, True] Translation: X:114.45, Y:-10.47, Z:-5.21 [[ 9.78944979e-01 2.01763831e-01 3.09529259e-02 1.14448767e+02] [-2.01685741e-01 9.79433949e-01 -5.65704233e-03 -1.04676455e+01] [-3.14577329e-02 -7.04830618e-04 9.99504835e-01 -5.20833865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54263999999999 meters 0.03191944464909292 Centerline is valid? [True, True] Translation: X:114.51, Y:-10.47, Z:-5.21 [[ 9.78188978e-01 2.05514310e-01 3.01693824e-02 1.14507898e+02] [-2.05441913e-01 9.78653780e-01 -5.51360603e-03 -1.04721870e+01] [-3.06585051e-02 -8.04706984e-04 9.99529594e-01 -5.21137185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60264 meters 0.0330915441833571 Centerline is valid? [True, True] Translation: X:114.57, Y:-10.48, Z:-5.21 [[ 9.77893553e-01 2.06816861e-01 3.08380375e-02 1.14566200e+02] [-2.06741915e-01 9.78379291e-01 -5.63421377e-03 -1.04776803e+01] [-3.13365477e-02 -8.65853611e-04 9.99508515e-01 -5.21283293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66264 meters 0.03426237861866765 Centerline is valid? [True, True] Translation: X:114.63, Y:-10.48, Z:-5.21 [[ 9.77648337e-01 2.07550854e-01 3.35614647e-02 1.14625717e+02] [-2.07462602e-01 9.78223748e-01 -6.12923375e-03 -1.04780610e+01] [-3.41027495e-02 -9.70513621e-04 9.99417861e-01 -5.21112385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72264 meters 0.03101110504029892 Centerline is valid? [True, True] Translation: X:114.68, Y:-10.49, Z:-5.21 [[ 9.78201378e-01 2.04954859e-01 3.34001384e-02 1.14683475e+02] [-2.04865998e-01 9.78771033e-01 -6.09812104e-03 -1.04882063e+01] [-3.39409276e-02 -8.77362284e-04 9.99423456e-01 -5.21271820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78264 meters 0.032739061542460715 Centerline is valid? [True, True] Translation: X:114.74, Y:-10.50, Z:-5.22 [[ 9.78822539e-01 2.01976103e-01 3.33480367e-02 1.14741542e+02] [-2.01885847e-01 9.79390144e-01 -6.08691571e-03 -1.04966998e+01] [-3.38901499e-02 -7.74486356e-04 9.99425264e-01 -5.21723716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84263999999999 meters 0.023413736676971563 Centerline is valid? [True, True] Translation: X:114.80, Y:-10.51, Z:-5.22 [[ 9.80611726e-01 1.93110316e-01 3.33023818e-02 1.14799410e+02] [-1.93015261e-01 9.81176939e-01 -6.07645824e-03 -1.05095268e+01] [-3.38489558e-02 -4.69221723e-04 9.99426850e-01 -5.22275759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90263999999999 meters 0.01482852863797897 Centerline is valid? [True, True] Translation: X:114.86, Y:-10.53, Z:-5.22 [[ 9.82338557e-01 1.84359856e-01 3.19750360e-02 1.14855724e+02] [-1.84267593e-01 9.82858798e-01 -5.83407296e-03 -1.05319051e+01] [-3.25025143e-02 -1.60928113e-04 9.99471641e-01 -5.22370685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96264 meters 0.021543752231343912 Centerline is valid? [True, True] Translation: X:114.91, Y:-10.54, Z:-5.23 [[ 9.83106808e-01 1.80306258e-01 3.14747011e-02 1.14913280e+02] [-1.80214814e-01 9.83610519e-01 -5.74180589e-03 -1.05448501e+01] [-3.19941306e-02 -2.73989538e-05 9.99488056e-01 -5.22695806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02264 meters 0.014223573280125865 Centerline is valid? [True, True] Translation: X:114.97, Y:-10.56, Z:-5.23 [[ 9.83478788e-01 1.78243483e-01 3.16027714e-02 1.14970300e+02] [-1.78150274e-01 9.83986412e-01 -5.76371821e-03 -1.05561598e+01] [-3.21240429e-02 3.84521905e-05 9.99483889e-01 -5.22938628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08264 meters 0.014108666145484663 Centerline is valid? [True, True] Translation: X:115.03, Y:-10.56, Z:-5.23 [[ 9.83819244e-01 1.76367095e-01 3.15331995e-02 1.15028150e+02] [-1.76273402e-01 9.84324458e-01 -5.74885911e-03 -1.05648426e+01] [-3.20528091e-02 9.73738683e-05 9.99486172e-01 -5.23032872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14264 meters 0.015112581792250663 Centerline is valid? [True, True] Translation: X:115.08, Y:-10.58, Z:-5.24 [[ 9.84053217e-01 1.75152783e-01 3.09962743e-02 1.15083994e+02] [-1.75061691e-01 9.84541256e-01 -5.64972542e-03 -1.05775703e+01] [-3.15066760e-02 1.33370269e-04 9.99503533e-01 -5.23562842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20263999999999 meters 0.01530829366909243 Centerline is valid? [True, True] Translation: X:115.14, Y:-10.59, Z:-5.24 [[ 9.84119887e-01 1.75101683e-01 2.91109571e-02 1.15142232e+02] [-1.75021379e-01 9.84550347e-01 -5.30394994e-03 -1.05861959e+01] [-2.95899334e-02 1.24682767e-04 9.99562114e-01 -5.23934941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26263999999999 meters 0.015061409724782654 Centerline is valid? [True, True] Translation: X:115.20, Y:-10.60, Z:-5.24 [[ 9.84000433e-01 1.75835147e-01 2.87254011e-02 1.15200392e+02] [-1.75757310e-01 9.84419621e-01 -5.23230669e-03 -1.05957566e+01] [-2.91978719e-02 9.98928314e-05 9.99573646e-01 -5.24242673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32263999999999 meters 0.01893619958055453 Centerline is valid? [True, True] Translation: X:115.26, Y:-10.61, Z:-5.24 [[ 9.83853622e-01 1.76487087e-01 2.97381841e-02 1.15258153e+02] [-1.76404009e-01 9.84302952e-01 -5.41518183e-03 -1.06062121e+01] [-3.02270921e-02 8.18113685e-05 9.99543054e-01 -5.24462774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38264 meters 0.014599997203100986 Centerline is valid? [True, True] Translation: X:115.32, Y:-10.61, Z:-5.25 [[ 9.83596140e-01 1.78081890e-01 2.87310520e-02 1.15316663e+02] [-1.78005065e-01 9.84015670e-01 -5.23042525e-03 -1.06133328e+01] [-2.92032494e-02 3.03533074e-05 9.99573494e-01 -5.24617122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44264 meters 0.014845173285314144 Centerline is valid? [True, True] Translation: X:115.37, Y:-10.62, Z:-5.25 [[ 9.83223368e-01 1.80095446e-01 2.89385334e-02 1.15373278e+02] [-1.80018416e-01 9.83649139e-01 -5.26691272e-03 -1.06225934e+01] [-2.94139105e-02 -3.09172820e-05 9.99567317e-01 -5.24950042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50264 meters 0.015971691126537062 Centerline is valid? [True, True] Translation: X:115.43, Y:-10.63, Z:-5.25 [[ 9.82447550e-01 1.84391762e-01 2.82221352e-02 1.15432166e+02] [-1.84320326e-01 9.82852814e-01 -5.13459319e-03 -1.06260156e+01] [-2.86849817e-02 -1.57444671e-04 9.99588489e-01 -5.25156169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56264 meters 0.027948739131207326 Centerline is valid? [True, True] Translation: X:115.49, Y:-10.63, Z:-5.26 [[ 9.81855678e-01 1.87425722e-01 2.88275221e-02 1.15490939e+02] [-1.87352539e-01 9.82278746e-01 -5.24321510e-03 -1.06322593e+01] [-2.92993757e-02 -2.52828942e-04 9.99570649e-01 -5.25660149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62263999999999 meters 0.019695247312954096 Centerline is valid? [True, True] Translation: X:115.55, Y:-10.64, Z:-5.25 [[ 9.81070976e-01 1.91356755e-01 2.97040865e-02 1.15549896e+02] [-1.91280900e-01 9.81520476e-01 -5.40107426e-03 -1.06356975e+01] [-3.01887012e-02 -3.82987203e-04 9.99544144e-01 -5.25362707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68263999999999 meters 0.023603926952631155 Centerline is valid? [True, True] Translation: X:115.61, Y:-10.64, Z:-5.26 [[ 9.80668817e-01 1.93478550e-01 2.92356339e-02 1.15608023e+02] [-1.93406049e-01 9.81104406e-01 -5.31462545e-03 -1.06379557e+01] [-2.97114753e-02 -4.42461006e-04 9.99558419e-01 -5.25992085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74264 meters 0.021859662681849266 Centerline is valid? [True, True] Translation: X:115.67, Y:-10.65, Z:-5.26 [[ 9.80795936e-01 1.92922274e-01 2.86413823e-02 1.15665466e+02] [-1.92852512e-01 9.81213953e-01 -5.20459258e-03 -1.06504164e+01] [-2.91074057e-02 -4.18919278e-04 9.99576202e-01 -5.26256918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80264 meters 0.02895990141035939 Centerline is valid? [True, True] Translation: X:115.72, Y:-10.66, Z:-5.27 [[ 9.80947601e-01 1.91860351e-01 3.05189919e-02 1.15722108e+02] [-1.91780663e-01 9.81422149e-01 -5.54463307e-03 -1.06595502e+01] [-3.10158099e-02 -4.13958010e-04 9.99518808e-01 -5.26699226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86264 meters 0.020891754924683877 Centerline is valid? [True, True] Translation: X:115.78, Y:-10.67, Z:-5.26 [[ 9.80952345e-01 1.91808431e-01 3.06923806e-02 1.15780405e+02] [-1.91727911e-01 9.81432296e-01 -5.57286497e-03 -1.06703320e+01] [-3.11914161e-02 -4.17871066e-04 9.99513342e-01 -5.26499350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92264 meters 0.020750772234353117 Centerline is valid? [True, True] Translation: X:115.84, Y:-10.68, Z:-5.27 [[ 9.81061152e-01 1.91365443e-01 2.99713874e-02 1.15838094e+02] [-1.91288500e-01 9.81518777e-01 -5.44050538e-03 -1.06794011e+01] [-3.04586042e-02 -3.95713268e-04 9.99535951e-01 -5.26926482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98263999999999 meters 0.0210715243570505 Centerline is valid? [True, True] Translation: X:115.90, Y:-10.69, Z:-5.27 [[ 9.81138063e-01 1.90902171e-01 3.04049607e-02 1.15895391e+02] [-1.90822805e-01 9.81608991e-01 -5.51784010e-03 -1.06874231e+01] [-3.08991505e-02 -3.88196943e-04 9.99522432e-01 -5.27309327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04263999999999 meters 0.021012012501586817 Centerline is valid? [True, True] Translation: X:115.95, Y:-10.70, Z:-5.28 [[ 9.81147791e-01 1.90860955e-01 3.03497461e-02 1.15952551e+02] [-1.90781910e-01 9.81617005e-01 -5.50612244e-03 -1.06976109e+01] [-3.08427306e-02 -3.87862655e-04 9.99524175e-01 -5.27553230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10264 meters 0.021447598634481913 Centerline is valid? [True, True] Translation: X:116.01, Y:-10.71, Z:-5.28 [[ 9.80965915e-01 1.91823208e-01 3.01617278e-02 1.16010220e+02] [-1.91745672e-01 9.81429408e-01 -5.46944634e-03 -1.07068344e+01] [-3.06507734e-02 -4.18040354e-04 9.99530067e-01 -5.27699116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16264 meters 0.02213386968767786 Centerline is valid? [True, True] Translation: X:116.07, Y:-10.71, Z:-5.28 [[ 9.80706101e-01 1.93103678e-01 3.04386624e-02 1.16068880e+02] [-1.93025376e-01 9.81178248e-01 -5.51814461e-03 -1.07117689e+01] [-3.09313275e-02 -4.63756174e-04 9.99521404e-01 -5.27942957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22264 meters 0.021521304607000073 Centerline is valid? [True, True] Translation: X:116.13, Y:-10.72, Z:-5.28 [[ 9.80738905e-01 1.92831477e-01 3.11001832e-02 1.16127191e+02] [-1.92749648e-01 9.81231779e-01 -5.63645801e-03 -1.07216650e+01] [-3.16033746e-02 -4.66655694e-04 9.99500380e-01 -5.28141407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28264 meters 0.01981362146532098 Centerline is valid? [True, True] Translation: X:116.18, Y:-10.74, Z:-5.28 [[ 9.81184401e-01 1.90483466e-01 3.15154077e-02 1.16183227e+02] [-1.90398272e-01 9.81690323e-01 -5.71024479e-03 -1.07352465e+01] [-3.20260780e-02 -3.97676056e-04 9.99486954e-01 -5.28436664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34263999999999 meters 0.019030684584941632 Centerline is valid? [True, True] Translation: X:116.24, Y:-10.75, Z:-5.29 [[ 9.81560490e-01 1.88706007e-01 3.04802851e-02 1.16239585e+02] [-1.88625519e-01 9.82033571e-01 -5.52084993e-03 -1.07456803e+01] [-3.09744808e-02 -3.30311427e-04 9.99520121e-01 -5.28966658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40263999999999 meters 0.03293482044907171 Centerline is valid? [True, True] Translation: X:116.30, Y:-10.76, Z:-5.29 [[ 9.82104635e-01 1.85610267e-01 3.19267020e-02 1.16296538e+02] [-1.85520394e-01 9.82623411e-01 -5.78056482e-03 -1.07607027e+01] [-3.24448570e-02 -2.45934832e-04 9.99473497e-01 -5.29112186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46264 meters 0.015076729679913994 Centerline is valid? [True, True] Translation: X:116.35, Y:-10.77, Z:-5.29 [[ 9.82600263e-01 1.83179313e-01 3.06930308e-02 1.16352907e+02] [-1.83095108e-01 9.83079505e-01 -5.55588940e-03 -1.07732740e+01] [-3.11914135e-02 -1.60525393e-04 9.99513417e-01 -5.29402074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52264 meters 0.014411476856084097 Centerline is valid? [True, True] Translation: X:116.41, Y:-10.79, Z:-5.30 [[ 9.82731700e-01 1.82181454e-01 3.23778196e-02 1.16409783e+02] [-1.82087277e-01 9.83264918e-01 -5.85873188e-03 -1.07851957e+01] [-3.29033264e-02 -1.38027449e-04 9.99458529e-01 -5.29551209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58264 meters 0.013695392802579424 Centerline is valid? [True, True] Translation: X:116.47, Y:-10.80, Z:-5.30 [[ 9.82846472e-01 1.81406317e-01 3.32349231e-02 1.16468145e+02] [-1.81306741e-01 9.83408224e-01 -6.01095714e-03 -1.07959625e+01] [-3.37739223e-02 -1.17867566e-04 9.99429491e-01 -5.29567855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64264 meters 0.01347977781579541 Centerline is valid? [True, True] Translation: X:116.53, Y:-10.81, Z:-5.30 [[ 9.82857928e-01 1.81230729e-01 3.38484206e-02 1.16526014e+02] [-1.81127376e-01 9.83440598e-01 -6.12076438e-03 -1.08061572e+01] [-3.43971815e-02 -1.15033808e-04 9.99408235e-01 -5.29722505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70263999999999 meters 0.012943029230901614 Centerline is valid? [True, True] Translation: X:116.58, Y:-10.82, Z:-5.30 [[ 9.82983734e-01 1.80398916e-01 3.46296048e-02 1.16582975e+02] [-1.80290284e-01 9.83593525e-01 -6.26022520e-03 -1.08217501e+01] [-3.51907929e-02 -8.96817703e-05 9.99380608e-01 -5.29864321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76263999999999 meters 0.012266128644019983 Centerline is valid? [True, True] Translation: X:116.64, Y:-10.84, Z:-5.30 [[ 9.83353716e-01 1.77993962e-01 3.65187420e-02 1.16639287e+02] [-1.77871566e-01 9.84031580e-01 -6.59973349e-03 -1.08384627e+01] [-3.71103081e-02 -5.77337404e-06 9.99311175e-01 -5.29897500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82263999999999 meters 0.011991990100176465 Centerline is valid? [True, True] Translation: X:116.70, Y:-10.85, Z:-5.30 [[ 9.83612565e-01 1.76367176e-01 3.74291460e-02 1.16696313e+02] [-1.76237496e-01 9.84324447e-01 -6.76230394e-03 -1.08518180e+01] [-3.80350719e-02 5.50681495e-05 9.99276403e-01 -5.30028415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88264 meters 0.01253219612215509 Centerline is valid? [True, True] Translation: X:116.75, Y:-10.87, Z:-5.31 [[ 9.83905621e-01 1.74930699e-01 3.64551675e-02 1.16752800e+02] [-1.74806768e-01 9.84580743e-01 -6.58442697e-03 -1.08700155e+01] [-3.70448743e-02 1.05844699e-04 9.99313597e-01 -5.30563429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94264 meters 0.014808584379807943 Centerline is valid? [True, True] Translation: X:116.81, Y:-10.88, Z:-5.31 [[ 9.83736986e-01 1.75917838e-01 3.62554434e-02 1.16811064e+02] [-1.75795985e-01 9.84404851e-01 -6.54688280e-03 -1.08836601e+01] [-3.68417478e-02 6.68493678e-05 9.99321110e-01 -5.31002455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00264 meters 0.012305778642363558 Centerline is valid? [True, True] Translation: X:116.87, Y:-10.89, Z:-5.31 [[ 9.83442674e-01 1.77819456e-01 3.49392038e-02 1.16868733e+02] [-1.77707513e-01 9.84063129e-01 -6.30863613e-03 -1.08929651e+01] [-3.55041804e-02 -4.77701040e-06 9.99369528e-01 -5.31380383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06264 meters 0.017619305225416732 Centerline is valid? [True, True] Translation: X:116.93, Y:-10.90, Z:-5.32 [[ 9.82837200e-01 1.81197300e-01 3.46204698e-02 1.16925482e+02] [-1.81089538e-01 9.83446756e-01 -6.24955126e-03 -1.09035662e+01] [-3.51797906e-02 -1.27113434e-04 9.99380992e-01 -5.32026592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12263999999999 meters 0.024686074693874155 Centerline is valid? [True, True] Translation: X:116.98, Y:-10.91, Z:-5.33 [[ 9.82605622e-01 1.82692554e-01 3.33109974e-02 1.16982749e+02] [-1.82593734e-01 9.83170077e-01 -6.01072408e-03 -1.09148978e+01] [-3.38484904e-02 -1.76208111e-04 9.99426960e-01 -5.32666487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18263999999999 meters 0.020403585999946416 Centerline is valid? [True, True] Translation: X:117.04, Y:-10.93, Z:-5.33 [[ 9.82489869e-01 1.83524499e-01 3.21312267e-02 1.17040796e+02] [-1.83433051e-01 9.83015116e-01 -5.79631315e-03 -1.09252708e+01] [-3.26492470e-02 -1.99109993e-04 9.99466851e-01 -5.33130145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24264 meters 0.01414525689397365 Centerline is valid? [True, True] Translation: X:117.10, Y:-10.94, Z:-5.33 [[ 9.82625058e-01 1.82628491e-01 3.30882207e-02 1.17097364e+02] [-1.82531063e-01 9.83181979e-01 -5.96721710e-03 -1.09423517e+01] [-3.36215262e-02 -1.76091060e-04 9.99434621e-01 -5.33104497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30264 meters 0.024219474028270665 Centerline is valid? [True, True] Translation: X:117.15, Y:-10.96, Z:-5.33 [[ 9.82908875e-01 1.80747449e-01 3.49357058e-02 1.17154986e+02] [-1.80637723e-01 9.83529535e-01 -6.29822551e-03 -1.09604626e+01] [-3.54986867e-02 -1.20124616e-04 9.99369716e-01 -5.33109043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36264 meters 0.012948059640851911 Centerline is valid? [True, True] Translation: X:117.21, Y:-10.97, Z:-5.33 [[ 9.83088313e-01 1.79807334e-01 3.47374738e-02 1.17213188e+02] [-1.79698312e-01 9.83701843e-01 -6.26111466e-03 -1.09737222e+01] [-3.52971114e-02 -8.70367808e-05 9.99376859e-01 -5.33470625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42264 meters 0.012418856403724183 Centerline is valid? [True, True] Translation: X:117.27, Y:-10.99, Z:-5.34 [[ 9.83335856e-01 1.78325339e-01 3.53647848e-02 1.17270394e+02] [-1.78211353e-01 9.83971581e-01 -6.37506117e-03 -1.09919763e+01] [-3.59347781e-02 -3.35799193e-05 9.99354137e-01 -5.33728151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48263999999999 meters 0.012270733535387476 Centerline is valid? [True, True] Translation: X:117.33, Y:-11.01, Z:-5.34 [[ 9.83449780e-01 1.77709317e-01 3.52977262e-02 1.17329341e+02] [-1.77595406e-01 9.84083024e-01 -6.36184655e-03 -1.10058331e+01] [-3.58664525e-02 -1.21574231e-05 9.99356592e-01 -5.33874220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54263999999999 meters 0.012308902968726334 Centerline is valid? [True, True] Translation: X:117.39, Y:-11.02, Z:-5.34 [[ 9.83617671e-01 1.76729440e-01 3.55384506e-02 1.17387287e+02] [-1.76613326e-01 9.84259470e-01 -6.40536363e-03 -1.10192690e+01] [-3.61110729e-02 2.38648961e-05 9.99347782e-01 -5.34197871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60264 meters 0.012742963465824606 Centerline is valid? [True, True] Translation: X:117.45, Y:-11.04, Z:-5.35 [[ 9.83968526e-01 1.75003175e-01 3.43486331e-02 1.17446600e+02] [-1.74893749e-01 9.84567866e-01 -6.18827270e-03 -1.10382010e+01] [-3.49015277e-02 8.17043667e-05 9.99390753e-01 -5.34615810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66264 meters 0.013116023818433999 Centerline is valid? [True, True] Translation: X:117.51, Y:-11.05, Z:-5.35 [[ 9.84059696e-01 1.74492123e-01 3.43367786e-02 1.17506092e+02] [-1.74382242e-01 9.84658564e-01 -6.19241242e-03 -1.10522330e+01] [-3.48905303e-02 1.05979053e-04 9.99391134e-01 -5.34991743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72264 meters 0.013062297248977131 Centerline is valid? [True, True] Translation: X:117.57, Y:-11.07, Z:-5.35 [[ 9.84205245e-01 1.73518595e-01 3.50903483e-02 1.17567196e+02] [-1.73403013e-01 9.84830582e-01 -6.33406459e-03 -1.10658864e+01] [-3.56571262e-02 1.49247468e-04 9.99364071e-01 -5.35072931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78264 meters 0.01434666589697846 Centerline is valid? [True, True] Translation: X:117.63, Y:-11.08, Z:-5.35 [[ 9.84620082e-01 1.70702859e-01 3.71998380e-02 1.17627260e+02] [-1.70570681e-01 9.85322515e-01 -6.72186265e-03 -1.10834514e+01] [-3.78012791e-02 2.73279239e-04 9.99285239e-01 -5.35073648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84263999999999 meters 0.01615713671131889 Centerline is valid? [True, True] Translation: X:117.69, Y:-11.10, Z:-5.36 [[ 9.85013576e-01 1.68836713e-01 3.52479712e-02 1.17686507e+02] [-1.68716592e-01 9.85643979e-01 -6.37642028e-03 -1.10997892e+01] [-3.58185244e-02 3.33942977e-04 9.99358255e-01 -5.35751226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90263999999999 meters 0.01634464995885784 Centerline is valid? [True, True] Translation: X:117.75, Y:-11.11, Z:-5.36 [[ 9.84917578e-01 1.69325707e-01 3.55832802e-02 1.17746147e+02] [-1.69203514e-01 9.85560095e-01 -6.43967989e-03 -1.11121400e+01] [-3.61598644e-02 3.21737890e-04 9.99345966e-01 -5.36021454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96264 meters 0.01572428166375968 Centerline is valid? [True, True] Translation: X:117.81, Y:-11.12, Z:-5.36 [[ 9.84786716e-01 1.70049393e-01 3.57537043e-02 1.17807247e+02] [-1.69926300e-01 9.85435494e-01 -6.47610137e-03 -1.11222334e+01] [-3.63342264e-02 3.02083919e-04 9.99339648e-01 -5.36220377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02264 meters 0.015027094013392892 Centerline is valid? [True, True] Translation: X:117.87, Y:-11.13, Z:-5.36 [[ 9.84564899e-01 1.71302212e-01 3.58819014e-02 1.17867952e+02] [-1.71178840e-01 9.85218495e-01 -6.50551264e-03 -1.11330640e+01] [-3.64659216e-02 2.62877146e-04 9.99334863e-01 -5.36416160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08264 meters 0.015480314179220347 Centerline is valid? [True, True] Translation: X:117.93, Y:-11.14, Z:-5.37 [[ 9.84590434e-01 1.71222011e-01 3.55626197e-02 1.17929487e+02] [-1.71100561e-01 9.85232435e-01 -6.45349191e-03 -1.11429633e+01] [-3.61424262e-02 2.69262237e-04 9.99346613e-01 -5.36770803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14264 meters 0.017137650181092336 Centerline is valid? [True, True] Translation: X:117.99, Y:-11.16, Z:-5.37 [[ 9.85072802e-01 1.68185010e-01 3.66793906e-02 1.17989999e+02] [-1.68053445e-01 9.85755367e-01 -6.66308447e-03 -1.11584375e+01] [-3.72775370e-02 3.99525346e-04 9.99304871e-01 -5.36833878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20263999999999 meters 0.022550285891806927 Centerline is valid? [True, True] Translation: X:118.05, Y:-11.18, Z:-5.37 [[ 9.85802987e-01 1.64075102e-01 3.56627494e-02 1.18047571e+02] [-1.63947772e-01 9.86447698e-01 -6.48585893e-03 -1.11796270e+01] [-3.62436050e-02 5.46950786e-04 9.99342835e-01 -5.37454662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26263999999999 meters 0.024608073587805743 Centerline is valid? [True, True] Translation: X:118.11, Y:-11.20, Z:-5.38 [[ 9.86051305e-01 1.62866483e-01 3.43122962e-02 1.18107395e+02] [-1.62747913e-01 9.86647954e-01 -6.23944034e-03 -1.11955399e+01] [-3.48703526e-02 5.68153675e-04 9.99391683e-01 -5.38040040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32263999999999 meters 0.018384453513359256 Centerline is valid? [True, True] Translation: X:118.17, Y:-11.20, Z:-5.38 [[ 9.85490090e-01 1.66406620e-01 3.34383065e-02 1.18170313e+02] [-1.66295882e-01 9.86057121e-01 -6.08548952e-03 -1.11980117e+01] [-3.39847460e-02 4.36536928e-04 9.99422256e-01 -5.38120865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38264 meters 0.016105615426730526 Centerline is valid? [True, True] Translation: X:118.23, Y:-11.21, Z:-5.38 [[ 9.84838616e-01 1.70082624e-01 3.41291717e-02 1.18231299e+02] [-1.69969244e-01 9.85429752e-01 -6.21766036e-03 -1.12055583e+01] [-3.46894172e-02 3.22482528e-04 9.99398089e-01 -5.38321896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44264 meters 0.014170228964285778 Centerline is valid? [True, True] Translation: X:118.29, Y:-11.21, Z:-5.39 [[ 9.84206540e-01 1.73759451e-01 3.38399268e-02 1.18292278e+02] [-1.73649940e-01 9.84788106e-01 -6.17125114e-03 -1.12118841e+01] [-3.43974707e-02 1.97484472e-04 9.99408212e-01 -5.38715259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50264 meters 0.022528495663665916 Centerline is valid? [True, True] Translation: X:118.35, Y:-11.21, Z:-5.39 [[ 9.83318306e-01 1.78756489e-01 3.36337259e-02 1.18354608e+02] [-1.78651082e-01 9.83893346e-01 -6.13792422e-03 -1.12122632e+01] [-3.41891929e-02 2.68317252e-05 9.99415378e-01 -5.39118832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56264 meters 0.012658325898230507 Centerline is valid? [True, True] Translation: X:118.41, Y:-11.22, Z:-5.39 [[ 9.82858964e-01 1.81176025e-01 3.41101847e-02 1.18413953e+02] [-1.81069020e-01 9.83450682e-01 -6.22618125e-03 -1.12193339e+01] [-3.46737192e-02 -5.68396724e-05 9.99398684e-01 -5.39353519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62263999999999 meters 0.012392296579134206 Centerline is valid? [True, True] Translation: X:118.47, Y:-11.23, Z:-5.40 [[ 9.82839560e-01 1.81170223e-01 3.46950820e-02 1.18473596e+02] [-1.81059533e-01 9.83451751e-01 -6.33236647e-03 -1.12272571e+01] [-3.52681754e-02 -5.81750579e-05 9.99377883e-01 -5.39518326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68263999999999 meters 0.01216218322385493 Centerline is valid? [True, True] Translation: X:118.53, Y:-11.24, Z:-5.40 [[ 9.83189840e-01 1.79117263e-01 3.54223757e-02 1.18532726e+02] [-1.79000549e-01 9.83827732e-01 -6.46510834e-03 -1.12376361e+01] [-3.60075281e-02 1.58041318e-05 9.99351519e-01 -5.39688582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74264 meters 0.013857875268092288 Centerline is valid? [True, True] Translation: X:118.59, Y:-11.26, Z:-5.40 [[ 9.84093783e-01 1.74232100e-01 3.46785521e-02 1.18591441e+02] [-1.74117267e-01 9.84704595e-01 -6.32753340e-03 -1.12585324e+01] [-3.52505890e-02 1.88751565e-04 9.99378487e-01 -5.40114384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80264 meters 0.017030360388483372 Centerline is valid? [True, True] Translation: X:118.65, Y:-11.28, Z:-5.40 [[ 9.84960046e-01 1.69135660e-01 3.53105750e-02 1.18650358e+02] [-1.69013095e-01 9.85592705e-01 -6.44926416e-03 -1.12793150e+01] [-3.58926457e-02 3.84317963e-04 9.99355578e-01 -5.40275682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86264 meters 0.019561575841115054 Centerline is valid? [True, True] Translation: X:118.71, Y:-11.30, Z:-5.41 [[ 9.85379797e-01 1.66815534e-01 3.46299409e-02 1.18708904e+02] [-1.66696070e-01 9.85988013e-01 -6.32912637e-03 -1.12960377e+01] [-3.52005032e-02 4.63918198e-04 9.99380163e-01 -5.40718697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92264 meters 0.02162681643258136 Centerline is valid? [True, True] Translation: X:118.77, Y:-11.32, Z:-5.41 [[ 9.85495951e-01 1.65921971e-01 3.56037985e-02 1.18768195e+02] [-1.65795111e-01 9.86138753e-01 -6.50702016e-03 -1.13162248e+01] [-3.61899431e-02 5.09706283e-04 9.99344799e-01 -5.40958036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98263999999999 meters 0.019891033129545068 Centerline is valid? [True, True] Translation: X:118.83, Y:-11.33, Z:-5.41 [[ 9.85474936e-01 1.66023412e-01 3.57124281e-02 1.18829363e+02] [-1.65895716e-01 9.86121679e-01 -6.53038996e-03 -1.13294954e+01] [-3.63009971e-02 5.10996795e-04 9.99340771e-01 -5.41045098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04263999999999 meters 0.01874624245999855 Centerline is valid? [True, True] Translation: X:118.89, Y:-11.35, Z:-5.41 [[ 9.85442623e-01 1.66227103e-01 3.56565202e-02 1.18890004e+02] [-1.66099687e-01 9.86087365e-01 -6.52712557e-03 -1.13453329e+01] [-3.62454292e-02 5.09570896e-04 9.99342789e-01 -5.41286102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10264 meters 0.03262270940808325 Centerline is valid? [True, True] Translation: X:118.95, Y:-11.36, Z:-5.42 [[ 9.85426199e-01 1.66654034e-01 3.40828240e-02 1.18948482e+02] [-1.66537629e-01 9.86015316e-01 -6.24617104e-03 -1.13631052e+01] [-3.46471360e-02 4.79067900e-04 9.99399493e-01 -5.42285063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16264 meters 0.017078308939262207 Centerline is valid? [True, True] Translation: X:119.01, Y:-11.38, Z:-5.42 [[ 9.84875147e-01 1.69943875e-01 3.37642286e-02 1.19009753e+02] [-1.69831383e-01 9.85453675e-01 -6.19318420e-03 -1.13752844e+01] [-3.43255769e-02 3.65287569e-04 9.99410637e-01 -5.42276351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22264 meters 0.02990701075267957 Centerline is valid? [True, True] Translation: X:119.07, Y:-11.38, Z:-5.43 [[ 9.83775150e-01 1.76194211e-01 3.37942825e-02 1.19070824e+02] [-1.76084995e-01 9.84355412e-01 -6.20466693e-03 -1.13820641e+01] [-3.43588112e-02 1.53331062e-04 9.99409550e-01 -5.42987516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28264 meters 0.01182857159911494 Centerline is valid? [True, True] Translation: X:119.13, Y:-11.39, Z:-5.43 [[ 9.82879966e-01 1.80966585e-01 3.46131156e-02 1.19133501e+02] [-1.80854703e-01 9.83489245e-01 -6.36249465e-03 -1.13887764e+01] [-3.51930259e-02 -6.37619788e-06 9.99380534e-01 -5.42612658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34263999999999 meters 0.01328765682036117 Centerline is valid? [True, True] Translation: X:119.20, Y:-11.39, Z:-5.42 [[ 9.81600923e-01 1.87292080e-01 3.71659202e-02 1.19195538e+02] [-1.87167547e-01 9.82304238e-01 -6.83332402e-03 -1.13932044e+01] [-3.77880684e-02 -2.48656958e-04 9.99285745e-01 -5.42485071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40263999999999 meters 0.030867667375311297 Centerline is valid? [True, True] Translation: X:119.26, Y:-11.40, Z:-5.43 [[ 9.80832211e-01 1.91089289e-01 3.81189968e-02 1.19256779e+02] [-1.90960875e-01 9.81572578e-01 -7.01561648e-03 -1.13975120e+01] [-3.87571711e-02 -3.98094365e-04 9.99248579e-01 -5.42833115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46264 meters 0.015870768598398612 Centerline is valid? [True, True] Translation: X:119.32, Y:-11.41, Z:-5.43 [[ 9.80571407e-01 1.92272010e-01 3.88740236e-02 1.19319125e+02] [-1.92139144e-01 9.81341568e-01 -7.16069867e-03 -1.14089939e+01] [-3.95254972e-02 -4.47645249e-04 9.99218462e-01 -5.42784144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52264 meters 0.017106611138666693 Centerline is valid? [True, True] Translation: X:119.38, Y:-11.42, Z:-5.43 [[ 9.80358633e-01 1.93522524e-01 3.80261004e-02 1.19379134e+02] [-1.93396026e-01 9.81095715e-01 -7.01243604e-03 -1.14190985e+01] [-3.86643085e-02 -4.79394500e-04 9.99252141e-01 -5.43189071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58264 meters 0.018792822356212796 Centerline is valid? [True, True] Translation: X:119.44, Y:-11.42, Z:-5.44 [[ 9.80379532e-01 1.93805963e-01 3.59892017e-02 1.19439863e+02] [-1.93692618e-01 9.81039774e-01 -6.64311401e-03 -1.14223620e+01] [-3.65943134e-02 -4.58069695e-04 9.99330099e-01 -5.44014033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64264 meters 0.01676511666471473 Centerline is valid? [True, True] Translation: X:119.50, Y:-11.43, Z:-5.44 [[ 9.80490066e-01 1.93221887e-01 3.61183093e-02 1.19500126e+02] [-1.93107192e-01 9.81154990e-01 -6.67073772e-03 -1.14344730e+01] [-3.67265919e-02 -4.34113211e-04 9.99325257e-01 -5.44097408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70263999999999 meters 0.029174308568398036 Centerline is valid? [True, True] Translation: X:119.56, Y:-11.45, Z:-5.45 [[ 9.80989171e-01 1.90743607e-01 3.57368481e-02 1.19560136e+02] [-1.90629697e-01 9.81639833e-01 -6.59975023e-03 -1.14477497e+01] [-3.63395738e-02 -3.38221001e-04 9.99339442e-01 -5.44620882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76263999999999 meters 0.03730819004962241 Centerline is valid? [True, True] Translation: X:119.62, Y:-11.46, Z:-5.45 [[ 9.81530279e-01 1.88026894e-01 3.52732082e-02 1.19620754e+02] [-1.87913966e-01 9.82163853e-01 -6.51970181e-03 -1.14602728e+01] [-3.58699493e-02 -2.29043711e-04 9.99356440e-01 -5.44978741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82263999999999 meters 0.012100955603416038 Centerline is valid? [True, True] Translation: X:119.68, Y:-11.47, Z:-5.45 [[ 9.82080130e-01 1.85214455e-01 3.48457255e-02 1.19680992e+02] [-1.85102256e-01 9.82698118e-01 -6.44693862e-03 -1.14743645e+01] [-3.54368951e-02 -1.18612102e-04 9.99371909e-01 -5.45228543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88264 meters 0.011754112962944908 Centerline is valid? [True, True] Translation: X:119.74, Y:-11.49, Z:-5.46 [[ 9.82679344e-01 1.81986200e-01 3.49618430e-02 1.19740029e+02] [-1.81870980e-01 9.83301085e-01 -6.47485234e-03 -1.14926309e+01] [-3.55563519e-02 4.15900304e-06 9.99367673e-01 -5.45615610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94264 meters 0.01554470416341404 Centerline is valid? [True, True] Translation: X:119.80, Y:-11.51, Z:-5.46 [[ 9.83466194e-01 1.77635950e-01 3.52095797e-02 1.19799523e+02] [-1.77516095e-01 9.84096256e-01 -6.52648048e-03 -1.15136253e+01] [-3.58089531e-02 1.68305811e-04 9.99358640e-01 -5.45833153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00264 meters 0.020234469089792928 Centerline is valid? [True, True] Translation: X:119.86, Y:-11.53, Z:-5.46 [[ 9.83807244e-01 1.75593206e-01 3.59212108e-02 1.19859253e+02] [-1.75466830e-01 9.84462778e-01 -6.66559666e-03 -1.15285028e+01] [-3.65335284e-02 2.54681273e-04 9.99332395e-01 -5.46011479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06264 meters 0.027982678447215022 Centerline is valid? [True, True] Translation: X:119.92, Y:-11.54, Z:-5.47 [[ 9.83899341e-01 1.75125302e-01 3.56821397e-02 1.19918514e+02] [-1.75000172e-01 9.84546116e-01 -6.62464442e-03 -1.15436199e+01] [-3.62908549e-02 2.73602687e-04 9.99341233e-01 -5.46501802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12263999999999 meters 0.014617389373801906 Centerline is valid? [True, True] Translation: X:119.98, Y:-11.56, Z:-5.47 [[ 9.83863263e-01 1.75386115e-01 3.53947842e-02 1.19979968e+02] [-1.75263086e-01 9.84499691e-01 -6.57342094e-03 -1.15591819e+01] [-3.59990408e-02 2.63948275e-04 9.99351790e-01 -5.46602435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18263999999999 meters 0.028870762807812277 Centerline is valid? [True, True] Translation: X:120.04, Y:-11.57, Z:-5.47 [[ 9.83815802e-01 1.75949377e-01 3.38863372e-02 1.20040422e+02] [-1.75836720e-01 9.84399187e-01 -6.29988111e-03 -1.15721730e+01] [-3.44661430e-02 2.39460217e-04 9.99405837e-01 -5.47417003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24264 meters 0.01600748011953041 Centerline is valid? [True, True] Translation: X:120.10, Y:-11.58, Z:-5.48 [[ 9.83458655e-01 1.78252695e-01 3.21722024e-02 1.20101346e+02] [-1.78152217e-01 9.83984732e-01 -5.98623185e-03 -1.15837866e+01] [-3.27240179e-02 1.55662331e-04 9.99464414e-01 -5.47673744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30264 meters 0.02616750438123678 Centerline is valid? [True, True] Translation: X:120.16, Y:-11.59, Z:-5.48 [[ 9.82524705e-01 1.83353218e-01 3.20437490e-02 1.20163254e+02] [-1.83256063e-01 9.83047098e-01 -5.96807936e-03 -1.15924924e+01] [-3.25947810e-02 -8.42587490e-06 9.99468649e-01 -5.48038433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36264 meters 0.013236691728254008 Centerline is valid? [True, True] Translation: X:120.22, Y:-11.60, Z:-5.48 [[ 9.81809217e-01 1.87230781e-01 3.15483116e-02 1.20224740e+02] [-1.87138430e-01 9.82315946e-01 -5.88134395e-03 -1.16004488e+01] [-3.20915782e-02 -1.29543801e-04 9.99484924e-01 -5.48238487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42264 meters 0.02834421732323338 Centerline is valid? [True, True] Translation: X:120.29, Y:-11.60, Z:-5.49 [[ 9.80673408e-01 1.92950047e-01 3.24028788e-02 1.20286435e+02] [-1.92855535e-01 9.81208529e-01 -6.04690821e-03 -1.16015434e+01] [-3.29607323e-02 -3.19032455e-04 9.99456597e-01 -5.48836715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48263999999999 meters 0.0236719368132961 Centerline is valid? [True, True] Translation: X:120.35, Y:-11.60, Z:-5.49 [[ 9.79873098e-01 1.96779112e-01 3.35662484e-02 1.20347664e+02] [-1.96679665e-01 9.80447741e-01 -6.27185818e-03 -1.16049683e+01] [-3.41441231e-02 -4.56173403e-04 9.99416815e-01 -5.48599480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54263999999999 meters 0.020337065520047017 Centerline is valid? [True, True] Translation: X:120.41, Y:-11.61, Z:-5.49 [[ 9.79496825e-01 1.98499419e-01 3.44085855e-02 1.20407325e+02] [-1.98395978e-01 9.80100863e-01 -6.42924898e-03 -1.16137757e+01] [-3.50000865e-02 -5.29095995e-04 9.99387169e-01 -5.48633357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60264 meters 0.020712006710654606 Centerline is valid? [True, True] Translation: X:120.47, Y:-11.62, Z:-5.49 [[ 9.79309745e-01 1.99394358e-01 3.45588247e-02 1.20467501e+02] [-1.99290569e-01 9.79919166e-01 -6.45732119e-03 -1.16194837e+01] [-3.51524081e-02 -5.63530253e-04 9.99381804e-01 -5.48778697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66264 meters 0.02567013888265531 Centerline is valid? [True, True] Translation: X:120.53, Y:-11.63, Z:-5.49 [[ 9.79724713e-01 1.97580731e-01 3.31864623e-02 1.20527347e+02] [-1.97483982e-01 9.80286502e-01 -6.20089509e-03 -1.16268235e+01] [-3.37574184e-02 -4.78624580e-04 9.99429941e-01 -5.49464561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72264 meters 0.018134340175284258 Centerline is valid? [True, True] Translation: X:120.59, Y:-11.64, Z:-5.50 [[ 9.80308558e-01 1.94629030e-01 3.33867018e-02 1.20585277e+02] [-1.94529392e-01 9.80876851e-01 -6.23846968e-03 -1.16385248e+01] [-3.39624302e-02 -3.79069593e-04 9.99423038e-01 -5.49823278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78264 meters 0.013910727542057152 Centerline is valid? [True, True] Translation: X:120.64, Y:-11.66, Z:-5.50 [[ 9.81409308e-01 1.88967950e-01 3.35690845e-02 1.20644011e+02] [-1.88863937e-01 9.81983238e-01 -6.27166165e-03 -1.16560142e+01] [-3.41494213e-02 -1.84922327e-04 9.99416721e-01 -5.50081133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84263999999999 meters 0.034616315652317355 Centerline is valid? [True, True] Translation: X:120.71, Y:-11.67, Z:-5.51 [[ 9.81888107e-01 1.86686357e-01 3.23102103e-02 1.20705253e+02] [-1.86588810e-01 9.82419561e-01 -6.03510478e-03 -1.16672121e+01] [-3.28688544e-02 -1.02926096e-04 9.99459668e-01 -5.50648057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90263999999999 meters 0.020962803130949767 Centerline is valid? [True, True] Translation: X:120.76, Y:-11.68, Z:-5.51 [[ 9.82044393e-01 1.85950896e-01 3.17974082e-02 1.20764981e+02] [-1.85855781e-01 9.82559036e-01 -5.94718569e-03 -1.16771270e+01] [-3.23487153e-02 -6.93317835e-05 9.99476641e-01 -5.51109720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96264 meters 0.035083052251742464 Centerline is valid? [True, True] Translation: X:120.83, Y:-11.68, Z:-5.51 [[ 9.81764033e-01 1.87419378e-01 3.18333290e-02 1.20825793e+02] [-1.87324801e-01 9.82279982e-01 -5.95448424e-03 -1.16818313e+01] [-3.23852276e-02 -1.17273564e-04 9.99475454e-01 -5.51219433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02264 meters 0.022950407347493682 Centerline is valid? [True, True] Translation: X:120.89, Y:-11.69, Z:-5.51 [[ 9.81626155e-01 1.87854579e-01 3.34775783e-02 1.20885025e+02] [-1.87750225e-01 9.82196843e-01 -6.26220250e-03 -1.16896280e+01] [-3.40579551e-02 -1.38281097e-04 9.99419850e-01 -5.51357632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08264 meters 0.011827233515853155 Centerline is valid? [True, True] Translation: X:120.95, Y:-11.71, Z:-5.51 [[ 9.81817552e-01 1.86647802e-01 3.45961487e-02 1.20945095e+02] [-1.86535701e-01 9.82426887e-01 -6.46874641e-03 -1.17059347e+01] [-3.51955639e-02 -1.02288078e-04 9.99380439e-01 -5.51162464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14264 meters 0.0247501270344501 Centerline is valid? [True, True] Translation: X:121.00, Y:-11.72, Z:-5.52 [[ 9.82159727e-01 1.84789172e-01 3.48601839e-02 1.21004769e+02] [-1.84673948e-01 9.82778185e-01 -6.52472635e-03 -1.17214638e+01] [-3.54655271e-02 -2.94443319e-05 9.99370900e-01 -5.51583522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20263999999999 meters 0.01679209444543848 Centerline is valid? [True, True] Translation: X:121.07, Y:-11.74, Z:-5.52 [[ 9.82341297e-01 1.83969511e-01 3.40704398e-02 1.21065009e+02] [-1.83858770e-01 9.82931950e-01 -6.38229580e-03 -1.17355713e+01] [-3.46630717e-02 5.44357584e-06 9.99399055e-01 -5.51931413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26263999999999 meters 0.025265609074616866 Centerline is valid? [True, True] Translation: X:121.13, Y:-11.75, Z:-5.52 [[ 9.82343688e-01 1.84170773e-01 3.28938424e-02 1.21125146e+02] [-1.84067476e-01 9.82894260e-01 -6.16750492e-03 -1.17498439e+01] [-3.34670430e-02 3.92299057e-06 9.99439822e-01 -5.52463458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32263999999999 meters 0.0119128974276597 Centerline is valid? [True, True] Translation: X:121.19, Y:-11.76, Z:-5.52 [[ 9.81878191e-01 1.86377295e-01 3.43325082e-02 1.21186238e+02] [-1.86265885e-01 9.82478244e-01 -6.44366008e-03 -1.17632441e+01] [-3.49318943e-02 -6.80857278e-05 9.99389693e-01 -5.52270918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38264 meters 0.012441634741100657 Centerline is valid? [True, True] Translation: X:121.25, Y:-11.77, Z:-5.52 [[ 9.81325734e-01 1.89067081e-01 3.54039908e-02 1.21248347e+02] [-1.88950119e-01 9.81964161e-01 -6.65131434e-03 -1.17716483e+01] [-3.60229946e-02 -1.62482344e-04 9.99350948e-01 -5.52321328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44264 meters 0.01653647926968369 Centerline is valid? [True, True] Translation: X:121.31, Y:-11.77, Z:-5.53 [[ 9.80253711e-01 1.94552193e-01 3.53851272e-02 1.21308119e+02] [-1.94438631e-01 9.80892103e-01 -6.65591315e-03 -1.17735372e+01] [-3.60039143e-02 -3.55752117e-04 9.99351586e-01 -5.52696330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50264 meters 0.022153509936542238 Centerline is valid? [True, True] Translation: X:121.37, Y:-11.78, Z:-5.53 [[ 9.79103974e-01 2.00508654e-01 3.39365342e-02 1.21367225e+02] [-2.00407752e-01 9.79691776e-01 -6.38407401e-03 -1.17780494e+01] [-3.45274055e-02 -5.50472276e-04 9.99403600e-01 -5.53187578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56264 meters 0.02890439270266485 Centerline is valid? [True, True] Translation: X:121.43, Y:-11.78, Z:-5.54 [[ 9.78518788e-01 2.03495609e-01 3.30229977e-02 1.21426056e+02] [-2.03401804e-01 9.79075650e-01 -6.21107377e-03 -1.17842830e+01] [-3.35959392e-02 -6.39284924e-04 9.99435293e-01 -5.53591930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62263999999999 meters 0.03578340261125468 Centerline is valid? [True, True] Translation: X:121.48, Y:-11.79, Z:-5.54 [[ 9.77959380e-01 2.06063809e-01 3.36623951e-02 1.21484571e+02] [-2.05967890e-01 9.78538275e-01 -6.33031578e-03 -1.17851919e+01] [-3.42443910e-02 -7.42580799e-04 9.99413213e-01 -5.54050615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68263999999999 meters 0.028738116360758428 Centerline is valid? [True, True] Translation: X:121.54, Y:-11.79, Z:-5.54 [[ 9.78000914e-01 2.05914210e-01 3.33699055e-02 1.21543536e+02] [-2.05819942e-01 9.78569773e-01 -6.27303191e-03 -1.17919651e+01] [-3.39464873e-02 -7.33161094e-04 9.99423383e-01 -5.54172367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74264 meters 0.0307344812464642 Centerline is valid? [True, True] Translation: X:121.60, Y:-11.80, Z:-5.54 [[ 9.78119972e-01 2.05317559e-01 3.35562260e-02 1.21601428e+02] [-2.05221944e-01 9.78695144e-01 -6.30630893e-03 -1.18049977e+01] [-3.41361114e-02 -7.18147211e-04 9.99416935e-01 -5.54403015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80264 meters 0.02266934991308882 Centerline is valid? [True, True] Translation: X:121.66, Y:-11.82, Z:-5.55 [[ 9.78913361e-01 2.01572225e-01 3.31250594e-02 1.21658824e+02] [-2.01476943e-01 9.79473481e-01 -6.22420210e-03 -1.18166506e+01] [-3.36997435e-02 -5.80981106e-04 9.99431833e-01 -5.54627185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86264 meters 0.01927759295330161 Centerline is valid? [True, True] Translation: X:121.72, Y:-11.83, Z:-5.55 [[ 9.79691456e-01 1.97709988e-01 3.33977679e-02 1.21716492e+02] [-1.97610955e-01 9.80260453e-01 -6.27342238e-03 -1.18318209e+01] [-3.39788293e-02 -4.53746489e-04 9.99422450e-01 -5.54887616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92264 meters 0.018717281450233214 Centerline is valid? [True, True] Translation: X:121.77, Y:-11.85, Z:-5.55 [[ 9.80960701e-01 1.91155677e-01 3.42871642e-02 1.21773530e+02] [-1.91047327e-01 9.81559704e-01 -6.43944080e-03 -1.18515004e+01] [-3.48858344e-02 -2.33632693e-04 9.99391277e-01 -5.55156806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98263999999999 meters 0.012784718571663304 Centerline is valid? [True, True] Translation: X:121.83, Y:-11.86, Z:-5.55 [[ 9.81600997e-01 1.87861688e-01 3.41682410e-02 1.21832973e+02] [-1.87752112e-01 9.82195486e-01 -6.41653060e-03 -1.18640893e+01] [-3.47653123e-02 -1.16686563e-04 9.99395497e-01 -5.55256993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04263999999999 meters 0.013122602042223833 Centerline is valid? [True, True] Translation: X:121.89, Y:-11.87, Z:-5.56 [[ 9.81498345e-01 1.88548605e-01 3.33230125e-02 1.21892965e+02] [-1.88444780e-01 9.82063850e-01 -6.25780324e-03 -1.18721404e+01] [-3.39052260e-02 -1.37524236e-04 9.99425043e-01 -5.55632413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10264 meters 0.014808875666646282 Centerline is valid? [True, True] Translation: X:121.95, Y:-11.88, Z:-5.56 [[ 9.81031631e-01 1.90956808e-01 3.33532018e-02 1.21951977e+02] [-1.90854169e-01 9.81598415e-01 -6.26395363e-03 -1.18768202e+01] [-3.39355946e-02 -2.20460970e-04 9.99423998e-01 -5.56086959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16264 meters 0.024982276491681246 Centerline is valid? [True, True] Translation: X:122.01, Y:-11.88, Z:-5.56 [[ 9.80918196e-01 1.91476126e-01 3.37103336e-02 1.22010906e+02] [-1.91371633e-01 9.81497241e-01 -6.32958054e-03 -1.18839446e+01] [-3.42985630e-02 -2.42400884e-04 9.99411602e-01 -5.56347299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22264 meters 0.013867402121248394 Centerline is valid? [True, True] Translation: X:122.07, Y:-11.89, Z:-5.57 [[ 9.81338321e-01 1.89441335e-01 3.29709051e-02 1.22068768e+02] [-1.89340251e-01 9.81892027e-01 -6.19007762e-03 -1.18937018e+01] [-3.35465254e-02 -1.68159048e-04 9.99437143e-01 -5.56716943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28264 meters 0.01321388304322689 Centerline is valid? [True, True] Translation: X:122.13, Y:-11.91, Z:-5.57 [[ 9.81667107e-01 1.87805378e-01 3.25396943e-02 1.22127045e+02] [-1.87706069e-01 9.82206255e-01 -6.10771476e-03 -1.19065195e+01] [-3.31077529e-02 -1.12155431e-04 9.99451782e-01 -5.57105772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34263999999999 meters 0.013171194798651732 Centerline is valid? [True, True] Translation: X:122.19, Y:-11.92, Z:-5.57 [[ 9.81771321e-01 1.87339710e-01 3.20765651e-02 1.22186062e+02] [-1.87242987e-01 9.82295182e-01 -6.01998328e-03 -1.19162032e+01] [-3.26364373e-02 -9.58649121e-05 9.99467285e-01 -5.57365832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40263999999999 meters 0.013083039491798025 Centerline is valid? [True, True] Translation: X:122.24, Y:-11.93, Z:-5.58 [[ 9.81862353e-01 1.86802278e-01 3.24226442e-02 1.22244097e+02] [-1.86703185e-01 9.82397528e-01 -6.08425664e-03 -1.19266356e+01] [-3.29884785e-02 -7.95083948e-05 9.99455729e-01 -5.57722362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46264 meters 0.012285431149085547 Centerline is valid? [True, True] Translation: X:122.30, Y:-11.94, Z:-5.58 [[ 9.82032207e-01 1.85689929e-01 3.36451316e-02 1.22303596e+02] [-1.85582629e-01 9.82608390e-01 -6.31185027e-03 -1.19387913e+01] [-3.42320356e-02 -4.55117327e-05 9.99413911e-01 -5.57714647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52264 meters 0.020774732965776112 Centerline is valid? [True, True] Translation: X:122.36, Y:-11.95, Z:-5.58 [[ 9.82044184e-01 1.85733535e-01 3.30495876e-02 1.22361634e+02] [-1.85630031e-01 9.82600148e-01 -6.19998258e-03 -1.19488722e+01] [-3.36260744e-02 -4.63391402e-05 9.99434483e-01 -5.58415431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58264 meters 0.015216307181715665 Centerline is valid? [True, True] Translation: X:122.42, Y:-11.95, Z:-5.59 [[ 9.81362844e-01 1.89423778e-01 3.23357422e-02 1.22419165e+02] [-1.89326655e-01 9.81895414e-01 -6.06741033e-03 -1.19529281e+01] [-3.28996288e-02 -1.67686867e-04 9.99458647e-01 -5.58986603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64264 meters 0.017672518296502994 Centerline is valid? [True, True] Translation: X:122.48, Y:-11.96, Z:-5.59 [[ 9.80658011e-01 1.93301962e-01 3.07281148e-02 1.22477917e+02] [-1.93216221e-01 9.81139272e-01 -5.76380535e-03 -1.19573795e+01] [-3.12627151e-02 -2.84848341e-04 9.99511161e-01 -5.59464939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70263999999999 meters 0.025836109016123078 Centerline is valid? [True, True] Translation: X:122.54, Y:-11.96, Z:-5.60 [[ 9.79831296e-01 1.97286841e-01 3.17574319e-02 1.22537344e+02] [-1.97197401e-01 9.80345714e-01 -5.95527984e-03 -1.19588529e+01] [-3.23081606e-02 -4.27313466e-04 9.99477864e-01 -5.59637458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76263999999999 meters 0.01952495339106297 Centerline is valid? [True, True] Translation: X:122.60, Y:-11.97, Z:-5.60 [[ 9.79592594e-01 1.98358995e-01 3.24354701e-02 1.22595259e+02] [-1.98266336e-01 9.80129320e-01 -6.08075627e-03 -1.19678120e+01] [-3.29971279e-02 -4.74198012e-04 9.99455334e-01 -5.59542601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82263999999999 meters 0.020554844253451537 Centerline is valid? [True, True] Translation: X:122.65, Y:-11.97, Z:-5.60 [[ 9.79515285e-01 1.98638185e-01 3.30556807e-02 1.22653113e+02] [-1.98542161e-01 9.80072766e-01 -6.19541261e-03 -1.19731370e+01] [-3.36276179e-02 -4.94444935e-04 9.99434309e-01 -5.59871832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88264 meters 0.020548595640923106 Centerline is valid? [True, True] Translation: X:122.71, Y:-11.98, Z:-5.60 [[ 9.79536230e-01 1.98464820e-01 3.34737013e-02 1.22711271e+02] [-1.98366332e-01 9.80107886e-01 -6.27138029e-03 -1.19802124e+01] [-3.40524870e-02 -4.97011148e-04 9.99419922e-01 -5.60121651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94264 meters 0.01903359620771032 Centerline is valid? [True, True] Translation: X:122.77, Y:-11.99, Z:-5.60 [[ 9.79823571e-01 1.97054139e-01 3.33981457e-02 1.22769312e+02] [-1.96955333e-01 9.80392506e-01 -6.25554384e-03 -1.19893285e+01] [-3.39759725e-02 -4.48613589e-04 9.99422549e-01 -5.60381753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00264 meters 0.014170592748614933 Centerline is valid? [True, True] Translation: X:122.83, Y:-12.01, Z:-5.60 [[ 9.81029000e-01 1.90684021e-01 3.49528935e-02 1.22826990e+02] [-1.90571831e-01 9.81651438e-01 -6.54455668e-03 -1.20066334e+01] [-3.55595005e-02 -2.40637002e-04 9.99367532e-01 -5.60426452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06264 meters 0.03054943019199981 Centerline is valid? [True, True] Translation: X:122.88, Y:-12.03, Z:-5.61 [[ 9.82571660e-01 1.82406225e-01 3.57896844e-02 1.22882858e+02] [-1.82283128e-01 9.83223253e-01 -6.70041966e-03 -1.20283895e+01] [-3.64114482e-02 5.97868412e-05 9.99336882e-01 -5.60755411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12263999999999 meters 0.02628064998982988 Centerline is valid? [True, True] Translation: X:122.94, Y:-12.05, Z:-5.61 [[ 9.83463175e-01 1.77495084e-01 3.59955308e-02 1.22940608e+02] [-1.77367343e-01 9.84121658e-01 -6.73711449e-03 -1.20461212e+01] [-3.66197861e-02 2.41272359e-04 9.99329242e-01 -5.60861723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18263999999999 meters 0.030620196980036055 Centerline is valid? [True, True] Translation: X:123.00, Y:-12.07, Z:-5.61 [[ 9.84527385e-01 1.71347589e-01 3.66855830e-02 1.22999507e+02] [-1.71210633e-01 9.85210523e-01 -6.86620009e-03 -1.20678534e+01] [-3.73195292e-02 4.79000140e-04 9.99303269e-01 -5.61053102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24264 meters 0.021243707641946427 Centerline is valid? [True, True] Translation: X:123.06, Y:-12.09, Z:-5.61 [[ 9.85192813e-01 1.67828576e-01 3.50526928e-02 1.23058301e+02] [-1.67701258e-01 9.85816020e-01 -6.56225933e-03 -1.20895849e+01] [-3.56568407e-02 5.86710053e-04 9.99363920e-01 -5.61441291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30264 meters 0.023083318057609607 Centerline is valid? [True, True] Translation: X:123.12, Y:-12.11, Z:-5.62 [[ 9.85458386e-01 1.66404976e-01 3.43679018e-02 1.23117895e+02] [-1.66281712e-01 9.86057297e-01 -6.43429423e-03 -1.21064731e+01] [-3.49594190e-02 6.25975647e-04 9.99388537e-01 -5.61866180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36264 meters 0.023510078795325583 Centerline is valid? [True, True] Translation: X:123.18, Y:-12.13, Z:-5.62 [[ 9.85548682e-01 1.65672046e-01 3.53067843e-02 1.23178921e+02] [-1.65541262e-01 9.86180671e-01 -6.61621711e-03 -1.21256270e+01] [-3.59149905e-02 6.75874430e-04 9.99354620e-01 -5.61964619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42264 meters 0.023375309771215016 Centerline is valid? [True, True] Translation: X:123.24, Y:-12.14, Z:-5.62 [[ 9.85449312e-01 1.66567562e-01 3.38363807e-02 1.23239457e+02] [-1.66447752e-01 9.86029847e-01 -6.34717721e-03 -1.21441608e+01] [-3.44209151e-02 6.22831916e-04 9.99407231e-01 -5.62447555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48263999999999 meters 0.02250375866946293 Centerline is valid? [True, True] Translation: X:123.30, Y:-12.16, Z:-5.63 [[ 9.85310730e-01 1.67351526e-01 3.40033993e-02 1.23299919e+02] [-1.67230748e-01 9.85897104e-01 -6.38566958e-03 -1.21610318e+01] [-3.45925045e-02 6.05454847e-04 9.99401317e-01 -5.62733786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54263999999999 meters 0.03210296306333852 Centerline is valid? [True, True] Translation: X:123.36, Y:-12.18, Z:-5.63 [[ 9.85207387e-01 1.67894509e-01 3.43196621e-02 1.23359570e+02] [-1.67771587e-01 9.85804786e-01 -6.45123938e-03 -1.21798407e+01] [-3.49156148e-02 5.97944524e-04 9.99390085e-01 -5.63212922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60264 meters 0.02869192809820073 Centerline is valid? [True, True] Translation: X:123.42, Y:-12.20, Z:-5.64 [[ 9.84649521e-01 1.70963704e-01 3.51672069e-02 1.23418060e+02] [-1.70836327e-01 9.85277196e-01 -6.61787210e-03 -1.21979793e+01] [-3.57808629e-02 5.08448159e-04 9.99359531e-01 -5.63507664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66264 meters 0.01794330320589086 Centerline is valid? [True, True] Translation: X:123.48, Y:-12.21, Z:-5.64 [[ 9.84262432e-01 1.73458758e-01 3.37568562e-02 1.23479065e+02] [-1.73342784e-01 9.84841052e-01 -6.35472293e-03 -1.22086727e+01] [-3.43474201e-02 4.03207613e-04 9.99409872e-01 -5.63682918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72264 meters 0.02932988827593825 Centerline is valid? [True, True] Translation: X:123.54, Y:-12.22, Z:-5.64 [[ 9.83459514e-01 1.78231249e-01 3.22646247e-02 1.23540844e+02] [-1.78127694e-01 9.83988602e-01 -6.07916500e-03 -1.22174043e+01] [-3.28315201e-02 2.31389476e-04 9.99460874e-01 -5.64363971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78264 meters 0.013755339948862846 Centerline is valid? [True, True] Translation: X:123.60, Y:-12.22, Z:-5.65 [[ 9.82030140e-01 1.86213035e-01 3.06840201e-02 1.23602345e+02] [-1.86123117e-01 9.82509392e-01 -5.78623994e-03 -1.22246765e+01] [-3.12248113e-02 -2.87434606e-05 9.99512386e-01 -5.64923378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84263999999999 meters 0.014392239245642766 Centerline is valid? [True, True] Translation: X:123.66, Y:-12.23, Z:-5.65 [[ 9.81121626e-01 1.90948511e-01 3.06434604e-02 1.23664003e+02] [-1.90860952e-01 9.81600039e-01 -5.78452403e-03 -1.22343169e+01] [-3.11841682e-02 -1.73318402e-04 9.99513641e-01 -5.65003900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90263999999999 meters 0.014611397943004175 Centerline is valid? [True, True] Translation: X:123.72, Y:-12.25, Z:-5.65 [[ 9.80864587e-01 1.92147994e-01 3.13657361e-02 1.23724867e+02] [-1.92056684e-01 9.81365938e-01 -5.92673262e-03 -1.22480481e+01] [-3.19200748e-02 -2.10677116e-04 9.99490402e-01 -5.65170691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96264 meters 0.02468360925785483 Centerline is valid? [True, True] Translation: X:123.78, Y:-12.26, Z:-5.65 [[ 9.80932130e-01 1.91536273e-01 3.29547159e-02 1.23784660e+02] [-1.91434912e-01 9.81485516e-01 -6.23346959e-03 -1.22636367e+01] [-3.35385119e-02 -1.94072536e-04 9.99437407e-01 -5.65416636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02264 meters 0.022687268504024985 Centerline is valid? [True, True] Translation: X:123.84, Y:-12.28, Z:-5.65 [[ 9.81107581e-01 1.90299179e-01 3.48444674e-02 1.23843250e+02] [-1.90184829e-01 9.81726132e-01 -6.59789031e-03 -1.22830001e+01] [-3.54632973e-02 -1.53648857e-04 9.99370968e-01 -5.65429623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08264 meters 0.012793513614225252 Centerline is valid? [True, True] Translation: X:123.90, Y:-12.30, Z:-5.65 [[ 9.81167738e-01 1.89953457e-01 3.50364753e-02 1.23904092e+02] [-1.89837432e-01 9.81793087e-01 -6.63958860e-03 -1.23001584e+01] [-3.56597821e-02 -1.36684364e-04 9.99363978e-01 -5.65431133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14264 meters 0.012963673392965818 Centerline is valid? [True, True] Translation: X:123.96, Y:-12.32, Z:-5.66 [[ 9.81261714e-01 1.89607186e-01 3.42718995e-02 1.23964898e+02] [-1.89495723e-01 9.81860021e-01 -6.50147307e-03 -1.23181955e+01] [-3.48829340e-02 -1.14731758e-04 9.99391399e-01 -5.65866356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20263999999999 meters 0.012984033961635853 Centerline is valid? [True, True] Translation: X:124.03, Y:-12.34, Z:-5.66 [[ 9.81427371e-01 1.88888266e-01 3.34893732e-02 1.24025872e+02] [-1.88781191e-01 9.81998583e-01 -6.35965906e-03 -1.23354596e+01] [-3.40877820e-02 -8.06203071e-05 9.99418839e-01 -5.66314592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26263999999999 meters 0.013288155672679054 Centerline is valid? [True, True] Translation: X:124.09, Y:-12.35, Z:-5.67 [[ 9.81416130e-01 1.88967399e-01 3.33721717e-02 1.24085537e+02] [-1.88860857e-01 9.81983358e-01 -6.34511811e-03 -1.23504869e+01] [-3.39699377e-02 -7.54956857e-05 9.99422852e-01 -5.66807902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32263999999999 meters 0.013473369695096736 Centerline is valid? [True, True] Translation: X:124.15, Y:-12.36, Z:-5.67 [[ 9.81091283e-01 1.90699922e-01 3.30671031e-02 1.24147298e+02] [-1.90596198e-01 9.81648370e-01 -6.29019497e-03 -1.23614669e+01] [-3.36598075e-02 -1.31208688e-04 9.99433340e-01 -5.66999104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38264 meters 0.02563889667388279 Centerline is valid? [True, True] Translation: X:124.21, Y:-12.37, Z:-5.67 [[ 9.80675395e-01 1.92609171e-01 3.43143915e-02 1.24208703e+02] [-1.92498374e-01 9.81275531e-01 -6.53509431e-03 -1.23736576e+01] [-3.49305919e-02 -1.96658365e-04 9.99389721e-01 -5.67220595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44264 meters 0.014988870598226794 Centerline is valid? [True, True] Translation: X:124.27, Y:-12.38, Z:-5.67 [[ 9.80396141e-01 1.93951117e-01 3.47328488e-02 1.24270554e+02] [-1.93838195e-01 9.81011165e-01 -6.62176177e-03 -1.23813939e+01] [-3.53576106e-02 -2.40603050e-04 9.99374695e-01 -5.67410099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50264 meters 0.013159523122571425 Centerline is valid? [True, True] Translation: X:124.33, Y:-12.40, Z:-5.67 [[ 9.80614187e-01 1.92627058e-01 3.59253661e-02 1.24330766e+02] [-1.92505202e-01 9.81272021e-01 -6.85338280e-03 -1.23968604e+01] [-3.65727036e-02 -1.95295448e-04 9.99330976e-01 -5.67291698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56264 meters 0.012012491389611354 Centerline is valid? [True, True] Translation: X:124.39, Y:-12.42, Z:-5.68 [[ 9.81654349e-01 1.87287052e-01 3.57533010e-02 1.24390329e+02] [-1.87162585e-01 9.82305228e-01 -6.82690151e-03 -1.24184083e+01] [-3.63992447e-02 9.97731876e-06 9.99337328e-01 -5.67559216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62263999999999 meters 0.03609239589847394 Centerline is valid? [True, True] Translation: X:124.45, Y:-12.44, Z:-5.68 [[ 9.82627515e-01 1.82085504e-01 3.58892336e-02 1.24448676e+02] [-1.81956373e-01 9.83282678e-01 -6.85953279e-03 -1.24387670e+01] [-3.65382832e-02 2.10090889e-04 9.99332232e-01 -5.68192911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68263999999999 meters 0.018931695627874102 Centerline is valid? [True, True] Translation: X:124.51, Y:-12.47, Z:-5.69 [[ 9.83854325e-01 1.75577648e-01 3.46865352e-02 1.24505021e+02] [-1.75452730e-01 9.84465486e-01 -6.63680530e-03 -1.24663282e+01] [-3.53129714e-02 4.43802308e-04 9.99376204e-01 -5.68530062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74264 meters 0.020793396433772513 Centerline is valid? [True, True] Translation: X:124.56, Y:-12.49, Z:-5.69 [[ 9.84382844e-01 1.72963011e-01 3.27752059e-02 1.24563988e+02] [-1.72850021e-01 9.84928189e-01 -6.27151189e-03 -1.24879640e+01] [-3.33659638e-02 5.08373677e-04 9.99443072e-01 -5.69002921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80264 meters 0.018620503514511416 Centerline is valid? [True, True] Translation: X:124.63, Y:-12.50, Z:-5.69 [[ 9.83870913e-01 1.75910818e-01 3.24563014e-02 1.24625654e+02] [-1.75801570e-01 9.84406024e-01 -6.21197802e-03 -1.24990831e+01] [-3.30429327e-02 4.05915762e-04 9.99453851e-01 -5.69316547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86264 meters 0.013396354985232683 Centerline is valid? [True, True] Translation: X:124.69, Y:-12.50, Z:-5.70 [[ 9.81873892e-01 1.86847429e-01 3.18072042e-02 1.24686820e+02] [-1.86748144e-01 9.82388944e-01 -6.09048279e-03 -1.24985829e+01] [-3.23850367e-02 4.01496815e-05 9.99475466e-01 -5.69722939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92264 meters 0.01740620638234468 Centerline is valid? [True, True] Translation: X:124.75, Y:-12.50, Z:-5.70 [[ 9.79406203e-01 1.99193064e-01 3.29486296e-02 1.24750586e+02] [-1.99093548e-01 9.79960191e-01 -6.30731279e-03 -1.24970018e+01] [-3.35447183e-02 -3.82438304e-04 9.99437144e-01 -5.69830810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98263999999999 meters 0.021997750863103037 Centerline is valid? [True, True] Translation: X:124.81, Y:-12.50, Z:-5.70 [[ 9.78178066e-01 2.05113169e-01 3.31098103e-02 1.24812745e+02] [-2.05015855e-01 9.78738090e-01 -6.34432115e-03 -1.25011455e+01] [-3.37071363e-02 -5.82160281e-04 9.99431583e-01 -5.70056428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04264 meters 0.0264556315960482 Centerline is valid? [True, True] Translation: X:124.87, Y:-12.51, Z:-5.71 [[ 9.77532833e-01 2.08232833e-01 3.26901650e-02 1.24873463e+02] [-2.08139534e-01 9.78079051e-01 -6.26925435e-03 -1.25083130e+01] [-3.32790302e-02 -6.75713750e-04 9.99445871e-01 -5.70636932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10264 meters 0.03636956667306803 Centerline is valid? [True, True] Translation: X:124.93, Y:-12.52, Z:-5.71 [[ 9.77817648e-01 2.06959488e-01 3.22554958e-02 1.24933400e+02] [-2.06867795e-01 9.78349318e-01 -6.19097812e-03 -1.25249545e+01] [-3.28384240e-02 -6.18975620e-04 9.99460482e-01 -5.71043028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16264 meters 0.021949551244957795 Centerline is valid? [True, True] Translation: X:124.99, Y:-12.55, Z:-5.71 [[ 9.78513996e-01 2.03614904e-01 3.24242154e-02 1.24991841e+02] [-2.03520166e-01 9.79050928e-01 -6.23084344e-03 -1.25459033e+01] [-3.30136508e-02 -5.02014182e-04 9.99454775e-01 -5.71210385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22264 meters 0.018353591254171773 Centerline is valid? [True, True] Translation: X:125.05, Y:-12.56, Z:-5.71 [[ 9.78969722e-01 2.01420957e-01 3.23710113e-02 1.25051795e+02] [-2.01325373e-01 9.79504678e-01 -6.21929351e-03 -1.25648985e+01] [-3.29602531e-02 -4.28605896e-04 9.99456571e-01 -5.71286612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28264000000001 meters 0.03271894460018461 Centerline is valid? [True, True] Translation: X:125.11, Y:-12.58, Z:-5.72 [[ 9.79402148e-01 1.99506111e-01 3.11246627e-02 1.25110789e+02] [-1.99416608e-01 9.79896521e-01 -5.98530325e-03 -1.25828531e+01] [-3.16930533e-02 -3.44755789e-04 9.99497590e-01 -5.71974590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34264000000002 meters 0.018479000541918606 Centerline is valid? [True, True] Translation: X:125.17, Y:-12.60, Z:-5.72 [[ 9.79200799e-01 2.00622599e-01 3.02715627e-02 1.25171754e+02] [-2.00538327e-01 9.79668535e-01 -5.82585105e-03 -1.25953379e+01] [-3.08248949e-02 -3.65930540e-04 9.99524733e-01 -5.72252336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40264000000002 meters 0.019719049793947323 Centerline is valid? [True, True] Translation: X:125.23, Y:-12.61, Z:-5.73 [[ 9.78689457e-01 2.03221956e-01 2.94581600e-02 1.25233144e+02] [-2.03143183e-01 9.79132601e-01 -5.67419522e-03 -1.26064820e+01] [-2.99965659e-02 -4.30949347e-04 9.99549909e-01 -5.72531956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46264000000002 meters 0.025719472114734875 Centerline is valid? [True, True] Translation: X:125.29, Y:-12.61, Z:-5.73 [[ 9.78359595e-01 2.04822734e-01 2.93283411e-02 1.25293315e+02] [-2.04745207e-01 9.78798970e-01 -5.65472351e-03 -1.26143997e+01] [-2.98647660e-02 -4.72484260e-04 9.99553837e-01 -5.73114701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52264 meters 0.021452143307236566 Centerline is valid? [True, True] Translation: X:125.35, Y:-12.63, Z:-5.73 [[ 9.78255071e-01 2.05193087e-01 3.02127934e-02 1.25353718e+02] [-2.05110834e-01 9.78721387e-01 -5.83028387e-03 -1.26285906e+01] [-3.07662410e-02 -4.93466489e-04 9.99526485e-01 -5.72951679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58264 meters 0.02148340288392549 Centerline is valid? [True, True] Translation: X:125.42, Y:-12.64, Z:-5.73 [[ 9.78294566e-01 2.05034017e-01 3.00132320e-02 1.25415674e+02] [-2.04952623e-01 9.78754730e-01 -5.79665040e-03 -1.26414924e+01] [-3.05641033e-02 -4.80459035e-04 9.99532693e-01 -5.73346093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64264 meters 0.020052277058522236 Centerline is valid? [True, True] Translation: X:125.48, Y:-12.66, Z:-5.74 [[ 9.78615692e-01 2.03296413e-01 3.13352107e-02 1.25475192e+02] [-2.03206572e-01 9.79117141e-01 -6.05908001e-03 -1.26576092e+01] [-3.19126312e-02 -4.38009975e-04 9.99490566e-01 -5.73563526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70264 meters 0.020917673632519646 Centerline is valid? [True, True] Translation: X:125.54, Y:-12.67, Z:-5.74 [[ 9.78853045e-01 2.02320575e-01 3.02175806e-02 1.25535924e+02] [-2.02236423e-01 9.79319271e-01 -5.84755022e-03 -1.26734047e+01] [-3.07757388e-02 -3.87203091e-04 9.99526240e-01 -5.74034058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76264 meters 0.01907213992966219 Centerline is valid? [True, True] Translation: X:125.60, Y:-12.69, Z:-5.74 [[ 9.79085371e-01 2.01239201e-01 2.99101932e-02 1.25595589e+02] [-2.01156019e-01 9.79542070e-01 -5.79559337e-03 -1.26872316e+01] [-3.04645931e-02 -3.42234709e-04 9.99535788e-01 -5.74487435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82264 meters 0.0190915822844054 Centerline is valid? [True, True] Translation: X:125.66, Y:-12.70, Z:-5.74 [[ 9.78762879e-01 2.02734080e-01 3.03664334e-02 1.25657066e+02] [-2.02649004e-01 9.79233751e-01 -5.88582619e-03 -1.26992659e+01] [-3.09290940e-02 -3.92899288e-04 9.99521504e-01 -5.74385415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88264 meters 0.022889925857858158 Centerline is valid? [True, True] Translation: X:125.72, Y:-12.70, Z:-5.74 [[ 9.77556691e-01 2.08416417e-01 3.07492095e-02 1.25719196e+02] [-2.08331744e-01 9.78040014e-01 -5.96781172e-03 -1.27018685e+01] [-3.13177472e-02 -5.72162157e-04 9.99509315e-01 -5.74352999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94264 meters 0.028511371196146107 Centerline is valid? [True, True] Translation: X:125.78, Y:-12.70, Z:-5.75 [[ 9.76500766e-01 2.13035416e-01 3.25908740e-02 1.25781525e+02] [-2.12942894e-01 9.77044179e-01 -6.32428457e-03 -1.27013233e+01] [-3.31900203e-02 -7.64326313e-04 9.99448767e-01 -5.74547767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00264 meters 0.03290787291517952 Centerline is valid? [True, True] Translation: X:125.84, Y:-12.70, Z:-5.75 [[ 9.75526306e-01 2.17296939e-01 3.36224084e-02 1.25843869e+02] [-2.17200734e-01 9.76105104e-01 -6.53197988e-03 -1.27010378e+01] [-3.42383837e-02 -9.30693604e-04 9.99413261e-01 -5.74719013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06264000000002 meters 0.03101153383976416 Centerline is valid? [True, True] Translation: X:125.90, Y:-12.71, Z:-5.75 [[ 9.75488837e-01 2.17384405e-01 3.41401505e-02 1.25904683e+02] [-2.17285300e-01 9.76085611e-01 -6.63161968e-03 -1.27124799e+01] [-3.47653204e-02 -9.49081887e-04 9.99395053e-01 -5.74877448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12264000000002 meters 0.02723078672233193 Centerline is valid? [True, True] Translation: X:125.96, Y:-12.72, Z:-5.75 [[ 9.76265963e-01 2.14036514e-01 3.30626722e-02 1.25964889e+02] [-2.13941396e-01 9.76825336e-01 -6.42982736e-03 -1.27249011e+01] [-3.36726737e-02 -7.96252641e-04 9.99432598e-01 -5.75241787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18264000000002 meters 0.02454678167251 Centerline is valid? [True, True] Translation: X:126.02, Y:-12.74, Z:-5.76 [[ 9.77402675e-01 2.08995701e-01 3.16987096e-02 1.26023871e+02] [-2.08905587e-01 9.77916378e-01 -6.16552018e-03 -1.27368595e+01] [-3.22872545e-02 -5.95841625e-04 9.99478453e-01 -5.75941107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24264000000002 meters 0.020907033474472918 Centerline is valid? [True, True] Translation: X:126.08, Y:-12.75, Z:-5.76 [[ 9.78329192e-01 2.04691440e-01 3.11994526e-02 1.26083413e+02] [-2.04601947e-01 9.78826448e-01 -6.06862964e-03 -1.27508100e+01] [-3.17810459e-02 -4.46351201e-04 9.99494755e-01 -5.76359669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30264 meters 0.014086759776064743 Centerline is valid? [True, True] Translation: X:126.14, Y:-12.77, Z:-5.76 [[ 9.79938450e-01 1.96638561e-01 3.24639895e-02 1.26141929e+02] [-1.96537213e-01 9.80476027e-01 -6.31541900e-03 -1.27726144e+01] [-3.30720183e-02 -1.91660100e-04 9.99452953e-01 -5.76327864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36264 meters 0.013786792239334 Centerline is valid? [True, True] Translation: X:126.20, Y:-12.80, Z:-5.77 [[ 9.81542464e-01 1.88568411e-01 3.18801676e-02 1.26200170e+02] [-1.88466463e-01 9.82060053e-01 -6.20030522e-03 -1.27972767e+01] [-3.24774208e-02 7.75204270e-05 9.99472466e-01 -5.76859159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42264 meters 0.0391245795268435 Centerline is valid? [True, True] Translation: X:126.26, Y:-12.81, Z:-5.77 [[ 9.82117282e-01 1.85652500e-01 3.12856719e-02 1.26260619e+02] [-1.85552649e-01 9.82615448e-01 -6.09069182e-03 -1.28138099e+01] [-3.18725367e-02 1.76634408e-04 9.99491926e-01 -5.77216044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48264 meters 0.015621267235531347 Centerline is valid? [True, True] Translation: X:126.32, Y:-12.83, Z:-5.78 [[ 9.82170330e-01 1.85720729e-01 2.91419536e-02 1.26320732e+02] [-1.85633981e-01 9.82602556e-01 -5.67824455e-03 -1.28268818e+01] [-2.96895258e-02 1.67266469e-04 9.99559155e-01 -5.77660745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54264 meters 0.013963221570305339 Centerline is valid? [True, True] Translation: X:126.38, Y:-12.83, Z:-5.78 [[ 9.81183864e-01 1.90745260e-01 2.99076893e-02 1.26383152e+02] [-1.90656070e-01 9.81639570e-01 -5.83247063e-03 -1.28310925e+01] [-3.04710874e-02 2.06435648e-05 9.99535648e-01 -5.77827990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60264 meters 0.014154491524380659 Centerline is valid? [True, True] Translation: X:126.45, Y:-12.84, Z:-5.78 [[ 9.80398574e-01 1.94685875e-01 3.02662705e-02 1.26445651e+02] [-1.94596251e-01 9.80865638e-01 -5.90751007e-03 -1.28386035e+01] [-3.08372535e-02 -9.79883165e-05 9.99524414e-01 -5.78028722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66264 meters 0.015363329419258618 Centerline is valid? [True, True] Translation: X:126.51, Y:-12.84, Z:-5.78 [[ 9.79469802e-01 1.99228213e-01 3.07737781e-02 1.26508466e+02] [-1.99137588e-01 9.79953092e-01 -6.01322872e-03 -1.28434933e+01] [-3.13548638e-02 -2.38439994e-04 9.99508287e-01 -5.78124281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72264 meters 0.027914059117445173 Centerline is valid? [True, True] Translation: X:126.57, Y:-12.85, Z:-5.78 [[ 9.78768393e-01 2.02462427e-01 3.19593120e-02 1.26569908e+02] [-2.02366202e-01 9.79289969e-01 -6.25113009e-03 -1.28508559e+01] [-3.25630526e-02 -3.49076020e-04 9.99469622e-01 -5.78190987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78264000000001 meters 0.02007602735791922 Centerline is valid? [True, True] Translation: X:126.63, Y:-12.85, Z:-5.79 [[ 9.78267489e-01 2.04851064e-01 3.20743203e-02 1.26631466e+02] [-2.04755245e-01 9.78793064e-01 -6.27920914e-03 -1.28529628e+01] [-3.26804249e-02 -4.24639148e-04 9.99465762e-01 -5.78599769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84264000000002 meters 0.030354019494034403 Centerline is valid? [True, True] Translation: X:126.69, Y:-12.86, Z:-5.79 [[ 9.77756000e-01 2.07246216e-01 3.22832722e-02 1.26693566e+02] [-2.07150270e-01 9.78288686e-01 -6.32551976e-03 -1.28580047e+01] [-3.28933000e-02 -5.02673657e-04 9.99458743e-01 -5.78984286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90264000000002 meters 0.022368745822710895 Centerline is valid? [True, True] Translation: X:126.76, Y:-12.86, Z:-5.79 [[ 9.77653778e-01 2.07733786e-01 3.22453918e-02 1.26755932e+02] [-2.07638147e-01 9.78185264e-01 -6.32366173e-03 -1.28630269e+01] [-3.28556053e-02 -5.13021641e-04 9.99459977e-01 -5.79156386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96264000000002 meters 0.020008202562626146 Centerline is valid? [True, True] Translation: X:126.82, Y:-12.87, Z:-5.79 [[ 9.77910814e-01 2.06606762e-01 3.16872983e-02 1.26816881e+02] [-2.06513623e-01 9.78423954e-01 -6.22015082e-03 -1.28734170e+01] [-3.22887369e-02 -4.61106023e-04 9.99478476e-01 -5.79415310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02264 meters 0.01676474891723097 Centerline is valid? [True, True] Translation: X:126.88, Y:-12.89, Z:-5.80 [[ 9.78751255e-01 2.02697867e-01 3.09766925e-02 1.26877440e+02] [-2.02606735e-01 9.79241274e-01 -6.08591907e-03 -1.28851419e+01] [-3.15672586e-02 -3.19485591e-04 9.99501579e-01 -5.79829987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08264 meters 0.025210951033461014 Centerline is valid? [True, True] Translation: X:126.94, Y:-12.90, Z:-5.80 [[ 9.79480907e-01 1.98987492e-01 3.19551526e-02 1.26937622e+02] [-1.98888338e-01 9.80002009e-01 -6.28417499e-03 -1.28995213e+01] [-3.25665860e-02 -2.00277786e-04 9.99469548e-01 -5.80108557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14264 meters 0.022840865621740016 Centerline is valid? [True, True] Translation: X:127.00, Y:-12.91, Z:-5.80 [[ 9.80442228e-01 1.94240843e-01 3.16785674e-02 1.26998557e+02] [-1.94140737e-01 9.80953869e-01 -6.23543404e-03 -1.29132061e+01] [-3.22863892e-02 -3.66175729e-05 9.99478658e-01 -5.80478316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20264 meters 0.013537612803893165 Centerline is valid? [True, True] Translation: X:127.06, Y:-12.92, Z:-5.81 [[ 9.80942983e-01 1.91663186e-01 3.18761219e-02 1.27060331e+02] [-1.91560284e-01 9.81460758e-01 -6.27990004e-03 -1.29227701e+01] [-3.24887884e-02 5.40249118e-05 9.99472099e-01 -5.80624755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26264 meters 0.013761851480030876 Centerline is valid? [True, True] Translation: X:127.12, Y:-12.94, Z:-5.81 [[ 9.81171259e-01 1.90580807e-01 3.13355392e-02 1.27121244e+02] [-1.90480624e-01 9.81671507e-01 -6.17936545e-03 -1.29350418e+01] [-3.19388744e-02 9.42027119e-05 9.99489820e-01 -5.80939441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32264 meters 0.023526672270767192 Centerline is valid? [True, True] Translation: X:127.18, Y:-12.94, Z:-5.81 [[ 9.81268177e-01 1.89915925e-01 3.23219227e-02 1.27181878e+02] [-1.89808739e-01 9.81800349e-01 -6.38098671e-03 -1.29439378e+01] [-3.29455260e-02 1.26475801e-04 9.99457141e-01 -5.81305351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38264 meters 0.01352603188249173 Centerline is valid? [True, True] Translation: X:127.24, Y:-12.95, Z:-5.81 [[ 9.81133574e-01 1.90714507e-01 3.16999355e-02 1.27244696e+02] [-1.90611774e-01 9.81645540e-01 -6.25977496e-03 -1.29527788e+01] [-3.23119302e-02 9.92944477e-05 9.99477828e-01 -5.81336963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44264 meters 0.014488179579490737 Centerline is valid? [True, True] Translation: X:127.30, Y:-12.96, Z:-5.82 [[ 9.80847396e-01 1.92538246e-01 2.94518133e-02 1.27304927e+02] [-1.92450139e-01 9.81289469e-01 -5.82426467e-03 -1.29587592e+01] [-3.00221479e-02 4.47092745e-05 9.99549233e-01 -5.82270611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50264 meters 0.014322315414382504 Centerline is valid? [True, True] Translation: X:127.36, Y:-12.97, Z:-5.83 [[ 9.80689283e-01 1.93312963e-01 2.96416762e-02 1.27364866e+02] [-1.93224046e-01 9.81137145e-01 -5.86259962e-03 -1.29691582e+01] [-3.02158661e-02 2.19040179e-05 9.99543396e-01 -5.82535807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56264000000002 meters 0.013863754945273808 Centerline is valid? [True, True] Translation: X:127.43, Y:-12.98, Z:-5.83 [[ 9.80311946e-01 1.95253888e-01 2.94008167e-02 1.27426367e+02] [-1.95167263e-01 9.80752730e-01 -5.81565258e-03 -1.29768133e+01] [-2.99704601e-02 -3.69232251e-05 9.99550784e-01 -5.82631576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62264000000002 meters 0.020092597080942787 Centerline is valid? [True, True] Translation: X:127.49, Y:-12.98, Z:-5.83 [[ 9.80004896e-01 1.96757542e-01 2.96120615e-02 1.27487628e+02] [-1.96670330e-01 9.80452173e-01 -5.85820606e-03 -1.29849202e+01] [-3.01858563e-02 -8.27432889e-05 9.99544300e-01 -5.82995912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68264000000002 meters 0.026748057998267665 Centerline is valid? [True, True] Translation: X:127.55, Y:-12.99, Z:-5.83 [[ 9.79739661e-01 1.97856822e-01 3.10302349e-02 1.27547248e+02] [-1.97761565e-01 9.80230924e-01 -6.14001417e-03 -1.29944362e+01] [-3.16316395e-02 -1.20972433e-04 9.99499587e-01 -5.83135646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74264000000002 meters 0.013335308821475648 Centerline is valid? [True, True] Translation: X:127.61, Y:-13.01, Z:-5.83 [[ 9.79756625e-01 1.97587251e-01 3.21905882e-02 1.27607440e+02] [-1.97484601e-01 9.80285298e-01 -6.36925985e-03 -1.30088616e+01] [-3.28144449e-02 -1.16820936e-04 9.99461454e-01 -5.83008275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80264 meters 0.01400030034677997 Centerline is valid? [True, True] Translation: X:127.67, Y:-13.02, Z:-5.83 [[ 9.79742156e-01 1.97707595e-01 3.18906623e-02 1.27666719e+02] [-1.97606881e-01 9.80261033e-01 -6.31091375e-03 -1.30188537e+01] [-3.25088891e-02 -1.18746069e-04 9.99471439e-01 -5.83453692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86264 meters 0.01515307633076511 Centerline is valid? [True, True] Translation: X:127.73, Y:-13.03, Z:-5.84 [[ 9.79093154e-01 2.00933353e-01 3.16604402e-02 1.27726504e+02] [-2.00835755e-01 9.79604889e-01 -6.26593647e-03 -1.30260709e+01] [-3.22737576e-02 -2.23612903e-04 9.99479042e-01 -5.83641912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92264 meters 0.020218189712165244 Centerline is valid? [True, True] Translation: X:127.79, Y:-13.03, Z:-5.84 [[ 9.77533235e-01 2.08291136e-01 3.23044326e-02 1.27787384e+02] [-2.08193525e-01 9.78066755e-01 -6.39373859e-03 -1.30273970e+01] [-3.29276506e-02 -4.75481708e-04 9.99457625e-01 -5.83697645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98264 meters 0.023579068764551934 Centerline is valid? [True, True] Translation: X:127.85, Y:-13.03, Z:-5.84 [[ 9.76348828e-01 2.13781780e-01 3.22539311e-02 1.27847385e+02] [-2.13687484e-01 9.76881218e-01 -6.38314847e-03 -1.30290780e+01] [-3.28728604e-02 -6.60081850e-04 9.99459324e-01 -5.83790616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04264 meters 0.03229745106688102 Centerline is valid? [True, True] Translation: X:127.91, Y:-13.02, Z:-5.84 [[ 9.75230551e-01 2.18738565e-01 3.28452888e-02 1.27907862e+02] [-2.18643628e-01 9.75783136e-01 -6.49888280e-03 -1.30222697e+01] [-3.34714353e-02 -8.43504051e-04 9.99439319e-01 -5.84375204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10264 meters 0.037085839748711845 Centerline is valid? [True, True] Translation: X:127.97, Y:-13.03, Z:-5.85 [[ 9.74956338e-01 2.19822179e-01 3.37394312e-02 1.27966945e+02] [-2.19722712e-01 9.75539537e-01 -6.67396571e-03 -1.30282028e+01] [-3.43812348e-02 -9.06494172e-04 9.99408379e-01 -5.84567833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16264 meters 0.04015863946411562 Centerline is valid? [True, True] Translation: X:128.03, Y:-13.03, Z:-5.85 [[ 9.75100011e-01 2.19280565e-01 3.31059173e-02 1.28025265e+02] [-2.19184537e-01 9.75661454e-01 -6.54716803e-03 -1.30308842e+01] [-3.37358341e-02 -8.72161543e-04 9.99430404e-01 -5.85042391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22264 meters 0.03724045529951454 Centerline is valid? [True, True] Translation: X:128.08, Y:-13.04, Z:-5.85 [[ 9.75814005e-01 2.16045682e-01 3.33360363e-02 1.28084288e+02] [-2.15946516e-01 9.76382954e-01 -6.59007801e-03 -1.30404388e+01] [-3.39724955e-02 -7.68110462e-04 9.99422473e-01 -5.85258369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28264000000001 meters 0.02392689404638176 Centerline is valid? [True, True] Translation: X:128.14, Y:-13.05, Z:-5.85 [[ 9.76542871e-01 2.12705802e-01 3.34703433e-02 1.28142152e+02] [-2.12603896e-01 9.77116069e-01 -6.61594933e-03 -1.30547062e+01] [-3.41116611e-02 -6.55167238e-04 9.99417813e-01 -5.85213077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34264000000002 meters 0.029799669998124095 Centerline is valid? [True, True] Translation: X:128.20, Y:-13.06, Z:-5.86 [[ 9.77804882e-01 2.07087363e-01 3.18188101e-02 1.28198537e+02] [-2.06992319e-01 9.78322356e-01 -6.28865807e-03 -1.30644708e+01] [-3.24313549e-02 -4.37168717e-04 9.99473870e-01 -5.86085863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40264000000002 meters 0.01564250922362213 Centerline is valid? [True, True] Translation: X:128.26, Y:-13.08, Z:-5.86 [[ 9.79137689e-01 2.00747845e-01 3.14593291e-02 1.28255062e+02] [-2.00651725e-01 9.79642920e-01 -6.21562320e-03 -1.30790361e+01] [-3.20666820e-02 -2.26417711e-04 9.99485706e-01 -5.86383398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46264000000002 meters 0.025800032451974972 Centerline is valid? [True, True] Translation: X:128.31, Y:-13.10, Z:-5.87 [[ 9.80206252e-01 1.95443465e-01 3.15841061e-02 1.28311536e+02] [-1.95343876e-01 9.80714968e-01 -6.23868919e-03 -1.30972724e+01] [-3.21943166e-02 -5.45595434e-05 9.99481627e-01 -5.86636831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52264 meters 0.025751815357345217 Centerline is valid? [True, True] Translation: X:128.37, Y:-13.11, Z:-5.87 [[ 9.80509544e-01 1.93918432e-01 3.15701714e-02 1.28368565e+02] [-1.93818187e-01 9.81017656e-01 -6.23448995e-03 -1.31057835e+01] [-3.21798781e-02 -5.89649281e-06 9.99482094e-01 -5.86980030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58264 meters 0.021408385667589416 Centerline is valid? [True, True] Translation: X:128.43, Y:-13.11, Z:-5.87 [[ 9.80287923e-01 1.95010524e-01 3.17251135e-02 1.28427276e+02] [-1.94909936e-01 9.80801149e-01 -6.26285390e-03 -1.31117264e+01] [-3.23373502e-02 -4.41397844e-05 9.99477010e-01 -5.87250586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64264 meters 0.01960472494593965 Centerline is valid? [True, True] Translation: X:128.49, Y:-13.12, Z:-5.87 [[ 9.80122240e-01 1.95735864e-01 3.23707677e-02 1.28485916e+02] [-1.95631587e-01 9.80656651e-01 -6.38871232e-03 -1.31212877e+01] [-3.29951087e-02 -7.10256073e-05 9.99455511e-01 -5.87217217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70264 meters 0.013365094482365787 Centerline is valid? [True, True] Translation: X:128.54, Y:-13.13, Z:-5.87 [[ 9.80128238e-01 1.95852398e-01 3.14718326e-02 1.28542713e+02] [-1.95753938e-01 9.80633383e-01 -6.20990836e-03 -1.31312258e+01] [-3.20785551e-02 -7.42286291e-05 9.99485348e-01 -5.87420007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76264 meters 0.014313987372785813 Centerline is valid? [True, True] Translation: X:128.60, Y:-13.14, Z:-5.88 [[ 9.80203923e-01 1.95722181e-01 2.98847354e-02 1.28599691e+02] [-1.95633397e-01 9.80659382e-01 -5.89497824e-03 -1.31405046e+01] [-3.04605242e-02 -6.81715251e-05 9.99535968e-01 -5.88096319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82264 meters 0.01357556029484092 Centerline is valid? [True, True] Translation: X:128.66, Y:-13.15, Z:-5.88 [[ 9.80101470e-01 1.96071372e-01 3.09374464e-02 1.28657245e+02] [-1.95976466e-01 9.80589624e-01 -6.10039375e-03 -1.31509376e+01] [-3.15330515e-02 -8.40065218e-05 9.99502706e-01 -5.87988050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88264 meters 0.014211029598379672 Centerline is valid? [True, True] Translation: X:128.71, Y:-13.16, Z:-5.88 [[ 9.79796202e-01 1.97461365e-01 3.17554939e-02 1.28714356e+02] [-1.97362151e-01 9.80310661e-01 -6.26018725e-03 -1.31584960e+01] [-3.23663943e-02 -1.33624889e-04 9.99476062e-01 -5.88170939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94264 meters 0.01599915333684032 Centerline is valid? [True, True] Translation: X:128.77, Y:-13.16, Z:-5.88 [[ 9.79089495e-01 2.00839378e-01 3.23620878e-02 1.28773087e+02] [-2.00738249e-01 9.79624153e-01 -6.37764832e-03 -1.31621589e+01] [-3.29835657e-02 -2.52020368e-04 9.99455862e-01 -5.88308240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00264 meters 0.023337914685386492 Centerline is valid? [True, True] Translation: X:128.83, Y:-13.17, Z:-5.89 [[ 9.78506801e-01 2.03797652e-01 3.14794919e-02 1.28831356e+02] [-2.03703554e-01 9.79012972e-01 -6.20187652e-03 -1.31671962e+01] [-3.20827588e-02 -3.43906021e-04 9.99485157e-01 -5.88775466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06264000000002 meters 0.022301352117752492 Centerline is valid? [True, True] Translation: X:128.89, Y:-13.17, Z:-5.89 [[ 9.77403392e-01 2.09112574e-01 3.08956422e-02 1.28891477e+02] [-2.09024649e-01 9.77891441e-01 -6.08484732e-03 -1.31692453e+01] [-3.14850021e-02 -5.10600353e-04 9.99504094e-01 -5.88844101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12264000000002 meters 0.02571754581821663 Centerline is valid? [True, True] Translation: X:128.95, Y:-13.17, Z:-5.89 [[ 9.76852650e-01 2.11600971e-01 3.13676611e-02 1.28950038e+02] [-2.11511657e-01 9.77355958e-01 -6.17664374e-03 -1.31697812e+01] [-3.19643543e-02 -6.00955171e-04 9.99488829e-01 -5.89197257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18264000000002 meters 0.02080070103758414 Centerline is valid? [True, True] Translation: X:129.01, Y:-13.18, Z:-5.89 [[ 9.77670669e-01 2.07611060e-01 3.25224599e-02 1.29008456e+02] [-2.07512984e-01 9.78211330e-01 -6.39966997e-03 -1.31841922e+01] [-3.31424811e-02 -4.92063085e-04 9.99450516e-01 -5.89096054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24264000000002 meters 0.01707227053680025 Centerline is valid? [True, True] Translation: X:129.06, Y:-13.20, Z:-5.90 [[ 9.78869211e-01 2.01939339e-01 3.21802803e-02 1.29063368e+02] [-2.01840240e-01 9.79397986e-01 -6.33262731e-03 -1.32026841e+01] [-3.27961083e-02 -2.96461590e-04 9.99462019e-01 -5.89609433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30264 meters 0.023099837091950147 Centerline is valid? [True, True] Translation: X:129.12, Y:-13.22, Z:-5.90 [[ 9.80383712e-01 1.94681332e-01 3.07726381e-02 1.29119351e+02] [-1.94587198e-01 9.80866543e-01 -6.05361817e-03 -1.32237639e+01] [-3.13623776e-02 -5.30927776e-05 9.99508078e-01 -5.90137026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36264 meters 0.01328900042022645 Centerline is valid? [True, True] Translation: X:129.18, Y:-13.24, Z:-5.90 [[ 9.80678474e-01 1.93215351e-01 3.06195678e-02 1.29175718e+02] [-1.93121472e-01 9.81156373e-01 -6.02235657e-03 -1.32360701e+01] [-3.12061958e-02 -7.30056268e-06 9.99512968e-01 -5.90156749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42264 meters 0.01367928196225319 Centerline is valid? [True, True] Translation: X:129.23, Y:-13.25, Z:-5.91 [[ 9.81230323e-01 1.90521075e-01 2.98123008e-02 1.29233322e+02] [-1.90430917e-01 9.81683103e-01 -5.86100397e-03 -1.32491032e+01] [-3.03828767e-02 7.38110266e-05 9.99538331e-01 -5.90575719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48264 meters 0.029864964543747874 Centerline is valid? [True, True] Translation: X:129.29, Y:-13.26, Z:-5.91 [[ 9.81531886e-01 1.88834519e-01 3.06052383e-02 1.29290125e+02] [-1.88738731e-01 9.82008914e-01 -6.01528646e-03 -1.32634592e+01] [-3.11905106e-02 1.27801637e-04 9.99513449e-01 -5.90833914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54264 meters 0.015486590708936255 Centerline is valid? [True, True] Translation: X:129.35, Y:-13.28, Z:-5.91 [[ 9.82300052e-01 1.84706200e-01 3.11484875e-02 1.29346904e+02] [-1.84604956e-01 9.82793748e-01 -6.12040689e-03 -1.32816773e+01] [-3.17430159e-02 2.61910847e-04 9.99496029e-01 -5.90693331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60264 meters 0.025993135256430565 Centerline is valid? [True, True] Translation: X:129.40, Y:-13.30, Z:-5.91 [[ 9.83276099e-01 1.79499519e-01 3.07901936e-02 1.29401915e+02] [-1.79398086e-01 9.83757970e-01 -6.04843458e-03 -1.33022144e+01] [-3.13757895e-02 4.23579349e-04 9.99507569e-01 -5.91447154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66264 meters 0.040675463013777356 Centerline is valid? [True, True] Translation: X:129.46, Y:-13.33, Z:-5.92 [[ 9.84147546e-01 1.74512419e-01 3.16073414e-02 1.29458707e+02] [-1.74403034e-01 9.84654793e-01 -6.20655737e-03 -1.33257048e+01] [-3.22054415e-02 5.95751981e-04 9.99481093e-01 -5.91574893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72264 meters 0.025448323907943618 Centerline is valid? [True, True] Translation: X:129.52, Y:-13.35, Z:-5.92 [[ 9.84363046e-01 1.73423438e-01 3.08820991e-02 1.29516533e+02] [-1.73318486e-01 9.84847161e-01 -6.06395774e-03 -1.33450020e+01] [-3.14657800e-02 6.16697256e-04 9.99504639e-01 -5.91712551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78264000000001 meters 0.03570908733706802 Centerline is valid? [True, True] Translation: X:129.58, Y:-13.36, Z:-5.92 [[ 9.84066628e-01 1.75289778e-01 2.97719036e-02 1.29575791e+02] [-1.75193075e-01 9.84516737e-01 -5.84651353e-03 -1.33557330e+01] [-3.03357715e-02 5.37527509e-04 9.99539620e-01 -5.92274403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84264000000002 meters 0.02695485827491023 Centerline is valid? [True, True] Translation: X:129.64, Y:-13.36, Z:-5.93 [[ 9.82751637e-01 1.82818792e-01 2.78659118e-02 1.29636055e+02] [-1.82737085e-01 9.83146585e-01 -5.47268087e-03 -1.33574746e+01] [-2.83967849e-02 2.86150585e-04 9.99596689e-01 -5.92701777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90264000000002 meters 0.014555441163357653 Centerline is valid? [True, True] Translation: X:129.70, Y:-13.36, Z:-5.93 [[ 9.81405632e-01 1.89976085e-01 2.74239382e-02 1.29695494e+02] [-1.89899745e-01 9.81788715e-01 -5.38569097e-03 -1.33616097e+01] [-2.79476655e-02 7.77485746e-05 9.99609385e-01 -5.92834983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96264000000002 meters 0.014288936667437673 Centerline is valid? [True, True] Translation: X:129.75, Y:-13.37, Z:-5.93 [[ 9.80639167e-01 1.93596124e-01 2.94510495e-02 1.29753030e+02] [-1.93509755e-01 9.81081312e-01 -5.78229125e-03 -1.33686883e+01] [-3.00133035e-02 -2.87240979e-05 9.99549499e-01 -5.92933727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02264 meters 0.014055997647150577 Centerline is valid? [True, True] Translation: X:129.81, Y:-13.38, Z:-5.93 [[ 9.80512690e-01 1.94257714e-01 2.93053826e-02 1.29811136e+02] [-1.94172555e-01 9.80950528e-01 -5.75159774e-03 -1.33803064e+01] [-2.98644228e-02 -5.07864397e-05 9.99553957e-01 -5.93004984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08264 meters 0.013800696287637667 Centerline is valid? [True, True] Translation: X:129.87, Y:-13.40, Z:-5.93 [[ 9.80810182e-01 1.92508234e-01 3.08539574e-02 1.29867065e+02] [-1.92413016e-01 9.81295358e-01 -6.05403378e-03 -1.33958891e+01] [-3.14422965e-02 1.15496564e-06 9.99505569e-01 -5.93173806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14264 meters 0.01784290144937782 Centerline is valid? [True, True] Translation: X:129.92, Y:-13.41, Z:-5.93 [[ 9.81235394e-01 1.90213529e-01 3.15581158e-02 1.29923842e+02] [-1.90112800e-01 9.81742740e-01 -6.18995076e-03 -1.34123896e+01] [-3.21593635e-02 7.41970294e-05 9.99482751e-01 -5.93214076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20264 meters 0.01470568505663909 Centerline is valid? [True, True] Translation: X:129.98, Y:-13.43, Z:-5.93 [[ 9.81966981e-01 1.86488410e-01 3.10309703e-02 1.29980341e+02] [-1.86389220e-01 9.82457142e-01 -6.08458212e-03 -1.34330867e+01] [-3.16213024e-02 1.91020392e-04 9.99499903e-01 -5.93403393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26264 meters 0.0165951180299973 Centerline is valid? [True, True] Translation: X:130.04, Y:-13.45, Z:-5.94 [[ 9.82392154e-01 1.84572743e-01 2.89578785e-02 1.30036426e+02] [-1.84485555e-01 9.82818827e-01 -5.67741190e-03 -1.34526484e+01] [-2.95082437e-02 2.35134622e-04 9.99564509e-01 -5.94041054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32264 meters 0.025985717166476387 Centerline is valid? [True, True] Translation: X:130.09, Y:-13.47, Z:-5.94 [[ 9.82158184e-01 1.85911357e-01 2.83243595e-02 1.30094058e+02] [-1.85828519e-01 9.82566502e-01 -5.55250466e-03 -1.34662755e+01] [-2.88628405e-02 1.89964139e-04 9.99583363e-01 -5.94462462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38264 meters 0.015989808541347416 Centerline is valid? [True, True] Translation: X:130.15, Y:-13.48, Z:-5.95 [[ 9.81618873e-01 1.88713358e-01 2.84895956e-02 1.30151087e+02] [-1.88630744e-01 9.82032208e-01 -5.58438128e-03 -1.34772567e+01] [-2.90315478e-02 1.07720447e-04 9.99578490e-01 -5.94943956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44264 meters 0.021952604441964098 Centerline is valid? [True, True] Translation: X:130.21, Y:-13.48, Z:-5.95 [[ 9.80413471e-01 1.94800547e-01 2.90202091e-02 1.30210512e+02] [-1.94717516e-01 9.80842873e-01 -5.68750362e-03 -1.34812786e+01] [-2.95721940e-02 -7.46378540e-05 9.99562644e-01 -5.94789538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50264 meters 0.026265573436349818 Centerline is valid? [True, True] Translation: X:130.27, Y:-13.49, Z:-5.95 [[ 9.79563133e-01 1.99012001e-01 2.91597562e-02 1.30269567e+02] [-1.98930078e-01 9.79997032e-01 -5.71334640e-03 -1.34874250e+01] [-2.97134990e-02 -2.04169062e-04 9.99558436e-01 -5.95110578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56264000000002 meters 0.01632683435212054 Centerline is valid? [True, True] Translation: X:130.33, Y:-13.50, Z:-5.95 [[ 9.79511471e-01 1.99325782e-01 2.87491126e-02 1.30327310e+02] [-1.99246327e-01 9.79933257e-01 -5.63146581e-03 -1.34990175e+01] [-2.92947078e-02 -2.12069738e-04 9.99570795e-01 -5.95287891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62264000000002 meters 0.014133417850528381 Centerline is valid? [True, True] Translation: X:130.38, Y:-13.52, Z:-5.95 [[ 9.80457189e-01 1.94550601e-01 2.92192338e-02 1.30383732e+02] [-1.94466463e-01 9.80892480e-01 -5.72160126e-03 -1.35201261e+01] [-2.97740677e-02 -7.23759568e-05 9.99556652e-01 -5.95463911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68264000000002 meters 0.021002340728888253 Centerline is valid? [True, True] Translation: X:130.44, Y:-13.55, Z:-5.96 [[ 9.82063843e-01 1.86246970e-01 2.93713033e-02 1.30440932e+02] [-1.86158283e-01 9.82502944e-01 -5.74974819e-03 -1.35469917e+01] [-2.99282652e-02 1.78908406e-04 9.99552033e-01 -5.95800444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74264000000002 meters 0.032763723479255435 Centerline is valid? [True, True] Translation: X:130.50, Y:-13.57, Z:-5.96 [[ 9.83251409e-01 1.79992490e-01 2.86246590e-02 1.30498516e+02] [-1.79905595e-01 9.83667918e-01 -5.60384478e-03 -1.35744393e+01] [-2.91658087e-02 3.60251953e-04 9.99574522e-01 -5.96235750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80264 meters 0.03034852290643366 Centerline is valid? [True, True] Translation: X:130.56, Y:-13.59, Z:-5.97 [[ 9.83559062e-01 1.78508497e-01 2.73182766e-02 1.30556841e+02] [-1.78428732e-01 9.83938294e-01 -5.34988323e-03 -1.35912287e+01] [-2.78344981e-02 3.87560666e-04 9.99612470e-01 -5.96688565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86264 meters 0.032722192317376185 Centerline is valid? [True, True] Translation: X:130.62, Y:-13.61, Z:-5.97 [[ 9.83216654e-01 1.80497161e-01 2.65666504e-02 1.30617107e+02] [-1.80422515e-01 9.83575453e-01 -5.20035286e-03 -1.36063285e+01] [-2.70689542e-02 3.19851648e-04 9.99633518e-01 -5.96969629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92264 meters 0.01794935608220804 Centerline is valid? [True, True] Translation: X:130.68, Y:-13.62, Z:-5.97 [[ 9.82527781e-01 1.84027229e-01 2.78053639e-02 1.30677250e+02] [-1.83946639e-01 9.82921116e-01 -5.45098684e-03 -1.36160810e+01] [-2.83336094e-02 2.41042760e-04 9.99598494e-01 -5.97037355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98264 meters 0.026499657106529212 Centerline is valid? [True, True] Translation: X:130.74, Y:-13.62, Z:-5.97 [[ 9.81299052e-01 1.90157757e-01 2.98697001e-02 1.30736452e+02] [-1.90067544e-01 9.81753545e-01 -5.85713670e-03 -1.36228950e+01] [-3.04384639e-02 7.03421436e-05 9.99536640e-01 -5.97152068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04264 meters 0.014478213999134362 Centerline is valid? [True, True] Translation: X:130.80, Y:-13.63, Z:-5.97 [[ 9.80049121e-01 1.96441824e-01 3.02378842e-02 1.30797055e+02] [-1.96352377e-01 9.80515474e-01 -5.92875977e-03 -1.36290201e+01] [-3.08133697e-02 -1.26804628e-04 9.99525147e-01 -5.97101958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10264 meters 0.019065103728591215 Centerline is valid? [True, True] Translation: X:130.86, Y:-13.64, Z:-5.97 [[ 9.79326920e-01 2.00029670e-01 3.01150186e-02 1.30856995e+02] [-1.99942644e-01 9.79789811e-01 -5.90466944e-03 -1.36374577e+01] [-3.06874974e-02 -2.38674684e-04 9.99528999e-01 -5.97401981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16264 meters 0.026541242198759342 Centerline is valid? [True, True] Translation: X:130.92, Y:-13.64, Z:-5.98 [[ 9.78590124e-01 2.03654900e-01 2.97666128e-02 1.30915904e+02] [-2.03571532e-01 9.79042676e-01 -5.83697755e-03 -1.36445455e+01] [-3.03315134e-02 -3.47626398e-04 9.99539833e-01 -5.97797725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22264 meters 0.021461114325137236 Centerline is valid? [True, True] Translation: X:130.98, Y:-13.65, Z:-5.98 [[ 9.77773526e-01 2.07584855e-01 2.94526806e-02 1.30975558e+02] [-2.07505057e-01 9.78216904e-01 -5.77410433e-03 -1.36512649e+01] [-3.00097266e-02 -4.65813811e-04 9.99549498e-01 -5.97963493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28264000000001 meters 0.030544336636738723 Centerline is valid? [True, True] Translation: X:131.03, Y:-13.66, Z:-5.98 [[ 9.77515547e-01 2.08696984e-01 3.01483810e-02 1.31034137e+02] [-2.08613912e-01 9.77980218e-01 -5.91008392e-03 -1.36594116e+01] [-3.07179369e-02 -5.12172796e-04 9.99527962e-01 -5.98339066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34264000000002 meters 0.02433448331918284 Centerline is valid? [True, True] Translation: X:131.09, Y:-13.67, Z:-5.98 [[ 9.76987191e-01 2.11046786e-01 3.09076383e-02 1.31092164e+02] [-2.10960696e-01 9.77475775e-01 -6.05748527e-03 -1.36668066e+01] [-3.14898805e-02 -6.02211361e-04 9.99503889e-01 -5.98304509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40264000000002 meters 0.02821615361560928 Centerline is valid? [True, True] Translation: X:131.15, Y:-13.67, Z:-5.99 [[ 9.76673372e-01 2.12450303e-01 3.12088771e-02 1.31150170e+02] [-2.12363307e-01 9.77171653e-01 -6.11447064e-03 -1.36689448e+01] [-3.17954512e-02 -6.55779710e-04 9.99494182e-01 -5.98820773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46264000000002 meters 0.0331802870875844 Centerline is valid? [True, True] Translation: X:131.21, Y:-13.68, Z:-5.99 [[ 9.76694302e-01 2.12530399e-01 2.99844983e-02 1.31207328e+02] [-2.12450195e-01 9.77154249e-01 -5.87263882e-03 -1.36813729e+01] [-3.05475942e-02 -6.34439626e-04 9.99533112e-01 -5.98902374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52264 meters 0.025349495779212763 Centerline is valid? [True, True] Translation: X:131.27, Y:-13.69, Z:-5.99 [[ 9.76837777e-01 2.11803171e-01 3.04528141e-02 1.31265424e+02] [-2.11720134e-01 9.77312145e-01 -5.96290075e-03 -1.36859599e+01] [-3.10248664e-02 -6.22687164e-04 9.99518419e-01 -5.99314366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58264 meters 0.024390025168231425 Centerline is valid? [True, True] Translation: X:131.32, Y:-13.69, Z:-6.00 [[ 9.77152161e-01 2.10304056e-01 3.07548124e-02 1.31323678e+02] [-2.10218692e-01 9.77635855e-01 -6.01975767e-03 -1.36946529e+01] [-3.13329868e-02 -5.83017217e-04 9.99508831e-01 -5.99629438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64264 meters 0.033536283607547866 Centerline is valid? [True, True] Translation: X:131.38, Y:-13.71, Z:-6.00 [[ 9.78035336e-01 2.06277603e-01 2.99404720e-02 1.31380527e+02] [-2.06194858e-01 9.78493410e-01 -5.85888556e-03 -1.37056623e+01] [-3.05051114e-02 -4.43374256e-04 9.99534512e-01 -6.00389619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70264 meters 0.01994763202025183 Centerline is valid? [True, True] Translation: X:131.44, Y:-13.72, Z:-6.01 [[ 9.78475105e-01 2.04320885e-01 2.89731835e-02 1.31438221e+02] [-2.04242585e-01 9.78903896e-01 -5.66820700e-03 -1.37182365e+01] [-2.95200953e-02 -3.71358443e-04 9.99564118e-01 -6.00570241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76264 meters 0.018387410638797664 Centerline is valid? [True, True] Translation: X:131.50, Y:-13.73, Z:-6.01 [[ 9.78942565e-01 2.02043557e-01 2.91522854e-02 1.31495767e+02] [-2.01963320e-01 9.79376489e-01 -5.70174884e-03 -1.37282476e+01] [-2.97030646e-02 -3.06007720e-04 9.99558720e-01 -6.00916298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82264 meters 0.016911006569334554 Centerline is valid? [True, True] Translation: X:131.55, Y:-13.74, Z:-6.01 [[ 9.79174029e-01 2.00750546e-01 3.02892457e-02 1.31554374e+02] [-2.00663358e-01 9.79642353e-01 -5.92250336e-03 -1.37358352e+01] [-3.08615737e-02 -2.78780268e-04 9.99523629e-01 -6.01006196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88264 meters 0.015736895901901516 Centerline is valid? [True, True] Translation: X:131.61, Y:-13.75, Z:-6.01 [[ 9.79635428e-01 1.98342834e-01 3.12177638e-02 1.31611781e+02] [-1.98249049e-01 9.80132683e-01 -6.10235222e-03 -1.37455037e+01] [-3.18079084e-02 -2.10811563e-04 9.99493978e-01 -6.01251652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94264 meters 0.026629466092084556 Centerline is valid? [True, True] Translation: X:131.67, Y:-13.76, Z:-6.02 [[ 9.79985908e-01 1.96490675e-01 3.19223173e-02 1.31668094e+02] [-1.96391674e-01 9.80505681e-01 -6.23857349e-03 -1.37568180e+01] [-3.25258349e-02 -1.55563223e-04 9.99470883e-01 -6.01664602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00264 meters 0.014227341761081253 Centerline is valid? [True, True] Translation: X:131.73, Y:-13.77, Z:-6.02 [[ 9.80259924e-01 1.95026397e-01 3.24836376e-02 1.31725544e+02] [-1.94923158e-01 9.80797987e-01 -6.34591013e-03 -1.37697770e+01] [-3.30975064e-02 -1.11171836e-04 9.99452121e-01 -6.01668817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06264000000002 meters 0.01760410296098926 Centerline is valid? [True, True] Translation: X:131.78, Y:-13.78, Z:-6.02 [[ 9.80528208e-01 1.93502810e-01 3.34827818e-02 1.31784132e+02] [-1.93392300e-01 9.81099719e-01 -6.53909934e-03 -1.37828132e+01] [-3.41152819e-02 -6.35408317e-05 9.99417902e-01 -6.01707867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12264000000002 meters 0.013653366458390794 Centerline is valid? [True, True] Translation: X:131.84, Y:-13.79, Z:-6.02 [[ 9.80620106e-01 1.93162074e-01 3.27508892e-02 1.31841764e+02] [-1.93056176e-01 9.81166862e-01 -6.39550692e-03 -1.37947031e+01] [-3.33694566e-02 -5.11987603e-05 9.99443083e-01 -6.02237954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18264000000002 meters 0.02350667201925225 Centerline is valid? [True, True] Translation: X:131.90, Y:-13.81, Z:-6.03 [[ 9.80627891e-01 1.93354484e-01 3.13525700e-02 1.31899301e+02] [-1.93257568e-01 9.81128962e-01 -6.12146459e-03 -1.38069805e+01] [-3.19445271e-02 -5.62425128e-05 9.99489642e-01 -6.02985565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24264000000002 meters 0.02746933969365715 Centerline is valid? [True, True] Translation: X:131.96, Y:-13.82, Z:-6.03 [[ 9.80279729e-01 1.95082977e-01 3.15322745e-02 1.31956745e+02] [-1.94985888e-01 9.80786735e-01 -6.15504201e-03 -1.38192750e+01] [-3.21271804e-02 -1.14685612e-04 9.99483782e-01 -6.03071240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30264 meters 0.015190641063299997 Centerline is valid? [True, True] Translation: X:132.02, Y:-13.83, Z:-6.03 [[ 9.79814121e-01 1.97486916e-01 3.10355708e-02 1.32015186e+02] [-1.97394116e-01 9.80305504e-01 -6.05653329e-03 -1.38280247e+01] [-3.16204269e-02 -1.91962226e-04 9.99499931e-01 -6.03271572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36264 meters 0.01858675159163941 Centerline is valid? [True, True] Translation: X:132.07, Y:-13.83, Z:-6.04 [[ 9.78800793e-01 2.02493065e-01 3.07500617e-02 1.32073903e+02] [-2.02404482e-01 9.79283634e-01 -5.99924020e-03 -1.38324559e+01] [-3.13278367e-02 -3.51889244e-04 9.99509101e-01 -6.03683180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42264 meters 0.02189403155589599 Centerline is valid? [True, True] Translation: X:132.13, Y:-13.84, Z:-6.03 [[ 9.77859327e-01 2.06503012e-01 3.38768831e-02 1.32131970e+02] [-2.06397953e-01 9.78445821e-01 -6.60759884e-03 -1.38372979e+01] [-3.45111838e-02 -5.30817192e-04 9.99404171e-01 -6.03487010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48264 meters 0.031140413092705037 Centerline is valid? [True, True] Translation: X:132.19, Y:-13.84, Z:-6.03 [[ 9.76984350e-01 2.10219494e-01 3.61848560e-02 1.32191402e+02] [-2.10102294e-01 9.77653957e-01 -7.05451139e-03 -1.38406029e+01] [-3.68592635e-02 -7.10374049e-04 9.99320214e-01 -6.03467641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54264 meters 0.02626336122156295 Centerline is valid? [True, True] Translation: X:132.25, Y:-13.85, Z:-6.04 [[ 9.76467335e-01 2.12518573e-01 3.67069407e-02 1.32250390e+02] [-2.12399659e-01 9.77156691e-01 -7.15442372e-03 -1.38463042e+01] [-3.73888807e-02 -8.10480611e-04 9.99300463e-01 -6.03500386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60264 meters 0.03475219213272012 Centerline is valid? [True, True] Translation: X:132.31, Y:-13.85, Z:-6.04 [[ 9.75974994e-01 2.14982424e-01 3.54311757e-02 1.32309066e+02] [-2.14873317e-01 9.76617526e-01 -6.90404802e-03 -1.38475711e+01] [-3.60869561e-02 -8.75036027e-04 9.99348271e-01 -6.04336898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66264 meters 0.02880163688392775 Centerline is valid? [True, True] Translation: X:132.37, Y:-13.86, Z:-6.05 [[ 9.76054182e-01 2.14860253e-01 3.39603375e-02 1.32366681e+02] [-2.14760004e-01 9.76644445e-01 -6.61574965e-03 -1.38596992e+01] [-3.45886366e-02 -8.35992087e-04 9.99401284e-01 -6.04560612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72264 meters 0.02570070891468685 Centerline is valid? [True, True] Translation: X:132.42, Y:-13.87, Z:-6.05 [[ 9.76877937e-01 2.11274942e-01 3.27474490e-02 1.32424056e+02] [-2.11179766e-01 9.77426432e-01 -6.37786778e-03 -1.38700460e+01] [-3.33557058e-02 -6.85200289e-04 9.99443309e-01 -6.05173908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78264000000001 meters 0.02027698893639102 Centerline is valid? [True, True] Translation: X:132.48, Y:-13.89, Z:-6.05 [[ 9.78006717e-01 2.05713776e-01 3.44195281e-02 1.32482378e+02] [-2.05605266e-01 9.78612062e-01 -6.70118727e-03 -1.38863590e+01] [-3.50618919e-02 -5.23030074e-04 9.99385006e-01 -6.05201415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84264000000002 meters 0.01864018854706833 Centerline is valid? [True, True] Translation: X:132.54, Y:-13.90, Z:-6.06 [[ 9.78632071e-01 2.02836311e-01 3.37149946e-02 1.32539716e+02] [-2.02730484e-01 9.79212572e-01 -6.56422111e-03 -1.38955350e+01] [-3.43456090e-02 -4.11099860e-04 9.99409931e-01 -6.05665068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90264000000002 meters 0.018005222913959944 Centerline is valid? [True, True] Translation: X:132.60, Y:-13.90, Z:-6.06 [[ 9.78664854e-01 2.02699521e-01 3.35858350e-02 1.32597580e+02] [-2.02594490e-01 9.79240899e-01 -6.53712683e-03 -1.39018386e+01] [-3.42136957e-02 -4.06648824e-04 9.99414457e-01 -6.05936332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96264000000002 meters 0.018637322580219644 Centerline is valid? [True, True] Translation: X:132.65, Y:-13.91, Z:-6.06 [[ 9.78710788e-01 2.02623625e-01 3.26934264e-02 1.32654477e+02] [-2.02524148e-01 9.79256611e-01 -6.36078191e-03 -1.39106994e+01] [-3.33040986e-02 -3.95842459e-04 9.99445186e-01 -6.06480127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02264 meters 0.016999854971044046 Centerline is valid? [True, True] Translation: X:132.71, Y:-13.92, Z:-6.06 [[ 9.78901240e-01 2.01407164e-01 3.44603596e-02 1.32713580e+02] [-2.01295982e-01 9.79507536e-01 -6.70187996e-03 -1.39177880e+01] [-3.51039885e-02 -3.76253304e-04 9.99383594e-01 -6.06346043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08264 meters 0.017575616269847445 Centerline is valid? [True, True] Translation: X:132.77, Y:-13.92, Z:-6.07 [[ 9.79122151e-01 2.00450882e-01 3.37528753e-02 1.32769668e+02] [-2.00343673e-01 9.79703696e-01 -6.56363240e-03 -1.39247352e+01] [-3.43835026e-02 -3.35577129e-04 9.99408656e-01 -6.06876873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14264 meters 0.01634404509983847 Centerline is valid? [True, True] Translation: X:132.83, Y:-13.94, Z:-6.07 [[ 9.79071957e-01 2.00428155e-01 3.53080316e-02 1.32828093e+02] [-2.00310961e-01 9.79708339e-01 -6.86217016e-03 -1.39352759e+01] [-3.59669451e-02 -3.54027372e-04 9.99352917e-01 -6.06832707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20264 meters 0.017166080694418336 Centerline is valid? [True, True] Translation: X:132.89, Y:-13.94, Z:-6.07 [[ 9.78825643e-01 2.01562691e-01 3.56769133e-02 1.32886152e+02] [-2.01443834e-01 9.79475533e-01 -6.93260427e-03 -1.39438475e+01] [-3.63420180e-02 -4.01083386e-04 9.99339330e-01 -6.07055997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26264 meters 0.028235728995528103 Centerline is valid? [True, True] Translation: X:132.94, Y:-13.95, Z:-6.08 [[ 9.78503013e-01 2.03192985e-01 3.52769585e-02 1.32944116e+02] [-2.03077897e-01 9.79138602e-01 -6.85322989e-03 -1.39480388e+01] [-3.59335600e-02 -4.58064436e-04 9.99354076e-01 -6.07784725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32264 meters 0.01974807469367158 Centerline is valid? [True, True] Translation: X:133.00, Y:-13.95, Z:-6.08 [[ 9.78236625e-01 2.04531231e-01 3.49296669e-02 1.33003292e+02] [-2.04419333e-01 9.78859909e-01 -6.78345103e-03 -1.39538752e+01] [-3.55786782e-02 -5.04478969e-04 9.99366751e-01 -6.07832843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38264 meters 0.02049606759965756 Centerline is valid? [True, True] Translation: X:133.06, Y:-13.97, Z:-6.08 [[ 9.78487552e-01 2.03335728e-01 3.48811116e-02 1.33059630e+02] [-2.03223441e-01 9.79108967e-01 -6.77234952e-03 -1.39652023e+01] [-3.55294697e-02 -4.61999803e-04 9.99368522e-01 -6.08372493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44264 meters 0.017763271800702828 Centerline is valid? [True, True] Translation: X:133.12, Y:-13.98, Z:-6.09 [[ 9.79191260e-01 1.99995418e-01 3.44428473e-02 1.33117080e+02] [-1.99883957e-01 9.79796774e-01 -6.68476074e-03 -1.39801623e+01] [-3.50839122e-02 -3.38913321e-04 9.99384313e-01 -6.08644526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50264 meters 0.016657008915689053 Centerline is valid? [True, True] Translation: X:133.17, Y:-13.99, Z:-6.09 [[ 9.79267745e-01 1.99764993e-01 3.35951048e-02 1.33174869e+02] [-1.99658851e-01 9.79843785e-01 -6.51924924e-03 -1.39914828e+01] [-3.42202725e-02 -3.23469521e-04 9.99414263e-01 -6.08794143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56264000000002 meters 0.017781246713868354 Centerline is valid? [True, True] Translation: X:133.23, Y:-14.00, Z:-6.09 [[ 9.78924792e-01 2.01435351e-01 3.36162264e-02 1.33233355e+02] [-2.01330118e-01 9.79501737e-01 -6.52161835e-03 -1.39995645e+01] [-3.42408367e-02 -3.83784937e-04 9.99413537e-01 -6.09049148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62264000000002 meters 0.0214290288364726 Centerline is valid? [True, True] Translation: X:133.29, Y:-14.00, Z:-6.09 [[ 9.78089180e-01 2.05227038e-01 3.49774016e-02 1.33291989e+02] [-2.05115588e-01 9.78714244e-01 -6.78405129e-03 -1.39987150e+01] [-3.56251520e-02 -5.39003133e-04 9.99365077e-01 -6.09178418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68264000000002 meters 0.023493774270898812 Centerline is valid? [True, True] Translation: X:133.35, Y:-14.00, Z:-6.10 [[ 9.77750245e-01 2.06757531e-01 3.54369979e-02 1.33350060e+02] [-2.06644243e-01 9.78392026e-01 -6.87024210e-03 -1.40023309e+01] [-3.60917505e-02 -6.05470715e-04 9.99348297e-01 -6.09559288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74264000000002 meters 0.021718638978557706 Centerline is valid? [True, True] Translation: X:133.41, Y:-14.01, Z:-6.10 [[ 9.78253986e-01 2.04484325e-01 3.47174140e-02 1.33407647e+02] [-2.04374240e-01 9.78869704e-01 -6.72847658e-03 -1.40121176e+01] [-3.53596928e-02 -5.13186077e-04 9.99374519e-01 -6.09968755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80264 meters 0.01788775955811207 Centerline is valid? [True, True] Translation: X:133.46, Y:-14.03, Z:-6.10 [[ 9.78936332e-01 2.01310269e-01 3.40269416e-02 1.33464325e+02] [-2.01202659e-01 9.79527448e-01 -6.59305353e-03 -1.40278159e+01] [-3.46575727e-02 -3.92131501e-04 9.99399169e-01 -6.10224277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86264 meters 0.02372791981463503 Centerline is valid? [True, True] Translation: X:133.52, Y:-14.04, Z:-6.11 [[ 9.79454392e-01 1.98653681e-01 3.47247569e-02 1.33521428e+02] [-1.98540001e-01 9.80069702e-01 -6.72655470e-03 -1.40377994e+01] [-3.53689370e-02 -3.05899730e-04 9.99374277e-01 -6.10790029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92264 meters 0.016149126947608484 Centerline is valid? [True, True] Translation: X:133.58, Y:-14.05, Z:-6.11 [[ 9.79721604e-01 1.97496956e-01 3.37717374e-02 1.33579522e+02] [-1.97388822e-01 9.80303466e-01 -6.53969999e-03 -1.40498189e+01] [-3.43981221e-02 -2.59078098e-04 9.99408176e-01 -6.10926010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98264 meters 0.016996014516785885 Centerline is valid? [True, True] Translation: X:133.64, Y:-14.06, Z:-6.11 [[ 9.79693940e-01 1.97851615e-01 3.24734019e-02 1.33638336e+02] [-1.97751882e-01 9.80231947e-01 -6.28678199e-03 -1.40569973e+01] [-3.30753159e-02 -2.62554125e-04 9.99452828e-01 -6.11410254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04264 meters 0.01998077994671565 Centerline is valid? [True, True] Translation: X:133.70, Y:-14.06, Z:-6.12 [[ 9.79025394e-01 2.01086813e-01 3.27623397e-02 1.33696928e+02] [-2.00987141e-01 9.79573352e-01 -6.34166284e-03 -1.40592878e+01] [-3.33683397e-02 -3.76160050e-04 9.99443051e-01 -6.11685211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10264 meters 0.027347998979574843 Centerline is valid? [True, True] Translation: X:133.76, Y:-14.06, Z:-6.12 [[ 9.78237758e-01 2.04743578e-01 3.36297022e-02 1.33756278e+02] [-2.04640786e-01 9.78815509e-01 -6.50751611e-03 -1.40616499e+01] [-3.42496462e-02 -5.16110736e-04 9.99413175e-01 -6.11895433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16264 meters 0.02991509973777039 Centerline is valid? [True, True] Translation: X:133.81, Y:-14.07, Z:-6.12 [[ 9.77945800e-01 2.06099889e-01 3.38356050e-02 1.33814866e+02] [-2.05996853e-01 9.78530790e-01 -6.54132940e-03 -1.40663414e+01] [-3.44573485e-02 -5.72962531e-04 9.99406005e-01 -6.12121258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22264 meters 0.028196898954912668 Centerline is valid? [True, True] Translation: X:133.87, Y:-14.08, Z:-6.13 [[ 9.78039875e-01 2.05620121e-01 3.40348106e-02 1.33872384e+02] [-2.05515838e-01 9.78631721e-01 -6.57232947e-03 -1.40751776e+01] [-3.46589484e-02 -5.66692339e-04 9.99399037e-01 -6.12503455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28264000000001 meters 0.02193277430795443 Centerline is valid? [True, True] Translation: X:133.93, Y:-14.08, Z:-6.13 [[ 9.78384613e-01 2.04065755e-01 3.34770971e-02 1.33930516e+02] [-2.03963976e-01 9.78957054e-01 -6.46395483e-03 -1.40821300e+01] [-3.40917122e-02 -5.03887904e-04 9.99418582e-01 -6.12597670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34264000000002 meters 0.02106917828457993 Centerline is valid? [True, True] Translation: X:133.99, Y:-14.09, Z:-6.13 [[ 9.78779076e-01 2.02332456e-01 3.24514660e-02 1.33988191e+02] [-2.02236047e-01 9.79316796e-01 -6.26047542e-03 -1.40935407e+01] [-3.30469631e-02 -4.35233848e-04 9.99453705e-01 -6.13098460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40264000000002 meters 0.029429452658379516 Centerline is valid? [True, True] Translation: X:134.05, Y:-14.11, Z:-6.14 [[ 9.79350937e-01 1.99564075e-01 3.23407043e-02 1.34045072e+02] [-1.99467052e-01 9.79884717e-01 -6.23188113e-03 -1.41074854e+01] [-3.29338214e-02 -3.47706305e-04 9.99457474e-01 -6.13652528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46264000000002 meters 0.01582310753717902 Centerline is valid? [True, True] Translation: X:134.10, Y:-14.12, Z:-6.14 [[ 9.80083934e-01 1.96012715e-01 3.18511749e-02 1.34102588e+02] [-1.95916783e-01 9.80601328e-01 -6.13594667e-03 -1.41186128e+01] [-3.24360280e-02 -2.26436954e-04 9.99473788e-01 -6.13697816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52264 meters 0.014107912260848383 Centerline is valid? [True, True] Translation: X:134.16, Y:-14.13, Z:-6.14 [[ 9.80738818e-01 1.92586159e-01 3.25874513e-02 1.34160409e+02] [-1.92483852e-01 9.81280061e-01 -6.27763988e-03 -1.41317147e+01] [-3.31864027e-02 -1.15833030e-04 9.99449173e-01 -6.13789675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58264 meters 0.01591697975983222 Centerline is valid? [True, True] Translation: X:134.22, Y:-14.15, Z:-6.14 [[ 9.81822330e-01 1.86943512e-01 3.28182246e-02 1.34215890e+02] [-1.86836812e-01 9.82370663e-01 -6.31562867e-03 -1.41499893e+01] [-3.34203268e-02 6.91728119e-05 9.99441382e-01 -6.14146565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64264 meters 0.014824461413573204 Centerline is valid? [True, True] Translation: X:134.27, Y:-14.17, Z:-6.14 [[ 9.82614657e-01 1.82521371e-01 3.39762328e-02 1.34272062e+02] [-1.82404496e-01 9.83201861e-01 -6.53457168e-03 -1.41696831e+01] [-3.45981943e-02 2.23548273e-04 9.99401278e-01 -6.14167337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70264 meters 0.014627415177182426 Centerline is valid? [True, True] Translation: X:134.33, Y:-14.18, Z:-6.14 [[ 9.82681550e-01 1.82077522e-01 3.44201715e-02 1.34330267e+02] [-1.81957360e-01 9.83284149e-01 -6.61823001e-03 -1.41806760e+01] [-3.50498400e-02 2.40608986e-04 9.99385537e-01 -6.14270663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76264 meters 0.014719950488251539 Centerline is valid? [True, True] Translation: X:134.39, Y:-14.19, Z:-6.15 [[ 9.82566001e-01 1.82802654e-01 3.38709699e-02 1.34385911e+02] [-1.82686771e-01 9.83149605e-01 -6.51139295e-03 -1.41910547e+01] [-3.44905306e-02 2.10095215e-04 9.99405003e-01 -6.14803234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82264 meters 0.014498951011662101 Centerline is valid? [True, True] Translation: X:134.44, Y:-14.20, Z:-6.15 [[ 9.82497053e-01 1.83358808e-01 3.28494719e-02 1.34443216e+02] [-1.83250232e-01 9.83046039e-01 -6.31170652e-03 -1.42016162e+01] [-3.34498502e-02 1.81559688e-04 9.99440381e-01 -6.15209884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88264 meters 0.019436266317337695 Centerline is valid? [True, True] Translation: X:134.50, Y:-14.22, Z:-6.16 [[ 9.82709487e-01 1.82085706e-01 3.35687257e-02 1.34497970e+02] [-1.81971623e-01 9.83282637e-01 -6.44862296e-03 -1.42162015e+01] [-3.41817471e-02 2.28567462e-04 9.99415607e-01 -6.15734537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94264 meters 0.015804091100924574 Centerline is valid? [True, True] Translation: X:134.56, Y:-14.23, Z:-6.16 [[ 9.83088619e-01 1.80135813e-01 3.29826735e-02 1.34555131e+02] [-1.80024693e-01 9.83641706e-01 -6.33278540e-03 -1.42307561e+01] [-3.35838946e-02 2.87993595e-04 9.99435860e-01 -6.15722420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00264 meters 0.017334072340876906 Centerline is valid? [True, True] Translation: X:134.61, Y:-14.25, Z:-6.16 [[ 9.83406456e-01 1.78095356e-01 3.45512172e-02 1.34609780e+02] [-1.77972203e-01 9.84013163e-01 -6.63249713e-03 -1.42498023e+01] [-3.51800694e-02 3.73284264e-04 9.99380920e-01 -6.15853270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06264000000002 meters 0.0292097085021573 Centerline is valid? [True, True] Translation: X:134.67, Y:-14.27, Z:-6.16 [[ 9.83602888e-01 1.76901655e-01 3.50879452e-02 1.34666238e+02] [-1.76774014e-01 9.84228444e-01 -6.73192482e-03 -1.42665796e+01] [-3.57254423e-02 4.18903769e-04 9.99361555e-01 -6.16278309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12264000000002 meters 0.018375889009329627 Centerline is valid? [True, True] Translation: X:134.72, Y:-14.28, Z:-6.16 [[ 9.83705601e-01 1.76492999e-01 3.42565731e-02 1.34723657e+02] [-1.76371148e-01 9.84301805e-01 -6.57075427e-03 -1.42813079e+01] [-3.48784989e-02 4.21816655e-04 9.99391471e-01 -6.16439276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18264000000002 meters 0.017938848064616937 Centerline is valid? [True, True] Translation: X:134.78, Y:-14.30, Z:-6.17 [[ 9.83633455e-01 1.76756661e-01 3.49615288e-02 1.34780258e+02] [-1.76629971e-01 9.84254493e-01 -6.70419132e-03 -1.42996266e+01] [-3.55960523e-02 4.19213049e-04 9.99366172e-01 -6.16629545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24264000000002 meters 0.017457409044988485 Centerline is valid? [True, True] Translation: X:134.84, Y:-14.31, Z:-6.17 [[ 9.83329734e-01 1.78491734e-01 3.46891125e-02 1.34836129e+02] [-1.78368147e-01 9.83941348e-01 -6.65037388e-03 -1.43130860e+01] [-3.53190889e-02 3.52077680e-04 9.99376024e-01 -6.16969050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30264 meters 0.014517782407617471 Centerline is valid? [True, True] Translation: X:134.89, Y:-14.32, Z:-6.17 [[ 9.82636430e-01 1.82459831e-01 3.36757632e-02 1.34894518e+02] [-1.82345761e-01 9.83213288e-01 -6.45397970e-03 -1.43212697e+01] [-3.42880500e-02 2.01282906e-04 9.99411972e-01 -6.17220303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36264 meters 0.013325240554450841 Centerline is valid? [True, True] Translation: X:134.95, Y:-14.34, Z:-6.17 [[ 9.82056884e-01 1.85301514e-01 3.50374797e-02 1.34951754e+02] [-1.85179904e-01 9.82681707e-01 -6.71305932e-03 -1.43353773e+01] [-3.56746305e-02 1.04368995e-04 9.99363452e-01 -6.17408132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42264 meters 0.022985141650853764 Centerline is valid? [True, True] Translation: X:135.01, Y:-14.35, Z:-6.18 [[ 9.81769036e-01 1.86913755e-01 3.45370537e-02 1.35007701e+02] [-1.86796648e-01 9.82376326e-01 -6.61558735e-03 -1.43518411e+01] [-3.51649282e-02 4.35729699e-05 9.99381522e-01 -6.18129837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48264 meters 0.013477022407573175 Centerline is valid? [True, True] Translation: X:135.06, Y:-14.36, Z:-6.18 [[ 9.81577893e-01 1.87965557e-01 3.42606208e-02 1.35064370e+02] [-1.87851033e-01 9.82175620e-01 -6.56049244e-03 -1.43633241e+01] [-3.48830931e-02 3.74132942e-06 9.99391400e-01 -6.18243844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54264 meters 0.02186930275051593 Centerline is valid? [True, True] Translation: X:135.12, Y:-14.37, Z:-6.19 [[ 9.80747375e-01 1.92211725e-01 3.44853412e-02 1.35122774e+02] [-1.92098397e-01 9.81353468e-01 -6.60120916e-03 -1.43704174e+01] [-3.51111390e-02 -1.50460203e-04 9.99383403e-01 -6.18680941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60264 meters 0.01719634744001941 Centerline is valid? [True, True] Translation: X:135.18, Y:-14.38, Z:-6.19 [[ 9.80057480e-01 1.95929454e-01 3.31509332e-02 1.35180168e+02] [-1.95826902e-01 9.80617955e-01 -6.34433661e-03 -1.43768257e+01] [-3.37514427e-02 -2.74029987e-04 9.99430220e-01 -6.19145810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66264 meters 0.03144926307656987 Centerline is valid? [True, True] Translation: X:135.24, Y:-14.39, Z:-6.20 [[ 9.79681605e-01 1.97649305e-01 3.40397488e-02 1.35238038e+02] [-1.97542298e-01 9.80272734e-01 -6.51205280e-03 -1.43868651e+01] [-3.46553403e-02 -3.44551857e-04 9.99399264e-01 -6.19594394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72264 meters 0.018323116159603747 Centerline is valid? [True, True] Translation: X:135.30, Y:-14.40, Z:-6.19 [[ 9.79540068e-01 1.98084253e-01 3.55511471e-02 1.35295375e+02] [-1.97967880e-01 9.80184924e-01 -6.79945198e-03 -1.43964706e+01] [-3.61935628e-02 -3.77649568e-04 9.99344727e-01 -6.19291027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78264000000001 meters 0.016344969657129393 Centerline is valid? [True, True] Translation: X:135.35, Y:-14.41, Z:-6.19 [[ 9.79857289e-01 1.96426909e-01 3.60022721e-02 1.35352314e+02] [-1.96306529e-01 9.80518417e-01 -6.88339817e-03 -1.44125566e+01] [-3.66529754e-02 -3.22733208e-04 9.99328002e-01 -6.19497930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84264000000002 meters 0.017380710891988768 Centerline is valid? [True, True] Translation: X:135.41, Y:-14.42, Z:-6.20 [[ 9.79903444e-01 1.96496787e-01 3.43256802e-02 1.35408994e+02] [-1.96387456e-01 9.80504419e-01 -6.56134641e-03 -1.44218293e+01] [-3.49457646e-02 -3.11647078e-04 9.99389162e-01 -6.20226495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90264000000002 meters 0.02290364679448536 Centerline is valid? [True, True] Translation: X:135.47, Y:-14.43, Z:-6.21 [[ 9.79880251e-01 1.96986836e-01 3.21073292e-02 1.35466783e+02] [-1.96891512e-01 9.80406085e-01 -6.13530159e-03 -1.44321284e+01] [-3.26867945e-02 -3.09799728e-04 9.99465596e-01 -6.21067779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96264000000002 meters 0.01667219452083731 Centerline is valid? [True, True] Translation: X:135.52, Y:-14.45, Z:-6.21 [[ 9.80308432e-01 1.94920859e-01 3.16423202e-02 1.35523327e+02] [-1.94827252e-01 9.80818944e-01 -6.04485558e-03 -1.44486732e+01] [-3.22136555e-02 -2.38963384e-04 9.99480977e-01 -6.21248704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02264 meters 0.014795085289989754 Centerline is valid? [True, True] Translation: X:135.58, Y:-14.46, Z:-6.21 [[ 9.80792931e-01 1.92130253e-01 3.36331981e-02 1.35580468e+02] [-1.92022915e-01 9.81369421e-01 -6.42333838e-03 -1.44621057e+01] [-3.42407098e-02 -1.58379865e-04 9.99413602e-01 -6.21104647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08264 meters 0.013994554840075854 Centerline is valid? [True, True] Translation: X:135.64, Y:-14.48, Z:-6.21 [[ 9.81075494e-01 1.90517118e-01 3.45557822e-02 1.35637617e+02] [-1.90402873e-01 9.81683868e-01 -6.59771441e-03 -1.44768744e+01] [-3.51798314e-02 -1.06664276e-04 9.99380992e-01 -6.21220520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14264 meters 0.01589469338025794 Centerline is valid? [True, True] Translation: X:135.69, Y:-14.49, Z:-6.22 [[ 9.81410753e-01 1.88588493e-01 3.55993636e-02 1.35693695e+02] [-1.88466040e-01 9.82056199e-01 -6.79509050e-03 -1.44948266e+01] [-3.62420516e-02 -4.04961904e-05 9.99343040e-01 -6.21515658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20264 meters 0.013407851792543501 Centerline is valid? [True, True] Translation: X:135.75, Y:-14.51, Z:-6.22 [[ 9.81529274e-01 1.87978885e-01 3.55559285e-02 1.35750937e+02] [-1.87856396e-01 9.82173069e-01 -6.78499980e-03 -1.45083187e+01] [-3.61975122e-02 -1.97326531e-05 9.99344655e-01 -6.21588744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26264 meters 0.01363768009346519 Centerline is valid? [True, True] Translation: X:135.81, Y:-14.52, Z:-6.22 [[ 9.81480236e-01 1.88357480e-01 3.48999371e-02 1.35808707e+02] [-1.88239771e-01 9.82100534e-01 -6.65809534e-03 -1.45206426e+01] [-3.55293489e-02 -3.47671676e-05 9.99368633e-01 -6.22072770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32264 meters 0.014657732489483728 Centerline is valid? [True, True] Translation: X:135.86, Y:-14.53, Z:-6.23 [[ 9.81405268e-01 1.89041978e-01 3.32690704e-02 1.35864739e+02] [-1.88935457e-01 9.81969005e-01 -6.34554933e-03 -1.45345476e+01] [-3.38687711e-02 -5.81514616e-05 9.99426287e-01 -6.22822035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38264 meters 0.014641641631677856 Centerline is valid? [True, True] Translation: X:135.92, Y:-14.55, Z:-6.23 [[ 9.81155649e-01 1.90412779e-01 3.28110652e-02 1.35923002e+02] [-1.90310010e-01 9.81704111e-01 -6.25603698e-03 -1.45454586e+01] [-3.34019870e-02 -1.06128108e-04 9.99441992e-01 -6.22893465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44264 meters 0.02470962594758068 Centerline is valid? [True, True] Translation: X:135.98, Y:-14.56, Z:-6.23 [[ 9.81015401e-01 1.90979673e-01 3.36978973e-02 1.35980818e+02] [-1.90871666e-01 9.81593983e-01 -6.42335866e-03 -1.45577913e+01] [-3.43043842e-02 -1.30560037e-04 9.99411423e-01 -6.23317527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50264 meters 0.014696702169787948 Centerline is valid? [True, True] Translation: X:136.04, Y:-14.57, Z:-6.24 [[ 9.81353926e-01 1.89308945e-01 3.32655416e-02 1.36036702e+02] [-1.89202784e-01 9.81917572e-01 -6.33943116e-03 -1.45736114e+01] [-3.38641308e-02 -7.27074219e-05 9.99426443e-01 -6.23591927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56264000000002 meters 0.014150288171635064 Centerline is valid? [True, True] Translation: X:136.09, Y:-14.59, Z:-6.24 [[ 9.81551094e-01 1.88112904e-01 3.42196514e-02 1.36092935e+02] [-1.87999922e-01 9.82147410e-01 -6.51885045e-03 -1.45920199e+01] [-3.48350218e-02 -3.47069880e-05 9.99393076e-01 -6.23634189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62264000000002 meters 0.014209823000882695 Centerline is valid? [True, True] Translation: X:136.15, Y:-14.60, Z:-6.24 [[ 9.81391482e-01 1.88853305e-01 3.47158072e-02 1.36150312e+02] [-1.88737547e-01 9.82005308e-01 -6.61161332e-03 -1.46045914e+01] [-3.53397320e-02 -6.35952900e-05 9.99375355e-01 -6.23810211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68264000000002 meters 0.018823034066213294 Centerline is valid? [True, True] Translation: X:136.21, Y:-14.62, Z:-6.24 [[ 9.80925627e-01 1.91312259e-01 3.44170702e-02 1.36208682e+02] [-1.91200065e-01 9.81529213e-01 -6.55277707e-03 -1.46165511e+01] [-3.50349864e-02 -1.52759104e-04 9.99386075e-01 -6.24366399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74264 meters 0.014948300013625886 Centerline is valid? [True, True] Translation: X:136.27, Y:-14.63, Z:-6.24 [[ 9.80606305e-01 1.92831259e-01 3.50339933e-02 1.36267339e+02] [-1.92716007e-01 9.81231910e-01 -6.66931848e-03 -1.46294154e+01] [-3.56625252e-02 -2.11635545e-04 9.99363867e-01 -6.24272843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80264 meters 0.017641299899191835 Centerline is valid? [True, True] Translation: X:136.32, Y:-14.64, Z:-6.25 [[ 9.79992089e-01 1.95903125e-01 3.51777088e-02 1.36324019e+02] [-1.95788915e-01 9.80623200e-01 -6.69630890e-03 -1.46369513e+01] [-3.58079052e-02 -3.25075705e-04 9.99358638e-01 -6.24824480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86264 meters 0.019587313419022354 Centerline is valid? [True, True] Translation: X:136.38, Y:-14.65, Z:-6.25 [[ 9.79385628e-01 1.98975756e-01 3.48201199e-02 1.36381544e+02] [-1.98865893e-01 9.80004316e-01 -6.62552183e-03 -1.46462202e+01] [-3.54421860e-02 -4.35593402e-04 9.99371633e-01 -6.25088947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92264 meters 0.022203548634917237 Centerline is valid? [True, True] Translation: X:136.44, Y:-14.65, Z:-6.26 [[ 9.78977484e-01 2.01166092e-01 3.36940435e-02 1.36438587e+02] [-2.01064603e-01 9.79557019e-01 -6.40876782e-03 -1.46533683e+01] [-3.42944635e-02 -5.00640088e-04 9.99411646e-01 -6.25640253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98264 meters 0.023972147130741396 Centerline is valid? [True, True] Translation: X:136.50, Y:-14.66, Z:-6.26 [[ 9.78611966e-01 2.03157195e-01 3.23384238e-02 1.36496323e+02] [-2.03064865e-01 9.79145981e-01 -6.14884613e-03 -1.46623810e+01] [-3.29132201e-02 -5.49463263e-04 9.99458062e-01 -6.26086126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04264 meters 0.02576063940581985 Centerline is valid? [True, True] Translation: X:136.55, Y:-14.67, Z:-6.27 [[ 9.78271441e-01 2.04877712e-01 3.17822507e-02 1.36554868e+02] [-2.04789489e-01 9.78787395e-01 -6.04154808e-03 -1.46700266e+01] [-3.23458449e-02 -5.98396946e-04 9.99476557e-01 -6.26546979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10264 meters 0.028616882480598918 Centerline is valid? [True, True] Translation: X:136.61, Y:-14.68, Z:-6.27 [[ 9.77927020e-01 2.06255822e-01 3.34257351e-02 1.36612786e+02] [-2.06159101e-01 9.78497867e-01 -6.35219472e-03 -1.46786721e+01] [-3.40171876e-02 -6.79036636e-04 9.99421017e-01 -6.26793018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16264 meters 0.024335423923365813 Centerline is valid? [True, True] Translation: X:136.67, Y:-14.69, Z:-6.27 [[ 9.78071212e-01 2.05282362e-01 3.51547450e-02 1.36670880e+02] [-2.05174813e-01 9.78702554e-01 -6.67887616e-03 -1.46898192e+01] [-3.57770942e-02 -6.80451727e-04 9.99359563e-01 -6.26522298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22264 meters 0.022235427850918525 Centerline is valid? [True, True] Translation: X:136.73, Y:-14.70, Z:-6.27 [[ 9.78495781e-01 2.03071473e-01 3.61660393e-02 1.36728068e+02] [-2.02956207e-01 9.79163722e-01 -6.86907618e-03 -1.47028271e+01] [-3.68073871e-02 -6.18760094e-04 9.99322187e-01 -6.26673207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28264000000001 meters 0.02006967564498915 Centerline is valid? [True, True] Translation: X:136.79, Y:-14.71, Z:-6.27 [[ 9.78972578e-01 2.00624367e-01 3.69128049e-02 1.36785476e+02] [-2.00502624e-01 9.79668093e-01 -7.00895859e-03 -1.47149748e+01] [-3.75684651e-02 -5.39536001e-04 9.99293910e-01 -6.26824530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34264000000002 meters 0.0194237675828123 Centerline is valid? [True, True] Translation: X:136.84, Y:-14.72, Z:-6.28 [[ 9.79718667e-01 1.97155475e-01 3.57917968e-02 1.36842081e+02] [-1.97038761e-01 9.80372155e-01 -6.79445302e-03 -1.47249882e+01] [-3.64288445e-02 -3.95718819e-04 9.99336171e-01 -6.27569559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40264000000002 meters 0.027589356616166877 Centerline is valid? [True, True] Translation: X:136.90, Y:-14.74, Z:-6.28 [[ 9.80074275e-01 1.95246075e-01 3.65155489e-02 1.36899822e+02] [-1.95123351e-01 9.80754230e-01 -6.92958449e-03 -1.47381916e+01] [-3.71657532e-02 -3.33528762e-04 9.99309059e-01 -6.27915895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46264000000002 meters 0.016320323461403267 Centerline is valid? [True, True] Translation: X:136.96, Y:-14.75, Z:-6.28 [[ 9.80274558e-01 1.94442268e-01 3.54117906e-02 1.36958607e+02] [-1.94326434e-01 9.80913919e-01 -6.71718833e-03 -1.47453456e+01] [-3.60420236e-02 -2.96758181e-04 9.99350231e-01 -6.28083395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52264 meters 0.030915574719853275 Centerline is valid? [True, True] Translation: X:137.02, Y:-14.75, Z:-6.29 [[ 9.80188008e-01 1.94880729e-01 3.53973239e-02 1.37016341e+02] [-1.94765335e-01 9.80826897e-01 -6.71279566e-03 -1.47506396e+01] [-3.60268419e-02 -3.14369859e-04 9.99350773e-01 -6.28810573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58264 meters 0.013907599520589349 Centerline is valid? [True, True] Translation: X:137.07, Y:-14.77, Z:-6.28 [[ 9.80828688e-01 1.91274554e-01 3.72710349e-02 1.37073372e+02] [-1.91144109e-01 9.81536554e-01 -7.06557416e-03 -1.47668219e+01] [-3.79343477e-02 -1.94020915e-04 9.99280215e-01 -6.28338629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64264 meters 0.019623730747680358 Centerline is valid? [True, True] Translation: X:137.13, Y:-14.78, Z:-6.29 [[ 9.81403015e-01 1.88262024e-01 3.74904199e-02 1.37130573e+02] [-1.88127919e-01 9.82118834e-01 -7.10508229e-03 -1.47791222e+01] [-3.81576646e-02 -8.00454812e-05 9.99271728e-01 -6.28872815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70264 meters 0.013494291434020566 Centerline is valid? [True, True] Translation: X:137.19, Y:-14.80, Z:-6.29 [[ 9.82422992e-01 1.82877098e-01 3.74303505e-02 1.37187014e+02] [-1.82739566e-01 9.83135774e-01 -7.09225585e-03 -1.47961630e+01] [-3.80961278e-02 1.27589216e-04 9.99274071e-01 -6.29059331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76264 meters 0.01450732559368183 Centerline is valid? [True, True] Translation: X:137.24, Y:-14.81, Z:-6.29 [[ 9.82999495e-01 1.79643747e-01 3.79488884e-02 1.37244745e+02] [-1.79500034e-01 9.83731701e-01 -7.18875760e-03 -1.48142522e+01] [-3.86229399e-02 2.54718324e-04 9.99253823e-01 -6.29218418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82264 meters 0.01549181657933106 Centerline is valid? [True, True] Translation: X:137.30, Y:-14.83, Z:-6.30 [[ 9.83323881e-01 1.78171978e-01 3.64539633e-02 1.37304735e+02] [-1.78038367e-01 9.83999317e-01 -6.90532863e-03 -1.48284487e+01] [-3.71010111e-02 2.99970443e-04 9.99311475e-01 -6.29685832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88264 meters 0.015170632878793848 Centerline is valid? [True, True] Translation: X:137.36, Y:-14.84, Z:-6.30 [[ 9.83257732e-01 1.78635666e-01 3.59656905e-02 1.37364078e+02] [-1.78505889e-01 9.83915251e-01 -6.81372708e-03 -1.48415230e+01] [-3.66043661e-02 2.79562253e-04 9.99329797e-01 -6.30120907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94264 meters 0.014510166886147374 Centerline is valid? [True, True] Translation: X:137.42, Y:-14.85, Z:-6.30 [[ 9.82938937e-01 1.80225637e-01 3.67391563e-02 1.37422302e+02] [-1.80091277e-01 9.83625268e-01 -6.96157029e-03 -1.48530222e+01] [-3.73922159e-02 2.26396912e-04 9.99300641e-01 -6.30324220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00264 meters 0.012763788984460655 Centerline is valid? [True, True] Translation: X:137.48, Y:-14.86, Z:-6.31 [[ 9.82229824e-01 1.83916924e-01 3.74050417e-02 1.37480944e+02] [-1.83780336e-01 9.82941787e-01 -7.08736722e-03 -1.48634495e+01] [-3.80704654e-02 8.71123192e-05 9.99275053e-01 -6.30504773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06264000000002 meters 0.017379740050157872 Centerline is valid? [True, True] Translation: X:137.54, Y:-14.87, Z:-6.31 [[ 9.81599283e-01 1.87330402e-01 3.70157877e-02 1.37538982e+02] [-1.87199097e-01 9.82296960e-01 -7.01282989e-03 -1.48722834e+01] [-3.76742120e-02 -4.55332472e-05 9.99290074e-01 -6.30972342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12264000000002 meters 0.012941210413148854 Centerline is valid? [True, True] Translation: X:137.60, Y:-14.88, Z:-6.31 [[ 9.80954511e-01 1.90288336e-01 3.89691646e-02 1.37598036e+02] [-1.90145195e-01 9.81728232e-01 -7.38133384e-03 -1.48820627e+01] [-3.96617108e-02 -1.69046677e-04 9.99213150e-01 -6.30657842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18264000000002 meters 0.014598192297294865 Centerline is valid? [True, True] Translation: X:137.66, Y:-14.89, Z:-6.31 [[ 9.80388139e-01 1.93132384e-01 3.92298318e-02 1.37656664e+02] [-1.92989633e-01 9.81172666e-01 -7.42979497e-03 -1.48895767e+01] [-3.99261727e-02 -2.86867971e-04 9.99202591e-01 -6.30894361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24264 meters 0.018847489874361648 Centerline is valid? [True, True] Translation: X:137.72, Y:-14.89, Z:-6.32 [[ 9.79478852e-01 1.97902209e-01 3.81561879e-02 1.37716398e+02] [-1.97770838e-01 9.80221656e-01 -7.22496844e-03 -1.48937486e+01] [-3.88313589e-02 -4.69477482e-04 9.99245668e-01 -6.31531596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30264 meters 0.02167149490298073 Centerline is valid? [True, True] Translation: X:137.78, Y:-14.90, Z:-6.32 [[ 9.78657803e-01 2.01881251e-01 3.83779245e-02 1.37775605e+02] [-2.01751433e-01 9.79409803e-01 -7.26620753e-03 -1.48990053e+01] [-3.90546265e-02 -6.31670565e-04 9.99236877e-01 -6.31692180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36264 meters 0.02894925157717249 Centerline is valid? [True, True] Translation: X:137.83, Y:-14.91, Z:-6.32 [[ 9.78763528e-01 2.01642964e-01 3.69062587e-02 1.37832132e+02] [-2.01522807e-01 9.79458909e-01 -6.98591908e-03 -1.49084751e+01] [-3.75568253e-02 -5.99890053e-04 9.99294314e-01 -6.32288617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42264 meters 0.02005814642953255 Centerline is valid? [True, True] Translation: X:137.89, Y:-14.92, Z:-6.32 [[ 9.79017529e-01 2.00278579e-01 3.75921247e-02 1.37889472e+02] [-2.00153004e-01 9.79738831e-01 -7.11324243e-03 -1.49205074e+01] [-3.82550944e-02 -5.60187659e-04 9.99267849e-01 -6.32354094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48264 meters 0.016191842769094217 Centerline is valid? [True, True] Translation: X:137.95, Y:-14.94, Z:-6.33 [[ 9.79986434e-01 1.95426154e-01 3.78841452e-02 1.37946697e+02] [-1.95295075e-01 9.80718348e-01 -7.16633159e-03 -1.49401949e+01] [-3.85541649e-02 -3.75679240e-04 9.99256441e-01 -6.32573398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54264 meters 0.014913979193090789 Centerline is valid? [True, True] Translation: X:138.00, Y:-14.95, Z:-6.33 [[ 9.80478053e-01 1.93076480e-01 3.72056522e-02 1.38003495e+02] [-1.92948395e-01 9.81183670e-01 -7.03716751e-03 -1.49533529e+01] [-3.78642899e-02 -2.78982576e-04 9.99282852e-01 -6.32996159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60264 meters 0.014449846542673603 Centerline is valid? [True, True] Translation: X:138.06, Y:-14.97, Z:-6.33 [[ 9.80418922e-01 1.93258104e-01 3.78159113e-02 1.38062080e+02] [-1.93125976e-01 9.81147909e-01 -7.15103751e-03 -1.49663949e+01] [-3.84849983e-02 -2.92222312e-04 9.99259135e-01 -6.33047630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66264 meters 0.019267990577502867 Centerline is valid? [True, True] Translation: X:138.12, Y:-14.97, Z:-6.33 [[ 9.79348612e-01 1.98554030e-01 3.81129091e-02 1.38120857e+02] [-1.98423853e-01 9.80089813e-01 -7.20640909e-03 -1.49681242e+01] [-3.87849355e-02 -5.04923517e-04 9.99247454e-01 -6.33307506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72264 meters 0.026136317901505304 Centerline is valid? [True, True] Translation: X:138.18, Y:-14.97, Z:-6.34 [[ 9.78039055e-01 2.05150870e-01 3.67794462e-02 1.38182059e+02] [-2.05034381e-01 9.78730081e-01 -6.95214345e-03 -1.49670315e+01] [-3.74233886e-02 -7.41583151e-04 9.99299224e-01 -6.33892628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78264000000001 meters 0.028217571084330706 Centerline is valid? [True, True] Translation: X:138.24, Y:-14.97, Z:-6.34 [[ 9.77702730e-01 2.06857518e-01 3.61571560e-02 1.38240274e+02] [-2.06746106e-01 9.78370757e-01 -6.83444262e-03 -1.49738504e+01] [-3.67888599e-02 -7.93298022e-04 9.99322746e-01 -6.34319358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84264000000002 meters 0.025681453278914027 Centerline is valid? [True, True] Translation: X:138.30, Y:-14.99, Z:-6.35 [[ 9.77982460e-01 2.05574678e-01 3.59076655e-02 1.38297459e+02] [-2.05463997e-01 9.78641151e-01 -6.78556399e-03 -1.49883161e+01] [-3.65356592e-02 -7.41569922e-04 9.99332075e-01 -6.34579844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90264000000002 meters 0.026051591547839443 Centerline is valid? [True, True] Translation: X:138.35, Y:-15.00, Z:-6.35 [[ 9.78066603e-01 2.05578432e-01 3.35146061e-02 1.38354515e+02] [-2.05320935e-01 9.78633005e-01 -1.09889015e-02 -1.49959589e+01] [-3.50575808e-02 3.86662730e-03 9.99377814e-01 -6.34944587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96264000000002 meters 0.022944181571227965 Centerline is valid? [True, True] Translation: X:138.41, Y:-15.02, Z:-6.35 [[ 9.78490176e-01 2.03164097e-01 3.57956026e-02 1.38411840e+02] [-2.03193745e-01 9.79134415e-01 -2.84603529e-03 -1.50159862e+01] [-3.56269185e-02 -4.48862497e-03 9.99355079e-01 -6.35124476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02264 meters 0.0238704290221928 Centerline is valid? [True, True] Translation: X:138.47, Y:-15.02, Z:-6.35 [[ 9.78713957e-01 2.02130671e-01 3.55272104e-02 1.38470442e+02] [-2.02020281e-01 9.79358370e-01 -6.70744433e-03 -1.50246500e+01] [-3.61496511e-02 -6.12547639e-04 9.99346200e-01 -6.35305018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08264 meters 0.02102758461738407 Centerline is valid? [True, True] Translation: X:138.53, Y:-15.04, Z:-6.35 [[ 9.78942845e-01 2.01011514e-01 3.55707433e-02 1.38528281e+02] [-2.00900179e-01 9.79588711e-01 -6.71386020e-03 -1.50375752e+01] [-3.61942618e-02 -5.73683299e-04 9.99344608e-01 -6.35461339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14264 meters 0.01992892408229611 Centerline is valid? [True, True] Translation: X:138.59, Y:-15.05, Z:-6.36 [[ 9.79126152e-01 2.00061809e-01 3.58782922e-02 1.38586248e+02] [-1.99947970e-01 9.79783127e-01 -6.77005814e-03 -1.50493472e+01] [-3.65073754e-02 -5.45050727e-04 9.99333235e-01 -6.35600492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20264 meters 0.019855739821213296 Centerline is valid? [True, True] Translation: X:138.64, Y:-15.06, Z:-6.36 [[ 9.79138453e-01 1.99758816e-01 3.72062594e-02 1.38643232e+02] [-1.99636245e-01 9.79844940e-01 -7.01875451e-03 -1.50596397e+01] [-3.78584231e-02 -5.55385458e-04 9.99282959e-01 -6.35689709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26264 meters 0.02095884498863191 Centerline is valid? [True, True] Translation: X:138.70, Y:-15.07, Z:-6.36 [[ 9.79287423e-01 1.99197443e-01 3.62839082e-02 1.38700190e+02] [-1.99080577e-01 9.79959237e-01 -6.84240818e-03 -1.50694985e+01] [-3.69197412e-02 -5.22737104e-04 9.99318097e-01 -6.36148216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32264 meters 0.019679647451375175 Centerline is valid? [True, True] Translation: X:138.76, Y:-15.08, Z:-6.36 [[ 9.79389644e-01 1.98972791e-01 3.47239704e-02 1.38757346e+02] [-1.98865704e-01 9.80004890e-01 -6.54582161e-03 -1.50814973e+01] [-3.53321012e-02 -4.94496942e-04 9.99375504e-01 -6.36430708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38264 meters 0.023980389659720477 Centerline is valid? [True, True] Translation: X:138.81, Y:-15.09, Z:-6.37 [[ 9.79737867e-01 1.97430134e-01 3.36905628e-02 1.38814654e+02] [-1.97328472e-01 9.80316867e-01 -6.34935376e-03 -1.50942217e+01] [-3.42809808e-02 -4.27404992e-04 9.99412143e-01 -6.36946511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44264 meters 0.018335338598256708 Centerline is valid? [True, True] Translation: X:138.87, Y:-15.11, Z:-6.37 [[ 9.80028858e-01 1.96045126e-01 3.33128420e-02 1.38870950e+02] [-1.95944983e-01 9.80594803e-01 -6.27665434e-03 -1.51066666e+01] [-3.38969072e-02 -3.76181889e-04 9.99425264e-01 -6.37176005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50264 meters 0.01632802308922402 Centerline is valid? [True, True] Translation: X:138.93, Y:-15.12, Z:-6.37 [[ 9.80373888e-01 1.94200018e-01 3.39616462e-02 1.38928340e+02] [-1.94094914e-01 9.80961900e-01 -6.39641493e-03 -1.51228475e+01] [-3.45572649e-02 -3.20904636e-04 9.99402668e-01 -6.37174611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56264000000002 meters 0.016613272514483857 Centerline is valid? [True, True] Translation: X:138.99, Y:-15.13, Z:-6.38 [[ 9.80443436e-01 1.93723868e-01 3.46660143e-02 1.38985577e+02] [-1.93614105e-01 9.81056046e-01 -6.52784868e-03 -1.51334173e+01] [-3.52739031e-02 -3.11642943e-04 9.99377634e-01 -6.37502305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62264000000002 meters 0.01665765612956103 Centerline is valid? [True, True] Translation: X:139.04, Y:-15.14, Z:-6.38 [[ 9.80430976e-01 1.93780989e-01 3.46991258e-02 1.39043140e+02] [-1.93671113e-01 9.81044764e-01 -6.53231741e-03 -1.51438224e+01] [-3.53072346e-02 -3.15731991e-04 9.99376455e-01 -6.37628136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68264000000002 meters 0.01745756769381403 Centerline is valid? [True, True] Translation: X:139.10, Y:-15.15, Z:-6.38 [[ 9.80249365e-01 1.94786977e-01 3.41938032e-02 1.39101484e+02] [-1.94680948e-01 9.80845509e-01 -6.43555671e-03 -1.51536439e+01] [-3.47924010e-02 -3.48431651e-04 9.99394500e-01 -6.37935957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74264 meters 0.017123907897369447 Centerline is valid? [True, True] Translation: X:139.16, Y:-15.17, Z:-6.38 [[ 9.80133498e-01 1.95462143e-01 3.36582344e-02 1.39159285e+02] [-1.95359863e-01 9.80711178e-01 -6.33316790e-03 -1.51663258e+01] [-3.42469013e-02 -3.68118045e-04 9.99413335e-01 -6.38091043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80264 meters 0.02044082976248311 Centerline is valid? [True, True] Translation: X:139.22, Y:-15.17, Z:-6.38 [[ 9.79662240e-01 1.97669334e-01 3.44779797e-02 1.39216969e+02] [-1.97563434e-01 9.80268649e-01 -6.48571083e-03 -1.51715598e+01] [-3.50797087e-02 -4.57782066e-04 9.99384413e-01 -6.38409403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86264 meters 0.024642471464785893 Centerline is valid? [True, True] Translation: X:139.28, Y:-15.17, Z:-6.39 [[ 9.78770443e-01 2.02214282e-01 3.34335657e-02 1.39276696e+02] [-2.02117425e-01 9.79341115e-01 -6.28704176e-03 -1.51735277e+01] [-3.40141952e-02 -6.03935566e-04 9.99421167e-01 -6.38671118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92264 meters 0.026450144781825686 Centerline is valid? [True, True] Translation: X:139.34, Y:-15.18, Z:-6.39 [[ 9.78116797e-01 2.05630469e-01 3.16802935e-02 1.39336769e+02] [-2.05545356e-01 9.78629470e-01 -5.95548711e-03 -1.51771527e+01] [-3.22278985e-02 -6.86575216e-04 9.99480311e-01 -6.39081576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98264 meters 0.02739604697378312 Centerline is valid? [True, True] Translation: X:139.40, Y:-15.18, Z:-6.39 [[ 9.77991192e-01 2.06183247e-01 3.19639946e-02 1.39395485e+02] [-2.06096913e-01 9.78513138e-01 -6.00833939e-03 -1.51828722e+01] [-3.25160076e-02 -7.11577628e-04 9.99470962e-01 -6.39284939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04264 meters 0.03061671370309956 Centerline is valid? [True, True] Translation: X:139.45, Y:-15.19, Z:-6.39 [[ 9.78639079e-01 2.02841046e-01 3.34822702e-02 1.39454686e+02] [-2.02744435e-01 9.79211474e-01 -6.29145505e-03 -1.51934462e+01] [-3.40623885e-02 -6.31280176e-04 9.99419509e-01 -6.39463169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10264 meters 0.018953368312159925 Centerline is valid? [True, True] Translation: X:139.51, Y:-15.21, Z:-6.39 [[ 9.79939545e-01 1.96233457e-01 3.47982630e-02 1.39512082e+02] [-1.96124943e-01 9.80557115e-01 -6.53841145e-03 -1.52082200e+01] [-3.54047394e-02 -4.17559385e-04 9.99372968e-01 -6.39362430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16264 meters 0.014337150792255332 Centerline is valid? [True, True] Translation: X:139.57, Y:-15.23, Z:-6.39 [[ 9.80941097e-01 1.90980522e-01 3.57911130e-02 1.39569114e+02] [-1.90862244e-01 9.81593798e-01 -6.72447074e-03 -1.52267988e+01] [-3.64165775e-02 -2.34862442e-04 9.99336669e-01 -6.39378463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22264 meters 0.012491309823176306 Centerline is valid? [True, True] Translation: X:139.62, Y:-15.25, Z:-6.40 [[ 9.82342521e-01 1.83798589e-01 3.49463866e-02 1.39624039e+02] [-1.83681365e-01 9.82963925e-01 -6.56340875e-03 -1.52486228e+01] [-3.55573826e-02 2.85155014e-05 9.99367636e-01 -6.39716219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28264000000001 meters 0.01423515728217049 Centerline is valid? [True, True] Translation: X:139.68, Y:-15.27, Z:-6.40 [[ 9.83261148e-01 1.79145678e-01 3.32316167e-02 1.39680792e+02] [-1.79037101e-01 9.83822541e-01 -6.23895994e-03 -1.52681237e+01] [-3.38116963e-02 1.84834594e-04 9.99428204e-01 -6.40198836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34264000000002 meters 0.0227546896121542 Centerline is valid? [True, True] Translation: X:139.74, Y:-15.28, Z:-6.41 [[ 9.83624925e-01 1.77313647e-01 3.22781386e-02 1.39739745e+02] [-1.77210263e-01 9.84154364e-01 -6.05885021e-03 -1.52832981e+01] [-3.28409878e-02 2.39618657e-04 9.99460561e-01 -6.40682416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40264000000002 meters 0.015039668388589163 Centerline is valid? [True, True] Translation: X:139.80, Y:-15.30, Z:-6.41 [[ 9.83621391e-01 1.77340938e-01 3.22358768e-02 1.39798806e+02] [-1.77237838e-01 9.84149448e-01 -6.05091735e-03 -1.52973533e+01] [-3.27979957e-02 2.38394614e-04 9.99461973e-01 -6.40803628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46264000000002 meters 0.014784354465935314 Centerline is valid? [True, True] Translation: X:139.86, Y:-15.31, Z:-6.41 [[ 9.83433171e-01 1.78572766e-01 3.11603234e-02 1.39857275e+02] [-1.78477052e-01 9.83926690e-01 -5.84902785e-03 -1.53128368e+01] [-3.17039509e-02 1.90725362e-04 9.99497285e-01 -6.41304741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52264 meters 0.013858781314642936 Centerline is valid? [True, True] Translation: X:139.92, Y:-15.32, Z:-6.42 [[ 9.82880676e-01 1.81565794e-01 3.12959829e-02 1.39916127e+02] [-1.81470743e-01 9.83378794e-01 -5.87503638e-03 -1.53207198e+01] [-3.18425115e-02 9.51544729e-05 9.99492894e-01 -6.41552341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58264 meters 0.013745922533074871 Centerline is valid? [True, True] Translation: X:139.97, Y:-15.33, Z:-6.42 [[ 9.82548013e-01 1.83336848e-01 3.14165795e-02 1.39973381e+02] [-1.83242005e-01 9.83050151e-01 -5.89649069e-03 -1.53326092e+01] [-3.19651172e-02 3.67481861e-05 9.99488984e-01 -6.41980078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64264 meters 0.013785750996653995 Centerline is valid? [True, True] Translation: X:140.03, Y:-15.34, Z:-6.42 [[ 9.81776050e-01 1.87288207e-01 3.22322241e-02 1.40031066e+02] [-1.87190536e-01 9.82305003e-01 -6.04850747e-03 -1.53424878e+01] [-3.27946891e-02 -9.52875424e-05 9.99462105e-01 -6.42111946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70264 meters 0.023981644595860628 Centerline is valid? [True, True] Translation: X:140.09, Y:-15.37, Z:-6.42 [[ 9.80682026e-01 1.88877918e-01 5.08713775e-02 1.40086095e+02] [-1.90362167e-01 9.81367808e-01 2.60666712e-02 -1.53692761e+01] [-4.50001136e-02 -3.52471016e-02 9.98364979e-01 -6.42447405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76264 meters 0.01844308958030038 Centerline is valid? [True, True] Translation: X:140.15, Y:-15.34, Z:-6.42 [[ 9.80110386e-01 1.96658531e-01 2.66280564e-02 1.40154098e+02] [-1.95503338e-01 9.79859507e-01 -4.06668405e-02 -1.53383025e+01] [-3.40892353e-02 3.46521188e-02 9.98817879e-01 -6.42422291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82264 meters 0.018895729560124003 Centerline is valid? [True, True] Translation: X:140.21, Y:-15.37, Z:-6.43 [[ 9.80127194e-01 1.95682977e-01 3.25400781e-02 1.40208282e+02] [-1.95588045e-01 9.80667134e-01 -6.10641413e-03 -1.53692220e+01] [-3.31059065e-02 -3.79387717e-04 9.99451777e-01 -6.42862279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88264 meters 0.018373021769495346 Centerline is valid? [True, True] Translation: X:140.27, Y:-15.38, Z:-6.43 [[ 9.80041601e-01 1.96192126e-01 3.20485601e-02 1.40265838e+02] [-1.96100362e-01 9.80565396e-01 -6.01266600e-03 -1.53816987e+01] [-3.26053468e-02 -3.92071441e-04 9.99468227e-01 -6.43083142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94264 meters 0.024162621984381388 Centerline is valid? [True, True] Translation: X:140.32, Y:-15.39, Z:-6.44 [[ 9.79840748e-01 1.97252122e-01 3.16813775e-02 1.40323069e+02] [-1.97163049e-01 9.80352702e-01 -5.94234821e-03 -1.53890065e+01] [-3.22310648e-02 -4.23842064e-04 9.99480354e-01 -6.43795683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00264 meters 0.021999242442965194 Centerline is valid? [True, True] Translation: X:140.38, Y:-15.40, Z:-6.44 [[ 9.79439250e-01 1.99316501e-01 3.11719207e-02 1.40381560e+02] [-1.99231382e-01 9.79935047e-01 -5.84466469e-03 -1.53977499e+01] [-3.17113957e-02 -4.85930852e-04 9.99496949e-01 -6.44016914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06264000000002 meters 0.022196032261684213 Centerline is valid? [True, True] Translation: X:140.44, Y:-15.41, Z:-6.44 [[ 9.79227455e-01 2.00257514e-01 3.17886669e-02 1.40439611e+02] [-2.00169542e-01 9.79743155e-01 -5.95866574e-03 -1.54070611e+01] [-3.23379963e-02 -5.28233788e-04 9.99476851e-01 -6.44185280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12264000000002 meters 0.023408078458528377 Centerline is valid? [True, True] Translation: X:140.50, Y:-15.41, Z:-6.45 [[ 9.79312709e-01 1.99814776e-01 3.19479887e-02 1.40496425e+02] [-1.99725732e-01 9.79833551e-01 -5.98705198e-03 -1.54145988e+01] [-3.25000127e-02 -5.17639333e-04 9.99471601e-01 -6.44646927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18264000000002 meters 0.020306736988838683 Centerline is valid? [True, True] Translation: X:140.55, Y:-15.43, Z:-6.45 [[ 9.79642254e-01 1.98001003e-01 3.31158095e-02 1.40553796e+02] [-1.97904371e-01 9.80201702e-01 -6.20355923e-03 -1.54286913e+01] [-3.36884838e-02 -4.76494698e-04 9.99432268e-01 -6.44577530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24264 meters 0.02006861391914287 Centerline is valid? [True, True] Translation: X:140.61, Y:-15.44, Z:-6.45 [[ 9.80074968e-01 1.95891257e-01 3.28583636e-02 1.40610813e+02] [-1.95794986e-01 9.80625542e-01 -6.15385830e-03 -1.54388737e+01] [-3.34272376e-02 -4.02260360e-04 9.99441073e-01 -6.45129641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30264 meters 0.017510702156563192 Centerline is valid? [True, True] Translation: X:140.67, Y:-15.45, Z:-6.46 [[ 9.80651885e-01 1.93182404e-01 3.16613287e-02 1.40668012e+02] [-1.93091677e-01 9.81162814e-01 -5.92754981e-03 -1.54524949e+01] [-3.22100167e-02 -3.00676175e-04 9.99481078e-01 -6.45552423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36264 meters 0.016092287658187425 Centerline is valid? [True, True] Translation: X:140.73, Y:-15.47, Z:-6.46 [[ 9.81059656e-01 1.91085883e-01 3.17511531e-02 1.40725678e+02] [-1.90993600e-01 9.81573293e-01 -5.94261004e-03 -1.54662062e+01] [-3.23016328e-02 -2.34212059e-04 9.99478139e-01 -6.45927373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42264 meters 0.014394666520985847 Centerline is valid? [True, True] Translation: X:140.78, Y:-15.48, Z:-6.46 [[ 9.81421785e-01 1.89081052e-01 3.25520367e-02 1.40782541e+02] [-1.88982985e-01 9.81961469e-01 -6.09143417e-03 -1.54803481e+01] [-3.31166206e-02 -1.73514882e-04 9.99451479e-01 -6.45882197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48264 meters 0.014936304761835478 Centerline is valid? [True, True] Translation: X:140.84, Y:-15.49, Z:-6.46 [[ 9.81207599e-01 1.90173233e-01 3.26464390e-02 1.40840234e+02] [-1.90075258e-01 9.81750526e-01 -6.10739611e-03 -1.54888749e+01] [-3.32121220e-02 -2.12656839e-04 9.99448303e-01 -6.46221320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54264 meters 0.01704743862158528 Centerline is valid? [True, True] Translation: X:140.90, Y:-15.49, Z:-6.46 [[ 9.80663221e-01 1.92754000e-01 3.38458662e-02 1.40898189e+02] [-1.92650282e-01 9.81247063e-01 -6.33018256e-03 -1.54932259e+01] [-3.44313248e-02 -3.12638436e-04 9.99407017e-01 -6.46446700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60264 meters 0.020647494986512638 Centerline is valid? [True, True] Translation: X:140.96, Y:-15.50, Z:-6.47 [[ 9.79872789e-01 1.96817997e-01 3.33465678e-02 1.40957597e+02] [-1.96719753e-01 9.80439938e-01 -6.23429217e-03 -1.54956505e+01] [-3.39213278e-02 -4.51115315e-04 9.99424404e-01 -6.46950461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66264 meters 0.026407109367515995 Centerline is valid? [True, True] Translation: X:141.02, Y:-15.50, Z:-6.47 [[ 9.79794061e-01 1.97371068e-01 3.23768225e-02 1.41015859e+02] [-1.97278807e-01 9.80328747e-01 -6.05151422e-03 -1.55042225e+01] [-3.29343237e-02 -4.58023218e-04 9.99457413e-01 -6.47400917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72264 meters 0.01995359569211088 Centerline is valid? [True, True] Translation: X:141.07, Y:-15.51, Z:-6.48 [[ 9.79872055e-01 1.96890013e-01 3.29405230e-02 1.41073727e+02] [-1.96794296e-01 9.80425479e-01 -6.15515357e-03 -1.55125931e+01] [-3.35076163e-02 -4.51244058e-04 9.99438360e-01 -6.47565842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78264000000001 meters 0.020278248376302654 Centerline is valid? [True, True] Translation: X:141.13, Y:-15.52, Z:-6.48 [[ 9.80076900e-01 1.95829801e-01 3.31656404e-02 1.41131312e+02] [-1.95732222e-01 9.80637809e-01 -6.19550874e-03 -1.55209309e+01] [-3.37367462e-02 -4.19509491e-04 9.99430666e-01 -6.48062094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84264000000002 meters 0.01601451723279003 Centerline is valid? [True, True] Translation: X:141.19, Y:-15.54, Z:-6.48 [[ 9.80948932e-01 1.91225546e-01 3.42342462e-02 1.41188821e+02] [-1.91118839e-01 9.81546085e-01 -6.39317185e-03 -1.55362695e+01] [-3.48250281e-02 -2.71434275e-04 9.99393388e-01 -6.48089218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90264000000002 meters 0.012602921181710306 Centerline is valid? [True, True] Translation: X:141.25, Y:-15.56, Z:-6.48 [[ 9.82176662e-01 1.84489446e-01 3.59534341e-02 1.41245616e+02] [-1.84367283e-01 9.82834494e-01 -6.71281752e-03 -1.55561653e+01] [-3.65747192e-02 -3.54642516e-05 9.99330920e-01 -6.48074382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96264000000002 meters 0.012893121446926744 Centerline is valid? [True, True] Translation: X:141.30, Y:-15.57, Z:-6.48 [[ 9.82953077e-01 1.80037315e-01 3.72802157e-02 1.41303047e+02] [-1.79902821e-01 9.83659772e-01 -6.95899428e-03 -1.55738708e+01] [-3.79239272e-02 1.33548856e-04 9.99280620e-01 -6.48133336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02264 meters 0.013857526228698904 Centerline is valid? [True, True] Translation: X:141.36, Y:-15.59, Z:-6.49 [[ 9.83360883e-01 1.78072584e-01 3.59378493e-02 1.41362171e+02] [-1.77946341e-01 9.84017335e-01 -6.70708347e-03 -1.55924760e+01] [-3.65578144e-02 2.00474733e-04 9.99331520e-01 -6.48548371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08264 meters 0.02136840645093218 Centerline is valid? [True, True] Translation: X:141.42, Y:-15.60, Z:-6.49 [[ 9.83032405e-01 1.80024730e-01 3.51907190e-02 1.41422236e+02] [-1.79904893e-01 9.83662076e-01 -6.56877184e-03 -1.55999747e+01] [-3.57983171e-02 1.26333036e-04 9.99359027e-01 -6.49062448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14264 meters 0.013157367513156878 Centerline is valid? [True, True] Translation: X:141.48, Y:-15.61, Z:-6.49 [[ 9.82913819e-01 1.80434268e-01 3.63854381e-02 1.41480811e+02] [-1.80306429e-01 9.83587038e-01 -6.79189798e-03 -1.56111605e+01] [-3.70137364e-02 1.15321950e-04 9.99314750e-01 -6.49078338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20264 meters 0.013048715094009424 Centerline is valid? [True, True] Translation: X:141.54, Y:-15.62, Z:-6.49 [[ 9.82968909e-01 1.79973833e-01 3.71691220e-02 1.41539660e+02] [-1.79840119e-01 9.83671389e-01 -6.93760628e-03 -1.56235791e+01] [-3.78107894e-02 1.34951949e-04 9.99284907e-01 -6.49210362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26264 meters 0.012680695601022555 Centerline is valid? [True, True] Translation: X:141.60, Y:-15.63, Z:-6.49 [[ 9.82911006e-01 1.79770540e-01 3.96043744e-02 1.41599285e+02] [-1.79618558e-01 9.83708559e-01 -7.39214547e-03 -1.56345601e+01] [-4.02880521e-02 1.52140541e-04 9.99188095e-01 -6.49088647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32264 meters 0.013084903844969591 Centerline is valid? [True, True] Translation: X:141.66, Y:-15.65, Z:-6.49 [[ 9.83154412e-01 1.78472348e-01 3.94337731e-02 1.41660039e+02] [-1.78320683e-01 9.83944907e-01 -7.35895148e-03 -1.56500468e+01] [-4.01140295e-02 2.03128262e-04 9.99195088e-01 -6.49375815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38264 meters 0.015370932155897625 Centerline is valid? [True, True] Translation: X:141.72, Y:-15.67, Z:-6.50 [[ 9.83633584e-01 1.76053961e-01 3.83402682e-02 1.41718367e+02] [-1.75908443e-01 9.84380471e-01 -7.16293547e-03 -1.56678750e+01] [-3.90024745e-02 3.01327008e-04 9.99239069e-01 -6.50019329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44264 meters 0.0193311861728668 Centerline is valid? [True, True] Translation: X:141.78, Y:-15.69, Z:-6.51 [[ 9.84449407e-01 1.71855357e-01 3.64019369e-02 1.41777310e+02] [-1.71721062e-01 9.85122090e-01 -6.80763587e-03 -1.56909115e+01] [-3.70302809e-02 4.50793835e-04 9.99314042e-01 -6.50592777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50264 meters 0.028065066182087067 Centerline is valid? [True, True] Translation: X:141.84, Y:-15.71, Z:-6.51 [[ 9.84562337e-01 1.71385555e-01 3.55527143e-02 1.41837527e+02] [-1.71257135e-01 9.85203929e-01 -6.64921623e-03 -1.57062768e+01] [-3.61662534e-02 4.57911899e-04 9.99345682e-01 -6.51127297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56264000000002 meters 0.01562894873130561 Centerline is valid? [True, True] Translation: X:141.90, Y:-15.72, Z:-6.51 [[ 9.83686451e-01 1.76336414e-01 3.55870044e-02 1.41899399e+02] [-1.76210721e-01 9.84329919e-01 -6.66278565e-03 -1.57164179e+01] [-3.62042449e-02 2.83280254e-04 9.99344371e-01 -6.51208842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62264000000002 meters 0.012799616135839237 Centerline is valid? [True, True] Translation: X:141.96, Y:-15.72, Z:-6.51 [[ 9.82629567e-01 1.81992758e-01 3.63011082e-02 1.41960760e+02] [-1.81865722e-01 9.83299868e-01 -6.79922231e-03 -1.57201278e+01] [-3.69322841e-02 7.91895965e-05 9.99317767e-01 -6.51324219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68264000000002 meters 0.014518829608346811 Centerline is valid? [True, True] Translation: X:142.02, Y:-15.72, Z:-6.51 [[ 9.80970927e-01 1.90578080e-01 3.70949542e-02 1.42021497e+02] [-1.90451521e-01 9.81672009e-01 -6.94869829e-03 -1.57195233e+01] [-3.77393478e-02 -2.48319462e-04 9.99287586e-01 -6.51468759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74264 meters 0.03194760326505061 Centerline is valid? [True, True] Translation: X:142.08, Y:-15.73, Z:-6.52 [[ 9.80350627e-01 1.93545560e-01 3.81151341e-02 1.42081477e+02] [-1.93414219e-01 9.81091217e-01 -7.13884092e-03 -1.57253100e+01] [-3.87761143e-02 -3.73441733e-04 9.99247854e-01 -6.51737782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80264 meters 0.023230653979559288 Centerline is valid? [True, True] Translation: X:142.14, Y:-15.73, Z:-6.52 [[ 9.78963305e-01 2.00213065e-01 3.93138040e-02 1.42141368e+02] [-2.00078733e-01 9.79752160e-01 -7.36243540e-03 -1.57257992e+01] [-3.99918401e-02 -6.58301983e-04 9.99199790e-01 -6.51817218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86264 meters 0.024128226064347523 Centerline is valid? [True, True] Translation: X:142.20, Y:-15.73, Z:-6.52 [[ 9.78380686e-01 2.02928812e-01 3.98889822e-02 1.42200133e+02] [-2.02792839e-01 9.79193181e-01 -7.46854933e-03 -1.57319517e+01] [-4.05746032e-02 -7.82115502e-04 9.99176206e-01 -6.51902502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92264 meters 0.028587748839366628 Centerline is valid? [True, True] Translation: X:142.26, Y:-15.74, Z:-6.53 [[ 9.78331678e-01 2.03271394e-01 3.93429627e-02 1.42257496e+02] [-2.03139471e-01 9.79122117e-01 -7.36443657e-03 -1.57375926e+01] [-4.00185443e-02 -7.87247047e-04 9.99198627e-01 -6.52565837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98264 meters 0.023224047808754575 Centerline is valid? [True, True] Translation: X:142.31, Y:-15.75, Z:-6.53 [[ 9.78571443e-01 2.02366364e-01 3.80234926e-02 1.42314501e+02] [-2.02242552e-01 9.79309617e-01 -7.11508351e-03 -1.57500326e+01] [-3.86766255e-02 -7.27350631e-04 9.99251515e-01 -6.52819268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04264 meters 0.02202790646032124 Centerline is valid? [True, True] Translation: X:142.37, Y:-15.76, Z:-6.53 [[ 9.78944206e-01 2.00679194e-01 3.73644645e-02 1.42372489e+02] [-2.00558481e-01 9.79656796e-01 -6.98988490e-03 -1.57596763e+01] [-3.80070760e-02 -6.51052925e-04 9.99277258e-01 -6.53209922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10264 meters 0.019741254713335883 Centerline is valid? [True, True] Translation: X:142.43, Y:-15.77, Z:-6.54 [[ 9.79509669e-01 1.97837499e-01 3.76979178e-02 1.42430168e+02] [-1.97712591e-01 9.80234678e-01 -7.05031511e-03 -1.57691331e+01] [-3.83476230e-02 -5.47501195e-04 9.99264309e-01 -6.53515260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16264 meters 0.026154847238593022 Centerline is valid? [True, True] Translation: X:142.49, Y:-15.78, Z:-6.54 [[ 9.79967789e-01 1.95343798e-01 3.87805866e-02 1.42487573e+02] [-1.95209739e-01 9.80734717e-01 -7.25075316e-03 -1.57781689e+01] [-3.94498573e-02 -4.64843653e-04 9.99221443e-01 -6.53925445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22264 meters 0.015200025389764884 Centerline is valid? [True, True] Translation: X:142.55, Y:-15.79, Z:-6.54 [[ 9.80488613e-01 1.92473525e-01 3.99502359e-02 1.42545457e+02] [-1.92328956e-01 9.81302100e-01 -7.46735981e-03 -1.57892759e+01] [-4.06405195e-02 -3.61925901e-04 9.99173767e-01 -6.53712773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28264000000001 meters 0.016134328446817017 Centerline is valid? [True, True] Translation: X:142.60, Y:-15.79, Z:-6.54 [[ 9.80349254e-01 1.93009417e-01 4.07762921e-02 1.42604187e+02] [-1.92859354e-01 9.81196825e-01 -7.61971355e-03 -1.57913912e+01] [-4.14802448e-02 -3.94108836e-04 9.99139247e-01 -6.53880086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34264000000002 meters 0.01767478088272313 Centerline is valid? [True, True] Translation: X:142.66, Y:-15.79, Z:-6.54 [[ 9.80055095e-01 1.94572134e-01 4.04189898e-02 1.42663372e+02] [-1.94426134e-01 9.80888105e-01 -7.55010832e-03 -1.57925814e+01] [-4.11155470e-02 -4.58985796e-04 9.99154293e-01 -6.54320096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40264000000002 meters 0.017386035566483268 Centerline is valid? [True, True] Translation: X:142.72, Y:-15.80, Z:-6.55 [[ 9.80217874e-01 1.93901945e-01 3.96857169e-02 1.42721451e+02] [-1.93760718e-01 9.81020823e-01 -7.41139215e-03 -1.57992915e+01] [-4.03695981e-02 -4.24753960e-04 9.99184725e-01 -6.54778989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46264000000002 meters 0.02534678234119273 Centerline is valid? [True, True] Translation: X:142.78, Y:-15.81, Z:-6.55 [[ 9.80878039e-01 1.90228450e-01 4.11267559e-02 1.42778813e+02] [-1.90073682e-01 9.81739810e-01 -7.67729611e-03 -1.58109619e+01] [-4.18362137e-02 -2.86622773e-04 9.99124441e-01 -6.55017497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52264 meters 0.011878497765540452 Centerline is valid? [True, True] Translation: X:142.84, Y:-15.82, Z:-6.55 [[ 9.81908825e-01 1.84924503e-01 4.07184044e-02 1.42835325e+02] [-1.84768313e-01 9.82752728e-01 -7.59907753e-03 -1.58238002e+01] [-4.14213786e-02 -6.18696164e-05 9.99141764e-01 -6.55178115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58264 meters 0.012164994000444693 Centerline is valid? [True, True] Translation: X:142.89, Y:-15.84, Z:-6.56 [[ 9.82814208e-01 1.80234952e-01 3.98947975e-02 1.42893223e+02] [-1.80081263e-01 9.83623579e-01 -7.44269203e-03 -1.58389061e+01] [-4.05828967e-02 1.30477979e-04 9.99176166e-01 -6.55646819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64264 meters 0.013021044333815455 Centerline is valid? [True, True] Translation: X:142.95, Y:-15.85, Z:-6.56 [[ 9.83156507e-01 1.78492109e-01 3.92918418e-02 1.42950567e+02] [-1.78341677e-01 9.83941323e-01 -7.32930275e-03 -1.58521754e+01] [-3.99690895e-02 1.98478747e-04 9.99200897e-01 -6.56140358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70264 meters 0.01916003606318587 Centerline is valid? [True, True] Translation: X:143.01, Y:-15.86, Z:-6.57 [[ 9.82921682e-01 1.79835819e-01 3.90390286e-02 1.43008172e+02] [-1.79688428e-01 9.83696629e-01 -7.28083835e-03 -1.58583874e+01] [-3.97119163e-02 1.41632204e-04 9.99211161e-01 -6.56853978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76264 meters 0.01209296550075296 Centerline is valid? [True, True] Translation: X:143.07, Y:-15.86, Z:-6.57 [[ 9.82539046e-01 1.82157349e-01 3.78909401e-02 1.43067113e+02] [-1.82020318e-01 9.83269392e-01 -7.06438900e-03 -1.58619548e+01] [-3.85438320e-02 4.41170651e-05 9.99256909e-01 -6.57099387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82264 meters 0.02352493551877974 Centerline is valid? [True, True] Translation: X:143.13, Y:-15.87, Z:-6.57 [[ 9.82109112e-01 1.84268273e-01 3.88187615e-02 1.43126153e+02] [-1.84126174e-01 9.82875985e-01 -7.23535295e-03 -1.58670900e+01] [-3.94872745e-02 -4.16439864e-05 9.99220073e-01 -6.57467813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88264 meters 0.02195410813465287 Centerline is valid? [True, True] Translation: X:143.18, Y:-15.88, Z:-6.58 [[ 9.82163119e-01 1.83796761e-01 3.96781783e-02 1.43182635e+02] [-1.83647992e-01 9.82964267e-01 -7.39357482e-03 -1.58775779e+01] [-4.03611465e-02 -2.51212611e-05 9.99185157e-01 -6.57693192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94264 meters 0.011789797635435036 Centerline is valid? [True, True] Translation: X:143.24, Y:-15.89, Z:-6.58 [[ 9.82721692e-01 1.80769958e-01 3.97529528e-02 1.43240141e+02] [-1.80618263e-01 9.83525400e-01 -7.40474869e-03 -1.58909075e+01] [-4.04365949e-02 9.66978912e-05 9.99182102e-01 -6.57743421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00264 meters 0.013787860788504615 Centerline is valid? [True, True] Translation: X:143.30, Y:-15.91, Z:-6.58 [[ 9.83496084e-01 1.76741711e-01 3.87016710e-02 1.43296285e+02] [-1.76594890e-01 9.84257234e-01 -7.20706853e-03 -1.59092109e+01] [-3.93661893e-02 2.53606359e-04 9.99224819e-01 -6.58310966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06264000000002 meters 0.014983033076206341 Centerline is valid? [True, True] Translation: X:143.35, Y:-15.92, Z:-6.58 [[ 9.83900935e-01 1.74370685e-01 3.91639334e-02 1.43353979e+02] [-1.74218540e-01 9.84680020e-01 -7.29104322e-03 -1.59228946e+01] [-3.98352869e-02 3.50580969e-04 9.99206198e-01 -6.58466097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12264000000002 meters 0.016631465275581396 Centerline is valid? [True, True] Translation: X:143.41, Y:-15.94, Z:-6.59 [[ 9.84160870e-01 1.72635584e-01 4.03030709e-02 1.43410980e+02] [-1.72473040e-01 9.84985669e-01 -7.50213970e-03 -1.59370991e+01] [-4.09930835e-02 4.32119190e-04 9.99159337e-01 -6.58631609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18264000000002 meters 0.019643652779710467 Centerline is valid? [True, True] Translation: X:143.47, Y:-15.95, Z:-6.59 [[ 9.84032618e-01 1.73483511e-01 3.97904351e-02 1.43469186e+02] [-1.73325832e-01 9.84836697e-01 -7.40517877e-03 -1.59484166e+01] [-4.04717571e-02 3.90227150e-04 9.99180607e-01 -6.59141192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24264 meters 0.014901909403448675 Centerline is valid? [True, True] Translation: X:143.53, Y:-15.96, Z:-6.60 [[ 9.83790242e-01 1.75227726e-01 3.81051680e-02 1.43526516e+02] [-1.75084465e-01 9.84527883e-01 -7.09075283e-03 -1.59602879e+01] [-3.87580969e-02 3.04190507e-04 9.99248576e-01 -6.59655628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30264 meters 0.021572098216795416 Centerline is valid? [True, True] Translation: X:143.59, Y:-15.97, Z:-6.60 [[ 9.83628901e-01 1.76562817e-01 3.60521322e-02 1.43585764e+02] [-1.76435527e-01 9.84289346e-01 -6.70739165e-03 -1.59687902e+01] [-3.66700056e-02 2.36707341e-04 9.99327401e-01 -6.60370407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36264 meters 0.013363398296394992 Centerline is valid? [True, True] Translation: X:143.64, Y:-15.98, Z:-6.61 [[ 9.83339842e-01 1.78248484e-01 3.56403330e-02 1.43642617e+02] [-1.78125211e-01 9.83985492e-01 -6.63027488e-03 -1.59792228e+01] [-3.62514071e-02 1.71371616e-04 9.99342687e-01 -6.60747849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42264 meters 0.012270543434815574 Centerline is valid? [True, True] Translation: X:143.70, Y:-15.99, Z:-6.61 [[ 9.82961718e-01 1.80157378e-01 3.64634145e-02 1.43701006e+02] [-1.80029747e-01 9.83637794e-01 -6.78093902e-03 -1.59889633e+01] [-3.70884288e-02 1.00904171e-04 9.99311982e-01 -6.60836789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48264 meters 0.012225532436121641 Centerline is valid? [True, True] Translation: X:143.76, Y:-16.00, Z:-6.61 [[ 9.82528581e-01 1.82680727e-01 3.55716043e-02 1.43758843e+02] [-1.82560981e-01 9.83172290e-01 -6.61335439e-03 -1.59992160e+01] [-3.61811481e-02 3.82272976e-06 9.99345248e-01 -6.61346229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54264 meters 0.02678716826166902 Centerline is valid? [True, True] Translation: X:143.82, Y:-16.01, Z:-6.62 [[ 9.82312775e-01 1.83859815e-01 3.54567530e-02 1.43817042e+02] [-1.83741671e-01 9.82952474e-01 -6.59025422e-03 -1.60086353e+01] [-3.60639860e-02 -4.11921272e-05 9.99349482e-01 -6.61719190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60264 meters 0.011974637847512033 Centerline is valid? [True, True] Translation: X:143.87, Y:-16.02, Z:-6.62 [[ 9.82160555e-01 1.84456264e-01 3.65586008e-02 1.43874116e+02] [-1.84331146e-01 9.82840721e-01 -6.79309738e-03 -1.60236379e+01] [-3.71843109e-02 -6.69764988e-05 9.99308422e-01 -6.61814427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66264 meters 0.01210393124498355 Centerline is valid? [True, True] Translation: X:143.93, Y:-16.03, Z:-6.62 [[ 9.82056686e-01 1.85002042e-01 3.65911308e-02 1.43932066e+02] [-1.84877150e-01 9.82738132e-01 -6.79727712e-03 -1.60345527e+01] [-3.72170097e-02 -8.95525372e-05 9.99307203e-01 -6.62124090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72264 meters 0.01320286037789436 Centerline is valid? [True, True] Translation: X:143.99, Y:-16.04, Z:-6.63 [[ 9.81596525e-01 1.87457100e-01 3.64430860e-02 1.43989398e+02] [-1.87334972e-01 9.82272774e-01 -6.76804333e-03 -1.60423591e+01] [-3.70657690e-02 -1.83576678e-04 9.99312811e-01 -6.62547988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78264000000001 meters 0.015084325994959914 Centerline is valid? [True, True] Translation: X:144.05, Y:-16.05, Z:-6.63 [[ 9.81043442e-01 1.90252104e-01 3.68497154e-02 1.44047808e+02] [-1.90129296e-01 9.81735224e-01 -6.84108448e-03 -1.60491206e+01] [-3.74781943e-02 -2.94809391e-04 9.99297402e-01 -6.62751511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84264000000002 meters 0.0273977862909411 Centerline is valid? [True, True] Translation: X:144.11, Y:-16.06, Z:-6.63 [[ 9.80664364e-01 1.92451818e-01 3.54922979e-02 1.44105557e+02] [-1.92339385e-01 9.81306356e-01 -6.58769033e-03 -1.60565888e+01] [-3.60966305e-02 -3.66253585e-04 9.99348237e-01 -6.63351161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90264000000002 meters 0.01844383345728656 Centerline is valid? [True, True] Translation: X:144.16, Y:-16.06, Z:-6.64 [[ 9.80372123e-01 1.93930358e-01 3.55178269e-02 1.44163613e+02] [-1.93818825e-01 9.81015207e-01 -6.58986688e-03 -1.60627256e+01] [-3.61215035e-02 -4.23501671e-04 9.99347316e-01 -6.63573413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96264000000002 meters 0.02472953358631196 Centerline is valid? [True, True] Translation: X:144.22, Y:-16.08, Z:-6.64 [[ 9.80997235e-01 1.90777540e-01 3.53320588e-02 1.44221013e+02] [-1.90665232e-01 9.81633249e-01 -6.55241883e-03 -1.60767724e+01] [-3.59331780e-02 -3.08690433e-04 9.99354147e-01 -6.64001612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02264 meters 0.011682495293842856 Centerline is valid? [True, True] Translation: X:144.28, Y:-16.10, Z:-6.64 [[ 9.82572105e-01 1.82209784e-01 3.67648384e-02 1.44276165e+02] [-1.82082248e-01 9.83259678e-01 -6.81616838e-03 -1.60992235e+01] [-3.73913557e-02 3.15247887e-06 9.99300699e-01 -6.63987038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08264 meters 0.01396931319998842 Centerline is valid? [True, True] Translation: X:144.33, Y:-16.12, Z:-6.64 [[ 9.83826569e-01 1.75139127e-01 3.75708314e-02 1.44332819e+02] [-1.75000858e-01 9.84543656e-01 -6.96345286e-03 -1.61206613e+01] [-3.82096968e-02 2.75902208e-04 9.99269705e-01 -6.64151528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14264 meters 0.021318497915748965 Centerline is valid? [True, True] Translation: X:144.39, Y:-16.15, Z:-6.64 [[ 9.85511004e-01 1.65356125e-01 3.77546512e-02 1.44389871e+02] [-1.65209360e-01 9.86233704e-01 -6.99626351e-03 -1.61480293e+01] [-3.83917846e-02 6.57472902e-04 9.99262547e-01 -6.64375497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20264 meters 0.03082642024684159 Centerline is valid? [True, True] Translation: X:144.45, Y:-16.18, Z:-6.65 [[ 9.86611829e-01 1.58685312e-01 3.76307270e-02 1.44445001e+02] [-1.58534648e-01 9.87328788e-01 -6.97349174e-03 -1.61773803e+01] [-3.82604908e-02 9.14355390e-04 9.99267381e-01 -6.64867057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26264 meters 0.03121762019337803 Centerline is valid? [True, True] Translation: X:144.50, Y:-16.20, Z:-6.65 [[ 9.86860799e-01 1.57403673e-01 3.64670738e-02 1.44504351e+02] [-1.57261290e-01 9.87533903e-01 -6.75847258e-03 -1.61951806e+01] [-3.70762801e-02 9.34812580e-04 9.99312001e-01 -6.65255605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32264 meters 0.031032785227206875 Centerline is valid? [True, True] Translation: X:144.57, Y:-16.20, Z:-6.66 [[ 9.86426412e-01 1.60361683e-01 3.53138028e-02 1.44565780e+02] [-1.60229823e-01 9.87057994e-01 -6.55131673e-03 -1.62013921e+01] [-3.59073516e-02 8.04067463e-04 9.99354800e-01 -6.65807272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38264 meters 0.025068493349955846 Centerline is valid? [True, True] Translation: X:144.63, Y:-16.21, Z:-6.66 [[ 9.85028335e-01 1.68795923e-01 3.50302142e-02 1.44626517e+02] [-1.68671439e-01 9.85650898e-01 -6.50029319e-03 -1.62069818e+01] [-3.56247850e-02 4.94376340e-04 9.99365114e-01 -6.66134056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44264 meters 0.02739368761055702 Centerline is valid? [True, True] Translation: X:144.69, Y:-16.21, Z:-6.66 [[ 9.82947299e-01 1.80469081e-01 3.52918992e-02 1.44688149e+02] [-1.80350214e-01 9.83580655e-01 -6.54942694e-03 -1.62062382e+01] [-3.58943984e-02 7.28399706e-05 9.99355586e-01 -6.66274818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50264 meters 0.017710803598633786 Centerline is valid? [True, True] Translation: X:144.75, Y:-16.20, Z:-6.67 [[ 9.80500984e-01 1.93268874e-01 3.55663055e-02 1.44749671e+02] [-1.93156532e-01 9.81145751e-01 -6.60074911e-03 -1.61955428e+01] [-3.61714489e-02 -3.97823240e-04 9.99345520e-01 -6.66572495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56264000000002 meters 0.024262924166559167 Centerline is valid? [True, True] Translation: X:144.81, Y:-16.20, Z:-6.67 [[ 9.79231075e-01 1.99688318e-01 3.50867283e-02 1.44809788e+02] [-1.99583147e-01 9.79859266e-01 -6.51039710e-03 -1.61968821e+01] [-3.56801061e-02 -6.27536526e-04 9.99363065e-01 -6.66943173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62264000000002 meters 0.029369904259031163 Centerline is valid? [True, True] Translation: X:144.87, Y:-16.20, Z:-6.67 [[ 9.78251334e-01 2.04492312e-01 3.47451092e-02 1.44869838e+02] [-2.04392249e-01 9.78867846e-01 -6.44575766e-03 -1.61957413e+01] [-3.53289781e-02 -7.96060000e-04 9.99375420e-01 -6.67396813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68264000000002 meters 0.02931048009749055 Centerline is valid? [True, True] Translation: X:144.93, Y:-16.20, Z:-6.68 [[ 9.78292600e-01 2.04414324e-01 3.40348905e-02 1.44927984e+02] [-2.04318301e-01 9.78884150e-01 -6.31293744e-03 -1.62040029e+01] [-3.46066697e-02 -7.78051008e-04 9.99400707e-01 -6.67902952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74264 meters 0.028008262657667975 Centerline is valid? [True, True] Translation: X:144.99, Y:-16.22, Z:-6.68 [[ 9.78386759e-01 2.04004344e-01 3.37872461e-02 1.44985767e+02] [-2.03909524e-01 9.78969688e-01 -6.26540892e-03 -1.62152953e+01] [-3.43548605e-02 -7.59548160e-04 9.99409409e-01 -6.68159297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80264 meters 0.035791827802093584 Centerline is valid? [True, True] Translation: X:145.04, Y:-16.22, Z:-6.69 [[ 9.78741602e-01 2.02235712e-01 3.41407825e-02 1.45043233e+02] [-2.02137878e-01 9.79336621e-01 -6.32933766e-03 -1.62235870e+01] [-3.47153367e-02 -7.06359252e-04 9.99396991e-01 -6.68566859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86264 meters 0.022820549454765644 Centerline is valid? [True, True] Translation: X:145.10, Y:-16.24, Z:-6.69 [[ 9.79584843e-01 1.98021294e-01 3.46569304e-02 1.45101378e+02] [-1.97917935e-01 9.80197554e-01 -6.42234872e-03 -1.62351196e+01] [-3.52424003e-02 -5.67992647e-04 9.99378632e-01 -6.68779684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92264 meters 0.022369208544621575 Centerline is valid? [True, True] Translation: X:145.16, Y:-16.26, Z:-6.70 [[ 9.81524149e-01 1.88500217e-01 3.28331249e-02 1.45158259e+02] [-1.88402138e-01 9.82073125e-01 -6.08375167e-03 -1.62552721e+01] [-3.33913181e-02 -2.14481753e-04 9.99442331e-01 -6.69657344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98264 meters 0.020991532360881082 Centerline is valid? [True, True] Translation: X:145.21, Y:-16.28, Z:-6.70 [[ 9.83398054e-01 1.78601304e-01 3.20911508e-02 1.45214407e+02] [-1.78502369e-01 9.83921521e-01 -5.94508623e-03 -1.62774058e+01] [-3.26369741e-02 1.18039789e-04 9.99467265e-01 -6.69872108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04264 meters 0.0283775838067471 Centerline is valid? [True, True] Translation: X:145.27, Y:-16.29, Z:-6.70 [[ 9.84563903e-01 1.72211627e-01 3.12582199e-02 1.45272157e+02] [-1.72114576e-01 9.85059924e-01 -5.78961688e-03 -1.62949912e+01] [-3.17882591e-02 3.20252520e-04 9.99494574e-01 -6.70402608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10264 meters 0.020811319909304127 Centerline is valid? [True, True] Translation: X:145.33, Y:-16.31, Z:-6.71 [[ 9.85381445e-01 1.67736485e-01 2.97973059e-02 1.45330101e+02] [-1.67646248e-01 9.85831768e-01 -5.51909119e-03 -1.63098218e+01] [-3.03008837e-02 4.43003535e-04 9.99540725e-01 -6.70743023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16264 meters 0.0268726502482748 Centerline is valid? [True, True] Translation: X:145.39, Y:-16.32, Z:-6.71 [[ 9.85643154e-01 1.66081818e-01 3.04039886e-02 1.45389373e+02] [-1.65987080e-01 9.86111848e-01 -5.63146165e-03 -1.63202724e+01] [-3.09170167e-02 5.03942345e-04 9.99521828e-01 -6.71066694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22264 meters 0.032898855877406305 Centerline is valid? [True, True] Translation: X:145.45, Y:-16.33, Z:-6.72 [[ 9.85802269e-01 1.65394404e-01 2.89581906e-02 1.45447297e+02] [-1.65308162e-01 9.86227378e-01 -5.36388090e-03 -1.63336871e+01] [-2.94465162e-02 5.00700701e-04 9.99566232e-01 -6.71653482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28264000000001 meters 0.021196545222145237 Centerline is valid? [True, True] Translation: X:145.51, Y:-16.34, Z:-6.72 [[ 9.85204013e-01 1.68757144e-01 2.99011374e-02 1.45505962e+02] [-1.68666753e-01 9.85657575e-01 -5.53811014e-03 -1.63377207e+01] [-3.04068783e-02 4.12840577e-04 9.99537519e-01 -6.71592395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34264000000002 meters 0.017654854693679493 Centerline is valid? [True, True] Translation: X:145.56, Y:-16.34, Z:-6.72 [[ 9.84693959e-01 1.71764296e-01 2.95775935e-02 1.45564858e+02] [-1.71677195e-01 9.85138024e-01 -5.47854954e-03 -1.63416002e+01] [-3.00790312e-02 3.16896360e-04 9.99547473e-01 -6.71702377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40264000000002 meters 0.015111265935655012 Centerline is valid? [True, True] Translation: X:145.62, Y:-16.34, Z:-6.72 [[ 9.83847205e-01 1.76481288e-01 2.99838614e-02 1.45623518e+02] [-1.76394006e-01 9.84303980e-01 -5.55246012e-03 -1.63410676e+01] [-3.04931394e-02 1.73798937e-04 9.99534961e-01 -6.71971409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46264000000002 meters 0.013890897154247737 Centerline is valid? [True, True] Translation: X:145.68, Y:-16.34, Z:-6.72 [[ 9.83112495e-01 1.80776388e-01 2.84555800e-02 1.45683254e+02] [-1.80699629e-01 9.83524222e-01 -5.26762602e-03 -1.63417929e+01] [-2.89390146e-02 3.67562012e-05 9.99581178e-01 -6.72352961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52264 meters 0.014567496325719471 Centerline is valid? [True, True] Translation: X:145.74, Y:-16.35, Z:-6.73 [[ 9.82849648e-01 1.82162511e-01 2.86947592e-02 1.45740444e+02] [-1.82085083e-01 9.83268437e-01 -5.31063254e-03 -1.63494842e+01] [-2.91820492e-02 -5.33430288e-06 9.99574113e-01 -6.72956519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58264 meters 0.014880933999485625 Centerline is valid? [True, True] Translation: X:145.80, Y:-16.35, Z:-6.73 [[ 9.82532595e-01 1.84053590e-01 2.74586068e-02 1.45799299e+02] [-1.83983481e-01 9.82916208e-01 -5.08000377e-03 -1.63539693e+01] [-2.79245026e-02 -6.06607800e-05 9.99610033e-01 -6.73176806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64264 meters 0.015026152580920878 Centerline is valid? [True, True] Translation: X:145.86, Y:-16.37, Z:-6.74 [[ 9.83334132e-01 1.79601958e-01 2.82333549e-02 1.45855586e+02] [-1.79526042e-01 9.83739362e-01 -5.22186182e-03 -1.63695759e+01] [-2.87121192e-02 6.62124929e-05 9.99587720e-01 -6.73620724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70264 meters 0.01658264034670113 Centerline is valid? [True, True] Translation: X:145.91, Y:-16.39, Z:-6.74 [[ 9.84309473e-01 1.74324260e-01 2.73114113e-02 1.45911554e+02] [-1.74251224e-01 9.84688279e-01 -5.05009767e-03 -1.63898613e+01] [-2.77735811e-02 2.11812135e-04 9.99614217e-01 -6.73788401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76264 meters 0.027716067683922634 Centerline is valid? [True, True] Translation: X:145.97, Y:-16.41, Z:-6.74 [[ 9.85178018e-01 1.69308577e-01 2.75477456e-02 1.45966544e+02] [-1.69232343e-01 9.85563027e-01 -5.09260228e-03 -1.64109762e+01] [-2.80122608e-02 3.55150292e-04 9.99607517e-01 -6.74334186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82264 meters 0.035835523590730486 Centerline is valid? [True, True] Translation: X:146.02, Y:-16.42, Z:-6.75 [[ 9.85055887e-01 1.70470080e-01 2.45937260e-02 1.46024198e+02] [-1.70409722e-01 9.85362811e-01 -4.54498357e-03 -1.64219783e+01] [-2.50085267e-02 2.86052821e-04 9.99687197e-01 -6.75024213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88264 meters 0.018658269827796337 Centerline is valid? [True, True] Translation: X:146.08, Y:-16.43, Z:-6.75 [[ 9.84424458e-01 1.74113715e-01 2.43495374e-02 1.46083431e+02] [-1.74055691e-01 9.84725534e-01 -4.49871407e-03 -1.64271468e+01] [-2.47608990e-02 1.90468611e-04 9.99693384e-01 -6.75106481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94264 meters 0.027026619669763653 Centerline is valid? [True, True] Translation: X:146.14, Y:-16.43, Z:-6.75 [[ 9.83018241e-01 1.82035872e-01 2.31965299e-02 1.46142233e+02] [-1.81985424e-01 9.83291890e-01 -4.28531610e-03 -1.64274581e+01] [-2.35890409e-02 -8.88644039e-06 9.99721740e-01 -6.75478679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00264 meters 0.017880605440065783 Centerline is valid? [True, True] Translation: X:146.20, Y:-16.43, Z:-6.76 [[ 9.81767118e-01 1.88629726e-01 2.34979368e-02 1.46201380e+02] [-1.88579903e-01 9.82048266e-01 -4.33858334e-03 -1.64298917e+01] [-2.38944939e-02 -1.71760174e-04 9.99714471e-01 -6.75547402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06264000000002 meters 0.02145019707214794 Centerline is valid? [True, True] Translation: X:146.26, Y:-16.43, Z:-6.76 [[ 9.80671589e-01 1.94081982e-01 2.48076505e-02 1.46259941e+02] [-1.94028220e-01 9.80985260e-01 -4.57926784e-03 -1.64308920e+01] [-2.52246929e-02 -3.22626393e-04 9.99681755e-01 -6.75670518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12264000000002 meters 0.022889745454000323 Centerline is valid? [True, True] Translation: X:146.32, Y:-16.44, Z:-6.76 [[ 9.80305421e-01 1.95891534e-01 2.50557148e-02 1.46318364e+02] [-1.95837329e-01 9.80625498e-01 -4.62317336e-03 -1.64405062e+01] [-2.54759133e-02 -3.74722366e-04 9.99675366e-01 -6.75907960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18264000000002 meters 0.023544532736937986 Centerline is valid? [True, True] Translation: X:146.37, Y:-16.45, Z:-6.77 [[ 9.80551751e-01 1.94836346e-01 2.36021441e-02 1.46374611e+02] [-1.94787963e-01 9.80835710e-01 -4.35417283e-03 -1.64545740e+01] [-2.39981769e-02 -3.27921770e-04 9.99711949e-01 -6.76622390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24264 meters 0.021859323953020433 Centerline is valid? [True, True] Translation: X:146.43, Y:-16.47, Z:-6.77 [[ 9.80942077e-01 1.93065733e-01 2.18692719e-02 1.46431679e+02] [-1.93023787e-01 9.81185789e-01 -4.03303112e-03 -1.64714305e+01] [-2.22364589e-02 -2.65119738e-04 9.99752704e-01 -6.76938995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30264 meters 0.021198051798451113 Centerline is valid? [True, True] Translation: X:146.49, Y:-16.49, Z:-6.77 [[ 9.81117627e-01 1.92215217e-01 2.14828379e-02 1.46486854e+02] [-1.92174546e-01 9.81352766e-01 -3.96135032e-03 -1.64889870e+01] [-2.18436742e-02 -2.41903987e-04 9.99761369e-01 -6.77186277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36264 meters 0.023488432893534333 Centerline is valid? [True, True] Translation: X:146.54, Y:-16.50, Z:-6.78 [[ 9.80867302e-01 1.93514289e-01 2.12498316e-02 1.46544002e+02] [-1.93474841e-01 9.81097420e-01 -3.91645884e-03 -1.64972902e+01] [-2.16060457e-02 -2.69781371e-04 9.99766526e-01 -6.77712548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42264 meters 0.027905184771424653 Centerline is valid? [True, True] Translation: X:146.60, Y:-16.50, Z:-6.78 [[ 9.79555103e-01 2.00102447e-01 2.07559937e-02 1.46604862e+02] [-2.00066348e-01 9.79774895e-01 -3.82261147e-03 -1.65008778e+01] [-2.11011154e-02 -4.08117285e-04 9.99777263e-01 -6.77819125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48264 meters 0.0348318650143128 Centerline is valid? [True, True] Translation: X:146.67, Y:-16.50, Z:-6.78 [[ 9.78265239e-01 2.06243293e-01 2.14668772e-02 1.46665013e+02] [-2.06206141e-01 9.78500584e-01 -3.95415138e-03 -1.65010543e+01] [-2.18208690e-02 -5.58393050e-04 9.99761741e-01 -6.78120464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54264 meters 0.03643705752940051 Centerline is valid? [True, True] Translation: X:146.72, Y:-16.51, Z:-6.78 [[ 9.77675785e-01 2.08979418e-01 2.18554700e-02 1.46724432e+02] [-2.08941604e-01 9.77919835e-01 -4.02515343e-03 -1.65064762e+01] [-2.22140719e-02 -6.31221917e-04 9.99753038e-01 -6.78203332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60264 meters 0.039019843562436825 Centerline is valid? [True, True] Translation: X:146.78, Y:-16.51, Z:-6.79 [[ 9.77658946e-01 2.09075703e-01 2.16872419e-02 1.46782655e+02] [-2.09038484e-01 9.77899257e-01 -3.99453091e-03 -1.65106789e+01] [-2.20430971e-02 -6.28179290e-04 9.99756824e-01 -6.78879007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66264 meters 0.030248000697067755 Centerline is valid? [True, True] Translation: X:146.84, Y:-16.53, Z:-6.79 [[ 9.79137155e-01 2.02087639e-01 2.12371652e-02 1.46840328e+02] [-2.02050362e-01 9.79367332e-01 -3.90897047e-03 -1.65305179e+01] [-2.15889404e-02 -4.63558682e-04 9.99766824e-01 -6.79102656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72264 meters 0.023212400113551617 Centerline is valid? [True, True] Translation: X:146.90, Y:-16.55, Z:-6.79 [[ 9.80568202e-01 1.95024031e-01 2.12515637e-02 1.46896800e+02] [-1.94985041e-01 9.80798416e-01 -3.91169689e-03 -1.65540808e+01] [-2.16063749e-02 -3.08051442e-04 9.99766508e-01 -6.79200655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78264000000001 meters 0.018154790759837388 Centerline is valid? [True, True] Translation: X:146.95, Y:-16.58, Z:-6.79 [[ 9.82423757e-01 1.85472903e-01 2.10562240e-02 1.46952642e+02] [-1.85432427e-01 9.82649374e-01 -3.87586091e-03 -1.65753507e+01] [-2.14097525e-02 -9.67688716e-05 9.99770780e-01 -6.79463678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84264000000002 meters 0.02896479405878366 Centerline is valid? [True, True] Translation: X:147.01, Y:-16.59, Z:-6.80 [[ 9.83535429e-01 1.79384051e-01 2.18957347e-02 1.47008863e+02] [-1.79338775e-01 9.83779122e-01 -4.03024377e-03 -1.65914570e+01] [-2.22635281e-02 3.71333078e-05 9.99752136e-01 -6.79947364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90264000000002 meters 0.019735857803926643 Centerline is valid? [True, True] Translation: X:147.06, Y:-16.61, Z:-6.80 [[ 9.84636571e-01 1.73170389e-01 2.24240767e-02 1.47064333e+02] [-1.73121306e-01 9.84891864e-01 -4.12674282e-03 -1.66118394e+01] [-2.27999204e-02 1.81256457e-04 9.99740032e-01 -6.79990021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96264000000002 meters 0.03212296399600008 Centerline is valid? [True, True] Translation: X:147.12, Y:-16.63, Z:-6.80 [[ 9.85221806e-01 1.69731351e-01 2.30056917e-02 1.47121853e+02] [-1.69678800e-01 9.85490334e-01 -4.23166470e-03 -1.66265564e+01] [-2.33901330e-02 2.65550169e-04 9.99726378e-01 -6.80222361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02264 meters 0.032054168393549305 Centerline is valid? [True, True] Translation: X:147.18, Y:-16.65, Z:-6.80 [[ 9.85999095e-01 1.65038141e-01 2.38368944e-02 1.47177726e+02] [-1.64980388e-01 9.86287109e-01 -4.38302153e-03 -1.66474324e+01] [-2.42333873e-02 3.89035187e-04 9.99706253e-01 -6.80449351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08264 meters 0.026737265453700684 Centerline is valid? [True, True] Translation: X:147.23, Y:-16.67, Z:-6.81 [[ 9.86637531e-01 1.61383318e-01 2.24010533e-02 1.47234952e+02] [-1.61331404e-01 9.86891698e-01 -4.11757249e-03 -1.66688748e+01] [-2.27719210e-02 4.48558164e-04 9.99740586e-01 -6.80525426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14264 meters 0.03649980034052444 Centerline is valid? [True, True] Translation: X:147.29, Y:-16.68, Z:-6.81 [[ 9.86633481e-01 1.61253317e-01 2.34891830e-02 1.47291609e+02] [-1.61196195e-01 9.86912936e-01 -4.31777509e-03 -1.66835295e+01] [-2.38780341e-02 4.73694539e-04 9.99714767e-01 -6.81052661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20264 meters 0.032538317821696874 Centerline is valid? [True, True] Translation: X:147.35, Y:-16.69, Z:-6.81 [[ 9.85814688e-01 1.66321616e-01 2.25060312e-02 1.47350832e+02] [-1.66270503e-01 9.86071502e-01 -4.13672892e-03 -1.66916533e+01] [-2.28805834e-02 3.35958995e-04 9.99738149e-01 -6.81308053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26264 meters 0.018285175054772843 Centerline is valid? [True, True] Translation: X:147.41, Y:-16.69, Z:-6.82 [[ 9.84180476e-01 1.75895484e-01 2.12030343e-02 1.47410547e+02] [-1.75852334e-01 9.84408841e-01 -3.89738808e-03 -1.66917758e+01] [-2.15579873e-02 1.07130198e-04 9.99767594e-01 -6.81558715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32264 meters 0.01820334198179082 Centerline is valid? [True, True] Translation: X:147.47, Y:-16.69, Z:-6.82 [[ 9.82353379e-01 1.85877453e-01 2.07704520e-02 1.47470750e+02] [-1.85838292e-01 9.82572929e-01 -3.81693660e-03 -1.66875198e+01] [-2.11179663e-02 -1.10364744e-04 9.99776985e-01 -6.81763237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38264 meters 0.021557492734663234 Centerline is valid? [True, True] Translation: X:147.53, Y:-16.69, Z:-6.82 [[ 9.81495122e-01 1.90324283e-01 2.10711140e-02 1.47528993e+02] [-1.90285021e-01 9.81721255e-01 -3.87139017e-03 -1.66907864e+01] [-2.14227801e-02 -2.09766799e-04 9.99770484e-01 -6.82278150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44264 meters 0.021779377441793663 Centerline is valid? [True, True] Translation: X:147.59, Y:-16.70, Z:-6.82 [[ 9.81020604e-01 1.92628397e-01 2.22008120e-02 1.47586978e+02] [-1.92585429e-01 9.81271739e-01 -4.07769808e-03 -1.66987143e+01] [-2.25705099e-02 -2.75247074e-04 9.99745216e-01 -6.82104982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50264 meters 0.022011243563205045 Centerline is valid? [True, True] Translation: X:147.64, Y:-16.71, Z:-6.83 [[ 9.81295269e-01 1.91169346e-01 2.26688387e-02 1.47643692e+02] [-1.91124206e-01 9.81557038e-01 -4.16154423e-03 -1.67071204e+01] [-2.30463178e-02 -2.48860134e-04 9.99734367e-01 -6.82540176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56264000000002 meters 0.01970612057945522 Centerline is valid? [True, True] Translation: X:147.70, Y:-16.72, Z:-6.83 [[ 9.81873032e-01 1.88074760e-01 2.35209150e-02 1.47700473e+02] [-1.88025320e-01 9.82154698e-01 -4.31605676e-03 -1.67219987e+01] [-2.39129185e-02 -1.84707845e-04 9.99714028e-01 -6.82686981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62264000000002 meters 0.01690581171947364 Centerline is valid? [True, True] Translation: X:147.76, Y:-16.75, Z:-6.83 [[ 9.83225352e-01 1.80818507e-01 2.39285281e-02 1.47756234e+02] [-1.80765223e-01 9.83516480e-01 -4.38938875e-03 -1.67469313e+01] [-2.43277844e-02 -9.68742469e-06 9.99704036e-01 -6.82759762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68264000000002 meters 0.0335174121805643 Centerline is valid? [True, True] Translation: X:147.81, Y:-16.78, Z:-6.83 [[ 9.85091537e-01 1.70209107e-01 2.49704540e-02 1.47811028e+02] [-1.70147698e-01 9.85407931e-01 -4.57928808e-03 -1.67805598e+01] [-2.53855199e-02 2.62352682e-04 9.99677701e-01 -6.82780407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74264 meters 0.032083121531384845 Centerline is valid? [True, True] Translation: X:147.87, Y:-16.80, Z:-6.83 [[ 9.86057227e-01 1.64593997e-01 2.44941063e-02 1.47869260e+02] [-1.64533216e-01 9.86361322e-01 -4.49029540e-03 -1.68032490e+01] [-2.48991147e-02 3.97594158e-04 9.99689890e-01 -6.82793983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80264 meters 0.026522499325373525 Centerline is valid? [True, True] Translation: X:147.93, Y:-16.83, Z:-6.83 [[ 9.86765433e-01 1.60321595e-01 2.43098063e-02 1.47927178e+02] [-1.60260488e-01 9.87064708e-01 -4.45411027e-03 -1.68306906e+01] [-2.47094419e-02 4.99260630e-04 9.99694550e-01 -6.82878385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86264 meters 0.03516967017814948 Centerline is valid? [True, True] Translation: X:147.99, Y:-16.85, Z:-6.83 [[ 9.86760201e-01 1.60436811e-01 2.37557520e-02 1.47986353e+02] [-1.60378409e-01 9.87045992e-01 -4.35602397e-03 -1.68544065e+01] [-2.41468864e-02 4.88441373e-04 9.99708302e-01 -6.83198312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92264 meters 0.02480207437583187 Centerline is valid? [True, True] Translation: X:148.05, Y:-16.87, Z:-6.83 [[ 9.86306926e-01 1.63214623e-01 2.36566159e-02 1.48047383e+02] [-1.63157343e-01 9.86590496e-01 -4.34458930e-03 -1.68682356e+01] [-2.40484929e-02 4.25347928e-04 9.99710703e-01 -6.83453380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98264 meters 0.02043728485831893 Centerline is valid? [True, True] Translation: X:148.11, Y:-16.88, Z:-6.84 [[ 9.85080442e-01 1.70389219e-01 2.41668740e-02 1.48106323e+02] [-1.70331524e-01 9.85376805e-01 -4.44125700e-03 -1.68795769e+01] [-2.45702194e-02 2.58614934e-04 9.99698073e-01 -6.83846846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04264 meters 0.026269751374340625 Centerline is valid? [True, True] Translation: X:148.17, Y:-16.89, Z:-6.84 [[ 9.83518836e-01 1.79412106e-01 2.24052545e-02 1.48166527e+02] [-1.79364854e-01 9.83774006e-01 -4.11751612e-03 -1.68853514e+01] [-2.27804392e-02 3.09394657e-05 9.99740492e-01 -6.84343853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10264 meters 0.0368654841574903 Centerline is valid? [True, True] Translation: X:148.23, Y:-16.89, Z:-6.85 [[ 9.82225844e-01 1.86421747e-01 2.18934745e-02 1.48226326e+02] [-1.86378361e-01 9.82469804e-01 -4.02377013e-03 -1.68913226e+01] [-2.22597959e-02 -1.28218883e-04 9.99752212e-01 -6.84600045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16264 meters 0.022433195918780624 Centerline is valid? [True, True] Translation: X:148.29, Y:-16.89, Z:-6.84 [[ 9.80502421e-01 1.95206355e-01 2.25717094e-02 1.48286028e+02] [-1.95162555e-01 9.80762135e-01 -4.14872378e-03 -1.68939444e+01] [-2.29473352e-02 -3.37318781e-04 9.99736618e-01 -6.84456068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22264 meters 0.025978304606559106 Centerline is valid? [True, True] Translation: X:148.35, Y:-16.90, Z:-6.85 [[ 9.79477389e-01 2.00231344e-01 2.30532834e-02 1.48345117e+02] [-2.00187073e-01 9.79748535e-01 -4.23601228e-03 -1.69017954e+01] [-2.34346031e-02 -4.65891093e-04 9.99725263e-01 -6.84562072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28264000000001 meters 0.02826974658937948 Centerline is valid? [True, True] Translation: X:148.40, Y:-16.91, Z:-6.85 [[ 9.78988798e-01 2.02435740e-01 2.45092682e-02 1.48403728e+02] [-2.02386395e-01 9.79295393e-01 -4.50337660e-03 -1.69074906e+01] [-2.49134579e-02 -5.51587201e-04 9.99689459e-01 -6.84599292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34264000000002 meters 0.03015882093573061 Centerline is valid? [True, True] Translation: X:148.46, Y:-16.91, Z:-6.84 [[ 9.77914651e-01 2.07521245e-01 2.48569442e-02 1.48464120e+02] [-2.07472182e-01 9.78230266e-01 -4.56516296e-03 -1.69108463e+01] [-2.52631834e-02 -6.92784703e-04 9.99680595e-01 -6.84462076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40264000000002 meters 0.04333317627103748 Centerline is valid? [True, True] Translation: X:148.53, Y:-16.90, Z:-6.85 [[ 9.77121527e-01 2.11152565e-01 2.54581341e-02 1.48525218e+02] [-2.11102326e-01 9.77452784e-01 -4.67575198e-03 -1.69001171e+01] [-2.58714210e-02 -8.05493399e-04 9.99664954e-01 -6.85400580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46264000000002 meters 0.04172108377369636 Centerline is valid? [True, True] Translation: X:148.58, Y:-16.92, Z:-6.85 [[ 9.77795849e-01 2.08004308e-01 2.54849908e-02 1.48582375e+02] [-2.07952927e-01 9.78127642e-01 -4.67939888e-03 -1.69187897e+01] [-2.59009091e-02 -7.24181622e-04 9.99664253e-01 -6.85082148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52264 meters 0.0274076483898402 Centerline is valid? [True, True] Translation: X:148.64, Y:-16.93, Z:-6.86 [[ 9.79226186e-01 2.01302346e-01 2.43606795e-02 1.48640794e+02] [-2.01253345e-01 9.79529015e-01 -4.47211477e-03 -1.69343414e+01] [-2.47622396e-02 -5.23456344e-04 9.99693232e-01 -6.85578041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58264 meters 0.018534046004873742 Centerline is valid? [True, True] Translation: X:148.70, Y:-16.96, Z:-6.86 [[ 9.81689926e-01 1.89065577e-01 2.32184596e-02 1.48697743e+02] [-1.89017641e-01 9.81964442e-01 -4.26208625e-03 -1.69568410e+01] [-2.36055155e-02 -2.04651335e-04 9.99721330e-01 -6.86101254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64264 meters 0.02380770354913536 Centerline is valid? [True, True] Translation: X:148.75, Y:-16.98, Z:-6.86 [[ 9.83549115e-01 1.79079746e-01 2.36977587e-02 1.48753899e+02] [-1.79026911e-01 9.83834561e-01 -4.34990746e-03 -1.69797052e+01] [-2.40936543e-02 3.58110912e-05 9.99709705e-01 -6.86439249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70264 meters 0.020093227340505383 Centerline is valid? [True, True] Translation: X:148.81, Y:-16.99, Z:-6.86 [[ 9.84371567e-01 1.74407362e-01 2.43862806e-02 1.48813405e+02] [-1.74350006e-01 9.84673575e-01 -4.47513297e-03 -1.69948458e+01] [-2.47930222e-02 1.53445485e-04 9.99692594e-01 -6.86219784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76264 meters 0.0366093052532684 Centerline is valid? [True, True] Translation: X:148.87, Y:-17.01, Z:-6.86 [[ 9.85193010e-01 1.69384389e-01 2.65266083e-02 1.48872462e+02] [-1.69314731e-01 9.85550017e-01 -4.86671851e-03 -1.70137990e+01] [-2.69676454e-02 3.03311514e-04 9.99636261e-01 -6.86410329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82264 meters 0.028981647185239632 Centerline is valid? [True, True] Translation: X:148.93, Y:-17.03, Z:-6.86 [[ 9.86162049e-01 1.63726470e-01 2.60395161e-02 1.48931397e+02] [-1.63657228e-01 9.86505669e-01 -4.78285519e-03 -1.70312969e+01] [-2.64712103e-02 4.55115235e-04 9.99649473e-01 -6.86302216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88264 meters 0.02862124789397797 Centerline is valid? [True, True] Translation: X:148.99, Y:-17.06, Z:-6.87 [[ 9.86767953e-01 1.59798180e-01 2.74508557e-02 1.48989415e+02] [-1.59719776e-01 9.87149530e-01 -5.03960752e-03 -1.70550951e+01] [-2.79034194e-02 5.88478674e-04 9.99610451e-01 -6.86735372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94264 meters 0.02765737120013039 Centerline is valid? [True, True] Translation: X:149.05, Y:-17.07, Z:-6.87 [[ 9.87049026e-01 1.58201195e-01 2.65819821e-02 1.49050636e+02] [-1.58126923e-01 9.87406703e-01 -4.88659630e-03 -1.70676994e+01] [-2.70202926e-02 6.19983100e-04 9.99634693e-01 -6.86884400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00264 meters 0.03232833686675071 Centerline is valid? [True, True] Translation: X:149.11, Y:-17.08, Z:-6.87 [[ 9.87104423e-01 1.58001490e-01 2.56979956e-02 1.49109879e+02] [-1.57932036e-01 9.87438689e-01 -4.72304426e-03 -1.70843557e+01] [-2.61214431e-02 6.03601105e-04 9.99658595e-01 -6.87313592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06264000000002 meters 0.027054768403850658 Centerline is valid? [True, True] Translation: X:149.17, Y:-17.10, Z:-6.87 [[ 9.86907314e-01 1.59143108e-01 2.62187779e-02 1.49170217e+02] [-1.59071102e-01 9.87255349e-01 -4.82290660e-03 -1.70998817e+01] [-2.66521611e-02 5.89111917e-04 9.99644594e-01 -6.87382900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12264000000002 meters 0.03650428360302475 Centerline is valid? [True, True] Translation: X:149.23, Y:-17.11, Z:-6.88 [[ 9.86111986e-01 1.63909388e-01 2.67743215e-02 1.49230402e+02] [-1.63835834e-01 9.86475283e-01 -4.93308944e-03 -1.71108959e+01] [-2.72207860e-02 4.77985337e-04 9.99629331e-01 -6.87501556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18264000000002 meters 0.020553324380438515 Centerline is valid? [True, True] Translation: X:149.29, Y:-17.12, Z:-6.88 [[ 9.84683626e-01 1.72245292e-01 2.70132664e-02 1.49290839e+02] [-1.72173524e-01 9.85054058e-01 -4.97807108e-03 -1.71187092e+01] [-2.74669770e-02 2.50855819e-04 9.99622680e-01 -6.87727582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24264 meters 0.015183897315843143 Centerline is valid? [True, True] Translation: X:149.35, Y:-17.13, Z:-6.88 [[ 9.83635139e-01 1.78156627e-01 2.68724680e-02 1.49351692e+02] [-1.78087879e-01 9.84002139e-01 -4.94954482e-03 -1.71257701e+01] [-2.73243602e-02 8.28853877e-05 9.99626617e-01 -6.88117137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30264 meters 0.023543472803485205 Centerline is valid? [True, True] Translation: X:149.41, Y:-17.14, Z:-6.89 [[ 9.82705903e-01 1.83292567e-01 2.63238139e-02 1.49413061e+02] [-1.83228336e-01 9.83058407e-01 -4.85230939e-03 -1.71353758e+01] [-2.67672388e-02 -5.48755376e-05 9.99641692e-01 -6.88652465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36264 meters 0.01717476040058955 Centerline is valid? [True, True] Translation: X:149.47, Y:-17.15, Z:-6.89 [[ 9.81934031e-01 1.87463684e-01 2.57473573e-02 1.49473454e+02] [-1.87403533e-01 9.82271521e-01 -4.75122244e-03 -1.71454039e+01] [-2.61815775e-02 -1.59758732e-04 9.99657191e-01 -6.89102321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42264 meters 0.020980501613893462 Centerline is valid? [True, True] Translation: X:149.53, Y:-17.15, Z:-6.89 [[ 9.80513200e-01 1.94678042e-01 2.63500291e-02 1.49534220e+02] [-1.94617440e-01 9.80867134e-01 -4.86996563e-03 -1.71505152e+01] [-2.67939529e-02 -3.53109629e-04 9.99640915e-01 -6.89182742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48264 meters 0.025653133744164815 Centerline is valid? [True, True] Translation: X:149.59, Y:-17.16, Z:-6.89 [[ 9.78949784e-01 2.02385251e-01 2.64107935e-02 1.49594543e+02] [-2.02327162e-01 9.79305821e-01 -4.88145039e-03 -1.71564274e+01] [-2.68521774e-02 -5.64926092e-04 9.99639256e-01 -6.89031422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54264 meters 0.034475265978129284 Centerline is valid? [True, True] Translation: X:149.66, Y:-17.15, Z:-6.89 [[ 9.77332692e-01 2.10029934e-01 2.66126858e-02 1.49655674e+02] [-2.09973789e-01 9.77694644e-01 -4.91845159e-03 -1.71521696e+01] [-2.70521024e-02 -7.81002922e-04 9.99633720e-01 -6.89356474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60264 meters 0.038859239720996086 Centerline is valid? [True, True] Translation: X:149.72, Y:-17.16, Z:-6.90 [[ 9.76666041e-01 2.13162237e-01 2.61783252e-02 1.49715448e+02] [-2.13109038e-01 9.77016444e-01 -4.83799886e-03 -1.71570187e+01] [-2.66079329e-02 -8.53728498e-04 9.99645582e-01 -6.89648564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66264 meters 0.03604953874193008 Centerline is valid? [True, True] Translation: X:149.77, Y:-17.16, Z:-6.90 [[ 9.76791199e-01 2.12536768e-01 2.65909043e-02 1.49774033e+02] [-2.12481652e-01 9.77152700e-01 -4.91404398e-03 -1.71637769e+01] [-2.70277889e-02 -8.50084366e-04 9.99634321e-01 -6.89794067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72264 meters 0.036590365438074327 Centerline is valid? [True, True] Translation: X:149.83, Y:-17.18, Z:-6.90 [[ 9.77619312e-01 2.08609502e-01 2.72498838e-02 1.49832842e+02] [-2.08550155e-01 9.77998719e-01 -5.03367446e-03 -1.71768776e+01] [-2.77004238e-02 -7.61950123e-04 9.99615979e-01 -6.90015675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78264000000001 meters 0.029692597195307452 Centerline is valid? [True, True] Translation: X:149.89, Y:-17.20, Z:-6.90 [[ 9.79849648e-01 1.97423578e-01 3.03083977e-02 1.49890248e+02] [-1.97344818e-01 9.80318155e-01 -5.59803578e-03 -1.71979054e+01] [-3.08170568e-02 -4.95971831e-04 9.99524919e-01 -6.89858872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84264000000002 meters 0.014189832124242682 Centerline is valid? [True, True] Translation: X:149.95, Y:-17.23, Z:-6.90 [[ 9.82191854e-01 1.85371454e-01 3.06036862e-02 1.49946250e+02] [-1.85285292e-01 9.82668515e-01 -5.65247912e-03 -1.72256585e+01] [-3.11210872e-02 -1.18593986e-04 9.99515615e-01 -6.90135188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90264000000002 meters 0.032026189422817444 Centerline is valid? [True, True] Translation: X:150.01, Y:-17.25, Z:-6.90 [[ 9.83785380e-01 1.76914182e-01 2.94567244e-02 1.50005168e+02] [-1.76830653e-01 9.84226271e-01 -5.43762253e-03 -1.72489472e+01] [-2.99540746e-02 1.40601737e-04 9.99551266e-01 -6.90415925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96264000000002 meters 0.04082503078967674 Centerline is valid? [True, True] Translation: X:150.07, Y:-17.26, Z:-6.91 [[ 9.83997159e-01 1.75955511e-01 2.80935688e-02 1.50065236e+02] [-1.75879002e-01 9.84398106e-01 -5.19101016e-03 -1.72617082e+01] [-2.85686427e-02 1.66870419e-04 9.99591819e-01 -6.90967619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02264 meters 0.021171840384179946 Centerline is valid? [True, True] Translation: X:150.13, Y:-17.27, Z:-6.92 [[ 9.83383490e-01 1.79471876e-01 2.73268724e-02 1.50127030e+02] [-1.79400732e-01 9.83763102e-01 -5.05332244e-03 -1.72660810e+01] [-2.77900980e-02 6.68929550e-05 9.99613778e-01 -6.91591156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08264 meters 0.020501335436200467 Centerline is valid? [True, True] Translation: X:150.19, Y:-17.27, Z:-6.92 [[ 9.82484323e-01 1.84224437e-01 2.80341314e-02 1.50189126e+02] [-1.84151252e-01 9.82884201e-01 -5.19260153e-03 -1.72689583e+01] [-2.85109089e-02 -6.08708039e-05 9.99593480e-01 -6.91654171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14264 meters 0.02896768012993588 Centerline is valid? [True, True] Translation: X:150.25, Y:-17.28, Z:-6.92 [[ 9.82140871e-01 1.86071382e-01 2.78702298e-02 1.50250259e+02] [-1.85999775e-01 9.82536222e-01 -5.16290570e-03 -1.72761455e+01] [-2.83441793e-02 -1.13155774e-04 9.99598217e-01 -6.91880471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20264 meters 0.019382476866822634 Centerline is valid? [True, True] Translation: X:150.31, Y:-17.28, Z:-6.92 [[ 9.81938485e-01 1.87038429e-01 2.85208227e-02 1.50309499e+02] [-1.86963821e-01 9.82352587e-01 -5.28435996e-03 -1.72816620e+01] [-2.90058824e-02 -1.43445567e-04 9.99579231e-01 -6.92138192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26264 meters 0.025010398075465443 Centerline is valid? [True, True] Translation: X:150.37, Y:-17.29, Z:-6.92 [[ 9.81922580e-01 1.87066953e-01 2.88790977e-02 1.50369545e+02] [-1.86990450e-01 9.82347156e-01 -5.35141783e-03 -1.72918481e+01] [-2.93703730e-02 -1.45437474e-04 9.99568587e-01 -6.92344958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32264 meters 0.014575827082695076 Centerline is valid? [True, True] Translation: X:150.43, Y:-17.31, Z:-6.93 [[ 9.82084632e-01 1.86373067e-01 2.78362309e-02 1.50430011e+02] [-1.86301805e-01 9.82479040e-01 -5.15487796e-03 -1.73058294e+01] [-2.83092438e-02 -1.23413629e-04 9.99599205e-01 -6.92604426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38264 meters 0.020353947631658802 Centerline is valid? [True, True] Translation: X:150.49, Y:-17.32, Z:-6.93 [[ 9.82274812e-01 1.85366852e-01 2.78446437e-02 1.50489770e+02] [-1.85294992e-01 9.82669386e-01 -5.16177812e-03 -1.73186261e+01] [-2.83189015e-02 -8.91883925e-05 9.99598936e-01 -6.93065716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44264 meters 0.02763925678248767 Centerline is valid? [True, True] Translation: X:150.55, Y:-17.33, Z:-6.93 [[ 9.82410265e-01 1.84647712e-01 2.78441105e-02 1.50550349e+02] [-1.84575439e-01 9.82804771e-01 -5.16612079e-03 -1.73330911e+01] [-2.83192370e-02 -6.40888288e-05 9.99598928e-01 -6.93309952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50264 meters 0.034806926236459666 Centerline is valid? [True, True] Translation: X:150.61, Y:-17.35, Z:-6.94 [[ 9.82483924e-01 1.84280578e-01 2.76768516e-02 1.50611102e+02] [-1.84208888e-01 9.82873678e-01 -5.13996681e-03 -1.73450792e+01] [-2.81500449e-02 -4.83872965e-05 9.99603708e-01 -6.93611765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56264000000002 meters 0.0140221082723431 Centerline is valid? [True, True] Translation: X:150.67, Y:-17.36, Z:-6.94 [[ 9.82672911e-01 1.83156684e-01 2.84179465e-02 1.50671061e+02] [-1.83080478e-01 9.83083734e-01 -5.28297299e-03 -1.73642056e+01] [-2.89048328e-02 -1.13367695e-05 9.99582168e-01 -6.93808248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62264000000002 meters 0.014350106501868371 Centerline is valid? [True, True] Translation: X:150.73, Y:-17.38, Z:-6.94 [[ 9.82387137e-01 1.84513321e-01 2.95016426e-02 1.50731196e+02] [-1.84431625e-01 9.82830012e-01 -5.49031179e-03 -1.73755869e+01] [-3.00081354e-02 -4.74242034e-05 9.99549653e-01 -6.94072198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68264000000002 meters 0.013999895007099672 Centerline is valid? [True, True] Translation: X:150.79, Y:-17.39, Z:-6.94 [[ 9.81917390e-01 1.86742725e-01 3.10707921e-02 1.50792399e+02] [-1.86653049e-01 9.82408846e-01 -5.78776005e-03 -1.73869230e+01] [-3.16050431e-02 -1.16355845e-04 9.99500429e-01 -6.94036679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74264 meters 0.0146240308827597 Centerline is valid? [True, True] Translation: X:150.85, Y:-17.40, Z:-6.94 [[ 9.81235436e-01 1.90133282e-01 3.20367714e-02 1.50854444e+02] [-1.90039573e-01 9.81758261e-01 -5.97304507e-03 -1.73974724e+01] [-3.25880397e-02 -2.27290886e-04 9.99468843e-01 -6.94052665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80264 meters 0.01719480532622458 Centerline is valid? [True, True] Translation: X:150.92, Y:-17.40, Z:-6.95 [[ 9.80602041e-01 1.93694172e-01 3.00367275e-02 1.50916120e+02] [-1.93613223e-01 9.81061908e-01 -5.60820288e-03 -1.74040562e+01] [-3.05541654e-02 -3.16092441e-04 9.99533063e-01 -6.94662642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86264 meters 0.03318708323282155 Centerline is valid? [True, True] Translation: X:150.98, Y:-17.41, Z:-6.95 [[ 9.79883047e-01 1.97493985e-01 2.87287348e-02 1.50977152e+02] [-1.97421512e-01 9.80304011e-01 -5.36581906e-03 -1.74103578e+01] [-2.92226109e-02 -4.13795142e-04 9.99572843e-01 -6.95272130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92264 meters 0.021857637096121346 Centerline is valid? [True, True] Translation: X:151.04, Y:-17.42, Z:-6.96 [[ 9.79628297e-01 1.98777726e-01 2.85624781e-02 1.51036677e+02] [-1.98706593e-01 9.80044496e-01 -5.33617325e-03 -1.74172984e+01] [-2.90532119e-02 -4.48086403e-04 9.99577766e-01 -6.95635484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98264 meters 0.020804806902721792 Centerline is valid? [True, True] Translation: X:151.10, Y:-17.43, Z:-6.96 [[ 9.79982625e-01 1.96888454e-01 2.94786482e-02 1.51095023e+02] [-1.96811842e-01 9.80425812e-01 -5.50693577e-03 -1.74287985e+01] [-2.99858797e-02 -4.05045675e-04 9.99550240e-01 -6.95886119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04264 meters 0.037967889327752434 Centerline is valid? [True, True] Translation: X:151.15, Y:-17.45, Z:-6.96 [[ 9.80650639e-01 1.93682551e-01 2.84849610e-02 1.51154863e+02] [-1.93609771e-01 9.81064208e-01 -5.31764184e-03 -1.74462475e+01] [-2.89755102e-02 -3.00217905e-04 9.99580077e-01 -6.96291297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10264 meters 0.01944913152292156 Centerline is valid? [True, True] Translation: X:151.22, Y:-17.46, Z:-6.96 [[ 9.81118776e-01 1.91072552e-01 2.99537456e-02 1.51215292e+02] [-1.90990624e-01 9.81575890e-01 -5.59939882e-03 -1.74638277e+01] [-3.04717659e-02 -2.27209235e-04 9.99535602e-01 -6.96292896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16264 meters 0.014493030805869084 Centerline is valid? [True, True] Translation: X:151.27, Y:-17.48, Z:-6.97 [[ 9.81659991e-01 1.88171014e-01 3.05831999e-02 1.51274132e+02] [-1.88084182e-01 9.82136269e-01 -5.71755247e-03 -1.74797913e+01] [-3.11127475e-02 -1.39523645e-04 9.99515872e-01 -6.96514640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22264 meters 0.01451646811300112 Centerline is valid? [True, True] Translation: X:151.33, Y:-17.49, Z:-6.97 [[ 9.81772070e-01 1.87640954e-01 3.02402852e-02 1.51334601e+02] [-1.87555664e-01 9.82237679e-01 -5.65809719e-03 -1.74930405e+01] [-3.07648383e-02 -1.16774972e-04 9.99526644e-01 -6.96966491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28264000000001 meters 0.014209270234553715 Centerline is valid? [True, True] Translation: X:151.40, Y:-17.51, Z:-6.97 [[ 9.81707589e-01 1.88061700e-01 2.97154221e-02 1.51395203e+02] [-1.87979370e-01 9.82157208e-01 -5.56545154e-03 -1.75055370e+01] [-3.02318642e-02 -1.22240306e-04 9.99542905e-01 -6.97115834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34264000000002 meters 0.02690267042103748 Centerline is valid? [True, True] Translation: X:151.46, Y:-17.51, Z:-6.97 [[ 9.81293814e-01 1.90169192e-01 2.99687828e-02 1.51457208e+02] [-1.90086283e-01 9.81751315e-01 -5.61789495e-03 -1.75147192e+01] [-3.04902424e-02 -1.83848939e-04 9.99535048e-01 -6.97198145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40264000000002 meters 0.022573123915690416 Centerline is valid? [True, True] Translation: X:151.52, Y:-17.52, Z:-6.97 [[ 9.80367297e-01 1.94846483e-01 3.02458290e-02 1.51518625e+02] [-1.94764038e-01 9.80833698e-01 -5.67691402e-03 -1.75179556e+01] [-3.07722550e-02 -3.25338920e-04 9.99526369e-01 -6.97465130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46264000000002 meters 0.01981041755432134 Centerline is valid? [True, True] Translation: X:151.58, Y:-17.52, Z:-6.97 [[ 9.79504417e-01 1.98803521e-01 3.23768103e-02 1.51579067e+02] [-1.98710928e-01 9.80039252e-01 -6.08532077e-03 -1.75220763e+01] [-3.29403282e-02 -4.73027443e-04 9.99457208e-01 -6.97350023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52264 meters 0.023071400717109475 Centerline is valid? [True, True] Translation: X:151.64, Y:-17.52, Z:-6.98 [[ 9.78923937e-01 2.01665278e-01 3.22341676e-02 1.51638630e+02] [-2.01575061e-01 9.79454335e-01 -6.05809724e-03 -1.75249930e+01] [-3.27936031e-02 -5.67187916e-04 9.99461984e-01 -6.97711521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58264 meters 0.028013763460817243 Centerline is valid? [True, True] Translation: X:151.70, Y:-17.53, Z:-6.98 [[ 9.78691477e-01 2.02951827e-01 3.12017560e-02 1.51697775e+02] [-2.02867958e-01 9.79188545e-01 -5.86387669e-03 -1.75320358e+01] [-3.17424865e-02 -5.90910376e-04 9.99495906e-01 -6.98066311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64264 meters 0.027630483562202643 Centerline is valid? [True, True] Translation: X:151.76, Y:-17.53, Z:-6.99 [[ 9.78551705e-01 2.03601232e-01 3.13544043e-02 1.51755747e+02] [-2.03516882e-01 9.79053706e-01 -5.89230532e-03 -1.75339486e+01] [-3.18973264e-02 -6.15225168e-04 9.99490961e-01 -6.98647464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70264 meters 0.02324781422948772 Centerline is valid? [True, True] Translation: X:151.81, Y:-17.54, Z:-6.99 [[ 9.78998037e-01 2.01436200e-01 3.14054348e-02 1.51814142e+02] [-2.01350521e-01 9.79501484e-01 -5.90000107e-03 -1.75443040e+01] [-3.19501438e-02 -5.47411197e-04 9.99489314e-01 -6.98658065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76264 meters 0.01815019141993533 Centerline is valid? [True, True] Translation: X:151.87, Y:-17.56, Z:-6.99 [[ 9.80143207e-01 1.95915249e-01 3.06024309e-02 1.51872428e+02] [-1.95831297e-01 9.80620765e-01 -5.74612394e-03 -1.75614083e+01] [-3.11351325e-02 -3.60889411e-04 9.99515119e-01 -6.99094208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82264 meters 0.014864718772017184 Centerline is valid? [True, True] Translation: X:151.93, Y:-17.58, Z:-6.99 [[ 9.81214855e-01 1.90490162e-01 3.05107464e-02 1.51931441e+02] [-1.90404114e-01 9.81689087e-01 -5.72806149e-03 -1.75816243e+01] [-3.10432062e-02 -1.88912625e-04 9.99518026e-01 -6.99485223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88264 meters 0.013688338275632502 Centerline is valid? [True, True] Translation: X:151.99, Y:-17.60, Z:-7.00 [[ 9.82623733e-01 1.82907763e-01 3.15491528e-02 1.51989461e+02] [-1.82811836e-01 9.83130077e-01 -5.92327530e-03 -1.76049993e+01] [-3.21003340e-02 5.27923619e-05 9.99484650e-01 -6.99786548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94264 meters 0.014601336597890683 Centerline is valid? [True, True] Translation: X:152.05, Y:-17.62, Z:-7.00 [[ 9.83422540e-01 1.78375190e-01 3.25944628e-02 1.52049771e+02] [-1.78270141e-01 9.83962523e-01 -6.12457369e-03 -1.76244488e+01] [-3.31642018e-02 2.12424336e-04 9.99449894e-01 -6.99742147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00264 meters 0.015502137652884057 Centerline is valid? [True, True] Translation: X:152.11, Y:-17.64, Z:-7.00 [[ 9.83581778e-01 1.77461947e-01 3.27741406e-02 1.52109494e+02] [-1.77354998e-01 9.84127631e-01 -6.16527630e-03 -1.76420375e+01] [-3.33480393e-02 2.51395797e-04 9.99443768e-01 -7.00070908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06264000000002 meters 0.014694376491910674 Centerline is valid? [True, True] Translation: X:152.17, Y:-17.66, Z:-7.00 [[ 9.83395288e-01 1.78440287e-01 3.30570873e-02 1.52170287e+02] [-1.78331816e-01 9.83950717e-01 -6.22501590e-03 -1.76568383e+01] [-3.36373383e-02 2.26520906e-04 9.99434079e-01 -7.00228636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12264000000002 meters 0.014000068896491897 Centerline is valid? [True, True] Translation: X:152.23, Y:-17.67, Z:-7.01 [[ 9.82967620e-01 1.81064893e-01 3.14668549e-02 1.52231947e+02] [-1.80967798e-01 9.83471142e-01 -5.93038584e-03 -1.76693165e+01] [-3.20205284e-02 1.34889792e-04 9.99487202e-01 -7.00819402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18264000000002 meters 0.013478431898496056 Centerline is valid? [True, True] Translation: X:152.29, Y:-17.68, Z:-7.01 [[ 9.82476889e-01 1.83845900e-01 3.06569497e-02 1.52293860e+02] [-1.83754908e-01 9.82955077e-01 -5.78369592e-03 -1.76812041e+01] [-3.11977132e-02 4.89825912e-05 9.99513232e-01 -7.01257149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24264 meters 0.02446020865880314 Centerline is valid? [True, True] Translation: X:152.36, Y:-17.69, Z:-7.01 [[ 9.81531009e-01 1.88702247e-01 3.14378772e-02 1.52355543e+02] [-1.88608820e-01 9.82034344e-01 -5.93810902e-03 -1.76904829e+01] [-3.19936096e-02 -1.01022772e-04 9.99488068e-01 -7.01405427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30264 meters 0.015804949407863936 Centerline is valid? [True, True] Translation: X:152.42, Y:-17.70, Z:-7.02 [[ 9.80412095e-01 1.94099799e-01 3.34274194e-02 1.52417240e+02] [-1.93997087e-01 9.80981745e-01 -6.32024269e-03 -1.76991255e+01] [-3.40184460e-02 -2.88379598e-04 9.99421164e-01 -7.01531306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36264 meters 0.017522974104405908 Centerline is valid? [True, True] Translation: X:152.48, Y:-17.71, Z:-7.02 [[ 9.79842813e-01 1.96792362e-01 3.43631758e-02 1.52478537e+02] [-1.96685228e-01 9.80445112e-01 -6.50412081e-03 -1.77080949e+01] [-3.49711690e-02 -3.85713034e-04 9.99388247e-01 -7.01673881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42264 meters 0.02003249064632608 Centerline is valid? [True, True] Translation: X:152.54, Y:-17.72, Z:-7.02 [[ 9.79398529e-01 1.99287256e-01 3.26053907e-02 1.52539883e+02] [-1.99191959e-01 9.79941015e-01 -6.17823701e-03 -1.77164611e+01] [-3.31826035e-02 -4.43775400e-04 9.99449207e-01 -7.02341206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48264 meters 0.019663747024392077 Centerline is valid? [True, True] Translation: X:152.60, Y:-17.73, Z:-7.03 [[ 9.79167724e-01 2.00520757e-01 3.19686303e-02 1.52600612e+02] [-2.00429814e-01 9.79689338e-01 -6.05727871e-03 -1.77311878e+01] [-3.25339364e-02 -4.76374812e-04 9.99470518e-01 -7.02565712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54264 meters 0.02276556540184862 Centerline is valid? [True, True] Translation: X:152.66, Y:-17.74, Z:-7.03 [[ 9.78908406e-01 2.01855173e-01 3.15090772e-02 1.52661944e+02] [-2.01767331e-01 9.79415250e-01 -5.97597912e-03 -1.77362532e+01] [-3.20667530e-02 -5.07566220e-04 9.99485601e-01 -7.03159712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60264 meters 0.021981097223874545 Centerline is valid? [True, True] Translation: X:152.72, Y:-17.75, Z:-7.03 [[ 9.78661757e-01 2.03144576e-01 3.08779378e-02 1.52721925e+02] [-2.03060638e-01 9.79148609e-01 -5.86334842e-03 -1.77470614e+01] [-3.14251973e-02 -5.31858881e-04 9.99505965e-01 -7.03369456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66264 meters 0.022041258473784648 Centerline is valid? [True, True] Translation: X:152.78, Y:-17.75, Z:-7.04 [[ 9.78757520e-01 2.02703686e-01 3.07397581e-02 1.52783235e+02] [-2.02620256e-01 9.79239986e-01 -5.83789269e-03 -1.77546054e+01] [-3.12849627e-02 -5.14616292e-04 9.99510373e-01 -7.03722798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72264 meters 0.019611521809500987 Centerline is valid? [True, True] Translation: X:152.84, Y:-17.77, Z:-7.04 [[ 9.79654615e-01 1.98053363e-01 3.24299321e-02 1.52842587e+02] [-1.97957926e-01 9.80191163e-01 -6.15976080e-03 -1.77710571e+01] [-3.30074942e-02 -3.85324007e-04 9.99455030e-01 -7.03735991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78264000000001 meters 0.013900272824452189 Centerline is valid? [True, True] Translation: X:152.90, Y:-17.79, Z:-7.04 [[ 9.80573638e-01 1.93161706e-01 3.41159269e-02 1.52901741e+02] [-1.93053090e-01 9.81166908e-01 -6.48093639e-03 -1.77899276e+01] [-3.47252872e-02 -2.31149716e-04 9.99396869e-01 -7.03682401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84264000000002 meters 0.01170581397179812 Centerline is valid? [True, True] Translation: X:152.96, Y:-17.81, Z:-7.04 [[ 9.81506879e-01 1.87989182e-01 3.61152812e-02 1.52960684e+02] [-1.87863968e-01 9.82171097e-01 -6.86038972e-03 -1.78059785e+01] [-3.67610644e-02 -5.12403196e-05 9.99324082e-01 -7.03636611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90264000000002 meters 0.012116239836653317 Centerline is valid? [True, True] Translation: X:153.02, Y:-17.82, Z:-7.04 [[ 9.81679237e-01 1.87334794e-01 3.48073263e-02 1.53020253e+02] [-1.87217881e-01 9.82296124e-01 -6.61743331e-03 -1.78172461e+01] [-3.54307772e-02 -2.03569912e-05 9.99372133e-01 -7.04203325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96264000000002 meters 0.025067992828406906 Centerline is valid? [True, True] Translation: X:153.08, Y:-17.83, Z:-7.04 [[ 9.81457278e-01 1.88518265e-01 3.46767114e-02 1.53082248e+02] [-1.88402788e-01 9.82069682e-01 -6.59765428e-03 -1.78262783e+01] [-3.52987253e-02 -5.78733103e-05 9.99376804e-01 -7.04349940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02264 meters 0.011581689239399775 Centerline is valid? [True, True] Translation: X:153.14, Y:-17.84, Z:-7.05 [[ 9.81584139e-01 1.87798663e-01 3.49891571e-02 1.53144524e+02] [-1.87680381e-01 9.82207545e-01 -6.66429241e-03 -1.78378294e+01] [-3.56181593e-02 -2.52146123e-05 9.99365472e-01 -7.04705464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08264 meters 0.023709623208133208 Centerline is valid? [True, True] Translation: X:153.20, Y:-17.85, Z:-7.05 [[ 9.82304226e-01 1.83952890e-01 3.52099598e-02 1.53204180e+02] [-1.83830370e-01 9.82935053e-01 -6.71385803e-03 -1.78539514e+01] [-3.58441373e-02 1.22391178e-04 9.99357385e-01 -7.04936225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14264 meters 0.013194210538623102 Centerline is valid? [True, True] Translation: X:153.26, Y:-17.87, Z:-7.05 [[ 9.82563536e-01 1.82560479e-01 3.52217293e-02 1.53264443e+02] [-1.82436738e-01 9.83194609e-01 -6.72290854e-03 -1.78693381e+01] [-3.58571518e-02 1.79947386e-04 9.99356909e-01 -7.05334827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20264 meters 0.01625147827653529 Centerline is valid? [True, True] Translation: X:153.32, Y:-17.89, Z:-7.06 [[ 9.83253487e-01 1.78844621e-01 3.50311431e-02 1.53322598e+02] [-1.78719614e-01 9.83877278e-01 -6.69332534e-03 -1.78909037e+01] [-3.56634110e-02 3.20483102e-04 9.99363807e-01 -7.05835054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26264 meters 0.017348398381725375 Centerline is valid? [True, True] Translation: X:153.38, Y:-17.91, Z:-7.06 [[ 9.83493547e-01 1.77548971e-01 3.48827430e-02 1.53382423e+02] [-1.77424013e-01 9.84111897e-01 -6.67041623e-03 -1.79083675e+01] [-3.55128479e-02 3.71275074e-04 9.99369151e-01 -7.06169264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32264 meters 0.01607144377594777 Centerline is valid? [True, True] Translation: X:153.44, Y:-17.92, Z:-7.06 [[ 9.83357775e-01 1.78341770e-01 3.46655255e-02 1.53444060e+02] [-1.78218662e-01 9.83968543e-01 -6.63438592e-03 -1.79217295e+01] [-3.52929748e-02 3.45931411e-04 9.99376949e-01 -7.06351401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38264 meters 0.013534025554300173 Centerline is valid? [True, True] Translation: X:153.50, Y:-17.93, Z:-7.07 [[ 9.82599472e-01 1.82459633e-01 3.47384571e-02 1.53504682e+02] [-1.82338315e-01 9.83213324e-01 -6.65574085e-03 -1.79333264e+01] [-3.53697179e-02 2.05775696e-04 9.99374275e-01 -7.06626839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44264 meters 0.011876930405829076 Centerline is valid? [True, True] Translation: X:153.57, Y:-17.94, Z:-7.07 [[ 9.81612205e-01 1.87713463e-01 3.46573890e-02 1.53565636e+02] [-1.87595735e-01 9.82223832e-01 -6.64717208e-03 -1.79407266e+01] [-3.52890772e-02 2.33668754e-05 9.99377146e-01 -7.07035337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50264 meters 0.02250476970153975 Centerline is valid? [True, True] Translation: X:153.63, Y:-17.94, Z:-7.07 [[ 9.79544364e-01 1.98041707e-01 3.56696084e-02 1.53629542e+02] [-1.97923725e-01 9.80193530e-01 -6.84421071e-03 -1.79380739e+01] [-3.63185585e-02 -3.55653728e-04 9.99340200e-01 -7.06887461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56264000000002 meters 0.026003387223820968 Centerline is valid? [True, True] Translation: X:153.69, Y:-17.93, Z:-7.07 [[ 9.77184816e-01 2.09397758e-01 3.55304731e-02 1.53691951e+02] [-2.09287890e-01 9.77830247e-01 -6.82550425e-03 -1.79301992e+01] [-3.61720166e-02 -7.66318637e-04 9.99345285e-01 -7.07315084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62264000000002 meters 0.03132719769098304 Centerline is valid? [True, True] Translation: X:153.75, Y:-17.93, Z:-7.08 [[ 9.75781262e-01 2.15958131e-01 3.48283552e-02 1.53753434e+02] [-2.15856704e-01 9.76402124e-01 -6.69141094e-03 -1.79300106e+01] [-3.54515446e-02 -9.88580543e-04 9.99370907e-01 -7.07735408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68264000000002 meters 0.03460444578951119 Centerline is valid? [True, True] Translation: X:153.81, Y:-17.93, Z:-7.08 [[ 9.75413136e-01 2.17613601e-01 3.48358364e-02 1.53812519e+02] [-2.17513181e-01 9.76034436e-01 -6.69296700e-03 -1.79328056e+01] [-3.54574566e-02 -1.04884566e-03 9.99370636e-01 -7.08057846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74264 meters 0.03518096512144634 Centerline is valid? [True, True] Translation: X:153.87, Y:-17.94, Z:-7.08 [[ 9.75641797e-01 2.16622508e-01 3.46088638e-02 1.53869899e+02] [-2.16522805e-01 9.76254923e-01 -6.64834021e-03 -1.79382821e+01] [-3.52272538e-02 -1.00720970e-03 9.99378820e-01 -7.08450606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80264 meters 0.03299998383121299 Centerline is valid? [True, True] Translation: X:153.93, Y:-17.95, Z:-7.09 [[ 9.75941971e-01 2.15174611e-01 3.51732182e-02 1.53927577e+02] [-2.15070773e-01 9.76575107e-01 -6.75443127e-03 -1.79481173e+01] [-3.58026715e-02 -9.72798258e-04 9.99358405e-01 -7.08578737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86264 meters 0.030558049595845904 Centerline is valid? [True, True] Translation: X:153.99, Y:-17.96, Z:-7.09 [[ 9.76354739e-01 2.13019567e-01 3.67979331e-02 1.53987525e+02] [-2.12904465e-01 9.77047484e-01 -7.06419775e-03 -1.79558519e+01] [-3.74581403e-02 -9.37281316e-04 9.99297758e-01 -7.08580028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92264 meters 0.02697177326565446 Centerline is valid? [True, True] Translation: X:154.05, Y:-17.97, Z:-7.09 [[ 9.77200457e-01 2.09048747e-01 3.71199250e-02 1.54046950e+02] [-2.08928774e-01 9.77904900e-01 -7.12555357e-03 -1.79652719e+01] [-3.77893446e-02 -7.92326220e-04 9.99285414e-01 -7.08813643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98264 meters 0.02662807301248056 Centerline is valid? [True, True] Translation: X:154.10, Y:-17.98, Z:-7.09 [[ 9.78461001e-01 2.03178003e-01 3.65071109e-02 1.54104835e+02] [-2.03057884e-01 9.79141660e-01 -7.00760064e-03 -1.79802635e+01] [-3.71694235e-02 -5.56392752e-04 9.99308823e-01 -7.09225884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04264 meters 0.016266943483319377 Centerline is valid? [True, True] Translation: X:154.16, Y:-18.00, Z:-7.09 [[ 9.79248576e-01 1.99405325e-01 3.61903643e-02 1.54163405e+02] [-1.99284750e-01 9.79917011e-01 -6.94557150e-03 -1.79978304e+01] [-3.68485375e-02 -4.10746687e-04 9.99320778e-01 -7.09485169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10264 meters 0.013105882352135449 Centerline is valid? [True, True] Translation: X:154.22, Y:-18.02, Z:-7.10 [[ 9.80257731e-01 1.94454271e-01 3.58094688e-02 1.54221077e+02] [-1.94332899e-01 9.80911559e-01 -6.87292079e-03 -1.80161977e+01] [-3.64623907e-02 -2.21724143e-04 9.99335001e-01 -7.10008397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16264 meters 0.011706708512907112 Centerline is valid? [True, True] Translation: X:154.28, Y:-18.03, Z:-7.10 [[ 9.80950617e-01 1.91024618e-01 3.52913906e-02 1.54280035e+02] [-1.90904554e-01 9.81585242e-01 -6.77236355e-03 -1.80334614e+01] [-3.59351963e-02 -9.39329677e-05 9.99354118e-01 -7.10489427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22264 meters 0.02596621807871879 Centerline is valid? [True, True] Translation: X:154.34, Y:-18.05, Z:-7.11 [[ 9.81285537e-01 1.89281881e-01 3.53703880e-02 1.54339706e+02] [-1.89159895e-01 9.81922792e-01 -6.79449241e-03 -1.80503320e+01] [-3.60170644e-02 -2.33217498e-05 9.99351175e-01 -7.10725561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28264000000001 meters 0.010929634804087212 Centerline is valid? [True, True] Translation: X:154.40, Y:-18.07, Z:-7.11 [[ 9.81369812e-01 1.88735138e-01 3.59491378e-02 1.54399619e+02] [-1.88608762e-01 9.82028028e-01 -6.90559894e-03 -1.80662631e+01] [-3.66063901e-02 -3.37604697e-06 9.99329761e-01 -7.10839040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34264000000002 meters 0.011228921626771856 Centerline is valid? [True, True] Translation: X:154.46, Y:-18.08, Z:-7.11 [[ 9.81214537e-01 1.89702788e-01 3.50839795e-02 1.54460039e+02] [-1.89582824e-01 9.81841561e-01 -6.74547743e-03 -1.80782178e+01] [-3.57265451e-02 -3.25594214e-05 9.99361603e-01 -7.11434110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40264000000002 meters 0.011030972925748896 Centerline is valid? [True, True] Translation: X:154.52, Y:-18.09, Z:-7.12 [[ 9.80952559e-01 1.90950584e-01 3.56363834e-02 1.54521355e+02] [-1.90827360e-01 9.81599648e-01 -6.85925432e-03 -1.80912111e+01] [-3.62904400e-02 -7.17939024e-05 9.99341282e-01 -7.11599160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46264000000002 meters 0.011787957127961 Centerline is valid? [True, True] Translation: X:154.58, Y:-18.10, Z:-7.12 [[ 9.80406999e-01 1.93596560e-01 3.63660221e-02 1.54582551e+02] [-1.93470011e-01 9.81081211e-01 -7.00089300e-03 -1.81025253e+01] [-3.70333698e-02 -1.72010206e-04 9.99314015e-01 -7.11735678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52264 meters 0.013460346729037748 Centerline is valid? [True, True] Translation: X:154.64, Y:-18.11, Z:-7.12 [[ 9.79928138e-01 1.95973133e-01 3.65427944e-02 1.54642550e+02] [-1.95846731e-01 9.80609232e-01 -7.04218437e-03 -1.81134898e+01] [-3.72142805e-02 -2.55952223e-04 9.99307276e-01 -7.12092351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58264 meters 0.026185338622532108 Centerline is valid? [True, True] Translation: X:154.70, Y:-18.13, Z:-7.12 [[ 9.79514281e-01 1.98011484e-01 3.66500522e-02 1.54703172e+02] [-1.97885546e-01 9.80199645e-01 -7.06870042e-03 -1.81262439e+01] [-3.73240521e-02 -3.28622594e-04 9.99303161e-01 -7.12314327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64264 meters 0.016425928785020426 Centerline is valid? [True, True] Translation: X:154.76, Y:-18.14, Z:-7.13 [[ 9.79170055e-01 1.99701215e-01 3.66800701e-02 1.54763254e+02] [-1.99575983e-01 9.79856763e-01 -7.08177301e-03 -1.81375624e+01] [-3.73554535e-02 -3.86200990e-04 9.99301967e-01 -7.12769935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70264 meters 0.03112288696507431 Centerline is valid? [True, True] Translation: X:154.82, Y:-18.14, Z:-7.13 [[ 9.78358731e-01 2.03797986e-01 3.57851260e-02 1.54824505e+02] [-2.03681381e-01 9.79012822e-01 -6.91303531e-03 -1.81442972e+01] [-3.64429598e-02 -5.25335431e-04 9.99335597e-01 -7.13022470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76264 meters 0.022657158180810794 Centerline is valid? [True, True] Translation: X:154.89, Y:-18.15, Z:-7.13 [[ 9.77415854e-01 2.08165123e-01 3.64078197e-02 1.54885650e+02] [-2.08047413e-01 9.78093448e-01 -7.03427304e-03 -1.81513096e+01] [-3.70745402e-02 -6.99142717e-04 9.99312258e-01 -7.13230072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82264 meters 0.02657350127870783 Centerline is valid? [True, True] Translation: X:154.95, Y:-18.15, Z:-7.13 [[ 9.76633913e-01 2.11657117e-01 3.72486786e-02 1.54945446e+02] [-2.11536388e-01 9.77343616e-01 -7.19814098e-03 -1.81528146e+01] [-3.79282960e-02 -8.49502335e-04 9.99280102e-01 -7.13427158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88264 meters 0.026717141357537035 Centerline is valid? [True, True] Translation: X:155.01, Y:-18.16, Z:-7.14 [[ 9.76445200e-01 2.12474495e-01 3.75414407e-02 1.55005043e+02] [-2.12352501e-01 9.77166208e-01 -7.25376598e-03 -1.81609762e+01] [-3.82254675e-02 -8.89113842e-04 9.99268744e-01 -7.13561256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94264 meters 0.029793002006163905 Centerline is valid? [True, True] Translation: X:155.06, Y:-18.16, Z:-7.14 [[ 9.76313905e-01 2.13024981e-01 3.78353943e-02 1.55063195e+02] [-2.12901507e-01 9.77046321e-01 -7.30989591e-03 -1.81623704e+01] [-3.85241233e-02 -9.18459446e-04 9.99257248e-01 -7.13915788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00264 meters 0.03569589410677017 Centerline is valid? [True, True] Translation: X:155.12, Y:-18.17, Z:-7.14 [[ 9.76601865e-01 2.11883370e-01 3.67999416e-02 1.55121048e+02] [-2.11765841e-01 9.77294588e-01 -7.10749468e-03 -1.81723764e+01] [-3.74703437e-02 -8.51778029e-04 9.99297377e-01 -7.14277850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06264000000002 meters 0.03612677604919625 Centerline is valid? [True, True] Translation: X:155.18, Y:-18.18, Z:-7.15 [[ 9.77150808e-01 2.09394177e-01 3.64743254e-02 1.55178414e+02] [-2.09277052e-01 9.77831025e-01 -7.04284045e-03 -1.81822825e+01] [-3.71404568e-02 -7.51322033e-04 9.99309773e-01 -7.14740400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12264000000002 meters 0.030744251211174172 Centerline is valid? [True, True] Translation: X:155.24, Y:-18.20, Z:-7.15 [[ 9.78460579e-01 2.03249613e-01 3.61177382e-02 1.55236254e+02] [-2.03130654e-01 9.79126820e-01 -6.97191593e-03 -1.81988087e+01] [-3.67808853e-02 -5.14874890e-04 9.99323222e-01 -7.15097177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18264000000002 meters 0.01503347832451114 Centerline is valid? [True, True] Translation: X:155.29, Y:-18.22, Z:-7.15 [[ 9.79478472e-01 1.98208016e-01 3.65445714e-02 1.55293735e+02] [-1.98082734e-01 9.80159922e-01 -7.05386359e-03 -1.82179671e+01] [-3.72176566e-02 -3.29741095e-04 9.99307129e-01 -7.15248892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24264 meters 0.010914300831029691 Centerline is valid? [True, True] Translation: X:155.35, Y:-18.24, Z:-7.15 [[ 9.80591519e-01 1.92232872e-01 3.85589876e-02 1.55352177e+02] [-1.92088799e-01 9.81349332e-01 -7.44191655e-03 -1.82369084e+01] [-3.92704177e-02 -1.09269381e-04 9.99228614e-01 -7.15232194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30264 meters 0.010779707998537603 Centerline is valid? [True, True] Translation: X:155.41, Y:-18.25, Z:-7.16 [[ 9.80663658e-01 1.92231990e-01 3.66831210e-02 1.55413124e+02] [-1.92101620e-01 9.81349505e-01 -7.07928376e-03 -1.82499568e+01] [-3.73598274e-02 -1.04490670e-04 9.99301872e-01 -7.15624362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36264 meters 0.027240129129916253 Centerline is valid? [True, True] Translation: X:155.47, Y:-18.25, Z:-7.16 [[ 9.79829617e-01 1.96742778e-01 3.50171590e-02 1.55472795e+02] [-1.96626575e-01 9.80455105e-01 -6.76581091e-03 -1.82522156e+01] [-3.56638767e-02 -2.55962128e-04 9.99363809e-01 -7.16329018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42264 meters 0.017448999134310035 Centerline is valid? [True, True] Translation: X:155.53, Y:-18.26, Z:-7.17 [[ 9.79152866e-01 2.00152031e-01 3.46241015e-02 1.55532556e+02] [-2.00040563e-01 9.79764779e-01 -6.68955773e-03 -1.82567701e+01] [-3.52624037e-02 -3.76125129e-04 9.99378017e-01 -7.16695760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48264 meters 0.022863877025054845 Centerline is valid? [True, True] Translation: X:155.59, Y:-18.26, Z:-7.17 [[ 9.78118348e-01 2.05033600e-01 3.52947762e-02 1.55591863e+02] [-2.04920970e-01 9.78754773e-01 -6.81839248e-03 -1.82576931e+01] [-3.59429302e-02 -5.63444993e-04 9.99353685e-01 -7.16778541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54264 meters 0.023611819972316643 Centerline is valid? [True, True] Translation: X:155.65, Y:-18.27, Z:-7.17 [[ 9.77596181e-01 2.07460571e-01 3.55783441e-02 1.55649875e+02] [-2.07347770e-01 9.78243159e-01 -6.87203659e-03 -1.82685812e+01] [-3.62299484e-02 -6.59013606e-04 9.99343263e-01 -7.16824221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60264 meters 0.03000056680467538 Centerline is valid? [True, True] Translation: X:155.71, Y:-18.27, Z:-7.17 [[ 9.76756838e-01 2.11264724e-01 3.62394352e-02 1.55709695e+02] [-2.11150377e-01 9.77428539e-01 -6.99778239e-03 -1.82685383e+01] [-3.68998427e-02 -8.16838596e-04 9.99318635e-01 -7.17146589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66264 meters 0.03488697409138658 Centerline is valid? [True, True] Translation: X:155.77, Y:-18.27, Z:-7.18 [[ 9.76122143e-01 2.14431225e-01 3.47103887e-02 1.55769177e+02] [-2.14328362e-01 9.76738677e-01 -6.70147929e-03 -1.82711873e+01] [-3.53399856e-02 -8.97958435e-04 9.99374944e-01 -7.17755194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72264 meters 0.038123181280555245 Centerline is valid? [True, True] Translation: X:155.83, Y:-18.28, Z:-7.18 [[ 9.75805523e-01 2.15876814e-01 3.46523079e-02 1.55826956e+02] [-2.15775266e-01 9.76420144e-01 -6.68855736e-03 -1.82815671e+01] [-3.52791160e-02 -9.50379746e-04 9.99377046e-01 -7.17865722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78264000000001 meters 0.032724331291100396 Centerline is valid? [True, True] Translation: X:155.89, Y:-18.29, Z:-7.18 [[ 9.75901273e-01 2.15490840e-01 3.43569950e-02 1.55885421e+02] [-2.15390835e-01 9.76505419e-01 -6.62987026e-03 -1.82892787e+01] [-3.49784681e-02 -9.30083036e-04 9.99387633e-01 -7.18266525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84264000000002 meters 0.03110155028035681 Centerline is valid? [True, True] Translation: X:155.94, Y:-18.30, Z:-7.19 [[ 9.76398999e-01 2.13329603e-01 3.36968068e-02 1.55942826e+02] [-2.13232174e-01 9.76979927e-01 -6.50087519e-03 -1.82994837e+01] [-3.43079330e-02 -8.37795339e-04 9.99410958e-01 -7.18740308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90264000000002 meters 0.02923527563406871 Centerline is valid? [True, True] Translation: X:156.00, Y:-18.31, Z:-7.19 [[ 9.76919895e-01 2.10890492e-01 3.39517085e-02 1.56000394e+02] [-2.10790168e-01 9.77509398e-01 -6.54839020e-03 -1.83087109e+01] [-3.45691073e-02 -7.59433666e-04 9.99402021e-01 -7.19010906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96264000000002 meters 0.02518358885852699 Centerline is valid? [True, True] Translation: X:156.06, Y:-18.32, Z:-7.19 [[ 9.77502396e-01 2.07996099e-01 3.50241193e-02 1.56058311e+02] [-2.07887545e-01 9.78129419e-01 -6.75335994e-03 -1.83216606e+01] [-3.56627940e-02 -6.79652654e-04 9.99363649e-01 -7.18962771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02264 meters 0.021407514355188798 Centerline is valid? [True, True] Translation: X:156.12, Y:-18.33, Z:-7.19 [[ 9.77954832e-01 2.05792670e-01 3.54079593e-02 1.56115396e+02] [-2.05680321e-01 9.78595426e-01 -6.82622332e-03 -1.83348257e+01] [-3.60548538e-02 -6.06982345e-04 9.99349628e-01 -7.19127740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08264 meters 0.017083529166144206 Centerline is valid? [True, True] Translation: X:156.17, Y:-18.35, Z:-7.19 [[ 9.79017423e-01 2.00526924e-01 3.62469199e-02 1.56171902e+02] [-2.00405653e-01 9.79688100e-01 -6.98584026e-03 -1.83531361e+01] [-3.69115251e-02 -4.24828318e-04 9.99318447e-01 -7.19395997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14264 meters 0.013842135873748579 Centerline is valid? [True, True] Translation: X:156.23, Y:-18.37, Z:-7.20 [[ 9.79797911e-01 1.96732815e-01 3.59479293e-02 1.56228899e+02] [-1.96611006e-01 9.80457098e-01 -6.92757629e-03 -1.83694562e+01] [-3.66082840e-02 -2.80133759e-04 9.99329653e-01 -7.19671055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20264 meters 0.021688067322335493 Centerline is valid? [True, True] Translation: X:156.29, Y:-18.38, Z:-7.20 [[ 9.79785576e-01 1.96818384e-01 3.58154805e-02 1.56286419e+02] [-1.96697593e-01 9.80439923e-01 -6.90027755e-03 -1.83794124e+01] [-3.64730284e-02 -2.84026414e-04 9.99334597e-01 -7.19926991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26264 meters 0.020263295481158187 Centerline is valid? [True, True] Translation: X:156.34, Y:-18.38, Z:-7.20 [[ 9.79263454e-01 1.99458414e-01 3.54884389e-02 1.56344603e+02] [-1.99341611e-01 9.79906218e-01 -6.83561998e-03 -1.83835824e+01] [-3.61387639e-02 -3.80449757e-04 9.99346709e-01 -7.20364428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32264 meters 0.017844401126015867 Centerline is valid? [True, True] Translation: X:156.40, Y:-18.39, Z:-7.20 [[ 9.78738525e-01 2.01984845e-01 3.56794388e-02 1.56403512e+02] [-2.01868544e-01 9.79388530e-01 -6.87005312e-03 -1.83897902e+01] [-3.63316797e-02 -4.78570714e-04 9.99339672e-01 -7.20452541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38264 meters 0.018886552228883517 Centerline is valid? [True, True] Translation: X:156.46, Y:-18.40, Z:-7.21 [[ 9.78575498e-01 2.02812865e-01 3.54533083e-02 1.56461831e+02] [-2.02698642e-01 9.79217383e-01 -6.82469976e-03 -1.83986150e+01] [-3.61006327e-02 -5.07853491e-04 9.99348031e-01 -7.20717829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44264 meters 0.01957846377483715 Centerline is valid? [True, True] Translation: X:156.52, Y:-18.41, Z:-7.21 [[ 9.78452596e-01 2.03222697e-01 3.64835951e-02 1.56519597e+02] [-2.03102089e-01 9.79132393e-01 -7.02121849e-03 -1.84057401e+01] [-3.71491408e-02 -5.39964933e-04 9.99309587e-01 -7.20847042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50264 meters 0.020431758195027874 Centerline is valid? [True, True] Translation: X:156.58, Y:-18.41, Z:-7.21 [[ 9.78241434e-01 2.04179526e-01 3.68024198e-02 1.56578060e+02] [-2.04057568e-01 9.78933287e-01 -7.08012988e-03 -1.84141356e+01] [-3.74727314e-02 -5.83735900e-04 9.99297480e-01 -7.21054870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56264000000002 meters 0.021725388149954946 Centerline is valid? [True, True] Translation: X:156.64, Y:-18.42, Z:-7.21 [[ 9.78084212e-01 2.04941032e-01 3.67484307e-02 1.56635157e+02] [-2.04820034e-01 9.78774130e-01 -7.06800442e-03 -1.84220976e+01] [-3.74169374e-02 -6.13711314e-04 9.99299553e-01 -7.21360988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62264000000002 meters 0.023201006497544623 Centerline is valid? [True, True] Translation: X:156.69, Y:-18.43, Z:-7.22 [[ 9.77952902e-01 2.05805224e-01 3.53882851e-02 1.56692935e+02] [-2.05693661e-01 9.78592775e-01 -6.80429895e-03 -1.84269426e+01] [-3.60310804e-02 -6.24862035e-04 9.99350474e-01 -7.21866206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68264000000002 meters 0.039297558951272106 Centerline is valid? [True, True] Translation: X:156.75, Y:-18.44, Z:-7.22 [[ 9.77823170e-01 2.06516430e-01 3.48254517e-02 1.56751410e+02] [-2.06408918e-01 9.78442922e-01 -6.69384715e-03 -1.84353290e+01] [-3.54571061e-02 -6.42884963e-04 9.99370992e-01 -7.22328525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74264 meters 0.022847544745365485 Centerline is valid? [True, True] Translation: X:156.81, Y:-18.45, Z:-7.23 [[ 9.77899953e-01 2.06330487e-01 3.37551789e-02 1.56808822e+02] [-2.06229425e-01 9.78482166e-01 -6.48659027e-03 -1.84463481e+01] [-3.43672218e-02 -6.18074816e-04 9.99409081e-01 -7.22608811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80264 meters 0.023336658246561705 Centerline is valid? [True, True] Translation: X:156.87, Y:-18.45, Z:-7.23 [[ 9.78216627e-01 2.04746251e-01 3.42228402e-02 1.56866146e+02] [-2.04641457e-01 9.78814919e-01 -6.57482767e-03 -1.84547886e+01] [-3.48439978e-02 -5.71806108e-04 9.99392600e-01 -7.22991689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86264 meters 0.018929125161348596 Centerline is valid? [True, True] Translation: X:156.92, Y:-18.47, Z:-7.23 [[ 9.78974498e-01 2.01193421e-01 3.36175630e-02 1.56922818e+02] [-2.01090282e-01 9.79551435e-01 -6.45632226e-03 -1.84712390e+01] [-3.42291016e-02 -4.39590393e-04 9.99413916e-01 -7.23372657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92264 meters 0.017131901011208445 Centerline is valid? [True, True] Translation: X:156.98, Y:-18.49, Z:-7.23 [[ 9.79183227e-01 2.00102121e-01 3.40492298e-02 1.56980084e+02] [-1.99995716e-01 9.79774961e-01 -6.53752688e-03 -1.84859874e+01] [-3.46687558e-02 -4.08263422e-04 9.99398775e-01 -7.23464467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98264 meters 0.016345929007162054 Centerline is valid? [True, True] Translation: X:157.04, Y:-18.50, Z:-7.24 [[ 9.79465872e-01 1.98611601e-01 3.46415684e-02 1.57036385e+02] [-1.98500587e-01 9.80078211e-01 -6.64959075e-03 -1.85005743e+01] [-3.52721322e-02 -3.63324449e-04 9.99377679e-01 -7.23695719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04264 meters 0.015702145418738538 Centerline is valid? [True, True] Translation: X:157.09, Y:-18.51, Z:-7.24 [[ 9.79379319e-01 1.98933449e-01 3.52368004e-02 1.57094568e+02] [-1.98818880e-01 9.80012926e-01 -6.76145517e-03 -1.85121306e+01] [-3.58775995e-02 -3.83711833e-04 9.99356118e-01 -7.23725396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10264 meters 0.018234481123406025 Centerline is valid? [True, True] Translation: X:157.15, Y:-18.52, Z:-7.24 [[ 9.78886417e-01 2.01522991e-01 3.42033055e-02 1.57152156e+02] [-2.01416680e-01 9.79483674e-01 -6.56158812e-03 -1.85208657e+01] [-3.48238902e-02 -4.66066734e-04 9.99393356e-01 -7.24129684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16264 meters 0.02256772361807835 Centerline is valid? [True, True] Translation: X:157.21, Y:-18.52, Z:-7.24 [[ 9.78172311e-01 2.04815038e-01 3.50675031e-02 1.57210624e+02] [-2.04705480e-01 9.78800511e-01 -6.72504441e-03 -1.85238535e+01] [-3.57014801e-02 -6.00257822e-04 9.99362319e-01 -7.24320376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22264 meters 0.023139210920965 Centerline is valid? [True, True] Translation: X:157.27, Y:-18.53, Z:-7.25 [[ 9.77795951e-01 2.06606009e-01 3.50576051e-02 1.57268635e+02] [-2.06497747e-01 9.78423994e-01 -6.72079012e-03 -1.85349406e+01] [-3.56897576e-02 -6.67755122e-04 9.99362695e-01 -7.24500625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28264000000001 meters 0.025690281156926408 Centerline is valid? [True, True] Translation: X:157.33, Y:-18.54, Z:-7.25 [[ 9.77237865e-01 2.09278939e-01 3.47631981e-02 1.57327775e+02] [-2.09174245e-01 9.77855688e-01 -6.66246283e-03 -1.85401111e+01] [-3.53877042e-02 -7.60754759e-04 9.99373369e-01 -7.24776292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34264000000002 meters 0.02737357688668928 Centerline is valid? [True, True] Translation: X:157.39, Y:-18.55, Z:-7.25 [[ 9.77002157e-01 2.10465575e-01 3.42202857e-02 1.57386170e+02] [-2.10364892e-01 9.77600948e-01 -6.55728131e-03 -1.85477227e+01] [-3.48338657e-02 -7.92268734e-04 9.99392803e-01 -7.25238732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40264000000002 meters 0.03361444756712462 Centerline is valid? [True, True] Translation: X:157.44, Y:-18.56, Z:-7.26 [[ 9.77366491e-01 2.08867189e-01 3.36041546e-02 1.57443783e+02] [-2.08769217e-01 9.77943748e-01 -6.43741451e-03 -1.85617289e+01] [-3.42075376e-02 -7.23799829e-04 9.99414489e-01 -7.25609594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46264000000002 meters 0.024573564972688415 Centerline is valid? [True, True] Translation: X:157.50, Y:-18.57, Z:-7.26 [[ 9.77810710e-01 2.06662218e-01 3.43065875e-02 1.57500509e+02] [-2.06558793e-01 9.78412127e-01 -6.57076127e-03 -1.85745426e+01] [-3.49239094e-02 -6.61366573e-04 9.99389755e-01 -7.25902659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52264 meters 0.021284865174931535 Centerline is valid? [True, True] Translation: X:157.56, Y:-18.59, Z:-7.26 [[ 9.78583386e-01 2.02819072e-01 3.51991544e-02 1.57556167e+02] [-2.02707769e-01 9.79216081e-01 -6.73997059e-03 -1.85910110e+01] [-3.58345726e-02 -5.39518821e-04 9.99357590e-01 -7.26049366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58264 meters 0.016771492442137884 Centerline is valid? [True, True] Translation: X:157.61, Y:-18.61, Z:-7.26 [[ 9.79283472e-01 1.99463499e-01 3.49026438e-02 1.57611852e+02] [-1.99352012e-01 9.79905169e-01 -6.68096961e-03 -1.86109761e+01] [-3.55338906e-02 -4.15349135e-04 9.99368386e-01 -7.26228505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64264 meters 0.015405755784962243 Centerline is valid? [True, True] Translation: X:157.67, Y:-18.63, Z:-7.27 [[ 9.79822427e-01 1.97003030e-01 3.37315644e-02 1.57667176e+02] [-1.96897494e-01 9.80402828e-01 -6.45531071e-03 -1.86273085e+01] [-3.43422369e-02 -3.16602293e-04 9.99410081e-01 -7.26756688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70264 meters 0.033687064813342195 Centerline is valid? [True, True] Translation: X:157.72, Y:-18.64, Z:-7.27 [[ 9.80093357e-01 1.95585326e-01 3.41085367e-02 1.57724804e+02] [-1.95476639e-01 9.80686650e-01 -6.52511405e-03 -1.86408404e+01] [-3.47260032e-02 -2.72201207e-04 9.99396833e-01 -7.26894688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76264 meters 0.014978161643682677 Centerline is valid? [True, True] Translation: X:157.78, Y:-18.65, Z:-7.27 [[ 9.80053607e-01 1.95775962e-01 3.41570027e-02 1.57781493e+02] [-1.95667138e-01 9.80648609e-01 -6.53278193e-03 -1.86536844e+01] [-3.47749789e-02 -2.80926483e-04 9.99395128e-01 -7.27351029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82264 meters 0.017196619174175462 Centerline is valid? [True, True] Translation: X:157.84, Y:-18.66, Z:-7.28 [[ 9.79337858e-01 1.99368473e-01 3.39053438e-02 1.57840615e+02] [-1.99263476e-01 9.79924510e-01 -6.48239464e-03 -1.86589064e+01] [-3.45170626e-02 -4.07642183e-04 9.99404026e-01 -7.27522884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88264 meters 0.018795860362841362 Centerline is valid? [True, True] Translation: X:157.90, Y:-18.67, Z:-7.28 [[ 9.78721006e-01 2.02219279e-01 3.48217738e-02 1.57899234e+02] [-2.02110394e-01 9.79340129e-01 -6.65579498e-03 -1.86656031e+01] [-3.54482905e-02 -5.23676054e-04 9.99371375e-01 -7.27565116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94264 meters 0.02184928481753248 Centerline is valid? [True, True] Translation: X:157.96, Y:-18.67, Z:-7.28 [[ 9.78345821e-01 2.03978541e-01 3.51028491e-02 1.57956530e+02] [-2.03869084e-01 9.78975180e-01 -6.70779684e-03 -1.86725418e+01] [-3.57330646e-02 -5.93840683e-04 9.99361194e-01 -7.27893569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00264 meters 0.02459782329483629 Centerline is valid? [True, True] Translation: X:158.01, Y:-18.68, Z:-7.28 [[ 9.78892494e-01 2.01336367e-01 3.51162846e-02 1.58014065e+02] [-2.01225213e-01 9.79522035e-01 -6.70792045e-03 -1.86846664e+01] [-3.57477229e-02 -4.99948869e-04 9.99360721e-01 -7.28275796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06264000000002 meters 0.014835980971923807 Centerline is valid? [True, True] Translation: X:158.07, Y:-18.70, Z:-7.29 [[ 9.80112054e-01 1.95308697e-01 3.51407905e-02 1.58069756e+02] [-1.95193573e-01 9.80741777e-01 -6.71087132e-03 -1.87041324e+01] [-3.57747328e-02 -2.81850564e-04 9.99359840e-01 -7.28657812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12264000000002 meters 0.011695823494781587 Centerline is valid? [True, True] Translation: X:158.13, Y:-18.72, Z:-7.29 [[ 9.80936977e-01 1.91147150e-01 3.50059295e-02 1.58125838e+02] [-1.91030316e-01 9.81561384e-01 -6.68344491e-03 -1.87233338e+01] [-3.56379900e-02 -1.31155542e-04 9.99364756e-01 -7.28793924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18264000000002 meters 0.011360910359532763 Centerline is valid? [True, True] Translation: X:158.18, Y:-18.74, Z:-7.29 [[ 9.82037097e-01 1.85626671e-01 3.38508393e-02 1.58182887e+02] [-1.85514218e-01 9.82620341e-01 -6.46065958e-03 -1.87448295e+01] [-3.44617940e-02 6.47954047e-05 9.99406014e-01 -7.29165723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24264 meters 0.01324022688540741 Centerline is valid? [True, True] Translation: X:158.24, Y:-18.76, Z:-7.30 [[ 9.82547885e-01 1.82780467e-01 3.45102197e-02 1.58239893e+02] [-1.82661828e-01 9.83153738e-01 -6.58665185e-03 -1.87620181e+01] [-3.51327628e-02 1.68001028e-04 9.99382640e-01 -7.29620620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30264 meters 0.013791839587964764 Centerline is valid? [True, True] Translation: X:158.30, Y:-18.78, Z:-7.30 [[ 9.82939857e-01 1.80747849e-01 3.40507358e-02 1.58298055e+02] [-1.80631149e-01 9.83529440e-01 -6.49837631e-03 -1.87812676e+01] [-3.46644687e-02 2.36889537e-04 9.99398979e-01 -7.29768263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36264 meters 0.013680007827645247 Centerline is valid? [True, True] Translation: X:158.36, Y:-18.79, Z:-7.30 [[ 9.82992526e-01 1.80516810e-01 3.37546426e-02 1.58358710e+02] [-1.80402070e-01 9.83571870e-01 -6.43970826e-03 -1.87947396e+01] [-3.43625925e-02 2.40777707e-04 9.99409403e-01 -7.30002586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42264 meters 0.015521987538205932 Centerline is valid? [True, True] Translation: X:158.42, Y:-18.81, Z:-7.30 [[ 9.82855334e-01 1.81079044e-01 3.47242283e-02 1.58418869e+02] [-1.80957739e-01 9.83468518e-01 -6.63112215e-03 -1.88094175e+01] [-3.53509426e-02 2.33815946e-04 9.99374933e-01 -7.30100358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48264 meters 0.01328362517686317 Centerline is valid? [True, True] Translation: X:158.48, Y:-18.83, Z:-7.30 [[ 9.82841734e-01 1.81075350e-01 3.51261036e-02 1.58479467e+02] [-1.80951001e-01 9.83469196e-01 -6.71390788e-03 -1.88288680e+01] [-3.57611641e-02 2.42605245e-04 9.99360336e-01 -7.30215165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54264 meters 0.013342682156157578 Centerline is valid? [True, True] Translation: X:158.54, Y:-18.84, Z:-7.31 [[ 9.82624042e-01 1.82414209e-01 3.42789815e-02 1.58539560e+02] [-1.82296360e-01 9.83221754e-01 -6.55891283e-03 -1.88432006e+01] [-3.49002792e-02 1.96011893e-04 9.99390780e-01 -7.30694701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60264 meters 0.014346029249381463 Centerline is valid? [True, True] Translation: X:158.60, Y:-18.85, Z:-7.31 [[ 9.81732335e-01 1.87167879e-01 3.42024352e-02 1.58599804e+02] [-1.87053135e-01 9.82327941e-01 -6.55293838e-03 -1.88515522e+01] [-3.48245073e-02 3.55587787e-05 9.99393442e-01 -7.30928367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66264 meters 0.022888888459127447 Centerline is valid? [True, True] Translation: X:158.66, Y:-18.85, Z:-7.31 [[ 9.80361959e-01 1.94079539e-01 3.49794572e-02 1.58658563e+02] [-1.93963898e-01 9.80985773e-01 -6.70220581e-03 -1.88544873e+01] [-3.56151109e-02 -2.14164250e-04 9.99365558e-01 -7.31033741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72264 meters 0.01773725229844341 Centerline is valid? [True, True] Translation: X:158.72, Y:-18.86, Z:-7.31 [[ 9.79251761e-01 1.99663874e-01 3.46457124e-02 1.58718557e+02] [-1.99553968e-01 9.79864361e-01 -6.63688540e-03 -1.88602054e+01] [-3.52732451e-02 -4.14507672e-04 9.99377620e-01 -7.31243714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78264000000001 meters 0.020373705795678834 Centerline is valid? [True, True] Translation: X:158.78, Y:-18.87, Z:-7.32 [[ 9.78501207e-01 2.03407025e-01 3.40729955e-02 1.58778122e+02] [-2.03303019e-01 9.79094117e-01 -6.52635902e-03 -1.88678068e+01] [-3.46881767e-02 -5.41092649e-04 9.99398038e-01 -7.31533793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84264000000002 meters 0.023230790490033244 Centerline is valid? [True, True] Translation: X:158.84, Y:-18.87, Z:-7.32 [[ 9.78037855e-01 2.05755390e-01 3.32667143e-02 1.58835381e+02] [-2.05657617e-01 9.78603264e-01 -6.37157384e-03 -1.88741555e+01] [-3.38659009e-02 -6.09912795e-04 9.99426200e-01 -7.32002956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90264000000002 meters 0.023676853262317034 Centerline is valid? [True, True] Translation: X:158.89, Y:-18.88, Z:-7.32 [[ 9.77919573e-01 2.06346074e-01 3.30848441e-02 1.58893365e+02] [-2.06249781e-01 9.78478871e-01 -6.33451717e-03 -1.88834711e+01] [-3.36799237e-02 -6.29093509e-04 9.99432472e-01 -7.32323805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96264000000002 meters 0.030253385952738604 Centerline is valid? [True, True] Translation: X:158.95, Y:-18.89, Z:-7.33 [[ 9.77855216e-01 2.06859211e-01 3.17559815e-02 1.58950713e+02] [-2.06770813e-01 9.78370523e-01 -6.07874701e-03 -1.88895822e+01] [-3.23265610e-02 -6.22075630e-04 9.99477167e-01 -7.32883005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02264 meters 0.022118415583760345 Centerline is valid? [True, True] Translation: X:159.01, Y:-18.90, Z:-7.33 [[ 9.78318451e-01 2.04620557e-01 3.19912018e-02 1.59007860e+02] [-2.04529718e-01 9.78841213e-01 -6.12158458e-03 -1.89034108e+01] [-3.25669088e-02 -5.54292358e-04 9.99469404e-01 -7.32927170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08264 meters 0.03403495600588538 Centerline is valid? [True, True] Translation: X:159.07, Y:-18.92, Z:-7.33 [[ 9.79229792e-01 2.00223798e-01 3.19287494e-02 1.59065214e+02] [-2.00131040e-01 9.79750102e-01 -6.10766152e-03 -1.89195700e+01] [-3.25050947e-02 -4.09129712e-04 9.99471486e-01 -7.33190002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14264 meters 0.016053966464357534 Centerline is valid? [True, True] Translation: X:159.12, Y:-18.93, Z:-7.33 [[ 9.79911239e-01 1.96660694e-01 3.31441451e-02 1.59122334e+02] [-1.96558724e-01 9.80471560e-01 -6.33941836e-03 -1.89344678e+01] [-3.37436061e-02 -3.02703573e-04 9.99430477e-01 -7.33391430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20264 meters 0.013233461861051827 Centerline is valid? [True, True] Translation: X:159.18, Y:-18.95, Z:-7.34 [[ 9.80922260e-01 1.91637357e-01 3.26595027e-02 1.59179533e+02] [-1.91535609e-01 9.81465795e-01 -6.24531286e-03 -1.89539382e+01] [-3.32510200e-02 -1.29291325e-04 9.99447024e-01 -7.33752305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26264 meters 0.01738875942885419 Centerline is valid? [True, True] Translation: X:159.24, Y:-18.97, Z:-7.34 [[ 9.81604964e-01 1.88248501e-01 3.18464404e-02 1.59237114e+02] [-1.88149997e-01 9.82121429e-01 -6.08908690e-03 -1.89705784e+01] [-3.24233331e-02 -1.48297367e-05 9.99474225e-01 -7.34202190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32264 meters 0.0124595388512476 Centerline is valid? [True, True] Translation: X:159.30, Y:-18.98, Z:-7.34 [[ 9.81644236e-01 1.88200547e-01 3.09054590e-02 1.59296668e+02] [-1.88107790e-01 9.82130619e-01 -5.90809540e-03 -1.89823238e+01] [-3.14651043e-02 -1.39097915e-05 9.99504851e-01 -7.34362517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38264 meters 0.012822977522811637 Centerline is valid? [True, True] Translation: X:159.36, Y:-18.99, Z:-7.35 [[ 9.81231288e-01 1.90358720e-01 3.08012385e-02 1.59356424e+02] [-1.90267650e-01 9.81714597e-01 -5.88817191e-03 -1.89908216e+01] [-3.13588903e-02 -8.28207548e-05 9.99508186e-01 -7.34639381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44264 meters 0.020209781012432704 Centerline is valid? [True, True] Translation: X:159.42, Y:-19.00, Z:-7.35 [[ 9.80731192e-01 1.92983584e-01 3.03918721e-02 1.59416154e+02] [-1.92896167e-01 9.81201972e-01 -5.81030750e-03 -1.89979689e+01] [-3.09418588e-02 -1.64125830e-04 9.99521173e-01 -7.34997694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50264 meters 0.01492459312960637 Centerline is valid? [True, True] Translation: X:159.47, Y:-19.01, Z:-7.35 [[ 9.80579327e-01 1.93724359e-01 3.05786886e-02 1.59473814e+02] [-1.93636242e-01 9.81055980e-01 -5.84542697e-03 -1.90056488e+01] [-3.11318070e-02 -1.89237503e-04 9.99515270e-01 -7.35357824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56264000000002 meters 0.014369196462689533 Centerline is valid? [True, True] Translation: X:159.53, Y:-19.02, Z:-7.35 [[ 9.80542253e-01 1.93858638e-01 3.09147027e-02 1.59532359e+02] [-1.93768682e-01 9.81029454e-01 -5.90829346e-03 -1.90166500e+01] [-3.14736076e-02 -1.96969829e-04 9.99504564e-01 -7.35395720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62264000000002 meters 0.015614410847409122 Centerline is valid? [True, True] Translation: X:159.59, Y:-19.02, Z:-7.36 [[ 9.80248828e-01 1.95235661e-01 3.15479305e-02 1.59589894e+02] [-1.95142704e-01 9.80756329e-01 -6.02902275e-03 -1.90241521e+01] [-3.21179127e-02 -2.46405962e-04 9.99484056e-01 -7.35657165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68264000000002 meters 0.015480492398246141 Centerline is valid? [True, True] Translation: X:159.65, Y:-19.03, Z:-7.36 [[ 9.80078783e-01 1.96027741e-01 3.19171479e-02 1.59647738e+02] [-1.95933086e-01 9.80598311e-01 -6.09738824e-03 -1.90330516e+01] [-3.24931586e-02 -2.77704446e-04 9.99471919e-01 -7.35817743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74264 meters 0.0151445307034303 Centerline is valid? [True, True] Translation: X:159.71, Y:-19.04, Z:-7.36 [[ 9.80152149e-01 1.95629655e-01 3.21061314e-02 1.59705737e+02] [-1.95533715e-01 9.80677810e-01 -6.13184851e-03 -1.90435287e+01] [-3.26853421e-02 -2.67686667e-04 9.99465656e-01 -7.36065203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80264 meters 0.01570547557870855 Centerline is valid? [True, True] Translation: X:159.76, Y:-19.05, Z:-7.37 [[ 9.80209981e-01 1.95644538e-01 3.01928520e-02 1.59763774e+02] [-1.95559745e-01 9.80674844e-01 -5.76504025e-03 -1.90527477e+01] [-3.07372691e-02 -2.53556463e-04 9.99527466e-01 -7.36651540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86264 meters 0.018242265650444466 Centerline is valid? [True, True] Translation: X:159.82, Y:-19.06, Z:-7.37 [[ 9.79790100e-01 1.98031322e-01 2.81949565e-02 1.59823122e+02] [-1.97958407e-01 9.80195644e-01 -5.38222630e-03 -1.90565023e+01] [-2.87024229e-02 -3.07976641e-04 9.99587953e-01 -7.37300482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92264 meters 0.018116490117192345 Centerline is valid? [True, True] Translation: X:159.88, Y:-19.06, Z:-7.37 [[ 9.79375550e-01 1.99922406e-01 2.92329180e-02 1.59882038e+02] [-1.99844906e-01 9.79811660e-01 -5.57894871e-03 -1.90644849e+01] [-2.97581107e-02 -3.78163793e-04 9.99557058e-01 -7.37223730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98264 meters 0.020080367286675317 Centerline is valid? [True, True] Translation: X:159.94, Y:-19.07, Z:-7.38 [[ 9.79350537e-01 1.99812128e-01 3.07837455e-02 1.59939693e+02] [-1.99726182e-01 9.79834147e-01 -5.87332963e-03 -1.90690552e+01] [-3.13365275e-02 -3.96271423e-04 9.99508812e-01 -7.37610303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04264 meters 0.015757931186260024 Centerline is valid? [True, True] Translation: X:160.00, Y:-19.08, Z:-7.38 [[ 9.80027584e-01 1.96321489e-01 3.16829117e-02 1.59997229e+02] [-1.96228700e-01 9.80539538e-01 -6.04249118e-03 -1.90823600e+01] [-3.22526185e-02 -2.95288532e-04 9.99479705e-01 -7.37555406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10264 meters 0.022512745694178334 Centerline is valid? [True, True] Translation: X:160.05, Y:-19.10, Z:-7.38 [[ 9.81014563e-01 1.91337048e-01 3.16316328e-02 1.60054482e+02] [-1.91242019e-01 9.81524384e-01 -6.03107907e-03 -1.90972872e+01] [-3.22011878e-02 -1.32720921e-04 9.99481398e-01 -7.37864812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16264 meters 0.025036939831263268 Centerline is valid? [True, True] Translation: X:160.11, Y:-19.11, Z:-7.38 [[ 9.82025508e-01 1.86029949e-01 3.19180245e-02 1.60111756e+02] [-1.85930451e-01 9.82544074e-01 -6.08364618e-03 -1.91146758e+01] [-3.24926062e-02 3.97630374e-05 9.99471975e-01 -7.38160501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22264 meters 0.022946377723414537 Centerline is valid? [True, True] Translation: X:160.17, Y:-19.13, Z:-7.39 [[ 9.82532814e-01 1.83449633e-01 3.12330276e-02 1.60169210e+02] [-1.83353111e-01 9.83029103e-01 -5.95138701e-03 -1.91274813e+01] [-3.17947549e-02 1.20760247e-04 9.99494412e-01 -7.38642975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28264000000001 meters 0.016146097616531973 Centerline is valid? [True, True] Translation: X:160.23, Y:-19.15, Z:-7.39 [[ 9.83408489e-01 1.78727469e-01 3.10521511e-02 1.60227286e+02] [-1.78629652e-01 9.83898581e-01 -5.91863961e-03 -1.91452646e+01] [-3.16099909e-02 2.73605471e-04 9.99500242e-01 -7.39037465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34264000000002 meters 0.021350073667477813 Centerline is valid? [True, True] Translation: X:160.29, Y:-19.16, Z:-7.39 [[ 9.84097270e-01 1.74614742e-01 3.25922605e-02 1.60286956e+02] [-1.74504765e-01 9.84636741e-01 -6.21090094e-03 -1.91625652e+01] [-3.31760521e-02 4.24625883e-04 9.99449433e-01 -7.38942435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40264000000002 meters 0.020622446660600778 Centerline is valid? [True, True] Translation: X:160.35, Y:-19.18, Z:-7.39 [[ 9.84354902e-01 1.73064007e-01 3.30798484e-02 1.60345579e+02] [-1.72949758e-01 9.84910459e-01 -6.30623053e-03 -1.91800463e+01] [-3.36720702e-02 4.86417167e-04 9.99432817e-01 -7.39280284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46264000000002 meters 0.01873672682577276 Centerline is valid? [True, True] Translation: X:160.41, Y:-19.19, Z:-7.40 [[ 9.84084600e-01 1.74634615e-01 3.28671859e-02 1.60407106e+02] [-1.74522531e-01 9.84633212e-01 -6.27090795e-03 -1.91899169e+01] [-3.34572404e-02 4.35039482e-04 9.99440055e-01 -7.39563710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52264 meters 0.015638784813480872 Centerline is valid? [True, True] Translation: X:160.47, Y:-19.20, Z:-7.40 [[ 9.83126609e-01 1.79992533e-01 3.26306343e-02 1.60467084e+02] [-1.79884744e-01 9.83667943e-01 -6.23358383e-03 -1.91970246e+01] [-3.32197074e-02 2.58648846e-04 9.99448040e-01 -7.40024118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58264 meters 0.012775671622172668 Centerline is valid? [True, True] Translation: X:160.53, Y:-19.20, Z:-7.40 [[ 9.82318728e-01 1.84429353e-01 3.21827492e-02 1.60527993e+02] [-1.84326864e-01 9.82845767e-01 -6.14858173e-03 -1.92013281e+01] [-3.27646578e-02 1.07721735e-04 9.99463089e-01 -7.40177605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64264 meters 0.012544556051503834 Centerline is valid? [True, True] Translation: X:160.59, Y:-19.20, Z:-7.40 [[ 9.81059028e-01 1.90852664e-01 3.31427849e-02 1.60587477e+02] [-1.90747605e-01 9.81618688e-01 -6.33264093e-03 -1.92022145e+01] [-3.37421784e-02 -1.09212300e-04 9.99430565e-01 -7.40244855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70264 meters 0.023062467703854644 Centerline is valid? [True, True] Translation: X:160.65, Y:-19.20, Z:-7.41 [[ 9.79865165e-01 1.96926281e-01 3.29286886e-02 1.60646973e+02] [-1.96826054e-01 9.80418247e-01 -6.29010044e-03 -1.92028722e+01] [-3.35225733e-02 -3.17773539e-04 9.99437910e-01 -7.40526256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76264 meters 0.016815819911850865 Centerline is valid? [True, True] Translation: X:160.71, Y:-19.21, Z:-7.41 [[ 9.79558250e-01 1.98436296e-01 3.29950309e-02 1.60705357e+02] [-1.98336579e-01 9.80113717e-01 -6.30107163e-03 -1.92113440e+01] [-3.35892437e-02 -3.71854843e-04 9.99435653e-01 -7.40792698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82264 meters 0.019674883500993536 Centerline is valid? [True, True] Translation: X:160.76, Y:-19.21, Z:-7.41 [[ 9.79005126e-01 2.01159536e-01 3.29211982e-02 1.60763194e+02] [-2.01061854e-01 9.79558382e-01 -6.28542546e-03 -1.92142114e+01] [-3.35126089e-02 -4.65733413e-04 9.99438186e-01 -7.41160847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88264 meters 0.01839023502344498 Centerline is valid? [True, True] Translation: X:160.82, Y:-19.22, Z:-7.41 [[ 9.79349399e-01 1.99479810e-01 3.29022788e-02 1.60821729e+02] [-1.99381369e-01 9.79901851e-01 -6.27953254e-03 -1.92231434e+01] [-3.34936439e-02 -4.10244981e-04 9.99438846e-01 -7.41487023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94264 meters 0.01715243886648107 Centerline is valid? [True, True] Translation: X:160.88, Y:-19.24, Z:-7.42 [[ 9.79900587e-01 1.96875308e-01 3.21706941e-02 1.60878433e+02] [-1.96779839e-01 9.80428485e-01 -6.13849337e-03 -1.92352654e+01] [-3.27495827e-02 -3.15430762e-04 9.99463539e-01 -7.41966100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00264 meters 0.013414340246679734 Centerline is valid? [True, True] Translation: X:160.93, Y:-19.25, Z:-7.42 [[ 9.80970993e-01 1.91438334e-01 3.23616257e-02 1.60934979e+02] [-1.91338842e-01 9.81504633e-01 -6.17270268e-03 -1.92522639e+01] [-3.29447775e-02 -1.36793690e-04 9.99457164e-01 -7.42067897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06264000000002 meters 0.013216313072383811 Centerline is valid? [True, True] Translation: X:160.99, Y:-19.27, Z:-7.42 [[ 9.82336336e-01 1.84337616e-01 3.21708917e-02 1.60990146e+02] [-1.84235541e-01 9.82862978e-01 -6.13450607e-03 -1.92733532e+01] [-3.27503986e-02 9.91265925e-05 9.99463557e-01 -7.42397816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12264000000002 meters 0.015717593409290263 Centerline is valid? [True, True] Translation: X:161.05, Y:-19.29, Z:-7.43 [[ 9.83305868e-01 1.79220735e-01 3.14562997e-02 1.61047407e+02] [-1.79120573e-01 9.83808853e-01 -5.99673134e-03 -1.92930891e+01] [-3.20217247e-02 2.62150684e-04 9.99487139e-01 -7.42677873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18264000000002 meters 0.02297577347466205 Centerline is valid? [True, True] Translation: X:161.11, Y:-19.31, Z:-7.43 [[ 9.83427326e-01 1.78386022e-01 3.23901556e-02 1.61105948e+02] [-1.78279390e-01 9.83960537e-01 -6.17416703e-03 -1.93069787e+01] [-3.29720200e-02 2.97347402e-04 9.99456231e-01 -7.42895816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24264 meters 0.015327328867851929 Centerline is valid? [True, True] Translation: X:161.17, Y:-19.32, Z:-7.43 [[ 9.83202539e-01 1.79478255e-01 3.31711147e-02 1.61165626e+02] [-1.79367039e-01 9.83761905e-01 -6.32303239e-03 -1.93193445e+01] [-3.37673258e-02 2.67016885e-04 9.99429686e-01 -7.42898246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30264 meters 0.026101211043656737 Centerline is valid? [True, True] Translation: X:161.22, Y:-19.33, Z:-7.43 [[ 9.82804769e-01 1.81517157e-01 3.38571589e-02 1.61223584e+02] [-1.81402495e-01 9.83387757e-01 -6.45395220e-03 -1.93304020e+01] [-3.44662186e-02 2.01201905e-04 9.99405843e-01 -7.43305048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36264 meters 0.013806600865071768 Centerline is valid? [True, True] Translation: X:161.28, Y:-19.34, Z:-7.44 [[ 9.82510597e-01 1.83346855e-01 3.25093379e-02 1.61281576e+02] [-1.83242146e-01 9.83048276e-01 -6.19697362e-03 -1.93401875e+01] [-3.30944442e-02 1.31511405e-04 9.99452220e-01 -7.43737307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42264 meters 0.013161955548065025 Centerline is valid? [True, True] Translation: X:161.34, Y:-19.35, Z:-7.44 [[ 9.82258570e-01 1.84873390e-01 3.14631772e-02 1.61340829e+02] [-1.84776136e-01 9.82762343e-01 -5.99630722e-03 -1.93499954e+01] [-3.20293834e-02 7.62798363e-05 9.99486925e-01 -7.44053856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48264 meters 0.0132958947992516 Centerline is valid? [True, True] Translation: X:161.40, Y:-19.35, Z:-7.44 [[ 9.81197044e-01 1.90370482e-01 3.18031446e-02 1.61400005e+02] [-1.90274013e-01 9.81712315e-01 -6.06062989e-03 -1.93520271e+01] [-3.23753037e-02 -1.04639812e-04 9.99475777e-01 -7.44258036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54264 meters 0.01688733826078345 Centerline is valid? [True, True] Translation: X:161.46, Y:-19.35, Z:-7.45 [[ 9.80090049e-01 1.95907896e-01 3.23046839e-02 1.61458242e+02] [-1.95811408e-01 9.80622257e-01 -6.15485976e-03 -1.93520494e+01] [-3.28844777e-02 -2.93308834e-04 9.99459116e-01 -7.44642225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60264 meters 0.018940334207979637 Centerline is valid? [True, True] Translation: X:161.52, Y:-19.36, Z:-7.45 [[ 9.79615345e-01 1.98243569e-01 3.24540245e-02 1.61517697e+02] [-1.98147561e-01 9.80152716e-01 -6.18048218e-03 -1.93555903e+01] [-3.30351411e-02 -3.76190613e-04 9.99454120e-01 -7.44918022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66264 meters 0.016935503532624314 Centerline is valid? [True, True] Translation: X:161.58, Y:-19.37, Z:-7.45 [[ 9.79708057e-01 1.97524859e-01 3.40007754e-02 1.61575189e+02] [-1.97419107e-01 9.80297808e-01 -6.47330184e-03 -1.93669585e+01] [-3.46095237e-02 -3.70456741e-04 9.99400842e-01 -7.44781137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72264 meters 0.01479587866004757 Centerline is valid? [True, True] Translation: X:161.63, Y:-19.38, Z:-7.45 [[ 9.80361325e-01 1.94041388e-01 3.52081170e-02 1.61631698e+02] [-1.93925805e-01 9.80993309e-01 -6.70140995e-03 -1.93789154e+01] [-3.58392781e-02 -2.57959297e-04 9.99357533e-01 -7.44962651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78264000000001 meters 0.012297160862146292 Centerline is valid? [True, True] Translation: X:161.69, Y:-19.39, Z:-7.45 [[ 9.81073478e-01 1.90356646e-01 3.54848911e-02 1.61688801e+02] [-1.90236914e-01 9.81714995e-01 -6.75170838e-03 -1.93932150e+01] [-3.61212823e-02 -1.26614145e-04 9.99347406e-01 -7.45092223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84264000000002 meters 0.01255337916179623 Centerline is valid? [True, True] Translation: X:161.75, Y:-19.41, Z:-7.46 [[ 9.81322102e-01 1.89229008e-01 3.46311358e-02 1.61745461e+02] [-1.89114323e-01 9.81932979e-01 -6.58768025e-03 -1.94052816e+01] [-3.52520345e-02 -8.46075521e-05 9.99378450e-01 -7.45652254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90264000000002 meters 0.012996404325426657 Centerline is valid? [True, True] Translation: X:161.80, Y:-19.41, Z:-7.46 [[ 9.81116993e-01 1.90336187e-01 3.43741327e-02 1.61803283e+02] [-1.90223958e-01 9.81718962e-01 -6.53648251e-03 -1.94135279e+01] [-3.49898670e-02 -1.25729508e-04 9.99387659e-01 -7.45892446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96264000000002 meters 0.03234483127666779 Centerline is valid? [True, True] Translation: X:161.86, Y:-19.41, Z:-7.46 [[ 9.80268455e-01 1.94441279e-01 3.55857304e-02 1.61862937e+02] [-1.94323764e-01 9.80914119e-01 -6.76507770e-03 -1.94135327e+01] [-3.62219557e-02 -2.83560807e-04 9.99343729e-01 -7.45902620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02264 meters 0.030218741089751484 Centerline is valid? [True, True] Translation: X:161.92, Y:-19.41, Z:-7.46 [[ 9.79466646e-01 1.98427154e-01 3.56616476e-02 1.61923192e+02] [-1.98311842e-01 9.80115542e-01 -6.77766189e-03 -1.94120721e+01] [-3.62974072e-02 -4.33633275e-04 9.99340938e-01 -7.46247596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08264 meters 0.018386681941613615 Centerline is valid? [True, True] Translation: X:161.98, Y:-19.42, Z:-7.47 [[ 9.79336751e-01 1.99247172e-01 3.46423531e-02 1.61981838e+02] [-1.99138933e-01 9.79949162e-01 -6.58222652e-03 -1.94160903e+01] [-3.52592349e-02 -4.52424889e-04 9.99378097e-01 -7.46576395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14264 meters 0.017504420137017945 Centerline is valid? [True, True] Translation: X:162.04, Y:-19.42, Z:-7.47 [[ 9.79750642e-01 1.97467942e-01 3.30921624e-02 1.62039388e+02] [-1.97368203e-01 9.80309274e-01 -6.28641922e-03 -1.94216679e+01] [-3.36819200e-02 -3.72217363e-04 9.99432534e-01 -7.47156035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20264 meters 0.025451572870876352 Centerline is valid? [True, True] Translation: X:162.10, Y:-19.43, Z:-7.47 [[ 9.80256737e-01 1.94676721e-01 3.46078567e-02 1.62097540e+02] [-1.94566002e-01 9.80867417e-01 -6.57127747e-03 -1.94322579e+01] [-3.52249938e-02 -2.91973315e-04 9.99379365e-01 -7.47292193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26264 meters 0.03211742938349431 Centerline is valid? [True, True] Translation: X:162.16, Y:-19.44, Z:-7.47 [[ 9.81263319e-01 1.89459679e-01 3.50332379e-02 1.62155022e+02] [-1.89342958e-01 9.81888496e-01 -6.65026287e-03 -1.94445896e+01] [-3.56586899e-02 -1.07637875e-04 9.99364021e-01 -7.47289552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32264 meters 0.012268811355214834 Centerline is valid? [True, True] Translation: X:162.21, Y:-19.46, Z:-7.48 [[ 9.82214436e-01 1.84643755e-01 3.40805788e-02 1.62211025e+02] [-1.84530452e-01 9.82805515e-01 -6.46780685e-03 -1.94570260e+01] [-3.46888210e-02 6.38686346e-05 9.99398160e-01 -7.47818920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38264 meters 0.012978021115373849 Centerline is valid? [True, True] Translation: X:162.27, Y:-19.47, Z:-7.48 [[ 9.82810880e-01 1.81506133e-01 3.37386647e-02 1.62268580e+02] [-1.81393325e-01 9.83389798e-01 -6.40055244e-03 -1.94694324e+01] [-3.43399982e-02 1.70564014e-04 9.99410194e-01 -7.48012961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44264 meters 0.028572658648068343 Centerline is valid? [True, True] Translation: X:162.33, Y:-19.48, Z:-7.48 [[ 9.83622017e-01 1.76889045e-01 3.46120405e-02 1.62325519e+02] [-1.76767524e-01 9.84230741e-01 -6.56441009e-03 -1.94847693e+01] [-3.52274065e-02 3.38613585e-04 9.99379265e-01 -7.48221342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50264 meters 0.018793825621651977 Centerline is valid? [True, True] Translation: X:162.38, Y:-19.50, Z:-7.49 [[ 9.84249779e-01 1.73347498e-01 3.46845323e-02 1.62381646e+02] [-1.73223335e-01 9.84860614e-01 -6.57622664e-03 -1.95035698e+01] [-3.52994022e-02 4.64479251e-04 9.99376674e-01 -7.48515863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56264000000002 meters 0.019407011813793607 Centerline is valid? [True, True] Translation: X:162.44, Y:-19.52, Z:-7.49 [[ 9.84366340e-01 1.72838683e-01 3.39072004e-02 1.62438740e+02] [-1.72719763e-01 9.84950033e-01 -6.42771665e-03 -1.95160247e+01] [-3.45078563e-02 4.70784303e-04 9.99404316e-01 -7.48919725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62264000000002 meters 0.018079981170671076 Centerline is valid? [True, True] Translation: X:162.50, Y:-19.53, Z:-7.49 [[ 9.84069829e-01 1.74678920e-01 3.30733583e-02 1.62496204e+02] [-1.74566869e-01 9.84625370e-01 -6.26808717e-03 -1.95278771e+01] [-3.36597703e-02 3.94722858e-04 9.99433271e-01 -7.49310723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68264000000002 meters 0.01580229789605424 Centerline is valid? [True, True] Translation: X:162.56, Y:-19.53, Z:-7.49 [[ 9.83636311e-01 1.77113643e-01 3.30206643e-02 1.62555053e+02] [-1.77003374e-01 9.84190359e-01 -6.25650084e-03 -1.95345004e+01] [-3.36067311e-02 3.09352424e-04 9.99435086e-01 -7.49483770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74264 meters 0.01346485550881431 Centerline is valid? [True, True] Translation: X:162.61, Y:-19.54, Z:-7.50 [[ 9.82968946e-01 1.80693228e-01 3.34963980e-02 1.62614232e+02] [-1.80581897e-01 9.83539487e-01 -6.34479412e-03 -1.95405468e+01] [-3.40914915e-02 1.87892473e-04 9.99418698e-01 -7.49627943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80264 meters 0.01220804503232258 Centerline is valid? [True, True] Translation: X:162.67, Y:-19.54, Z:-7.50 [[ 9.81752734e-01 1.87208789e-01 3.33832069e-02 1.62674490e+02] [-1.87102007e-01 9.82320145e-01 -6.32226264e-03 -1.95406994e+01] [-3.39765798e-02 -3.91663920e-05 9.99422629e-01 -7.49862863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86264 meters 0.015791510020210186 Centerline is valid? [True, True] Translation: X:162.73, Y:-19.55, Z:-7.50 [[ 9.81014118e-01 1.90843760e-01 3.44958006e-02 1.62731670e+02] [-1.90732034e-01 9.81620410e-01 -6.53157700e-03 -1.95451361e+01] [-3.51082926e-02 -1.71884945e-04 9.99383499e-01 -7.50172526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92264 meters 0.012889931814177698 Centerline is valid? [True, True] Translation: X:162.79, Y:-19.56, Z:-7.51 [[ 9.81265803e-01 1.89676747e-01 3.37661761e-02 1.62789085e+02] [-1.89569123e-01 9.81846584e-01 -6.39007703e-03 -1.95561568e+01] [-3.43652537e-02 -1.30660317e-04 9.99409332e-01 -7.50510725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98264 meters 0.012628384433088042 Centerline is valid? [True, True] Translation: X:162.84, Y:-19.58, Z:-7.51 [[ 9.82713296e-01 1.81902068e-01 3.44414936e-02 1.62844523e+02] [-1.81785377e-01 9.83316641e-01 -6.51609112e-03 -1.95795680e+01] [-3.50521842e-02 1.42489494e-04 9.99385473e-01 -7.50723374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04264 meters 0.018664898590301786 Centerline is valid? [True, True] Translation: X:162.90, Y:-19.61, Z:-7.51 [[ 9.84486633e-01 1.72060255e-01 3.43706079e-02 1.62899932e+02] [-1.71938108e-01 9.85086305e-01 -6.50067992e-03 -1.96079395e+01] [-3.49765238e-02 4.90215203e-04 9.99388014e-01 -7.50874515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10264 meters 0.03071866751252435 Centerline is valid? [True, True] Translation: X:162.96, Y:-19.64, Z:-7.51 [[ 9.85434787e-01 1.66596038e-01 3.41180380e-02 1.62955899e+02] [-1.66472450e-01 9.86025000e-01 -6.45159731e-03 -1.96357346e+01] [-3.47160489e-02 6.77915072e-04 9.99396986e-01 -7.51420595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16264 meters 0.027319324507317007 Centerline is valid? [True, True] Translation: X:163.01, Y:-19.65, Z:-7.52 [[ 9.85716101e-01 1.64938659e-01 3.40441933e-02 1.63014010e+02] [-1.64814597e-01 9.86303553e-01 -6.43820814e-03 -1.96534017e+01] [-3.46398182e-02 7.35265431e-04 9.99399591e-01 -7.51605812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22264 meters 0.024797577380441266 Centerline is valid? [True, True] Translation: X:163.07, Y:-19.67, Z:-7.52 [[ 9.85605467e-01 1.65616533e-01 3.39562494e-02 1.63073656e+02] [-1.65493523e-01 9.86189972e-01 -6.42127739e-03 -1.96690090e+01] [-3.45507823e-02 7.09306763e-04 9.99402692e-01 -7.51746427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28264000000001 meters 0.02377514998764127 Centerline is valid? [True, True] Translation: X:163.13, Y:-19.69, Z:-7.52 [[ 9.85131156e-01 1.68386335e-01 3.40976083e-02 1.63131645e+02] [-1.68263921e-01 9.85720885e-01 -6.44901835e-03 -1.96865431e+01] [-3.46966512e-02 6.15731616e-04 9.99397700e-01 -7.52121097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34264000000002 meters 0.021491788264821503 Centerline is valid? [True, True] Translation: X:163.19, Y:-19.70, Z:-7.52 [[ 9.84441294e-01 1.72259056e-01 3.46721311e-02 1.63189721e+02] [-1.72134859e-01 9.85051562e-01 -6.55826156e-03 -1.97015043e+01] [-3.52835568e-02 4.87941090e-04 9.99377222e-01 -7.52429921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40264000000002 meters 0.023899483282378085 Centerline is valid? [True, True] Translation: X:163.25, Y:-19.71, Z:-7.52 [[ 9.83755337e-01 1.76051222e-01 3.50913698e-02 1.63250101e+02] [-1.75926412e-01 9.84380943e-01 -6.63756090e-03 -1.97096111e+01] [-3.57118264e-02 3.56237181e-04 9.99362066e-01 -7.52448833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46264000000002 meters 0.012180214560086647 Centerline is valid? [True, True] Translation: X:163.31, Y:-19.72, Z:-7.53 [[ 9.82218052e-01 1.84498670e-01 3.47554103e-02 1.63309287e+02] [-1.84381508e-01 9.82832762e-01 -6.57429006e-03 -1.97157373e+01] [-3.53717037e-02 4.91314142e-05 9.99374224e-01 -7.52686422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52264 meters 0.01592732726140768 Centerline is valid? [True, True] Translation: X:163.37, Y:-19.71, Z:-7.53 [[ 9.80331542e-01 1.94274419e-01 3.47493594e-02 1.63368608e+02] [-1.94163441e-01 9.80947174e-01 -6.57269222e-03 -1.97143590e+01] [-3.53641918e-02 -3.03637683e-04 9.99374445e-01 -7.52963005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58264 meters 0.021293057468553814 Centerline is valid? [True, True] Translation: X:163.43, Y:-19.72, Z:-7.53 [[ 9.79200417e-01 2.00026579e-01 3.39987085e-02 1.63428664e+02] [-1.99923892e-01 9.79790343e-01 -6.42823918e-03 -1.97178033e+01] [-3.45974250e-02 -5.02619638e-04 9.99401204e-01 -7.53414672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64264 meters 0.02732980457003745 Centerline is valid? [True, True] Translation: X:163.49, Y:-19.72, Z:-7.54 [[ 9.78150379e-01 2.05315471e-01 3.26709907e-02 1.63489020e+02] [-2.05223625e-01 9.78695620e-01 -6.17628581e-03 -1.97190727e+01] [-3.32430426e-02 -6.63522846e-04 9.99447077e-01 -7.53991469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70264 meters 0.029290812844402794 Centerline is valid? [True, True] Translation: X:163.55, Y:-19.73, Z:-7.54 [[ 9.77855714e-01 2.06606350e-01 3.33469337e-02 1.63546760e+02] [-2.06511407e-01 9.78423883e-01 -6.30425238e-03 -1.97260563e+01] [-3.39299349e-02 -7.21872991e-04 9.99423953e-01 -7.54191849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76264 meters 0.02573174396087293 Centerline is valid? [True, True] Translation: X:163.60, Y:-19.74, Z:-7.54 [[ 9.78224856e-01 2.04874552e-01 3.32046451e-02 1.63604284e+02] [-2.04779497e-01 9.78788016e-01 -6.27509572e-03 -1.97404304e+01] [-3.37859161e-02 -6.61175911e-04 9.99428874e-01 -7.54394381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82264 meters 0.02207259969547572 Centerline is valid? [True, True] Translation: X:163.66, Y:-19.75, Z:-7.55 [[ 9.78925647e-01 2.01701106e-01 3.19568577e-02 1.63661799e+02] [-2.01611402e-01 9.79446977e-01 -6.03835037e-03 -1.97517530e+01] [-3.25179897e-02 -5.31770852e-04 9.99471009e-01 -7.54796604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88264 meters 0.021404654629103265 Centerline is valid? [True, True] Translation: X:163.72, Y:-19.76, Z:-7.55 [[ 9.79422864e-01 1.99447086e-01 3.08498402e-02 1.63718508e+02] [-1.99362413e-01 9.79908498e-01 -5.82786218e-03 -1.97637386e+01] [-3.13923707e-02 -4.42357123e-04 9.99507040e-01 -7.55443955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94264 meters 0.02047832766734069 Centerline is valid? [True, True] Translation: X:163.78, Y:-19.77, Z:-7.56 [[ 9.79759357e-01 1.97917863e-01 3.00020426e-02 1.63776946e+02] [-1.97837126e-01 9.80218533e-01 -5.66566431e-03 -1.97727758e+01] [-3.05298944e-02 -3.84530289e-04 9.99533780e-01 -7.55821521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00264 meters 0.01927042864298806 Centerline is valid? [True, True] Translation: X:163.84, Y:-19.78, Z:-7.56 [[ 9.79891378e-01 1.97169917e-01 3.06090173e-02 1.63835535e+02] [-1.97085563e-01 9.80369260e-01 -5.77874960e-03 -1.97809216e+01] [-3.11475352e-02 -3.70048512e-04 9.99514729e-01 -7.55850804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06264000000002 meters 0.01887177035291795 Centerline is valid? [True, True] Translation: X:163.89, Y:-19.79, Z:-7.56 [[ 9.79879101e-01 1.97043785e-01 3.17914170e-02 1.63893839e+02] [-1.96952775e-01 9.80394615e-01 -6.00030498e-03 -1.97877541e+01] [-3.23504568e-02 -3.81834340e-04 9.99476514e-01 -7.55786214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12264000000002 meters 0.019146047526627945 Centerline is valid? [True, True] Translation: X:163.95, Y:-19.79, Z:-7.56 [[ 9.79846535e-01 1.97232653e-01 3.16235486e-02 1.63952634e+02] [-1.97142750e-01 9.80356634e-01 -5.96704963e-03 -1.97949398e+01] [-3.21792527e-02 -3.87560431e-04 9.99482039e-01 -7.56107668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18264000000002 meters 0.01763720477994179 Centerline is valid? [True, True] Translation: X:164.01, Y:-19.81, Z:-7.56 [[ 9.80013491e-01 1.96290666e-01 3.23037333e-02 1.64010755e+02] [-1.96196395e-01 9.80545685e-01 -6.09375169e-03 -1.98051284e+01] [-3.28714329e-02 -3.65917156e-04 9.99459521e-01 -7.56217031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24264 meters 0.016265912801681912 Centerline is valid? [True, True] Translation: X:164.07, Y:-19.82, Z:-7.56 [[ 9.80413799e-01 1.94015983e-01 3.38612089e-02 1.64067299e+02] [-1.93911102e-01 9.80998321e-01 -6.38585491e-03 -1.98174432e+01] [-3.44567470e-02 -3.05284057e-04 9.99406143e-01 -7.56392301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30264 meters 0.016397191385436573 Centerline is valid? [True, True] Translation: X:164.12, Y:-19.83, Z:-7.57 [[ 9.80516139e-01 1.93593009e-01 3.33143797e-02 1.64123956e+02] [-1.93491316e-01 9.81081884e-01 -6.28065244e-03 -1.98257070e+01] [-3.39000248e-02 -2.87762088e-04 9.99425188e-01 -7.56838783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36264 meters 0.018763684872931622 Centerline is valid? [True, True] Translation: X:164.18, Y:-19.83, Z:-7.57 [[ 9.79959121e-01 1.96588414e-01 3.21421191e-02 1.64182042e+02] [-1.96495424e-01 9.80486028e-01 -6.05779804e-03 -1.98313709e+01] [-3.27057916e-02 -3.79384868e-04 9.99464950e-01 -7.57218562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42264 meters 0.02205006162532574 Centerline is valid? [True, True] Translation: X:164.24, Y:-19.84, Z:-7.58 [[ 9.79327299e-01 1.99833482e-01 3.13786600e-02 1.64241595e+02] [-1.99746598e-01 9.79829756e-01 -5.91151462e-03 -1.98352639e+01] [-3.19270633e-02 -4.78472937e-04 9.99490087e-01 -7.57625022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48264 meters 0.02755670933660309 Centerline is valid? [True, True] Translation: X:164.30, Y:-19.83, Z:-7.58 [[ 9.78082619e-01 2.05643855e-01 3.26342568e-02 1.64302851e+02] [-2.05553128e-01 9.78626651e-01 -6.14737855e-03 -1.98289412e+01] [-3.32009240e-02 -6.95429437e-04 9.99448455e-01 -7.57631357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54264 meters 0.030004683196283664 Centerline is valid? [True, True] Translation: X:164.36, Y:-19.83, Z:-7.58 [[ 9.77755366e-01 2.07096462e-01 3.32490666e-02 1.64360945e+02] [-2.07003155e-01 9.78320233e-01 -6.26222663e-03 -1.98335116e+01] [-3.38251196e-02 -7.59736012e-04 9.99427478e-01 -7.57919270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60264 meters 0.027108753519327934 Centerline is valid? [True, True] Translation: X:164.42, Y:-19.85, Z:-7.58 [[ 9.77875628e-01 2.06592388e-01 3.28457201e-02 1.64418145e+02] [-2.06501118e-01 9.78426821e-01 -6.18414647e-03 -1.98466558e+01] [-3.34147311e-02 -7.35351823e-04 9.99441301e-01 -7.58059785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66264 meters 0.02560365474031819 Centerline is valid? [True, True] Translation: X:164.48, Y:-19.86, Z:-7.59 [[ 9.78855820e-01 2.01891373e-01 3.28809498e-02 1.64476416e+02] [-2.01797321e-01 9.79407750e-01 -6.18876475e-03 -1.98550468e+01] [-3.34533153e-02 -5.77379208e-04 9.99440114e-01 -7.58795313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72264 meters 0.015405706757985856 Centerline is valid? [True, True] Translation: X:164.53, Y:-19.88, Z:-7.59 [[ 9.80741126e-01 1.92604176e-01 3.24110478e-02 1.64533111e+02] [-1.92507739e-01 9.81276498e-01 -6.09960562e-03 -1.98780796e+01] [-3.29790090e-02 -2.57243445e-04 9.99456011e-01 -7.58904254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78264000000001 meters 0.013163226394084727 Centerline is valid? [True, True] Translation: X:164.59, Y:-19.91, Z:-7.59 [[ 9.82990311e-01 1.80729989e-01 3.26606762e-02 1.64588026e+02] [-1.80625520e-01 9.83532740e-01 -6.14579612e-03 -1.99062169e+01] [-3.32335741e-02 1.41906421e-04 9.99447602e-01 -7.59098555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84264000000002 meters 0.03035437125943309 Centerline is valid? [True, True] Translation: X:164.64, Y:-19.93, Z:-7.59 [[ 9.84347331e-01 1.72999978e-01 3.36353870e-02 1.64642946e+02] [-1.72884712e-01 9.84921741e-01 -6.32771415e-03 -1.99296852e+01] [-3.42229183e-02 4.13624362e-04 9.99414139e-01 -7.59256177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90264000000002 meters 0.025127498030513243 Centerline is valid? [True, True] Translation: X:164.70, Y:-19.96, Z:-7.59 [[ 9.85519933e-01 1.66095277e-01 3.41001508e-02 1.64698326e+02] [-1.65972810e-01 9.86109490e-01 -6.41100547e-03 -1.99598943e+01] [-3.46913200e-02 6.58475843e-04 9.99397858e-01 -7.59499817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96264 meters 0.021384808854764934 Centerline is valid? [True, True] Translation: X:164.76, Y:-19.97, Z:-7.60 [[ 9.85244116e-01 1.67837298e-01 3.35361630e-02 1.64758318e+02] [-1.67719772e-01 9.85814533e-01 -6.30746613e-03 -1.99710134e+01] [-3.41190650e-02 5.89716262e-04 9.99417601e-01 -7.59605702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02264 meters 0.015605336881843792 Centerline is valid? [True, True] Translation: X:164.82, Y:-19.98, Z:-7.60 [[ 9.83712045e-01 1.76537556e-01 3.38393714e-02 1.64817078e+02] [-1.76423002e-01 9.84293862e-01 -6.36538361e-03 -1.99781086e+01] [-3.44316148e-02 2.91661043e-04 9.99407014e-01 -7.60008057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08264 meters 0.011903906324565809 Centerline is valid? [True, True] Translation: X:164.88, Y:-19.98, Z:-7.60 [[ 9.82267920e-01 1.84374095e-01 3.39989187e-02 1.64877060e+02] [-1.84263163e-01 9.82856140e-01 -6.39483385e-03 -1.99780335e+01] [-3.45950878e-02 1.66918390e-05 9.99401411e-01 -7.60124127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14264 meters 0.018295045220866737 Centerline is valid? [True, True] Translation: X:164.94, Y:-19.97, Z:-7.61 [[ 9.80013900e-01 1.95990949e-01 3.40632464e-02 1.64937253e+02] [-1.95886655e-01 9.80605625e-01 -6.40521263e-03 -1.99721074e+01] [-3.46579747e-02 -3.95337981e-04 9.99399154e-01 -7.60543091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20264 meters 0.026632255353029658 Centerline is valid? [True, True] Translation: X:165.00, Y:-19.97, Z:-7.61 [[ 9.77993512e-01 2.06003720e-01 3.30326680e-02 1.64999211e+02] [-2.05911412e-01 9.78550937e-01 -6.20924786e-03 -1.99665142e+01] [-3.36032764e-02 -7.29199204e-04 9.99434984e-01 -7.60956372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26264 meters 0.030908253038100877 Centerline is valid? [True, True] Translation: X:165.06, Y:-19.97, Z:-7.61 [[ 9.77030955e-01 2.10568998e-01 3.27293394e-02 1.65059665e+02] [-2.10480935e-01 9.77578604e-01 -6.15222348e-03 -1.99692702e+01] [-3.32909694e-02 -8.77989151e-04 9.99445316e-01 -7.61251093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32264 meters 0.03436010585970594 Centerline is valid? [True, True] Translation: X:165.12, Y:-19.97, Z:-7.62 [[ 9.76823130e-01 2.11654645e-01 3.19199506e-02 1.65118233e+02] [-2.11571453e-01 9.77344113e-01 -6.00039027e-03 -1.99704797e+01] [-3.24667863e-02 -8.92030316e-04 9.99472417e-01 -7.61828599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38264 meters 0.03161837216379123 Centerline is valid? [True, True] Translation: X:165.18, Y:-19.99, Z:-7.62 [[ 9.78149700e-01 2.05454534e-01 3.18056429e-02 1.65175518e+02] [-2.05368740e-01 9.78666421e-01 -5.97635757e-03 -1.99877435e+01] [-3.23549844e-02 -6.86112454e-04 9.99476205e-01 -7.62179653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44264 meters 0.02006424464889658 Centerline is valid? [True, True] Translation: X:165.23, Y:-20.01, Z:-7.62 [[ 9.80008453e-01 1.96191634e-01 3.30495775e-02 1.65233437e+02] [-1.96093761e-01 9.80565493e-01 -6.20894472e-03 -2.00075498e+01] [-3.36254183e-02 -3.95997641e-04 9.99434427e-01 -7.62255587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50264 meters 0.014607706084667323 Centerline is valid? [True, True] Translation: X:165.29, Y:-20.02, Z:-7.63 [[ 9.81071198e-01 1.90764373e-01 3.32905284e-02 1.65288855e+02] [-1.90661920e-01 9.81635833e-01 -6.25481997e-03 -2.00243873e+01] [-3.38723724e-02 -2.10812344e-04 9.99426144e-01 -7.62599583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56264000000002 meters 0.011988716125617707 Centerline is valid? [True, True] Translation: X:165.35, Y:-20.04, Z:-7.63 [[ 9.82205139e-01 1.84808804e-01 3.34480210e-02 1.65345256e+02] [-1.84701998e-01 9.82774494e-01 -6.28219700e-03 -2.00428977e+01] [-3.40328672e-02 -7.51011191e-06 9.99420714e-01 -7.62739411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62264000000002 meters 0.012656564129928454 Centerline is valid? [True, True] Translation: X:165.40, Y:-20.06, Z:-7.63 [[ 9.82794109e-01 1.81929684e-01 3.18956095e-02 1.65402705e+02] [-1.81831097e-01 9.83311539e-01 -5.98912385e-03 -2.00566624e+01] [-3.24529203e-02 8.64619608e-05 9.99473262e-01 -7.63237901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68264000000002 meters 0.017408487306382555 Centerline is valid? [True, True] Translation: X:165.46, Y:-20.07, Z:-7.64 [[ 9.82942163e-01 1.81215804e-01 3.13932735e-02 1.65460659e+02] [-1.81119984e-01 9.83443349e-01 -5.89324013e-03 -2.00674770e+01] [-3.19414542e-02 1.06765008e-04 9.99489736e-01 -7.63616493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74264 meters 0.015429837612589882 Centerline is valid? [True, True] Translation: X:165.52, Y:-20.08, Z:-7.64 [[ 9.82973282e-01 1.80966070e-01 3.18560524e-02 1.65518853e+02] [-1.80867327e-01 9.83489333e-01 -5.97845982e-03 -2.00777925e+01] [-3.24119861e-02 1.14947240e-04 9.99474587e-01 -7.63791492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80264 meters 0.013012658359069245 Centerline is valid? [True, True] Translation: X:165.58, Y:-20.09, Z:-7.64 [[ 9.83171657e-01 1.79690319e-01 3.29375626e-02 1.65575538e+02] [-1.79584097e-01 9.83723215e-01 -6.17968688e-03 -2.00927899e+01] [-3.35118749e-02 1.60630542e-04 9.99438306e-01 -7.63914892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86264 meters 0.014142135995549214 Centerline is valid? [True, True] Translation: X:165.63, Y:-20.11, Z:-7.64 [[ 9.83415738e-01 1.78307797e-01 3.31634869e-02 1.65631358e+02] [-1.78199378e-01 9.83974739e-01 -6.22053596e-03 -2.01072021e+01] [-3.37412034e-02 2.07660221e-04 9.99430582e-01 -7.64341550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92264 meters 0.013540975449870091 Centerline is valid? [True, True] Translation: X:165.69, Y:-20.12, Z:-7.64 [[ 9.83477584e-01 1.77954799e-01 3.32254679e-02 1.65688957e+02] [-1.77845849e-01 9.84038638e-01 -6.22992188e-03 -2.01191666e+01] [-3.38037887e-02 2.17976970e-04 9.99428465e-01 -7.64405280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98264 meters 0.012638446947647876 Centerline is valid? [True, True] Translation: X:165.75, Y:-20.13, Z:-7.65 [[ 9.83039060e-01 1.80241776e-01 3.38689996e-02 1.65745957e+02] [-1.80129976e-01 9.83622327e-01 -6.34896954e-03 -2.01271163e+01] [-3.44586537e-02 1.40462972e-04 9.99406114e-01 -7.64594173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04264 meters 0.012031945573572315 Centerline is valid? [True, True] Translation: X:165.80, Y:-20.14, Z:-7.65 [[ 9.82611016e-01 1.82587488e-01 3.37253824e-02 1.65803749e+02] [-1.82478092e-01 9.83189609e-01 -6.31978305e-03 -2.01366057e+01] [-3.43123588e-02 5.57450121e-05 9.99411156e-01 -7.64872618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10264 meters 0.02659705946580798 Centerline is valid? [True, True] Translation: X:165.86, Y:-20.15, Z:-7.65 [[ 9.82477232e-01 1.83504217e-01 3.26295976e-02 1.65860194e+02] [-1.83402367e-01 9.83018923e-01 -6.11306504e-03 -2.01458759e+01] [-3.31972851e-02 2.16017717e-05 9.99448818e-01 -7.65457088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16264 meters 0.02232519773304766 Centerline is valid? [True, True] Translation: X:165.92, Y:-20.16, Z:-7.66 [[ 9.82456977e-01 1.83712098e-01 3.20648415e-02 1.65917407e+02] [-1.83613924e-01 9.82980094e-01 -6.00518200e-03 -2.01576959e+01] [-3.26223255e-02 1.22815875e-05 9.99467750e-01 -7.65769952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22264 meters 0.03215495102412346 Centerline is valid? [True, True] Translation: X:165.97, Y:-20.18, Z:-7.66 [[ 9.82838169e-01 1.81728201e-01 3.16858629e-02 1.65973919e+02] [-1.81631351e-01 9.83348796e-01 -5.93270337e-03 -2.01754997e+01] [-3.22363946e-02 7.57412306e-05 9.99480270e-01 -7.66053157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28264000000001 meters 0.013594842246310784 Centerline is valid? [True, True] Translation: X:166.03, Y:-20.19, Z:-7.66 [[ 9.83431855e-01 1.78274140e-01 3.28651471e-02 1.66030862e+02] [-1.78168073e-01 9.83980840e-01 -6.15177653e-03 -2.01933734e+01] [-3.34353777e-02 1.94333065e-04 9.99440863e-01 -7.66064305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34264000000002 meters 0.014481523312192756 Centerline is valid? [True, True] Translation: X:166.09, Y:-20.21, Z:-7.66 [[ 9.83715655e-01 1.76569417e-01 3.35671128e-02 1.66087774e+02] [-1.76457837e-01 9.84288157e-01 -6.28143147e-03 -2.02099657e+01] [-3.41488203e-02 2.55962362e-04 9.99416726e-01 -7.66221359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40264000000002 meters 0.016252054588522694 Centerline is valid? [True, True] Translation: X:166.15, Y:-20.23, Z:-7.66 [[ 9.83652754e-01 1.76781372e-01 3.42871243e-02 1.66146130e+02] [-1.76665152e-01 9.84250112e-01 -6.41412544e-03 -2.02251806e+01] [-3.48810039e-02 2.51932110e-04 9.99391441e-01 -7.66276044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46264 meters 0.012822187620276312 Centerline is valid? [True, True] Translation: X:166.20, Y:-20.23, Z:-7.66 [[ 9.83232783e-01 1.78978583e-01 3.49279498e-02 1.66203334e+02] [-1.78859379e-01 9.83852954e-01 -6.53351689e-03 -2.02341716e+01] [-3.55333262e-02 1.76776570e-04 9.99368476e-01 -7.66497087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52264 meters 0.011923442607777592 Centerline is valid? [True, True] Translation: X:166.26, Y:-20.24, Z:-7.67 [[ 9.82538229e-01 1.82932389e-01 3.39760266e-02 1.66262247e+02] [-1.82822033e-01 9.83125496e-01 -6.35329024e-03 -2.02402111e+01] [-3.45649206e-02 3.07842875e-05 9.99402454e-01 -7.66877004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58264 meters 0.014700655803820697 Centerline is valid? [True, True] Translation: X:166.32, Y:-20.24, Z:-7.67 [[ 9.80831655e-01 1.91900555e-01 3.38147991e-02 1.66322857e+02] [-1.91796618e-01 9.81414334e-01 -6.32152516e-03 -2.02367784e+01] [-3.43994328e-02 -2.85212120e-04 9.99408124e-01 -7.67028431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64264 meters 0.022826409728184664 Centerline is valid? [True, True] Translation: X:166.39, Y:-20.23, Z:-7.67 [[ 9.79102604e-01 2.00646233e-01 3.31538949e-02 1.66385015e+02] [-2.00551394e-01 9.79663590e-01 -6.19584774e-03 -2.02302284e+01] [-3.37228372e-02 -5.82689206e-04 9.99431054e-01 -7.67412585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70264 meters 0.026656154846045065 Centerline is valid? [True, True] Translation: X:166.44, Y:-20.23, Z:-7.68 [[ 9.78398668e-01 2.03935065e-01 3.38605482e-02 1.66443418e+02] [-2.03838096e-01 9.78984159e-01 -6.32822108e-03 -2.02291244e+01] [-3.44394865e-02 -7.10546590e-04 9.99406532e-01 -7.67690251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76264 meters 0.023952509722250197 Centerline is valid? [True, True] Translation: X:166.50, Y:-20.24, Z:-7.68 [[ 9.78764403e-01 2.02171603e-01 3.38657011e-02 1.66501856e+02] [-2.02073646e-01 9.79349896e-01 -6.32635386e-03 -2.02385836e+01] [-3.44453800e-02 -6.51355752e-04 9.99406370e-01 -7.67892233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82264 meters 0.022499666770071095 Centerline is valid? [True, True] Translation: X:166.56, Y:-20.26, Z:-7.68 [[ 9.80536520e-01 1.93430398e-01 3.36572900e-02 1.66559034e+02] [-1.93328554e-01 9.81113940e-01 -6.28548607e-03 -2.02605393e+01] [-3.42374404e-02 -3.43766563e-04 9.99413668e-01 -7.68110875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88264 meters 0.01203765341960691 Centerline is valid? [True, True] Translation: X:166.61, Y:-20.28, Z:-7.69 [[ 9.81966601e-01 1.86108908e-01 3.32425789e-02 1.66614478e+02] [-1.86005380e-01 9.82529117e-01 -6.20740792e-03 -2.02769139e+01] [-3.38170556e-02 -8.78312658e-05 9.99428036e-01 -7.68535018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94264 meters 0.025089950358169875 Centerline is valid? [True, True] Translation: X:166.67, Y:-20.30, Z:-7.69 [[ 9.83927131e-01 1.75453483e-01 3.32186108e-02 1.66668886e+02] [-1.75344096e-01 9.84487683e-01 -6.20074011e-03 -2.03014956e+01] [-3.37912547e-02 2.76389131e-04 9.99428874e-01 -7.68959101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00264 meters 0.0279299817666352 Centerline is valid? [True, True] Translation: X:166.73, Y:-20.33, Z:-7.69 [[ 9.85824658e-01 1.64587945e-01 3.25661285e-02 1.66725214e+02] [-1.64476967e-01 9.86362209e-01 -6.07620933e-03 -2.03269845e+01] [-3.31220693e-02 6.33698916e-04 9.99451113e-01 -7.69162297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06264000000002 meters 0.03223146181916219 Centerline is valid? [True, True] Translation: X:166.78, Y:-20.35, Z:-7.69 [[ 9.87240008e-01 1.55765325e-01 3.30806626e-02 1.66780763e+02] [-1.55645874e-01 9.87793639e-01 -6.17167307e-03 -2.03518842e+01] [-3.36382007e-02 9.44053932e-04 9.99433630e-01 -7.69316278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12264000000002 meters 0.038401319262459196 Centerline is valid? [True, True] Translation: X:166.84, Y:-20.37, Z:-7.69 [[ 9.87790695e-01 1.52043767e-01 3.39446124e-02 1.66839352e+02] [-1.51915799e-01 9.88373151e-01 -6.33280301e-03 -2.03709743e+01] [-3.45128068e-02 1.09876097e-03 9.99403652e-01 -7.69304567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18264000000002 meters 0.04217216685722882 Centerline is valid? [True, True] Translation: X:166.90, Y:-20.39, Z:-7.70 [[ 9.88223240e-01 1.49228301e-01 3.38488076e-02 1.66897558e+02] [-1.49099362e-01 9.88802046e-01 -6.31615812e-03 -2.03935372e+01] [-3.44123197e-02 1.19493864e-03 9.99407006e-01 -7.69625742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24264 meters 0.03739737010645135 Centerline is valid? [True, True] Translation: X:166.96, Y:-20.41, Z:-7.70 [[ 9.88266487e-01 1.49081630e-01 3.32267731e-02 1.66957402e+02] [-1.48957343e-01 9.88824192e-01 -6.19896802e-03 -2.04121937e+01] [-3.37795893e-02 1.17686050e-03 9.99428614e-01 -7.69972049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30264 meters 0.036722466378978816 Centerline is valid? [True, True] Translation: X:167.02, Y:-20.43, Z:-7.71 [[ 9.87723001e-01 1.52964428e-01 3.17042221e-02 1.67015862e+02] [-1.52853033e-01 9.88231186e-01 -5.92230612e-03 -2.04298823e+01] [-3.22370031e-02 1.00351148e-03 9.99479749e-01 -7.70575529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36264 meters 0.03267557437257762 Centerline is valid? [True, True] Translation: X:167.08, Y:-20.44, Z:-7.71 [[ 9.87012279e-01 1.57466079e-01 3.17992949e-02 1.67075293e+02] [-1.57356315e-01 9.87524022e-01 -5.94102524e-03 -2.04422898e+01] [-3.23380776e-02 8.60044978e-04 9.99476618e-01 -7.70797565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42264 meters 0.022800867952195606 Centerline is valid? [True, True] Translation: X:167.14, Y:-20.45, Z:-7.71 [[ 9.85441983e-01 1.66824200e-01 3.27686591e-02 1.67135778e+02] [-1.66712784e-01 9.85986491e-01 -6.12265313e-03 -2.04496294e+01] [-3.33308620e-02 5.70565035e-04 9.99444210e-01 -7.70839961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48264 meters 0.015869827086564547 Centerline is valid? [True, True] Translation: X:167.20, Y:-20.45, Z:-7.71 [[ 9.84187841e-01 1.73896991e-01 3.36768604e-02 1.67196674e+02] [-1.73783446e-01 9.84763789e-01 -6.29229991e-03 -2.04545496e+01] [-3.42579647e-02 3.40324213e-04 9.99412966e-01 -7.70857529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54264 meters 0.012079834049916612 Centerline is valid? [True, True] Translation: X:167.26, Y:-20.46, Z:-7.71 [[ 9.82584141e-01 1.82840114e-01 3.31345450e-02 1.67255143e+02] [-1.82735229e-01 9.83142661e-01 -6.19226675e-03 -2.04589094e+01] [-3.37081795e-02 2.95744269e-05 9.99431717e-01 -7.71309179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60264 meters 0.013706274869779822 Centerline is valid? [True, True] Translation: X:167.31, Y:-20.47, Z:-7.72 [[ 9.81395585e-01 1.89201610e-01 3.26413257e-02 1.67313547e+02] [-1.89103373e-01 9.81938244e-01 -6.09906781e-03 -2.04669425e+01] [-3.32057196e-02 -1.86986581e-04 9.99448521e-01 -7.71604048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66264 meters 0.017624229826300016 Centerline is valid? [True, True] Translation: X:167.37, Y:-20.47, Z:-7.72 [[ 9.80330065e-01 1.94565630e-01 3.31236938e-02 1.67371151e+02] [-1.94467576e-01 9.80889430e-01 -6.18765525e-03 -2.04717170e+01] [-3.36945861e-02 -3.75539964e-04 9.99432106e-01 -7.71857267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72264 meters 0.01978381529372924 Centerline is valid? [True, True] Translation: X:167.43, Y:-20.48, Z:-7.72 [[ 9.79850651e-01 1.96877443e-01 3.36448340e-02 1.67429244e+02] [-1.96777720e-01 9.80427997e-01 -6.28269004e-03 -2.04788535e+01] [-3.42232571e-02 -4.64455812e-04 9.99414105e-01 -7.72022147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78264000000001 meters 0.020649903144846157 Centerline is valid? [True, True] Translation: X:167.49, Y:-20.49, Z:-7.72 [[ 9.79787934e-01 1.97264019e-01 3.32040939e-02 1.67486525e+02] [-1.97167169e-01 9.80350286e-01 -6.19876880e-03 -2.04892367e+01] [-3.37744370e-02 -4.73278308e-04 9.99429369e-01 -7.72493965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84264000000002 meters 0.03114534395123668 Centerline is valid? [True, True] Translation: X:167.54, Y:-20.51, Z:-7.73 [[ 9.80458087e-01 1.93755448e-01 3.40700130e-02 1.67543271e+02] [-1.93651419e-01 9.81049792e-01 -6.35870732e-03 -2.05058081e+01] [-3.46564133e-02 -3.63260364e-04 9.99399220e-01 -7.72617866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90264000000002 meters 0.023614689436374712 Centerline is valid? [True, True] Translation: X:167.60, Y:-20.53, Z:-7.73 [[ 9.82182576e-01 1.84958718e-01 3.32815156e-02 1.67598135e+02] [-1.84854457e-01 9.82746290e-01 -6.20968263e-03 -2.05328135e+01] [-3.38558209e-02 -5.31944020e-05 9.99426726e-01 -7.73130425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96264 meters 0.014560241285450831 Centerline is valid? [True, True] Translation: X:167.65, Y:-20.56, Z:-7.74 [[ 9.83468672e-01 1.78184418e-01 3.22441452e-02 1.67654832e+02] [-1.78083015e-01 9.83997095e-01 -6.01297356e-03 -2.05596953e+01] [-3.27995634e-02 1.71436529e-04 9.99461935e-01 -7.73808254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02264 meters 0.022170795224945222 Centerline is valid? [True, True] Translation: X:167.71, Y:-20.59, Z:-7.74 [[ 9.84990533e-01 1.69663769e-01 3.17467343e-02 1.67711000e+02] [-1.69560823e-01 9.85501902e-01 -5.92696870e-03 -2.05903739e+01] [-3.22920589e-02 4.55005667e-04 9.99478372e-01 -7.74180301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08264 meters 0.02325921701122827 Centerline is valid? [True, True] Translation: X:167.77, Y:-20.61, Z:-7.74 [[ 9.85095574e-01 1.68933828e-01 3.23739476e-02 1.67772338e+02] [-1.68826443e-01 9.85627275e-01 -6.04211401e-03 -2.06074774e+01] [-3.29293632e-02 4.86481353e-04 9.99457563e-01 -7.74303520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14264 meters 0.0191817491070955 Centerline is valid? [True, True] Translation: X:167.83, Y:-20.62, Z:-7.75 [[ 9.84403699e-01 1.72877430e-01 3.25998599e-02 1.67833395e+02] [-1.72770488e-01 9.84943279e-01 -6.09066586e-03 -2.06188437e+01] [-3.31619516e-02 3.63380290e-04 9.99449925e-01 -7.74509268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20264 meters 0.01172873266038469 Centerline is valid? [True, True] Translation: X:167.90, Y:-20.62, Z:-7.74 [[ 9.82526610e-01 1.83079309e-01 3.35175781e-02 1.67896955e+02] [-1.82971939e-01 9.83098147e-01 -6.26928181e-03 -2.06167162e+01] [-3.40988447e-02 2.69599649e-05 9.99418465e-01 -7.74298246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26264 meters 0.01610861902277489 Centerline is valid? [True, True] Translation: X:167.96, Y:-20.61, Z:-7.75 [[ 9.80663089e-01 1.92939390e-01 3.27764940e-02 1.67957956e+02] [-1.92842150e-01 9.81210629e-01 -6.13251111e-03 -2.06129747e+01] [-3.33438473e-02 -3.06762279e-04 9.99443892e-01 -7.74836719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32264 meters 0.02187315470589682 Centerline is valid? [True, True] Translation: X:168.02, Y:-20.62, Z:-7.75 [[ 9.79522826e-01 1.98845172e-01 3.15536155e-02 1.68017720e+02] [-1.98758120e-01 9.80030795e-01 -5.90351201e-03 -2.06158025e+01] [-3.20973998e-02 -4.88912526e-04 9.99484626e-01 -7.75406631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38264 meters 0.023295567151069094 Centerline is valid? [True, True] Translation: X:168.08, Y:-20.63, Z:-7.76 [[ 9.79241056e-01 2.00220934e-01 3.15995559e-02 1.68075291e+02] [-2.00134351e-01 9.79750627e-01 -5.91185458e-03 -2.06252494e+01] [-3.21433618e-02 -5.35025903e-04 9.99483125e-01 -7.75675674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44264 meters 0.0251069977645151 Centerline is valid? [True, True] Translation: X:168.13, Y:-20.63, Z:-7.76 [[ 9.78639196e-01 2.03020974e-01 3.23698724e-02 1.68134261e+02] [-2.02931720e-01 9.79174177e-01 -6.05377609e-03 -2.06322590e+01] [-3.29247867e-02 -6.44411329e-04 9.99457624e-01 -7.75693735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50264 meters 0.03236909293120661 Centerline is valid? [True, True] Translation: X:168.19, Y:-20.63, Z:-7.76 [[ 9.78363442e-01 2.04073571e-01 3.40433891e-02 1.68192542e+02] [-2.03975542e-01 9.78955292e-01 -6.36507924e-03 -2.06318357e+01] [-3.46259004e-02 -7.16657902e-04 9.99400087e-01 -7.76145670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56264000000002 meters 0.028632862821561873 Centerline is valid? [True, True] Translation: X:168.25, Y:-20.65, Z:-7.76 [[ 9.77915600e-01 2.06019218e-01 3.51733117e-02 1.68249546e+02] [-2.05915911e-01 9.78547607e-01 -6.57406449e-03 -2.06453234e+01] [-3.57731436e-02 -8.13864286e-04 9.99359605e-01 -7.75809120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62264000000002 meters 0.030067451726366094 Centerline is valid? [True, True] Translation: X:168.31, Y:-20.65, Z:-7.76 [[ 9.77663609e-01 2.07208554e-01 3.51920978e-02 1.68307748e+02] [-2.07105987e-01 9.78296415e-01 -6.57529459e-03 -2.06514846e+01] [-3.57907604e-02 -8.60067926e-04 9.99358935e-01 -7.76124521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68264000000002 meters 0.031955989754871544 Centerline is valid? [True, True] Translation: X:168.37, Y:-20.66, Z:-7.76 [[ 9.77716121e-01 2.07079417e-01 3.44862685e-02 1.68365586e+02] [-2.06980901e-01 9.78323776e-01 -6.44179079e-03 -2.06600648e+01] [-3.50726987e-02 -8.39756212e-04 9.99384411e-01 -7.76473572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74264 meters 0.027457432675763564 Centerline is valid? [True, True] Translation: X:168.42, Y:-20.67, Z:-7.77 [[ 9.77888768e-01 2.06280047e-01 3.43816719e-02 1.68423298e+02] [-2.06181692e-01 9.78492660e-01 -6.42060076e-03 -2.06719632e+01] [-3.49666554e-02 -8.10237930e-04 9.99388151e-01 -7.76705457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80264 meters 0.026037939941211098 Centerline is valid? [True, True] Translation: X:168.48, Y:-20.68, Z:-7.77 [[ 9.78304412e-01 2.04478354e-01 3.33028488e-02 1.68481292e+02] [-2.04385087e-01 9.78870818e-01 -6.21752265e-03 -2.06806383e+01] [-3.38705357e-02 -7.23975814e-04 9.99425967e-01 -7.77102448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86264 meters 0.024836160842698796 Centerline is valid? [True, True] Translation: X:168.54, Y:-20.69, Z:-7.78 [[ 9.78900711e-01 2.01704997e-01 3.26877954e-02 1.68538577e+02] [-2.01613647e-01 9.79446125e-01 -6.10121149e-03 -2.06891829e+01] [-3.32465794e-02 -6.17825392e-04 9.99446989e-01 -7.77587834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92264 meters 0.03377291225290974 Centerline is valid? [True, True] Translation: X:168.60, Y:-20.69, Z:-7.78 [[ 9.79090840e-01 2.00735709e-01 3.29590877e-02 1.68596639e+02] [-2.00642354e-01 9.79645255e-01 -6.14984764e-03 -2.06944719e+01] [-3.35227079e-02 -5.91729460e-04 9.99437781e-01 -7.77969945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98264 meters 0.028049412609924086 Centerline is valid? [True, True] Translation: X:168.65, Y:-20.71, Z:-7.78 [[ 9.79575801e-01 1.98298066e-01 3.33035577e-02 1.68654605e+02] [-1.98201415e-01 9.80141628e-01 -6.21192126e-03 -2.07055293e+01] [-3.38740152e-02 -5.15764502e-04 9.99425978e-01 -7.78053461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04264 meters 0.017113347771503685 Centerline is valid? [True, True] Translation: X:168.71, Y:-20.71, Z:-7.78 [[ 9.80245159e-01 1.94617254e-01 3.52640395e-02 1.68713289e+02] [-1.94506576e-01 9.80879174e-01 -6.57559553e-03 -2.07149651e+01] [-3.58694862e-02 -4.13391874e-04 9.99356397e-01 -7.77932749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10264 meters 0.021279299503905374 Centerline is valid? [True, True] Translation: X:168.77, Y:-20.73, Z:-7.78 [[ 9.81329361e-01 1.88863264e-01 3.63779170e-02 1.68770574e+02] [-1.88741578e-01 9.82003372e-01 -6.78185422e-03 -2.07290262e+01] [-3.70040803e-02 -2.10792812e-04 9.99315092e-01 -7.78127826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16264 meters 0.017713099915943484 Centerline is valid? [True, True] Translation: X:168.83, Y:-20.75, Z:-7.78 [[ 9.82453707e-01 1.82876732e-01 3.66171331e-02 1.68828679e+02] [-1.82749344e-01 9.83135851e-01 -6.82470977e-03 -2.07457864e+01] [-3.72476969e-02 1.32043720e-05 9.99306064e-01 -7.78289083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22264 meters 0.017773435152796196 Centerline is valid? [True, True] Translation: X:168.89, Y:-20.77, Z:-7.79 [[ 9.84127467e-01 1.73405950e-01 3.77293706e-02 1.68886848e+02] [-1.73263784e-01 9.84850360e-01 -7.03068963e-03 -2.07677018e+01] [-3.83769476e-02 3.81961270e-04 9.99263261e-01 -7.78543973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28264000000001 meters 0.03354600871550456 Centerline is valid? [True, True] Translation: X:168.94, Y:-20.79, Z:-7.79 [[ 9.85689671e-01 1.64220614e-01 3.80455372e-02 1.68944551e+02] [-1.64068920e-01 9.86423348e-01 -7.09697133e-03 -2.07905237e+01] [-3.86944751e-02 7.53321131e-04 9.99250804e-01 -7.78692980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34264000000002 meters 0.028224281944378784 Centerline is valid? [True, True] Translation: X:169.00, Y:-20.81, Z:-7.79 [[ 9.86698346e-01 1.58156925e-01 3.75867217e-02 1.69002737e+02] [-1.58004452e-01 9.87413504e-01 -7.01184852e-03 -2.08095263e+01] [-3.82226090e-02 9.79709993e-04 9.99268769e-01 -7.79032044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40264000000002 meters 0.029845024194029218 Centerline is valid? [True, True] Translation: X:169.06, Y:-20.83, Z:-7.79 [[ 9.86895761e-01 1.56665466e-01 3.86353205e-02 1.69063420e+02] [-1.56503248e-01 9.87651151e-01 -7.20678271e-03 -2.08253910e+01] [-3.92872727e-02 1.06579017e-03 9.99227389e-01 -7.79172681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46264 meters 0.03195291494838285 Centerline is valid? [True, True] Translation: X:169.12, Y:-20.84, Z:-7.79 [[ 9.86802841e-01 1.56763433e-01 4.05632757e-02 1.69122386e+02] [-1.56584378e-01 9.87635543e-01 -7.57406697e-03 -2.08446492e+01] [-4.12490695e-02 1.12253551e-03 9.99148264e-01 -7.79311441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52264 meters 0.030409969482612882 Centerline is valid? [True, True] Translation: X:169.18, Y:-20.86, Z:-7.80 [[ 9.86731565e-01 1.57593612e-01 3.90521613e-02 1.69182124e+02] [-1.57428068e-01 9.87503491e-01 -7.29786624e-03 -2.08619615e+01] [-3.97142427e-02 1.05312866e-03 9.99210523e-01 -7.79965730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58264 meters 0.028614245754201264 Centerline is valid? [True, True] Translation: X:169.24, Y:-20.88, Z:-7.81 [[ 9.86608490e-01 1.58687727e-01 3.77080026e-02 1.69242391e+02] [-1.58533947e-01 9.87328337e-01 -7.05291584e-03 -2.08769795e+01] [-3.83493907e-02 9.80468164e-04 9.99263911e-01 -7.80524740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64264 meters 0.02617350379794618 Centerline is valid? [True, True] Translation: X:169.30, Y:-20.89, Z:-7.81 [[ 9.85773684e-01 1.64089426e-01 3.63992353e-02 1.69300353e+02] [-1.63949526e-01 9.86445181e-01 -6.81595321e-03 -2.08920488e+01] [-3.70242761e-02 7.51349936e-04 9.99314084e-01 -7.81195483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70264 meters 0.024386071611209828 Centerline is valid? [True, True] Translation: X:169.36, Y:-20.90, Z:-7.82 [[ 9.84274179e-01 1.72994745e-01 3.57373673e-02 1.69360521e+02] [-1.72865746e-01 9.84922662e-01 -6.69201487e-03 -2.08975018e+01] [-3.63562264e-02 4.09010775e-04 9.99338810e-01 -7.81618979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76264 meters 0.010909862953137762 Centerline is valid? [True, True] Translation: X:169.42, Y:-20.90, Z:-7.82 [[ 9.82478494e-01 1.82751198e-01 3.65787925e-02 1.69423219e+02] [-1.82622811e-01 9.83159192e-01 -6.84921621e-03 -2.08991395e+01] [-3.72144785e-02 4.90857136e-05 9.99307300e-01 -7.81675750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82264 meters 0.018809429803729155 Centerline is valid? [True, True] Translation: X:169.48, Y:-20.91, Z:-7.82 [[ 9.81045964e-01 1.90136380e-01 3.73761147e-02 1.69484714e+02] [-1.90007667e-01 9.81757659e-01 -6.99891117e-03 -2.09056306e+01] [-3.80250345e-02 -2.35494799e-04 9.99276759e-01 -7.81749468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88264 meters 0.014434350584991212 Centerline is valid? [True, True] Translation: X:169.55, Y:-20.92, Z:-7.82 [[ 9.80333250e-01 1.93490065e-01 3.88370049e-02 1.69546371e+02] [-1.93353457e-01 9.81102164e-01 -7.27910731e-03 -2.09159080e+01] [-3.95115045e-02 -3.73318236e-04 9.99219046e-01 -7.81975826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94264 meters 0.017199404396182606 Centerline is valid? [True, True] Translation: X:169.61, Y:-20.93, Z:-7.82 [[ 9.79664955e-01 1.96962635e-01 3.82399718e-02 1.69607002e+02] [-1.96832579e-01 9.80410869e-01 -7.17388746e-03 -2.09280802e+01] [-3.89038718e-02 -4.98866121e-04 9.99242833e-01 -7.82426363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00264 meters 0.019677655233736727 Centerline is valid? [True, True] Translation: X:169.67, Y:-20.94, Z:-7.83 [[ 9.79066722e-01 2.00087063e-01 3.73298889e-02 1.69667957e+02] [-1.99965148e-01 9.79777937e-01 -7.00960222e-03 -2.09399575e+01] [-3.79775323e-02 -6.01808489e-04 9.99278412e-01 -7.82974685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06264000000002 meters 0.022433649458393195 Centerline is valid? [True, True] Translation: X:169.73, Y:-20.95, Z:-7.84 [[ 9.78876873e-01 2.01200274e-01 3.63113924e-02 1.69727048e+02] [-2.01085398e-01 9.79549930e-01 -6.82620656e-03 -2.09490769e+01] [-3.69422565e-02 -6.19675053e-04 9.99317210e-01 -7.83533493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12264000000002 meters 0.02120867117333896 Centerline is valid? [True, True] Translation: X:169.79, Y:-20.96, Z:-7.84 [[ 9.78861215e-01 2.01417085e-01 3.55229375e-02 1.69786792e+02] [-2.01307276e-01 9.79505376e-01 -6.67828659e-03 -2.09644874e+01] [-3.61400293e-02 -6.13910069e-04 9.99346547e-01 -7.83824583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18264000000002 meters 0.020380181107332362 Centerline is valid? [True, True] Translation: X:169.85, Y:-20.98, Z:-7.84 [[ 9.78975776e-01 2.00603677e-01 3.69404324e-02 1.69846842e+02] [-2.00484311e-01 9.79672291e-01 -6.94576606e-03 -2.09783476e+01] [-3.75828642e-02 -6.06240434e-04 9.99293331e-01 -7.83852693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24264 meters 0.031240215038490598 Centerline is valid? [True, True] Translation: X:169.91, Y:-20.99, Z:-7.84 [[ 9.79174144e-01 1.99590235e-01 3.71716745e-02 1.69907042e+02] [-1.99468654e-01 9.79879284e-01 -6.98886730e-03 -2.09927608e+01] [-3.78186634e-02 -5.71265709e-04 9.99284455e-01 -7.83958728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30264 meters 0.018806911983685504 Centerline is valid? [True, True] Translation: X:169.97, Y:-21.01, Z:-7.85 [[ 9.79505966e-01 1.98024158e-01 3.68034746e-02 1.69965808e+02] [-1.97903623e-01 9.80197013e-01 -6.92621693e-03 -2.10079943e+01] [-3.74462141e-02 -4.99270169e-04 9.99298520e-01 -7.84588090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36264 meters 0.016542012679663126 Centerline is valid? [True, True] Translation: X:170.03, Y:-21.02, Z:-7.85 [[ 9.79757251e-01 1.96797156e-01 3.66961730e-02 1.70025842e+02] [-1.96676245e-01 9.80444124e-01 -6.91185226e-03 -2.10226161e+01] [-3.73387801e-02 -4.45328158e-04 9.99302565e-01 -7.84831795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42264 meters 0.017316584887968705 Centerline is valid? [True, True] Translation: X:170.09, Y:-21.03, Z:-7.85 [[ 9.79752344e-01 1.96810715e-01 3.67544052e-02 1.70086787e+02] [-1.96689188e-01 9.80441405e-01 -6.92926504e-03 -2.10339077e+01] [-3.73992942e-02 -4.40230424e-04 9.99300305e-01 -7.85199964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48264 meters 0.017632721541441743 Centerline is valid? [True, True] Translation: X:170.15, Y:-21.05, Z:-7.85 [[ 9.79409629e-01 1.98335442e-01 3.76806359e-02 1.70147610e+02] [-1.98208554e-01 9.80134072e-01 -7.11127973e-03 -2.10465370e+01] [-3.83424939e-02 -5.03768518e-04 9.99264529e-01 -7.85227211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54264 meters 0.018327507484687797 Centerline is valid? [True, True] Translation: X:170.21, Y:-21.06, Z:-7.86 [[ 9.79184463e-01 1.99470475e-01 3.75408653e-02 1.70208538e+02] [-1.99345109e-01 9.79903688e-01 -7.09147577e-03 -2.10575216e+01] [-3.82009724e-02 -5.39724985e-04 9.99269931e-01 -7.85508235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60264 meters 0.018910466081789264 Centerline is valid? [True, True] Translation: X:170.27, Y:-21.07, Z:-7.86 [[ 9.79140517e-01 1.99871795e-01 3.65392176e-02 1.70269601e+02] [-1.99753079e-01 9.79821912e-01 -6.90850346e-03 -2.10674602e+01] [-3.71827410e-02 -5.34425570e-04 9.99308340e-01 -7.85975206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66264 meters 0.02673380086919776 Centerline is valid? [True, True] Translation: X:170.33, Y:-21.08, Z:-7.86 [[ 9.79310554e-01 1.99033218e-01 3.65597749e-02 1.70330242e+02] [-1.98913546e-01 9.79992618e-01 -6.91878500e-03 -2.10836635e+01] [-3.72053775e-02 -4.96595296e-04 9.99307517e-01 -7.86116091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72264 meters 0.02155139786687501 Centerline is valid? [True, True] Translation: X:170.39, Y:-21.10, Z:-7.86 [[ 9.79692169e-01 1.97023799e-01 3.72139216e-02 1.70389406e+02] [-1.96898093e-01 9.80398616e-01 -7.04949913e-03 -2.10996691e+01] [-3.78733964e-02 -4.21011116e-04 9.99282457e-01 -7.86320560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78264000000001 meters 0.02196567190154086 Centerline is valid? [True, True] Translation: X:170.45, Y:-21.12, Z:-7.86 [[ 9.80029781e-01 1.95134802e-01 3.82627398e-02 1.70449761e+02] [-1.95000221e-01 9.80776369e-01 -7.25454273e-03 -2.11157655e+01] [-3.89428047e-02 -3.51574793e-04 9.99241379e-01 -7.86331546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84264000000002 meters 0.013490364637347853 Centerline is valid? [True, True] Translation: X:170.51, Y:-21.13, Z:-7.87 [[ 9.80205643e-01 1.94385437e-01 3.75659478e-02 1.70510066e+02] [-1.94254922e-01 9.80925179e-01 -7.12874296e-03 -2.11323609e+01] [-3.82351078e-02 -3.09736194e-04 9.99268723e-01 -7.86849752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90264000000002 meters 0.01306913128226688 Centerline is valid? [True, True] Translation: X:170.57, Y:-21.15, Z:-7.87 [[ 9.80247901e-01 1.94034715e-01 3.82698613e-02 1.70570964e+02] [-1.93898676e-01 9.80994619e-01 -7.27051189e-03 -2.11466104e+01] [-3.89532597e-02 -2.93571422e-04 9.99240991e-01 -7.86950688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96264 meters 0.012640943462103068 Centerline is valid? [True, True] Translation: X:170.63, Y:-21.16, Z:-7.87 [[ 9.80409034e-01 1.93274280e-01 3.79891990e-02 1.70630580e+02] [-1.93139377e-01 9.81144733e-01 -7.22449252e-03 -2.11606209e+01] [-3.86692111e-02 -2.54252484e-04 9.99252034e-01 -7.87320982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02264 meters 0.011778367468336505 Centerline is valid? [True, True] Translation: X:170.69, Y:-21.18, Z:-7.88 [[ 9.80783369e-01 1.91527662e-01 3.71636496e-02 1.70691245e+02] [-1.91397205e-01 9.81487199e-01 -7.07017176e-03 -2.11788541e+01] [-3.78297798e-02 -1.78711758e-04 9.99284182e-01 -7.87759093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08264 meters 0.013402554046886625 Centerline is valid? [True, True] Translation: X:170.75, Y:-21.19, Z:-7.88 [[ 9.80554808e-01 1.93090832e-01 3.50456585e-02 1.70751219e+02] [-1.92975576e-01 9.81180861e-01 -6.67416095e-03 -2.11917676e+01] [-3.56748486e-02 -2.18575500e-04 9.99363426e-01 -7.88487155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14264 meters 0.015046552574414144 Centerline is valid? [True, True] Translation: X:170.81, Y:-21.20, Z:-7.89 [[ 9.79892775e-01 1.96565769e-01 3.42351907e-02 1.70812596e+02] [-1.96457722e-01 9.80490586e-01 -6.52496343e-03 -2.12012122e+01] [-3.48498666e-02 -3.32003037e-04 9.99392504e-01 -7.88716137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20264 meters 0.01930040387208096 Centerline is valid? [True, True] Translation: X:170.88, Y:-21.21, Z:-7.89 [[ 9.78700516e-01 2.02353169e-01 3.46192854e-02 1.70875432e+02] [-2.02246024e-01 9.79312467e-01 -6.60593417e-03 -2.12050138e+01] [-3.52398295e-02 -5.36381658e-04 9.99378740e-01 -7.88924615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26264 meters 0.023769912118041883 Centerline is valid? [True, True] Translation: X:170.94, Y:-21.21, Z:-7.89 [[ 9.77904904e-01 2.05961509e-01 3.58030167e-02 1.70937109e+02] [-2.05849296e-01 9.78559852e-01 -6.83259484e-03 -2.12094045e+01] [-3.64426463e-02 -6.88397785e-04 9.99335509e-01 -7.89118392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32264 meters 0.02190552515436061 Centerline is valid? [True, True] Translation: X:171.00, Y:-21.23, Z:-7.90 [[ 9.78140222e-01 2.05112537e-01 3.42133638e-02 1.70998129e+02] [-2.05009382e-01 9.78738198e-01 -6.53407417e-03 -2.12254413e+01] [-3.48261465e-02 -6.22819804e-04 9.99393192e-01 -7.89564319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38264 meters 0.02014922319589544 Centerline is valid? [True, True] Translation: X:171.06, Y:-21.24, Z:-7.90 [[ 9.78536821e-01 2.03254565e-01 3.39598437e-02 1.71058946e+02] [-2.03151568e-01 9.79125775e-01 -6.49277301e-03 -2.12398615e+01] [-3.45706440e-02 -5.45578037e-04 9.99402108e-01 -7.89882529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44264 meters 0.016401025421584118 Centerline is valid? [True, True] Translation: X:171.12, Y:-21.26, Z:-7.90 [[ 9.79291263e-01 1.99275064e-01 3.57501340e-02 1.71118404e+02] [-1.99157963e-01 9.79943505e-01 -6.84338348e-03 -2.12565446e+01] [-3.63968273e-02 -4.18258200e-04 9.99337328e-01 -7.89935179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50264 meters 0.013302680944719968 Centerline is valid? [True, True] Translation: X:171.18, Y:-21.28, Z:-7.90 [[ 9.80254127e-01 1.94404195e-01 3.61781148e-02 1.71177471e+02] [-1.94280972e-01 9.80921481e-01 -6.92479117e-03 -2.12753176e+01] [-3.68340984e-02 -2.40664183e-04 9.99321365e-01 -7.90240212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56264000000002 meters 0.011180451677937868 Centerline is valid? [True, True] Translation: X:171.24, Y:-21.29, Z:-7.90 [[ 9.81037917e-01 1.90537901e-01 3.54952741e-02 1.71236996e+02] [-1.90416537e-01 9.81679836e-01 -6.80013622e-03 -2.12942732e+01] [-3.61406785e-02 -8.76957131e-05 9.99346708e-01 -7.90451272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62264000000002 meters 0.018273532830953274 Centerline is valid? [True, True] Translation: X:171.30, Y:-21.31, Z:-7.91 [[ 9.81260084e-01 1.89481256e-01 3.50071459e-02 1.71298850e+02] [-1.89362327e-01 9.81884337e-01 -6.71247859e-03 -2.13082465e+01] [-3.56448572e-02 -4.23472932e-05 9.99364519e-01 -7.90778017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68264000000002 meters 0.011408139249602874 Centerline is valid? [True, True] Translation: X:171.36, Y:-21.33, Z:-7.91 [[ 9.81661688e-01 1.87528458e-01 3.42550442e-02 1.71357808e+02] [-1.87413142e-01 9.82259170e-01 -6.57557152e-03 -2.13275659e+01] [-3.48804381e-02 3.51411815e-05 9.99391492e-01 -7.91204411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74264 meters 0.01232309504672279 Centerline is valid? [True, True] Translation: X:171.42, Y:-21.35, Z:-7.91 [[ 9.82100047e-01 1.84933874e-01 3.57625580e-02 1.71416329e+02] [-1.84806228e-01 9.82750957e-01 -6.87133644e-03 -2.13489461e+01] [-3.64164310e-02 1.39196374e-04 9.99336692e-01 -7.91396860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80264 meters 0.017936570784690613 Centerline is valid? [True, True] Translation: X:171.48, Y:-21.37, Z:-7.91 [[ 9.82487391e-01 1.82624220e-01 3.69719032e-02 1.71476215e+02] [-1.82485924e-01 9.83182759e-01 -7.10986160e-03 -2.13725906e+01] [-3.76485707e-02 2.38497454e-04 9.99291013e-01 -7.91381804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86264 meters 0.012714421053297007 Centerline is valid? [True, True] Translation: X:171.54, Y:-21.39, Z:-7.92 [[ 9.82206213e-01 1.84268416e-01 3.62781609e-02 1.71537758e+02] [-1.84136130e-01 9.82875943e-01 -6.98333288e-03 -2.13872190e+01] [-3.69437393e-02 1.78952802e-04 9.99317331e-01 -7.91801688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92264 meters 0.013806381555357686 Centerline is valid? [True, True] Translation: X:171.60, Y:-21.40, Z:-7.92 [[ 9.80992301e-01 1.90574765e-01 3.65426490e-02 1.71598779e+02] [-1.90444632e-01 9.81672683e-01 -7.04170933e-03 -2.13991452e+01] [-3.72148924e-02 -5.14887201e-05 9.99307285e-01 -7.91882716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98264 meters 0.0188611919213519 Centerline is valid? [True, True] Translation: X:171.66, Y:-21.40, Z:-7.92 [[ 9.78710874e-01 2.02138066e-01 3.55700329e-02 1.71659705e+02] [-2.02022127e-01 9.79356922e-01 -6.86143292e-03 -2.13972104e+01] [-3.62227147e-02 -4.70574702e-04 9.99343631e-01 -7.92403484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04264 meters 0.02727477552381394 Centerline is valid? [True, True] Translation: X:171.72, Y:-21.40, Z:-7.93 [[ 9.76885380e-01 2.10878001e-01 3.50060482e-02 1.71721472e+02] [-2.10771215e-01 9.77512077e-01 -6.75524936e-03 -2.13982623e+01] [-3.56433684e-02 -7.79162979e-04 9.99364270e-01 -7.92691512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10264 meters 0.03993407940381635 Centerline is valid? [True, True] Translation: X:171.78, Y:-21.39, Z:-7.93 [[ 9.74074585e-01 2.23453397e-01 3.53168790e-02 1.71784700e+02] [-2.23352927e-01 9.74713814e-01 -6.81552197e-03 -2.13913308e+01] [-3.59468013e-02 -1.24930154e-03 9.99352924e-01 -7.92883171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16264 meters 0.052902499248229005 Centerline is valid? [True, True] Translation: X:171.85, Y:-21.38, Z:-7.93 [[ 9.72137103e-01 2.31632977e-01 3.59946720e-02 1.71846370e+02] [-2.31534190e-01 9.72801966e-01 -6.94655269e-03 -2.13838143e+01] [-3.66247384e-02 -1.58099561e-03 9.99327839e-01 -7.93204423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22264 meters 0.051978023802711056 Centerline is valid? [True, True] Translation: X:171.90, Y:-21.39, Z:-7.93 [[ 9.71808049e-01 2.32994972e-01 3.60896011e-02 1.71904480e+02] [-2.32896590e-01 9.72476563e-01 -6.96513347e-03 -2.13944173e+01] [-3.67191323e-02 -1.63637225e-03 9.99324286e-01 -7.93427856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28264000000001 meters 0.04953300821067691 Centerline is valid? [True, True] Translation: X:171.96, Y:-21.40, Z:-7.94 [[ 9.71539558e-01 2.34079539e-01 3.62995458e-02 1.71963892e+02] [-2.33980820e-01 9.72215983e-01 -7.00413232e-03 -2.14034590e+01] [-3.69305226e-02 -1.68860587e-03 9.99316409e-01 -7.93562130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34264000000002 meters 0.049917648779897204 Centerline is valid? [True, True] Translation: X:172.02, Y:-21.41, Z:-7.94 [[ 9.72140531e-01 2.31850417e-01 3.44698662e-02 1.72022430e+02] [-2.31760005e-01 9.72750258e-01 -6.65097129e-03 -2.14070397e+01] [-3.50726017e-02 -1.52305760e-03 9.99383606e-01 -7.94225627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40264000000002 meters 0.040829319966031265 Centerline is valid? [True, True] Translation: X:172.08, Y:-21.42, Z:-7.95 [[ 9.73833441e-01 2.24665780e-01 3.42595362e-02 1.72080523e+02] [-2.24572081e-01 9.74435070e-01 -6.60872943e-03 -2.14242950e+01] [-3.48684489e-02 -1.25793362e-03 9.99391119e-01 -7.94506361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46264 meters 0.030448841750940262 Centerline is valid? [True, True] Translation: X:172.14, Y:-21.45, Z:-7.95 [[ 9.75730716e-01 2.16201922e-01 3.47318248e-02 1.72137999e+02] [-2.16100261e-01 9.76348192e-01 -6.69969216e-03 -2.14453867e+01] [-3.53588406e-02 -9.68460987e-04 9.99374211e-01 -7.94591448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52264 meters 0.020212612707732298 Centerline is valid? [True, True] Translation: X:172.19, Y:-21.47, Z:-7.95 [[ 9.78951203e-01 2.01009392e-01 3.53520366e-02 1.72194677e+02] [-2.00894129e-01 9.79589221e-01 -6.81954987e-03 -2.14744965e+01] [-3.60012676e-02 -4.26010039e-04 9.99351653e-01 -7.94717963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58264 meters 0.011936128900120642 Centerline is valid? [True, True] Translation: X:172.25, Y:-21.51, Z:-7.95 [[ 9.81756366e-01 1.86954818e-01 3.46746793e-02 1.72250405e+02] [-1.86835190e-01 9.82368509e-01 -6.68754825e-03 -2.15070792e+01] [-3.53135824e-02 8.70927620e-05 9.99376277e-01 -7.95293751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64264 meters 0.017410353967976213 Centerline is valid? [True, True] Translation: X:172.31, Y:-21.53, Z:-7.95 [[ 9.83301412e-01 1.78576890e-01 3.50517758e-02 1.72307117e+02] [-1.78449104e-01 9.83925879e-01 -6.76618767e-03 -2.15349193e+01] [-3.56966341e-02 3.98243894e-04 9.99362593e-01 -7.95498475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70264 meters 0.0345033180792821 Centerline is valid? [True, True] Translation: X:172.37, Y:-21.55, Z:-7.96 [[ 9.83575102e-01 1.77121237e-01 3.47575296e-02 1.72365683e+02] [-1.76994479e-01 9.84188936e-01 -6.71506362e-03 -2.15522010e+01] [-3.53973564e-02 4.52878563e-04 9.99373215e-01 -7.95850352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76264 meters 0.01738136619775311 Centerline is valid? [True, True] Translation: X:172.43, Y:-21.56, Z:-7.96 [[ 9.83419631e-01 1.78178502e-01 3.37379875e-02 1.72427499e+02] [-1.78059537e-01 9.83998097e-01 -6.52271527e-03 -2.15646768e+01] [-3.43603231e-02 4.07195828e-04 9.99409427e-01 -7.96087980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82264 meters 0.015757487943689186 Centerline is valid? [True, True] Translation: X:172.49, Y:-21.58, Z:-7.97 [[ 9.82643476e-01 1.82558187e-01 3.29288323e-02 1.72486909e+02] [-1.82447077e-01 9.83195018e-01 -6.37344161e-03 -2.15779269e+01] [-3.35389878e-02 2.55051609e-04 9.99437377e-01 -7.96734686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88264 meters 0.01210299573976193 Centerline is valid? [True, True] Translation: X:172.55, Y:-21.59, Z:-7.97 [[ 9.81552593e-01 1.88305763e-01 3.30975317e-02 1.72548632e+02] [-1.88196592e-01 9.82110450e-01 -6.41148917e-03 -2.15878180e+01] [-3.37127521e-02 6.43711536e-05 9.99431562e-01 -7.96754028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94264 meters 0.01196186266541389 Centerline is valid? [True, True] Translation: X:172.61, Y:-21.60, Z:-7.97 [[ 9.80541245e-01 1.93418005e-01 3.35908057e-02 1.72610983e+02] [-1.93308349e-01 9.81116438e-01 -6.51291610e-03 -2.15992844e+01] [-3.42162069e-02 -1.07200348e-04 9.99414448e-01 -7.96983921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00264 meters 0.013635698948304164 Centerline is valid? [True, True] Translation: X:172.67, Y:-21.61, Z:-7.97 [[ 9.79786483e-01 1.97275955e-01 3.31759856e-02 1.72671780e+02] [-1.97170963e-01 9.80347971e-01 -6.43952461e-03 -2.16117933e+01] [-3.37943735e-02 -2.31981862e-04 9.99428780e-01 -7.97421686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06264000000002 meters 0.015548120071768434 Centerline is valid? [True, True] Translation: X:172.73, Y:-21.62, Z:-7.98 [[ 9.79275157e-01 1.99819142e-01 3.30526590e-02 1.72731368e+02] [-1.99716173e-01 9.79832747e-01 -6.42163585e-03 -2.16233877e+01] [-3.36692434e-02 -3.12602108e-04 9.99432981e-01 -7.97850463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12264000000002 meters 0.01856355263249109 Centerline is valid? [True, True] Translation: X:172.79, Y:-21.64, Z:-7.98 [[ 9.78518194e-01 2.03561095e-01 3.26347258e-02 1.72792474e+02] [-2.03462622e-01 9.79062151e-01 -6.34558115e-03 -2.16350696e+01] [-3.32431383e-02 -4.30680290e-04 9.99447201e-01 -7.98251508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18264000000002 meters 0.021425906795122393 Centerline is valid? [True, True] Translation: X:172.85, Y:-21.65, Z:-7.98 [[ 9.77653981e-01 2.07432380e-01 3.41247808e-02 1.72853627e+02] [-2.07326844e-01 9.78249186e-01 -6.64156735e-03 -2.16463859e+01] [-3.47602152e-02 -5.81828358e-04 9.99395512e-01 -7.98249348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24264 meters 0.023213100611850983 Centerline is valid? [True, True] Translation: X:172.92, Y:-21.66, Z:-7.98 [[ 9.77157564e-01 2.09604101e-01 3.50601827e-02 1.72915080e+02] [-2.09493870e-01 9.77786107e-01 -6.82993917e-03 -2.16566146e+01] [-3.57129428e-02 -6.70966632e-04 9.99361864e-01 -7.98380974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30264 meters 0.025213935847061813 Centerline is valid? [True, True] Translation: X:172.98, Y:-21.67, Z:-7.99 [[ 9.76881799e-01 2.11061024e-01 3.39881454e-02 1.72976005e+02] [-2.10958116e-01 9.77472639e-01 -6.62676720e-03 -2.16663166e+01] [-3.46211344e-02 -6.96506864e-04 9.99400266e-01 -7.98994179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36264 meters 0.02380145612952071 Centerline is valid? [True, True] Translation: X:173.04, Y:-21.68, Z:-8.00 [[ 9.77077337e-01 2.10328358e-01 3.28916332e-02 1.73037145e+02] [-2.10231402e-01 9.77630588e-01 -6.41798233e-03 -2.16808815e+01] [-3.35057504e-02 -6.43989061e-04 9.99438317e-01 -7.99517246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42264 meters 0.022416364965739934 Centerline is valid? [True, True] Translation: X:173.10, Y:-21.69, Z:-8.00 [[ 9.77443647e-01 2.08472745e-01 3.38087613e-02 1.73096942e+02] [-2.08368912e-01 9.78028000e-01 -6.60515932e-03 -2.16948316e+01] [-3.44429109e-02 -5.88523815e-04 9.99406494e-01 -7.99736060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48264 meters 0.025780180349928558 Centerline is valid? [True, True] Translation: X:173.16, Y:-21.71, Z:-8.00 [[ 9.77750470e-01 2.06912680e-01 3.45132020e-02 1.73157681e+02] [-2.06803410e-01 9.78359264e-01 -6.74542186e-03 -2.17094389e+01] [-3.51620242e-02 -5.42108468e-04 9.99381478e-01 -7.99788848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54264 meters 0.02722053134785377 Centerline is valid? [True, True] Translation: X:173.22, Y:-21.72, Z:-8.00 [[ 9.78137220e-01 2.04815939e-01 3.60279148e-02 1.73217537e+02] [-2.04695191e-01 9.78800388e-01 -7.04829976e-03 -2.17208244e+01] [-3.67077412e-02 -4.80536562e-04 9.99325928e-01 -7.99992200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60264 meters 0.01721806959368881 Centerline is valid? [True, True] Translation: X:173.28, Y:-21.74, Z:-8.00 [[ 9.78289975e-01 2.04029102e-01 3.63434957e-02 1.73277474e+02] [-2.03905471e-01 9.78964720e-01 -7.11586278e-03 -2.17373291e+01] [-3.70308432e-02 -4.49260366e-04 9.99314022e-01 -8.00203508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66264 meters 0.027475834824578813 Centerline is valid? [True, True] Translation: X:173.34, Y:-21.75, Z:-8.00 [[ 9.78134288e-01 2.04875016e-01 3.57706872e-02 1.73338498e+02] [-2.04755593e-01 9.78788031e-01 -7.00984193e-03 -2.17473055e+01] [-3.64480619e-02 -4.67681526e-04 9.99335439e-01 -8.00482709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72264 meters 0.024364957074963913 Centerline is valid? [True, True] Translation: X:173.40, Y:-21.76, Z:-8.01 [[ 9.77698646e-01 2.06767695e-01 3.67760555e-02 1.73400509e+02] [-2.06642550e-01 9.78389913e-01 -7.21354065e-03 -2.17559748e+01] [-3.74728489e-02 -5.46828968e-04 9.99297497e-01 -8.00673980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78264000000001 meters 0.02140371243773253 Centerline is valid? [True, True] Translation: X:173.46, Y:-21.77, Z:-8.01 [[ 9.77217128e-01 2.08766822e-01 3.82504839e-02 1.73461526e+02] [-2.08632692e-01 9.77965236e-01 -7.50981056e-03 -2.17650408e+01] [-3.89754428e-02 -6.41585929e-04 9.99239963e-01 -8.00890492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84264000000002 meters 0.024277575435435052 Centerline is valid? [True, True] Translation: X:173.52, Y:-21.77, Z:-8.01 [[ 9.76581640e-01 2.11606316e-01 3.88724518e-02 1.73523419e+02] [-2.11469788e-01 9.77354689e-01 -7.63812438e-03 -2.17720896e+01] [-3.96084484e-02 -7.61097127e-04 9.99214988e-01 -8.01119205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90264000000002 meters 0.02783824447456054 Centerline is valid? [True, True] Translation: X:173.58, Y:-21.78, Z:-8.02 [[ 9.75901823e-01 2.14736745e-01 3.87783668e-02 1.73584274e+02] [-2.14603060e-01 9.76671571e-01 -7.62683511e-03 -2.17759646e+01] [-3.95114902e-02 -8.78913896e-04 9.99218730e-01 -8.01558587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96264 meters 0.031120362224601295 Centerline is valid? [True, True] Translation: X:173.65, Y:-21.78, Z:-8.02 [[ 9.74890846e-01 2.19455338e-01 3.77782180e-02 1.73645973e+02] [-2.19331859e-01 9.75621994e-01 -7.43371262e-03 -2.17797667e+01] [-3.84886283e-02 -1.03890840e-03 9.99258498e-01 -8.01978841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02264 meters 0.04045403953894724 Centerline is valid? [True, True] Translation: X:173.71, Y:-21.78, Z:-8.02 [[ 9.74194938e-01 2.22739218e-01 3.64892225e-02 1.73707505e+02] [-2.22626291e-01 9.74877412e-01 -7.18094491e-03 -2.17846441e+01] [-3.71719969e-02 -1.12782008e-03 9.99308246e-01 -8.02250518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08264 meters 0.03813492397361627 Centerline is valid? [True, True] Translation: X:173.77, Y:-21.79, Z:-8.03 [[ 9.73582470e-01 2.25277912e-01 3.72429393e-02 1.73769515e+02] [-2.25162131e-01 9.74293744e-01 -7.32906678e-03 -2.17893687e+01] [-3.79366397e-02 -1.25024866e-03 9.99279364e-01 -8.02693985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14264 meters 0.04056563602141522 Centerline is valid? [True, True] Translation: X:173.83, Y:-21.79, Z:-8.03 [[ 9.72978686e-01 2.27590458e-01 3.89237700e-02 1.73831885e+02] [-2.27465541e-01 9.73755945e-01 -7.66725281e-03 -2.17897437e+01] [-3.96472460e-02 -1.39374285e-03 9.99212767e-01 -8.02749852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20264 meters 0.04144691146024504 Centerline is valid? [True, True] Translation: X:173.89, Y:-21.80, Z:-8.03 [[ 9.72818500e-01 2.28049299e-01 4.02204382e-02 1.73892593e+02] [-2.27916268e-01 9.73648494e-01 -7.92368814e-03 -2.17965702e+01] [-4.09675606e-02 -1.45858178e-03 9.99159412e-01 -8.02849640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26264 meters 0.04263422917026112 Centerline is valid? [True, True] Translation: X:173.95, Y:-21.80, Z:-8.03 [[ 9.72835392e-01 2.27853318e-01 4.09165585e-02 1.73953256e+02] [-2.27715424e-01 9.73694352e-01 -8.06189447e-03 -2.17993816e+01] [-4.16771513e-02 -1.47443522e-03 9.99130042e-01 -8.03020815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32264 meters 0.03566239005649881 Centerline is valid? [True, True] Translation: X:174.01, Y:-21.81, Z:-8.03 [[ 9.73372687e-01 2.25761721e-01 3.97147047e-02 1.74012969e+02] [-2.25630056e-01 9.74181626e-01 -7.82546653e-03 -2.18113824e+01] [-4.04560264e-02 -1.34373568e-03 9.99180416e-01 -8.03431416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38264 meters 0.031959513321996987 Centerline is valid? [True, True] Translation: X:174.07, Y:-21.82, Z:-8.04 [[ 9.74317195e-01 2.21869892e-01 3.84675766e-02 1.74072732e+02] [-2.21743293e-01 9.75075609e-01 -7.58085545e-03 -2.18200379e+01] [-3.91907593e-02 -1.14376930e-03 9.99231092e-01 -8.04064176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44264 meters 0.03180877193583886 Centerline is valid? [True, True] Translation: X:174.13, Y:-21.83, Z:-8.05 [[ 9.75216261e-01 2.18144087e-01 3.69648785e-02 1.74132096e+02] [-2.18024520e-01 9.75916105e-01 -7.28449296e-03 -2.18313174e+01] [-3.76636893e-02 -9.55293923e-04 9.99290015e-01 -8.04519727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50264 meters 0.023828715227047888 Centerline is valid? [True, True] Translation: X:174.19, Y:-21.85, Z:-8.05 [[ 9.76712420e-01 2.11485688e-01 3.61476418e-02 1.74189699e+02] [-2.11366764e-01 9.77380856e-01 -7.12409707e-03 -2.18454449e+01] [-3.68366577e-02 -6.82215997e-04 9.99321067e-01 -8.05231365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56264000000002 meters 0.01747007715037621 Centerline is valid? [True, True] Translation: X:174.25, Y:-21.86, Z:-8.06 [[ 9.78006103e-01 2.05484203e-01 3.57813554e-02 1.74249156e+02] [-2.05363590e-01 9.78660329e-01 -7.05376961e-03 -2.18634821e+01] [-3.64672312e-02 -4.49557856e-04 9.99334748e-01 -8.05597557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62264000000002 meters 0.027691103269867103 Centerline is valid? [True, True] Translation: X:174.31, Y:-21.88, Z:-8.06 [[ 9.78686963e-01 2.02206695e-01 3.58368762e-02 1.74309835e+02] [-2.02083510e-01 9.79342813e-01 -7.06469743e-03 -2.18771880e+01] [-3.65251162e-02 -3.27914459e-04 9.99332682e-01 -8.05616971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68264000000002 meters 0.01574036930242386 Centerline is valid? [True, True] Translation: X:174.37, Y:-21.89, Z:-8.06 [[ 9.78753995e-01 2.01998943e-01 3.51716438e-02 1.74370468e+02] [-2.01879935e-01 9.79385691e-01 -6.93971544e-03 -2.18860062e+01] [-3.58484199e-02 -3.08174964e-04 9.99357191e-01 -8.06454562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74264 meters 0.015798290114419484 Centerline is valid? [True, True] Translation: X:174.43, Y:-21.90, Z:-8.07 [[ 9.78648299e-01 2.02564429e-01 3.48591335e-02 1.74432298e+02] [-2.02447678e-01 9.79268885e-01 -6.88389300e-03 -2.18974587e+01] [-3.55308967e-02 -3.20240458e-04 9.99368527e-01 -8.06762741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80264 meters 0.01632654973784639 Centerline is valid? [True, True] Translation: X:174.49, Y:-21.91, Z:-8.07 [[ 9.78497958e-01 2.03254859e-01 3.50600672e-02 1.74493504e+02] [-2.03136944e-01 9.79125807e-01 -6.93077196e-03 -2.19077387e+01] [-3.57369297e-02 -3.40248689e-04 9.99361174e-01 -8.07087592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86264 meters 0.01791260318632249 Centerline is valid? [True, True] Translation: X:174.55, Y:-21.92, Z:-8.08 [[ 9.78344049e-01 2.04120650e-01 3.43173588e-02 1.74554271e+02] [-2.04007961e-01 9.78945674e-01 -6.79110721e-03 -2.19156940e+01] [-3.49810352e-02 -3.56975077e-04 9.99387913e-01 -8.07675581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92264 meters 0.02694404716036734 Centerline is valid? [True, True] Translation: X:174.62, Y:-21.93, Z:-8.07 [[ 9.77806577e-01 2.06643136e-01 3.45385616e-02 1.74615722e+02] [-2.06530477e-01 9.78416278e-01 -6.83727319e-03 -2.19277049e+01] [-3.52059665e-02 -4.47734917e-04 9.99379978e-01 -8.07332895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98264 meters 0.021612022691506236 Centerline is valid? [True, True] Translation: X:174.68, Y:-21.93, Z:-8.08 [[ 9.76890567e-01 2.10813280e-01 3.52502666e-02 1.74677614e+02] [-2.10698348e-01 9.77526162e-01 -6.98625993e-03 -2.19289929e+01] [-3.59308542e-02 -6.02361544e-04 9.99354097e-01 -8.07731840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04264 meters 0.025748338360183098 Centerline is valid? [True, True] Translation: X:174.74, Y:-21.93, Z:-8.08 [[ 9.76325703e-01 2.13476168e-01 3.48718654e-02 1.74737468e+02] [-2.13365348e-01 9.76948027e-01 -6.91238743e-03 -2.19325007e+01] [-3.55436301e-02 -6.91706167e-04 9.99367886e-01 -8.08243665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10264 meters 0.023788836967795494 Centerline is valid? [True, True] Translation: X:174.80, Y:-21.95, Z:-8.08 [[ 9.76436868e-01 2.13052698e-01 3.43451673e-02 1.74796126e+02] [-2.12944936e-01 9.77040482e-01 -6.80809070e-03 -2.19467666e+01] [-3.50071009e-02 -6.65958693e-04 9.99386842e-01 -8.08492685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16264 meters 0.030080173313265485 Centerline is valid? [True, True] Translation: X:174.85, Y:-21.96, Z:-8.08 [[ 9.76969425e-01 2.10555061e-01 3.46021426e-02 1.74854713e+02] [-2.10444123e-01 9.77581827e-01 -6.85874312e-03 -2.19582513e+01] [-3.52705689e-02 -5.81035233e-04 9.99377631e-01 -8.08498664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22264 meters 0.01829119214331675 Centerline is valid? [True, True] Translation: X:174.91, Y:-21.98, Z:-8.09 [[ 9.77858599e-01 2.06205704e-01 3.56618573e-02 1.74913633e+02] [-2.06084947e-01 9.78508568e-01 -7.06947763e-03 -2.19773270e+01] [-3.63531995e-02 -4.36422469e-04 9.99338909e-01 -8.08983502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28264000000001 meters 0.01610748406323955 Centerline is valid? [True, True] Translation: X:174.97, Y:-21.99, Z:-8.09 [[ 9.78433895e-01 2.03509920e-01 3.53670190e-02 1.74973775e+02] [-2.03389370e-01 9.79072828e-01 -7.01159993e-03 -2.19928375e+01] [-3.60538174e-02 -3.32888687e-04 9.99349794e-01 -8.09286603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34264000000002 meters 0.014505855369299648 Centerline is valid? [True, True] Translation: X:175.03, Y:-22.01, Z:-8.09 [[ 9.78481878e-01 2.03066016e-01 3.65705780e-02 1.75034748e+02] [-2.02936569e-01 9.79164996e-01 -7.25665287e-03 -2.20070361e+01] [-3.72822094e-02 -3.21004289e-04 9.99304725e-01 -8.09193094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40264000000002 meters 0.015789256795812612 Centerline is valid? [True, True] Translation: X:175.09, Y:-22.02, Z:-8.10 [[ 9.78233563e-01 2.04345271e-01 3.60847037e-02 1.75094880e+02] [-2.04219870e-01 9.78898811e-01 -7.16679572e-03 -2.20170406e+01] [-3.67877744e-02 -3.58413391e-04 9.99323036e-01 -8.09658591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46264 meters 0.025672267818532296 Centerline is valid? [True, True] Translation: X:175.16, Y:-22.02, Z:-8.10 [[ 9.77579800e-01 2.07493363e-01 3.58362771e-02 1.75155639e+02] [-2.07371525e-01 9.78236314e-01 -7.12488489e-03 -2.20215572e+01] [-3.65347139e-02 -4.66279873e-04 9.99332276e-01 -8.09934683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52264 meters 0.021634450223540547 Centerline is valid? [True, True] Translation: X:175.21, Y:-22.03, Z:-8.11 [[ 9.77459958e-01 2.08115434e-01 3.54964190e-02 1.75212769e+02] [-2.07996275e-01 9.78104152e-01 -7.05818305e-03 -2.20313443e+01] [-3.61881116e-02 -4.84031595e-04 9.99344879e-01 -8.10748596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58264 meters 0.01867495252321382 Centerline is valid? [True, True] Translation: X:175.27, Y:-22.05, Z:-8.11 [[ 9.77702149e-01 2.07077239e-01 3.48930363e-02 1.75272435e+02] [-2.06961493e-01 9.78324498e-01 -6.93661692e-03 -2.20477980e+01] [-3.55731277e-02 -4.39569604e-04 9.99366979e-01 -8.10851676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64264 meters 0.018464164020012608 Centerline is valid? [True, True] Translation: X:175.33, Y:-22.06, Z:-8.11 [[ 9.77658208e-01 2.07144886e-01 3.57130794e-02 1.75332414e+02] [-2.07023645e-01 9.78310172e-01 -7.10054701e-03 -2.20603469e+01] [-3.64093109e-02 -4.51543833e-04 9.99336859e-01 -8.10957046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70264 meters 0.038399827661918295 Centerline is valid? [True, True] Translation: X:175.39, Y:-22.07, Z:-8.11 [[ 9.77201410e-01 2.09124341e-01 3.66662526e-02 1.75393333e+02] [-2.08997898e-01 9.77888910e-01 -7.29099011e-03 -2.20704858e+01] [-3.73802453e-02 -5.38403920e-04 9.99300969e-01 -8.10627802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76264 meters 0.02984881956656998 Centerline is valid? [True, True] Translation: X:175.45, Y:-22.07, Z:-8.11 [[ 9.76174180e-01 2.13852186e-01 3.67588463e-02 1.75453191e+02] [-2.13728398e-01 9.76865766e-01 -7.31078193e-03 -2.20716869e+01] [-3.74718852e-02 -7.19812763e-04 9.99297423e-01 -8.11024521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82264 meters 0.027900781762634094 Centerline is valid? [True, True] Translation: X:175.51, Y:-22.08, Z:-8.12 [[ 9.75336851e-01 2.17792702e-01 3.58380660e-02 1.75512922e+02] [-2.17677726e-01 9.75994681e-01 -7.12679162e-03 -2.20751233e+01] [-3.65299250e-02 -8.50126233e-04 9.99332198e-01 -8.11620475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88264 meters 0.03182368636447409 Centerline is valid? [True, True] Translation: X:175.57, Y:-22.08, Z:-8.12 [[ 9.74941931e-01 2.19796870e-01 3.43156947e-02 1.75571416e+02] [-2.19692715e-01 9.75545258e-01 -6.82352065e-03 -2.20784717e+01] [-3.49763017e-02 -8.86371754e-04 9.99387749e-01 -8.12319717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94264 meters 0.031767433687875386 Centerline is valid? [True, True] Translation: X:175.63, Y:-22.08, Z:-8.13 [[ 9.75100303e-01 2.19217673e-01 3.35113534e-02 1.75630162e+02] [-2.19118059e-01 9.75675609e-01 -6.66195260e-03 -2.20831855e+01] [-3.41566279e-02 -8.46870705e-04 9.99416133e-01 -8.12718017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00264 meters 0.031361569162981814 Centerline is valid? [True, True] Translation: X:175.69, Y:-22.10, Z:-8.13 [[ 9.75342196e-01 2.18075097e-01 3.39242252e-02 1.75688032e+02] [-2.17972384e-01 9.75931648e-01 -6.74222928e-03 -2.20965062e+01] [-3.45780373e-02 -8.18563525e-04 9.99401666e-01 -8.12706152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06264000000002 meters 0.02659348547099243 Centerline is valid? [True, True] Translation: X:175.75, Y:-22.11, Z:-8.13 [[ 9.76059645e-01 2.14824097e-01 3.40319861e-02 1.75745770e+02] [-2.14718805e-01 9.76652501e-01 -6.76221847e-03 -2.21088781e+01] [-3.46901118e-02 -7.06978809e-04 9.99397867e-01 -8.13187153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12264000000002 meters 0.0193227041280942 Centerline is valid? [True, True] Translation: X:175.80, Y:-22.13, Z:-8.14 [[ 9.77758525e-01 2.07036384e-01 3.35291318e-02 1.75803682e+02] [-2.06929629e-01 9.78333151e-01 -6.66134278e-03 -2.21271486e+01] [-3.41818015e-02 -4.24986121e-04 9.99415541e-01 -8.13513596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18264000000002 meters 0.01902722004323019 Centerline is valid? [True, True] Translation: X:175.86, Y:-22.14, Z:-8.14 [[ 9.78357201e-01 2.04277113e-01 3.29855762e-02 1.75860570e+02] [-2.04172221e-01 9.78913049e-01 -6.55342521e-03 -2.21407570e+01] [-3.36287257e-02 -3.23147616e-04 9.99434342e-01 -8.13834673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24264 meters 0.028362279000018347 Centerline is valid? [True, True] Translation: X:175.92, Y:-22.16, Z:-8.13 [[ 9.78907000e-01 2.01350341e-01 3.46283980e-02 1.75919274e+02] [-2.01232983e-01 9.79519262e-01 -6.87762274e-03 -2.21554949e+01] [-3.53039946e-02 -2.35822799e-04 9.99376592e-01 -8.13439091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30264 meters 0.027317747662367678 Centerline is valid? [True, True] Translation: X:175.98, Y:-22.16, Z:-8.14 [[ 9.79095644e-01 2.00514933e-01 3.41391587e-02 1.75977653e+02] [-2.00400377e-01 9.79690625e-01 -6.78002134e-03 -2.21648257e+01] [-3.48053093e-02 -2.03210927e-04 9.99394091e-01 -8.14039301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36264 meters 0.014410316990506131 Centerline is valid? [True, True] Translation: X:176.04, Y:-22.18, Z:-8.15 [[ 9.79178669e-01 2.00241771e-01 3.33521603e-02 1.76035787e+02] [-2.00132287e-01 9.79746496e-01 -6.62346049e-03 -2.21762012e+01] [-3.40029556e-02 -1.89292897e-04 9.99421714e-01 -8.14586320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42264 meters 0.01387413166149397 Centerline is valid? [True, True] Translation: X:176.09, Y:-22.19, Z:-8.15 [[ 9.79194791e-01 2.00130895e-01 3.35438018e-02 1.76094422e+02] [-2.00020112e-01 9.79769151e-01 -6.66069917e-03 -2.21875546e+01] [-3.41981939e-02 -1.87313069e-04 9.99415053e-01 -8.14724279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48264 meters 0.014287371285902467 Centerline is valid? [True, True] Translation: X:176.15, Y:-22.20, Z:-8.15 [[ 9.79103632e-01 2.00727894e-01 3.26250128e-02 1.76152654e+02] [-2.00623456e-01 9.79647014e-01 -6.47746419e-03 -2.21996296e+01] [-3.32612041e-02 -2.03234110e-04 9.99446672e-01 -8.15102198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54264 meters 0.026333277030349444 Centerline is valid? [True, True] Translation: X:176.21, Y:-22.21, Z:-8.15 [[ 9.78680665e-01 2.02647116e-01 3.34410279e-02 1.76212084e+02] [-2.02538536e-01 9.79251791e-01 -6.63859983e-03 -2.22094380e+01] [-3.40924796e-02 -2.76027551e-04 9.99418644e-01 -8.15005504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60264 meters 0.018405921666605967 Centerline is valid? [True, True] Translation: X:176.27, Y:-22.21, Z:-8.15 [[ 9.78031957e-01 2.05650942e-01 3.40761174e-02 1.76269759e+02] [-2.05540035e-01 9.78625331e-01 -6.76422466e-03 -2.22132101e+01] [-3.47388208e-02 -3.88378493e-04 9.99396350e-01 -8.15452946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66264 meters 0.024096911284763357 Centerline is valid? [True, True] Translation: X:176.33, Y:-22.22, Z:-8.16 [[ 9.77631102e-01 2.07697320e-01 3.31549599e-02 1.76326903e+02] [-2.07593574e-01 9.78193038e-01 -6.57934890e-03 -2.22246525e+01] [-3.37984641e-02 -4.50580506e-04 9.99428567e-01 -8.15647718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72264 meters 0.037394116181692943 Centerline is valid? [True, True] Translation: X:176.38, Y:-22.23, Z:-8.16 [[ 9.77276905e-01 2.09351036e-01 3.31963151e-02 1.76384362e+02] [-2.09248055e-01 9.77840418e-01 -6.58547880e-03 -2.22324937e+01] [-3.38393755e-02 -5.10428026e-04 9.99427154e-01 -8.15922127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78264000000001 meters 0.03433041202466613 Centerline is valid? [True, True] Translation: X:176.44, Y:-22.24, Z:-8.16 [[ 9.76990136e-01 2.10659531e-01 3.33591960e-02 1.76442357e+02] [-2.10556374e-01 9.77559332e-01 -6.61557793e-03 -2.22429273e+01] [-3.40042279e-02 -5.60636959e-04 9.99421532e-01 -8.16149572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84264000000002 meters 0.02225667494043474 Centerline is valid? [True, True] Translation: X:176.50, Y:-22.26, Z:-8.16 [[ 9.76503397e-01 2.13083993e-01 3.21920310e-02 1.76500164e+02] [-2.12989299e-01 9.77033685e-01 -6.38248984e-03 -2.22558815e+01] [-3.28127051e-02 -6.24035089e-04 9.99461323e-01 -8.16405662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90264000000002 meters 0.025558907422462973 Centerline is valid? [True, True] Translation: X:176.56, Y:-22.26, Z:-8.17 [[ 9.76208484e-01 2.14424375e-01 3.22363716e-02 1.76557052e+02] [-2.14330183e-01 9.76740363e-01 -6.39026732e-03 -2.22632433e+01] [-3.28567944e-02 -6.70994251e-04 9.99459845e-01 -8.16907662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96264 meters 0.028375740050386133 Centerline is valid? [True, True] Translation: X:176.61, Y:-22.27, Z:-8.17 [[ 9.76245150e-01 2.14071312e-01 3.34496745e-02 1.76614192e+02] [-2.13969758e-01 9.76817794e-01 -6.62871251e-03 -2.22710848e+01] [-3.40932544e-02 -6.85970329e-04 9.99418421e-01 -8.17187645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02264 meters 0.025742213110428385 Centerline is valid? [True, True] Translation: X:176.67, Y:-22.29, Z:-8.17 [[ 9.76380385e-01 2.13617165e-01 3.23890625e-02 1.76671490e+02] [-2.13521775e-01 9.76917235e-01 -6.41627906e-03 -2.22853435e+01] [-3.30120607e-02 -6.51041078e-04 9.99454741e-01 -8.17484315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08264 meters 0.024871595891114696 Centerline is valid? [True, True] Translation: X:176.73, Y:-22.30, Z:-8.18 [[ 9.76338475e-01 2.13839806e-01 3.21825908e-02 1.76728877e+02] [-2.13745801e-01 9.76868521e-01 -6.37381895e-03 -2.22959147e+01] [-3.28011361e-02 -6.55888965e-04 9.99461683e-01 -8.17737382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14264 meters 0.030838026331484913 Centerline is valid? [True, True] Translation: X:176.79, Y:-22.30, Z:-8.18 [[ 9.76259057e-01 2.14255947e-01 3.18220357e-02 1.76787424e+02] [-2.14164309e-01 9.76777328e-01 -6.30082760e-03 -2.23027522e+01] [-3.24330328e-02 -6.63904271e-04 9.99473690e-01 -8.17989945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20264 meters 0.02607744626306282 Centerline is valid? [True, True] Translation: X:176.85, Y:-22.31, Z:-8.18 [[ 9.76345627e-01 2.13754486e-01 3.25305466e-02 1.76846070e+02] [-2.13658494e-01 9.76887189e-01 -6.43956037e-03 -2.23060592e+01] [-3.31551591e-02 -6.63190968e-04 9.99449997e-01 -8.18322021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26264 meters 0.029992889476760244 Centerline is valid? [True, True] Translation: X:176.90, Y:-22.32, Z:-8.18 [[ 9.77315788e-01 2.09140876e-01 3.33758109e-02 1.76903828e+02] [-2.09037229e-01 9.77885382e-01 -6.60421680e-03 -2.23224993e+01] [-3.40189293e-02 -5.22381686e-04 9.99421052e-01 -8.18357068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32264 meters 0.01702195407817768 Centerline is valid? [True, True] Translation: X:176.96, Y:-22.34, Z:-8.19 [[ 9.78502602e-01 2.03578036e-01 3.29945765e-02 1.76959340e+02] [-2.03473591e-01 9.79058669e-01 -6.52843521e-03 -2.23386447e+01] [-3.36326722e-02 -3.25434131e-04 9.99434209e-01 -8.18910920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38264 meters 0.012391921694675241 Centerline is valid? [True, True] Translation: X:177.02, Y:-22.36, Z:-8.19 [[ 9.80337945e-01 1.94507353e-01 3.32325633e-02 1.77015563e+02] [-1.94396263e-01 9.80901060e-01 -6.57294707e-03 -2.23607134e+01] [-3.38763431e-02 -1.65766956e-05 9.99426032e-01 -8.19193654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44264 meters 0.023930763498117312 Centerline is valid? [True, True] Translation: X:177.07, Y:-22.38, Z:-8.19 [[ 9.81505794e-01 1.88519300e-01 3.32693584e-02 1.77074651e+02] [-1.88404570e-01 9.82069467e-01 -6.57877058e-03 -2.23805749e+01] [-3.39130463e-02 1.89002288e-04 9.99424769e-01 -8.19276895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50264 meters 0.014334438328413624 Centerline is valid? [True, True] Translation: X:177.13, Y:-22.39, Z:-8.20 [[ 9.81729893e-01 1.87558191e-01 3.20677862e-02 1.77134275e+02] [-1.87451062e-01 9.82253470e-01 -6.34195753e-03 -2.23945704e+01] [-3.26881803e-02 2.14948709e-04 9.99465576e-01 -8.19865320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56264000000002 meters 0.013505699852461625 Centerline is valid? [True, True] Translation: X:177.19, Y:-22.40, Z:-8.20 [[ 9.81262560e-01 1.89980064e-01 3.21148393e-02 1.77193989e+02] [-1.89873879e-01 9.81787939e-01 -6.35242817e-03 -2.24014156e+01] [-3.27367966e-02 1.35630829e-04 9.99463998e-01 -8.20236178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62264000000002 meters 0.012720794627592331 Centerline is valid? [True, True] Translation: X:177.25, Y:-22.41, Z:-8.21 [[ 9.80703630e-01 1.92958202e-01 3.14248728e-02 1.77252966e+02] [-1.92858047e-01 9.81206977e-01 -6.21631420e-03 -2.24096163e+01] [-3.20337932e-02 3.58222956e-05 9.99486786e-01 -8.20521741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68264000000002 meters 0.012557448632577514 Centerline is valid? [True, True] Translation: X:177.31, Y:-22.42, Z:-8.21 [[ 9.80395017e-01 1.94445089e-01 3.18860196e-02 1.77312012e+02] [-1.94342791e-01 9.80913405e-01 -6.30653693e-03 -2.24209742e+01] [-3.25036992e-02 -1.39206572e-05 9.99471615e-01 -8.20750940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74264 meters 0.012335115351725316 Centerline is valid? [True, True] Translation: X:177.37, Y:-22.43, Z:-8.21 [[ 9.79981703e-01 1.96374345e-01 3.27563438e-02 1.77370861e+02] [-1.96267471e-01 9.80528995e-01 -6.47841341e-03 -2.24290789e+01] [-3.33907391e-02 -8.02781373e-05 9.99442371e-01 -8.20733195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80264 meters 0.012580714172109077 Centerline is valid? [True, True] Translation: X:177.43, Y:-22.44, Z:-8.21 [[ 9.79758417e-01 1.97366423e-01 3.34654836e-02 1.77428745e+02] [-1.97255479e-01 9.80329782e-01 -6.61775846e-03 -2.24397680e+01] [-3.41133336e-02 -1.17445463e-04 9.99417964e-01 -8.20922379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86264 meters 0.012764264462374645 Centerline is valid? [True, True] Translation: X:177.49, Y:-22.45, Z:-8.21 [[ 9.79812552e-01 1.97143079e-01 3.31959358e-02 1.77486204e+02] [-1.97033809e-01 9.80374721e-01 -6.56381682e-03 -2.24511612e+01] [-3.38384674e-02 -1.09411579e-04 9.99427309e-01 -8.21386526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92264 meters 0.01887330445318882 Centerline is valid? [True, True] Translation: X:177.54, Y:-22.46, Z:-8.21 [[ 9.79793014e-01 1.97185900e-01 3.35167167e-02 1.77544312e+02] [-1.97074581e-01 9.80366109e-01 -6.62582172e-03 -2.24636266e+01] [-3.41651718e-02 -1.13359058e-04 9.99416194e-01 -8.21445160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98264 meters 0.012840353626836507 Centerline is valid? [True, True] Translation: X:177.60, Y:-22.47, Z:-8.22 [[ 9.79633171e-01 1.98096031e-01 3.28148222e-02 1.77603070e+02] [-1.97989864e-01 9.80182607e-01 -6.48625674e-03 -2.24748119e+01] [-3.34494196e-02 -1.42849922e-04 9.99440401e-01 -8.21866655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04264 meters 0.014263395040396554 Centerline is valid? [True, True] Translation: X:177.66, Y:-22.48, Z:-8.22 [[ 9.79186677e-01 2.00088803e-01 3.40282670e-02 1.77660335e+02] [-1.99975856e-01 9.79777741e-01 -6.72563525e-03 -2.24808358e+01] [-3.46858629e-02 -2.19179410e-04 9.99398240e-01 -8.22049935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10264 meters 0.02924554980701901 Centerline is valid? [True, True] Translation: X:177.72, Y:-22.49, Z:-8.22 [[ 9.78615315e-01 2.02702701e-01 3.49811466e-02 1.77719201e+02] [-2.02585095e-01 9.79240272e-01 -6.91148311e-03 -2.24851870e+01] [-3.56559239e-02 -3.22975694e-04 9.99364073e-01 -8.22234937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16264 meters 0.028240271919951775 Centerline is valid? [True, True] Translation: X:177.78, Y:-22.49, Z:-8.23 [[ 9.78284643e-01 2.04524525e-01 3.35987572e-02 1.77777171e+02] [-2.04417154e-01 9.78861368e-01 -6.63698910e-03 -2.24924394e+01] [-3.42459524e-02 -3.75297795e-04 9.99413365e-01 -8.22615357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22264 meters 0.02666792987025399 Centerline is valid? [True, True] Translation: X:177.83, Y:-22.50, Z:-8.23 [[ 9.78320521e-01 2.04267452e-01 3.41140092e-02 1.77834591e+02] [-2.04156686e-01 9.78915046e-01 -6.73643014e-03 -2.25038547e+01] [-3.47707503e-02 -3.74215214e-04 9.99395245e-01 -8.22651133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28264000000001 meters 0.014744189962548395 Centerline is valid? [True, True] Translation: X:177.89, Y:-22.51, Z:-8.23 [[ 9.78965224e-01 2.01156544e-01 3.41047648e-02 1.77891092e+02] [-2.01044008e-01 9.79559071e-01 -6.73293695e-03 -2.25146378e+01] [-3.47620061e-02 -2.65247472e-04 9.99395584e-01 -8.23271992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34264000000002 meters 0.012073958777818668 Centerline is valid? [True, True] Translation: X:177.95, Y:-22.53, Z:-8.24 [[ 9.79782124e-01 1.97063573e-01 3.45389340e-02 1.77948614e+02] [-1.96945705e-01 9.80390704e-01 -6.81589138e-03 -2.25328786e+01] [-3.52048137e-02 -1.24206183e-04 9.99380111e-01 -8.23507075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40264000000002 meters 0.03283882266263884 Centerline is valid? [True, True] Translation: X:178.01, Y:-22.55, Z:-8.24 [[ 9.80243976e-01 1.94750460e-01 3.45543981e-02 1.78006292e+02] [-1.94631076e-01 9.80852821e-01 -6.81818794e-03 -2.25455706e+01] [-3.52206241e-02 -4.18720370e-05 9.99379560e-01 -8.23825981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46264 meters 0.01190391096853679 Centerline is valid? [True, True] Translation: X:178.06, Y:-22.56, Z:-8.24 [[ 9.80446335e-01 1.93862635e-01 3.37973897e-02 1.78064030e+02] [-1.93747942e-01 9.81028684e-01 -6.66755497e-03 -2.25582398e+01] [-3.44487985e-02 -1.09948613e-05 9.99406464e-01 -8.24147578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52264 meters 0.01156584956324207 Centerline is valid? [True, True] Translation: X:178.12, Y:-22.57, Z:-8.24 [[ 9.80479134e-01 1.93544683e-01 3.46572162e-02 1.78122186e+02] [-1.93423934e-01 9.81091461e-01 -6.83566011e-03 -2.25701597e+01] [-3.53249046e-02 -1.31297699e-06 9.99375881e-01 -8.24313999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58264 meters 0.011591463139929271 Centerline is valid? [True, True] Translation: X:178.18, Y:-22.58, Z:-8.25 [[ 9.80674655e-01 1.92446802e-01 3.52342030e-02 1.78179346e+02] [-1.92321317e-01 9.81307407e-01 -6.94867336e-03 -2.25837044e+01] [-3.59128344e-02 3.80995111e-05 9.99354925e-01 -8.24558005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64264 meters 0.012092386125065278 Centerline is valid? [True, True] Translation: X:178.24, Y:-22.60, Z:-8.25 [[ 9.81107083e-01 1.90394667e-01 3.43331076e-02 1.78237864e+02] [-1.90274323e-01 9.81707624e-01 -6.76926622e-03 -2.25978795e+01] [-3.49939056e-02 1.08666231e-04 9.99387520e-01 -8.25033558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70264 meters 0.013667131744210213 Centerline is valid? [True, True] Translation: X:178.30, Y:-22.61, Z:-8.26 [[ 9.81491594e-01 1.88513300e-01 3.37192438e-02 1.78295451e+02] [-1.88396116e-01 9.82070622e-01 -6.64811905e-03 -2.26134346e+01] [-3.43679376e-02 1.72498403e-04 9.99409233e-01 -8.25637292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76264 meters 0.025798301319088512 Centerline is valid? [True, True] Translation: X:178.36, Y:-22.63, Z:-8.25 [[ 9.81884153e-01 1.86124988e-01 3.55105481e-02 1.78355320e+02] [-1.85993450e-01 9.82526038e-01 -7.00149039e-03 -2.26295128e+01] [-3.61931905e-02 2.69923123e-04 9.99344775e-01 -8.25256933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82264 meters 0.016126488988400724 Centerline is valid? [True, True] Translation: X:178.41, Y:-22.65, Z:-8.25 [[ 9.82341147e-01 1.83355866e-01 3.72356992e-02 1.78413306e+02] [-1.83209249e-01 9.83046527e-01 -7.34145349e-03 -2.26494770e+01] [-3.79505233e-02 3.89887368e-04 9.99279543e-01 -8.25364950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88264 meters 0.017760366054559572 Centerline is valid? [True, True] Translation: X:178.47, Y:-22.67, Z:-8.26 [[ 9.82641426e-01 1.81927778e-01 3.63058155e-02 1.78473007e+02] [-1.81787210e-01 9.83311797e-01 -7.16378972e-03 -2.26664675e+01] [-3.70032290e-02 4.39503628e-04 9.99315049e-01 -8.25827947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94264 meters 0.01899436315254305 Centerline is valid? [True, True] Translation: X:178.53, Y:-22.68, Z:-8.26 [[ 9.82667566e-01 1.82076392e-01 3.48230083e-02 1.78533471e+02] [-1.81946970e-01 9.83284297e-01 -6.87681024e-03 -2.26820277e+01] [-3.54930221e-02 4.21677537e-04 9.99369835e-01 -8.26219198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00264 meters 0.016947500165705787 Centerline is valid? [True, True] Translation: X:178.59, Y:-22.70, Z:-8.27 [[ 9.82526773e-01 1.83039918e-01 3.37272833e-02 1.78594586e+02] [-1.82918895e-01 9.83105408e-01 -6.66589174e-03 -2.26950056e+01] [-3.43775989e-02 3.80059730e-04 9.99408843e-01 -8.26703869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06264000000002 meters 0.01613360730556435 Centerline is valid? [True, True] Translation: X:178.65, Y:-22.71, Z:-8.27 [[ 9.82144900e-01 1.85116452e-01 3.35155897e-02 1.78654704e+02] [-1.84997904e-01 9.82716542e-01 -6.63128322e-03 -2.27072828e+01] [-3.41638840e-02 3.12567156e-04 9.99416195e-01 -8.27186425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12264000000002 meters 0.013441146376326138 Centerline is valid? [True, True] Translation: X:178.72, Y:-22.72, Z:-8.27 [[ 9.81420091e-01 1.88925355e-01 3.34935076e-02 1.78715767e+02] [-1.88808941e-01 9.81991433e-01 -6.63390541e-03 -2.27168549e+01] [-3.41436505e-02 1.86774353e-04 9.99416918e-01 -8.27490290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18264000000002 meters 0.011964668697320362 Centerline is valid? [True, True] Translation: X:178.78, Y:-22.72, Z:-8.28 [[ 9.80256737e-01 1.94812506e-01 3.38351508e-02 1.78775713e+02] [-1.94697140e-01 9.80840500e-01 -6.70345603e-03 -2.27202847e+01] [-3.44928033e-02 -1.64991704e-05 9.99404946e-01 -8.27743604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24264 meters 0.02678901563214839 Centerline is valid? [True, True] Translation: X:178.84, Y:-22.71, Z:-8.28 [[ 9.78554340e-01 2.03191772e-01 3.38305821e-02 1.78836002e+02] [-2.03081429e-01 9.79138911e-01 -6.70271549e-03 -2.27149032e+01] [-3.44867759e-02 -3.11391606e-04 9.99405106e-01 -8.27874071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30264 meters 0.021602018000692568 Centerline is valid? [True, True] Translation: X:178.90, Y:-22.72, Z:-8.28 [[ 9.77284682e-01 2.09111146e-01 3.44554617e-02 1.78896473e+02] [-2.09000451e-01 9.77891735e-01 -6.82394568e-03 -2.27153453e+01] [-3.51206743e-02 -5.32269450e-04 9.99382937e-01 -8.28272801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36264 meters 0.023018688611416538 Centerline is valid? [True, True] Translation: X:178.95, Y:-22.72, Z:-8.29 [[ 9.77014664e-01 2.10331557e-01 3.46840366e-02 1.78954993e+02] [-2.10220177e-01 9.77629940e-01 -6.86862953e-03 -2.27213423e+01] [-3.53528421e-02 -5.80532526e-04 9.99374724e-01 -8.28567268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42264 meters 0.02634217523087265 Centerline is valid? [True, True] Translation: X:179.01, Y:-22.73, Z:-8.29 [[ 9.77323638e-01 2.08891268e-01 3.46835061e-02 1.79012315e+02] [-2.08779039e-01 9.77938729e-01 -6.86697563e-03 -2.27312661e+01] [-3.53527951e-02 -5.29931471e-04 9.99374754e-01 -8.28783479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48264 meters 0.018129487701171076 Centerline is valid? [True, True] Translation: X:179.07, Y:-22.74, Z:-8.29 [[ 9.77960141e-01 2.05747803e-01 3.55218975e-02 1.79069849e+02] [-2.05628091e-01 9.78604955e-01 -7.03065827e-03 -2.27444637e+01] [-3.62084474e-02 -4.28596425e-04 9.99344167e-01 -8.28939116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54264 meters 0.015579226382746251 Centerline is valid? [True, True] Translation: X:179.13, Y:-22.76, Z:-8.29 [[ 9.78542074e-01 2.02841221e-01 3.62056535e-02 1.79127393e+02] [-2.02714932e-01 9.79211586e-01 -7.16418246e-03 -2.27585078e+01] [-3.69061869e-02 -3.28972625e-04 9.99318680e-01 -8.29098759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60264 meters 0.01390495299338116 Centerline is valid? [True, True] Translation: X:179.19, Y:-22.77, Z:-8.29 [[ 9.78912453e-01 2.01153837e-01 3.56025665e-02 1.79185717e+02] [-2.01030667e-01 9.79559628e-01 -7.04316875e-03 -2.27682391e+01] [-3.62915972e-02 -2.62562084e-04 9.99341209e-01 -8.29291015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66264 meters 0.012665346305807625 Centerline is valid? [True, True] Translation: X:179.24, Y:-22.78, Z:-8.30 [[ 9.79289543e-01 1.99289531e-01 3.57165719e-02 1.79243235e+02] [-1.99164396e-01 9.79940633e-01 -7.06391140e-03 -2.27809780e+01] [-3.64078836e-02 -1.95854882e-04 9.99336994e-01 -8.29579551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72264 meters 0.012526182944242062 Centerline is valid? [True, True] Translation: X:179.30, Y:-22.79, Z:-8.30 [[ 9.79629190e-01 1.97845523e-01 3.44063959e-02 1.79300386e+02] [-1.97728566e-01 9.80233202e-01 -6.80325167e-03 -2.27887476e+01] [-3.50722845e-02 -1.38463415e-04 9.99384769e-01 -8.30131787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78264000000001 meters 0.012895078795268303 Centerline is valid? [True, True] Translation: X:179.36, Y:-22.79, Z:-8.30 [[ 9.79629790e-01 1.97874801e-01 3.42204294e-02 1.79357739e+02] [-1.97759199e-01 9.80227292e-01 -6.76431818e-03 -2.27947099e+01] [-3.48822870e-02 -1.40877124e-04 9.99391418e-01 -8.30469656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84264000000002 meters 0.012814555619180976 Centerline is valid? [True, True] Translation: X:179.42, Y:-22.80, Z:-8.31 [[ 9.79616717e-01 1.97923884e-01 3.43106886e-02 1.79415890e+02] [-1.97807781e-01 9.80217381e-01 -6.77987684e-03 -2.28036477e+01] [-3.49738329e-02 -1.45240498e-04 9.99388218e-01 -8.30690927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90264000000002 meters 0.023224005403333577 Centerline is valid? [True, True] Translation: X:179.47, Y:-22.81, Z:-8.31 [[ 9.79778877e-01 1.97039821e-01 3.47657915e-02 1.79473967e+02] [-1.96920118e-01 9.80395479e-01 -6.86817488e-03 -2.28098067e+01] [-3.54375288e-02 -1.16791091e-04 9.99371887e-01 -8.30833099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96264 meters 0.011573456068691658 Centerline is valid? [True, True] Translation: X:179.53, Y:-22.82, Z:-8.31 [[ 9.80254680e-01 1.94737699e-01 3.43218833e-02 1.79532349e+02] [-1.94619700e-01 9.80855355e-01 -6.77828205e-03 -2.28176886e+01] [-3.49847900e-02 -3.52719295e-05 9.99387844e-01 -8.31256261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02264 meters 0.012383330761586939 Centerline is valid? [True, True] Translation: X:179.59, Y:-22.83, Z:-8.32 [[ 9.80903643e-01 1.91525030e-01 3.38556604e-02 1.79588803e+02] [-1.91408356e-01 9.81487726e-01 -6.68464668e-03 -2.28308038e+01] [-3.45091923e-02 7.67379932e-05 9.99404377e-01 -8.31774084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08264 meters 0.014780494236040042 Centerline is valid? [True, True] Translation: X:179.65, Y:-22.85, Z:-8.32 [[ 9.82201289e-01 1.84974641e-01 3.26344795e-02 1.79646797e+02] [-1.84862697e-01 9.82743250e-01 -6.44107148e-03 -2.28458292e+01] [-3.32627493e-02 2.93530821e-04 9.99446599e-01 -8.31987809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14264 meters 0.019263295517072395 Centerline is valid? [True, True] Translation: X:179.70, Y:-22.86, Z:-8.32 [[ 9.83106307e-01 1.80036547e-01 3.29974321e-02 1.79702913e+02] [-1.79919339e-01 9.83659812e-01 -6.51199006e-03 -2.28635062e+01] [-3.36306441e-02 4.65102330e-04 9.99434222e-01 -8.32282587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20264 meters 0.022036841451307822 Centerline is valid? [True, True] Translation: X:179.76, Y:-22.88, Z:-8.32 [[ 9.83507005e-01 1.77458311e-01 3.49645486e-02 1.79760422e+02] [-1.77325130e-01 9.84128145e-01 -6.89872567e-03 -2.28762548e+01] [-3.56338326e-02 5.84851894e-04 9.99364742e-01 -8.32264181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26264 meters 0.023654161172374042 Centerline is valid? [True, True] Translation: X:179.82, Y:-22.89, Z:-8.33 [[ 9.83768404e-01 1.75923714e-01 3.53634502e-02 1.79818627e+02] [-1.75786549e-01 9.84403591e-01 -6.97565133e-03 -2.28911984e+01] [-3.60390898e-02 6.46006520e-04 9.99350172e-01 -8.32517667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32264 meters 0.023932818567374056 Centerline is valid? [True, True] Translation: X:179.88, Y:-22.90, Z:-8.33 [[ 9.84069655e-01 1.74355345e-01 3.47437492e-02 1.79877720e+02] [-1.74221953e-01 9.84682556e-01 -6.85387407e-03 -2.29017491e+01] [-3.54065734e-02 6.91565628e-04 9.99372751e-01 -8.32752814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38264 meters 0.025464989678126798 Centerline is valid? [True, True] Translation: X:179.94, Y:-22.92, Z:-8.33 [[ 9.84204841e-01 1.73587965e-01 3.47569965e-02 1.79935333e+02] [-1.73454017e-01 9.84818106e-01 -6.85581315e-03 -2.29185088e+01] [-3.54194061e-02 7.18783817e-04 9.99372277e-01 -8.33076453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44264 meters 0.032703982843039894 Centerline is valid? [True, True] Translation: X:179.99, Y:-22.93, Z:-8.33 [[ 9.84288071e-01 1.73285045e-01 3.39011244e-02 1.79993715e+02] [-1.73157422e-01 9.84871457e-01 -6.68739598e-03 -2.29344390e+01] [-3.45470755e-02 7.12092792e-04 9.99402818e-01 -8.33322552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50264 meters 0.023614570402102963 Centerline is valid? [True, True] Translation: X:180.05, Y:-22.95, Z:-8.34 [[ 9.83891658e-01 1.75362718e-01 3.47148662e-02 1.80052944e+02] [-1.75230184e-01 9.84503676e-01 -6.84791612e-03 -2.29467930e+01] [-3.53777826e-02 6.54515167e-04 9.99373796e-01 -8.33630953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56264000000002 meters 0.022000365344906413 Centerline is valid? [True, True] Translation: X:180.11, Y:-22.96, Z:-8.34 [[ 9.83496153e-01 1.77730329e-01 3.38710479e-02 1.80111400e+02] [-1.77605559e-01 9.84079073e-01 -6.68160884e-03 -2.29584331e+01] [-3.45193140e-02 5.55650188e-04 9.99403876e-01 -8.34026750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62264000000002 meters 0.01924820019430728 Centerline is valid? [True, True] Translation: X:180.17, Y:-22.97, Z:-8.34 [[ 9.82572338e-01 1.83031510e-01 3.24201513e-02 1.80171071e+02] [-1.82920098e-01 9.83106984e-01 -6.39502365e-03 -2.29664087e+01] [-3.30429680e-02 3.53276094e-04 9.99453870e-01 -8.34473629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68264000000002 meters 0.01323981878053838 Centerline is valid? [True, True] Translation: X:180.23, Y:-22.97, Z:-8.35 [[ 9.81523095e-01 1.88506724e-01 3.28272714e-02 1.80230398e+02] [-1.88395556e-01 9.82071884e-01 -6.47525482e-03 -2.29720643e+01] [-3.34593693e-02 1.71100102e-04 9.99440064e-01 -8.34615955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74264 meters 0.027525213593557956 Centerline is valid? [True, True] Translation: X:180.29, Y:-22.98, Z:-8.35 [[ 9.80879949e-01 1.91962999e-01 3.20114527e-02 1.80287303e+02] [-1.91859155e-01 9.81402162e-01 -6.31350696e-03 -2.29826235e+01] [-3.26280686e-02 5.11021450e-05 9.99467562e-01 -8.34856086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80264 meters 0.02242339890421675 Centerline is valid? [True, True] Translation: X:180.34, Y:-22.99, Z:-8.35 [[ 9.79996444e-01 1.96381213e-01 3.22705579e-02 1.80344508e+02] [-1.96278140e-01 9.80527618e-01 -6.36258233e-03 -2.29889086e+01] [-3.28916649e-02 -9.86970220e-05 9.99458918e-01 -8.35115507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86264 meters 0.014502990130692292 Centerline is valid? [True, True] Translation: X:180.40, Y:-22.99, Z:-8.35 [[ 9.78980721e-01 2.01209815e-01 3.33370479e-02 1.80403317e+02] [-2.01102687e-01 9.79548129e-01 -6.57059551e-03 -2.29940881e+01] [-3.39773112e-02 -2.71683594e-04 9.99422568e-01 -8.35244669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92264 meters 0.01675408146767255 Centerline is valid? [True, True] Translation: X:180.46, Y:-23.00, Z:-8.36 [[ 9.78605670e-01 2.03004605e-01 3.34675043e-02 1.80461076e+02] [-2.02897734e-01 9.79177725e-01 -6.59489660e-03 -2.30005809e+01] [-3.41094291e-02 -3.36677572e-04 9.99418047e-01 -8.35639558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98264 meters 0.015375054931007857 Centerline is valid? [True, True] Translation: X:180.52, Y:-23.02, Z:-8.36 [[ 9.78819638e-01 2.01937191e-01 3.36673005e-02 1.80517869e+02] [-2.01828509e-01 9.79398427e-01 -6.63131634e-03 -2.30157422e+01] [-3.43128105e-02 -3.04158413e-04 9.99411096e-01 -8.35812341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04264 meters 0.014402686993063908 Centerline is valid? [True, True] Translation: X:180.58, Y:-23.03, Z:-8.36 [[ 9.79108288e-01 2.00557682e-01 3.35197872e-02 1.80575311e+02] [-2.00449200e-01 9.79681862e-01 -6.60057539e-03 -2.30279488e+01] [-3.41625236e-02 -2.56336474e-04 9.99416258e-01 -8.36084932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10264 meters 0.016018382336278038 Centerline is valid? [True, True] Translation: X:180.63, Y:-23.03, Z:-8.37 [[ 9.78901828e-01 2.01652831e-01 3.29749508e-02 1.80632820e+02] [-2.01548520e-01 9.79457018e-01 -6.49180366e-03 -2.30343536e+01] [-3.36066375e-02 -2.91214037e-04 9.99435095e-01 -8.36549444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16264 meters 0.01623263236277125 Centerline is valid? [True, True] Translation: X:180.69, Y:-23.05, Z:-8.37 [[ 9.78823854e-01 2.01986890e-01 3.32439445e-02 1.80689610e+02] [-2.01881128e-01 9.79388177e-01 -6.54278523e-03 -2.30474521e+01] [-3.38802831e-02 -3.07090772e-04 9.99425851e-01 -8.36780094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22264 meters 0.014707784249389788 Centerline is valid? [True, True] Translation: X:180.75, Y:-23.06, Z:-8.37 [[ 9.79037050e-01 2.00844495e-01 3.38813123e-02 1.80747531e+02] [-2.00734053e-01 9.79623097e-01 -6.66537103e-03 -2.30591355e+01] [-3.45296192e-02 -2.75487942e-04 9.99403637e-01 -8.36772997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28264000000001 meters 0.013361663903057269 Centerline is valid? [True, True] Translation: X:180.80, Y:-23.07, Z:-8.37 [[ 9.79496211e-01 1.98615372e-01 3.37506463e-02 1.80804990e+02] [-1.98504515e-01 9.80077494e-01 -6.63795694e-03 -2.30735601e+01] [-3.43966492e-02 -1.97802021e-04 9.99408241e-01 -8.37159320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34264000000002 meters 0.023688130492912535 Centerline is valid? [True, True] Translation: X:180.86, Y:-23.09, Z:-8.37 [[ 9.79742141e-01 1.97537108e-01 3.29306452e-02 1.80861862e+02] [-1.97431019e-01 9.80295397e-01 -6.47507288e-03 -2.30887577e+01] [-3.35608271e-02 -1.57629084e-04 9.99436664e-01 -8.37409922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40264000000002 meters 0.01323586185605994 Centerline is valid? [True, True] Translation: X:180.92, Y:-23.10, Z:-8.38 [[ 9.79787063e-01 1.97382423e-01 3.25190805e-02 1.80918887e+02] [-1.97278939e-01 9.80326556e-01 -6.39251586e-03 -2.31014384e+01] [-3.31410885e-02 -1.52025343e-04 9.99450672e-01 -8.37854252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46264 meters 0.027692856958750855 Centerline is valid? [True, True] Translation: X:180.98, Y:-23.11, Z:-8.38 [[ 9.79784533e-01 1.97295904e-01 3.31148826e-02 1.80975980e+02] [-1.97188595e-01 9.80343972e-01 -6.50810096e-03 -2.31125842e+01] [-3.37479972e-02 -1.53340515e-04 9.99430362e-01 -8.38108969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52264 meters 0.012973970938334254 Centerline is valid? [True, True] Translation: X:181.03, Y:-23.13, Z:-8.38 [[ 9.79948550e-01 1.96445327e-01 3.33177531e-02 1.81032401e+02] [-1.96336290e-01 9.80514772e-01 -6.54552250e-03 -2.31295188e+01] [-3.39543863e-02 -1.27208741e-04 9.99423375e-01 -8.38451532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58264 meters 0.012945931253802643 Centerline is valid? [True, True] Translation: X:181.09, Y:-23.14, Z:-8.39 [[ 9.80029702e-01 1.96188192e-01 3.24341959e-02 1.81089700e+02] [-1.96084773e-01 9.80566255e-01 -6.37042539e-03 -2.31434999e+01] [-3.30536802e-02 -1.16645828e-04 9.99453571e-01 -8.38764323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64264 meters 0.013600592020850016 Centerline is valid? [True, True] Translation: X:181.15, Y:-23.15, Z:-8.39 [[ 9.79902377e-01 1.96825702e-01 3.24187474e-02 1.81146161e+02] [-1.96722777e-01 9.80438485e-01 -6.36593499e-03 -2.31547093e+01] [-3.30375672e-02 -1.39511197e-04 9.99454101e-01 -8.39061851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70264 meters 0.023939422072630237 Centerline is valid? [True, True] Translation: X:181.20, Y:-23.17, Z:-8.39 [[ 9.79550587e-01 1.98375499e-01 3.35828770e-02 1.81204362e+02] [-1.98266037e-01 9.80126074e-01 -6.59223334e-03 -2.31657097e+01] [-3.42231910e-02 -2.00917884e-04 9.99414195e-01 -8.38762707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76264 meters 0.016216832501681294 Centerline is valid? [True, True] Translation: X:181.26, Y:-23.17, Z:-8.39 [[ 9.78856594e-01 2.01708370e-01 3.39632570e-02 1.81261452e+02] [-2.01598474e-01 9.79445572e-01 -6.66525611e-03 -2.31728046e+01] [-3.46095996e-02 -3.22610907e-04 9.99400856e-01 -8.39235285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82264 meters 0.021581592919758287 Centerline is valid? [True, True] Translation: X:181.32, Y:-23.18, Z:-8.39 [[ 9.78199636e-01 2.04960629e-01 3.34157630e-02 1.81319876e+02] [-2.04856222e-01 9.78770123e-01 -6.55554644e-03 -2.31788052e+01] [-3.40499794e-02 -4.32793824e-04 9.99420038e-01 -8.39452964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88264 meters 0.01997506909567704 Centerline is valid? [True, True] Translation: X:181.38, Y:-23.18, Z:-8.40 [[ 9.77895241e-01 2.06477957e-01 3.29810822e-02 1.81378231e+02] [-2.06377166e-01 9.78451134e-01 -6.46862734e-03 -2.31842714e+01] [-3.36060063e-02 -4.80902404e-04 9.99435043e-01 -8.39897793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94264 meters 0.019315290876458925 Centerline is valid? [True, True] Translation: X:181.44, Y:-23.19, Z:-8.40 [[ 9.77859352e-01 2.06559331e-01 3.35310219e-02 1.81436753e+02] [-2.06455257e-01 9.78433952e-01 -6.57476676e-03 -2.31937559e+01] [-3.41659697e-02 -4.93458588e-04 9.99416051e-01 -8.39927003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00264 meters 0.021878408826427092 Centerline is valid? [True, True] Translation: X:181.50, Y:-23.19, Z:-8.40 [[ 9.77830466e-01 2.06403576e-01 3.52865954e-02 1.81496052e+02] [-2.06288285e-01 9.78466810e-01 -6.91703673e-03 -2.31942814e+01] [-3.59544636e-02 -5.15521987e-04 9.99353296e-01 -8.40161693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06264000000002 meters 0.02125014947127907 Centerline is valid? [True, True] Translation: X:181.56, Y:-23.20, Z:-8.40 [[ 9.77709533e-01 2.07106441e-01 3.45107329e-02 1.81555404e+02] [-2.06996665e-01 9.78318271e-01 -6.76319525e-03 -2.31982654e+01] [-3.51631818e-02 -5.31166124e-04 9.99381443e-01 -8.40420410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12264000000002 meters 0.01961776559607796 Centerline is valid? [True, True] Translation: X:181.61, Y:-23.20, Z:-8.41 [[ 9.78049887e-01 2.05536230e-01 3.42531386e-02 1.81614888e+02] [-2.05427182e-01 9.78649393e-01 -6.71104762e-03 -2.32021179e+01] [-3.49011768e-02 -4.72786382e-04 9.99390657e-01 -8.40809646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18264000000002 meters 0.013214349422893007 Centerline is valid? [True, True] Translation: X:181.67, Y:-23.22, Z:-8.41 [[ 9.79749793e-01 1.97446494e-01 3.32449191e-02 1.81671748e+02] [-1.97339163e-01 9.80313648e-01 -6.51194679e-03 -2.32183422e+01] [-3.38762090e-02 -1.80445998e-04 9.99426020e-01 -8.41138646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24264 meters 0.017824808061237516 Centerline is valid? [True, True] Translation: X:181.73, Y:-23.24, Z:-8.41 [[ 9.82074921e-01 1.85676887e-01 3.24490904e-02 1.81727227e+02] [-1.85568250e-01 9.82610831e-01 -6.35444162e-03 -2.32419420e+01] [-3.30647006e-02 2.19016843e-04 9.99453189e-01 -8.41469462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30264 meters 0.02084413555995457 Centerline is valid? [True, True] Translation: X:181.78, Y:-23.27, Z:-8.42 [[ 9.83768012e-01 1.76536937e-01 3.21746424e-02 1.81784046e+02] [-1.76425307e-01 9.84293879e-01 -6.29853982e-03 -2.32651682e+01] [-3.27812285e-02 5.19880849e-04 9.99462416e-01 -8.41737446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36264 meters 0.022732232008667464 Centerline is valid? [True, True] Translation: X:181.84, Y:-23.28, Z:-8.42 [[ 9.84189788e-01 1.74256698e-01 3.17027435e-02 1.81841782e+02] [-1.74147143e-01 9.84700086e-01 -6.20594607e-03 -2.32789242e+01] [-3.22991219e-02 5.86886542e-04 9.99478075e-01 -8.42005150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42264 meters 0.023822434500514907 Centerline is valid? [True, True] Translation: X:181.90, Y:-23.29, Z:-8.43 [[ 9.84119694e-01 1.74974766e-01 2.98707062e-02 1.81899232e+02] [-1.74877857e-01 9.84572775e-01 -5.84681939e-03 -2.32916460e+01] [-3.04329300e-02 5.30245031e-04 9.99536670e-01 -8.42706464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48264 meters 0.025977335111341596 Centerline is valid? [True, True] Translation: X:181.96, Y:-23.30, Z:-8.43 [[ 9.83521458e-01 1.78294414e-01 2.99440125e-02 1.81957828e+02] [-1.78198593e-01 9.83977093e-01 -5.86024360e-03 -2.32974602e+01] [-3.05090711e-02 4.27694425e-04 9.99534398e-01 -8.42787382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54264 meters 0.01544812699600582 Centerline is valid? [True, True] Translation: X:182.02, Y:-23.30, Z:-8.43 [[ 9.82442172e-01 1.83954009e-01 3.11175414e-02 1.82018170e+02] [-1.83853421e-01 9.82934817e-01 -6.08809113e-03 -2.33025619e+01] [-3.17064437e-02 2.60131045e-04 9.99497190e-01 -8.42875573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60264 meters 0.012689469992477638 Centerline is valid? [True, True] Translation: X:182.08, Y:-23.30, Z:-8.43 [[ 9.80738977e-01 1.92775484e-01 3.14431393e-02 1.82078688e+02] [-1.92677335e-01 9.81242891e-01 -6.15082100e-03 -2.33003128e+01] [-3.20390844e-02 -2.60303717e-05 9.99486616e-01 -8.42949144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66264 meters 0.018131355746567292 Centerline is valid? [True, True] Translation: X:182.14, Y:-23.30, Z:-8.43 [[ 9.78653443e-01 2.03217621e-01 3.06600230e-02 1.82139505e+02] [-2.03129465e-01 9.79133530e-01 -5.99595091e-03 -2.32959548e+01] [-3.12387394e-02 -3.59996064e-04 9.99511887e-01 -8.43395957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72264 meters 0.024814111779985132 Centerline is valid? [True, True] Translation: X:182.20, Y:-23.29, Z:-8.44 [[ 9.77394947e-01 2.09179293e-01 3.07105933e-02 1.82199156e+02] [-2.09093815e-01 9.77877149e-01 -6.00484886e-03 -2.32938280e+01] [-3.12872775e-02 -5.52286205e-04 9.99510281e-01 -8.43865571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78264000000001 meters 0.030053383845056864 Centerline is valid? [True, True] Translation: X:182.26, Y:-23.29, Z:-8.44 [[ 9.76014678e-01 2.15548576e-01 3.05640412e-02 1.82260978e+02] [-2.15467100e-01 9.76492827e-01 -5.97388180e-03 -2.32927915e+01] [-3.11332287e-02 -7.54948997e-04 9.99514958e-01 -8.44075146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84264000000002 meters 0.031142760416925347 Centerline is valid? [True, True] Translation: X:182.32, Y:-23.30, Z:-8.44 [[ 9.75700791e-01 2.17066032e-01 2.98379656e-02 1.82319956e+02] [-2.16989001e-01 9.76156610e-01 -5.83491959e-03 -2.32978679e+01] [-3.03930902e-02 -7.81374672e-04 9.99537718e-01 -8.44301470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90264000000002 meters 0.03166341203514576 Centerline is valid? [True, True] Translation: X:182.38, Y:-23.31, Z:-8.45 [[ 9.76539791e-01 2.13296714e-01 2.95727812e-02 1.82377384e+02] [-2.13219556e-01 9.76987241e-01 -5.77515997e-03 -2.33080387e+01] [-3.01240525e-02 -6.65821751e-04 9.99545946e-01 -8.44930653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96264 meters 0.02324102559997153 Centerline is valid? [True, True] Translation: X:182.44, Y:-23.32, Z:-8.45 [[ 9.77529838e-01 2.08668230e-01 2.98828597e-02 1.82435456e+02] [-2.08587306e-01 9.77986344e-01 -5.83489524e-03 -2.33244612e+01] [-3.04425860e-02 -5.29401011e-04 9.99536377e-01 -8.45121994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02264 meters 0.016876575274696437 Centerline is valid? [True, True] Translation: X:182.49, Y:-23.34, Z:-8.45 [[ 9.78992731e-01 2.01606551e-01 3.04636075e-02 1.82492978e+02] [-2.01519067e-01 9.79466538e-01 -5.94704956e-03 -2.33415735e+01] [-3.10370483e-02 -3.16879482e-04 9.99518185e-01 -8.45213437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08264 meters 0.023292411523115876 Centerline is valid? [True, True] Translation: X:182.55, Y:-23.35, Z:-8.45 [[ 9.79708768e-01 1.98082204e-01 3.05642058e-02 1.82549739e+02] [-1.97992432e-01 9.80185390e-01 -5.96646768e-03 -2.33524915e+01] [-3.11404391e-02 -2.06080754e-04 9.99514998e-01 -8.45490685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14264 meters 0.0160838822445171 Centerline is valid? [True, True] Translation: X:182.61, Y:-23.36, Z:-8.46 [[ 9.79695613e-01 1.98288225e-01 2.96358724e-02 1.82607150e+02] [-1.98203974e-01 9.80143733e-01 -5.78342031e-03 -2.33575267e+01] [-3.01941987e-02 -2.07956181e-04 9.99544030e-01 -8.46049507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20264 meters 0.015822138369424466 Centerline is valid? [True, True] Translation: X:182.67, Y:-23.36, Z:-8.46 [[ 9.79643136e-01 1.98552543e-01 2.96008893e-02 1.82665957e+02] [-1.98468675e-01 9.80090220e-01 -5.77451634e-03 -2.33615847e+01] [-3.01580870e-02 -2.17883983e-04 9.99545118e-01 -8.46130977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26264 meters 0.013009549239114385 Centerline is valid? [True, True] Translation: X:182.72, Y:-23.37, Z:-8.46 [[ 9.80436463e-01 1.94170346e-01 3.22834020e-02 1.82724430e+02] [-1.94068217e-01 9.80967822e-01 -6.29754200e-03 -2.33718326e+01] [-3.28917745e-02 -9.08424431e-05 9.99458915e-01 -8.45837232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32264 meters 0.013554830664160689 Centerline is valid? [True, True] Translation: X:182.78, Y:-23.39, Z:-8.46 [[ 9.81908651e-01 1.86367864e-01 3.35025576e-02 1.82779691e+02] [-1.86253556e-01 9.82480020e-01 -6.52859622e-03 -2.33922206e+01] [-3.41323140e-02 1.70514622e-04 9.99417308e-01 -8.46121613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38264 meters 0.01569409579288646 Centerline is valid? [True, True] Translation: X:182.84, Y:-23.41, Z:-8.46 [[ 9.82775492e-01 1.81942691e-01 3.23911943e-02 1.82836653e+02] [-1.81833548e-01 9.83309087e-01 -6.30870519e-03 -2.34075734e+01] [-3.29983785e-02 3.10235060e-04 9.99455357e-01 -8.46442866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44264 meters 0.02009724544417335 Centerline is valid? [True, True] Translation: X:182.89, Y:-23.42, Z:-8.47 [[ 9.83739649e-01 1.77102629e-01 2.98489818e-02 1.82892162e+02] [-1.77007763e-01 9.84192293e-01 -5.81221768e-03 -2.34242728e+01] [-3.04064969e-02 4.34207494e-04 9.99537521e-01 -8.47206641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50264 meters 0.030224064697695927 Centerline is valid? [True, True] Translation: X:182.95, Y:-23.44, Z:-8.48 [[ 9.83930340e-01 1.76092619e-01 2.95376848e-02 1.82947956e+02] [-1.75999305e-01 9.84373495e-01 -5.75032838e-03 -2.34385315e+01] [-3.00887044e-02 4.59310574e-04 9.99547127e-01 -8.47582486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56264000000002 meters 0.022861883531513524 Centerline is valid? [True, True] Translation: X:183.00, Y:-23.46, Z:-8.48 [[ 9.84147452e-01 1.74831987e-01 2.97921065e-02 1.83003883e+02] [-1.74736538e-01 9.84598155e-01 -5.79796163e-03 -2.34550350e+01] [-3.03469222e-02 5.00279615e-04 9.99539301e-01 -8.47814386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62264000000002 meters 0.02009439192709265 Centerline is valid? [True, True] Translation: X:183.06, Y:-23.46, Z:-8.48 [[ 9.84046601e-01 1.75339120e-01 3.01410005e-02 1.83062250e+02] [-1.75241721e-01 9.84507976e-01 -5.86383590e-03 -2.34632668e+01] [-3.07022152e-02 4.88326994e-04 9.99528457e-01 -8.47609871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68264000000002 meters 0.019273022055282814 Centerline is valid? [True, True] Translation: X:183.12, Y:-23.47, Z:-8.48 [[ 9.83628289e-01 1.77555098e-01 3.08151816e-02 1.83118635e+02] [-1.77454425e-01 9.84110768e-01 -5.99352024e-03 -2.34749148e+01] [-3.13897321e-02 4.27105711e-04 9.99507130e-01 -8.47900333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74264 meters 0.018372782817406483 Centerline is valid? [True, True] Translation: X:183.18, Y:-23.49, Z:-8.48 [[ 9.83375545e-01 1.78711458e-01 3.21675747e-02 1.83175718e+02] [-1.78602448e-01 9.83901444e-01 -6.25416758e-03 -2.34888457e+01] [-3.27674146e-02 4.04987854e-04 9.99462922e-01 -8.48025408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80264 meters 0.01817967764230051 Centerline is valid? [True, True] Translation: X:183.23, Y:-23.50, Z:-8.48 [[ 9.83360449e-01 1.78861375e-01 3.17936582e-02 1.83233046e+02] [-1.78755014e-01 9.83874206e-01 -6.17992688e-03 -2.35037047e+01] [-3.23863105e-02 3.93819841e-04 9.99475348e-01 -8.48320453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86264 meters 0.019969908416193602 Centerline is valid? [True, True] Translation: X:183.29, Y:-23.53, Z:-8.49 [[ 9.83773008e-01 1.76690103e-01 3.11653020e-02 1.83289036e+02] [-1.76586865e-01 9.84266428e-01 -6.05627470e-03 -2.35250750e+01] [-3.17450443e-02 4.54616602e-04 9.99495896e-01 -8.48718038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92264 meters 0.02407268566052848 Centerline is valid? [True, True] Translation: X:183.34, Y:-23.55, Z:-8.49 [[ 9.84185422e-01 1.74588008e-01 2.99680276e-02 1.83342300e+02] [-1.74491615e-01 9.84641446e-01 -5.82237759e-03 -2.35512365e+01] [-3.05242793e-02 5.01129622e-04 9.99533900e-01 -8.49486009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98264 meters 0.02322577907425744 Centerline is valid? [True, True] Translation: X:183.40, Y:-23.57, Z:-8.49 [[ 9.84282449e-01 1.73984171e-01 3.02914065e-02 1.83398002e+02] [-1.73885464e-01 9.84748310e-01 -5.88313575e-03 -2.35727202e+01] [-3.08529838e-02 5.23431985e-04 9.99523796e-01 -8.49467495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04264 meters 0.021967064515037785 Centerline is valid? [True, True] Translation: X:183.45, Y:-23.59, Z:-8.50 [[ 9.83992479e-01 1.75395978e-01 3.15444484e-02 1.83454984e+02] [-1.75289711e-01 9.84497843e-01 -6.12485580e-03 -2.35888592e+01] [-3.21297165e-02 4.97394800e-04 9.99483584e-01 -8.49571669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10264 meters 0.018490893549288526 Centerline is valid? [True, True] Translation: X:183.51, Y:-23.60, Z:-8.50 [[ 9.83333762e-01 1.79122159e-01 3.11442618e-02 1.83511992e+02] [-1.79020485e-01 9.83826771e-01 -6.04568195e-03 -2.36027441e+01] [-3.17234741e-02 3.69462321e-04 9.99496616e-01 -8.49819599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16264 meters 0.02455767446427842 Centerline is valid? [True, True] Translation: X:183.57, Y:-23.62, Z:-8.50 [[ 9.82437843e-01 1.83913858e-01 3.14893142e-02 1.83570597e+02] [-1.83812438e-01 9.82942341e-01 -6.11075081e-03 -2.36153645e+01] [-3.20760320e-02 2.15305245e-04 9.99485409e-01 -8.49935875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22264 meters 0.03218902749405552 Centerline is valid? [True, True] Translation: X:183.63, Y:-23.63, Z:-8.50 [[ 9.81473614e-01 1.89119275e-01 3.07155383e-02 1.83628386e+02] [-1.89025337e-01 9.81954122e-01 -5.96022166e-03 -2.36253236e+01] [-3.12884422e-02 4.37853253e-05 9.99510396e-01 -8.50339872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28264000000001 meters 0.013850297086866104 Centerline is valid? [True, True] Translation: X:183.69, Y:-23.63, Z:-8.51 [[ 9.80747589e-01 1.92877384e-01 3.05365456e-02 1.83685287e+02] [-1.92786399e-01 9.81222864e-01 -5.92413490e-03 -2.36343982e+01] [-3.11057884e-02 -7.69496532e-05 9.99516095e-01 -8.50789213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34264000000002 meters 0.015729782099442483 Centerline is valid? [True, True] Translation: X:183.74, Y:-23.64, Z:-8.51 [[ 9.79784318e-01 1.97535242e-01 3.16625729e-02 1.83743891e+02] [-1.97439925e-01 9.80295758e-01 -6.14029366e-03 -2.36416256e+01] [-3.22516103e-02 -2.35292578e-04 9.99479754e-01 -8.50871239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40264000000002 meters 0.019063083650569797 Centerline is valid? [True, True] Translation: X:183.80, Y:-23.65, Z:-8.51 [[ 9.79383572e-01 1.99475564e-01 3.18954209e-02 1.83802632e+02] [-1.99379919e-01 9.79902754e-01 -6.18386966e-03 -2.36494886e+01] [-3.24879417e-02 -3.02926075e-04 9.99472082e-01 -8.51135961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46264 meters 0.016038698224921807 Centerline is valid? [True, True] Translation: X:183.86, Y:-23.66, Z:-8.52 [[ 9.79737751e-01 1.97940415e-01 3.05537549e-02 1.83859471e+02] [-1.97851946e-01 9.80214024e-01 -5.92235802e-03 -2.36636700e+01] [-3.11214931e-02 -2.42762146e-04 9.99515580e-01 -8.51571646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52264 meters 0.013362189688593042 Centerline is valid? [True, True] Translation: X:183.92, Y:-23.68, Z:-8.52 [[ 9.80700035e-01 1.92935836e-01 3.16734139e-02 1.83915458e+02] [-1.92838205e-01 9.81211371e-01 -6.13769421e-03 -2.36813842e+01] [-3.22624951e-02 -8.86073567e-05 9.99479426e-01 -8.51693314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58264 meters 0.012845957539707503 Centerline is valid? [True, True] Translation: X:183.97, Y:-23.70, Z:-8.52 [[ 9.81596378e-01 1.88241811e-01 3.21492085e-02 1.83972538e+02] [-1.88138759e-01 9.82122709e-01 -6.22825971e-03 -2.36966786e+01] [-3.27468867e-02 6.51249774e-05 9.99463675e-01 -8.51800821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64264 meters 0.014512068983335092 Centerline is valid? [True, True] Translation: X:184.03, Y:-23.71, Z:-8.52 [[ 9.82511860e-01 1.83489372e-01 3.16558952e-02 1.84030113e+02] [-1.83387051e-01 9.83021669e-01 -6.13080900e-03 -2.37127892e+01] [-3.22433692e-02 2.18311277e-04 9.99480024e-01 -8.52076682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70264 meters 0.016002857322843272 Centerline is valid? [True, True] Translation: X:184.09, Y:-23.73, Z:-8.52 [[ 9.83070266e-01 1.80343856e-01 3.23874375e-02 1.84088337e+02] [-1.80235071e-01 9.83603571e-01 -6.27164715e-03 -2.37264001e+01] [-3.29874522e-02 3.28117752e-04 9.99455712e-01 -8.52185875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76264 meters 0.01901489322123493 Centerline is valid? [True, True] Translation: X:184.15, Y:-23.74, Z:-8.52 [[ 9.83778893e-01 1.76361809e-01 3.27963737e-02 1.84146589e+02] [-1.76248084e-01 9.84325299e-01 -6.34965209e-03 -2.37433715e+01] [-3.34021365e-02 4.66355698e-04 9.99441884e-01 -8.52445356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82264 meters 0.023028640286113105 Centerline is valid? [True, True] Translation: X:184.21, Y:-23.76, Z:-8.53 [[ 9.84273853e-01 1.73794074e-01 3.16322883e-02 1.84205405e+02] [-1.73687030e-01 9.84781873e-01 -6.12194826e-03 -2.37608572e+01] [-3.22148625e-02 5.31555388e-04 9.99480825e-01 -8.53107037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88264 meters 0.024151390887695957 Centerline is valid? [True, True] Translation: X:184.27, Y:-23.78, Z:-8.53 [[ 9.84541347e-01 1.72293678e-01 3.15154680e-02 1.84265399e+02] [-1.72186427e-01 9.85045454e-01 -6.10646409e-03 -2.37754401e+01] [-3.20962736e-02 5.85530559e-04 9.99484610e-01 -8.53398861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94264 meters 0.022965172386584545 Centerline is valid? [True, True] Translation: X:184.33, Y:-23.78, Z:-8.53 [[ 9.84554450e-01 1.72238965e-01 3.14049876e-02 1.84326194e+02] [-1.72132412e-01 9.85055022e-01 -6.08581693e-03 -2.37843958e+01] [-3.19838556e-02 5.86001875e-04 9.99488214e-01 -8.53488289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00264 meters 0.024018814156855257 Centerline is valid? [True, True] Translation: X:184.39, Y:-23.80, Z:-8.54 [[ 9.84156523e-01 1.74479570e-01 3.15090004e-02 1.84385464e+02] [-1.74373431e-01 9.84660659e-01 -6.10678308e-03 -2.37967522e+01] [-3.20911820e-02 5.15697889e-04 9.99484812e-01 -8.54084308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06264000000002 meters 0.01883485799515713 Centerline is valid? [True, True] Translation: X:184.45, Y:-23.80, Z:-8.54 [[ 9.83458566e-01 1.78199034e-01 3.24708082e-02 1.84445834e+02] [-1.78088289e-01 9.83994379e-01 -6.29470106e-03 -2.38002623e+01] [-3.30728024e-02 4.07906994e-04 9.99452862e-01 -8.54039277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12264000000002 meters 0.017164871815525874 Centerline is valid? [True, True] Translation: X:184.51, Y:-23.81, Z:-8.54 [[ 9.83297014e-01 1.79083650e-01 3.24965811e-02 1.84505920e+02] [-1.78973249e-01 9.83833779e-01 -6.29857618e-03 -2.38088301e+01] [-3.30992062e-02 3.77352434e-04 9.99452000e-01 -8.54200772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18264000000002 meters 0.021575417265274885 Centerline is valid? [True, True] Translation: X:184.56, Y:-23.82, Z:-8.55 [[ 9.83560929e-01 1.77732591e-01 3.19221596e-02 1.84564026e+02] [-1.77625343e-01 9.84078733e-01 -6.18741707e-03 -2.38234078e+01] [-3.25136240e-02 4.15517152e-04 9.99471206e-01 -8.54635530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24264 meters 0.02429106140197359 Centerline is valid? [True, True] Translation: X:184.62, Y:-23.85, Z:-8.55 [[ 9.84089147e-01 1.74847796e-01 3.15721264e-02 1.84621169e+02] [-1.74741497e-01 9.84595346e-01 -6.11665975e-03 -2.38481605e+01] [-3.21552532e-02 5.02377852e-04 9.99482760e-01 -8.55364072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30264 meters 0.023317472418522386 Centerline is valid? [True, True] Translation: X:184.68, Y:-23.86, Z:-8.55 [[ 9.84302210e-01 1.73621431e-01 3.16979213e-02 1.84681086e+02] [-1.73513415e-01 9.84812314e-01 -6.14821589e-03 -2.38634789e+01] [-3.22839653e-02 5.51687910e-04 9.99478585e-01 -8.55368151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36264 meters 0.019712003918885303 Centerline is valid? [True, True] Translation: X:184.74, Y:-23.88, Z:-8.56 [[ 9.83570188e-01 1.77677424e-01 3.19440013e-02 1.84740053e+02] [-1.77569823e-01 9.84088692e-01 -6.19707256e-03 -2.38751199e+01] [-3.25368103e-02 4.22965147e-04 9.99470448e-01 -8.55693671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42264 meters 0.014590278726907002 Centerline is valid? [True, True] Translation: X:184.80, Y:-23.88, Z:-8.56 [[ 9.82579718e-01 1.83113338e-01 3.17270168e-02 1.84800534e+02] [-1.83010024e-01 9.83091780e-01 -6.15497800e-03 -2.38804590e+01] [-3.23176280e-02 2.41394437e-04 9.99477620e-01 -8.55844520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48264 meters 0.013462340443614626 Centerline is valid? [True, True] Translation: X:184.86, Y:-23.88, Z:-8.56 [[ 9.80694561e-01 1.93159995e-01 3.04531357e-02 1.84859337e+02] [-1.93069616e-01 9.81167269e-01 -5.90882568e-03 -2.38776904e+01] [-3.10209687e-02 -8.48220045e-05 9.99518730e-01 -8.56498188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54264 meters 0.016060571409469336 Centerline is valid? [True, True] Translation: X:184.92, Y:-23.88, Z:-8.57 [[ 9.79752983e-01 1.97920409e-01 3.01927924e-02 1.84917199e+02] [-1.97833881e-01 9.80218066e-01 -5.85654151e-03 -2.38832285e+01] [-3.07546497e-02 -2.35193284e-04 9.99526936e-01 -8.56939612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60264 meters 0.018065378009560828 Centerline is valid? [True, True] Translation: X:184.98, Y:-23.89, Z:-8.57 [[ 9.79233392e-01 2.00423968e-01 3.05318902e-02 1.84975185e+02] [-2.00336781e-01 9.79709207e-01 -5.91975621e-03 -2.38907334e+01] [-3.10988350e-02 -3.19837637e-04 9.99516263e-01 -8.57182614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66264 meters 0.024618686869975683 Centerline is valid? [True, True] Translation: X:185.03, Y:-23.90, Z:-8.57 [[ 9.78659073e-01 2.03051401e-01 3.15681467e-02 1.85034302e+02] [-2.02959611e-01 9.79167990e-01 -6.11904093e-03 -2.38968426e+01] [-3.21529986e-02 -4.18603849e-04 9.99482871e-01 -8.57259770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72264 meters 0.021371663240833002 Centerline is valid? [True, True] Translation: X:185.09, Y:-23.91, Z:-8.57 [[ 9.78168742e-01 2.05198302e-01 3.28567856e-02 1.85092409e+02] [-2.05100130e-01 9.78720285e-01 -6.36713680e-03 -2.39061310e+01] [-3.34641282e-02 -5.10796813e-04 9.99439789e-01 -8.57247610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78264000000001 meters 0.028668016912433106 Centerline is valid? [True, True] Translation: X:185.15, Y:-23.91, Z:-8.57 [[ 9.78126116e-01 2.05341226e-01 3.32307329e-02 1.85149435e+02] [-2.05240935e-01 9.78690302e-01 -6.43826201e-03 -2.39144989e+01] [-3.38446366e-02 -5.22874484e-04 9.99426969e-01 -8.57363088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84264000000002 meters 0.03644556297520626 Centerline is valid? [True, True] Translation: X:185.21, Y:-23.92, Z:-8.58 [[ 9.78354090e-01 2.04318253e-01 3.28226383e-02 1.85207002e+02] [-2.04219920e-01 9.78904396e-01 -6.35664456e-03 -2.39213112e+01] [-3.34290034e-02 -4.83987354e-04 9.99440977e-01 -8.57907641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90264000000002 meters 0.017520758785155868 Centerline is valid? [True, True] Translation: X:185.26, Y:-23.94, Z:-8.58 [[ 9.79072972e-01 2.00775318e-01 3.32473586e-02 1.85263603e+02] [-2.00672474e-01 9.79637246e-01 -6.43612375e-03 -2.39375850e+01] [-3.38625656e-02 -3.70394889e-04 9.99426430e-01 -8.58076633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96264 meters 0.013195387434662784 Centerline is valid? [True, True] Translation: X:185.32, Y:-23.96, Z:-8.58 [[ 9.80209362e-01 1.95135330e-01 3.33438189e-02 1.85320163e+02] [-1.95028679e-01 9.80776311e-01 -6.45314800e-03 -2.39550521e+01] [-3.39620648e-02 -1.77564857e-04 9.99423107e-01 -8.58218239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02264 meters 0.012195549867117437 Centerline is valid? [True, True] Translation: X:185.38, Y:-23.97, Z:-8.59 [[ 9.81365518e-01 1.89298342e-01 3.29826799e-02 1.85376221e+02] [-1.89190750e-01 9.81919619e-01 -6.38142896e-03 -2.39748126e+01] [-3.35943344e-02 2.24963754e-05 9.99435551e-01 -8.58733373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08264 meters 0.021057982667940008 Centerline is valid? [True, True] Translation: X:185.43, Y:-23.99, Z:-8.59 [[ 9.82196905e-01 1.84986497e-01 3.26991761e-02 1.85434342e+02] [-1.84878414e-01 9.82741048e-01 -6.32485760e-03 -2.39942595e+01] [-3.33048358e-02 1.66883732e-04 9.99445226e-01 -8.58796360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14264 meters 0.013378549358949523 Centerline is valid? [True, True] Translation: X:185.49, Y:-24.01, Z:-8.59 [[ 9.82243770e-01 1.84603791e-01 3.34457239e-02 1.85491868e+02] [-1.84490500e-01 9.82813007e-01 -6.46908054e-03 -2.40076237e+01] [-3.40651092e-02 1.83795748e-04 9.99419599e-01 -8.59017702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20264 meters 0.01826911747418823 Centerline is valid? [True, True] Translation: X:185.55, Y:-24.02, Z:-8.59 [[ 9.81704757e-01 1.87284811e-01 3.43535917e-02 1.85550668e+02] [-1.87166890e-01 9.82305650e-01 -6.64565540e-03 -2.40174771e+01] [-3.49903575e-02 9.42166169e-05 9.99387646e-01 -8.58959361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26264 meters 0.01167075680120058 Centerline is valid? [True, True] Translation: X:185.61, Y:-24.02, Z:-8.59 [[ 9.81015806e-01 1.90751819e-01 3.49532886e-02 1.85608602e+02] [-1.90631970e-01 9.81638295e-01 -6.76087889e-03 -2.40246476e+01] [-3.56011365e-02 -3.06852050e-05 9.99366078e-01 -8.59398037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32264 meters 0.012043881623306494 Centerline is valid? [True, True] Translation: X:185.67, Y:-24.03, Z:-8.60 [[ 9.80617097e-01 1.92724664e-01 3.53173096e-02 1.85666163e+02] [-1.92603629e-01 9.81252869e-01 -6.83002540e-03 -2.40346291e+01] [-3.59715257e-02 -1.04602310e-04 9.99352810e-01 -8.59654334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38264 meters 0.013311430161029755 Centerline is valid? [True, True] Translation: X:185.72, Y:-24.04, Z:-8.60 [[ 9.79999557e-01 1.95900677e-01 3.49827446e-02 1.85724756e+02] [-1.95784006e-01 9.80623718e-01 -6.76365927e-03 -2.40428825e+01] [-3.56299145e-02 -2.20678778e-04 9.99365029e-01 -8.59908655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44264 meters 0.015686625006476176 Centerline is valid? [True, True] Translation: X:185.78, Y:-24.05, Z:-8.60 [[ 9.79543750e-01 1.98155226e-01 3.50506534e-02 1.85782327e+02] [-1.98039602e-01 9.80170604e-01 -6.77513081e-03 -2.40506330e+01] [-3.56981477e-02 -3.04880424e-04 9.99362571e-01 -8.60365290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50264 meters 0.0180565324921149 Centerline is valid? [True, True] Translation: X:185.84, Y:-24.06, Z:-8.61 [[ 9.78880551e-01 2.01477886e-01 3.46342096e-02 1.85840518e+02] [-2.01367152e-01 9.79492972e-01 -6.69235034e-03 -2.40583077e+01] [-3.52723255e-02 -4.23180579e-04 9.99377648e-01 -8.60710532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56264000000002 meters 0.0221267936510509 Centerline is valid? [True, True] Translation: X:185.90, Y:-24.06, Z:-8.61 [[ 9.77781467e-01 2.06714472e-01 3.48213928e-02 1.85900357e+02] [-2.06605925e-01 9.78401117e-01 -6.72649575e-03 -2.40632210e+01] [-3.54597536e-02 -6.17263169e-04 9.99370915e-01 -8.60904910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62264000000002 meters 0.030774746098940157 Centerline is valid? [True, True] Translation: X:185.96, Y:-24.06, Z:-8.61 [[ 9.76651713e-01 2.12107159e-01 3.40879103e-02 1.85962185e+02] [-2.12006450e-01 9.77246089e-01 -6.58381163e-03 -2.40604498e+01] [-3.47087506e-02 -7.96765972e-04 9.99397152e-01 -8.61211645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68264000000002 meters 0.0331654622022041 Centerline is valid? [True, True] Translation: X:186.02, Y:-24.06, Z:-8.62 [[ 9.75898169e-01 2.15482498e-01 3.44972032e-02 1.86022113e+02] [-2.15381467e-01 9.76507262e-01 -6.66270074e-03 -2.40572878e+01] [-3.51224648e-02 -9.27940773e-04 9.99382585e-01 -8.61755443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74264 meters 0.031852560143905605 Centerline is valid? [True, True] Translation: X:186.08, Y:-24.07, Z:-8.62 [[ 9.75704737e-01 2.16370610e-01 3.44096610e-02 1.86080019e+02] [-2.16270683e-01 9.76310832e-01 -6.64463604e-03 -2.40663725e+01] [-3.50322287e-02 -9.58598037e-04 9.99385723e-01 -8.61917428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80264 meters 0.03292319009572734 Centerline is valid? [True, True] Translation: X:186.14, Y:-24.07, Z:-8.62 [[ 9.75709407e-01 2.16428355e-01 3.39104627e-02 1.86138341e+02] [-2.16331395e-01 9.76298043e-01 -6.54670464e-03 -2.40678887e+01] [-3.45236109e-02 -9.48216417e-04 9.99403433e-01 -8.62398578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86264 meters 0.030235547371739325 Centerline is valid? [True, True] Translation: X:186.20, Y:-24.08, Z:-8.63 [[ 9.76453780e-01 2.12891309e-01 3.48612555e-02 1.86196412e+02] [-2.12786676e-01 9.77075519e-01 -6.72758833e-03 -2.40751861e+01] [-3.54943244e-02 -8.48831629e-04 9.99369517e-01 -8.62693066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92264 meters 0.025563818759936945 Centerline is valid? [True, True] Translation: X:186.25, Y:-24.10, Z:-8.63 [[ 9.78264652e-01 2.04531755e-01 3.41325561e-02 1.86253885e+02] [-2.04426391e-01 9.78859783e-01 -6.58600160e-03 -2.40963593e+01] [-3.47580329e-02 -5.34742688e-04 9.99395614e-01 -8.62708010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98264 meters 0.021384835728393285 Centerline is valid? [True, True] Translation: X:186.31, Y:-24.11, Z:-8.63 [[ 9.80202066e-01 1.95298138e-01 3.25967367e-02 1.86309112e+02] [-1.95196921e-01 9.80743901e-01 -6.28996166e-03 -2.41148251e+01] [-3.31974685e-02 -1.97349209e-04 9.99448793e-01 -8.63298302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04264 meters 0.013185765607956144 Centerline is valid? [True, True] Translation: X:186.37, Y:-24.13, Z:-8.64 [[ 9.80921476e-01 1.91642092e-01 3.26552796e-02 1.86365334e+02] [-1.91538556e-01 9.81464876e-01 -6.29910615e-03 -2.41294060e+01] [-3.32571839e-02 -7.58166084e-05 9.99446824e-01 -8.63918824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10264 meters 0.012621440757435043 Centerline is valid? [True, True] Translation: X:186.42, Y:-24.14, Z:-8.64 [[ 9.81385166e-01 1.89338082e-01 3.21597142e-02 1.86422089e+02] [-1.89236494e-01 9.81911957e-01 -6.20152832e-03 -2.41428277e+01] [-3.27521934e-02 2.96340489e-07 9.99463503e-01 -8.64170385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16264 meters 0.01266812421658329 Centerline is valid? [True, True] Translation: X:186.48, Y:-24.15, Z:-8.64 [[ 9.81250011e-01 1.89897983e-01 3.29722940e-02 1.86480084e+02] [-1.89791590e-01 9.81803827e-01 -6.35584443e-03 -2.41500858e+01] [-3.35792865e-02 -2.11916966e-05 9.99436057e-01 -8.64341843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22264 meters 0.02496400333847855 Centerline is valid? [True, True] Translation: X:186.54, Y:-24.16, Z:-8.65 [[ 9.80886587e-01 1.91955884e-01 3.18503166e-02 1.86538989e+02] [-1.91857745e-01 9.81403551e-01 -6.13802960e-03 -2.41573292e+01] [-3.24362447e-02 -9.00189962e-05 9.99473803e-01 -8.64542795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28264000000001 meters 0.014082643310976755 Centerline is valid? [True, True] Translation: X:186.60, Y:-24.16, Z:-8.65 [[ 9.80166912e-01 1.95286736e-01 3.37033376e-02 1.86598712e+02] [-1.95178878e-01 9.80746167e-01 -6.49313890e-03 -2.41609293e+01] [-3.43224431e-02 -2.13819700e-04 9.99410789e-01 -8.64629029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34264000000002 meters 0.029136901471526977 Centerline is valid? [True, True] Translation: X:186.66, Y:-24.17, Z:-8.65 [[ 9.79806693e-01 1.97038202e-01 3.39822091e-02 1.86656550e+02] [-1.96929638e-01 9.80395772e-01 -6.54585419e-03 -2.41656231e+01] [-3.46057974e-02 -2.78432394e-04 9.99401001e-01 -8.64779357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40264000000002 meters 0.015759431148978265 Centerline is valid? [True, True] Translation: X:186.71, Y:-24.18, Z:-8.65 [[ 9.79672244e-01 1.97446832e-01 3.54547899e-02 1.86714031e+02] [-1.97329010e-01 9.80313549e-01 -6.82701316e-03 -2.41755663e+01] [-3.61047830e-02 -3.08023286e-04 9.99347962e-01 -8.64987147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46264 meters 0.01386098100108819 Centerline is valid? [True, True] Translation: X:186.77, Y:-24.19, Z:-8.65 [[ 9.80081237e-01 1.95402507e-01 3.54771710e-02 1.86771970e+02] [-1.95283260e-01 9.80723103e-01 -6.82959946e-03 -2.41881336e+01] [-3.61278021e-02 -2.34535301e-04 9.99347150e-01 -8.65034684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52264 meters 0.013377235214316947 Centerline is valid? [True, True] Translation: X:186.83, Y:-24.20, Z:-8.66 [[ 9.80629902e-01 1.92825215e-01 3.44010372e-02 1.86827519e+02] [-1.92711552e-01 9.81233111e-01 -6.62119128e-03 -2.41997710e+01] [-3.50321694e-02 -1.36539107e-04 9.99386176e-01 -8.65592922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58264 meters 0.01294709276079946 Centerline is valid? [True, True] Translation: X:186.88, Y:-24.22, Z:-8.66 [[ 9.81371932e-01 1.89217522e-01 3.32544711e-02 1.86882769e+02] [-1.89109345e-01 9.81935196e-01 -6.39737606e-03 -2.42153554e+01] [-3.38642313e-02 -1.05259390e-05 9.99426442e-01 -8.66053563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64264 meters 0.012972031743708392 Centerline is valid? [True, True] Translation: X:186.94, Y:-24.23, Z:-8.66 [[ 9.81974600e-01 1.85957641e-01 3.38473179e-02 1.86939279e+02] [-1.85843710e-01 9.82557757e-01 -6.50920593e-03 -2.42310062e+01] [-3.44673814e-02 1.01563745e-04 9.99405818e-01 -8.66078564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70264 meters 0.026378227400441434 Centerline is valid? [True, True] Translation: X:187.00, Y:-24.24, Z:-8.66 [[ 9.82414827e-01 1.83716817e-01 3.33052465e-02 1.86996657e+02] [-1.83605274e-01 9.82979196e-01 -6.40337137e-03 -2.42446542e+01] [-3.39147714e-02 1.75748069e-04 9.99424713e-01 -8.66241473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76264 meters 0.01360007867326652 Centerline is valid? [True, True] Translation: X:187.05, Y:-24.26, Z:-8.67 [[ 9.82375109e-01 1.84056398e-01 3.25943012e-02 1.87054345e+02] [-1.83949804e-01 9.82915671e-01 -6.26517704e-03 -2.42580770e+01] [-3.31905953e-02 1.59038668e-04 9.99449028e-01 -8.66638595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82264 meters 0.012708063176541594 Centerline is valid? [True, True] Translation: X:187.11, Y:-24.26, Z:-8.67 [[ 9.81549514e-01 1.88319901e-01 3.31084023e-02 1.87112909e+02] [-1.88212393e-01 9.82107741e-01 -6.36244331e-03 -2.42615493e+01] [-3.37141929e-02 1.36415291e-05 9.99431515e-01 -8.66808480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88264 meters 0.013024218582572994 Centerline is valid? [True, True] Translation: X:187.17, Y:-24.26, Z:-8.67 [[ 9.80574747e-01 1.93151208e-01 3.41434578e-02 1.87171193e+02] [-1.93039867e-01 9.81168989e-01 -6.55929490e-03 -2.42639747e+01] [-3.47674377e-02 -1.59169610e-04 9.99395417e-01 -8.66766922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94264 meters 0.016394711125891186 Centerline is valid? [True, True] Translation: X:187.23, Y:-24.27, Z:-8.67 [[ 9.79843713e-01 1.96971128e-01 3.32967512e-02 1.87229075e+02] [-1.96867534e-01 9.80409247e-01 -6.39398438e-03 -2.42690659e+01] [-3.39038730e-02 -2.89943914e-04 9.99425056e-01 -8.67388446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00264 meters 0.018179296727516635 Centerline is valid? [True, True] Translation: X:187.29, Y:-24.27, Z:-8.68 [[ 9.79248264e-01 2.00050869e-01 3.24420502e-02 1.87287625e+02] [-1.99954287e-01 9.79785435e-01 -6.22769083e-03 -2.42741201e+01] [-3.30321032e-02 -3.88471586e-04 9.99454216e-01 -8.67648563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06264000000002 meters 0.027862979539193644 Centerline is valid? [True, True] Translation: X:187.35, Y:-24.27, Z:-8.68 [[ 9.78164176e-01 2.05204953e-01 3.29510531e-02 1.87348567e+02] [-2.05108294e-01 9.78718856e-01 -6.32367491e-03 -2.42676510e+01] [-3.35474664e-02 -5.72942019e-04 9.99436961e-01 -8.68334647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12264000000002 meters 0.029585781613415345 Centerline is valid? [True, True] Translation: X:187.41, Y:-24.27, Z:-8.69 [[ 9.77568197e-01 2.08187737e-01 3.19106079e-02 1.87407893e+02] [-2.08098730e-01 9.78088665e-01 -6.12225311e-03 -2.42719884e+01] [-3.24859819e-02 -6.55637063e-04 9.99471976e-01 -8.68625909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18264000000002 meters 0.03078808814937408 Centerline is valid? [True, True] Translation: X:187.47, Y:-24.28, Z:-8.69 [[ 9.77408570e-01 2.09013855e-01 3.13958058e-02 1.87466324e+02] [-2.08928098e-01 9.77912449e-01 -6.02428724e-03 -2.42779049e+01] [-3.19615088e-02 -6.71276014e-04 9.99488875e-01 -8.68956879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24264 meters 0.026358987752915803 Centerline is valid? [True, True] Translation: X:187.52, Y:-24.29, Z:-8.69 [[ 9.77629706e-01 2.08033451e-01 3.10199990e-02 1.87524201e+02] [-2.07949395e-01 9.78121505e-01 -5.94733849e-03 -2.42898141e+01] [-3.15785734e-02 -6.36295242e-04 9.99501070e-01 -8.68919148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30264 meters 0.02749525585875626 Centerline is valid? [True, True] Translation: X:187.58, Y:-24.29, Z:-8.69 [[ 9.77597867e-01 2.08293006e-01 3.02726676e-02 1.87581874e+02] [-2.08213293e-01 9.78066265e-01 -5.79700909e-03 -2.42947290e+01] [-3.08161514e-02 -6.36028096e-04 9.99524867e-01 -8.69351299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36264 meters 0.02899735767255968 Centerline is valid? [True, True] Translation: X:187.64, Y:-24.30, Z:-8.70 [[ 9.77503402e-01 2.08771383e-01 3.00267968e-02 1.87639620e+02] [-2.08693244e-01 9.77964258e-01 -5.74803449e-03 -2.42998464e+01] [-3.05651592e-02 -6.47666356e-04 9.99532567e-01 -8.69768721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42264 meters 0.02988406479372826 Centerline is valid? [True, True] Translation: X:187.70, Y:-24.30, Z:-8.70 [[ 9.77492114e-01 2.08767331e-01 3.04198644e-02 1.87697744e+02] [-2.08687124e-01 9.77965118e-01 -5.82347238e-03 -2.43039927e+01] [-3.09653171e-02 -6.55835698e-04 9.99520244e-01 -8.69781559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48264 meters 0.026581052780643044 Centerline is valid? [True, True] Translation: X:187.76, Y:-24.31, Z:-8.70 [[ 9.77999803e-01 2.06321617e-01 3.07859805e-02 1.87756788e+02] [-2.06238508e-01 9.78484051e-01 -5.88551676e-03 -2.43113839e+01] [-3.13379003e-02 -5.93220477e-04 9.99508671e-01 -8.69961507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54264 meters 0.02112921384300433 Centerline is valid? [True, True] Translation: X:187.81, Y:-24.33, Z:-8.70 [[ 9.79038200e-01 2.01408010e-01 3.03152865e-02 1.87813367e+02] [-2.01325158e-01 9.79507339e-01 -5.79257467e-03 -2.43278177e+01] [-3.08607165e-02 -4.32077964e-04 9.99523601e-01 -8.70214744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60264 meters 0.017213731411277265 Centerline is valid? [True, True] Translation: X:187.87, Y:-24.34, Z:-8.70 [[ 9.80080281e-01 1.96386734e-01 2.95786064e-02 1.87870663e+02] [-1.96305595e-01 9.80526481e-01 -5.65103025e-03 -2.43434839e+01] [-3.01123942e-02 -2.67982629e-04 9.99546483e-01 -8.70469687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66264 meters 0.017037513423861887 Centerline is valid? [True, True] Translation: X:187.93, Y:-24.35, Z:-8.71 [[ 9.80566014e-01 1.94083164e-01 2.86708592e-02 1.87926690e+02] [-1.94005994e-01 9.80985060e-01 -5.47595216e-03 -2.43530075e+01] [-2.91884746e-02 -1.92785934e-04 9.99573907e-01 -8.71066685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72264 meters 0.01700578126399585 Centerline is valid? [True, True] Translation: X:187.98, Y:-24.36, Z:-8.71 [[ 9.80574410e-01 1.94207657e-01 2.75175005e-02 1.87983765e+02] [-1.94136760e-01 9.80960421e-01 -5.25072420e-03 -2.43644611e+01] [-2.80133098e-02 -1.93432611e-04 9.99607532e-01 -8.71401396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78264000000001 meters 0.02318984975086661 Centerline is valid? [True, True] Translation: X:188.04, Y:-24.37, Z:-8.72 [[ 9.80012848e-01 1.97023750e-01 2.75038271e-02 1.88043111e+02] [-1.96954021e-01 9.80398678e-01 -5.24846040e-03 -2.43692223e+01] [-2.79987871e-02 -2.73430742e-04 9.99607920e-01 -8.71559006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84264000000002 meters 0.021045100366286176 Centerline is valid? [True, True] Translation: X:188.10, Y:-24.37, Z:-8.72 [[ 9.79399756e-01 1.99793926e-01 2.93002704e-02 1.88100409e+02] [-1.99716240e-01 9.79837865e-01 -5.58414795e-03 -2.43733667e+01] [-2.98251932e-02 -3.82626681e-04 9.99555057e-01 -8.71641856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90264000000002 meters 0.029423713960030375 Centerline is valid? [True, True] Translation: X:188.16, Y:-24.38, Z:-8.71 [[ 9.79456853e-01 1.99208939e-01 3.13061013e-02 1.88157095e+02] [-1.99120059e-01 9.79956960e-01 -5.96305595e-03 -2.43841337e+01] [-3.18665259e-02 -3.93116725e-04 9.99492056e-01 -8.71492937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96264 meters 0.020217015178282338 Centerline is valid? [True, True] Translation: X:188.21, Y:-24.39, Z:-8.72 [[ 9.79486351e-01 1.99147808e-01 3.07675054e-02 1.88214520e+02] [-1.99061934e-01 9.79969389e-01 -5.86034985e-03 -2.43948685e+01] [-3.13182893e-02 -3.84506423e-04 9.99509388e-01 -8.71802586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02264 meters 0.02901146806074408 Centerline is valid? [True, True] Translation: X:188.27, Y:-24.40, Z:-8.72 [[ 9.79067850e-01 2.01115888e-01 3.12817037e-02 1.88272134e+02] [-2.01028354e-01 9.79567346e-01 -5.95105236e-03 -2.43993544e+01] [-3.18393867e-02 -4.62025357e-04 9.99492891e-01 -8.72048108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08264 meters 0.02256529227979653 Centerline is valid? [True, True] Translation: X:188.33, Y:-24.41, Z:-8.72 [[ 9.78796690e-01 2.02476606e-01 3.09881106e-02 1.88330532e+02] [-2.02391392e-01 9.79286971e-01 -5.89506184e-03 -2.44086017e+01] [-3.15398651e-02 -5.01659842e-04 9.99502369e-01 -8.72346049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14264 meters 0.03538624049524396 Centerline is valid? [True, True] Translation: X:188.39, Y:-24.41, Z:-8.73 [[ 9.78935986e-01 2.01835556e-01 3.07691873e-02 1.88388140e+02] [-2.01751452e-01 9.79419304e-01 -5.84620458e-03 -2.44148886e+01] [-3.13159080e-02 -4.84668174e-04 9.99509419e-01 -8.72605211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20264 meters 0.025533948345712116 Centerline is valid? [True, True] Translation: X:188.45, Y:-24.42, Z:-8.73 [[ 9.78789130e-01 2.02571394e-01 3.06050505e-02 1.88445431e+02] [-2.02488605e-01 9.79267365e-01 -5.81307128e-03 -2.44204606e+01] [-3.11480891e-02 -5.07403008e-04 9.99514652e-01 -8.73274746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26264 meters 0.024289389282095702 Centerline is valid? [True, True] Translation: X:188.50, Y:-24.43, Z:-8.73 [[ 9.78643635e-01 2.03215742e-01 3.09838241e-02 1.88503772e+02] [-2.03131221e-01 9.79133840e-01 -5.88480324e-03 -2.44301833e+01] [-3.15331953e-02 -5.34656766e-04 9.99502562e-01 -8.73235069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32264 meters 0.023585099491332546 Centerline is valid? [True, True] Translation: X:188.56, Y:-24.44, Z:-8.73 [[ 9.78734644e-01 2.02758925e-01 3.11016878e-02 1.88561383e+02] [-2.02673688e-01 9.79228544e-01 -5.90213661e-03 -2.44385045e+01] [-3.16523713e-02 -5.26868201e-04 9.99498799e-01 -8.73472712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38264 meters 0.026309333802324412 Centerline is valid? [True, True] Translation: X:188.62, Y:-24.45, Z:-8.74 [[ 9.78861187e-01 2.02183810e-01 3.08623487e-02 1.88618811e+02] [-2.02099856e-01 9.79347458e-01 -5.84840626e-03 -2.44477611e+01] [-3.14074159e-02 -5.12498341e-04 9.99506534e-01 -8.73712769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44264 meters 0.02517986270491351 Centerline is valid? [True, True] Translation: X:188.68, Y:-24.45, Z:-8.74 [[ 9.78781824e-01 2.02572459e-01 3.08308223e-02 1.88676619e+02] [-2.02488930e-01 9.79267135e-01 -5.84048074e-03 -2.44542684e+01] [-3.13747316e-02 -5.26343827e-04 9.99507553e-01 -8.74225083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50264 meters 0.025171773248606207 Centerline is valid? [True, True] Translation: X:188.73, Y:-24.46, Z:-8.75 [[ 9.78627053e-01 2.03571241e-01 2.91177051e-02 1.88734828e+02] [-2.03497171e-01 9.79059994e-01 -5.51625329e-03 -2.44622156e+01] [-2.96309307e-02 -5.27015924e-04 9.99560769e-01 -8.74577074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56264000000002 meters 0.026491330877888068 Centerline is valid? [True, True] Translation: X:188.79, Y:-24.47, Z:-8.75 [[ 9.78571504e-01 2.03774548e-01 2.95591843e-02 1.88791569e+02] [-2.03698489e-01 9.79017688e-01 -5.59387833e-03 -2.44687104e+01] [-3.00788543e-02 -5.47151248e-04 9.99547379e-01 -8.74942389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62264000000002 meters 0.025991440654776633 Centerline is valid? [True, True] Translation: X:188.85, Y:-24.47, Z:-8.75 [[ 9.78682662e-01 2.03117879e-01 3.03870801e-02 1.88850464e+02] [-2.03037299e-01 9.79154140e-01 -5.74678065e-03 -2.44735029e+01] [-3.09209092e-02 -5.45436082e-04 9.99521686e-01 -8.75071861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68264000000002 meters 0.024565094799443316 Centerline is valid? [True, True] Translation: X:188.91, Y:-24.48, Z:-8.75 [[ 9.78831576e-01 2.02446874e-01 3.00667406e-02 1.88907716e+02] [-2.02367810e-01 9.79293107e-01 -5.68156382e-03 -2.44821259e+01] [-3.05943667e-02 -5.23246387e-04 9.99531746e-01 -8.75272854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74264 meters 0.02390146043367587 Centerline is valid? [True, True] Translation: X:188.96, Y:-24.49, Z:-8.76 [[ 9.79298343e-01 2.00141380e-01 3.03015406e-02 1.88964626e+02] [-2.00060230e-01 9.79766918e-01 -5.71755958e-03 -2.44899925e+01] [-3.08327673e-02 -4.62936566e-04 9.99524450e-01 -8.75772576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80264 meters 0.0250606173585742 Centerline is valid? [True, True] Translation: X:189.02, Y:-24.51, Z:-8.76 [[ 9.80454519e-01 1.94351781e-01 3.05993640e-02 1.89022143e+02] [-1.94266216e-01 9.80931855e-01 -5.77344203e-03 -2.45057898e+01] [-3.11379697e-02 -2.83825345e-04 9.99515056e-01 -8.75515341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86264 meters 0.014304832244586303 Centerline is valid? [True, True] Translation: X:189.08, Y:-24.52, Z:-8.76 [[ 9.81769787e-01 1.87196183e-01 3.29495843e-02 1.89077401e+02] [-1.87093169e-01 9.82322546e-01 -6.20980673e-03 -2.45249397e+01] [-3.35295717e-02 -6.80415011e-05 9.99437724e-01 -8.75795656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92264 meters 0.021510189676232864 Centerline is valid? [True, True] Translation: X:189.13, Y:-24.55, Z:-8.76 [[ 9.83386109e-01 1.78480000e-01 3.31157051e-02 1.89133066e+02] [-1.78371111e-01 9.83943514e-01 -6.23767189e-03 -2.45494038e+01] [-3.36972829e-02 2.27154770e-04 9.99432059e-01 -8.75722169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98264 meters 0.02174018553546687 Centerline is valid? [True, True] Translation: X:189.19, Y:-24.58, Z:-8.77 [[ 9.84616604e-01 1.71924481e-01 3.11787762e-02 1.89186238e+02] [-1.71824713e-01 9.85110041e-01 -5.87152151e-03 -2.45783337e+01] [-3.17239838e-02 4.23913306e-04 9.99496578e-01 -8.76712536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04264 meters 0.022581462193232257 Centerline is valid? [True, True] Translation: X:189.24, Y:-24.59, Z:-8.77 [[ 9.85018262e-01 1.69682785e-01 3.07697120e-02 1.89242707e+02] [-1.69584583e-01 9.85498612e-01 -5.79263361e-03 -2.45944517e+01] [-3.13064186e-02 4.87781124e-04 9.99509715e-01 -8.76817117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10264 meters 0.019806343378378034 Centerline is valid? [True, True] Translation: X:189.30, Y:-24.61, Z:-8.77 [[ 9.84420812e-01 1.73219476e-01 3.01774463e-02 1.89300127e+02] [-1.73126704e-01 9.84883180e-01 -5.68032120e-03 -2.46091935e+01] [-3.07052015e-02 3.67304598e-04 9.99528417e-01 -8.77166354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16264 meters 0.027848125853928405 Centerline is valid? [True, True] Translation: X:189.36, Y:-24.62, Z:-8.77 [[ 9.83577534e-01 1.78071233e-01 2.94256732e-02 1.89359159e+02] [-1.77985234e-01 9.84017577e-01 -5.53754335e-03 -2.46155923e+01] [-2.99414568e-02 2.09267912e-04 9.99551632e-01 -8.77406142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22264 meters 0.015130182669278056 Centerline is valid? [True, True] Translation: X:189.42, Y:-24.62, Z:-8.78 [[ 9.81850405e-01 1.87328277e-01 2.96293520e-02 1.89417775e+02] [-1.87245483e-01 9.82297363e-01 -5.56944806e-03 -2.46227616e+01] [-3.01481495e-02 -7.95975039e-05 9.99545438e-01 -8.77812238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28264000000001 meters 0.01607000549296296 Centerline is valid? [True, True] Translation: X:189.48, Y:-24.63, Z:-8.78 [[ 9.81465535e-01 1.89300603e-01 2.98443441e-02 1.89475051e+02] [-1.89217554e-01 9.81919173e-01 -5.60855438e-03 -2.46330240e+01] [-3.03664364e-02 -1.42470956e-04 9.99538823e-01 -8.78163740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34264000000002 meters 0.017033168961038896 Centerline is valid? [True, True] Translation: X:189.53, Y:-24.65, Z:-8.79 [[ 9.81192792e-01 1.90833708e-01 2.90379132e-02 1.89531559e+02] [-1.90755754e-01 9.81622362e-01 -5.45714910e-03 -2.46486779e+01] [-2.95456729e-02 -1.84633653e-04 9.99563414e-01 -8.78547776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40264000000002 meters 0.017549067470715683 Centerline is valid? [True, True] Translation: X:189.59, Y:-24.66, Z:-8.79 [[ 9.81042994e-01 1.91429198e-01 3.01580094e-02 1.89587875e+02] [-1.91345616e-01 9.81506401e-01 -5.66040934e-03 -2.46636328e+01] [-3.06838469e-02 -2.17497967e-04 9.99529116e-01 -8.78746212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46264 meters 0.028028987914844157 Centerline is valid? [True, True] Translation: X:189.64, Y:-24.68, Z:-8.79 [[ 9.81082985e-01 1.91133668e-01 3.07261588e-02 1.89644457e+02] [-1.91046826e-01 9.81563994e-01 -5.76498369e-03 -2.46815430e+01] [-3.12615736e-02 -2.14207714e-04 9.99511215e-01 -8.78536177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52264 meters 0.016797107955294148 Centerline is valid? [True, True] Translation: X:189.70, Y:-24.70, Z:-8.79 [[ 9.80981786e-01 1.91654504e-01 3.07129567e-02 1.89699520e+02] [-1.91568016e-01 9.81462428e-01 -5.76173352e-03 -2.46978421e+01] [-3.12478753e-02 -2.31464559e-04 9.99511639e-01 -8.79061085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58264 meters 0.018358067721508383 Centerline is valid? [True, True] Translation: X:189.76, Y:-24.71, Z:-8.79 [[ 9.80637738e-01 1.93434964e-01 3.05375402e-02 1.89756264e+02] [-1.93350426e-01 9.81113057e-01 -5.72556399e-03 -2.47106396e+01] [-3.10683037e-02 -2.89742277e-04 9.99517222e-01 -8.79466252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64264 meters 0.021894997737534654 Centerline is valid? [True, True] Translation: X:189.81, Y:-24.72, Z:-8.80 [[ 9.79971509e-01 1.96769981e-01 3.06172606e-02 1.89813429e+02] [-1.96686716e-01 9.80449598e-01 -5.73764864e-03 -2.47183522e+01] [-3.11476779e-02 -3.99276254e-04 9.99514714e-01 -8.79905558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70264 meters 0.023117090383811666 Centerline is valid? [True, True] Translation: X:189.87, Y:-24.73, Z:-8.80 [[ 9.79502284e-01 1.98919756e-01 3.17207571e-02 1.89871347e+02] [-1.98831568e-01 9.80015660e-01 -5.94248961e-03 -2.47298616e+01] [-3.22689173e-02 -4.86405748e-04 9.99479105e-01 -8.79901110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76264 meters 0.02365179052503857 Centerline is valid? [True, True] Translation: X:189.93, Y:-24.74, Z:-8.80 [[ 9.79380133e-01 1.99441521e-01 3.22123392e-02 1.89928412e+02] [-1.99351101e-01 9.79909593e-01 -6.02725772e-03 -2.47424336e+01] [-3.27672656e-02 -5.18588825e-04 9.99462874e-01 -8.80064244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82264 meters 0.022604432232882395 Centerline is valid? [True, True] Translation: X:189.98, Y:-24.76, Z:-8.80 [[ 9.79293823e-01 1.99821463e-01 3.24806173e-02 1.89984942e+02] [-1.99729791e-01 9.79832177e-01 -6.07588296e-03 -2.47582925e+01] [-3.30396458e-02 -5.37272258e-04 9.99453897e-01 -8.80131670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88264 meters 0.025203288984622076 Centerline is valid? [True, True] Translation: X:190.04, Y:-24.77, Z:-8.80 [[ 9.78773330e-01 2.02343251e-01 3.25572865e-02 1.90043639e+02] [-2.02252595e-01 9.79314463e-01 -6.08855619e-03 -2.47661754e+01] [-3.31157998e-02 -6.25479256e-04 9.99451326e-01 -8.80376960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94264 meters 0.0335631040282961 Centerline is valid? [True, True] Translation: X:190.10, Y:-24.76, Z:-8.81 [[ 9.77562400e-01 2.08002049e-01 3.32701229e-02 1.90103974e+02] [-2.07910727e-01 9.78128032e-01 -6.21954695e-03 -2.47634467e+01] [-3.38361184e-02 -8.37220208e-04 9.99427044e-01 -8.80623316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00264 meters 0.03835507295744899 Centerline is valid? [True, True] Translation: X:190.17, Y:-24.76, Z:-8.81 [[ 9.76427733e-01 2.13338607e-01 3.27951494e-02 1.90165198e+02] [-2.13252880e-01 9.76977801e-01 -6.13069808e-03 -2.47637660e+01] [-3.33480476e-02 -1.00747644e-03 9.99443291e-01 -8.80903404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06264000000002 meters 0.04223245145094971 Centerline is valid? [True, True] Translation: X:190.22, Y:-24.77, Z:-8.81 [[ 9.76095258e-01 2.14787592e-01 3.32315624e-02 1.90223407e+02] [-2.14700386e-01 9.76660199e-01 -6.21287268e-03 -2.47659034e+01] [-3.37903923e-02 -1.07047372e-03 9.99428368e-01 -8.81256556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12264000000002 meters 0.03857334464620284 Centerline is valid? [True, True] Translation: X:190.28, Y:-24.78, Z:-8.81 [[ 9.76328357e-01 2.13709948e-01 3.33316372e-02 1.90280572e+02] [-2.13621658e-01 9.76896607e-01 -6.22955967e-03 -2.47786339e+01] [-3.38928821e-02 -1.03826382e-03 9.99424932e-01 -8.81409667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18264000000002 meters 0.0363106729781354 Centerline is valid? [True, True] Translation: X:190.34, Y:-24.79, Z:-8.82 [[ 9.76848010e-01 2.11273427e-01 3.36378358e-02 1.90338960e+02] [-2.11182316e-01 9.77426518e-01 -6.27938561e-03 -2.47862840e+01] [-3.42051800e-02 -9.69710722e-04 9.99414361e-01 -8.81659642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24264 meters 0.04093963344196417 Centerline is valid? [True, True] Translation: X:190.40, Y:-24.79, Z:-8.82 [[ 9.77183517e-01 2.09769906e-01 3.33010676e-02 1.90396446e+02] [-2.09679787e-01 9.77750357e-01 -6.21507217e-03 -2.47924213e+01] [-3.38638658e-02 -9.09294682e-04 9.99426041e-01 -8.82130836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30264 meters 0.031162686652875107 Centerline is valid? [True, True] Translation: X:190.45, Y:-24.80, Z:-8.83 [[ 9.77761463e-01 2.07260742e-01 3.20235365e-02 1.90453558e+02] [-2.07176069e-01 9.78285418e-01 -5.97640700e-03 -2.48043290e+01] [-3.25668333e-02 -7.91009937e-04 9.99469247e-01 -8.82529379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36264 meters 0.02835106528532813 Centerline is valid? [True, True] Translation: X:190.51, Y:-24.81, Z:-8.83 [[ 9.78252616e-01 2.04906974e-01 3.21706491e-02 1.90511392e+02] [-2.04820492e-01 9.78781185e-01 -5.99643190e-03 -2.48129095e+01] [-3.27167367e-02 -7.23182965e-04 9.99464403e-01 -8.82772102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42264 meters 0.029700338686602108 Centerline is valid? [True, True] Translation: X:190.57, Y:-24.82, Z:-8.83 [[ 9.78764115e-01 2.02311763e-01 3.30266082e-02 1.90569772e+02] [-2.02219198e-01 9.79320949e-01 -6.15423929e-03 -2.48214335e+01] [-3.35887243e-02 -6.55065656e-04 9.99435525e-01 -8.82895379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48264 meters 0.021378837814983176 Centerline is valid? [True, True] Translation: X:190.63, Y:-24.84, Z:-8.83 [[ 9.79793708e-01 1.97204935e-01 3.33841708e-02 1.90626768e+02] [-1.97107451e-01 9.80362166e-01 -6.21901437e-03 -2.48357441e+01] [-3.39549983e-02 -4.86917644e-04 9.99423244e-01 -8.83292619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54264 meters 0.02587933821755208 Centerline is valid? [True, True] Translation: X:190.69, Y:-24.84, Z:-8.84 [[ 9.80443058e-01 1.93965767e-01 3.32970198e-02 1.90685396e+02] [-1.93866943e-01 9.81008227e-01 -6.20221160e-03 -2.48439233e+01] [-3.38676671e-02 -3.74276138e-04 9.99426256e-01 -8.83544229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60264 meters 0.016530092820432458 Centerline is valid? [True, True] Translation: X:190.74, Y:-24.86, Z:-8.84 [[ 9.80956124e-01 1.91379549e-01 3.31504301e-02 1.90742780e+02] [-1.91280178e-01 9.81516066e-01 -6.17307295e-03 -2.48553441e+01] [-3.37190796e-02 -2.85506438e-04 9.99431309e-01 -8.83847338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66264 meters 0.015209328039519568 Centerline is valid? [True, True] Translation: X:190.80, Y:-24.86, Z:-8.84 [[ 9.81412742e-01 1.88824504e-01 3.42685908e-02 1.90800108e+02] [-1.88717012e-01 9.82010826e-01 -6.37398719e-03 -2.48647587e+01] [-3.48556922e-02 -2.11553817e-04 9.99392333e-01 -8.84096727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72264 meters 0.013785475065463682 Centerline is valid? [True, True] Translation: X:190.86, Y:-24.87, Z:-8.84 [[ 9.81736198e-01 1.87046119e-01 3.47532167e-02 1.90857816e+02] [-1.86934580e-01 9.82351121e-01 -6.46043418e-03 -2.48741069e+01] [-3.53482605e-02 -1.54135882e-04 9.99375043e-01 -8.84152451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78264000000001 meters 0.013948889043671905 Centerline is valid? [True, True] Translation: X:190.91, Y:-24.88, Z:-8.85 [[ 9.82121175e-01 1.85139985e-01 3.40761544e-02 1.90913538e+02] [-1.85031646e-01 9.82712155e-01 -6.33333519e-03 -2.48828636e+01] [-3.46596047e-02 -8.50643395e-05 9.99399172e-01 -8.84825522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84264000000002 meters 0.013544911871019185 Centerline is valid? [True, True] Translation: X:190.97, Y:-24.89, Z:-8.85 [[ 9.82141981e-01 1.84897733e-01 3.47844534e-02 1.90971793e+02] [-1.84784770e-01 9.82757764e-01 -6.46272706e-03 -2.48903992e+01] [-3.53796352e-02 -8.03216739e-05 9.99373942e-01 -8.84999741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90264000000002 meters 0.01596135244025648 Centerline is valid? [True, True] Translation: X:191.03, Y:-24.89, Z:-8.85 [[ 9.81892324e-01 1.86331043e-01 3.41790206e-02 1.91031108e+02] [-1.86223035e-01 9.82487010e-01 -6.34486961e-03 -2.48942806e+01] [-3.47626899e-02 -1.34942168e-04 9.99395586e-01 -8.85160426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96264 meters 0.0134940834687752 Centerline is valid? [True, True] Translation: X:191.09, Y:-24.90, Z:-8.85 [[ 9.81876274e-01 1.86215540e-01 3.52527361e-02 1.91089295e+02] [-1.86100823e-01 9.82508907e-01 -6.53690128e-03 -2.48995630e+01] [-3.58533999e-02 -1.42134955e-04 9.99357050e-01 -8.85434632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02264 meters 0.012811513932402246 Centerline is valid? [True, True] Translation: X:191.15, Y:-24.91, Z:-8.86 [[ 9.82335908e-01 1.83724355e-01 3.55179589e-02 1.91147195e+02] [-1.83606366e-01 9.82977802e-01 -6.58360295e-03 -2.49103167e+01] [-3.61229334e-02 -5.40137801e-05 9.99347352e-01 -8.85669916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08264 meters 0.012495041482956342 Centerline is valid? [True, True] Translation: X:191.20, Y:-24.93, Z:-8.86 [[ 9.83056533e-01 1.79523470e-01 3.70294071e-02 1.91204212e+02] [-1.79392534e-01 9.83753686e-01 -6.85597691e-03 -2.49270509e+01] [-3.76586245e-02 9.70137138e-05 9.99290658e-01 -8.85761274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14264 meters 0.02241686523225127 Centerline is valid? [True, True] Translation: X:191.26, Y:-24.94, Z:-8.86 [[ 9.83878739e-01 1.74911724e-01 3.72627938e-02 1.91259723e+02] [-1.74775889e-01 9.84584082e-01 -6.89745269e-03 -2.49445498e+01] [-3.78947990e-02 2.73619131e-04 9.99281697e-01 -8.85986541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20264 meters 0.01751475274864955 Centerline is valid? [True, True] Translation: X:191.31, Y:-24.96, Z:-8.87 [[ 9.84516061e-01 1.71545524e-01 3.60590940e-02 1.91314861e+02] [-1.71416145e-01 9.85176118e-01 -6.67253949e-03 -2.49635808e+01] [-3.66692026e-02 3.88111410e-04 9.99327383e-01 -8.86616123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26264 meters 0.017441863386413802 Centerline is valid? [True, True] Translation: X:191.37, Y:-24.98, Z:-8.87 [[ 9.84616456e-01 1.71209374e-01 3.48967701e-02 1.91372256e+02] [-1.71088067e-01 9.85234592e-01 -6.45536681e-03 -2.49778320e+01] [-3.54867244e-02 3.85639459e-04 9.99370073e-01 -8.87072568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32264 meters 0.016339670428894462 Centerline is valid? [True, True] Translation: X:191.43, Y:-24.99, Z:-8.87 [[ 9.84388909e-01 1.72530388e-01 3.48100624e-02 1.91429743e+02] [-1.72410569e-01 9.85004138e-01 -6.43764617e-03 -2.49876144e+01] [-3.53987451e-02 3.35524833e-04 9.99373212e-01 -8.87374633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38264 meters 0.014365183826141827 Centerline is valid? [True, True] Translation: X:191.49, Y:-25.00, Z:-8.88 [[ 9.83925649e-01 1.75153123e-01 3.48095002e-02 1.91487460e+02] [-1.75035007e-01 9.84541175e-01 -6.43585570e-03 -2.49969005e+01] [-3.53986465e-02 2.39522367e-04 9.99373243e-01 -8.87687024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44264 meters 0.013244560347595606 Centerline is valid? [True, True] Translation: X:191.54, Y:-25.01, Z:-8.88 [[ 9.83493651e-01 1.77227118e-01 3.64799487e-02 1.91543998e+02] [-1.77098882e-01 9.84169965e-01 -6.74287965e-03 -2.50074510e+01] [-3.70974910e-02 1.71021186e-04 9.99311637e-01 -8.87831913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50264 meters 0.013450547935160257 Centerline is valid? [True, True] Translation: X:191.60, Y:-25.02, Z:-8.88 [[ 9.83454776e-01 1.77280846e-01 3.72586309e-02 1.91600412e+02] [-1.77147204e-01 9.84160288e-01 -6.88444039e-03 -2.50212348e+01] [-3.78889443e-02 1.70273507e-04 9.99281942e-01 -8.88263737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56264000000002 meters 0.016165757275672387 Centerline is valid? [True, True] Translation: X:191.66, Y:-25.04, Z:-8.88 [[ 9.84375305e-01 1.71844808e-01 3.84008050e-02 1.91656130e+02] [-1.71698802e-01 9.85123957e-01 -7.09299656e-03 -2.50440691e+01] [-3.90484477e-02 3.88798425e-04 9.99237243e-01 -8.88261801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62264000000002 meters 0.028523712196105132 Centerline is valid? [True, True] Translation: X:191.71, Y:-25.07, Z:-8.88 [[ 9.85738082e-01 1.63693070e-01 3.90513985e-02 1.91710975e+02] [-1.63535757e-01 9.86511053e-01 -7.21098573e-03 -2.50738971e+01] [-3.97050247e-02 7.21843205e-04 9.99211184e-01 -8.88444716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68264000000002 meters 0.029146165886829663 Centerline is valid? [True, True] Translation: X:191.77, Y:-25.10, Z:-8.89 [[ 9.86785072e-01 1.57093865e-01 3.97081626e-02 1.91766588e+02] [-1.56925890e-01 9.87583166e-01 -7.33177789e-03 -2.51015543e+01] [-4.03668903e-02 1.00365022e-03 9.99184421e-01 -8.88535664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74264 meters 0.03246912628231569 Centerline is valid? [True, True] Translation: X:191.82, Y:-25.13, Z:-8.89 [[ 9.87089250e-01 1.54910860e-01 4.07116334e-02 1.91821775e+02] [-1.54732449e-01 9.87927817e-01 -7.51654075e-03 -2.51301578e+01] [-4.13845489e-02 1.12008582e-03 9.99142665e-01 -8.88744731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80264 meters 0.029811926455213637 Centerline is valid? [True, True] Translation: X:191.88, Y:-25.15, Z:-8.89 [[ 9.86789213e-01 1.56869931e-01 4.04830076e-02 1.91879781e+02] [-1.56695189e-01 9.87618732e-01 -7.47377270e-03 -2.51483430e+01] [-4.11541869e-02 1.03154576e-03 9.99152275e-01 -8.89045534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86264 meters 0.025569340703617705 Centerline is valid? [True, True] Translation: X:191.94, Y:-25.16, Z:-8.89 [[ 9.86352969e-01 1.59596365e-01 4.04576486e-02 1.91939339e+02] [-1.59424131e-01 9.87181928e-01 -7.46909104e-03 -2.51601060e+01] [-4.11310993e-02 9.17234654e-04 9.99153337e-01 -8.89323696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92264 meters 0.023080274939087538 Centerline is valid? [True, True] Translation: X:192.00, Y:-25.18, Z:-8.90 [[ 9.85373872e-01 1.65375571e-01 4.11005227e-02 1.91996815e+02] [-1.65202836e-01 9.86230424e-01 -7.58777528e-03 -2.51786612e+01] [-4.17894186e-02 6.86872610e-04 9.99126205e-01 -8.89583937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98264 meters 0.01929014978420259 Centerline is valid? [True, True] Translation: X:192.06, Y:-25.19, Z:-8.90 [[ 9.85035518e-01 1.67423014e-01 4.09214086e-02 1.92055332e+02] [-1.67253547e-01 9.85884972e-01 -7.55470813e-03 -2.51933161e+01] [-4.16086338e-02 5.97405093e-04 9.99133807e-01 -8.89887551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04264 meters 0.01678343399833061 Centerline is valid? [True, True] Translation: X:192.11, Y:-25.21, Z:-8.91 [[ 9.84464323e-01 1.71165251e-01 3.91465739e-02 1.92112704e+02] [-1.71013123e-01 9.85242244e-01 -7.22712958e-03 -2.52091321e+01] [-3.98058918e-02 4.20273355e-04 9.99207343e-01 -8.90527228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10264 meters 0.011797791589485762 Centerline is valid? [True, True] Translation: X:192.17, Y:-25.22, Z:-8.91 [[ 9.82990089e-01 1.79378579e-01 3.94184023e-02 1.92171913e+02] [-1.79230937e-01 9.83780117e-01 -7.27690952e-03 -2.52170576e+01] [-4.00843621e-02 8.81327334e-05 9.99196295e-01 -8.90639541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16264 meters 0.011439817061960317 Centerline is valid? [True, True] Translation: X:192.23, Y:-25.23, Z:-8.91 [[ 9.82461410e-01 1.82079799e-01 4.02060334e-02 1.92228794e+02] [-1.81928488e-01 9.83283757e-01 -7.42151282e-03 -2.52258301e+01] [-4.08852471e-02 -2.32729217e-05 9.99163848e-01 -8.90824358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22264 meters 0.015407127161816896 Centerline is valid? [True, True] Translation: X:192.29, Y:-25.23, Z:-8.91 [[ 9.80776285e-01 1.90761922e-01 4.10824595e-02 1.92287955e+02] [-1.90611650e-01 9.81636253e-01 -7.58066385e-03 -2.52287088e+01] [-4.17741336e-02 -3.95860090e-04 9.99127001e-01 -8.90872343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28264000000001 meters 0.02204340777209871 Centerline is valid? [True, True] Translation: X:192.35, Y:-25.23, Z:-8.91 [[ 9.79604003e-01 1.96899035e-01 4.00844959e-02 1.92346939e+02] [-1.96761185e-01 9.80423560e-01 -7.39456963e-03 -2.52300887e+01] [-4.07557678e-02 -6.43322905e-04 9.99168931e-01 -8.91379086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34264000000002 meters 0.02255578856981121 Centerline is valid? [True, True] Translation: X:192.40, Y:-25.24, Z:-8.92 [[ 9.79249495e-01 1.98753928e-01 3.95891775e-02 1.92404448e+02] [-1.98621058e-01 9.80049166e-01 -7.30127660e-03 -2.52403017e+01] [-4.02504978e-02 -7.13472889e-04 9.99189366e-01 -8.91639759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40264000000002 meters 0.022214300690637505 Centerline is valid? [True, True] Translation: X:192.46, Y:-25.25, Z:-8.92 [[ 9.79445713e-01 1.97739538e-01 3.98142032e-02 1.92461529e+02] [-1.97604396e-01 9.80254363e-01 -7.34073612e-03 -2.52521369e+01] [-4.04796002e-02 -6.77609072e-04 9.99180135e-01 -8.91915096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46264 meters 0.017567328422720064 Centerline is valid? [True, True] Translation: X:192.52, Y:-25.27, Z:-8.92 [[ 9.80495967e-01 1.92356319e-01 4.03324219e-02 1.92517214e+02] [-1.92213164e-01 9.81325039e-01 -7.43422072e-03 -2.52710137e+01] [-4.10092349e-02 -4.63199007e-04 9.99158660e-01 -8.92124692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52264 meters 0.029164754175034092 Centerline is valid? [True, True] Translation: X:192.57, Y:-25.29, Z:-8.92 [[ 9.81019527e-01 1.89661244e-01 4.03645818e-02 1.92574592e+02] [-1.89515654e-01 9.81849524e-01 -7.43832705e-03 -2.52869023e+01] [-4.10427078e-02 -3.52576030e-04 9.99157331e-01 -8.92279213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58264 meters 0.013121132653669137 Centerline is valid? [True, True] Translation: X:192.63, Y:-25.31, Z:-8.93 [[ 9.81750816e-01 1.86111265e-01 3.90887696e-02 1.92631259e+02] [-1.85972046e-01 9.82528654e-01 -7.20009258e-03 -2.53056895e+01] [-3.97458546e-02 -2.00721703e-04 9.99209801e-01 -8.92831139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64264 meters 0.012437802516057648 Centerline is valid? [True, True] Translation: X:192.69, Y:-25.32, Z:-8.93 [[ 9.82006969e-01 1.84507616e-01 4.02399430e-02 1.92687376e+02] [-1.84358785e-01 9.82831074e-01 -7.41071555e-03 -2.53189145e+01] [-4.09163999e-02 -1.41212688e-04 9.99162563e-01 -8.92884236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70264 meters 0.022072668684811912 Centerline is valid? [True, True] Translation: X:192.75, Y:-25.33, Z:-8.93 [[ 9.82016335e-01 1.84533101e-01 3.98930177e-02 1.92745831e+02] [-1.84386955e-01 9.82826289e-01 -7.34417204e-03 -2.53312871e+01] [-4.05631494e-02 -1.43655163e-04 9.99176966e-01 -8.93047594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76264 meters 0.013239387697250896 Centerline is valid? [True, True] Translation: X:192.80, Y:-25.34, Z:-8.94 [[ 9.81853216e-01 1.85662250e-01 3.86496001e-02 1.92802619e+02] [-1.85525979e-01 9.82613604e-01 -7.11452727e-03 -2.53430193e+01] [-3.92985220e-02 -1.85083406e-04 9.99227498e-01 -8.93589811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82264 meters 0.025457840492270515 Centerline is valid? [True, True] Translation: X:192.86, Y:-25.35, Z:-8.94 [[ 9.81377612e-01 1.88475471e-01 3.70807061e-02 1.92861535e+02] [-1.88352113e-01 9.82077855e-01 -6.82401798e-03 -2.53486834e+01] [-3.77023003e-02 -2.87290892e-04 9.99288974e-01 -8.93954577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88264 meters 0.016203950820594178 Centerline is valid? [True, True] Translation: X:192.92, Y:-25.36, Z:-8.94 [[ 9.81184447e-01 1.89557227e-01 3.66761236e-02 1.92918902e+02] [-1.89437368e-01 9.81869620e-01 -6.74779600e-03 -2.53588699e+01] [-3.72902651e-02 -3.26995853e-04 9.99304423e-01 -8.94450558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94264 meters 0.020404143321058367 Centerline is valid? [True, True] Translation: X:192.98, Y:-25.37, Z:-8.95 [[ 9.81175373e-01 1.89747392e-01 3.59279128e-02 1.92976459e+02] [-1.89632565e-01 9.81832888e-01 -6.60844113e-03 -2.53685010e+01] [-3.65291408e-02 -3.29062550e-04 9.99332534e-01 -8.94772310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00264 meters 0.028050513771844695 Centerline is valid? [True, True] Translation: X:193.03, Y:-25.38, Z:-8.95 [[ 9.81453554e-01 1.88487322e-01 3.49492589e-02 1.93034230e+02] [-1.88377925e-01 9.82075584e-01 -6.42682848e-03 -2.53801350e+01] [-3.55341895e-02 -2.76035226e-04 9.99368423e-01 -8.95154967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06264000000002 meters 0.015039972273194167 Centerline is valid? [True, True] Translation: X:193.09, Y:-25.39, Z:-8.96 [[ 9.81809362e-01 1.86713514e-01 3.44737726e-02 1.93090580e+02] [-1.86606034e-01 9.82414383e-01 -6.33786193e-03 -2.53925581e+01] [-3.50508945e-02 -2.10441798e-04 9.99385506e-01 -8.95701405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12264000000002 meters 0.01477916580287206 Centerline is valid? [True, True] Translation: X:193.15, Y:-25.40, Z:-8.96 [[ 9.81827581e-01 1.86624281e-01 3.44380474e-02 1.93148039e+02] [-1.86517047e-01 9.82431338e-01 -6.32907061e-03 -2.54031661e+01] [-3.50141752e-02 -2.09226819e-04 9.99386794e-01 -8.95837293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18264000000002 meters 0.016164757137756815 Centerline is valid? [True, True] Translation: X:193.21, Y:-25.41, Z:-8.96 [[ 9.81696415e-01 1.87438829e-01 3.37466166e-02 1.93205736e+02] [-1.87336391e-01 9.82276249e-01 -6.20052813e-03 -2.54093678e+01] [-3.43107197e-02 -2.34933136e-04 9.99411186e-01 -8.96336328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24264 meters 0.016333409210936508 Centerline is valid? [True, True] Translation: X:193.26, Y:-25.42, Z:-8.97 [[ 9.81482705e-01 1.88613190e-01 3.34180349e-02 1.93263462e+02] [-1.88513485e-01 9.82051419e-01 -6.13816074e-03 -2.54179412e+01] [-3.39759667e-02 -2.75251618e-04 9.99422612e-01 -8.96546340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30264 meters 0.023470430277427724 Centerline is valid? [True, True] Translation: X:193.32, Y:-25.43, Z:-8.97 [[ 9.81209754e-01 1.89789172e-01 3.47489299e-02 1.93321790e+02] [-1.89682187e-01 9.81824812e-01 -6.38023092e-03 -2.54265752e+01] [-3.53282603e-02 -3.30908204e-04 9.99375707e-01 -8.96525591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36264 meters 0.017942612401508188 Centerline is valid? [True, True] Translation: X:193.38, Y:-25.43, Z:-8.97 [[ 9.80938590e-01 1.91124908e-01 3.50820699e-02 1.93379837e+02] [-1.91016777e-01 9.81565648e-01 -6.43965526e-03 -2.54348665e+01] [-3.56661332e-02 -3.84357581e-04 9.99363687e-01 -8.96757069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42264 meters 0.019412253574870787 Centerline is valid? [True, True] Translation: X:193.44, Y:-25.44, Z:-8.97 [[ 9.80697335e-01 1.92442228e-01 3.46226105e-02 1.93438537e+02] [-1.92337791e-01 9.81308211e-01 -6.35364159e-03 -2.54410740e+01] [-3.51981609e-02 -4.28237057e-04 9.99380261e-01 -8.97164340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48264 meters 0.019615045817137574 Centerline is valid? [True, True] Translation: X:193.50, Y:-25.45, Z:-8.98 [[ 9.80558023e-01 1.93524059e-01 3.24715451e-02 1.93496531e+02] [-1.93432839e-01 9.81095431e-01 -5.95747625e-03 -2.54491654e+01] [-3.30105995e-02 -4.39412016e-04 9.99454905e-01 -8.97542044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54264 meters 0.021737629381641817 Centerline is valid? [True, True] Translation: X:193.55, Y:-25.45, Z:-8.98 [[ 9.80550223e-01 1.93822928e-01 3.08858139e-02 1.93554358e+02] [-1.93740582e-01 9.81036436e-01 -5.66549498e-03 -2.54538410e+01] [-3.13982116e-02 -4.28533211e-04 9.99506863e-01 -8.98230188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60264 meters 0.02469608750305504 Centerline is valid? [True, True] Translation: X:193.61, Y:-25.46, Z:-8.98 [[ 9.80815991e-01 1.92390874e-01 3.13965457e-02 1.93612394e+02] [-1.92305144e-01 9.81318296e-01 -5.75619102e-03 -2.54617905e+01] [-3.19174433e-02 -3.91953019e-04 9.99490432e-01 -8.98199958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66264 meters 0.016323915882554222 Centerline is valid? [True, True] Translation: X:193.67, Y:-25.48, Z:-8.98 [[ 9.81345059e-01 1.89220948e-01 3.40192308e-02 1.93669634e+02] [-1.89118452e-01 9.81934485e-01 -6.23518996e-03 -2.54774056e+01] [-3.45844844e-02 -3.14791400e-04 9.99401728e-01 -8.97838491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72264 meters 0.020664334231036467 Centerline is valid? [True, True] Translation: X:193.73, Y:-25.49, Z:-8.98 [[ 9.81756843e-01 1.86803050e-01 3.54700030e-02 1.93726345e+02] [-1.86690109e-01 9.82397355e-01 -6.49930534e-03 -2.54898330e+01] [-3.60597272e-02 -2.41161217e-04 9.99349607e-01 -8.97847810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78264000000001 meters 0.013735615444195645 Centerline is valid? [True, True] Translation: X:193.78, Y:-25.50, Z:-8.98 [[ 9.82275657e-01 1.84374256e-01 3.37737643e-02 1.93783570e+02] [-1.84270499e-01 9.82856099e-01 -6.18636155e-03 -2.55046037e+01] [-3.43353560e-02 -1.46796029e-04 9.99410357e-01 -8.98264457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84264000000002 meters 0.01360381612981295 Centerline is valid? [True, True] Translation: X:193.84, Y:-25.52, Z:-8.99 [[ 9.82533801e-01 1.83190297e-01 3.26901264e-02 1.93841347e+02] [-1.83092490e-01 9.83077466e-01 -5.98628192e-03 -2.55174096e+01] [-3.32335554e-02 -1.03592322e-04 9.99447607e-01 -8.98628672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90264000000002 meters 0.013987233789402469 Centerline is valid? [True, True] Translation: X:193.90, Y:-25.53, Z:-8.99 [[ 9.82559297e-01 1.83087697e-01 3.24980480e-02 1.93897646e+02] [-1.82991028e-01 9.83096580e-01 -5.94969994e-03 -2.55277804e+01] [-3.30380367e-02 -1.00918213e-04 9.99454090e-01 -8.99087185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96264 meters 0.01520156657592885 Centerline is valid? [True, True] Translation: X:193.96, Y:-25.53, Z:-8.99 [[ 9.81978200e-01 1.86196964e-01 3.23960581e-02 1.93956162e+02] [-1.86102672e-01 9.82512416e-01 -5.92855584e-03 -2.55334000e+01] [-3.29334084e-02 -2.07280381e-04 9.99457527e-01 -8.99214530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02264 meters 0.015559748204205727 Centerline is valid? [True, True] Translation: X:194.01, Y:-25.54, Z:-8.99 [[ 9.81752633e-01 1.87402544e-01 3.22808690e-02 1.94014540e+02] [-1.87309624e-01 9.82283169e-01 -5.90590287e-03 -2.55428541e+01] [-3.28157355e-02 -2.48381747e-04 9.99461388e-01 -8.99403815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08264 meters 0.019460625605792703 Centerline is valid? [True, True] Translation: X:194.07, Y:-25.55, Z:-9.00 [[ 9.81170358e-01 1.90676591e-01 3.07760703e-02 1.94072833e+02] [-1.90593774e-01 9.81652851e-01 -5.62961359e-03 -2.55458261e+01] [-3.12848527e-02 -3.42117408e-04 9.99510451e-01 -9.00175269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14264 meters 0.018925247365640045 Centerline is valid? [True, True] Translation: X:194.13, Y:-25.55, Z:-9.00 [[ 9.81015013e-01 1.91314815e-01 3.17519451e-02 1.94130905e+02] [-1.91227100e-01 9.81528654e-01 -5.80491227e-03 -2.55533781e+01] [-3.22760096e-02 -3.77126292e-04 9.99478923e-01 -9.00127915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20264 meters 0.024326273239525936 Centerline is valid? [True, True] Translation: X:194.19, Y:-25.57, Z:-9.00 [[ 9.81650491e-01 1.87833972e-01 3.28741888e-02 1.94187752e+02] [-1.87738051e-01 9.82200756e-01 -6.00833544e-03 -2.55658293e+01] [-3.34176226e-02 -2.73650692e-04 9.99441438e-01 -9.00290903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26264 meters 0.0138274441542943 Centerline is valid? [True, True] Translation: X:194.24, Y:-25.58, Z:-9.00 [[ 9.82365640e-01 1.83887681e-01 3.38093071e-02 1.94244944e+02] [-1.83783946e-01 9.82947252e-01 -6.17750537e-03 -2.55806921e+01] [-3.43687327e-02 -1.45038841e-04 9.99409210e-01 -9.00244198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32264 meters 0.013833195399956137 Centerline is valid? [True, True] Translation: X:194.30, Y:-25.60, Z:-9.01 [[ 9.83878624e-01 1.75673534e-01 3.34912407e-02 1.94300585e+02] [-1.75567034e-01 9.84448470e-01 -6.11771483e-03 -2.56030935e+01] [-3.40451213e-02 1.39131035e-04 9.99420287e-01 -9.00575772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38264 meters 0.016143812314846302 Centerline is valid? [True, True] Translation: X:194.36, Y:-25.62, Z:-9.01 [[ 9.84524914e-01 1.72113882e-01 3.29773369e-02 1.94356985e+02] [-1.72008689e-01 9.85077025e-01 -6.02204234e-03 -2.56193014e+01] [-3.35216941e-02 2.56462229e-04 9.99437957e-01 -9.01085052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44264 meters 0.022498554212846415 Centerline is valid? [True, True] Translation: X:194.41, Y:-25.64, Z:-9.02 [[ 9.84997959e-01 1.69631483e-01 3.16888248e-02 1.94414377e+02] [-1.69533110e-01 9.85507511e-01 -5.78544398e-03 -2.56353030e+01] [-3.22109682e-02 3.26345505e-04 9.99481039e-01 -9.01542127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50264 meters 0.018337904618666967 Centerline is valid? [True, True] Translation: X:194.47, Y:-25.65, Z:-9.02 [[ 9.84993384e-01 1.69736070e-01 3.12681842e-02 1.94471472e+02] [-1.69640368e-01 9.85489505e-01 -5.70790459e-03 -2.56478028e+01] [-3.17833047e-02 3.17901986e-04 9.99494733e-01 -9.01885790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56264000000002 meters 0.016409437274468617 Centerline is valid? [True, True] Translation: X:194.53, Y:-25.66, Z:-9.02 [[ 9.84658729e-01 1.71710063e-01 3.10296990e-02 1.94529490e+02] [-1.71616808e-01 9.85147497e-01 -5.66395028e-03 -2.56575045e+01] [-3.15413876e-02 2.51840181e-04 9.99502415e-01 -9.01981283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62264000000002 meters 0.014750290430451967 Centerline is valid? [True, True] Translation: X:194.59, Y:-25.67, Z:-9.02 [[ 9.84240538e-01 1.73894058e-01 3.21157419e-02 1.94587272e+02] [-1.73795375e-01 9.84764348e-01 -5.86053553e-03 -2.56667178e+01] [-3.26455499e-02 1.86609238e-04 9.99466975e-01 -9.02026944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68264000000002 meters 0.014101048460094278 Centerline is valid? [True, True] Translation: X:194.64, Y:-25.67, Z:-9.02 [[ 9.83638481e-01 1.77246474e-01 3.22339222e-02 1.94644880e+02] [-1.77148908e-01 9.84166491e-01 -5.88068212e-03 -2.56741263e+01] [-3.27658763e-02 7.42611216e-05 9.99463052e-01 -9.02461543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74264 meters 0.01345594256404183 Centerline is valid? [True, True] Translation: X:194.70, Y:-25.68, Z:-9.02 [[ 9.82823547e-01 1.81465306e-01 3.35889494e-02 1.94703463e+02] [-1.81361909e-01 9.83397345e-01 -6.12537400e-03 -2.56805761e+01] [-3.41428265e-02 -7.15941909e-05 9.99416961e-01 -9.02334233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80264 meters 0.016019032151315008 Centerline is valid? [True, True] Translation: X:194.76, Y:-25.68, Z:-9.03 [[ 9.81830946e-01 1.86788488e-01 3.34373182e-02 1.94762505e+02] [-1.86689157e-01 9.82400119e-01 -6.09623458e-03 -2.56816728e+01] [-3.39875318e-02 -2.56912974e-04 9.99422224e-01 -9.02664227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86264 meters 0.020542615467418635 Centerline is valid? [True, True] Translation: X:194.82, Y:-25.68, Z:-9.03 [[ 9.80860579e-01 1.92082611e-01 3.18872139e-02 1.94822742e+02] [-1.91995147e-01 9.81378669e-01 -5.81129665e-03 -2.56845330e+01] [-3.24096806e-02 -4.22118529e-04 9.99474579e-01 -9.03174582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92264 meters 0.021975233428679172 Centerline is valid? [True, True] Translation: X:194.88, Y:-25.69, Z:-9.03 [[ 9.80287076e-01 1.94783693e-01 3.31143680e-02 1.94881477e+02] [-1.94690923e-01 9.80846079e-01 -6.03441726e-03 -2.56907290e+01] [-3.36555040e-02 -5.31605619e-04 9.99433352e-01 -9.03122278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98264 meters 0.023686719096356952 Centerline is valid? [True, True] Translation: X:194.94, Y:-25.70, Z:-9.03 [[ 9.80173728e-01 1.95263185e-01 3.36415084e-02 1.94938132e+02] [-1.95167747e-01 9.80750721e-01 -6.12966266e-03 -2.56966586e+01] [-3.41908311e-02 -5.57603116e-04 9.99415167e-01 -9.03374643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04264 meters 0.023522665457046777 Centerline is valid? [True, True] Translation: X:195.00, Y:-25.71, Z:-9.04 [[ 9.80293730e-01 1.94833004e-01 3.26236695e-02 1.94996225e+02] [-1.94743179e-01 9.80836285e-01 -5.93930782e-03 -2.57063103e+01] [-3.31556520e-02 -5.30970900e-04 9.99450059e-01 -9.03826556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10264 meters 0.02333234119645957 Centerline is valid? [True, True] Translation: X:195.05, Y:-25.71, Z:-9.04 [[ 9.80308517e-01 1.94800180e-01 3.23743966e-02 1.95054271e+02] [-1.94711756e-01 9.80842807e-01 -5.89237622e-03 -2.57142682e+01] [-3.29020300e-02 -5.27329031e-04 9.99458443e-01 -9.04141814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16264 meters 0.021333078975284216 Centerline is valid? [True, True] Translation: X:195.11, Y:-25.73, Z:-9.04 [[ 9.80622035e-01 1.93141011e-01 3.28172813e-02 1.95111389e+02] [-1.93049276e-01 9.81170892e-01 -5.97135053e-03 -2.57277751e+01] [-3.33526739e-02 -4.79714507e-04 9.99443530e-01 -9.04319987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22264 meters 0.01852092816273567 Centerline is valid? [True, True] Translation: X:195.17, Y:-25.74, Z:-9.05 [[ 9.81294718e-01 1.89637206e-01 3.31422022e-02 1.95167088e+02] [-1.89541698e-01 9.81854162e-01 -6.02895543e-03 -2.57424146e+01] [-3.36841235e-02 -3.65647171e-04 9.99432462e-01 -9.04572526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28264000000001 meters 0.01589785705020867 Centerline is valid? [True, True] Translation: X:195.22, Y:-25.76, Z:-9.05 [[ 9.82016261e-01 1.85809862e-01 3.34478305e-02 1.95222350e+02] [-1.85710433e-01 9.82585690e-01 -6.08252011e-03 -2.57599941e+01] [-3.39955519e-02 -2.38477419e-04 9.99421956e-01 -9.04865058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34264000000002 meters 0.014461838346847063 Centerline is valid? [True, True] Translation: X:195.28, Y:-25.78, Z:-9.05 [[ 9.82691415e-01 1.82379505e-01 3.24853587e-02 1.95278811e+02] [-1.82283916e-01 9.83228205e-01 -5.90524001e-03 -2.57800566e+01] [-3.30175157e-02 -1.18529721e-04 9.99454766e-01 -9.05326470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40264000000002 meters 0.014014894851427992 Centerline is valid? [True, True] Translation: X:195.33, Y:-25.80, Z:-9.06 [[ 9.83130630e-01 1.80004536e-01 3.24427455e-02 1.95333817e+02] [-1.79907951e-01 9.83665779e-01 -5.89608384e-03 -2.57976148e+01] [-3.29741404e-02 -4.00872448e-05 9.99456204e-01 -9.05721864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46264 meters 0.01387818144716211 Centerline is valid? [True, True] Translation: X:195.39, Y:-25.81, Z:-9.06 [[ 9.83240883e-01 1.79315115e-01 3.29158961e-02 1.95391024e+02] [-1.79215378e-01 9.83791690e-01 -5.97989796e-03 -2.58138391e+01] [-3.34546711e-02 -1.93545967e-05 9.99440236e-01 -9.05890846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52264 meters 0.015083445181748468 Centerline is valid? [True, True] Translation: X:195.45, Y:-25.82, Z:-9.06 [[ 9.82495872e-01 1.83294387e-01 3.32419844e-02 1.95449002e+02] [-1.83194993e-01 9.83058057e-01 -6.03754124e-03 -2.58225563e+01] [-3.37854480e-02 -1.57905742e-04 9.99429096e-01 -9.06126007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58264 meters 0.02273533001139564 Centerline is valid? [True, True] Translation: X:195.51, Y:-25.82, Z:-9.06 [[ 9.81009215e-01 1.90880982e-01 3.44292058e-02 1.95507842e+02] [-1.90779072e-01 9.81613091e-01 -6.25174787e-03 -2.58197954e+01] [-3.49894989e-02 -4.35349649e-04 9.99387585e-01 -9.06072277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64264 meters 0.02554506123617644 Centerline is valid? [True, True] Translation: X:195.57, Y:-25.82, Z:-9.06 [[ 9.79407390e-01 1.98731753e-01 3.55929092e-02 1.95569053e+02] [-1.98628127e-01 9.80053641e-01 -6.45977644e-03 -2.58230709e+01] [-3.61667230e-02 -7.43000118e-04 9.99345494e-01 -9.05925395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70264 meters 0.032345800731726604 Centerline is valid? [True, True] Translation: X:195.63, Y:-25.82, Z:-9.06 [[ 9.78334525e-01 2.03827012e-01 3.62781766e-02 1.95629662e+02] [-2.03722844e-01 9.79006460e-01 -6.58438676e-03 -2.58204586e+01] [-3.68586451e-02 -9.48960417e-04 9.99320039e-01 -9.06191811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76264 meters 0.03189329860453772 Centerline is valid? [True, True] Translation: X:195.69, Y:-25.83, Z:-9.07 [[ 9.78381420e-01 2.03957768e-01 3.42202635e-02 1.95688132e+02] [-2.03865183e-01 9.78979274e-01 -6.21038115e-03 -2.58285693e+01] [-3.47675842e-02 -9.00198741e-04 9.99395019e-01 -9.06856013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82264 meters 0.02723930898535255 Centerline is valid? [True, True] Translation: X:195.75, Y:-25.84, Z:-9.07 [[ 9.79414667e-01 1.99122770e-01 3.31214713e-02 1.95746601e+02] [-1.99033340e-01 9.79974297e-01 -6.00893337e-03 -2.58421834e+01] [-3.36547060e-02 -7.07039570e-04 9.99433270e-01 -9.07407103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88264 meters 0.030313374262412505 Centerline is valid? [True, True] Translation: X:195.80, Y:-25.86, Z:-9.08 [[ 9.80845906e-01 1.92201000e-01 3.16241188e-02 1.95804319e+02] [-1.92115885e-01 9.81355478e-01 -5.73691632e-03 -2.58608935e+01] [-3.21371433e-02 -4.48464686e-04 9.99483368e-01 -9.07923059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94264 meters 0.01657118729864702 Centerline is valid? [True, True] Translation: X:195.86, Y:-25.88, Z:-9.08 [[ 9.81927258e-01 1.86412762e-01 3.26977500e-02 1.95861312e+02] [-1.86318566e-01 9.82471481e-01 -5.93142170e-03 -2.58771196e+01] [-3.32302995e-02 -2.67973237e-04 9.99447685e-01 -9.08039573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00264 meters 0.014793218379964177 Centerline is valid? [True, True] Translation: X:195.92, Y:-25.89, Z:-9.08 [[ 9.82076503e-01 1.85513250e-01 3.33253001e-02 1.95918984e+02] [-1.85414902e-01 9.82641733e-01 -6.04477015e-03 -2.58882469e+01] [-3.38682156e-02 -2.42580501e-04 9.99426278e-01 -9.07985780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06264000000002 meters 0.015860147501742656 Centerline is valid? [True, True] Translation: X:195.98, Y:-25.90, Z:-9.09 [[ 9.82024312e-01 1.85859337e-01 3.29326153e-02 1.95975662e+02] [-1.85763535e-01 9.82576329e-01 -5.97212450e-03 -2.58965129e+01] [-3.34687833e-02 -2.52907563e-04 9.99439731e-01 -9.08502915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12264000000002 meters 0.01754412187712345 Centerline is valid? [True, True] Translation: X:196.03, Y:-25.90, Z:-9.09 [[ 9.81514168e-01 1.88445722e-01 3.34387170e-02 1.96034976e+02] [-1.88348544e-01 9.82083544e-01 -6.06120357e-03 -2.59011095e+01] [-3.39818216e-02 -3.48976479e-04 9.99422390e-01 -9.08620941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18264 meters 0.02281765357059979 Centerline is valid? [True, True] Translation: X:196.09, Y:-25.90, Z:-9.09 [[ 9.81168720e-01 1.90046408e-01 3.45008204e-02 1.96093763e+02] [-1.89944002e-01 9.81775019e-01 -6.25208454e-03 -2.59023353e+01] [-3.50602298e-02 -4.18874119e-04 9.99385113e-01 -9.09261634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24264 meters 0.018134827853985947 Centerline is valid? [True, True] Translation: X:196.15, Y:-25.92, Z:-9.09 [[ 9.81253756e-01 1.89637004e-01 3.43347333e-02 1.96150101e+02] [-1.89535399e-01 9.81854186e-01 -6.22006929e-03 -2.59165067e+01] [-3.48912570e-02 -4.04181021e-04 9.99391033e-01 -9.09011214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30264 meters 0.023525583926037732 Centerline is valid? [True, True] Translation: X:196.21, Y:-25.93, Z:-9.09 [[ 9.81556369e-01 1.88147981e-01 3.38737706e-02 1.96207323e+02] [-1.88048296e-01 9.82140629e-01 -6.13375537e-03 -2.59311465e+01] [-3.44228601e-02 -3.49278213e-04 9.99407297e-01 -9.09231115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36264 meters 0.01662991659355605 Centerline is valid? [True, True] Translation: X:196.26, Y:-25.94, Z:-9.10 [[ 9.81699136e-01 1.87609790e-01 3.27012734e-02 1.96264428e+02] [-1.87516643e-01 9.82243587e-01 -5.91986159e-03 -2.59425740e+01] [-3.32312401e-02 -3.20509992e-04 9.99447638e-01 -9.09743183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42264 meters 0.0172091790699913 Centerline is valid? [True, True] Translation: X:196.32, Y:-25.95, Z:-9.10 [[ 9.81744717e-01 1.87349322e-01 3.28259263e-02 1.96320838e+02] [-1.87255363e-01 9.82293303e-01 -5.94106524e-03 -2.59529679e+01] [-3.33577422e-02 -3.14221327e-04 9.99443426e-01 -9.10132935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48264 meters 0.018111756925927473 Centerline is valid? [True, True] Translation: X:196.38, Y:-25.96, Z:-9.10 [[ 9.81459893e-01 1.88699492e-01 3.36003050e-02 1.96379638e+02] [-1.88601938e-01 9.82034808e-01 -6.07825897e-03 -2.59607993e+01] [-3.41436335e-02 -3.71515246e-04 9.99416867e-01 -9.10205895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54264 meters 0.0211304747850078 Centerline is valid? [True, True] Translation: X:196.44, Y:-25.96, Z:-9.10 [[ 9.80862994e-01 1.91688262e-01 3.41086210e-02 1.96437639e+02] [-1.91589582e-01 9.81455743e-01 -6.16897016e-03 -2.59633982e+01] [-3.46586212e-02 -4.83941899e-04 9.99399092e-01 -9.10474608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60264 meters 0.025253962580126712 Centerline is valid? [True, True] Translation: X:196.50, Y:-25.97, Z:-9.11 [[ 9.80063781e-01 1.95822947e-01 3.35910444e-02 1.96497947e+02] [-1.95729791e-01 9.80639069e-01 -6.07166455e-03 -2.59658107e+01] [-3.41296617e-02 -6.24149559e-04 9.99417218e-01 -9.10855827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66264 meters 0.02739154966116295 Centerline is valid? [True, True] Translation: X:196.56, Y:-25.97, Z:-9.11 [[ 9.79462457e-01 1.98830374e-01 3.34630871e-02 1.96557837e+02] [-1.98739706e-01 9.80033649e-01 -6.04773009e-03 -2.59695505e+01] [-3.39974238e-02 -7.26919547e-04 9.99421656e-01 -9.11094872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72264 meters 0.027891619106503205 Centerline is valid? [True, True] Translation: X:196.62, Y:-25.97, Z:-9.11 [[ 9.79641543e-01 1.97860826e-01 3.39638118e-02 1.96615382e+02] [-1.97766856e-01 9.80229870e-01 -6.13779772e-03 -2.59749111e+01] [-3.45067725e-02 -7.04074649e-04 9.99404216e-01 -9.11434381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78264000000001 meters 0.02472160243855795 Centerline is valid? [True, True] Translation: X:196.67, Y:-25.99, Z:-9.12 [[ 9.80132178e-01 1.95427052e-01 3.38995777e-02 1.96673293e+02] [-1.95332064e-01 9.80718045e-01 -6.12380644e-03 -2.59882050e+01] [-3.44426850e-02 -6.19534762e-04 9.99406483e-01 -9.11711549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84264000000002 meters 0.02039962305616394 Centerline is valid? [True, True] Translation: X:196.73, Y:-26.00, Z:-9.12 [[ 9.81042682e-01 1.90816655e-01 3.38269067e-02 1.96730663e+02] [-1.90719370e-01 9.81625588e-01 -6.10957979e-03 -2.60004001e+01] [-3.43711668e-02 -4.57687814e-04 9.99409032e-01 -9.12113784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90264000000002 meters 0.018667065848185997 Centerline is valid? [True, True] Translation: X:196.79, Y:-26.01, Z:-9.13 [[ 9.81428386e-01 1.88926496e-01 3.32430911e-02 1.96788143e+02] [-1.88831511e-01 9.81991156e-01 -6.00255476e-03 -2.60127203e+01] [-3.37784630e-02 -3.86265485e-04 9.99429270e-01 -9.12503543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96264 meters 0.01742327255554789 Centerline is valid? [True, True] Translation: X:196.84, Y:-26.02, Z:-9.13 [[ 9.81842144e-01 1.86666645e-01 3.37871076e-02 1.96844962e+02] [-1.86567230e-01 9.82423261e-01 -6.09951649e-03 -2.60247503e+01] [-3.43318167e-02 -3.14804721e-04 9.99410440e-01 -9.12771430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02264 meters 0.015924805452620136 Centerline is valid? [True, True] Translation: X:196.90, Y:-26.03, Z:-9.13 [[ 9.82049531e-01 1.85446743e-01 3.44706215e-02 1.96903346e+02] [-1.85342632e-01 9.82654276e-01 -6.21950054e-03 -2.60330434e+01] [-3.50260897e-02 -2.81018126e-04 9.99386359e-01 -9.12803274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08264 meters 0.015948926732739344 Centerline is valid? [True, True] Translation: X:196.96, Y:-26.04, Z:-9.13 [[ 9.82002873e-01 1.85566355e-01 3.51494553e-02 1.96961398e+02] [-1.85458242e-01 9.82631692e-01 -6.34022885e-03 -2.60416126e+01] [-3.57155019e-02 -2.92633228e-04 9.99361955e-01 -9.13014530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14264 meters 0.02571870410614431 Centerline is valid? [True, True] Translation: X:197.02, Y:-26.05, Z:-9.13 [[ 9.82091792e-01 1.85153146e-01 3.48428618e-02 1.97018129e+02] [-1.85046696e-01 9.82709640e-01 -6.28365301e-03 -2.60497438e+01] [-3.54038543e-02 -2.76432398e-04 9.99373049e-01 -9.13285521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20264 meters 0.013711926511788564 Centerline is valid? [True, True] Translation: X:197.08, Y:-26.07, Z:-9.13 [[ 9.82629912e-01 1.82063447e-01 3.59354679e-02 1.97075154e+02] [-1.81948274e-01 9.83286770e-01 -6.47720531e-03 -2.60651160e+01] [-3.65141325e-02 -1.73700705e-04 9.99333122e-01 -9.13436210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26264 meters 0.012118172918167974 Centerline is valid? [True, True] Translation: X:197.13, Y:-26.08, Z:-9.13 [[ 9.83180029e-01 1.78958178e-01 3.64828981e-02 1.97132057e+02] [-1.78837397e-01 9.83856680e-01 -6.57409620e-03 -2.60795515e+01] [-3.70704313e-02 -6.09864301e-05 9.99312653e-01 -9.13403391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32264 meters 0.012225682019007596 Centerline is valid? [True, True] Translation: X:197.19, Y:-26.09, Z:-9.14 [[ 9.83547187e-01 1.77042993e-01 3.59264366e-02 1.97188411e+02] [-1.76924653e-01 9.84203119e-01 -6.47213404e-03 -2.60940433e+01] [-3.65047569e-02 9.37690194e-06 9.99333479e-01 -9.13845308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38264 meters 0.013066462799734568 Centerline is valid? [True, True] Translation: X:197.25, Y:-26.11, Z:-9.14 [[ 9.83849529e-01 1.75788343e-01 3.37425949e-02 1.97245158e+02] [-1.75683287e-01 9.84427984e-01 -6.07674514e-03 -2.61052429e+01] [-3.42853757e-02 5.05928515e-05 9.99412082e-01 -9.14496902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44264 meters 0.020938076590082393 Centerline is valid? [True, True] Translation: X:197.30, Y:-26.12, Z:-9.15 [[ 9.84120949e-01 1.74380873e-01 3.31250413e-02 1.97302649e+02] [-1.74278904e-01 9.84678273e-01 -5.96335346e-03 -2.61154202e+01] [-3.36574033e-02 9.56651592e-05 9.99433425e-01 -9.14715812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50264 meters 0.013063856063137059 Centerline is valid? [True, True] Translation: X:197.36, Y:-26.13, Z:-9.15 [[ 9.84128815e-01 1.74143526e-01 3.41248952e-02 1.97360627e+02] [-1.74035226e-01 9.84720276e-01 -6.14158858e-03 -2.61269519e+01] [-3.46729941e-02 1.05180457e-04 9.99398705e-01 -9.14952336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56264000000002 meters 0.012922121356364853 Centerline is valid? [True, True] Translation: X:197.42, Y:-26.14, Z:-9.15 [[ 9.83940203e-01 1.75237118e-01 3.39651262e-02 1.97417186e+02] [-1.75130534e-01 9.84526256e-01 -6.11127964e-03 -2.61361656e+01] [-3.45104816e-02 6.48030247e-05 9.99404334e-01 -9.15269639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62264000000002 meters 0.012548443638599815 Centerline is valid? [True, True] Translation: X:197.47, Y:-26.15, Z:-9.15 [[ 9.84026059e-01 1.74537804e-01 3.50609495e-02 1.97474935e+02] [-1.74423871e-01 9.84650469e-01 -6.30604675e-03 -2.61470682e+01] [-3.56234239e-02 8.98477898e-05 9.99365280e-01 -9.15214997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68264 meters 0.01360545541883541 Centerline is valid? [True, True] Translation: X:197.53, Y:-26.17, Z:-9.16 [[ 9.84539645e-01 1.71627192e-01 3.50113382e-02 1.97531495e+02] [-1.71511804e-01 9.85161951e-01 -6.29534902e-03 -2.61661998e+01] [-3.55722914e-02 1.93162894e-04 9.99367087e-01 -9.15626894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74264 meters 0.016334315791378666 Centerline is valid? [True, True] Translation: X:197.59, Y:-26.19, Z:-9.16 [[ 9.85240579e-01 1.67634025e-01 3.46386294e-02 1.97586646e+02] [-1.67518679e-01 9.85849240e-01 -6.22646368e-03 -2.61883432e+01] [-3.51922336e-02 3.31947245e-04 9.99380506e-01 -9.15973993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80264 meters 0.01903419060979842 Centerline is valid? [True, True] Translation: X:197.64, Y:-26.21, Z:-9.16 [[ 9.85767526e-01 1.64702484e-01 3.36968413e-02 1.97643195e+02] [-1.64591660e-01 9.86343202e-01 -6.05580226e-03 -2.62095571e+01] [-3.42340560e-02 4.23394161e-04 9.99413753e-01 -9.16434171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86264 meters 0.020026862466394655 Centerline is valid? [True, True] Translation: X:197.70, Y:-26.22, Z:-9.17 [[ 9.85839272e-01 1.64282242e-01 3.36493030e-02 1.97699845e+02] [-1.64171509e-01 9.86413278e-01 -6.04658875e-03 -2.62244607e+01] [-3.41854664e-02 4.36707786e-04 9.99415411e-01 -9.16808773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92264 meters 0.015991561959591425 Centerline is valid? [True, True] Translation: X:197.76, Y:-26.24, Z:-9.17 [[ 9.85227660e-01 1.67659333e-01 3.48827461e-02 1.97758146e+02] [-1.67542496e-01 9.85844937e-01 -6.26678941e-03 -2.62372903e+01] [-3.54396643e-02 3.29871922e-04 9.99371763e-01 -9.16652946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98264 meters 0.01946761724707501 Centerline is valid? [True, True] Translation: X:197.82, Y:-26.25, Z:-9.17 [[ 9.84539157e-01 1.71853029e-01 3.38996188e-02 1.97817115e+02] [-1.71745199e-01 9.85122584e-01 -6.08935832e-03 -2.62456225e+01] [-3.44417547e-02 1.73114944e-04 9.99406692e-01 -9.16933943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04264 meters 0.02493800281632036 Centerline is valid? [True, True] Translation: X:197.88, Y:-26.25, Z:-9.17 [[ 9.83362127e-01 1.78381049e-01 3.43384270e-02 1.97875622e+02] [-1.78274403e-01 9.83961482e-01 -6.16759636e-03 -2.62513090e+01] [-3.48878718e-02 -5.66818765e-05 9.99391231e-01 -9.17135467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10264 meters 0.014362175827677457 Centerline is valid? [True, True] Translation: X:197.93, Y:-26.26, Z:-9.18 [[ 9.82615564e-01 1.82421601e-01 3.44820795e-02 1.97932679e+02] [-1.82316599e-01 9.83220381e-01 -6.19187022e-03 -2.62610093e+01] [-3.50330142e-02 -2.02427412e-04 9.99386135e-01 -9.17691293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16264 meters 0.015721817214695004 Centerline is valid? [True, True] Translation: X:197.99, Y:-26.27, Z:-9.18 [[ 9.82338227e-01 1.84064940e-01 3.36408305e-02 1.97989445e+02] [-1.83966044e-01 9.82914051e-01 -6.03845332e-03 -2.62705919e+01] [-3.41775125e-02 -2.56966972e-04 9.99415745e-01 -9.18164824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22264 meters 0.015540984406867154 Centerline is valid? [True, True] Translation: X:198.05, Y:-26.29, Z:-9.19 [[ 9.82521392e-01 1.83255558e-01 3.26973072e-02 1.98046346e+02] [-1.83161754e-01 9.83065283e-01 -5.86700715e-03 -2.62854132e+01] [-3.32187492e-02 -2.24436088e-04 9.99448080e-01 -9.18567393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28264000000001 meters 0.013327000571403687 Centerline is valid? [True, True] Translation: X:198.10, Y:-26.30, Z:-9.19 [[ 9.83070695e-01 1.79991561e-01 3.42789473e-02 1.98103078e+02] [-1.79886537e-01 9.83668147e-01 -6.14903577e-03 -2.63038739e+01] [-3.48258831e-02 -1.21384250e-04 9.99393388e-01 -9.18517414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34264000000002 meters 0.01275901082770013 Centerline is valid? [True, True] Translation: X:198.16, Y:-26.33, Z:-9.19 [[ 9.83997738e-01 1.74797864e-01 3.45566091e-02 1.98160934e+02] [-1.74688008e-01 9.84604338e-01 -6.19653019e-03 -2.63258148e+01] [-3.51077275e-02 6.07464996e-05 9.99383532e-01 -9.18644348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40264000000002 meters 0.024776713761928987 Centerline is valid? [True, True] Translation: X:198.22, Y:-26.35, Z:-9.19 [[ 9.84678358e-01 1.71238296e-01 3.29541560e-02 1.98219279e+02] [-1.71136441e-01 9.85229625e-01 -5.90797894e-03 -2.63463558e+01] [-3.34790830e-02 1.77802032e-04 9.99439403e-01 -9.19097125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46264 meters 0.015444590298598302 Centerline is valid? [True, True] Translation: X:198.28, Y:-26.37, Z:-9.19 [[ 9.84928108e-01 1.69676442e-01 3.35637660e-02 1.98277812e+02] [-1.69569738e-01 9.85499796e-01 -6.02130948e-03 -2.63650634e+01] [-3.40987590e-02 2.39157945e-04 9.99418440e-01 -9.19471621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52264 meters 0.015717720607641875 Centerline is valid? [True, True] Translation: X:198.34, Y:-26.38, Z:-9.20 [[ 9.85034355e-01 1.69224138e-01 3.27186657e-02 1.98338041e+02] [-1.69122532e-01 9.85577562e-01 -5.86849102e-03 -2.63797265e+01] [-3.32398731e-02 2.47201680e-04 9.99447372e-01 -9.19789524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58264 meters 0.016014621452064115 Centerline is valid? [True, True] Translation: X:198.40, Y:-26.39, Z:-9.20 [[ 9.85081792e-01 1.68920127e-01 3.28611260e-02 1.98398194e+02] [-1.68817273e-01 9.85629708e-01 -5.89978749e-03 -2.63944752e+01] [-3.33854949e-02 2.64247556e-04 9.99442514e-01 -9.20040353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64264 meters 0.013422672291399462 Centerline is valid? [True, True] Translation: X:198.46, Y:-26.40, Z:-9.20 [[ 9.84062112e-01 1.74921761e-01 3.20021408e-02 1.98458879e+02] [-1.74827144e-01 9.84582334e-01 -5.75295153e-03 -2.64010520e+01] [-3.25150589e-02 6.64187590e-05 9.99471243e-01 -9.20253437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70264 meters 0.014801598877807255 Centerline is valid? [True, True] Translation: X:198.52, Y:-26.40, Z:-9.20 [[ 9.82682115e-01 1.82397328e-01 3.26661283e-02 1.98518401e+02] [-1.82302811e-01 9.83224889e-01 -5.87398625e-03 -2.64022296e+01] [-3.31895498e-02 -1.82865778e-04 9.99449058e-01 -9.20491550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76264 meters 0.02676711785162247 Centerline is valid? [True, True] Translation: X:198.58, Y:-26.39, Z:-9.21 [[ 9.79849172e-01 1.96984569e-01 3.30557048e-02 1.98582543e+02] [-1.96896113e-01 9.80406349e-01 -5.94235197e-03 -2.63873084e+01] [-3.35785745e-02 -6.85931149e-04 9.99435845e-01 -9.20591942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82264 meters 0.03200702145336781 Centerline is valid? [True, True] Translation: X:198.64, Y:-26.39, Z:-9.21 [[ 9.78935932e-01 2.01471027e-01 3.30736615e-02 1.98642889e+02] [-2.01385026e-01 9.79494114e-01 -5.94572795e-03 -2.63883677e+01] [-3.35933487e-02 -8.40053456e-04 9.99435231e-01 -9.20863787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88264 meters 0.03429067605513453 Centerline is valid? [True, True] Translation: X:198.70, Y:-26.39, Z:-9.21 [[ 9.78200134e-01 2.05106643e-01 3.24925092e-02 1.98703112e+02] [-2.05025660e-01 9.78739171e-01 -5.84066040e-03 -2.63884759e+01] [-3.29996498e-02 -9.48463361e-04 9.99454913e-01 -9.21196615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94264 meters 0.034570881842087446 Centerline is valid? [True, True] Translation: X:198.76, Y:-26.39, Z:-9.22 [[ 9.78277452e-01 2.04798486e-01 3.21061917e-02 1.98761601e+02] [-2.04719273e-01 9.78803719e-01 -5.77055568e-03 -2.63906925e+01] [-3.26074609e-02 -9.27551731e-04 9.99467805e-01 -9.21562117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00264 meters 0.030253953068693665 Centerline is valid? [True, True] Translation: X:198.82, Y:-26.40, Z:-9.22 [[ 9.79295196e-01 1.99954098e-01 3.16113454e-02 1.98820846e+02] [-1.99874887e-01 9.79804973e-01 -5.67843137e-03 -2.63984456e+01] [-3.21083791e-02 -7.57453515e-04 9.99484106e-01 -9.22001619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06264000000002 meters 0.02112312156227565 Centerline is valid? [True, True] Translation: X:198.88, Y:-26.42, Z:-9.22 [[ 9.81181322e-01 1.90131435e-01 3.36638025e-02 1.98878252e+02] [-1.90035832e-01 9.81758535e-01 -6.04654531e-03 -2.64175078e+01] [-3.41993638e-02 -4.64571414e-04 9.99414923e-01 -9.22035386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12264000000002 meters 0.01274747401579017 Centerline is valid? [True, True] Translation: X:198.93, Y:-26.44, Z:-9.22 [[ 9.83207941e-01 1.79147648e-01 3.47601099e-02 1.98934193e+02] [-1.79038834e-01 9.83822196e-01 -6.24364437e-03 -2.64431003e+01] [-3.53163019e-02 -8.46088074e-05 9.99376181e-01 -9.21897311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18264 meters 0.014408007253557266 Centerline is valid? [True, True] Translation: X:198.99, Y:-26.47, Z:-9.22 [[ 9.84681714e-01 1.70910819e-01 3.45168593e-02 1.98990209e+02] [-1.70798492e-01 9.85286480e-01 -6.19893217e-03 -2.64664812e+01] [-3.50684594e-02 2.08547638e-04 9.99384891e-01 -9.22286943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24264 meters 0.018752498955794315 Centerline is valid? [True, True] Translation: X:199.05, Y:-26.49, Z:-9.23 [[ 9.85446524e-01 1.66681988e-01 3.33506231e-02 1.99046841e+02] [-1.66574747e-01 9.86010647e-01 -5.98816790e-03 -2.64877978e+01] [-3.38821892e-02 3.45647641e-04 9.99425774e-01 -9.22943730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30264 meters 0.017746139294538634 Centerline is valid? [True, True] Translation: X:199.11, Y:-26.50, Z:-9.23 [[ 9.85436471e-01 1.67120080e-01 3.13981111e-02 1.99105848e+02] [-1.67025171e-01 9.85936499e-01 -5.64020733e-03 -2.64993420e+01] [-3.18991357e-02 3.13791135e-04 9.99491044e-01 -9.23350079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36264 meters 0.015461302215064577 Centerline is valid? [True, True] Translation: X:199.16, Y:-26.51, Z:-9.24 [[ 9.84774752e-01 1.71111702e-01 3.06508316e-02 1.99164250e+02] [-1.71023178e-01 9.85251619e-01 -5.50634507e-03 -2.65099466e+01] [-3.11409816e-02 1.80506964e-04 9.99514986e-01 -9.23714901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42264 meters 0.014052511506827032 Centerline is valid? [True, True] Translation: X:199.22, Y:-26.52, Z:-9.24 [[ 9.83924748e-01 1.75860418e-01 3.10677212e-02 1.99222500e+02] [-1.75771846e-01 9.84415112e-01 -5.58082093e-03 -2.65152547e+01] [-3.15649798e-02 3.02771125e-05 9.99501701e-01 -9.23986944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48264 meters 0.01623814245145156 Centerline is valid? [True, True] Translation: X:199.28, Y:-26.52, Z:-9.24 [[ 9.82502354e-01 1.83531684e-01 3.17056079e-02 1.99281919e+02] [-1.83443475e-01 9.83013770e-01 -5.69381477e-03 -2.65174979e+01] [-3.22120445e-02 -2.22000490e-04 9.99481033e-01 -9.24181964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54264 meters 0.029601082629328652 Centerline is valid? [True, True] Translation: X:199.34, Y:-26.52, Z:-9.24 [[ 9.81323634e-01 1.89813081e-01 3.12237047e-02 1.99342068e+02] [-1.89730767e-01 9.81820154e-01 -5.60544888e-03 -2.65210716e+01] [-3.17200501e-02 -4.23337977e-04 9.99496703e-01 -9.24377286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60264 meters 0.026567397709188 Centerline is valid? [True, True] Translation: X:199.40, Y:-26.52, Z:-9.25 [[ 9.80622666e-01 1.93388184e-01 3.13080845e-02 1.99400164e+02] [-1.93307244e-01 9.81122173e-01 -5.62061648e-03 -2.65228668e+01] [-3.18040168e-02 -5.40375614e-04 9.99493978e-01 -9.25143872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66264 meters 0.02502983250293092 Centerline is valid? [True, True] Translation: X:199.46, Y:-26.54, Z:-9.25 [[ 9.80219666e-01 1.95517937e-01 3.06943431e-02 1.99457755e+02] [-1.95441271e-01 9.80699942e-01 -5.50759088e-03 -2.65367522e+01] [-3.11787733e-02 -6.00292539e-04 9.99513644e-01 -9.24999464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72264 meters 0.029433676328692135 Centerline is valid? [True, True] Translation: X:199.52, Y:-26.54, Z:-9.25 [[ 9.79778928e-01 1.97759868e-01 3.04021038e-02 1.99515768e+02] [-1.97685775e-01 9.80250269e-01 -5.45381495e-03 -2.65396628e+01] [-3.08802162e-02 -6.66530478e-04 9.99522870e-01 -9.25429338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78264000000001 meters 0.030672283898738818 Centerline is valid? [True, True] Translation: X:199.57, Y:-26.55, Z:-9.26 [[ 9.79606035e-01 1.98592094e-01 3.05482650e-02 1.99573876e+02] [-1.98517758e-01 9.80081983e-01 -5.47787238e-03 -2.65473116e+01] [-3.10276663e-02 -6.98216253e-04 9.99518282e-01 -9.25645550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84264000000002 meters 0.03697104615225902 Centerline is valid? [True, True] Translation: X:199.63, Y:-26.56, Z:-9.26 [[ 9.79422311e-01 1.99507337e-01 3.04755595e-02 1.99632315e+02] [-1.99433842e-01 9.79896063e-01 -5.46337033e-03 -2.65550188e+01] [-3.09528632e-02 -7.26911122e-04 9.99520581e-01 -9.25706523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90264000000002 meters 0.02714821957192221 Centerline is valid? [True, True] Translation: X:199.69, Y:-26.57, Z:-9.26 [[ 9.79841986e-01 1.97401068e-01 3.07001892e-02 1.99690305e+02] [-1.97325505e-01 9.80322586e-01 -5.50196809e-03 -2.65677739e+01] [-3.11821833e-02 -6.66870996e-04 9.99513495e-01 -9.25928620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96264 meters 0.023615584962654583 Centerline is valid? [True, True] Translation: X:199.75, Y:-26.58, Z:-9.26 [[ 9.80652962e-01 1.93425882e-01 3.01031054e-02 1.99747340e+02] [-1.93351383e-01 9.81114747e-01 -5.39406148e-03 -2.65813300e+01] [-3.05779517e-02 -5.30774707e-04 9.99532244e-01 -9.26311320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02264 meters 0.02286462545356142 Centerline is valid? [True, True] Translation: X:199.80, Y:-26.59, Z:-9.27 [[ 9.81190689e-01 1.90784663e-01 2.94286107e-02 1.99803888e+02] [-1.90712316e-01 9.81631814e-01 -5.27195965e-03 -2.65911158e+01] [-2.98938695e-02 -4.39600769e-04 9.99552982e-01 -9.26844378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08264 meters 0.02045413951419352 Centerline is valid? [True, True] Translation: X:199.86, Y:-26.60, Z:-9.27 [[ 9.81519391e-01 1.89079209e-01 2.94743589e-02 1.99861639e+02] [-1.89005930e-01 9.81961761e-01 -5.27806836e-03 -2.66012150e+01] [-2.99406663e-02 -3.90302163e-04 9.99551602e-01 -9.26926700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14264 meters 0.019963899622849262 Centerline is valid? [True, True] Translation: X:199.92, Y:-26.61, Z:-9.27 [[ 9.81652489e-01 1.88223004e-01 3.05039672e-02 1.99918476e+02] [-1.88144147e-01 9.82126243e-01 -5.46100206e-03 -2.66101507e+01] [-3.09866330e-02 -3.78336618e-04 9.99519727e-01 -9.27041342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20264 meters 0.022028771469028208 Centerline is valid? [True, True] Translation: X:199.98, Y:-26.61, Z:-9.27 [[ 9.81253208e-01 1.90141698e-01 3.14368655e-02 1.99976918e+02] [-1.90058982e-01 9.81756553e-01 -5.62626812e-03 -2.66130566e+01] [-3.19331369e-02 -4.54065015e-04 9.99489904e-01 -9.27173006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26264 meters 0.025873472137231346 Centerline is valid? [True, True] Translation: X:200.04, Y:-26.61, Z:-9.27 [[ 9.80447265e-01 1.94225628e-01 3.16159077e-02 2.00038015e+02] [-1.94144199e-01 9.80956703e-01 -5.65481816e-03 -2.66114307e+01] [-3.21121472e-02 -5.93794080e-04 9.99484096e-01 -9.27340606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32264 meters 0.029024123595706795 Centerline is valid? [True, True] Translation: X:200.10, Y:-26.61, Z:-9.27 [[ 9.79498099e-01 1.98843064e-01 3.23250733e-02 2.00098800e+02] [-1.98760478e-01 9.80031048e-01 -5.78085117e-03 -2.66098967e+01] [-3.28290576e-02 -7.62614274e-04 9.99460690e-01 -9.27366520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38264 meters 0.03581482928394007 Centerline is valid? [True, True] Translation: X:200.16, Y:-26.60, Z:-9.28 [[ 9.78602989e-01 2.03207346e-01 3.22949605e-02 2.00160216e+02] [-2.03127318e-01 9.79135306e-01 -5.77447302e-03 -2.66037799e+01] [-3.27945514e-02 -9.09072151e-04 9.99461701e-01 -9.27849442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44264 meters 0.039200410214818654 Centerline is valid? [True, True] Translation: X:200.22, Y:-26.60, Z:-9.28 [[ 9.78586768e-01 2.03515884e-01 3.08094467e-02 2.00219751e+02] [-2.03443139e-01 9.79071253e-01 -5.51089529e-03 -2.66048669e+01] [-3.12861983e-02 -8.75081325e-04 9.99510084e-01 -9.28265863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50264 meters 0.03394956774744448 Centerline is valid? [True, True] Translation: X:200.28, Y:-26.61, Z:-9.29 [[ 9.78980871e-01 2.01509158e-01 3.14724139e-02 2.00278514e+02] [-2.01432446e-01 9.79486274e-01 -5.62217484e-03 -2.66092342e+01] [-3.19597171e-02 -8.35563678e-04 9.99488808e-01 -9.28658773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56264000000002 meters 0.029724322810157452 Centerline is valid? [True, True] Translation: X:200.34, Y:-26.62, Z:-9.29 [[ 9.79609207e-01 1.98347954e-01 3.19982769e-02 2.00337821e+02] [-1.98267033e-01 9.80131385e-01 -5.71418203e-03 -2.66161396e+01] [-3.24959118e-02 -7.46538103e-04 9.99471590e-01 -9.28825520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62264000000002 meters 0.02442769324650802 Centerline is valid? [True, True] Translation: X:200.40, Y:-26.63, Z:-9.30 [[ 9.80956610e-01 1.91718869e-01 3.11127826e-02 2.00395401e+02] [-1.91639052e-01 9.81449750e-01 -5.55530495e-03 -2.66274742e+01] [-3.16006895e-02 -5.12911065e-04 9.99500442e-01 -9.29551898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68264 meters 0.015988288586914177 Centerline is valid? [True, True] Translation: X:200.45, Y:-26.65, Z:-9.30 [[ 9.82900060e-01 1.81546908e-01 3.07927346e-02 2.00452842e+02] [-1.81463755e-01 9.83382269e-01 -5.49721861e-03 -2.66489902e+01] [-3.12790322e-02 -1.84548745e-04 9.99510674e-01 -9.29853552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74264 meters 0.015132974347009762 Centerline is valid? [True, True] Translation: X:200.51, Y:-26.67, Z:-9.30 [[ 9.84815131e-01 1.70796850e-01 3.11061780e-02 2.00507778e+02] [-1.70706619e-01 9.85306252e-01 -5.55333457e-03 -2.66746562e+01] [-3.15976037e-02 1.58977440e-04 9.99500658e-01 -9.30075853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80264 meters 0.018277112317192853 Centerline is valid? [True, True] Translation: X:200.56, Y:-26.70, Z:-9.30 [[ 9.85687638e-01 1.65632122e-01 3.13987196e-02 2.00563374e+02] [-1.65537608e-01 9.86187555e-01 -5.60417129e-03 -2.66953522e+01] [-3.18932573e-02 3.26293433e-04 9.99491227e-01 -9.30350943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86264 meters 0.01934882387359687 Centerline is valid? [True, True] Translation: X:200.62, Y:-26.71, Z:-9.31 [[ 9.86084587e-01 1.63256219e-01 3.13782446e-02 2.00619879e+02] [-1.63160690e-01 9.86583624e-01 -5.59848726e-03 -2.67135522e+01] [-3.18712501e-02 4.00885961e-04 9.99491902e-01 -9.30535000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92264 meters 0.01748216824647905 Centerline is valid? [True, True] Translation: X:200.68, Y:-26.72, Z:-9.31 [[ 9.85604532e-01 1.66223004e-01 3.08807355e-02 2.00677402e+02] [-1.66131983e-01 9.86088142e-01 -5.50822426e-03 -2.67237166e+01] [-3.13667207e-02 2.98652964e-04 9.99507899e-01 -9.30838153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98264 meters 0.02484870618341873 Centerline is valid? [True, True] Translation: X:200.74, Y:-26.73, Z:-9.31 [[ 9.84951259e-01 1.70127188e-01 3.04590957e-02 2.00735686e+02] [-1.70040546e-01 9.85422098e-01 -5.43154989e-03 -2.67302948e+01] [-3.09391203e-02 1.70530633e-04 9.99521256e-01 -9.30959983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04264 meters 0.014523203389871881 Centerline is valid? [True, True] Translation: X:200.80, Y:-26.73, Z:-9.31 [[ 9.83656493e-01 1.77366941e-01 3.09979231e-02 2.00795033e+02] [-1.77280844e-01 9.84144788e-01 -5.52609190e-03 -2.67332331e+01] [-3.14865905e-02 -5.95617809e-05 9.99504173e-01 -9.31386260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10264 meters 0.02879275558791215 Centerline is valid? [True, True] Translation: X:200.85, Y:-26.74, Z:-9.32 [[ 9.82567359e-01 1.83467715e-01 3.00163719e-02 2.00852956e+02] [-1.83389865e-01 9.83025705e-01 -5.34990477e-03 -2.67361027e+01] [-3.04883999e-02 -2.48056593e-04 9.99535090e-01 -9.31601520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16264 meters 0.019438403369002284 Centerline is valid? [True, True] Translation: X:200.91, Y:-26.74, Z:-9.32 [[ 9.81900950e-01 1.86915586e-01 3.05465013e-02 2.00912053e+02] [-1.86836691e-01 9.82375912e-01 -5.44235201e-03 -2.67402759e+01] [-3.10254075e-02 -3.63356607e-04 9.99518530e-01 -9.31924102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22264 meters 0.020783968270300053 Centerline is valid? [True, True] Translation: X:200.97, Y:-26.75, Z:-9.32 [[ 9.82006890e-01 1.86385319e-01 3.03806061e-02 2.00967934e+02] [-1.86307036e-01 9.82476663e-01 -5.41246250e-03 -2.67493020e+01] [-3.08570400e-02 -3.45045195e-04 9.99523749e-01 -9.32454208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28264000000001 meters 0.0159312481965606 Centerline is valid? [True, True] Translation: X:201.02, Y:-26.77, Z:-9.33 [[ 9.83161951e-01 1.80157033e-01 3.05944679e-02 2.01023357e+02] [-1.80074784e-01 9.83637850e-01 -5.44546168e-03 -2.67724235e+01] [-3.10749149e-02 -1.55521473e-04 9.99517046e-01 -9.32636169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34264000000002 meters 0.014399656568983779 Centerline is valid? [True, True] Translation: X:201.08, Y:-26.80, Z:-9.32 [[ 9.84638663e-01 1.71566119e-01 3.24309930e-02 2.01078723e+02] [-1.71469086e-01 9.85172600e-01 -5.77064158e-03 -2.67969219e+01] [-3.29401723e-02 1.21084069e-04 9.99457318e-01 -9.32458093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40264000000002 meters 0.017840378776753783 Centerline is valid? [True, True] Translation: X:201.14, Y:-26.82, Z:-9.33 [[ 9.85848351e-01 1.64484494e-01 3.23709741e-02 2.01135516e+02] [-1.64384062e-01 9.86379605e-01 -5.75805789e-03 -2.68191578e+01] [-3.28771799e-02 3.55299659e-04 9.99459336e-01 -9.32677471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46264 meters 0.022467683602282115 Centerline is valid? [True, True] Translation: X:201.19, Y:-26.84, Z:-9.33 [[ 9.86429969e-01 1.61110801e-01 3.16105452e-02 2.01191417e+02] [-1.61013352e-01 9.86936220e-01 -5.62120932e-03 -2.68409679e+01] [-3.21032295e-02 4.55209496e-04 9.99484455e-01 -9.33257423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52264 meters 0.02145612391483905 Centerline is valid? [True, True] Translation: X:201.25, Y:-26.85, Z:-9.33 [[ 9.86402284e-01 1.61010085e-01 3.29588581e-02 2.01250055e+02] [-1.60904024e-01 9.86952644e-01 -5.86284411e-03 -2.68547720e+01] [-3.34728092e-02 4.79909932e-04 9.99439513e-01 -9.33119281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58264 meters 0.03132887399130686 Centerline is valid? [True, True] Translation: X:201.31, Y:-26.87, Z:-9.33 [[ 9.86188728e-01 1.62551249e-01 3.17629211e-02 2.01308541e+02] [-1.62453570e-01 9.86700016e-01 -5.64939038e-03 -2.68660091e+01] [-3.22587902e-02 4.11365202e-04 9.99479465e-01 -9.33258156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64264 meters 0.01923400260883388 Centerline is valid? [True, True] Translation: X:201.37, Y:-26.88, Z:-9.34 [[ 9.86021943e-01 1.63444916e-01 3.23494616e-02 2.01365698e+02] [-1.63344097e-01 9.86552385e-01 -5.75306460e-03 -2.68765829e+01] [-3.28547476e-02 3.88554359e-04 9.99460062e-01 -9.33777993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70264 meters 0.01675152541381429 Centerline is valid? [True, True] Translation: X:201.42, Y:-26.89, Z:-9.34 [[ 9.85407231e-01 1.67214773e-01 3.18089379e-02 2.01423968e+02] [-1.67119299e-01 9.85920460e-01 -5.65563067e-03 -2.68873481e+01] [-3.23067877e-02 2.57211954e-04 9.99477966e-01 -9.34108208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76264 meters 0.014859240886938421 Centerline is valid? [True, True] Translation: X:201.48, Y:-26.89, Z:-9.35 [[ 9.84675219e-01 1.71641020e-01 3.08880651e-02 2.01481950e+02] [-1.71553182e-01 9.85159555e-01 -5.49155021e-03 -2.68938736e+01] [-3.13722478e-02 1.08447547e-04 9.99507764e-01 -9.34579171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82264 meters 0.013856684246914192 Centerline is valid? [True, True] Translation: X:201.54, Y:-26.90, Z:-9.35 [[ 9.83715047e-01 1.76909550e-01 3.17445749e-02 2.01540950e+02] [-1.76819562e-01 9.84227112e-01 -5.64227012e-03 -2.68994866e+01] [-3.22420427e-02 -6.26758247e-05 9.99480088e-01 -9.34536614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88264 meters 0.017463596989702294 Centerline is valid? [True, True] Translation: X:201.60, Y:-26.90, Z:-9.35 [[ 9.82549292e-01 1.83201322e-01 3.21584179e-02 2.01599372e+02] [-1.83112385e-01 9.83075379e-01 -5.71433233e-03 -2.69013641e+01] [-3.26610221e-02 -2.73991422e-04 9.99466449e-01 -9.35043247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94264 meters 0.017542778747940857 Centerline is valid? [True, True] Translation: X:201.66, Y:-26.91, Z:-9.35 [[ 9.82290571e-01 1.84558190e-01 3.23033721e-02 2.01657232e+02] [-1.84469256e-01 9.82821535e-01 -5.73786319e-03 -2.69114347e+01] [-3.28074194e-02 -3.22730107e-04 9.99461640e-01 -9.35092197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00264 meters 0.019182472371477518 Centerline is valid? [True, True] Translation: X:201.71, Y:-26.92, Z:-9.36 [[ 9.82109110e-01 1.85471305e-01 3.25897263e-02 2.01714421e+02] [-1.85381334e-01 9.82649616e-01 -5.78739473e-03 -2.69182630e+01] [-3.30976777e-02 -3.57673841e-04 9.99452058e-01 -9.35511481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06264000000002 meters 0.029413841995702888 Centerline is valid? [True, True] Translation: X:201.77, Y:-26.92, Z:-9.36 [[ 9.82224335e-01 1.85002654e-01 3.17706422e-02 2.01772884e+02] [-1.84916989e-01 9.82737964e-01 -5.63929734e-03 -2.69249538e+01] [-3.22655011e-02 -3.35876420e-04 9.99479277e-01 -9.35548509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12264000000002 meters 0.017834143283441992 Centerline is valid? [True, True] Translation: X:201.83, Y:-26.94, Z:-9.36 [[ 9.82442257e-01 1.83868413e-01 3.16167527e-02 2.01830061e+02] [-1.83783039e-01 9.82950821e-01 -5.61043785e-03 -2.69367784e+01] [-3.21092953e-02 -2.98691688e-04 9.99484319e-01 -9.36164364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18264 meters 0.014479159338048152 Centerline is valid? [True, True] Translation: X:201.89, Y:-26.95, Z:-9.36 [[ 9.83521161e-01 1.77859597e-01 3.24359380e-02 2.01886540e+02] [-1.77766525e-01 9.84055869e-01 -5.75413632e-03 -2.69521362e+01] [-3.29422035e-02 -1.06709146e-04 9.99457253e-01 -9.36390359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24264 meters 0.01387557784066746 Centerline is valid? [True, True] Translation: X:201.94, Y:-26.97, Z:-9.37 [[ 9.84409816e-01 1.72878875e-01 3.24069259e-02 2.01942903e+02] [-1.72783321e-01 9.84943090e-01 -5.74740733e-03 -2.69700698e+01] [-3.29125830e-02 5.84278988e-05 9.99458232e-01 -9.36602993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30264 meters 0.027261637176158746 Centerline is valid? [True, True] Translation: X:202.00, Y:-26.99, Z:-9.37 [[ 9.85666471e-01 1.65754877e-01 3.14154233e-02 2.01999406e+02] [-1.65661518e-01 9.86166943e-01 -5.56976691e-03 -2.69915715e+01] [-3.19040679e-02 2.85605782e-04 9.99490895e-01 -9.36738858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36264 meters 0.025019001052312227 Centerline is valid? [True, True] Translation: X:202.06, Y:-27.01, Z:-9.37 [[ 9.86339230e-01 1.61753693e-01 3.11555181e-02 2.02057252e+02] [-1.61659906e-01 9.86831077e-01 -5.52274366e-03 -2.70090727e+01] [-3.16385576e-02 4.10700607e-04 9.99499291e-01 -9.36987893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42264 meters 0.019820790310515105 Centerline is valid? [True, True] Translation: X:202.12, Y:-27.02, Z:-9.38 [[ 9.86350613e-01 1.61796280e-01 3.05684920e-02 2.02115186e+02] [-1.61706063e-01 9.86824100e-01 -5.41714485e-03 -2.70237822e+01] [-3.10421985e-02 4.00093653e-04 9.99517995e-01 -9.37605760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48264 meters 0.01794400486922811 Centerline is valid? [True, True] Translation: X:202.17, Y:-27.03, Z:-9.38 [[ 9.85926122e-01 1.64307226e-01 3.08677591e-02 2.02174296e+02] [-1.64216365e-01 9.86409159e-01 -5.47328065e-03 -2.70342562e+01] [-3.13475399e-02 3.27259151e-04 9.99508492e-01 -9.37806549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54264 meters 0.01710323489761707 Centerline is valid? [True, True] Translation: X:202.23, Y:-27.05, Z:-9.38 [[ 9.85525241e-01 1.66634189e-01 3.11936788e-02 2.02232614e+02] [-1.66542577e-01 9.86018753e-01 -5.53067223e-03 -2.70463528e+01] [-3.16791513e-02 2.55541436e-04 9.99498057e-01 -9.38290094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60264 meters 0.015415011984539123 Centerline is valid? [True, True] Translation: X:202.29, Y:-27.06, Z:-9.38 [[ 9.85208172e-01 1.68467563e-01 3.13614170e-02 2.02291110e+02] [-1.68375897e-01 9.85707178e-01 -5.56020562e-03 -2.70572307e+01] [-3.18498881e-02 1.97453291e-04 9.99492644e-01 -9.38398919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66264 meters 0.013453799917847155 Centerline is valid? [True, True] Translation: X:202.35, Y:-27.07, Z:-9.38 [[ 9.84484811e-01 1.72387799e-01 3.27429951e-02 2.02349730e+02] [-1.72290072e-01 9.85029158e-01 -5.80428860e-03 -2.70686259e+01] [-3.32533934e-02 7.29409863e-05 9.99446950e-01 -9.38325072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72264 meters 0.01750103412627335 Centerline is valid? [True, True] Translation: X:202.41, Y:-27.08, Z:-9.39 [[ 9.84169469e-01 1.74181791e-01 3.27285758e-02 2.02408621e+02] [-1.74085174e-01 9.84713513e-01 -5.80073820e-03 -2.70809673e+01] [-3.32386539e-02 1.13496098e-05 9.99447443e-01 -9.38521162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78264000000001 meters 0.013539524524766795 Centerline is valid? [True, True] Translation: X:202.47, Y:-27.10, Z:-9.39 [[ 9.83710134e-01 1.76725747e-01 3.28995814e-02 2.02466157e+02] [-1.76629548e-01 9.84260131e-01 -5.83079006e-03 -2.70951672e+01] [-3.34121970e-02 -7.52309186e-05 9.99441654e-01 -9.38881591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84264000000002 meters 0.014977934600063948 Centerline is valid? [True, True] Translation: X:202.52, Y:-27.11, Z:-9.40 [[ 9.83355596e-01 1.78877701e-01 3.18518328e-02 2.02524520e+02] [-1.78788692e-01 9.83871306e-01 -5.64415257e-03 -2.71075961e+01] [-3.23477174e-02 -1.44538522e-04 9.99476665e-01 -9.39500219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90264000000002 meters 0.016302825876083542 Centerline is valid? [True, True] Translation: X:202.58, Y:-27.12, Z:-9.40 [[ 9.82982547e-01 1.81154589e-01 3.04684659e-02 2.02582243e+02] [-1.81074237e-01 9.83454611e-01 -5.39904579e-03 -2.71203161e+01] [-3.09424152e-02 -2.09886435e-04 9.99521147e-01 -9.40019296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96264 meters 0.018364371433536305 Centerline is valid? [True, True] Translation: X:202.64, Y:-27.13, Z:-9.40 [[ 9.82353001e-01 1.84235893e-01 3.22446328e-02 2.02639593e+02] [-1.84147588e-01 9.82882002e-01 -5.71282381e-03 -2.71309997e+01] [-3.27451765e-02 -3.25761751e-04 9.99463680e-01 -9.39956886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02264 meters 0.02007309892046718 Centerline is valid? [True, True] Translation: X:202.70, Y:-27.14, Z:-9.40 [[ 9.81605175e-01 1.87922184e-01 3.37125226e-02 2.02698752e+02] [-1.87827915e-01 9.82183807e-01 -5.97026298e-03 -2.71401509e+01] [-3.42338386e-02 -4.71711787e-04 9.99413739e-01 -9.39782885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08264 meters 0.036413860492941555 Centerline is valid? [True, True] Translation: X:202.76, Y:-27.14, Z:-9.40 [[ 9.80724166e-01 1.92476709e-01 3.36575010e-02 2.02758030e+02] [-1.92385449e-01 9.81301340e-01 -5.95982325e-03 -2.71429405e+01] [-3.41752780e-02 -6.30270769e-04 9.99415656e-01 -9.40154108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14264 meters 0.028971774060804863 Centerline is valid? [True, True] Translation: X:202.82, Y:-27.15, Z:-9.40 [[ 9.79748725e-01 1.97303267e-01 3.41153511e-02 2.02817676e+02] [-1.97212478e-01 9.80342166e-01 -6.03945799e-03 -2.71475603e+01] [-3.46363220e-02 -8.10821679e-04 9.99399654e-01 -9.40305674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20264 meters 0.02906662950377081 Centerline is valid? [True, True] Translation: X:202.88, Y:-27.15, Z:-9.41 [[ 9.79506907e-01 1.98439024e-01 3.44698712e-02 2.02875996e+02] [-1.98347061e-01 9.80112858e-01 -6.10164527e-03 -2.71540048e+01] [-3.49951685e-02 -8.60393943e-04 9.99387111e-01 -9.40525801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26264 meters 0.030177291745953603 Centerline is valid? [True, True] Translation: X:202.93, Y:-27.16, Z:-9.41 [[ 9.79572387e-01 1.97927295e-01 3.55348317e-02 2.02934283e+02] [-1.97829287e-01 9.80216318e-01 -6.28841777e-03 -2.71572132e+01] [-3.60764714e-02 -8.69870009e-04 9.99348654e-01 -9.40659992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32264 meters 0.030738093891056913 Centerline is valid? [True, True] Translation: X:202.99, Y:-27.16, Z:-9.41 [[ 9.79482527e-01 1.98232402e-01 3.63028086e-02 2.02992672e+02] [-1.98130401e-01 9.80154631e-01 -6.42209865e-03 -2.71590134e+01] [-3.68554340e-02 -9.02356629e-04 9.99320200e-01 -9.40844575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38264 meters 0.031588891797343324 Centerline is valid? [True, True] Translation: X:203.05, Y:-27.16, Z:-9.41 [[ 9.79600678e-01 1.97895977e-01 3.49241289e-02 2.03050802e+02] [-1.97801452e-01 9.80222651e-01 -6.17575582e-03 -2.71598620e+01] [-3.54555795e-02 -8.58268808e-04 9.99370885e-01 -9.41438483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44264 meters 0.030242278679698965 Centerline is valid? [True, True] Translation: X:203.11, Y:-27.17, Z:-9.42 [[ 9.80249746e-01 1.94857951e-01 3.37759586e-02 2.03109538e+02] [-1.94767830e-01 9.80831204e-01 -5.97001527e-03 -2.71665302e+01] [-3.42918191e-02 -7.26364198e-04 9.99411599e-01 -9.41978123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50264 meters 0.02612108761037462 Centerline is valid? [True, True] Translation: X:203.17, Y:-27.17, Z:-9.42 [[ 9.80791092e-01 1.92205793e-01 3.32530778e-02 2.03166609e+02] [-1.92116947e-01 9.81354443e-01 -5.87670942e-03 -2.71729382e+01] [-3.37625933e-02 -6.24655531e-04 9.99429686e-01 -9.42452941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56264000000002 meters 0.02049920774874648 Centerline is valid? [True, True] Translation: X:203.22, Y:-27.18, Z:-9.43 [[ 9.81791714e-01 1.87079009e-01 3.29617114e-02 2.03224718e+02] [-1.86988883e-01 9.82344769e-01 -5.82340833e-03 -2.71848880e+01] [-3.34692022e-02 -4.46099560e-04 9.99439650e-01 -9.42797470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62264000000002 meters 0.016853335950165093 Centerline is valid? [True, True] Translation: X:203.28, Y:-27.20, Z:-9.43 [[ 9.82559599e-01 1.83051451e-01 3.26925236e-02 2.03282284e+02] [-1.82960650e-01 9.83103286e-01 -5.77319699e-03 -2.71971251e+01] [-3.31969194e-02 -3.08935236e-04 9.99448783e-01 -9.43082568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68264 meters 0.014145564466184138 Centerline is valid? [True, True] Translation: X:203.34, Y:-27.21, Z:-9.43 [[ 9.83304536e-01 1.78866786e-01 3.34494132e-02 2.03339736e+02] [-1.78769368e-01 9.83873286e-01 -5.90510466e-03 -2.72095209e+01] [-3.39662112e-02 -1.73214272e-04 9.99422967e-01 -9.43235715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74264 meters 0.012663672812854517 Centerline is valid? [True, True] Translation: X:203.40, Y:-27.22, Z:-9.43 [[ 9.84409126e-01 1.72396376e-01 3.49021728e-02 2.03396759e+02] [-1.72286306e-01 9.85027658e-01 -6.15969021e-03 -2.72244365e+01] [-3.54415138e-02 5.04888415e-05 9.99371751e-01 -9.43317568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80264 meters 0.014452929169922791 Centerline is valid? [True, True] Translation: X:203.45, Y:-27.24, Z:-9.44 [[ 9.85348652e-01 1.67100929e-01 3.41366827e-02 2.03454597e+02] [-1.66992524e-01 9.85939767e-01 -6.02262650e-03 -2.72383212e+01] [-3.46630994e-02 2.33816101e-04 9.99399027e-01 -9.43681168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86264 meters 0.017156670496475655 Centerline is valid? [True, True] Translation: X:203.51, Y:-27.25, Z:-9.44 [[ 9.85642675e-01 1.65413921e-01 3.38637128e-02 2.03511527e+02] [-1.65306272e-01 9.86224189e-01 -5.97376577e-03 -2.72520152e+01] [-3.43853567e-02 2.90114368e-04 9.99408607e-01 -9.44322188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92264 meters 0.025115070000642944 Centerline is valid? [True, True] Translation: X:203.57, Y:-27.26, Z:-9.44 [[ 9.85580605e-01 1.65810302e-01 3.37315228e-02 2.03570458e+02] [-1.65703773e-01 9.86157629e-01 -5.94902651e-03 -2.72612848e+01] [-3.42510084e-02 2.73804554e-04 9.99413225e-01 -9.44194318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98264 meters 0.014639075100205776 Centerline is valid? [True, True] Translation: X:203.63, Y:-27.27, Z:-9.44 [[ 9.85239556e-01 1.67449843e-01 3.55466895e-02 2.03628570e+02] [-1.67332632e-01 9.85880570e-01 -6.26833229e-03 -2.72678138e+01] [-3.60944218e-02 2.27687815e-04 9.99348358e-01 -9.44356502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04264 meters 0.015417017564554845 Centerline is valid? [True, True] Translation: X:203.69, Y:-27.28, Z:-9.45 [[ 9.85448205e-01 1.66394678e-01 3.47080111e-02 2.03685918e+02] [-1.66282330e-01 9.86059199e-01 -6.11904523e-03 -2.72838354e+01] [-3.52423302e-02 2.58673190e-04 9.99378763e-01 -9.44816146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10264 meters 0.016309255019652854 Centerline is valid? [True, True] Translation: X:203.74, Y:-27.30, Z:-9.45 [[ 9.85887231e-01 1.63962130e-01 3.38051459e-02 2.03744543e+02] [-1.63854160e-01 9.86466577e-01 -5.95879011e-03 -2.72990622e+01] [-3.43246624e-02 3.35581318e-04 9.99410679e-01 -9.45100124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16264 meters 0.01925774357154207 Centerline is valid? [True, True] Translation: X:203.80, Y:-27.32, Z:-9.46 [[ 9.86487098e-01 1.60485444e-01 3.29792159e-02 2.03802823e+02] [-1.60380749e-01 9.87038107e-01 -5.81304099e-03 -2.73183026e+01] [-3.34846513e-02 4.45258593e-04 9.99439133e-01 -9.45611900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22264 meters 0.022082349290717573 Centerline is valid? [True, True] Translation: X:203.86, Y:-27.34, Z:-9.46 [[ 9.86840453e-01 1.58282597e-01 3.30535981e-02 2.03861687e+02] [-1.58176244e-01 9.87393715e-01 -5.82463628e-03 -2.73377307e+01] [-3.35588536e-02 5.19692696e-04 9.99436608e-01 -9.45997379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28264000000001 meters 0.024028800138418467 Centerline is valid? [True, True] Translation: X:203.92, Y:-27.36, Z:-9.46 [[ 9.87082458e-01 1.56703571e-01 3.33498541e-02 2.03921386e+02] [-1.56594219e-01 9.87645508e-01 -5.88222207e-03 -2.73591049e+01] [-3.38595988e-02 5.83843873e-04 9.99426429e-01 -9.46264432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34264000000002 meters 0.028454833585028292 Centerline is valid? [True, True] Translation: X:203.98, Y:-27.38, Z:-9.46 [[ 9.87210032e-01 1.55724468e-01 3.41503021e-02 2.03980769e+02] [-1.55609006e-01 9.87800325e-01 -6.02948604e-03 -2.73782332e+01] [-3.46726181e-02 6.38274542e-04 9.99398520e-01 -9.46183120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40264000000002 meters 0.024362401318932393 Centerline is valid? [True, True] Translation: X:204.04, Y:-27.39, Z:-9.46 [[ 9.87291827e-01 1.55116289e-01 3.45511867e-02 2.04040613e+02] [-1.54997539e-01 9.87895989e-01 -6.10561098e-03 -2.73942449e+01] [-3.50800585e-02 6.72670908e-04 9.99384279e-01 -9.46397598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46264 meters 0.02487211726132666 Centerline is valid? [True, True] Translation: X:204.10, Y:-27.42, Z:-9.47 [[ 9.87056124e-01 1.56798647e-01 3.36807322e-02 2.04098859e+02] [-1.56686560e-01 9.87630406e-01 -5.95839246e-03 -2.74160926e+01] [-3.41983831e-02 6.03949702e-04 9.99414882e-01 -9.46905072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52264 meters 0.020264766997570603 Centerline is valid? [True, True] Translation: X:204.16, Y:-27.42, Z:-9.47 [[ 9.86551137e-01 1.60080032e-01 3.30338867e-02 2.04161272e+02] [-1.59973925e-01 9.87103920e-01 -5.84762663e-03 -2.74234433e+01] [-3.35439673e-02 4.84422200e-04 9.99437125e-01 -9.47104045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58264 meters 0.014406831811976457 Centerline is valid? [True, True] Translation: X:204.22, Y:-27.43, Z:-9.47 [[ 9.85095893e-01 1.68712934e-01 3.34966746e-02 2.04223467e+02] [-1.68608730e-01 9.85665211e-01 -5.93201556e-03 -2.74272959e+01] [-3.40173146e-02 1.95772408e-04 9.99421224e-01 -9.47335772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64264 meters 0.013560181709649505 Centerline is valid? [True, True] Translation: X:204.29, Y:-27.42, Z:-9.48 [[ 9.83454714e-01 1.77960391e-01 3.38662870e-02 2.04285066e+02] [-1.77859285e-01 9.84037644e-01 -5.99922725e-03 -2.74235511e+01] [-3.43933261e-02 -1.23465294e-04 9.99408367e-01 -9.47696092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70264 meters 0.015538866443047963 Centerline is valid? [True, True] Translation: X:204.35, Y:-27.43, Z:-9.48 [[ 9.82784876e-01 1.81781916e-01 3.30033817e-02 2.04345801e+02] [-1.81688050e-01 9.83338839e-01 -5.84636829e-03 -2.74283606e+01] [-3.35162710e-02 -2.50597735e-04 9.99438141e-01 -9.48197614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76264 meters 0.015261518409858945 Centerline is valid? [True, True] Translation: X:204.40, Y:-27.44, Z:-9.49 [[ 9.82931153e-01 1.81057188e-01 3.26288708e-02 2.04404445e+02] [-1.80965031e-01 9.83472544e-01 -5.78036401e-03 -2.74389010e+01] [-3.31361750e-02 -2.22984752e-04 9.99450821e-01 -9.48547292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82264 meters 0.02705963691432485 Centerline is valid? [True, True] Translation: X:204.46, Y:-27.45, Z:-9.49 [[ 9.83481921e-01 1.77938935e-01 3.31820209e-02 2.04462593e+02] [-1.77841885e-01 9.84041524e-01 -5.87733311e-03 -2.74523349e+01] [-3.36982928e-02 -1.20902308e-04 9.99432044e-01 -9.48762543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88264 meters 0.013870554159424753 Centerline is valid? [True, True] Translation: X:204.52, Y:-27.47, Z:-9.49 [[ 9.84557653e-01 1.72068751e-01 3.22268964e-02 2.04521030e+02] [-1.71974091e-01 9.85084940e-01 -5.70725733e-03 -2.74718466e+01] [-3.27282709e-02 7.69326566e-05 9.99464284e-01 -9.49254924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94264 meters 0.018750814987597092 Centerline is valid? [True, True] Translation: X:204.58, Y:-27.50, Z:-9.50 [[ 9.86012648e-01 1.63460899e-01 3.25513984e-02 2.04578573e+02] [-1.63359628e-01 9.86549745e-01 -5.76469315e-03 -2.74985492e+01] [-3.30558758e-02 3.66476020e-04 9.99453438e-01 -9.49585934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00264 meters 0.023228818532570382 Centerline is valid? [True, True] Translation: X:204.64, Y:-27.52, Z:-9.50 [[ 9.86832956e-01 1.58386364e-01 3.27791995e-02 2.04637647e+02] [-1.58280755e-01 9.87377063e-01 -5.80847243e-03 -2.75202183e+01] [-3.32854125e-02 5.43675570e-04 9.99445739e-01 -9.49814095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06264000000002 meters 0.025165684768117574 Centerline is valid? [True, True] Translation: X:204.70, Y:-27.54, Z:-9.50 [[ 9.87117114e-01 1.56494684e-01 3.33049101e-02 2.04698459e+02] [-1.56384582e-01 9.87678608e-01 -5.90166114e-03 -2.75361894e+01] [-3.38181259e-02 6.17256278e-04 9.99427813e-01 -9.49764906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12264000000002 meters 0.02406550024919138 Centerline is valid? [True, True] Translation: X:204.76, Y:-27.55, Z:-9.50 [[ 9.86376286e-01 1.60932917e-01 3.40942669e-02 2.04757729e+02] [-1.60819897e-01 9.86965228e-01 -6.04970325e-03 -2.75478191e+01] [-3.46234523e-02 4.84247320e-04 9.99400311e-01 -9.50022293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18264 meters 0.01751322488373332 Centerline is valid? [True, True] Translation: X:204.82, Y:-27.55, Z:-9.50 [[ 9.85759349e-01 1.64703882e-01 3.39284105e-02 2.04819479e+02] [-1.64594243e-01 9.86342998e-01 -6.01874854e-03 -2.75541532e+01] [-3.44563613e-02 3.48616597e-04 9.99406142e-01 -9.50296916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24264 meters 0.015497095922522451 Centerline is valid? [True, True] Translation: X:204.88, Y:-27.57, Z:-9.51 [[ 9.85126118e-01 1.68256581e-01 3.48748457e-02 2.04879589e+02] [-1.68142734e-01 9.85743205e-01 -6.19309392e-03 -2.75657118e+01] [-3.54196710e-02 2.37026686e-04 9.99372498e-01 -9.50514684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30264 meters 0.015169800588780522 Centerline is valid? [True, True] Translation: X:204.94, Y:-27.58, Z:-9.51 [[ 9.85025494e-01 1.68986648e-01 3.41802359e-02 2.04940658e+02] [-1.68877560e-01 9.85618318e-01 -6.07467606e-03 -2.75789853e+01] [-3.47152058e-02 2.11435952e-04 9.99397223e-01 -9.50869372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36264 meters 0.014470831307947041 Centerline is valid? [True, True] Translation: X:205.00, Y:-27.59, Z:-9.51 [[ 9.84632047e-01 1.71428466e-01 3.33468580e-02 2.05001871e+02] [-1.71325819e-01 9.85196561e-01 -5.93291573e-03 -2.75923574e+01] [-3.38702805e-02 1.28561215e-04 9.99426229e-01 -9.51375850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42264 meters 0.014188903796391013 Centerline is valid? [True, True] Translation: X:205.06, Y:-27.60, Z:-9.52 [[ 9.83682107e-01 1.76957036e-01 3.24918280e-02 2.05063952e+02] [-1.76862386e-01 9.84218576e-01 -5.78724070e-03 -2.75958860e+01] [-3.30031536e-02 -5.37770805e-05 9.99455246e-01 -9.51896723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48264 meters 0.014555908806985261 Centerline is valid? [True, True] Translation: X:205.13, Y:-27.60, Z:-9.52 [[ 9.83308742e-01 1.79068527e-01 3.22239079e-02 2.05125308e+02] [-1.78976389e-01 9.83836597e-01 -5.74485399e-03 -2.76046377e+01] [-3.27317824e-02 -1.18353535e-04 9.99464165e-01 -9.52123696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54264 meters 0.01703374247523727 Centerline is valid? [True, True] Translation: X:205.19, Y:-27.61, Z:-9.53 [[ 9.82568534e-01 1.83085307e-01 3.22311418e-02 2.05185482e+02] [-1.82995021e-01 9.83097000e-01 -5.75425726e-03 -2.76074351e+01] [-3.27398588e-02 -2.44186359e-04 9.99463877e-01 -9.52536526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60264 meters 0.019373626120070743 Centerline is valid? [True, True] Translation: X:205.24, Y:-27.62, Z:-9.53 [[ 9.82405343e-01 1.83845225e-01 3.28736305e-02 2.05244849e+02] [-1.83751738e-01 9.82955165e-01 -5.86869697e-03 -2.76159432e+01] [-3.33922368e-02 -2.75147458e-04 9.99442286e-01 -9.52702218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66264 meters 0.015178300342413156 Centerline is valid? [True, True] Translation: X:205.30, Y:-27.63, Z:-9.53 [[ 9.82971756e-01 1.80897211e-01 3.22912766e-02 2.05304802e+02] [-1.80805528e-01 9.83501992e-01 -5.76130141e-03 -2.76339196e+01] [-3.28007382e-02 -1.75244757e-04 9.99461896e-01 -9.52912388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72264 meters 0.024846577083014625 Centerline is valid? [True, True] Translation: X:205.36, Y:-27.65, Z:-9.53 [[ 9.83717013e-01 1.77111356e-01 3.05353219e-02 2.05363478e+02] [-1.77027362e-01 9.84190818e-01 -5.45408848e-03 -2.76499731e+01] [-3.10185645e-02 -4.03078652e-05 9.99518808e-01 -9.53464212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78264000000001 meters 0.015353951737316624 Centerline is valid? [True, True] Translation: X:205.42, Y:-27.67, Z:-9.54 [[ 9.84757700e-01 1.71295543e-01 3.01680246e-02 2.05422303e+02] [-1.71210743e-01 9.85219679e-01 -5.39121974e-03 -2.76714010e+01] [-3.06456235e-02 1.43955250e-04 9.99530302e-01 -9.53636435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84264000000002 meters 0.016646167898395004 Centerline is valid? [True, True] Translation: X:205.48, Y:-27.69, Z:-9.54 [[ 9.85234676e-01 1.68392725e-01 3.09277254e-02 2.05483087e+02] [-1.68302120e-01 9.85719956e-01 -5.52850754e-03 -2.76889550e+01] [-3.14170365e-02 2.41675577e-04 9.99506334e-01 -9.53663555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90264000000002 meters 0.01807522181090347 Centerline is valid? [True, True] Translation: X:205.54, Y:-27.71, Z:-9.54 [[ 9.85568650e-01 1.66345197e-01 3.13641622e-02 2.05542005e+02] [-1.66250754e-01 9.86067530e-01 -5.61362687e-03 -2.77084933e+01] [-3.18609818e-02 3.18299051e-04 9.99492259e-01 -9.53751684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96264 meters 0.01649382153740591 Centerline is valid? [True, True] Translation: X:205.60, Y:-27.72, Z:-9.54 [[ 9.85143284e-01 1.68873815e-01 3.12145048e-02 2.05603767e+02] [-1.68781333e-01 9.85637649e-01 -5.59334508e-03 -2.77187892e+01] [-3.17107606e-02 2.41820609e-04 9.99497058e-01 -9.53942451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02264 meters 0.01580357739530156 Centerline is valid? [True, True] Translation: X:205.66, Y:-27.73, Z:-9.54 [[ 9.84709680e-01 1.71582690e-01 3.01035889e-02 2.05664636e+02] [-1.71497946e-01 9.85169710e-01 -5.39409560e-03 -2.77278737e+01] [-3.05826774e-02 1.48914508e-04 9.99532229e-01 -9.54449063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08264 meters 0.014625564439360575 Centerline is valid? [True, True] Translation: X:205.73, Y:-27.73, Z:-9.55 [[ 9.84191744e-01 1.74631219e-01 2.95050563e-02 2.05727173e+02] [-1.74551029e-01 9.84633909e-01 -5.29190656e-03 -2.77344663e+01] [-2.99758110e-02 5.81128091e-05 9.99550623e-01 -9.54624147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14264 meters 0.014696794505193867 Centerline is valid? [True, True] Translation: X:205.79, Y:-27.74, Z:-9.55 [[ 9.83659354e-01 1.77388345e-01 3.07839340e-02 2.05788130e+02] [-1.77302178e-01 9.84140932e-01 -5.52839314e-03 -2.77436926e+01] [-3.12764020e-02 -2.00029210e-05 9.99510773e-01 -9.54881659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20264 meters 0.015095045855652378 Centerline is valid? [True, True] Translation: X:205.85, Y:-27.75, Z:-9.55 [[ 9.83115514e-01 1.80391717e-01 3.07036463e-02 2.05849886e+02] [-1.80307290e-01 9.83594844e-01 -5.51949028e-03 -2.77501918e+01] [-3.11956185e-02 -1.09794716e-04 9.99513292e-01 -9.54964222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26264 meters 0.017967636209452346 Centerline is valid? [True, True] Translation: X:205.91, Y:-27.75, Z:-9.55 [[ 9.82090803e-01 1.86133584e-01 2.91880661e-02 2.05911526e+02] [-1.86059606e-01 9.82524410e-01 -5.25425893e-03 -2.77501166e+01] [-2.96559814e-02 -2.70560709e-04 9.99560128e-01 -9.55328061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32264 meters 0.02032746919186239 Centerline is valid? [True, True] Translation: X:205.97, Y:-27.75, Z:-9.56 [[ 9.81574805e-01 1.88864582e-01 2.90012357e-02 2.05970875e+02] [-1.88792726e-01 9.82003079e-01 -5.22110439e-03 -2.77536876e+01] [-2.94653845e-02 -3.50317811e-04 9.99565740e-01 -9.55756239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38264 meters 0.01894113119559793 Centerline is valid? [True, True] Translation: X:206.03, Y:-27.76, Z:-9.56 [[ 9.81671877e-01 1.88224350e-01 2.98650175e-02 2.06030344e+02] [-1.88147844e-01 9.82125999e-01 -5.37687468e-03 -2.77641875e+01] [-3.03432689e-02 -3.40711995e-04 9.99539479e-01 -9.55774891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44264 meters 0.018255083085641687 Centerline is valid? [True, True] Translation: X:206.09, Y:-27.77, Z:-9.56 [[ 9.82107232e-01 1.85973253e-01 2.96535688e-02 2.06089701e+02] [-1.85896807e-01 9.82554770e-01 -5.33860104e-03 -2.77749433e+01] [-3.01290925e-02 -2.69425059e-04 9.99545980e-01 -9.56244438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50264 meters 0.023821213182106532 Centerline is valid? [True, True] Translation: X:206.15, Y:-27.78, Z:-9.57 [[ 9.82528195e-01 1.84035183e-01 2.77380064e-02 2.06149240e+02] [-1.83967508e-01 9.82919637e-01 -4.99427728e-03 -2.77848120e+01] [-2.81833539e-02 -1.95873672e-04 9.99602751e-01 -9.56741356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56264000000002 meters 0.0173823930358035 Centerline is valid? [True, True] Translation: X:206.21, Y:-27.79, Z:-9.57 [[ 9.82450729e-01 1.84443127e-01 2.77722616e-02 2.06208684e+02] [-1.84375448e-01 9.82843166e-01 -5.00044500e-03 -2.77939700e+01] [-2.82180753e-02 -2.07832333e-04 9.99601769e-01 -9.57001174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62264000000002 meters 0.024028811545703906 Centerline is valid? [True, True] Translation: X:206.26, Y:-27.81, Z:-9.57 [[ 9.81721510e-01 1.87022088e-01 3.52932900e-02 2.06261649e+02] [-1.87334454e-01 9.82279464e-01 5.73215181e-03 -2.78112720e+01] [-3.35958350e-02 -1.22390259e-02 9.99360559e-01 -9.57491153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68264 meters 0.020183243189841382 Centerline is valid? [True, True] Translation: X:206.33, Y:-27.80, Z:-9.58 [[ 9.82078579e-01 1.86668204e-01 2.60124293e-02 2.06330692e+02] [-1.86288797e-01 9.82359180e-01 -1.63378328e-02 -2.78005289e+01] [-2.86033026e-02 1.11992115e-02 9.99528103e-01 -9.58015068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74264 meters 0.017501708849872052 Centerline is valid? [True, True] Translation: X:206.38, Y:-27.82, Z:-9.58 [[ 9.81770553e-01 1.86683057e-01 3.57213997e-02 2.06384030e+02] [-1.86878269e-01 9.82380667e-01 2.17671739e-03 -2.78239077e+01] [-3.46856562e-02 -8.81259037e-03 9.99359417e-01 -9.57893211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80264 meters 0.02626836552530889 Centerline is valid? [True, True] Translation: X:206.45, Y:-27.83, Z:-9.58 [[ 9.82466908e-01 1.84525655e-01 2.66281200e-02 2.06449951e+02] [-1.84233129e-01 9.82795655e-01 -1.30711282e-02 -2.78257657e+01] [-2.85819591e-02 7.93616903e-03 9.99559948e-01 -9.58009793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86264 meters 0.018458410263288014 Centerline is valid? [True, True] Translation: X:206.50, Y:-27.84, Z:-9.59 [[ 9.81706723e-01 1.87150643e-01 3.50221064e-02 2.06503061e+02] [-1.87310068e-01 9.82299981e-01 1.29860888e-03 -2.78430823e+01] [-3.41591790e-02 -7.83484619e-03 9.99385694e-01 -9.58859139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92264 meters 0.018296683758939093 Centerline is valid? [True, True] Translation: X:206.57, Y:-27.84, Z:-9.59 [[ 9.82035707e-01 1.86861905e-01 2.62392491e-02 2.06569123e+02] [-1.86605088e-01 9.82362463e-01 -1.19386622e-02 -2.78431962e+01] [-2.80073345e-02 6.82781520e-03 9.99584399e-01 -9.58774482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98264 meters 0.02810271177788628 Centerline is valid? [True, True] Translation: X:206.63, Y:-27.85, Z:-9.59 [[ 9.81638716e-01 1.88655299e-01 2.81888167e-02 2.06627276e+02] [-1.88586808e-01 9.82043318e-01 -5.09293482e-03 -2.78533875e+01] [-2.86434482e-02 -3.16616959e-04 9.99589642e-01 -9.58830658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04264 meters 0.02234834241521045 Centerline is valid? [True, True] Translation: X:206.69, Y:-27.86, Z:-9.59 [[ 9.81211586e-01 1.90891572e-01 2.80041322e-02 2.06685376e+02] [-1.90824889e-01 9.81611055e-01 -5.05945588e-03 -2.78559579e+01] [-2.84549732e-02 -3.79488685e-04 9.99595003e-01 -9.59483455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10264 meters 0.020616505875299798 Centerline is valid? [True, True] Translation: X:206.74, Y:-27.87, Z:-9.60 [[ 9.81024803e-01 1.91786754e-01 2.84284424e-02 2.06741723e+02] [-1.91619408e-01 9.81432293e-01 -8.52392266e-03 -2.78660870e+01] [-2.95353669e-02 2.91473823e-03 9.99559486e-01 -9.59509007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16264 meters 0.022283598247891136 Centerline is valid? [True, True] Translation: X:206.80, Y:-27.88, Z:-9.60 [[ 9.81259664e-01 1.90570959e-01 2.84987896e-02 2.06801934e+02] [-1.90600780e-01 9.81666176e-01 -1.69155920e-03 -2.78760818e+01] [-2.82986598e-02 -3.77203270e-03 9.99592396e-01 -9.60070322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22264 meters 0.020214274040742015 Centerline is valid? [True, True] Translation: X:206.86, Y:-27.89, Z:-9.60 [[ 9.81455891e-01 1.89443203e-01 2.92507563e-02 2.06860201e+02] [-1.89369911e-01 9.81891616e-01 -5.28116388e-03 -2.78859433e+01] [-2.97215530e-02 -3.55983713e-04 9.99558154e-01 -9.59882696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28264000000001 meters 0.017680033964333874 Centerline is valid? [True, True] Translation: X:206.92, Y:-27.90, Z:-9.60 [[ 9.81897389e-01 1.86646489e-01 3.22584155e-02 2.06919048e+02] [-1.86555916e-01 9.82427095e-01 -5.82176938e-03 -2.78997516e+01] [-3.27781542e-02 -3.01618112e-04 9.99462606e-01 -9.59647687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34264000000002 meters 0.014188162032578475 Centerline is valid? [True, True] Translation: X:206.98, Y:-27.92, Z:-9.59 [[ 9.82291887e-01 1.83273314e-01 3.89042636e-02 2.06975638e+02] [-1.83575959e-01 9.82996016e-01 4.32439291e-03 -2.79231764e+01] [-3.74501903e-02 -1.13897036e-02 9.99233585e-01 -9.59494915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40264000000002 meters 0.013527873095276359 Centerline is valid? [True, True] Translation: X:207.04, Y:-27.93, Z:-9.60 [[ 9.82804936e-01 1.80473280e-01 3.90365628e-02 2.07035584e+02] [-1.80564553e-01 9.83562399e-01 -1.20395657e-03 -2.79349316e+01] [-3.86121774e-02 -5.86536506e-03 9.99237058e-01 -9.59988501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46264 meters 0.015087584665665442 Centerline is valid? [True, True] Translation: X:207.10, Y:-27.94, Z:-9.61 [[ 9.83704449e-01 1.77584776e-01 2.80927953e-02 2.07099725e+02] [-1.77001318e-01 9.83963217e-01 -2.20662849e-02 -2.79394474e+01] [-3.15609135e-02 1.67342408e-02 9.99361733e-01 -9.60900795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52264 meters 0.015773999804688847 Centerline is valid? [True, True] Translation: X:207.16, Y:-27.96, Z:-9.61 [[ 9.84167635e-01 1.74553304e-01 3.07442818e-02 2.07156969e+02] [-1.74464789e-01 9.84647720e-01 -5.55921130e-03 -2.79636000e+01] [-3.12426657e-02 1.07401181e-04 9.99511823e-01 -9.61311162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58264 meters 0.03253246810796207 Centerline is valid? [True, True] Translation: X:207.22, Y:-27.98, Z:-9.61 [[ 9.84218533e-01 1.74379184e-01 3.00961564e-02 2.07217490e+02] [-1.74294354e-01 9.84678571e-01 -5.43961977e-03 -2.79777409e+01] [-3.05835967e-02 1.08184448e-04 9.99532207e-01 -9.61249978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64264 meters 0.015223748961962187 Centerline is valid? [True, True] Translation: X:207.28, Y:-27.99, Z:-9.62 [[ 9.83990307e-01 1.75421353e-01 3.14710249e-02 2.07277751e+02] [-1.75328927e-01 9.84493444e-01 -5.69436303e-03 -2.79894623e+01] [-3.19819306e-02 8.54169926e-05 9.99488444e-01 -9.61722342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70264 meters 0.015216798824945303 Centerline is valid? [True, True] Translation: X:207.34, Y:-28.00, Z:-9.62 [[ 9.83913345e-01 1.75822739e-01 3.16369154e-02 2.07338294e+02] [-1.75729377e-01 9.84421840e-01 -5.72954220e-03 -2.80020992e+01] [-3.21514542e-02 7.78375880e-05 9.99483005e-01 -9.62089628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76264 meters 0.014746446875392632 Centerline is valid? [True, True] Translation: X:207.40, Y:-28.02, Z:-9.62 [[ 9.83925676e-01 1.75690033e-01 3.19886986e-02 2.07399573e+02] [-1.75594348e-01 9.84445532e-01 -5.79832041e-03 -2.80174414e+01] [-3.25098385e-02 8.80816789e-05 9.99471412e-01 -9.62155940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82264 meters 0.02885892817616416 Centerline is valid? [True, True] Translation: X:207.46, Y:-28.03, Z:-9.62 [[ 9.83975129e-01 1.75398088e-01 3.20695625e-02 2.07460331e+02] [-1.75301548e-01 9.84497588e-01 -5.81955749e-03 -2.80332749e+01] [-3.25931461e-02 1.04455877e-04 9.99468697e-01 -9.62225435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88264 meters 0.024946942491828085 Centerline is valid? [True, True] Translation: X:207.52, Y:-28.05, Z:-9.63 [[ 9.83814078e-01 1.76198046e-01 3.26206655e-02 2.07519765e+02] [-1.76098348e-01 9.84354733e-01 -5.92711630e-03 -2.80469389e+01] [-3.31546528e-02 8.67351657e-05 9.99450230e-01 -9.62703653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94264 meters 0.01431569516956351 Centerline is valid? [True, True] Translation: X:207.58, Y:-28.06, Z:-9.63 [[ 9.83452166e-01 1.78172235e-01 3.28099315e-02 2.07580353e+02] [-1.78072294e-01 9.83999316e-01 -5.96693031e-03 -2.80584367e+01] [-3.33480914e-02 2.56507783e-05 9.99443797e-01 -9.62975085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00264 meters 0.014871000003377939 Centerline is valid? [True, True] Translation: X:207.64, Y:-28.07, Z:-9.64 [[ 9.82941986e-01 1.81198730e-01 3.14971882e-02 2.07641087e+02] [-1.81108006e-01 9.83446499e-01 -5.73364627e-03 -2.80681578e+01] [-3.20147289e-02 -6.85512908e-05 9.99487395e-01 -9.63522289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06264000000002 meters 0.01649382966763734 Centerline is valid? [True, True] Translation: X:207.70, Y:-28.07, Z:-9.64 [[ 9.82033182e-01 1.86043538e-01 3.16011437e-02 2.07702278e+02] [-1.85954484e-01 9.82541477e-01 -5.75989463e-03 -2.80729387e+01] [-3.21210256e-02 -2.19966709e-04 9.99483963e-01 -9.63806382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12264000000002 meters 0.01794009535336728 Centerline is valid? [True, True] Translation: X:207.76, Y:-28.08, Z:-9.64 [[ 9.81594348e-01 1.88149542e-01 3.27457627e-02 2.07761206e+02] [-1.88055054e-01 9.82140347e-01 -5.96957079e-03 -2.80807904e+01] [-3.32841068e-02 -2.98309246e-04 9.99445886e-01 -9.64045351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18264 meters 0.016952684943197543 Centerline is valid? [True, True] Translation: X:207.82, Y:-28.09, Z:-9.64 [[ 9.81806096e-01 1.86991772e-01 3.30282847e-02 2.07821374e+02] [-1.86894982e-01 9.82361445e-01 -6.02132465e-03 -2.80938997e+01] [-3.35716516e-02 -2.61047442e-04 9.99436279e-01 -9.64291802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24264 meters 0.013959146842219449 Centerline is valid? [True, True] Translation: X:207.88, Y:-28.11, Z:-9.64 [[ 9.82463930e-01 1.83188809e-01 3.47345190e-02 2.07881391e+02] [-1.83079416e-01 9.83077739e-01 -6.33138529e-03 -2.81114349e+01] [-3.53065713e-02 -1.38817776e-04 9.99376519e-01 -9.64064403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30264 meters 0.013831503694496745 Centerline is valid? [True, True] Translation: X:207.94, Y:-28.13, Z:-9.65 [[ 9.83028504e-01 1.80245690e-01 3.41533437e-02 2.07941228e+02] [-1.80137940e-01 9.83621620e-01 -6.23155326e-03 -2.81267383e+01] [-3.47171779e-02 -2.65184859e-05 9.99397177e-01 -9.64511770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36264 meters 0.014153727938623772 Centerline is valid? [True, True] Translation: X:208.00, Y:-28.14, Z:-9.65 [[ 9.83587326e-01 1.77140652e-01 3.43097832e-02 2.08002350e+02] [-1.77029785e-01 9.84185542e-01 -6.26689004e-03 -2.81439111e+01] [-3.48773135e-02 9.01801005e-05 9.99391597e-01 -9.64856380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42264 meters 0.01600554001939533 Centerline is valid? [True, True] Translation: X:208.06, Y:-28.16, Z:-9.65 [[ 9.84411432e-01 1.72277833e-01 3.54186405e-02 2.08062138e+02] [-1.72156251e-01 9.85048359e-01 -6.47725041e-03 -2.81630916e+01] [-3.60049604e-02 2.78738989e-04 9.99351572e-01 -9.64961782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48264 meters 0.019901216196176998 Centerline is valid? [True, True] Translation: X:208.12, Y:-28.18, Z:-9.65 [[ 9.85276807e-01 1.67165340e-01 3.58519636e-02 2.08120460e+02] [-1.67037134e-01 9.85928760e-01 -6.56317183e-03 -2.81844890e+01] [-3.64446169e-02 4.77931720e-04 9.99335560e-01 -9.65301970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54264 meters 0.025471706600443834 Centerline is valid? [True, True] Translation: X:208.18, Y:-28.21, Z:-9.65 [[ 9.86526610e-01 1.59595621e-01 3.59789678e-02 2.08177553e+02] [-1.59461192e-01 9.87182176e-01 -6.59394157e-03 -2.82101894e+01] [-3.65701599e-02 7.67849712e-04 9.99330793e-01 -9.65431347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60264 meters 0.03473085061347413 Centerline is valid? [True, True] Translation: X:208.24, Y:-28.23, Z:-9.65 [[ 9.87009048e-01 1.56460820e-01 3.65123440e-02 2.08236689e+02] [-1.56320271e-01 9.87683760e-01 -6.69059650e-03 -2.82294769e+01] [-3.71094654e-02 8.96059787e-04 9.99310805e-01 -9.65453057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66264 meters 0.030045177295946305 Centerline is valid? [True, True] Translation: X:208.29, Y:-28.25, Z:-9.66 [[ 9.87163791e-01 1.55754704e-01 3.53287817e-02 2.08294578e+02] [-1.55622433e-01 9.87795355e-01 -6.48032139e-03 -2.82530818e+01] [-3.59069470e-02 8.99187653e-04 9.99354733e-01 -9.66127386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72264 meters 0.024208209986456654 Centerline is valid? [True, True] Translation: X:208.35, Y:-28.27, Z:-9.67 [[ 9.86439116e-01 1.60757700e-01 3.30882440e-02 2.08354476e+02] [-1.60644363e-01 9.86993671e-01 -6.07313736e-03 -2.82653975e+01] [-3.36341910e-02 6.75340378e-04 9.99433982e-01 -9.66665332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78264000000001 meters 0.02164271970474763 Centerline is valid? [True, True] Translation: X:208.41, Y:-28.28, Z:-9.67 [[ 9.85415897e-01 1.67159623e-01 3.18303263e-02 2.08413870e+02] [-1.67058050e-01 9.85929747e-01 -5.84305514e-03 -2.82765284e+01] [-3.23591884e-02 4.40327198e-04 9.99476207e-01 -9.67446181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84264000000002 meters 0.013600805019947256 Centerline is valid? [True, True] Translation: X:208.48, Y:-28.28, Z:-9.67 [[ 9.82942784e-01 1.80809612e-01 3.36358078e-02 2.08476116e+02] [-1.80704116e-01 9.83518116e-01 -6.17561581e-03 -2.82760600e+01] [-3.41980370e-02 -7.85190651e-06 9.99415076e-01 -9.67270357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90264000000002 meters 0.018116325061706684 Centerline is valid? [True, True] Translation: X:208.54, Y:-28.27, Z:-9.67 [[ 9.80785927e-01 1.91912402e-01 3.50513378e-02 2.08539853e+02] [-1.91804959e-01 9.81411973e-01 -6.43410762e-03 -2.82747269e+01] [-3.56345876e-02 -4.12538216e-04 9.99364801e-01 -9.67330574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96264 meters 0.034206730421570915 Centerline is valid? [True, True] Translation: X:208.60, Y:-28.26, Z:-9.68 [[ 9.77560428e-01 2.07863607e-01 3.41808622e-02 2.08602271e+02] [-2.07770865e-01 9.78157349e-01 -6.28241437e-03 -2.82627386e+01] [-3.47401469e-02 -9.60347647e-04 9.99395918e-01 -9.67884865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02264 meters 0.0474885121558472 Centerline is valid? [True, True] Translation: X:208.67, Y:-28.25, Z:-9.68 [[ 9.74889238e-01 2.19987235e-01 3.45917642e-02 2.08665673e+02] [-2.19899868e-01 9.75501733e-01 -6.35740218e-03 -2.82541217e+01] [-3.51428733e-02 -1.40896142e-03 9.99381305e-01 -9.68096851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08264 meters 0.053656962470296596 Centerline is valid? [True, True] Translation: X:208.73, Y:-28.25, Z:-9.68 [[ 9.73679617e-01 2.25259681e-01 3.47286711e-02 2.08726905e+02] [-2.25174966e-01 9.74297438e-01 -6.38248322e-03 -2.82534744e+01] [-3.52737715e-02 -1.60553353e-03 9.99376397e-01 -9.68397187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14264 meters 0.055240604157204325 Centerline is valid? [True, True] Translation: X:208.79, Y:-28.25, Z:-9.69 [[ 9.73181027e-01 2.27294991e-01 3.54355103e-02 2.08786665e+02] [-2.27208142e-01 9.73824446e-01 -6.51224861e-03 -2.82545899e+01] [-3.59881677e-02 -1.71363968e-03 9.99350747e-01 -9.68571237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20264 meters 0.048036639959460434 Centerline is valid? [True, True] Translation: X:208.85, Y:-28.27, Z:-9.69 [[ 9.74227240e-01 2.22547186e-01 3.67972029e-02 2.08845870e+02] [-2.22450214e-01 9.74920609e-01 -6.76082144e-03 -2.82663071e+01] [-3.73789533e-02 -1.59896925e-03 9.99299883e-01 -9.68659443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26264 meters 0.0420935800848818 Centerline is valid? [True, True] Translation: X:208.90, Y:-28.28, Z:-9.69 [[ 9.75495726e-01 2.16956450e-01 3.65785202e-02 2.08904845e+02] [-2.16856710e-01 9.76180313e-01 -6.72039215e-03 -2.82794993e+01] [-3.71652638e-02 -1.37658373e-03 9.99308185e-01 -9.69015965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32264 meters 0.03698326032091567 Centerline is valid? [True, True] Translation: X:208.96, Y:-28.29, Z:-9.69 [[ 9.76283712e-01 2.13431470e-01 3.62921562e-02 2.08962893e+02] [-2.13330851e-01 9.76957260e-01 -6.66781662e-03 -2.82941601e+01] [-3.68790074e-02 -1.23255579e-03 9.99318978e-01 -9.69272785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38264 meters 0.03193716070984763 Centerline is valid? [True, True] Translation: X:209.02, Y:-28.31, Z:-9.70 [[ 9.79091939e-01 2.00124033e-01 3.64601970e-02 2.09020145e+02] [-2.00013255e-01 9.79770296e-01 -6.69819551e-03 -2.83142745e+01] [-3.70630879e-02 -7.34373437e-04 9.99312658e-01 -9.69567582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44264 meters 0.016965934719222506 Centerline is valid? [True, True] Translation: X:209.08, Y:-28.33, Z:-9.70 [[ 9.81071214e-01 1.90110977e-01 3.68387057e-02 2.09076692e+02] [-1.89990829e-01 9.81762541e-01 -6.76740689e-03 -2.83349329e+01] [-3.74534197e-02 -3.59708152e-04 9.99298310e-01 -9.69985737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50264 meters 0.01343258591664342 Centerline is valid? [True, True] Translation: X:209.14, Y:-28.36, Z:-9.70 [[ 9.83492637e-01 1.77181939e-01 3.67259177e-02 2.09135026e+02] [-1.77053538e-01 9.84178105e-01 -6.74549488e-03 -2.83641184e+01] [-3.73400239e-02 1.31690894e-04 9.99302609e-01 -9.70262915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56264000000002 meters 0.018844852625379965 Centerline is valid? [True, True] Translation: X:209.19, Y:-28.39, Z:-9.71 [[ 9.85042067e-01 1.68522918e-01 3.59465219e-02 2.09193529e+02] [-1.68394097e-01 9.85697632e-01 -6.60346092e-03 -2.83869712e+01] [-3.65452361e-02 4.51504679e-04 9.99331898e-01 -9.70601988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62264000000002 meters 0.023192588222715447 Centerline is valid? [True, True] Translation: X:209.25, Y:-28.41, Z:-9.71 [[ 9.85633161e-01 1.64848099e-01 3.67746725e-02 2.09251484e+02] [-1.64710452e-01 9.86318779e-01 -6.76260093e-03 -2.84068069e+01] [-3.73863520e-02 6.08270810e-04 9.99300701e-01 -9.70879356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68264 meters 0.02490912349534573 Centerline is valid? [True, True] Translation: X:209.31, Y:-28.43, Z:-9.71 [[ 9.86154418e-01 1.61647371e-01 3.70079916e-02 2.09311052e+02] [-1.61505581e-01 9.86848308e-01 -6.80912743e-03 -2.84258328e+01] [-3.76219514e-02 7.37853913e-04 9.99291771e-01 -9.71093274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74264 meters 0.03390856300334078 Centerline is valid? [True, True] Translation: X:209.37, Y:-28.44, Z:-9.71 [[ 9.86117775e-01 1.61920830e-01 3.67882909e-02 2.09370741e+02] [-1.61780890e-01 9.86803487e-01 -6.76921535e-03 -2.84423008e+01] [-3.73988907e-02 7.23601123e-04 9.99300155e-01 -9.71313792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80264 meters 0.03812246241412321 Centerline is valid? [True, True] Translation: X:209.43, Y:-28.46, Z:-9.72 [[ 9.85669618e-01 1.64788089e-01 3.60595244e-02 2.09431531e+02] [-1.64655310e-01 9.86328807e-01 -6.64186447e-03 -2.84562066e+01] [-3.66610478e-02 6.09291850e-04 9.99327572e-01 -9.71838564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86264 meters 0.01910887351667567 Centerline is valid? [True, True] Translation: X:209.49, Y:-28.47, Z:-9.72 [[ 9.84789064e-01 1.69955400e-01 3.61339240e-02 2.09492047e+02] [-1.69825265e-01 9.85451663e-01 -6.66321135e-03 -2.84661084e+01] [-3.67406843e-02 4.25404439e-04 9.99324743e-01 -9.72396765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92264 meters 0.01495874831924762 Centerline is valid? [True, True] Translation: X:209.55, Y:-28.47, Z:-9.73 [[ 9.83762269e-01 1.75844554e-01 3.59234114e-02 2.09553290e+02] [-1.75719877e-01 9.84417925e-01 -6.62371284e-03 -2.84746274e+01] [-3.65283939e-02 2.03701337e-04 9.99332595e-01 -9.72803687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98264 meters 0.01317680939156616 Centerline is valid? [True, True] Translation: X:209.61, Y:-28.48, Z:-9.73 [[ 9.83015597e-01 1.79972786e-01 3.59184222e-02 2.09614984e+02] [-1.79850676e-01 9.83671588e-01 -6.62881828e-03 -2.84818703e+01] [-3.65249383e-02 5.62792207e-05 9.99332740e-01 -9.72951968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04264 meters 0.014087846932949767 Centerline is valid? [True, True] Translation: X:209.68, Y:-28.49, Z:-9.73 [[ 9.81743060e-01 1.86496302e-01 3.74124823e-02 2.09675828e+02] [-1.86368275e-01 9.82455645e-01 -6.91171574e-03 -2.84869287e+01] [-3.80451138e-02 -1.86970836e-04 9.99276005e-01 -9.73175623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10264 meters 0.01568819148495944 Centerline is valid? [True, True] Translation: X:209.74, Y:-28.50, Z:-9.73 [[ 9.80946754e-01 1.90545874e-01 3.78911080e-02 2.09737567e+02] [-1.90417326e-01 9.81678233e-01 -7.00634576e-03 -2.84960676e+01] [-3.85319062e-02 -3.42271343e-04 9.99257312e-01 -9.73226949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16264 meters 0.019555967962921698 Centerline is valid? [True, True] Translation: X:209.80, Y:-28.50, Z:-9.74 [[ 9.80186049e-01 1.94578976e-01 3.70719881e-02 2.09798423e+02] [-1.94458564e-01 9.80886736e-01 -6.86139486e-03 -2.85011441e+01] [-3.76985046e-02 -4.83522050e-04 9.99289042e-01 -9.73801807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22264 meters 0.01951746599491957 Centerline is valid? [True, True] Translation: X:209.86, Y:-28.51, Z:-9.74 [[ 9.79906191e-01 1.96027260e-01 3.68398008e-02 2.09859984e+02] [-1.95909157e-01 9.80598303e-01 -6.82420461e-03 -2.85116938e+01] [-3.74627763e-02 -5.30173988e-04 9.99297883e-01 -9.74083217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28264000000001 meters 0.02057900648512524 Centerline is valid? [True, True] Translation: X:209.92, Y:-28.52, Z:-9.75 [[ 9.79792166e-01 1.96774545e-01 3.58760363e-02 2.09919745e+02] [-1.96662813e-01 9.80448616e-01 -6.65198424e-03 -2.85219217e+01] [-3.64835514e-02 -5.37920183e-04 9.99334109e-01 -9.74624444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34264000000002 meters 0.019656034987454333 Centerline is valid? [True, True] Translation: X:209.98, Y:-28.53, Z:-9.75 [[ 9.80106600e-01 1.95220145e-01 3.57791454e-02 2.09979407e+02] [-1.95107743e-01 9.80759334e-01 -6.64052706e-03 -2.85348882e+01] [-3.63870955e-02 -4.72363907e-04 9.99337659e-01 -9.74972102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40264000000002 meters 0.014052590457943931 Centerline is valid? [True, True] Translation: X:210.03, Y:-28.57, Z:-9.75 [[ 9.80933698e-01 1.89521318e-01 4.30203345e-02 2.10032381e+02] [-1.89947690e-01 9.81775804e-01 6.01216471e-03 -2.85661072e+01] [-4.10968901e-02 -1.40691481e-02 9.99056107e-01 -9.74811584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46264 meters 0.012863673949681279 Centerline is valid? [True, True] Translation: X:210.10, Y:-28.58, Z:-9.75 [[ 9.82680880e-01 1.82021713e-01 3.47330303e-02 2.10097923e+02] [-1.81406680e-01 9.83202072e-01 -2.01321092e-02 -2.85753351e+01] [-3.78140683e-02 1.34826350e-02 9.99193832e-01 -9.75478214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52264 meters 0.013921020696580627 Centerline is valid? [True, True] Translation: X:210.16, Y:-28.60, Z:-9.76 [[ 9.83322022e-01 1.78065141e-01 3.70217076e-02 2.10155672e+02] [-1.77932145e-01 9.84018685e-01 -6.88325430e-03 -2.86039902e+01] [-3.76557197e-02 1.81103699e-04 9.99290755e-01 -9.75694117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58264 meters 0.026462742955892963 Centerline is valid? [True, True] Translation: X:210.21, Y:-28.62, Z:-9.76 [[ 9.83670047e-01 1.76375467e-01 3.58459781e-02 2.10214350e+02] [-1.76249436e-01 9.84322932e-01 -6.67093413e-03 -2.86220360e+01] [-3.64606074e-02 2.44164652e-04 9.99335061e-01 -9.76082944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64264 meters 0.013849543472840283 Centerline is valid? [True, True] Translation: X:210.28, Y:-28.63, Z:-9.76 [[ 9.83179530e-01 1.78891037e-01 3.68240316e-02 2.10275220e+02] [-1.78759564e-01 9.83868879e-01 -6.85909892e-03 -2.86330653e+01] [-3.74570500e-02 1.61077806e-04 9.99298225e-01 -9.76309690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70264 meters 0.01309200389526958 Centerline is valid? [True, True] Translation: X:210.34, Y:-28.64, Z:-9.77 [[ 9.81786632e-01 1.86286054e-01 3.73164243e-02 2.10337428e+02] [-1.86156121e-01 9.82495543e-01 -6.95744179e-03 -2.86373199e+01] [-3.79592950e-02 -1.15957477e-04 9.99279280e-01 -9.76566277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76264 meters 0.01604498939560798 Centerline is valid? [True, True] Translation: X:210.40, Y:-28.64, Z:-9.77 [[ 9.80591406e-01 1.92386492e-01 3.77879933e-02 2.10399411e+02] [-1.92257492e-01 9.81319171e-01 -7.05272545e-03 -2.86413316e+01] [-3.84389314e-02 -3.49182848e-04 9.99260890e-01 -9.76767957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82264 meters 0.021909458226809318 Centerline is valid? [True, True] Translation: X:210.46, Y:-28.64, Z:-9.77 [[ 9.79032673e-01 2.00251707e-01 3.73400388e-02 2.10460950e+02] [-2.00131307e-01 9.79744271e-01 -6.97304699e-03 -2.86418729e+01] [-3.79800536e-02 -6.46069936e-04 9.99278289e-01 -9.77056766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88264 meters 0.028522708577639323 Centerline is valid? [True, True] Translation: X:210.52, Y:-28.64, Z:-9.78 [[ 9.78006359e-01 2.05401681e-01 3.62451607e-02 2.10522047e+02] [-2.05291738e-01 9.78677412e-01 -6.76948170e-03 -2.86408909e+01] [-3.68627830e-02 -8.20235876e-04 9.99320000e-01 -9.77673679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94264 meters 0.030792332369751787 Centerline is valid? [True, True] Translation: X:210.58, Y:-28.65, Z:-9.78 [[ 9.77639116e-01 2.07171767e-01 3.60779429e-02 2.10583572e+02] [-2.07064009e-01 9.78304186e-01 -6.73907667e-03 -2.86506900e+01] [-3.66913490e-02 -8.82058535e-04 9.99326256e-01 -9.77777712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00264 meters 0.02837683036239901 Centerline is valid? [True, True] Translation: X:210.65, Y:-28.66, Z:-9.78 [[ 9.77496978e-01 2.07562251e-01 3.76506328e-02 2.10645871e+02] [-2.07444876e-01 9.78221371e-01 -7.04081454e-03 -2.86585883e+01] [-3.82920610e-02 -9.28055908e-04 9.99266159e-01 -9.77846560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06264000000002 meters 0.027798365264968886 Centerline is valid? [True, True] Translation: X:210.71, Y:-28.67, Z:-9.78 [[ 9.77965589e-01 2.05352708e-01 3.75975055e-02 2.10706492e+02] [-2.05233974e-01 9.78687673e-01 -7.03235891e-03 -2.86661603e+01] [-3.82403291e-02 -8.38880446e-04 9.99268219e-01 -9.78228210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12264000000002 meters 0.024905686221265853 Centerline is valid? [True, True] Translation: X:210.77, Y:-28.68, Z:-9.79 [[ 9.78582363e-01 2.02359889e-01 3.77761027e-02 2.10766959e+02] [-2.02237518e-01 9.79310961e-01 -7.07298165e-03 -2.86792015e+01] [-3.84258392e-02 -7.18250151e-04 9.99261197e-01 -9.78561221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18264 meters 0.029591785332675015 Centerline is valid? [True, True] Translation: X:210.83, Y:-28.69, Z:-9.79 [[ 9.79417297e-01 1.98389797e-01 3.71920253e-02 2.10826747e+02] [-1.98268264e-01 9.80123045e-01 -6.96506574e-03 -2.86927272e+01] [-3.78345591e-02 -5.52292450e-04 9.99283864e-01 -9.78848133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24264 meters 0.02629706957430234 Centerline is valid? [True, True] Translation: X:210.89, Y:-28.71, Z:-9.79 [[ 9.80191057e-01 1.94474219e-01 3.74869248e-02 2.10887452e+02] [-1.94347865e-01 9.80907547e-01 -7.02085283e-03 -2.87094649e+01] [-3.81365824e-02 -4.03726637e-04 9.99272454e-01 -9.78963199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30264 meters 0.013917144165107583 Centerline is valid? [True, True] Translation: X:210.95, Y:-28.73, Z:-9.79 [[ 9.81126466e-01 1.89628110e-01 3.78422639e-02 2.10948141e+02] [-1.89495648e-01 9.81855964e-01 -7.08981914e-03 -2.87259861e+01] [-3.85000815e-02 -2.14935126e-04 9.99258574e-01 -9.79210171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36264 meters 0.01342904947097491 Centerline is valid? [True, True] Translation: X:211.01, Y:-28.74, Z:-9.80 [[ 9.81656567e-01 1.87029624e-01 3.70176074e-02 2.11008476e+02] [-1.86900986e-01 9.82354268e-01 -6.93640522e-03 -2.87404531e+01] [-3.76617179e-02 -1.09459602e-04 9.99290540e-01 -9.79757280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42264 meters 0.012926942965172406 Centerline is valid? [True, True] Translation: X:211.07, Y:-28.76, Z:-9.80 [[ 9.82196547e-01 1.84243873e-01 3.66625047e-02 2.11069357e+02] [-1.84115503e-01 9.82880560e-01 -6.87651554e-03 -2.87557225e+01] [-3.73018190e-02 3.95434195e-06 9.99304045e-01 -9.80044542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48264 meters 0.013258137150226626 Centerline is valid? [True, True] Translation: X:211.13, Y:-28.77, Z:-9.80 [[ 9.82495062e-01 1.82582019e-01 3.69764781e-02 2.11129614e+02] [-1.82449972e-01 9.83190623e-01 -6.94314159e-03 -2.87698142e+01] [-3.76226193e-02 7.52449405e-05 9.99292016e-01 -9.80308546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54264 meters 0.01383130990393935 Centerline is valid? [True, True] Translation: X:211.19, Y:-28.79, Z:-9.80 [[ 9.82958989e-01 1.79974703e-01 3.74263637e-02 2.11190528e+02] [-1.79837263e-01 9.83671222e-01 -7.03466667e-03 -2.87866317e+01] [-3.80812990e-02 1.84134006e-04 9.99274627e-01 -9.80443473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60264 meters 0.016371239910675395 Centerline is valid? [True, True] Translation: X:211.25, Y:-28.81, Z:-9.81 [[ 9.83504065e-01 1.77222623e-01 3.62201128e-02 2.11248748e+02] [-1.77091729e-01 9.84170746e-01 -6.81626441e-03 -2.88055173e+01] [-3.68547717e-02 2.89541354e-04 9.99320590e-01 -9.81060660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66264 meters 0.017503312595086327 Centerline is valid? [True, True] Translation: X:211.31, Y:-28.82, Z:-9.81 [[ 9.83789608e-01 1.75736888e-01 3.57009025e-02 2.11309065e+02] [-1.75608653e-01 9.84437113e-01 -6.72102687e-03 -2.88206469e+01] [-3.63264257e-02 3.42688999e-04 9.99339919e-01 -9.81448490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72264 meters 0.018552429143642024 Centerline is valid? [True, True] Translation: X:211.37, Y:-28.84, Z:-9.82 [[ 9.84141207e-01 1.73835830e-01 3.53155659e-02 2.11368554e+02] [-1.73708912e-01 9.84774559e-01 -6.65442136e-03 -2.88397300e+01] [-3.59346477e-02 4.14261735e-04 9.99354056e-01 -9.81690992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78264000000001 meters 0.01886633017977885 Centerline is valid? [True, True] Translation: X:211.43, Y:-28.86, Z:-9.82 [[ 9.84299879e-01 1.72994417e-01 3.50239788e-02 2.11428816e+02] [-1.72868837e-01 9.84922703e-01 -6.60558278e-03 -2.88564135e+01] [-3.56386408e-02 4.47319867e-04 9.99364642e-01 -9.81915229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84264000000002 meters 0.019969204844880663 Centerline is valid? [True, True] Translation: X:211.49, Y:-28.87, Z:-9.82 [[ 9.84162032e-01 1.73690404e-01 3.54505164e-02 2.11487775e+02] [-1.73561954e-01 9.84800211e-01 -6.69275565e-03 -2.88732903e+01] [-3.60741435e-02 4.33895093e-04 9.99349022e-01 -9.82314150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90264000000002 meters 0.015788006808211418 Centerline is valid? [True, True] Translation: X:211.55, Y:-28.88, Z:-9.82 [[ 9.83279182e-01 1.78556006e-01 3.57743192e-02 2.11549907e+02] [-1.78428165e-01 9.83929714e-01 -6.76072241e-03 -2.88811221e+01] [-3.64065832e-02 2.64531488e-04 9.99337026e-01 -9.82457173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96264 meters 0.013101917333743784 Centerline is valid? [True, True] Translation: X:211.61, Y:-28.89, Z:-9.83 [[ 9.82365986e-01 1.83442190e-01 3.61390814e-02 2.11612203e+02] [-1.83314935e-01 9.83030496e-01 -6.83222533e-03 -2.88885105e+01] [-3.67791375e-02 8.69124345e-05 9.99323415e-01 -9.82590037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02264 meters 0.013530286116407999 Centerline is valid? [True, True] Translation: X:211.67, Y:-28.89, Z:-9.83 [[ 9.81111494e-01 1.89902508e-01 3.68412007e-02 2.11673892e+02] [-1.89774557e-01 9.81802941e-01 -6.97157401e-03 -2.88943521e+01] [-3.74947186e-02 -1.51631152e-04 9.99296814e-01 -9.82877425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08264 meters 0.014475061831141943 Centerline is valid? [True, True] Translation: X:211.74, Y:-28.91, Z:-9.83 [[ 9.80501750e-01 1.92916422e-01 3.74108676e-02 2.11735519e+02] [-1.92786395e-01 9.81215157e-01 -7.08669934e-03 -2.89050114e+01] [-3.80752510e-02 -2.63785192e-04 9.99274840e-01 -9.82937204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14264 meters 0.016684306618869247 Centerline is valid? [True, True] Translation: X:211.80, Y:-28.91, Z:-9.83 [[ 9.79836242e-01 1.96096169e-01 3.83044553e-02 2.11796030e+02] [-1.95962010e-01 9.80584591e-01 -7.26291039e-03 -2.89132322e+01] [-3.89849875e-02 -3.89755238e-04 9.99239720e-01 -9.83042027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20264 meters 0.01914496014624133 Centerline is valid? [True, True] Translation: X:211.86, Y:-28.92, Z:-9.83 [[ 9.79301513e-01 1.98930577e-01 3.73520117e-02 2.11857340e+02] [-1.98804849e-01 9.80013465e-01 -7.08808866e-03 -2.89205287e+01] [-3.80155120e-02 -4.84385099e-04 9.99277032e-01 -9.83478394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26264 meters 0.025111362421745668 Centerline is valid? [True, True] Translation: X:211.92, Y:-28.92, Z:-9.84 [[ 9.78386585e-01 2.03611388e-01 3.60845117e-02 2.11919230e+02] [-2.03497029e-01 9.79051580e-01 -6.85302807e-03 -2.89219657e+01] [-3.67239527e-02 -6.38180170e-04 9.99325244e-01 -9.84238989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32264 meters 0.027279696355631523 Centerline is valid? [True, True] Translation: X:211.98, Y:-28.93, Z:-9.85 [[ 9.77928141e-01 2.06098591e-01 3.43500014e-02 2.11980901e+02] [-2.05996277e-01 9.78530988e-01 -6.52991247e-03 -2.89300631e+01] [-3.49583466e-02 -6.90187242e-04 9.99388532e-01 -9.84710648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38264 meters 0.027746239871044073 Centerline is valid? [True, True] Translation: X:212.04, Y:-28.94, Z:-9.85 [[ 9.77999533e-01 2.05913213e-01 3.34164894e-02 2.12040570e+02] [-2.05816241e-01 9.78570032e-01 -6.35352242e-03 -2.89399942e+01] [-3.40086493e-02 -6.63914262e-04 9.99421318e-01 -9.85235359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44264 meters 0.026844999974793532 Centerline is valid? [True, True] Translation: X:212.10, Y:-28.95, Z:-9.85 [[ 9.78200719e-01 2.04913367e-01 3.36729174e-02 2.12101392e+02] [-2.04814248e-01 9.78779910e-01 -6.40404245e-03 -2.89513064e+01] [-3.42706489e-02 -6.32254304e-04 9.99412389e-01 -9.85498219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50264 meters 0.026043517060676914 Centerline is valid? [True, True] Translation: X:212.16, Y:-28.96, Z:-9.85 [[ 9.78306034e-01 2.04099669e-01 3.55053263e-02 2.12161337e+02] [-2.03988703e-01 9.78949911e-01 -6.75882232e-03 -2.89638663e+01] [-3.61374094e-02 -6.30488788e-04 9.99346632e-01 -9.85419910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56264000000002 meters 0.026558629245351465 Centerline is valid? [True, True] Translation: X:212.22, Y:-28.97, Z:-9.86 [[ 9.78258130e-01 2.04480860e-01 3.46209413e-02 2.12222755e+02] [-2.04375421e-01 9.78870364e-01 -6.59532744e-03 -2.89729210e+01] [-3.52380316e-02 -6.23736771e-04 9.99378753e-01 -9.85814285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62264000000002 meters 0.025982078619634117 Centerline is valid? [True, True] Translation: X:212.28, Y:-28.98, Z:-9.86 [[ 9.78033527e-01 2.05760476e-01 3.33623433e-02 2.12284120e+02] [-2.05663143e-01 9.78602175e-01 -6.36048538e-03 -2.89824906e+01] [-3.39571982e-02 -6.40636408e-04 9.99423083e-01 -9.86081255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68264 meters 0.025651119818678104 Centerline is valid? [True, True] Translation: X:212.35, Y:-28.99, Z:-9.86 [[ 9.78085685e-01 2.05369721e-01 3.42296801e-02 2.12345320e+02] [-2.05266813e-01 9.78684255e-01 -6.53180661e-03 -2.89926766e+01] [-3.48414843e-02 -6.37550798e-04 9.99392648e-01 -9.86249129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74264 meters 0.023962381359647372 Centerline is valid? [True, True] Translation: X:212.40, Y:-29.00, Z:-9.87 [[ 9.78550044e-01 2.03252638e-01 3.35883375e-02 2.12404854e+02] [-2.03152086e-01 9.79126176e-01 -6.41578609e-03 -2.90048421e+01] [-3.41912459e-02 -5.45373057e-04 9.99415160e-01 -9.86588964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80264 meters 0.021075466868338343 Centerline is valid? [True, True] Translation: X:212.47, Y:-29.02, Z:-9.87 [[ 9.78969305e-01 2.01156591e-01 3.39871327e-02 2.12466016e+02] [-2.01052292e-01 9.79558982e-01 -6.49430417e-03 -2.90168236e+01] [-3.45987733e-02 -4.75466484e-04 9.99401170e-01 -9.86745797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86264 meters 0.018050601601556568 Centerline is valid? [True, True] Translation: X:212.53, Y:-29.03, Z:-9.87 [[ 9.79455359e-01 1.98845029e-01 3.35835410e-02 2.12526285e+02] [-1.98741649e-01 9.80030871e-01 -6.42259083e-03 -2.90321187e+01] [-3.41900072e-02 -3.83807321e-04 9.99415277e-01 -9.86861352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92264 meters 0.027698053499481765 Centerline is valid? [True, True] Translation: X:212.58, Y:-29.05, Z:-9.87 [[ 9.80539009e-01 1.93468211e-01 3.33661930e-02 2.12584974e+02] [-1.93362819e-01 9.81106526e-01 -6.38782235e-03 -2.90485617e+01] [-3.39716303e-02 -1.88272138e-04 9.99422780e-01 -9.87403204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98264 meters 0.013687060092312915 Centerline is valid? [True, True] Translation: X:212.64, Y:-29.07, Z:-9.87 [[ 9.81283054e-01 1.89711161e-01 3.30642235e-02 2.12644319e+02] [-1.89605462e-01 9.81839942e-01 -6.33220157e-03 -2.90675082e+01] [-3.36650646e-02 -5.54752665e-05 9.99433170e-01 -9.87495303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04264 meters 0.014160949686716832 Centerline is valid? [True, True] Translation: X:212.70, Y:-29.09, Z:-9.88 [[ 9.82098237e-01 1.85393153e-01 3.33531269e-02 2.12703453e+02] [-1.85282904e-01 9.82664423e-01 -6.39347090e-03 -2.90888547e+01] [-3.39602370e-02 9.92523012e-05 9.99423180e-01 -9.87838547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10264 meters 0.014536091396285606 Centerline is valid? [True, True] Translation: X:212.76, Y:-29.10, Z:-9.88 [[ 9.82202319e-01 1.84792614e-01 3.36198657e-02 2.12763635e+02] [-1.84679987e-01 9.82777530e-01 -6.45204388e-03 -2.91036996e+01] [-3.42331386e-02 1.28296084e-04 9.99413866e-01 -9.88163120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16264 meters 0.013956129498662331 Centerline is valid? [True, True] Translation: X:212.83, Y:-29.12, Z:-9.88 [[ 9.82115335e-01 1.85313509e-01 3.32922178e-02 2.12825511e+02] [-1.85203265e-01 9.82679445e-01 -6.39216556e-03 -2.91170961e+01] [-3.39001327e-02 1.12016377e-04 9.99425219e-01 -9.88334326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22264 meters 0.013768364116954606 Centerline is valid? [True, True] Translation: X:212.89, Y:-29.13, Z:-9.89 [[ 9.81527177e-01 1.88366367e-01 3.35039296e-02 2.12885666e+02] [-1.88256234e-01 9.82098830e-01 -6.44039974e-03 -2.91268307e+01] [-3.41173248e-02 1.41037669e-05 9.99417835e-01 -9.88846430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28264000000001 meters 0.014875266384882894 Centerline is valid? [True, True] Translation: X:212.95, Y:-29.13, Z:-9.89 [[ 9.80268493e-01 1.95026938e-01 3.22207212e-02 2.12947640e+02] [-1.94928514e-01 9.80797865e-01 -6.19860776e-03 -2.91329657e+01] [-3.28109100e-02 -2.04437416e-04 9.99461556e-01 -9.89148105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34264000000002 meters 0.019048738371139576 Centerline is valid? [True, True] Translation: X:213.01, Y:-29.14, Z:-9.90 [[ 9.79010389e-01 2.01354492e-01 3.15440584e-02 2.13009297e+02] [-2.01263214e-01 9.79518355e-01 -6.07541112e-03 -2.91362894e+01] [-3.21212955e-02 -4.00767967e-04 9.99483898e-01 -9.89642472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40264000000002 meters 0.027870808931160784 Centerline is valid? [True, True] Translation: X:213.07, Y:-29.14, Z:-9.90 [[ 9.78102522e-01 2.05669222e-01 3.18688990e-02 2.13070831e+02] [-2.05578253e-01 9.78621415e-01 -6.14070356e-03 -2.91383325e+01] [-3.24505408e-02 -5.45314945e-04 9.99473194e-01 -9.90083315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46264 meters 0.027434762433899276 Centerline is valid? [True, True] Translation: X:213.13, Y:-29.14, Z:-9.90 [[ 9.76792649e-01 2.11630493e-01 3.29947780e-02 2.13132067e+02] [-2.11536244e-01 9.77349450e-01 -6.36155106e-03 -2.91443479e+01] [-3.35937263e-02 -7.65675112e-04 9.99435278e-01 -9.89939161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52264 meters 0.0330176129602426 Centerline is valid? [True, True] Translation: X:213.19, Y:-29.14, Z:-9.90 [[ 9.75718833e-01 2.16550572e-01 3.28421704e-02 2.13193553e+02] [-2.16459927e-01 9.76270959e-01 -6.33353328e-03 -2.91436213e+01] [-3.34343875e-02 -9.29266101e-04 9.99440483e-01 -9.90337363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58264 meters 0.03548166957424696 Centerline is valid? [True, True] Translation: X:213.25, Y:-29.15, Z:-9.91 [[ 9.75302797e-01 2.18491750e-01 3.23389834e-02 2.13254623e+02] [-2.18404920e-01 9.75838303e-01 -6.23671825e-03 -2.91487183e+01] [-3.29202901e-02 -9.80304338e-04 9.99457500e-01 -9.90746331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64264 meters 0.03634005405020015 Centerline is valid? [True, True] Translation: X:213.31, Y:-29.15, Z:-9.91 [[ 9.75146120e-01 2.19077516e-01 3.30920995e-02 2.13314655e+02] [-2.18986891e-01 9.75706922e-01 -6.38313543e-03 -2.91546919e+01] [-3.36865920e-02 -1.02224625e-03 9.99431923e-01 -9.90913116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70264 meters 0.037736992757790626 Centerline is valid? [True, True] Translation: X:213.37, Y:-29.16, Z:-9.91 [[ 9.75422599e-01 2.17728199e-01 3.38405746e-02 2.13374338e+02] [-2.17632617e-01 9.76008932e-01 -6.52750880e-03 -2.91620937e+01] [-3.44499258e-02 -9.97733206e-04 9.99405927e-01 -9.91263346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76264 meters 0.03267573656103463 Centerline is valid? [True, True] Translation: X:213.43, Y:-29.18, Z:-9.91 [[ 9.76075987e-01 2.14601686e-01 3.49540431e-02 2.13434124e+02] [-2.14497710e-01 9.76701222e-01 -6.74211333e-03 -2.91753734e+01] [-3.55865255e-02 -9.16747288e-04 9.99366179e-01 -9.91237916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82264 meters 0.03471265265125802 Centerline is valid? [True, True] Translation: X:213.49, Y:-29.19, Z:-9.92 [[ 9.76720010e-01 2.11905086e-01 3.33804674e-02 2.13494706e+02] [-2.11808689e-01 9.77289938e-01 -6.43861032e-03 -2.91860683e+01] [-3.39867692e-02 -7.81553487e-04 9.99421977e-01 -9.91789833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88264 meters 0.032860598271145534 Centerline is valid? [True, True] Translation: X:213.55, Y:-29.20, Z:-9.92 [[ 9.77434507e-01 2.08679788e-01 3.27800265e-02 2.13553865e+02] [-2.08584944e-01 9.77983802e-01 -6.32489137e-03 -2.91958568e+01] [-3.33782120e-02 -6.55252922e-04 9.99442577e-01 -9.92294150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94264 meters 0.0239400404044075 Centerline is valid? [True, True] Translation: X:213.61, Y:-29.21, Z:-9.92 [[ 9.78107390e-01 2.05358245e-01 3.36737950e-02 2.13613508e+02] [-2.05256180e-01 9.78686713e-01 -6.49761284e-03 -2.92093400e+01] [-3.42904341e-02 -5.56391396e-04 9.99411755e-01 -9.92380054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00264 meters 0.01851109877482338 Centerline is valid? [True, True] Translation: X:213.67, Y:-29.23, Z:-9.93 [[ 9.79261152e-01 1.99659447e-01 3.44049620e-02 2.13672676e+02] [-1.99549351e-01 9.79865283e-01 -6.63954890e-03 -2.92255946e+01] [-3.50378765e-02 -3.63635535e-04 9.99385919e-01 -9.92547432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06264000000002 meters 0.015556608596646121 Centerline is valid? [True, True] Translation: X:213.73, Y:-29.24, Z:-9.93 [[ 9.79975841e-01 1.96032766e-01 3.49070924e-02 2.13733428e+02] [-1.95917162e-01 9.80597317e-01 -6.73554973e-03 -2.92391350e+01] [-3.55501896e-02 -2.38222447e-04 9.99367864e-01 -9.92621960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12264000000002 meters 0.014893264504037839 Centerline is valid? [True, True] Translation: X:213.79, Y:-29.25, Z:-9.93 [[ 9.80330229e-01 1.94269174e-01 3.48156530e-02 2.13793697e+02] [-1.94152838e-01 9.80948245e-01 -6.72425393e-03 -2.92481492e+01] [-3.54586690e-02 -1.67568437e-04 9.99371130e-01 -9.93009044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18264 meters 0.014408215100481498 Centerline is valid? [True, True] Translation: X:213.86, Y:-29.26, Z:-9.93 [[ 9.80660180e-01 1.92684054e-01 3.43287982e-02 2.13855374e+02] [-1.92569801e-01 9.81260844e-01 -6.63528610e-03 -2.92599338e+01] [-3.49640194e-02 -1.03728991e-04 9.99388566e-01 -9.93397948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24264 meters 0.014198704210910055 Centerline is valid? [True, True] Translation: X:213.92, Y:-29.27, Z:-9.94 [[ 9.81518605e-01 1.88115647e-01 3.51245147e-02 2.13915481e+02] [-1.87992835e-01 9.82146882e-01 -6.79670578e-03 -2.92748633e+01] [-3.57759993e-02 6.79360627e-05 9.99359832e-01 -9.93546897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30264 meters 0.015599858972070824 Centerline is valid? [True, True] Translation: X:213.98, Y:-29.29, Z:-9.94 [[ 9.82254666e-01 1.84027313e-01 3.61900549e-02 2.13975384e+02] [-1.83893915e-01 9.82921103e-01 -7.00946226e-03 -2.92909144e+01] [-3.68619012e-02 2.29946109e-04 9.99320343e-01 -9.93682813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36264 meters 0.018079086791621374 Centerline is valid? [True, True] Translation: X:214.04, Y:-29.31, Z:-9.94 [[ 9.83629040e-01 1.76471623e-01 3.64921579e-02 2.14036327e+02] [-1.76452927e-01 9.84301906e-01 -3.75783094e-03 -2.93097251e+01] [-3.65824511e-02 -2.74283645e-03 9.99326874e-01 -9.93674550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42264 meters 0.024143757452020072 Centerline is valid? [True, True] Translation: X:214.09, Y:-29.33, Z:-9.94 [[ 9.84075337e-01 1.74076564e-01 3.59594342e-02 2.14093464e+02] [-1.73809203e-01 9.84723836e-01 -1.04559830e-02 -2.93288541e+01] [-3.72302536e-02 4.03939442e-03 9.99298550e-01 -9.94380990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48264 meters 0.028475929667505673 Centerline is valid? [True, True] Translation: X:214.15, Y:-29.35, Z:-9.95 [[ 9.84877840e-01 1.69438292e-01 3.61428421e-02 2.14151123e+02] [-1.69294718e-01 9.85540479e-01 -7.01879664e-03 -2.93533194e+01] [-3.68094868e-02 7.93865009e-04 9.99321986e-01 -9.94775642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54264 meters 0.036170632572358793 Centerline is valid? [True, True] Translation: X:214.21, Y:-29.37, Z:-9.95 [[ 9.85288602e-01 1.67355150e-01 3.46211467e-02 2.14210256e+02] [-1.67222112e-01 9.85896321e-01 -6.72379706e-03 -2.93740934e+01] [-3.52581232e-02 8.35459330e-04 9.99377890e-01 -9.95167370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60264 meters 0.027918224077179532 Centerline is valid? [True, True] Translation: X:214.27, Y:-29.39, Z:-9.95 [[ 9.85077890e-01 1.68594121e-01 3.46059571e-02 2.14271204e+02] [-1.68461959e-01 9.85685242e-01 -6.72098981e-03 -2.93870838e+01] [-3.52437005e-02 7.90911151e-04 9.99378435e-01 -9.95470843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66264 meters 0.027437668889046356 Centerline is valid? [True, True] Translation: X:214.33, Y:-29.41, Z:-9.96 [[ 9.84500521e-01 1.71942979e-01 3.45591602e-02 2.14329402e+02] [-1.71812953e-01 9.85106670e-01 -6.71989812e-03 -2.94059361e+01] [-3.51998986e-02 6.78031838e-04 9.99380062e-01 -9.96021402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72264 meters 0.022358696693292553 Centerline is valid? [True, True] Translation: X:214.39, Y:-29.41, Z:-9.96 [[ 9.83810933e-01 1.75755863e-01 3.50132195e-02 2.14390450e+02] [-1.75624776e-01 9.84433631e-01 -6.80909783e-03 -2.94147897e+01] [-3.56649297e-02 5.49676055e-04 9.99363653e-01 -9.96037244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78264000000001 meters 0.016161889284450913 Centerline is valid? [True, True] Translation: X:214.45, Y:-29.42, Z:-9.96 [[ 9.82316429e-01 1.83684532e-01 3.62550274e-02 2.14450803e+02] [-1.83549331e-01 9.82985208e-01 -7.05154718e-03 -2.94217900e+01] [-3.69334158e-02 2.72264609e-04 9.99317692e-01 -9.96090154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84264000000002 meters 0.013628546202252794 Centerline is valid? [True, True] Translation: X:214.51, Y:-29.43, Z:-9.96 [[ 9.80392288e-01 1.93621542e-01 3.66286836e-02 2.14512833e+02] [-1.93490479e-01 9.81076291e-01 -7.12366809e-03 -2.94268017e+01] [-3.73148286e-02 -1.03312273e-04 9.99303554e-01 -9.96219673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90264000000002 meters 0.018552085276226916 Centerline is valid? [True, True] Translation: X:214.57, Y:-29.43, Z:-9.97 [[ 9.78760298e-01 2.01867843e-01 3.57442734e-02 2.14574772e+02] [-2.01748297e-01 9.79412688e-01 -6.95786023e-03 -2.94289053e+01] [-3.64129631e-02 -4.01268933e-04 9.99336748e-01 -9.96770075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96264 meters 0.02077259416873421 Centerline is valid? [True, True] Translation: X:214.64, Y:-29.44, Z:-9.97 [[ 9.78141910e-01 2.04932304e-01 3.52300215e-02 2.14635944e+02] [-2.04817966e-01 9.78776020e-01 -6.86313784e-03 -2.94387619e+01] [-3.58887789e-02 -5.02618612e-04 9.99355664e-01 -9.97072064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02264 meters 0.02760183292374328 Centerline is valid? [True, True] Translation: X:214.70, Y:-29.45, Z:-9.97 [[ 9.78005497e-01 2.05544858e-01 3.54479861e-02 2.14697753e+02] [-2.05429291e-01 9.78647556e-01 -6.91144134e-03 -2.94522544e+01] [-3.61116961e-02 -5.22627026e-04 9.99347623e-01 -9.97163898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08264 meters 0.020682614059147574 Centerline is valid? [True, True] Translation: X:214.76, Y:-29.47, Z:-9.98 [[ 9.78141598e-01 2.04902850e-01 3.54095449e-02 2.14757045e+02] [-2.04786841e-01 9.78782193e-01 -6.91150292e-03 -2.94667449e+01] [-3.60744187e-02 -4.90980326e-04 9.99348986e-01 -9.97600927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14264 meters 0.018948561773504534 Centerline is valid? [True, True] Translation: X:214.82, Y:-29.49, Z:-9.98 [[ 9.78427959e-01 2.03563017e-01 3.52253767e-02 2.14816570e+02] [-2.03447145e-01 9.79061750e-01 -6.88108137e-03 -2.94856012e+01] [-3.58885526e-02 -4.33859930e-04 9.99355704e-01 -9.97890087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20264 meters 0.019547416619140456 Centerline is valid? [True, True] Translation: X:214.88, Y:-29.50, Z:-9.98 [[ 9.78304594e-01 2.04301483e-01 3.43660418e-02 2.14877696e+02] [-2.04191450e-01 9.78907915e-01 -6.71898032e-03 -2.94971983e+01] [-3.50138880e-02 -4.44042595e-04 9.99386727e-01 -9.98269684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26264 meters 0.020846285434654093 Centerline is valid? [True, True] Translation: X:214.94, Y:-29.51, Z:-9.99 [[ 9.77945208e-01 2.05945386e-01 3.47802931e-02 2.14939072e+02] [-2.05833504e-01 9.78563358e-01 -6.80613978e-03 -2.95076098e+01] [-3.54364135e-02 -5.02917821e-04 9.99371807e-01 -9.98558974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32264 meters 0.031074288442033526 Centerline is valid? [True, True] Translation: X:215.00, Y:-29.52, Z:-9.99 [[ 9.77460110e-01 2.08426314e-01 3.36185250e-02 2.15000498e+02] [-2.08323059e-01 9.78037908e-01 -6.58433355e-03 -2.95155379e+01] [-3.42525403e-02 -5.67590592e-04 9.99413048e-01 -9.98813003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38264 meters 0.023479421841318567 Centerline is valid? [True, True] Translation: X:215.06, Y:-29.53, Z:-9.99 [[ 9.77314933e-01 2.08843907e-01 3.52099987e-02 2.15061293e+02] [-2.08730680e-01 9.77948801e-01 -6.90251963e-03 -2.95255789e+01] [-3.58751252e-02 -6.03471468e-04 9.99356098e-01 -9.99110138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44264 meters 0.02083681024236312 Centerline is valid? [True, True] Translation: X:215.12, Y:-29.54, Z:-9.99 [[ 9.77525175e-01 2.07580189e-01 3.68102984e-02 2.15123066e+02] [-2.07455240e-01 9.78217836e-01 -7.22414297e-03 -2.95368389e+01] [-3.75080794e-02 -5.74707680e-04 9.99296159e-01 -9.98964456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50264 meters 0.0263504028841361 Centerline is valid? [True, True] Translation: X:215.18, Y:-29.55, Z:-9.99 [[ 9.77977377e-01 2.05464256e-01 3.66700008e-02 2.15183882e+02] [-2.05338727e-01 9.78664498e-01 -7.19780126e-03 -2.95505825e+01] [-3.73665188e-02 -4.90484489e-04 9.99301507e-01 -9.99099853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56264000000002 meters 0.028967692885963098 Centerline is valid? [True, True] Translation: X:215.24, Y:-29.56, Z:-10.00 [[ 9.78349047e-01 2.03922779e-01 3.53361275e-02 2.15243321e+02] [-2.03804963e-01 9.78986891e-01 -6.94292791e-03 -2.95616626e+01] [-3.60094267e-02 -4.09071246e-04 9.99351367e-01 -9.99852626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62264000000002 meters 0.017314591940188574 Centerline is valid? [True, True] Translation: X:215.30, Y:-29.58, Z:-10.00 [[ 9.78865672e-01 2.01473645e-01 3.50765893e-02 2.15303870e+02] [-2.01355884e-01 9.79493886e-01 -6.89463483e-03 -2.95758872e+01] [-3.57463920e-02 -3.13956308e-04 9.99360844e-01 -1.00047574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68264 meters 0.01677988367124714 Centerline is valid? [True, True] Translation: X:215.36, Y:-29.59, Z:-10.01 [[ 9.79287425e-01 1.99491244e-01 3.46321186e-02 2.15362967e+02] [-1.99375000e-01 9.79899581e-01 -6.81320716e-03 -2.95889950e+01] [-3.52951737e-02 -2.32690573e-04 9.99376904e-01 -1.00104249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74264 meters 0.015158417872910248 Centerline is valid? [True, True] Translation: X:215.42, Y:-29.61, Z:-10.01 [[ 9.79683303e-01 1.97588550e-01 3.43422702e-02 2.15423026e+02] [-1.97472896e-01 9.80285030e-01 -6.76129896e-03 -2.96063830e+01] [-3.50011686e-02 -1.57735867e-04 9.99387259e-01 -1.00109934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80264 meters 0.020980362821897004 Centerline is valid? [True, True] Translation: X:215.48, Y:-29.62, Z:-10.01 [[ 9.79329937e-01 1.99177017e-01 3.52333618e-02 2.15484300e+02] [-1.99056085e-01 9.79963505e-01 -6.94296285e-03 -2.96155931e+01] [-3.59102873e-02 -2.13963701e-04 9.99354995e-01 -1.00102156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86264 meters 0.017475993354234637 Centerline is valid? [True, True] Translation: X:215.55, Y:-29.62, Z:-10.01 [[ 9.78615334e-01 2.02550652e-01 3.58505362e-02 2.15546098e+02] [-2.02427453e-01 9.79271729e-01 -7.07152095e-03 -2.96223921e+01] [-3.65397578e-02 -3.36833898e-04 9.99332143e-01 -1.00141327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92264 meters 0.02042961841409126 Centerline is valid? [True, True] Translation: X:215.61, Y:-29.63, Z:-10.02 [[ 9.77717657e-01 2.06964813e-01 3.51247781e-02 2.15607955e+02] [-2.06849155e-01 9.78348267e-01 -6.93513222e-03 -2.96266047e+01] [-3.57995941e-02 -4.84929462e-04 9.99358871e-01 -1.00172477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98264 meters 0.02321418062973947 Centerline is valid? [True, True] Translation: X:215.67, Y:-29.63, Z:-10.02 [[ 9.77314636e-01 2.09191543e-01 3.30908062e-02 2.15668691e+02] [-2.09090110e-01 9.77874540e-01 -6.53532718e-03 -2.96317717e+01] [-3.37257921e-02 -5.31889409e-04 9.99430982e-01 -1.00246871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04264 meters 0.022015248136067585 Centerline is valid? [True, True] Translation: X:215.73, Y:-29.65, Z:-10.03 [[ 9.77398351e-01 2.08908847e-01 3.23968593e-02 2.15729795e+02] [-2.08811321e-01 9.77934986e-01 -6.40277992e-03 -2.96453907e+01] [-3.30196195e-02 -5.06764442e-04 9.99454575e-01 -1.00273394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10264 meters 0.02070963462937136 Centerline is valid? [True, True] Translation: X:215.79, Y:-29.66, Z:-10.03 [[ 9.77593323e-01 2.07880234e-01 3.31225392e-02 2.15790389e+02] [-2.07777453e-01 9.78154171e-01 -6.55345136e-03 -2.96592175e+01] [-3.37612829e-02 -4.75506543e-04 9.99429812e-01 -1.00283568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16264 meters 0.02099563554667605 Centerline is valid? [True, True] Translation: X:215.85, Y:-29.67, Z:-10.03 [[ 9.77506932e-01 2.08144350e-01 3.40018624e-02 2.15851067e+02] [-2.08035973e-01 9.78097995e-01 -6.73390482e-03 -2.96687927e+01] [-3.46587777e-02 -4.91171885e-04 9.99399083e-01 -1.00302426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22264 meters 0.021980200495849343 Centerline is valid? [True, True] Translation: X:215.91, Y:-29.68, Z:-10.03 [[ 9.77313699e-01 2.08937543e-01 3.46848268e-02 2.15912824e+02] [-2.08825070e-01 9.77928846e-01 -6.87473980e-03 -2.96762039e+01] [-3.53556839e-02 -5.24283999e-04 9.99374655e-01 -1.00334255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28264000000001 meters 0.021390893682119556 Centerline is valid? [True, True] Translation: X:215.97, Y:-29.69, Z:-10.04 [[ 9.77429972e-01 2.08841116e-01 3.18753411e-02 2.15974074e+02] [-2.08745905e-01 9.77949469e-01 -6.32323107e-03 -2.96852792e+01] [-3.24930235e-02 -4.73331344e-04 9.99471850e-01 -1.00399349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34264000000002 meters 0.021948461512585234 Centerline is valid? [True, True] Translation: X:216.03, Y:-29.69, Z:-10.05 [[ 9.77595901e-01 2.08103415e-01 3.16104914e-02 2.16034825e+02] [-2.08009179e-01 9.78106731e-01 -6.27737149e-03 -2.96945104e+01] [-3.22247769e-02 -4.38539718e-04 9.99480551e-01 -1.00451638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40264000000002 meters 0.018531832056182543 Centerline is valid? [True, True] Translation: X:216.10, Y:-29.71, Z:-10.04 [[ 9.78108980e-01 2.05443347e-01 3.31036881e-02 2.16095739e+02] [-2.05338350e-01 9.78668942e-01 -6.57748540e-03 -2.97101078e+01] [-3.37488520e-02 -3.63959154e-04 9.99430279e-01 -1.00439055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46264 meters 0.020780160083730622 Centerline is valid? [True, True] Translation: X:216.16, Y:-29.72, Z:-10.04 [[ 9.78465147e-01 2.03609857e-01 3.38966383e-02 2.16155877e+02] [-2.03498578e-01 9.79052058e-01 -6.73764875e-03 -2.97233111e+01] [-3.45584252e-02 -3.05363226e-04 9.99402633e-01 -1.00442947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52264 meters 0.016088026981068874 Centerline is valid? [True, True] Translation: X:216.22, Y:-29.74, Z:-10.05 [[ 9.78734010e-01 2.02183394e-01 3.46642761e-02 2.16216811e+02] [-2.02065920e-01 9.79347645e-01 -6.89592744e-03 -2.97363946e+01] [-3.53426192e-02 -2.55190123e-04 9.99375222e-01 -1.00471646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58264 meters 0.015669520156442546 Centerline is valid? [True, True] Translation: X:216.28, Y:-29.75, Z:-10.05 [[ 9.79147430e-01 2.00328225e-01 3.37477720e-02 2.16277059e+02] [-2.00215586e-01 9.79728825e-01 -6.71925534e-03 -2.97494780e+01] [-3.44097215e-02 -1.77688346e-04 9.99407794e-01 -1.00527774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64264 meters 0.015542213966298494 Centerline is valid? [True, True] Translation: X:216.34, Y:-29.76, Z:-10.05 [[ 9.78990576e-01 2.00968910e-01 3.44811406e-02 2.16338435e+02] [-2.00851476e-01 9.79597600e-01 -6.87213653e-03 -2.97599914e+01] [-3.51587284e-02 -1.97831102e-04 9.99381721e-01 -1.00541770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70264 meters 0.017496016269069957 Centerline is valid? [True, True] Translation: X:216.40, Y:-29.76, Z:-10.06 [[ 9.78355437e-01 2.04014579e-01 3.46221201e-02 2.16399383e+02] [-2.03897805e-01 9.78967804e-01 -6.90822568e-03 -2.97646116e+01] [-3.53033196e-02 -3.00674156e-04 9.99376598e-01 -1.00571774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76264 meters 0.022219328706562062 Centerline is valid? [True, True] Translation: X:216.46, Y:-29.76, Z:-10.06 [[ 9.76788905e-01 2.11476496e-01 3.40753132e-02 2.16461688e+02] [-2.11367905e-01 9.77382922e-01 -6.79936851e-03 -2.97649666e+01] [-3.47425359e-02 -5.60879871e-04 9.99396138e-01 -1.00586770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82264 meters 0.027398650176843595 Centerline is valid? [True, True] Translation: X:216.52, Y:-29.77, Z:-10.06 [[ 9.75230282e-01 2.18008050e-01 3.73950254e-02 2.16520290e+02] [-2.17979909e-01 9.75941068e-01 -4.87767773e-03 -2.97662894e+01] [-3.75587140e-02 -3.39450520e-03 9.99288657e-01 -1.00606445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88264 meters 0.03414617107799826 Centerline is valid? [True, True] Translation: X:216.58, Y:-29.76, Z:-10.06 [[ 9.74139558e-01 2.23320936e-01 3.43493937e-02 2.16584485e+02] [-2.23131774e-01 9.74743981e-01 -9.29420951e-03 -2.97585079e+01] [-3.55574563e-02 1.38941600e-03 9.99366668e-01 -1.00635791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94264 meters 0.038117408675635824 Centerline is valid? [True, True] Translation: X:216.64, Y:-29.76, Z:-10.07 [[ 9.73799400e-01 2.24716526e-01 3.48885689e-02 2.16642801e+02] [-2.24611134e-01 9.74423607e-01 -6.96219661e-03 -2.97629501e+01] [-3.55607658e-02 -1.05657813e-03 9.99366957e-01 -1.00680211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00264 meters 0.03687791801570494 Centerline is valid? [True, True] Translation: X:216.70, Y:-29.77, Z:-10.07 [[ 9.73581792e-01 2.25874627e-01 3.34536481e-02 2.16701410e+02] [-2.25778481e-01 9.74155808e-01 -6.67376198e-03 -2.97685730e+01] [-3.40964991e-02 -1.05566070e-03 9.99417988e-01 -1.00724277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06264000000002 meters 0.03670109774631798 Centerline is valid? [True, True] Translation: X:216.76, Y:-29.78, Z:-10.08 [[ 9.73914242e-01 2.24520384e-01 3.28883784e-02 2.16758749e+02] [-2.24426737e-01 9.74468887e-01 -6.55957687e-03 -2.97771240e+01] [-3.35214602e-02 -9.92566102e-04 9.99437505e-01 -1.00767242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12264000000002 meters 0.03215077497300456 Centerline is valid? [True, True] Translation: X:216.82, Y:-29.79, Z:-10.08 [[ 9.74947383e-01 2.19959207e-01 3.30990514e-02 2.16818014e+02] [-2.19861818e-01 9.75508706e-01 -6.59887977e-03 -2.97887072e+01] [-3.37398971e-02 -8.43657056e-04 9.99430292e-01 -1.00796185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18264 meters 0.025129800029079098 Centerline is valid? [True, True] Translation: X:216.88, Y:-29.80, Z:-10.08 [[ 9.76136756e-01 2.14553706e-01 3.35222439e-02 2.16876033e+02] [-2.14450630e-01 9.76711966e-01 -6.68300376e-03 -2.98030420e+01] [-3.41754399e-02 -6.65340707e-04 9.99415628e-01 -1.00801902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24264 meters 0.024142620429627337 Centerline is valid? [True, True] Translation: X:216.93, Y:-29.81, Z:-10.08 [[ 9.76758115e-01 2.11689328e-01 3.36335047e-02 2.16932935e+02] [-2.11583882e-01 9.77336844e-01 -6.70480322e-03 -2.98130145e+01] [-3.42905986e-02 -5.67336532e-04 9.99411743e-01 -1.00843988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30264 meters 0.03519760082008439 Centerline is valid? [True, True] Translation: X:216.99, Y:-29.82, Z:-10.08 [[ 9.77507976e-01 2.08222760e-01 3.34878995e-02 2.16991220e+02] [-2.08116273e-01 9.78081328e-01 -6.67334902e-03 -2.98246503e+01] [-3.41434323e-02 -4.46124941e-04 9.99416843e-01 -1.00848323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36264 meters 0.019080956175015575 Centerline is valid? [True, True] Translation: X:217.05, Y:-29.83, Z:-10.09 [[ 9.78019064e-01 2.05756145e-01 3.38100481e-02 2.17048530e+02] [-2.05646160e-01 9.78603227e-01 -6.73654846e-03 -2.98339028e+01] [-3.44727084e-02 -3.64433739e-04 9.99405573e-01 -1.00888097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42264 meters 0.016071583227832517 Centerline is valid? [True, True] Translation: X:217.10, Y:-29.85, Z:-10.09 [[ 9.79195311e-01 2.00081730e-01 3.38207706e-02 2.17104712e+02] [-1.99968367e-01 9.79779196e-01 -6.73636335e-03 -2.98493622e+01] [-3.44847106e-02 -1.66868875e-04 9.99405212e-01 -1.00930589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48264 meters 0.01563834917571355 Centerline is valid? [True, True] Translation: X:217.16, Y:-29.87, Z:-10.10 [[ 9.80763668e-01 1.92262736e-01 3.37293297e-02 2.17160082e+02] [-1.92145423e-01 9.81343482e-01 -6.71620178e-03 -2.98733926e+01] [-3.43913331e-02 1.06070365e-04 9.99408438e-01 -1.00970000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54264 meters 0.018024607503889106 Centerline is valid? [True, True] Translation: X:217.22, Y:-29.89, Z:-10.10 [[ 9.82013566e-01 1.85791490e-01 3.36285234e-02 2.17218738e+02] [-1.85671131e-01 9.82589137e-01 -6.69463067e-03 -2.98948380e+01] [-3.42868272e-02 3.30372170e-04 9.99411979e-01 -1.00964576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60264 meters 0.02001268824213758 Centerline is valid? [True, True] Translation: X:217.28, Y:-29.91, Z:-10.10 [[ 9.82475608e-01 1.83245059e-01 3.41017162e-02 2.17278158e+02] [-1.83119788e-01 9.83067174e-01 -6.78785868e-03 -2.99139713e+01] [-3.47681194e-02 4.24206554e-04 9.99395316e-01 -1.00987078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66264 meters 0.020208431042269027 Centerline is valid? [True, True] Translation: X:217.34, Y:-29.93, Z:-10.10 [[ 9.82622381e-01 1.82525163e-01 3.37316074e-02 2.17338280e+02] [-1.82401973e-01 9.83201079e-01 -6.71998218e-03 -2.99309607e+01] [-3.43915186e-02 4.50493145e-04 9.99408335e-01 -1.01005307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72264 meters 0.01970944147960006 Centerline is valid? [True, True] Translation: X:217.40, Y:-29.95, Z:-10.10 [[ 9.82415808e-01 1.83629543e-01 3.37545718e-02 2.17398984e+02] [-1.83506628e-01 9.82995430e-01 -6.73064489e-03 -2.99460687e+01] [-3.44165351e-02 4.18104291e-04 9.99407488e-01 -1.01028369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78264000000001 meters 0.01737952590416023 Centerline is valid? [True, True] Translation: X:217.46, Y:-29.96, Z:-10.11 [[ 9.81449725e-01 1.88899062e-01 3.27655621e-02 2.17459522e+02] [-1.88785984e-01 9.81996482e-01 -6.53924484e-03 -2.99560555e+01] [-3.34109239e-02 2.32261161e-04 9.99441672e-01 -1.01086897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84264000000002 meters 0.01510001883189336 Centerline is valid? [True, True] Translation: X:217.52, Y:-29.95, Z:-10.11 [[ 9.79720379e-01 1.97607803e-01 3.31532047e-02 2.17520976e+02] [-1.97496738e-01 9.80281160e-01 -6.62464638e-03 -2.99546772e+01] [-3.38085438e-02 -5.73487019e-05 9.99428326e-01 -1.01105157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90264000000002 meters 0.017100623449531206 Centerline is valid? [True, True] Translation: X:217.58, Y:-29.96, Z:-10.11 [[ 9.78566468e-01 2.03227280e-01 3.32617057e-02 2.17580416e+02] [-2.03118743e-01 9.79131559e-01 -6.64584030e-03 -2.99576978e+01] [-3.39182018e-02 -2.52679404e-04 9.99424580e-01 -1.01126338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96264 meters 0.019495870631988377 Centerline is valid? [True, True] Translation: X:217.64, Y:-29.96, Z:-10.11 [[ 9.77502231e-01 2.08199345e-01 3.37997168e-02 2.17639824e+02] [-2.08090294e-01 9.78086318e-01 -6.75165435e-03 -2.99625440e+01] [-3.44647305e-02 -4.33635803e-04 9.99405821e-01 -1.01129860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02264 meters 0.02054009149399065 Centerline is valid? [True, True] Translation: X:217.70, Y:-29.97, Z:-10.12 [[ 9.77351578e-01 2.09036047e-01 3.29821830e-02 2.17698196e+02] [-2.08932741e-01 9.77907831e-01 -6.58668627e-03 -2.99714308e+01] [-3.36303899e-02 -4.53549680e-04 9.99434236e-01 -1.01176164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08264 meters 0.019926498501374672 Centerline is valid? [True, True] Translation: X:217.75, Y:-29.98, Z:-10.12 [[ 9.77706694e-01 2.07460530e-01 3.23998320e-02 2.17754487e+02] [-2.07360024e-01 9.78243310e-01 -6.46894571e-03 -2.99838361e+01] [-3.30369698e-02 -3.93698407e-04 9.99454053e-01 -1.01218500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14264 meters 0.017385228967849466 Centerline is valid? [True, True] Translation: X:217.81, Y:-30.00, Z:-10.13 [[ 9.78703707e-01 2.02779334e-01 3.19311198e-02 2.17809161e+02] [-2.02679287e-01 9.79224431e-01 -6.37336871e-03 -3.00047020e+01] [-3.25601201e-02 -2.34137016e-04 9.99469751e-01 -1.01269681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20264 meters 0.016068075433894175 Centerline is valid? [True, True] Translation: X:217.87, Y:-30.02, Z:-10.13 [[ 9.79327751e-01 1.99807141e-01 3.15319132e-02 2.17865490e+02] [-1.99708108e-01 9.79835235e-01 -6.29156773e-03 -3.00208365e+01] [-3.21531798e-02 -1.35671837e-04 9.99482944e-01 -1.01306211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26264 meters 0.014238797308857088 Centerline is valid? [True, True] Translation: X:217.92, Y:-30.04, Z:-10.13 [[ 9.80071032e-01 1.95904190e-01 3.28986495e-02 2.17923331e+02] [-1.95794261e-01 9.80623041e-01 -6.56191904e-03 -3.00412278e+01] [-3.35466811e-02 -1.02200149e-05 9.99437152e-01 -1.01277031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32264 meters 0.014634900929526238 Centerline is valid? [True, True] Translation: X:217.98, Y:-30.06, Z:-10.13 [[ 9.80513193e-01 1.93679647e-01 3.28948857e-02 2.17981017e+02] [-1.93568498e-01 9.81064825e-01 -6.56099489e-03 -3.00577743e+01] [-3.35427464e-02 6.57284443e-05 9.99437282e-01 -1.01316467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38264 meters 0.015184247381544136 Centerline is valid? [True, True] Translation: X:218.04, Y:-30.08, Z:-10.13 [[ 9.80950099e-01 1.91351272e-01 3.34901992e-02 2.18040950e+02] [-1.91234774e-01 9.81521609e-01 -6.67770785e-03 -3.00798889e+01] [-3.41491421e-02 1.46007503e-04 9.99416737e-01 -1.01336271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44264 meters 0.015498495994211655 Centerline is valid? [True, True] Translation: X:218.10, Y:-30.10, Z:-10.14 [[ 9.81089753e-01 1.90692976e-01 3.31524686e-02 2.18101339e+02] [-1.90578205e-01 9.81649713e-01 -6.61734467e-03 -3.00963232e+01] [-3.38059925e-02 1.74071093e-04 9.99428399e-01 -1.01372452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50264 meters 0.015641835084091466 Centerline is valid? [True, True] Translation: X:218.16, Y:-30.11, Z:-10.14 [[ 9.80847557e-01 1.91831075e-01 3.37477150e-02 2.18160490e+02] [-1.91712599e-01 9.81427948e-01 -6.74252197e-03 -3.01122293e+01] [-3.44143760e-02 1.43524055e-04 9.99407640e-01 -1.01414517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56264000000002 meters 0.02028441657692655 Centerline is valid? [True, True] Translation: X:218.22, Y:-30.12, Z:-10.14 [[ 9.80224486e-01 1.95299082e-01 3.19096608e-02 2.18222044e+02] [-1.95194847e-01 9.80743732e-01 -6.37995975e-03 -3.01217434e+01] [-3.25412001e-02 2.51914070e-05 9.99470395e-01 -1.01440390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62264000000002 meters 0.015051870574357588 Centerline is valid? [True, True] Translation: X:218.28, Y:-30.13, Z:-10.15 [[ 9.79430603e-01 1.99165502e-01 3.23851162e-02 2.18282736e+02] [-1.99059987e-01 9.79965863e-01 -6.48291275e-03 -3.01314640e+01] [-3.30274810e-02 -9.70176812e-05 9.99454439e-01 -1.01484868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68264 meters 0.015938525795301958 Centerline is valid? [True, True] Translation: X:218.34, Y:-30.14, Z:-10.15 [[ 9.79097137e-01 2.00872139e-01 3.19246132e-02 2.18342584e+02] [-2.00770480e-01 9.79617456e-01 -6.39168624e-03 -3.01397652e+01] [-3.25578201e-02 -1.51438225e-04 9.99469842e-01 -1.01528980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74264 meters 0.015275764634821649 Centerline is valid? [True, True] Translation: X:218.40, Y:-30.15, Z:-10.15 [[ 9.79104687e-01 2.00784894e-01 3.22403204e-02 2.18402415e+02] [-2.00681160e-01 9.79635342e-01 -6.45510924e-03 -3.01540973e+01] [-3.28798457e-02 -1.49797171e-04 9.99459300e-01 -1.01533694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80264 meters 0.015444343894212188 Centerline is valid? [True, True] Translation: X:218.46, Y:-30.17, Z:-10.16 [[ 9.79180116e-01 2.00330643e-01 3.27709447e-02 2.18461489e+02] [-2.00223176e-01 9.79728337e-01 -6.56238372e-03 -3.01668463e+01] [-3.34212698e-02 -1.35746987e-04 9.99441344e-01 -1.01573401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86264 meters 0.014345976770351446 Centerline is valid? [True, True] Translation: X:218.52, Y:-30.19, Z:-10.16 [[ 9.79695350e-01 1.97568874e-01 3.41110215e-02 2.18521380e+02] [-1.97450813e-01 9.80289007e-01 -6.82923318e-03 -3.01853703e+01] [-3.47879033e-02 -4.46809513e-05 9.99394717e-01 -1.01579654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92264 meters 0.013989070268793395 Centerline is valid? [True, True] Translation: X:218.58, Y:-30.20, Z:-10.16 [[ 9.80213787e-01 1.94827484e-01 3.49740265e-02 2.18581199e+02] [-1.94701408e-01 9.80837524e-01 -7.00812034e-03 -3.02041256e+01] [-3.56692120e-02 5.99639712e-05 9.99363649e-01 -1.01569512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98264 meters 0.016299476778103242 Centerline is valid? [True, True] Translation: X:218.64, Y:-30.23, Z:-10.16 [[ 9.81253639e-01 1.89690144e-01 3.40432847e-02 2.18639974e+02] [-1.89567391e-01 9.81843974e-01 -6.82753544e-03 -3.02274710e+01] [-3.47203101e-02 2.46047321e-04 9.99397038e-01 -1.01620582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04264 meters 0.0195577994875437 Centerline is valid? [True, True] Translation: X:218.70, Y:-30.25, Z:-10.17 [[ 9.81980647e-01 1.85966873e-01 3.36204060e-02 2.18696706e+02] [-1.85844760e-01 9.82555942e-01 -6.74882478e-03 -3.02529546e+01] [-3.42889875e-02 3.79039049e-04 9.99411888e-01 -1.01673038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10264 meters 0.01927647190015074 Centerline is valid? [True, True] Translation: X:218.76, Y:-30.27, Z:-10.17 [[ 9.81875350e-01 1.86720315e-01 3.25010992e-02 2.18756291e+02] [-1.86606449e-01 9.82413052e-01 -6.52907310e-03 -3.02700486e+01] [-3.31486146e-02 3.45821218e-04 9.99450374e-01 -1.01718462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16264 meters 0.016654988727792617 Centerline is valid? [True, True] Translation: X:218.82, Y:-30.28, Z:-10.17 [[ 9.81123914e-01 1.90656939e-01 3.23387989e-02 2.18817601e+02] [-1.90546161e-01 9.81656704e-01 -6.50200293e-03 -3.02803322e+01] [-3.29852507e-02 2.17236579e-04 9.99455815e-01 -1.01744188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22264 meters 0.025270262950731027 Centerline is valid? [True, True] Translation: X:218.88, Y:-30.28, Z:-10.18 [[ 9.79442005e-01 1.99377566e-01 3.06911106e-02 2.18879819e+02] [-1.99281914e-01 9.79922743e-01 -6.17552270e-03 -3.02832417e+01] [-3.13061779e-02 -6.76169288e-05 9.99509839e-01 -1.01769820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28264000000001 meters 0.01951751518413411 Centerline is valid? [True, True] Translation: X:218.94, Y:-30.28, Z:-10.18 [[ 9.77502929e-01 2.08549733e-01 3.15441295e-02 2.18941325e+02] [-2.08453190e-01 9.78011696e-01 -6.35535879e-03 -3.02849261e+01] [-3.21759360e-02 -3.63092597e-04 9.99482155e-01 -1.01810676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34264000000002 meters 0.02335796437160997 Centerline is valid? [True, True] Translation: X:219.00, Y:-30.29, Z:-10.18 [[ 9.76453420e-01 2.13363522e-01 3.18547683e-02 2.19002151e+02] [-2.13267551e-01 9.76972739e-01 -6.42023461e-03 -3.02907675e+01] [-3.24910841e-02 -5.24528368e-04 9.99471888e-01 -1.01830934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40264000000002 meters 0.027078812290343406 Centerline is valid? [True, True] Translation: X:219.06, Y:-30.30, Z:-10.19 [[ 9.75440761e-01 2.17984291e-01 3.15938375e-02 2.19062324e+02] [-2.17892306e-01 9.75952046e-01 -6.36764477e-03 -3.02979476e+01] [-3.22221168e-02 -6.72793823e-04 9.99480506e-01 -1.01856572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46264 meters 0.030509477355795747 Centerline is valid? [True, True] Translation: X:219.12, Y:-30.30, Z:-10.19 [[ 9.74994887e-01 2.19793349e-01 3.28002009e-02 2.19120903e+02] [-2.19695209e-01 9.75546158e-01 -6.61128891e-03 -3.03048319e+01] [-3.34512273e-02 -7.60074105e-04 9.99440062e-01 -1.01881640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52264 meters 0.02881836435753478 Centerline is valid? [True, True] Translation: X:219.18, Y:-30.32, Z:-10.19 [[ 9.75108656e-01 2.19178197e-01 3.35265123e-02 2.19179824e+02] [-2.19075359e-01 9.75684552e-01 -6.75592446e-03 -3.03208486e+01] [-3.41920514e-02 -7.57072290e-04 9.99414994e-01 -1.01892038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58264 meters 0.02764057947061554 Centerline is valid? [True, True] Translation: X:219.24, Y:-30.33, Z:-10.19 [[ 9.75557503e-01 2.17252106e-01 3.30012146e-02 2.19238102e+02] [-2.17151364e-01 9.76115291e-01 -6.65007177e-03 -3.03344985e+01] [-3.36577323e-02 -6.78731346e-04 9.99433188e-01 -1.01938093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64264 meters 0.02982185238637525 Centerline is valid? [True, True] Translation: X:219.30, Y:-30.35, Z:-10.20 [[ 9.75940206e-01 2.15643721e-01 3.22257669e-02 2.19296897e+02] [-2.15546782e-01 9.76471922e-01 -6.49381138e-03 -3.03499667e+01] [-3.28679062e-02 -6.08588739e-04 9.99459519e-01 -1.01970878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70264 meters 0.03488160958477175 Centerline is valid? [True, True] Translation: X:219.36, Y:-30.36, Z:-10.20 [[ 9.75925178e-01 2.15612883e-01 3.28805775e-02 2.19355626e+02] [-2.15511953e-01 9.76478725e-01 -6.62555054e-03 -3.03600040e+01] [-3.35357385e-02 -6.20115894e-04 9.99437327e-01 -1.01985649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76264 meters 0.03672881536412388 Centerline is valid? [True, True] Translation: X:219.42, Y:-30.37, Z:-10.20 [[ 9.75382360e-01 2.17959523e-01 3.35096744e-02 2.19415293e+02] [-2.17856041e-01 9.75957549e-01 -6.75336168e-03 -3.03660750e+01] [-3.41759792e-02 -7.13175140e-04 9.99415576e-01 -1.01993686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82264 meters 0.03518868233146519 Centerline is valid? [True, True] Translation: X:219.48, Y:-30.36, Z:-10.20 [[ 9.74293097e-01 2.22701350e-01 3.40157320e-02 2.19475855e+02] [-2.22597639e-01 9.74886306e-01 -6.85428403e-03 -3.03642651e+01] [-3.46879296e-02 -8.93740004e-04 9.99397793e-01 -1.02041019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88264 meters 0.03844227826549274 Centerline is valid? [True, True] Translation: X:219.53, Y:-30.37, Z:-10.21 [[ 9.74005859e-01 2.24244062e-01 3.20497541e-02 2.19534821e+02] [-2.24152813e-01 9.74532607e-01 -6.45861556e-03 -3.03656775e+01] [-3.26818366e-02 -8.93313127e-04 9.99465407e-01 -1.02112891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94264 meters 0.03682871033358266 Centerline is valid? [True, True] Translation: X:219.59, Y:-30.38, Z:-10.22 [[ 9.74463559e-01 2.22333062e-01 3.14449112e-02 2.19593215e+02] [-2.22244282e-01 9.74970433e-01 -6.33513986e-03 -3.03752689e+01] [-3.20663697e-02 -8.15088771e-04 9.99485409e-01 -1.02161118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00264 meters 0.030720424461388604 Centerline is valid? [True, True] Translation: X:219.65, Y:-30.39, Z:-10.22 [[ 9.75720750e-01 2.16669608e-01 3.19890503e-02 2.19650291e+02] [-2.16574725e-01 9.76244780e-01 -6.44347263e-03 -3.03900357e+01] [-3.26252480e-02 -6.40989823e-04 9.99467449e-01 -1.02183516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06264000000002 meters 0.03496652739283684 Centerline is valid? [True, True] Translation: X:219.71, Y:-30.41, Z:-10.21 [[ 9.76783995e-01 2.11775900e-01 3.23109142e-02 2.19706809e+02] [-2.11676441e-01 9.77318134e-01 -6.50762261e-03 -3.04120030e+01] [-3.29562000e-02 -4.82917732e-04 9.99456680e-01 -1.02138009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12264000000002 meters 0.01599704054892593 Centerline is valid? [True, True] Translation: X:219.77, Y:-30.43, Z:-10.22 [[ 9.78502500e-01 2.03550723e-01 3.31656613e-02 2.19765990e+02] [-2.03441269e-01 9.79064379e-01 -6.67775689e-03 -3.04318395e+01] [-3.38305798e-02 -2.13062419e-04 9.99427559e-01 -1.02166179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18264 meters 0.014906400275149796 Centerline is valid? [True, True] Translation: X:219.82, Y:-30.45, Z:-10.22 [[ 9.79919342e-01 1.96606470e-01 3.32261701e-02 2.19824498e+02] [-1.96492597e-01 9.80482481e-01 -6.69060557e-03 -3.04507849e+01] [-3.38930940e-02 2.75573775e-05 9.99425464e-01 -1.02194934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24264 meters 0.0156800326683506 Centerline is valid? [True, True] Translation: X:219.89, Y:-30.47, Z:-10.22 [[ 9.80681913e-01 1.92834973e-01 3.28277061e-02 2.19885110e+02] [-1.92721531e-01 9.81231189e-01 -6.61544618e-03 -3.04667902e+01] [-3.34872585e-02 1.61042626e-04 9.99439132e-01 -1.02209502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30264 meters 0.01839099650938719 Centerline is valid? [True, True] Translation: X:219.94, Y:-30.49, Z:-10.22 [[ 9.81592994e-01 1.88111143e-01 3.30059231e-02 2.19944399e+02] [-1.87993591e-01 9.82147692e-01 -6.65737953e-03 -3.04865283e+01] [-3.36690185e-02 3.29935091e-04 9.99432983e-01 -1.02238305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36264 meters 0.019786846746156193 Centerline is valid? [True, True] Translation: X:220.00, Y:-30.50, Z:-10.22 [[ 9.81999239e-01 1.85770463e-01 3.41588924e-02 2.20004183e+02] [-1.85642914e-01 9.82593074e-01 -6.89628699e-03 -3.05028325e+01] [-3.48454175e-02 4.30792242e-04 9.99392621e-01 -1.02241462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42264 meters 0.027421950235233018 Centerline is valid? [True, True] Translation: X:220.06, Y:-30.52, Z:-10.23 [[ 9.82610131e-01 1.82605673e-01 3.36526185e-02 2.20061703e+02] [-1.82479753e-01 9.83186083e-01 -6.80190579e-03 -3.05238046e+01] [-3.43288528e-02 5.42700010e-04 9.99410444e-01 -1.02285567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48264 meters 0.026568621285333303 Centerline is valid? [True, True] Translation: X:220.12, Y:-30.55, Z:-10.23 [[ 9.83134523e-01 1.80001604e-01 3.23408606e-02 2.20120580e+02] [-1.79883890e-01 9.83666128e-01 -6.53720921e-03 -3.05450578e+01] [-3.29893173e-02 6.09356258e-04 9.99455519e-01 -1.02348509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54264 meters 0.025532474335231658 Centerline is valid? [True, True] Translation: X:220.18, Y:-30.56, Z:-10.24 [[ 9.83130515e-01 1.80034959e-01 3.22769958e-02 2.20181482e+02] [-1.79917745e-01 9.83660026e-01 -6.52372254e-03 -3.05599959e+01] [-3.29240887e-02 6.06466383e-04 9.99457671e-01 -1.02364697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60264 meters 0.027812882796849306 Centerline is valid? [True, True] Translation: X:220.24, Y:-30.57, Z:-10.24 [[ 9.82840062e-01 1.81889486e-01 3.06859374e-02 2.20243061e+02] [-1.81784272e-01 9.83318840e-01 -6.20781658e-03 -3.05708409e+01] [-3.13031970e-02 5.23070020e-04 9.99509798e-01 -1.02407417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66264 meters 0.01920127988215055 Centerline is valid? [True, True] Translation: X:220.30, Y:-30.58, Z:-10.24 [[ 9.81846699e-01 1.87211465e-01 3.04782930e-02 2.20303607e+02] [-1.87109953e-01 9.82319570e-01 -6.17478574e-03 -3.05795011e+01] [-3.10954144e-02 3.59901040e-04 9.99516356e-01 -1.02435237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72264 meters 0.01918327964980051 Centerline is valid? [True, True] Translation: X:220.36, Y:-30.59, Z:-10.25 [[ 9.81376788e-01 1.89636385e-01 3.06209445e-02 2.20363802e+02] [-1.89535151e-01 9.81854348e-01 -6.20204348e-03 -3.05919181e+01] [-3.12414406e-02 2.82796181e-04 9.99511827e-01 -1.02491184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78264000000001 meters 0.01652531107649453 Centerline is valid? [True, True] Translation: X:220.43, Y:-30.60, Z:-10.25 [[ 9.80465799e-01 1.94136645e-01 3.15876439e-02 2.20426020e+02] [-1.94031048e-01 9.80974485e-01 -6.40404168e-03 -3.05993080e+01] [-3.22299319e-02 1.49960178e-04 9.99480470e-01 -1.02502152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84264000000002 meters 0.014781407787056161 Centerline is valid? [True, True] Translation: X:220.49, Y:-30.61, Z:-10.25 [[ 9.79390009e-01 1.99420566e-01 3.20413580e-02 2.20488536e+02] [-1.99314560e-01 9.79913995e-01 -6.50145310e-03 -3.06051027e+01] [-3.26942986e-02 -1.88509594e-05 9.99465398e-01 -1.02505170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90264000000002 meters 0.014766433162000051 Centerline is valid? [True, True] Translation: X:220.55, Y:-30.62, Z:-10.25 [[ 9.78997906e-01 2.01220023e-01 3.27658707e-02 2.20548012e+02] [-2.01109962e-01 9.79546067e-01 -6.65478830e-03 -3.06186999e+01] [-3.34347564e-02 -7.45192101e-05 9.99440899e-01 -1.02531696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96264 meters 0.014668003212464479 Centerline is valid? [True, True] Translation: X:220.61, Y:-30.63, Z:-10.26 [[ 9.78988942e-01 2.01080228e-01 3.38732029e-02 2.20606990e+02] [-2.00962312e-01 9.79574774e-01 -6.88561503e-03 -3.06334837e+01] [-3.45658961e-02 -6.62962042e-05 9.99402419e-01 -1.02550395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02264 meters 0.018320564736447473 Centerline is valid? [True, True] Translation: X:220.67, Y:-30.65, Z:-10.26 [[ 9.79126075e-01 2.00430273e-01 3.37614354e-02 2.20668226e+02] [-2.00312576e-01 9.79707969e-01 -6.86786146e-03 -3.06477881e+01] [-3.44528746e-02 -3.83378553e-05 9.99406323e-01 -1.02560490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08264 meters 0.014518282850999369 Centerline is valid? [True, True] Translation: X:220.73, Y:-30.67, Z:-10.26 [[ 9.79439313e-01 1.98761681e-01 3.45315157e-02 2.20727150e+02] [-1.98637240e-01 9.80047852e-01 -7.03232721e-03 -3.06662544e+01] [-3.52402949e-02 2.84927620e-05 9.99378867e-01 -1.02608957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14264 meters 0.014342568020791743 Centerline is valid? [True, True] Translation: X:220.79, Y:-30.68, Z:-10.26 [[ 9.79487577e-01 1.98467263e-01 3.48544514e-02 2.20788530e+02] [-1.98340101e-01 9.80107516e-01 -7.10357371e-03 -3.06812625e+01] [-3.55709367e-02 4.48267869e-05 9.99367153e-01 -1.02625951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20264 meters 0.016916513685308644 Centerline is valid? [True, True] Translation: X:220.85, Y:-30.69, Z:-10.27 [[ 9.79255320e-01 1.99929135e-01 3.29751380e-02 2.20849720e+02] [-1.99815933e-01 9.79810360e-01 -6.72695282e-03 -3.06934493e+01] [-3.36542957e-02 -1.55364830e-06 9.99433534e-01 -1.02680568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26264 meters 0.014662204297321551 Centerline is valid? [True, True] Translation: X:220.91, Y:-30.70, Z:-10.27 [[ 9.78958517e-01 2.01447794e-01 3.25424216e-02 2.20911431e+02] [-2.01338215e-01 9.79499252e-01 -6.64373666e-03 -3.07045724e+01] [-3.32136437e-02 -4.80904863e-05 9.99448274e-01 -1.02711226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32264 meters 0.016293637668077388 Centerline is valid? [True, True] Translation: X:220.97, Y:-30.71, Z:-10.28 [[ 9.78080464e-01 2.05605041e-01 3.29419614e-02 2.20973265e+02] [-2.05494873e-01 9.78635036e-01 -6.73231821e-03 -3.07101327e+01] [-3.36223561e-02 -1.84655259e-04 9.99434592e-01 -1.02750776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38264 meters 0.02069166917682291 Centerline is valid? [True, True] Translation: X:221.04, Y:-30.71, Z:-10.28 [[ 9.76990466e-01 2.10751053e-01 3.27661942e-02 2.21035875e+02] [-2.10644669e-01 9.77539703e-01 -6.70472626e-03 -3.07107469e+01] [-3.34432839e-02 -3.51570514e-04 9.99440555e-01 -1.02761558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44264 meters 0.021987840758768664 Centerline is valid? [True, True] Translation: X:221.10, Y:-30.71, Z:-10.28 [[ 9.76225582e-01 2.14187489e-01 3.32766182e-02 2.21096565e+02] [-2.14079719e-01 9.76792452e-01 -6.81032661e-03 -3.07137347e+01] [-3.39630362e-02 -4.75433991e-04 9.99422977e-01 -1.02798188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50264 meters 0.02413910322146085 Centerline is valid? [True, True] Translation: X:221.16, Y:-30.72, Z:-10.28 [[ 9.75390748e-01 2.18037011e-01 3.27528647e-02 2.21157219e+02] [-2.17934774e-01 9.75940317e-01 -6.70313626e-03 -3.07189611e+01] [-3.34263729e-02 -5.99811075e-04 9.99441003e-01 -1.02823086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56264000000002 meters 0.025273521488009758 Centerline is valid? [True, True] Translation: X:221.22, Y:-30.72, Z:-10.29 [[ 9.75426198e-01 2.17740462e-01 3.36574483e-02 2.21215836e+02] [-2.17632306e-01 9.76006519e-01 -6.88874623e-03 -3.07226932e+01] [-3.43498477e-02 -6.05484550e-04 9.99409686e-01 -1.02852323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62264000000002 meters 0.021076835815772087 Centerline is valid? [True, True] Translation: X:221.27, Y:-30.74, Z:-10.29 [[ 9.76443742e-01 2.12984034e-01 3.45748431e-02 2.21273031e+02] [-2.12866966e-01 9.77055575e-01 -7.07513984e-03 -3.07356977e+01] [-3.52884351e-02 -4.51365917e-04 9.99377067e-01 -1.02870491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68264 meters 0.01767950216653464 Centerline is valid? [True, True] Translation: X:221.33, Y:-30.75, Z:-10.29 [[ 9.77249086e-01 2.09349886e-01 3.40124890e-02 2.21332594e+02] [-2.09234462e-01 9.77840746e-01 -6.95811055e-03 -3.07512630e+01] [-3.47154773e-02 -3.16777653e-04 9.99397186e-01 -1.02904601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74264 meters 0.015682761041812328 Centerline is valid? [True, True] Translation: X:221.39, Y:-30.77, Z:-10.30 [[ 9.78462288e-01 2.03717956e-01 3.33248562e-02 2.21391121e+02] [-2.03603917e-01 9.79029612e-01 -6.81646633e-03 -3.07701366e+01] [-3.40146577e-02 -1.15416016e-04 9.99421327e-01 -1.02981108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80264 meters 0.015259229224272981 Centerline is valid? [True, True] Translation: X:221.45, Y:-30.79, Z:-10.30 [[ 9.79158075e-01 2.00456559e-01 3.26593313e-02 2.21450804e+02] [-2.00345048e-01 9.79702592e-01 -6.68533212e-03 -3.07881654e+01] [-3.33365501e-02 2.86164141e-06 9.99444183e-01 -1.03010299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86264 meters 0.015336738387042376 Centerline is valid? [True, True] Translation: X:221.51, Y:-30.80, Z:-10.30 [[ 9.79748343e-01 1.97526603e-01 3.28089125e-02 2.21511805e+02] [-1.97412251e-01 9.80297521e-01 -6.72112685e-03 -3.08032004e+01] [-3.34900970e-02 1.08131618e-04 9.99439044e-01 -1.03019446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92264 meters 0.01580801201238617 Centerline is valid? [True, True] Translation: X:221.57, Y:-30.82, Z:-10.31 [[ 9.79753392e-01 1.97228594e-01 3.44118068e-02 2.21571143e+02] [-1.97102329e-01 9.80357519e-01 -7.05745981e-03 -3.08173123e+01] [-3.51278064e-02 1.31922907e-04 9.99382819e-01 -1.03057714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98264 meters 0.024980984814165146 Centerline is valid? [True, True] Translation: X:221.63, Y:-30.83, Z:-10.30 [[ 9.79526211e-01 1.98533005e-01 3.33623752e-02 2.21632272e+02] [-1.98414910e-01 9.80094199e-01 -6.84729183e-03 -3.08272973e+01] [-3.40576838e-02 8.75091705e-05 9.99419865e-01 -1.03038763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04264 meters 0.014923886483406664 Centerline is valid? [True, True] Translation: X:221.69, Y:-30.83, Z:-10.31 [[ 9.78759737e-01 2.02129342e-01 3.42506420e-02 2.21692831e+02] [-2.02006844e-01 9.79358835e-01 -7.03611082e-03 -3.08328695e+01] [-3.49658733e-02 -3.22021247e-05 9.99388506e-01 -1.03111621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10264 meters 0.01530475809377517 Centerline is valid? [True, True] Translation: X:221.75, Y:-30.84, Z:-10.31 [[ 9.77962552e-01 2.05868877e-01 3.47455416e-02 2.21753547e+02] [-2.05744896e-01 9.78579573e-01 -7.14549232e-03 -3.08377568e+01] [-3.54723117e-02 -1.60693935e-04 9.99370647e-01 -1.03109804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16264 meters 0.019857833973755915 Centerline is valid? [True, True] Translation: X:221.81, Y:-30.84, Z:-10.32 [[ 9.76689748e-01 2.11825860e-01 3.47410626e-02 2.21813499e+02] [-2.11705659e-01 9.77307354e-01 -7.14494860e-03 -3.08354878e+01] [-3.54661808e-02 -3.76481514e-04 9.99370806e-01 -1.03151788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22264 meters 0.02222933314006823 Centerline is valid? [True, True] Translation: X:221.87, Y:-30.84, Z:-10.32 [[ 9.75953998e-01 2.15299303e-01 3.40588381e-02 2.21873411e+02] [-2.15185932e-01 9.76547985e-01 -7.00346754e-03 -3.08397368e+01] [-3.47679314e-02 -4.93920660e-04 9.99395291e-01 -1.03177675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28264000000001 meters 0.024858241429439026 Centerline is valid? [True, True] Translation: X:221.93, Y:-30.84, Z:-10.32 [[ 9.75380775e-01 2.17906292e-01 3.38997137e-02 2.21932950e+02] [-2.17795569e-01 9.75969521e-01 -6.97021993e-03 -3.08409321e+01] [-3.46039421e-02 -5.84588918e-04 9.99400933e-01 -1.03211134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34264000000002 meters 0.02279020329451513 Centerline is valid? [True, True] Translation: X:221.99, Y:-30.85, Z:-10.32 [[ 9.75537497e-01 2.17069826e-01 3.47459616e-02 2.21990834e+02] [-2.16953036e-01 9.76155912e-01 -7.14248426e-03 -3.08529442e+01] [-3.54678936e-02 -5.70480635e-04 9.99370653e-01 -1.03215106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40264000000002 meters 0.022912521219686996 Centerline is valid? [True, True] Translation: X:222.05, Y:-30.86, Z:-10.33 [[ 9.76032008e-01 2.14743391e-01 3.53099912e-02 2.22048737e+02] [-2.14621321e-01 9.76670380e-01 -7.25659703e-03 -3.08600073e+01] [-3.60445288e-02 -4.95605992e-04 9.99350062e-01 -1.03250651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46264 meters 0.020468362389525853 Centerline is valid? [True, True] Translation: X:222.11, Y:-30.87, Z:-10.33 [[ 9.76407358e-01 2.13097765e-01 3.49000439e-02 2.22106406e+02] [-2.12977525e-01 9.77030786e-01 -7.17061604e-03 -3.08731226e+01] [-3.56264596e-02 -4.31482695e-04 9.99365083e-01 -1.03275301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52264 meters 0.019206862751175672 Centerline is valid? [True, True] Translation: X:222.16, Y:-30.88, Z:-10.33 [[ 9.76909984e-01 2.10969301e-01 3.37466692e-02 2.22164035e+02] [-2.10855663e-01 9.77492627e-01 -6.93205959e-03 -3.08824850e+01] [-3.44495721e-02 -3.43678082e-04 9.99406378e-01 -1.03333681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58264 meters 0.026394384535670164 Centerline is valid? [True, True] Translation: X:222.22, Y:-30.89, Z:-10.34 [[ 9.77137170e-01 2.10156775e-01 3.22037489e-02 2.22222249e+02] [-2.10052900e-01 9.77667653e-01 -6.61363792e-03 -3.08918786e+01] [-3.28744644e-02 -3.02059410e-04 9.99459443e-01 -1.03382292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64264 meters 0.018578850870385258 Centerline is valid? [True, True] Translation: X:222.28, Y:-30.90, Z:-10.34 [[ 9.77346858e-01 2.09198037e-01 3.20827069e-02 2.22280345e+02] [-2.09094478e-01 9.77873258e-01 -6.58721382e-03 -3.09016959e+01] [-3.27508534e-02 -2.70324120e-04 9.99463510e-01 -1.03428147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70264 meters 0.017695118169221116 Centerline is valid? [True, True] Translation: X:222.34, Y:-30.91, Z:-10.34 [[ 9.77379242e-01 2.09018551e-01 3.22655000e-02 2.22338239e+02] [-2.08913761e-01 9.77911639e-01 -6.62317783e-03 -3.09123970e+01] [-3.29371750e-02 -2.67350440e-04 9.99457388e-01 -1.03440960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76264 meters 0.01773130863387397 Centerline is valid? [True, True] Translation: X:222.40, Y:-30.92, Z:-10.35 [[ 9.77354136e-01 2.09028378e-01 3.29549526e-02 2.22396247e+02] [-2.08919126e-01 9.77909536e-01 -6.76295073e-03 -3.09208195e+01] [-3.36406110e-02 -2.75122028e-04 9.99433957e-01 -1.03460947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82264 meters 0.017629028915942983 Centerline is valid? [True, True] Translation: X:222.45, Y:-30.93, Z:-10.35 [[ 9.77357015e-01 2.08987776e-01 3.31266353e-02 2.22454292e+02] [-2.08877417e-01 9.77918214e-01 -6.79647608e-03 -3.09307682e+01] [-3.38155205e-02 -2.76822440e-04 9.99428053e-01 -1.03491843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88264 meters 0.01818000565492919 Centerline is valid? [True, True] Translation: X:222.51, Y:-30.93, Z:-10.35 [[ 9.76960779e-01 2.11209764e-01 3.06279448e-02 2.22509282e+02] [-2.10612128e-01 9.77330728e-01 -2.16143588e-02 -3.09290174e+01] [-3.44987952e-02 1.46657642e-02 9.99297127e-01 -1.03481009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94264 meters 0.020260871073498662 Centerline is valid? [True, True] Translation: X:222.57, Y:-30.95, Z:-10.35 [[ 9.76650398e-01 2.11401785e-01 3.82529175e-02 2.22570194e+02] [-2.11842349e-01 9.77272650e-01 7.80938593e-03 -3.09496020e+01] [-3.57326120e-02 -1.57306278e-02 9.99237573e-01 -1.03530424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00264 meters 0.021917018777140956 Centerline is valid? [True, True] Translation: X:222.63, Y:-30.95, Z:-10.35 [[ 9.75964468e-01 2.14984568e-01 3.57070440e-02 2.22630962e+02] [-2.14860606e-01 9.76617303e-01 -7.31877024e-03 -3.09469909e+01] [-3.64455397e-02 -5.29177419e-04 9.99335501e-01 -1.03541551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06264000000002 meters 0.025160038336609312 Centerline is valid? [True, True] Translation: X:222.69, Y:-30.95, Z:-10.36 [[ 9.75133055e-01 2.18836832e-01 3.50138094e-02 2.22691223e+02] [-2.18720185e-01 9.75761243e-01 -7.17480872e-03 -3.09481555e+01] [-3.57352306e-02 -6.61833722e-04 9.99361074e-01 -1.03579462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12264000000002 meters 0.02853501354786235 Centerline is valid? [True, True] Translation: X:222.75, Y:-30.95, Z:-10.36 [[ 9.74581606e-01 2.21259365e-01 3.51423670e-02 2.22750168e+02] [-2.21143466e-01 9.75214707e-01 -7.20022073e-03 -3.09461713e+01] [-3.58644694e-02 -7.54302135e-04 9.99356378e-01 -1.03620597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18264 meters 0.027224874772989627 Centerline is valid? [True, True] Translation: X:222.81, Y:-30.96, Z:-10.36 [[ 9.74588632e-01 2.21196533e-01 3.53425009e-02 2.22807626e+02] [-2.21079364e-01 9.75228957e-01 -7.23854659e-03 -3.09556247e+01] [-3.60681717e-02 -7.58892419e-04 9.99349044e-01 -1.03637422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24264 meters 0.026809966415560094 Centerline is valid? [True, True] Translation: X:222.87, Y:-30.96, Z:-10.37 [[ 9.75166559e-01 2.18650549e-01 3.52437172e-02 2.22865565e+02] [-2.18532463e-01 9.75803000e-01 -7.21578595e-03 -3.09614583e+01] [-3.59686606e-02 -6.65303196e-04 9.99352697e-01 -1.03686430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30264 meters 0.021230750825213196 Centerline is valid? [True, True] Translation: X:222.92, Y:-30.98, Z:-10.37 [[ 9.76020165e-01 2.14805524e-01 3.52593883e-02 2.22922922e+02] [-2.14684962e-01 9.76656699e-01 -7.21517304e-03 -3.09774026e+01] [-3.59861769e-02 -5.27506050e-04 9.99352149e-01 -1.03691235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36264 meters 0.016242031693442655 Centerline is valid? [True, True] Translation: X:222.98, Y:-31.00, Z:-10.37 [[ 9.77764101e-01 2.06874394e-01 3.43561809e-02 2.22978884e+02] [-2.06755068e-01 9.78367483e-01 -7.02920904e-03 -3.09962224e+01] [-3.50671336e-02 -2.30406240e-04 9.99384932e-01 -1.03741688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42264 meters 0.016857031304237075 Centerline is valid? [True, True] Translation: X:223.03, Y:-31.02, Z:-10.38 [[ 9.79489293e-01 1.98565025e-01 3.42440613e-02 2.23032992e+02] [-1.98441448e-01 9.80087714e-01 -7.00466808e-03 -3.10175688e+01] [-3.49530658e-02 6.55562877e-05 9.99388953e-01 -1.03781796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48264 meters 0.01588385889113127 Centerline is valid? [True, True] Translation: X:223.09, Y:-31.03, Z:-10.38 [[ 9.80417302e-01 1.93929902e-01 3.42506500e-02 2.23089856e+02] [-1.93803528e-01 9.81015362e-01 -7.00369595e-03 -3.10335455e+01] [-3.49586399e-02 2.28647880e-04 9.99388734e-01 -1.03798231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54264 meters 0.02547641940268056 Centerline is valid? [True, True] Translation: X:223.15, Y:-31.05, Z:-10.38 [[ 9.80829931e-01 1.90521906e-01 4.09151508e-02 2.23145772e+02] [-1.90546165e-01 9.81672547e-01 -3.34210637e-03 -3.10518478e+01] [-4.08020248e-02 -4.51818713e-03 9.99157035e-01 -1.03846590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60264 meters 0.031370932069037905 Centerline is valid? [True, True] Translation: X:223.20, Y:-31.06, Z:-10.39 [[ 9.81295022e-01 1.89780500e-01 3.23023314e-02 2.23204260e+02] [-1.89499966e-01 9.81812637e-01 -1.15632480e-02 -3.10600901e+01] [-3.39093162e-02 5.22566703e-03 9.99411252e-01 -1.03870259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66264 meters 0.03661283494484034 Centerline is valid? [True, True] Translation: X:223.26, Y:-31.07, Z:-10.39 [[ 9.81486588e-01 1.88643811e-01 3.31298871e-02 2.23261360e+02] [-1.88522708e-01 9.82045494e-01 -6.77017554e-03 -3.10744524e+01] [-3.38122081e-02 3.99100451e-04 9.99428124e-01 -1.03899156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72264 meters 0.021181050644016933 Centerline is valid? [True, True] Translation: X:223.32, Y:-31.09, Z:-10.39 [[ 9.81901082e-01 1.86373422e-01 3.36929048e-02 2.23318197e+02] [-1.86246888e-01 9.82478862e-01 -6.88355440e-03 -3.10916466e+01] [-3.43854784e-02 4.83770851e-04 9.99408528e-01 -1.03919167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78264000000001 meters 0.023173416921934673 Centerline is valid? [True, True] Translation: X:223.37, Y:-31.11, Z:-10.40 [[ 9.82254145e-01 1.84607241e-01 3.31203956e-02 2.23374667e+02] [-1.84484028e-01 9.82812231e-01 -6.76481618e-03 -3.11079884e+01] [-3.37999639e-02 5.34584766e-04 9.99428475e-01 -1.03961611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84264000000002 meters 0.023508557931929665 Centerline is valid? [True, True] Translation: X:223.43, Y:-31.12, Z:-10.40 [[ 9.82304623e-01 1.84493058e-01 3.22480980e-02 2.23432020e+02] [-1.84376222e-01 9.82833678e-01 -6.58567879e-03 -3.11223280e+01] [-3.29095288e-02 5.23360245e-04 9.99458198e-01 -1.03997383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90264000000002 meters 0.028693894932830033 Centerline is valid? [True, True] Translation: X:223.49, Y:-31.13, Z:-10.40 [[ 9.81890773e-01 1.86886566e-01 3.10470809e-02 2.23489671e+02] [-1.86779513e-01 9.82381408e-01 -6.33898003e-03 -3.11330104e+01] [-3.16847452e-02 4.25227346e-04 9.99497822e-01 -1.04026536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96264 meters 0.016537616192978822 Centerline is valid? [True, True] Translation: X:223.55, Y:-31.14, Z:-10.40 [[ 9.80617877e-01 1.93144587e-01 3.29203165e-02 2.23550374e+02] [-1.93027818e-01 9.81170278e-01 -6.71922372e-03 -3.11357752e+01] [-3.35982178e-02 2.34454042e-04 9.99435393e-01 -1.04020470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02264 meters 0.015134917156055163 Centerline is valid? [True, True] Translation: X:223.61, Y:-31.14, Z:-10.41 [[ 9.79881796e-01 1.96799528e-01 3.31905387e-02 2.23608045e+02] [-1.96682920e-01 9.80443743e-01 -6.77460622e-03 -3.11418088e+01] [-3.38746953e-02 1.10301231e-04 9.99426082e-01 -1.04055810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08264 meters 0.01440960974427832 Centerline is valid? [True, True] Translation: X:223.67, Y:-31.15, Z:-10.41 [[ 9.79027570e-01 2.01079989e-01 3.27391994e-02 2.23667338e+02] [-2.00968992e-01 9.79574824e-01 -6.68039300e-03 -3.11461055e+01] [-3.34137888e-02 -3.92749781e-05 9.99441603e-01 -1.04068115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14264 meters 0.017259785381765966 Centerline is valid? [True, True] Translation: X:223.72, Y:-31.16, Z:-10.41 [[ 9.78646655e-01 2.02947701e-01 3.26029840e-02 2.23724180e+02] [-2.02838711e-01 9.79189573e-01 -6.65111469e-03 -3.11564427e+01] [-3.32743304e-02 -1.04056105e-04 9.99446251e-01 -1.04113585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20264 meters 0.014798661045370648 Centerline is valid? [True, True] Translation: X:223.78, Y:-31.17, Z:-10.41 [[ 9.78557346e-01 2.03184284e-01 3.37885776e-02 2.23782271e+02] [-2.03067445e-01 9.79140507e-01 -6.89056706e-03 -3.11672666e+01] [-3.44838199e-02 -1.18545100e-04 9.99405249e-01 -1.04114472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26264 meters 0.014253937168733211 Centerline is valid? [True, True] Translation: X:223.84, Y:-31.18, Z:-10.41 [[ 9.78972140e-01 2.01218378e-01 3.35367353e-02 2.23838474e+02] [-2.01102166e-01 9.79546406e-01 -6.83789937e-03 -3.11830989e+01] [-3.42266996e-02 -5.01971493e-05 9.99414094e-01 -1.04135928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32264 meters 0.014240660531053898 Centerline is valid? [True, True] Translation: X:223.89, Y:-31.20, Z:-10.42 [[ 9.79241829e-01 1.99890199e-01 3.36057926e-02 2.23894256e+02] [-1.99772821e-01 9.79818304e-01 -6.84919461e-03 -3.11982049e+01] [-3.42966575e-02 -6.50613085e-06 9.99411697e-01 -1.04166846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38264 meters 0.014275271727936063 Centerline is valid? [True, True] Translation: X:223.95, Y:-31.21, Z:-10.42 [[ 9.79030953e-01 2.00864801e-01 3.39370728e-02 2.23951302e+02] [-2.00745764e-01 9.79618972e-01 -6.91436807e-03 -3.12114974e+01] [-3.46342535e-02 -4.33432479e-05 9.99400053e-01 -1.04176403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44264 meters 0.015142605309803254 Centerline is valid? [True, True] Translation: X:224.01, Y:-31.22, Z:-10.42 [[ 9.78356868e-01 2.04098655e-01 3.40819197e-02 2.24009461e+02] [-2.03980619e-01 9.78950312e-01 -6.94214546e-03 -3.12193872e+01] [-3.47813885e-02 -1.60155396e-04 9.99394932e-01 -1.04196248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50264 meters 0.021714157236514937 Centerline is valid? [True, True] Translation: X:224.07, Y:-31.22, Z:-10.42 [[ 9.76398180e-01 2.13162008e-01 3.47642366e-02 2.24069985e+02] [-2.13045000e-01 9.77016742e-01 -7.07914104e-03 -3.12163085e+01] [-3.54742451e-02 -4.94286349e-04 9.99370469e-01 -1.04221136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56264000000002 meters 0.02368640370726881 Centerline is valid? [True, True] Translation: X:224.13, Y:-31.22, Z:-10.42 [[ 9.75721292e-01 2.16353769e-01 3.40441985e-02 2.24128984e+02] [-2.16243548e-01 9.76314851e-01 -6.93110429e-03 -3.12242668e+01] [-3.47374271e-02 -5.99012229e-04 9.99396294e-01 -1.04245430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62264000000002 meters 0.0325106767595607 Centerline is valid? [True, True] Translation: X:224.19, Y:-31.22, Z:-10.43 [[ 9.74181749e-01 2.23210296e-01 3.38686172e-02 2.24189765e+02] [-2.23105373e-01 9.74769952e-01 -6.89448705e-03 -3.12205938e+01] [-3.45530308e-02 -8.39787033e-04 9.99402513e-01 -1.04303577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68264 meters 0.03175255150045515 Centerline is valid? [True, True] Translation: X:224.25, Y:-31.23, Z:-10.43 [[ 9.73847882e-01 2.24828231e-01 3.27500909e-02 2.24247708e+02] [-2.24731060e-01 9.74398026e-01 -6.66617768e-03 -3.12320143e+01] [-3.34103688e-02 -8.68119615e-04 9.99441341e-01 -1.04327008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74264 meters 0.030169944901640055 Centerline is valid? [True, True] Translation: X:224.30, Y:-31.24, Z:-10.44 [[ 9.73953357e-01 2.24416423e-01 3.24365182e-02 2.24304524e+02] [-2.24215815e-01 9.74490821e-01 -9.74206937e-03 -3.12446005e+01] [-3.37953696e-02 2.21554080e-03 9.99426318e-01 -1.04375481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80264 meters 0.02665239644517439 Centerline is valid? [True, True] Translation: X:224.36, Y:-31.26, Z:-10.44 [[ 9.75366153e-01 2.18241297e-01 3.21185982e-02 2.24361051e+02] [-2.18246492e-01 9.75887800e-01 -3.38677692e-03 -3.12636142e+01] [-3.20832828e-02 -3.70642380e-03 9.99478327e-01 -1.04421814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86264 meters 0.020451733540242708 Centerline is valid? [True, True] Translation: X:224.42, Y:-31.28, Z:-10.44 [[ 9.76086447e-01 2.14909307e-01 3.26992116e-02 2.24416418e+02] [-2.14719277e-01 9.76631931e-01 -9.25757490e-03 -3.12829091e+01] [-3.39246332e-02 2.01504230e-03 9.99422363e-01 -1.04400724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92264 meters 0.020294152106156257 Centerline is valid? [True, True] Translation: X:224.48, Y:-31.30, Z:-10.44 [[ 9.76871749e-01 2.11019192e-01 3.45324137e-02 2.24475109e+02] [-2.10995465e-01 9.77477266e-01 -4.37135192e-03 -3.12959337e+01] [-3.46770885e-02 -3.01593251e-03 9.99394018e-01 -1.04430223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98264 meters 0.02016859132245332 Centerline is valid? [True, True] Translation: X:224.53, Y:-31.30, Z:-10.44 [[ 9.76247119e-01 2.14188893e-01 3.26294432e-02 2.24532736e+02] [-2.13876417e-01 9.76776543e-01 -1.28243137e-02 -3.13035250e+01] [-3.46185003e-02 5.54103093e-03 9.99385239e-01 -1.04436211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04264 meters 0.02351852587024005 Centerline is valid? [True, True] Translation: X:224.59, Y:-31.31, Z:-10.45 [[ 9.76191648e-01 2.13972604e-01 3.55751553e-02 2.24590442e+02] [-2.14075396e-01 9.76816689e-01 -9.38760838e-04 -3.13130845e+01] [-3.49512745e-02 -6.69935497e-03 9.99366563e-01 -1.04491520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10264 meters 0.026131504563405933 Centerline is valid? [True, True] Translation: X:224.65, Y:-31.31, Z:-10.45 [[ 9.75601721e-01 2.16873752e-01 3.41622341e-02 2.24649656e+02] [-2.16763880e-01 9.76199449e-01 -6.93232162e-03 -3.13145149e+01] [-3.48525927e-02 -6.41953495e-04 9.99392258e-01 -1.04522491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16264 meters 0.031199070721715714 Centerline is valid? [True, True] Translation: X:224.71, Y:-31.32, Z:-10.46 [[ 9.74256943e-01 2.22164127e-01 3.82950266e-02 2.24707469e+02] [-2.22240917e-01 9.74989084e-01 -2.29382631e-03 -3.13190908e+01] [-3.78468388e-02 -6.27594563e-03 9.99263844e-01 -1.04599318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22264 meters 0.03359781735893333 Centerline is valid? [True, True] Translation: X:224.77, Y:-31.32, Z:-10.46 [[ 9.74612875e-01 2.21500787e-01 3.26671817e-02 2.24768253e+02] [-2.21221094e-01 9.75150013e-01 -1.19866142e-02 -3.13154168e+01] [-3.45104472e-02 4.45563883e-03 9.99394405e-01 -1.04610597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28264000000001 meters 0.02928930581001171 Centerline is valid? [True, True] Translation: X:224.82, Y:-31.34, Z:-10.46 [[ 9.73880670e-01 2.23350842e-01 4.08759311e-02 2.24820416e+02] [-2.23658676e-01 9.74662725e-01 3.06097522e-03 -3.13360341e+01] [-3.91565750e-02 -1.21232812e-02 9.99159541e-01 -1.04621553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34264000000002 meters 0.032546449295505896 Centerline is valid? [True, True] Translation: X:224.89, Y:-31.32, Z:-10.47 [[ 9.74880680e-01 2.20358867e-01 3.23979821e-02 2.24885973e+02] [-2.19882725e-01 9.75366909e-01 -1.76346273e-02 -3.13248352e+01] [-3.54858662e-02 1.00679008e-02 9.99319464e-01 -1.04668242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40264 meters 0.028438157573213253 Centerline is valid? [True, True] Translation: X:224.94, Y:-31.34, Z:-10.47 [[ 9.75607464e-01 2.16881076e-01 3.39510715e-02 2.24942776e+02] [-2.16773010e-01 9.76197816e-01 -6.87653087e-03 -3.13400503e+01] [-3.46343513e-02 -6.50881127e-04 9.99399839e-01 -1.04717686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46264 meters 0.020860103305607863 Centerline is valid? [True, True] Translation: X:225.00, Y:-31.36, Z:-10.47 [[ 9.76769936e-01 2.11627161e-01 3.36813946e-02 2.25000465e+02] [-2.11517744e-01 9.77350362e-01 -6.82005777e-03 -3.13560076e+01] [-3.43618327e-02 -4.62585214e-04 9.99409351e-01 -1.04724054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52264 meters 0.01863573048055634 Centerline is valid? [True, True] Translation: X:225.05, Y:-31.37, Z:-10.47 [[ 9.76947040e-01 2.10499904e-01 3.55565886e-02 2.25051989e+02] [-2.10423685e-01 9.77592394e-01 -5.91476195e-03 -3.13701345e+01] [-3.60049074e-02 -1.70353925e-03 9.99350161e-01 -1.04749446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58264 meters 0.014552764807956357 Centerline is valid? [True, True] Translation: X:225.11, Y:-31.38, Z:-10.48 [[ 9.78961819e-01 2.00995230e-01 3.51379188e-02 2.25114735e+02] [-2.00833852e-01 9.79591831e-01 -8.09987631e-03 -3.13836130e+01] [-3.60488547e-02 8.72586074e-04 9.99349648e-01 -1.04755485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64264 meters 0.013927457908970436 Centerline is valid? [True, True] Translation: X:225.17, Y:-31.40, Z:-10.48 [[ 9.79603095e-01 1.97816532e-01 3.53043402e-02 2.25171649e+02] [-1.97687543e-01 9.80239062e-01 -7.14256001e-03 -3.13971060e+01] [-3.60196098e-02 1.76456300e-05 9.99351083e-01 -1.04768745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70264 meters 0.014524168677657332 Centerline is valid? [True, True] Translation: X:225.23, Y:-31.41, Z:-10.48 [[ 9.80145947e-01 1.95316452e-01 3.41380479e-02 2.25229020e+02] [-1.95194389e-01 9.80740268e-01 -6.90491412e-03 -3.14082899e+01] [-3.48292015e-02 1.04268186e-04 9.99393274e-01 -1.04820682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76264 meters 0.01611068902259626 Centerline is valid? [True, True] Translation: X:225.28, Y:-31.42, Z:-10.49 [[ 9.80912038e-01 1.91455352e-01 3.40062032e-02 2.25284362e+02] [-1.91331952e-01 9.81501294e-01 -6.87701880e-03 -3.14236500e+01] [-3.46937746e-02 2.39277285e-04 9.99397961e-01 -1.04856313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82264 meters 0.030248333279115497 Centerline is valid? [True, True] Translation: X:225.34, Y:-31.44, Z:-10.49 [[ 9.81802280e-01 1.86949738e-01 3.33778018e-02 2.25341309e+02] [-1.86828372e-01 9.82369404e-01 -6.74644235e-03 -3.14402161e+01] [-3.40505768e-02 3.87752127e-04 9.99420036e-01 -1.04860970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88264 meters 0.028274405653095705 Centerline is valid? [True, True] Translation: X:225.40, Y:-31.46, Z:-10.49 [[ 9.82715543e-01 1.81978622e-01 3.39697448e-02 2.25396667e+02] [-1.81850006e-01 9.83302323e-01 -6.86417925e-03 -3.14608078e+01] [-3.46516628e-02 5.68137339e-04 9.99399289e-01 -1.04890444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94264 meters 0.023089668460397502 Centerline is valid? [True, True] Translation: X:225.45, Y:-31.48, Z:-10.49 [[ 9.82806792e-01 1.81368859e-01 3.45853582e-02 2.25452404e+02] [-1.81235190e-01 9.83414957e-01 -6.98771519e-03 -3.14751358e+01] [-3.52791124e-02 5.99489986e-04 9.99377319e-01 -1.04927831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00264 meters 0.02521639887916678 Centerline is valid? [True, True] Translation: X:225.51, Y:-31.49, Z:-10.49 [[ 9.82535080e-01 1.82950120e-01 3.39716039e-02 2.25509970e+02] [-1.82822196e-01 9.83122054e-01 -6.86093378e-03 -3.14860380e+01] [-3.46534416e-02 5.30344912e-04 9.99399248e-01 -1.04933541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06264000000002 meters 0.01956327298645429 Centerline is valid? [True, True] Translation: X:225.57, Y:-31.50, Z:-10.50 [[ 9.82044726e-01 1.85362234e-01 3.50570837e-02 2.25566750e+02] [-1.85227598e-01 9.82670155e-01 -7.07844147e-03 -3.14966814e+01] [-3.57616256e-02 4.57806717e-04 9.99360244e-01 -1.04973063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12264000000002 meters 0.017759766719759353 Centerline is valid? [True, True] Translation: X:225.62, Y:-31.51, Z:-10.50 [[ 9.81602118e-01 1.87602108e-01 3.55349407e-02 2.25624160e+02] [-1.87465328e-01 9.82245033e-01 -7.17253395e-03 -3.15095427e+01] [-3.62496015e-02 3.79005197e-04 9.99342695e-01 -1.04991480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18264 meters 0.01805303258017898 Centerline is valid? [True, True] Translation: X:225.68, Y:-31.53, Z:-10.50 [[ 9.81532949e-01 1.87995686e-01 3.53651110e-02 2.25678538e+02] [-1.87860516e-01 9.82169787e-01 -7.13689317e-03 -3.15265526e+01] [-3.60762486e-02 3.61387815e-04 9.99348975e-01 -1.05039691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24264 meters 0.01707571254865046 Centerline is valid? [True, True] Translation: X:225.73, Y:-31.54, Z:-10.51 [[ 9.81289645e-01 1.89287257e-01 3.52273609e-02 2.25734447e+02] [-1.89154094e-01 9.81921707e-01 -7.10562193e-03 -3.15449183e+01] [-3.59355140e-02 3.09273680e-04 9.99354063e-01 -1.05071555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30264 meters 0.014698094231670433 Centerline is valid? [True, True] Translation: X:225.79, Y:-31.56, Z:-10.51 [[ 9.80332666e-01 1.94184319e-01 3.52180920e-02 2.25792306e+02] [-1.94054445e-01 9.80965052e-01 -7.10203080e-03 -3.15557476e+01] [-3.59268205e-02 1.28125499e-04 9.99354415e-01 -1.05084648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36264 meters 0.014160350903456095 Centerline is valid? [True, True] Translation: X:225.85, Y:-31.56, Z:-10.51 [[ 9.79343808e-01 1.99059302e-01 3.55119635e-02 2.25850545e+02] [-1.98930515e-01 9.79987445e-01 -7.15951723e-03 -3.15649992e+01] [-3.62264468e-02 -5.27842998e-05 9.99343605e-01 -1.05106384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42264 meters 0.01488744943461327 Centerline is valid? [True, True] Translation: X:225.91, Y:-31.57, Z:-10.51 [[ 9.78742737e-01 2.01924996e-01 3.59019550e-02 2.25907916e+02] [-2.01795342e-01 9.79400975e-01 -7.23672159e-03 -3.15740335e+01] [-3.66236847e-02 -1.61958583e-04 9.99329115e-01 -1.05129508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48264 meters 0.02252082625844497 Centerline is valid? [True, True] Translation: X:225.97, Y:-31.57, Z:-10.52 [[ 9.76623822e-01 2.11910012e-01 3.60563139e-02 2.25967916e+02] [-2.11786170e-01 9.77289032e-01 -7.26396294e-03 -3.15718522e+01] [-3.67767466e-02 -5.42069394e-04 9.99323360e-01 -1.05167710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54264 meters 0.03228148485589877 Centerline is valid? [True, True] Translation: X:226.03, Y:-31.57, Z:-10.52 [[ 9.74885161e-01 2.19786098e-01 3.59582153e-02 2.26029845e+02] [-2.19668337e-01 9.75547727e-01 -7.24246957e-03 -3.15712823e+01] [-3.66707493e-02 -8.38305238e-04 9.99327050e-01 -1.05190233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60264 meters 0.033587214855141045 Centerline is valid? [True, True] Translation: X:226.09, Y:-31.58, Z:-10.52 [[ 9.74338720e-01 2.22235988e-01 3.57102774e-02 2.26088980e+02] [-2.22121479e-01 9.74992468e-01 -7.19279609e-03 -3.15788258e+01] [-3.64157496e-02 -9.23799899e-04 9.99336300e-01 -1.05247870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66264 meters 0.029076049672537872 Centerline is valid? [True, True] Translation: X:226.15, Y:-31.59, Z:-10.53 [[ 9.74892985e-01 2.19672141e-01 3.64392481e-02 2.26150199e+02] [-2.19385352e-01 9.75567651e-01 -1.17399310e-02 -3.15925117e+01] [-3.81278874e-02 3.45093907e-03 9.99266909e-01 -1.05272714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72264 meters 0.030825467133437666 Centerline is valid? [True, True] Translation: X:226.20, Y:-31.61, Z:-10.53 [[ 9.75790499e-01 2.15589774e-01 3.67960699e-02 2.26202240e+02] [-2.15618239e-01 9.76472363e-01 -3.24022182e-03 -3.16122435e+01] [-3.66289040e-02 -4.77212612e-03 9.99317542e-01 -1.05308804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78264000000001 meters 0.02174322312096443 Centerline is valid? [True, True] Translation: X:226.26, Y:-31.64, Z:-10.53 [[ 9.77475359e-01 2.08066137e-01 3.53610780e-02 2.26258286e+02] [-2.07944742e-01 9.78114679e-01 -7.11746586e-03 -3.16351734e+01] [-3.60680931e-02 -3.96002750e-04 9.99349256e-01 -1.05342743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84264000000002 meters 0.015703619109986723 Centerline is valid? [True, True] Translation: X:226.31, Y:-31.65, Z:-10.54 [[ 9.78513729e-01 2.03212749e-01 3.48634731e-02 2.26314289e+02] [-2.03091686e-01 9.79134584e-01 -7.01672689e-03 -3.16538296e+01] [-3.55619206e-02 -2.14517939e-04 9.99367452e-01 -1.05385133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90264 meters 0.029527915058970455 Centerline is valid? [True, True] Translation: X:226.37, Y:-31.67, Z:-10.54 [[ 9.79839072e-01 1.96847144e-01 3.41554625e-02 2.26369860e+02] [-1.96727137e-01 9.80434190e-01 -6.87253989e-03 -3.16746050e+01] [-3.48400231e-02 1.46767391e-05 9.99392902e-01 -1.05415099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96264 meters 0.014673334721722874 Centerline is valid? [True, True] Translation: X:226.43, Y:-31.69, Z:-10.55 [[ 9.80396325e-01 1.93898257e-01 3.50216011e-02 2.26425216e+02] [-1.93770264e-01 9.81021637e-01 -7.04509629e-03 -3.16897216e+01] [-3.57229803e-02 1.20841612e-04 9.99361723e-01 -1.05450416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02264 meters 0.02486743934673252 Centerline is valid? [True, True] Translation: X:226.48, Y:-31.70, Z:-10.54 [[ 9.80641327e-01 1.92349228e-01 3.66655524e-02 2.26482562e+02] [-1.92207947e-01 9.81326521e-01 -7.37321297e-03 -3.17016826e+01] [-3.73991108e-02 1.83066801e-04 9.99300392e-01 -1.05437421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08264 meters 0.013741530712324588 Centerline is valid? [True, True] Translation: X:226.54, Y:-31.71, Z:-10.55 [[ 9.80290005e-01 1.94172737e-01 3.64479787e-02 2.26540532e+02] [-1.94034455e-01 9.80967347e-01 -7.32765607e-03 -3.17096238e+01] [-3.71771080e-02 1.11064329e-04 9.99308686e-01 -1.05475414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14264 meters 0.013682290981316361 Centerline is valid? [True, True] Translation: X:226.60, Y:-31.72, Z:-10.55 [[ 9.80028520e-01 1.95494390e-01 3.64148759e-02 2.26597978e+02] [-1.95357336e-01 9.80704818e-01 -7.31922646e-03 -3.17180186e+01] [-3.71431119e-02 5.91375242e-05 9.99309955e-01 -1.05513977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20264 meters 0.013632639839564418 Centerline is valid? [True, True] Translation: X:226.66, Y:-31.72, Z:-10.55 [[ 9.79606969e-01 1.97593879e-01 3.64258915e-02 2.26655093e+02] [-1.97458271e-01 9.80283968e-01 -7.31933725e-03 -3.17243466e+01] [-3.71539737e-02 -2.25197769e-05 9.99309553e-01 -1.05540838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26264 meters 0.014591418064030241 Centerline is valid? [True, True] Translation: X:226.71, Y:-31.73, Z:-10.56 [[ 9.78972640e-01 2.00915077e-01 3.52945010e-02 2.26714094e+02] [-2.00790046e-01 9.79608651e-01 -7.08853041e-03 -3.17278527e+01] [-3.59989912e-02 -1.47307172e-04 9.99351815e-01 -1.05590848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32264 meters 0.015839822758007292 Centerline is valid? [True, True] Translation: X:226.77, Y:-31.73, Z:-10.56 [[ 9.78582723e-01 2.02752344e-01 3.55997351e-02 2.26771869e+02] [-2.02626417e-01 9.79230024e-01 -7.14812292e-03 -3.17343192e+01] [-3.63096281e-02 -2.18417182e-04 9.99340564e-01 -1.05632115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38264 meters 0.015897228724826355 Centerline is valid? [True, True] Translation: X:226.83, Y:-31.74, Z:-10.56 [[ 9.78491569e-01 2.03224784e-01 3.54109651e-02 2.26830442e+02] [-2.03100585e-01 9.79132081e-01 -7.10783758e-03 -3.17406289e+01] [-3.61165007e-02 -2.37028562e-04 9.99347558e-01 -1.05646262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44264 meters 0.016137691168716963 Centerline is valid? [True, True] Translation: X:226.89, Y:-31.75, Z:-10.57 [[ 9.78371018e-01 2.03699512e-01 3.60091544e-02 2.26888791e+02] [-2.03571469e-01 9.79033422e-01 -7.22606809e-03 -3.17479270e+01] [-3.67261122e-02 -2.60660851e-04 9.99325335e-01 -1.05663095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50264 meters 0.017813941896552006 Centerline is valid? [True, True] Translation: X:226.95, Y:-31.75, Z:-10.57 [[ 9.77903058e-01 2.05983176e-01 3.57287059e-02 2.26948027e+02] [-2.05858707e-01 9.78555472e-01 -7.16803198e-03 -3.17510155e+01] [-3.64390146e-02 -3.45424807e-04 9.99335819e-01 -1.05699075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56264000000002 meters 0.019537956748878867 Centerline is valid? [True, True] Translation: X:227.01, Y:-31.75, Z:-10.57 [[ 9.77503467e-01 2.07938391e-01 3.53354874e-02 2.27007388e+02] [-2.07817937e-01 9.78141837e-01 -7.08879700e-03 -3.17546779e+01] [-3.60371516e-02 -4.14024428e-04 9.99350365e-01 -1.05740674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62264000000002 meters 0.020368055967895343 Centerline is valid? [True, True] Translation: X:227.07, Y:-31.76, Z:-10.58 [[ 9.77203487e-01 2.09290444e-01 3.56490489e-02 2.27067103e+02] [-2.09168966e-01 9.77853407e-01 -7.14553205e-03 -3.17576684e+01] [-3.63550355e-02 -4.74035840e-04 9.99338825e-01 -1.05765570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68264 meters 0.0212051106690801 Centerline is valid? [True, True] Translation: X:227.12, Y:-31.76, Z:-10.58 [[ 9.77314453e-01 2.08748334e-01 3.57853753e-02 2.27124653e+02] [-2.08625836e-01 9.77969283e-01 -7.16533286e-03 -3.17622541e+01] [-3.64927491e-02 -4.62970462e-04 9.99333811e-01 -1.05805708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74264 meters 0.016079372142116435 Centerline is valid? [True, True] Translation: X:227.18, Y:-31.78, Z:-10.58 [[ 9.78305231e-01 2.03834254e-01 3.70198880e-02 2.27181498e+02] [-2.03699730e-01 9.79005369e-01 -7.40999989e-03 -3.17775283e+01] [-3.77530809e-02 -2.91699550e-04 9.99287056e-01 -1.05798153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80264 meters 0.01359088776755932 Centerline is valid? [True, True] Translation: X:227.24, Y:-31.80, Z:-10.58 [[ 9.79486406e-01 1.98125155e-01 3.67804843e-02 2.27237633e+02] [-1.97988406e-01 9.80176728e-01 -7.36025398e-03 -3.17952417e+01] [-3.75096262e-02 -7.28407464e-05 9.99296264e-01 -1.05824481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86264 meters 0.015961964334385265 Centerline is valid? [True, True] Translation: X:227.29, Y:-31.82, Z:-10.59 [[ 9.81342561e-01 1.88882963e-01 3.59166267e-02 2.27291493e+02] [-1.88746426e-01 9.81999568e-01 -7.18573671e-03 -3.18191007e+01] [-3.66273751e-02 2.72534359e-04 9.99328955e-01 -1.05879341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92264 meters 0.020302572474416258 Centerline is valid? [True, True] Translation: X:227.35, Y:-31.84, Z:-10.59 [[ 9.82693625e-01 1.81826721e-01 3.53876175e-02 2.27347888e+02] [-1.81689691e-01 9.83330447e-01 -7.07732020e-03 -3.18411313e+01] [-3.60845677e-02 5.25272133e-04 9.99348602e-01 -1.05909807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98264 meters 0.021799877861378644 Centerline is valid? [True, True] Translation: X:227.40, Y:-31.86, Z:-10.59 [[ 9.83118272e-01 1.79502162e-01 3.54603710e-02 2.27404573e+02] [-1.79363079e-01 9.83757389e-01 -7.09124660e-03 -3.18573515e+01] [-3.61572961e-02 6.11252786e-04 9.99345924e-01 -1.05931298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04264 meters 0.021854907649541285 Centerline is valid? [True, True] Translation: X:227.46, Y:-31.87, Z:-10.60 [[ 9.83122369e-01 1.79392993e-01 3.58965296e-02 2.27461341e+02] [-1.79250461e-01 9.83777296e-01 -7.17661240e-03 -3.18725231e+01] [-3.66016248e-02 6.21018702e-04 9.99329743e-01 -1.05953329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10264 meters 0.024282903102171117 Centerline is valid? [True, True] Translation: X:227.52, Y:-31.88, Z:-10.60 [[ 9.82629029e-01 1.82279563e-01 3.48475621e-02 2.27518292e+02] [-1.82147117e-01 9.83246619e-01 -6.96519605e-03 -3.18846669e+01] [-3.55333605e-02 4.96820883e-04 9.99368367e-01 -1.05992949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16264 meters 0.017630097198919135 Centerline is valid? [True, True] Translation: X:227.58, Y:-31.90, Z:-10.60 [[ 9.81958485e-01 1.85746547e-01 3.54366113e-02 2.27575685e+02] [-1.85611904e-01 9.82597618e-01 -7.08109870e-03 -3.18951931e+01] [-3.61352195e-02 3.75888036e-04 9.99346839e-01 -1.06023812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22264 meters 0.0145011033752202 Centerline is valid? [True, True] Translation: X:227.63, Y:-31.90, Z:-10.61 [[ 9.80749874e-01 1.91918506e-01 3.60134957e-02 2.27633977e+02] [-1.91783664e-01 9.81410854e-01 -7.19454267e-03 -3.19008815e+01] [-3.67248014e-02 1.49246647e-04 9.99325406e-01 -1.06055046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28264000000001 meters 0.015705544562671234 Centerline is valid? [True, True] Translation: X:227.70, Y:-31.90, Z:-10.61 [[ 9.79319600e-01 2.00065661e-01 3.01139757e-02 2.27698203e+02] [-1.99562123e-01 9.79702517e-01 -1.89192428e-02 -3.18961947e+01] [-3.32878286e-02 1.25183763e-02 9.99367405e-01 -1.06059801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34264000000002 meters 0.014970607978498479 Centerline is valid? [True, True] Translation: X:227.75, Y:-31.92, Z:-10.61 [[ 9.78864526e-01 2.00755358e-01 3.90067481e-02 2.27749516e+02] [-2.01091228e-01 9.79560529e-01 4.84647764e-03 -3.19194235e+01] [-3.72365144e-02 -1.25879599e-02 9.99227194e-01 -1.06100785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40264 meters 0.018168674094580162 Centerline is valid? [True, True] Translation: X:227.81, Y:-31.92, Z:-10.61 [[ 9.77900906e-01 2.05730047e-01 3.72151140e-02 2.27808902e+02] [-2.05596510e-01 9.78608703e-01 -7.42175424e-03 -3.19158962e+01] [-3.79459123e-02 -3.93557347e-04 9.99279717e-01 -1.06115528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46264 meters 0.02118257979465639 Centerline is valid? [True, True] Translation: X:227.87, Y:-31.92, Z:-10.62 [[ 9.77216639e-01 2.08949733e-01 3.72511577e-02 2.27867795e+02] [-2.08818321e-01 9.77926244e-01 -7.42765984e-03 -3.19223522e+01] [-3.79808922e-02 -5.20291424e-04 9.99278330e-01 -1.06152100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52264 meters 0.022034107443079144 Centerline is valid? [True, True] Translation: X:227.92, Y:-31.93, Z:-10.62 [[ 9.77174878e-01 2.09165085e-01 3.71379174e-02 2.27924990e+02] [-2.09034896e-01 9.77880198e-01 -7.39799870e-03 -3.19318719e+01] [-3.78638370e-02 -5.33982210e-04 9.99282765e-01 -1.06194734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58264 meters 0.023611480444862238 Centerline is valid? [True, True] Translation: X:227.98, Y:-31.95, Z:-10.62 [[ 9.77741831e-01 2.06579583e-01 3.66849677e-02 2.27981264e+02] [-2.06450870e-01 9.78429706e-01 -7.30406518e-03 -3.19482320e+01] [-3.74025329e-02 -4.32153405e-04 9.99300187e-01 -1.06210395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64264 meters 0.014239907158821626 Centerline is valid? [True, True] Translation: X:228.04, Y:-31.97, Z:-10.62 [[ 9.79076541e-01 2.00002985e-01 3.75224196e-02 2.28036563e+02] [-1.99863565e-01 9.79795270e-01 -7.46891220e-03 -3.19716710e+01] [-3.82580940e-02 -1.86727801e-04 9.99267874e-01 -1.06232242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70264 meters 0.013345080743306745 Centerline is valid? [True, True] Translation: X:228.09, Y:-31.99, Z:-10.63 [[ 9.80135527e-01 1.94794584e-01 3.72749099e-02 2.28091025e+02] [-1.94653296e-01 9.80844060e-01 -7.41785869e-03 -3.19919803e+01] [-3.80058326e-02 1.48227747e-05 9.99277517e-01 -1.06268900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76264 meters 0.015846421677105805 Centerline is valid? [True, True] Translation: X:228.15, Y:-32.02, Z:-10.63 [[ 9.81525521e-01 1.87700662e-01 3.70960037e-02 2.28145069e+02] [-1.87555740e-01 9.82226236e-01 -7.38004685e-03 -3.20171106e+01] [-3.78219078e-02 2.86135913e-04 9.99284455e-01 -1.06305008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82264 meters 0.028163364451312914 Centerline is valid? [True, True] Translation: X:228.20, Y:-32.04, Z:-10.63 [[ 9.82168953e-01 1.84475911e-01 3.62323864e-02 2.28201338e+02] [-1.84335572e-01 9.82836955e-01 -7.20532791e-03 -3.20362639e+01] [-3.69397378e-02 3.97931682e-04 9.99317416e-01 -1.06328780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88264 meters 0.01951355066129675 Centerline is valid? [True, True] Translation: X:228.26, Y:-32.06, Z:-10.63 [[ 9.82492368e-01 1.82291716e-01 3.84509809e-02 2.28257361e+02] [-1.82132064e-01 9.83244361e-01 -7.64452325e-03 -3.20561283e+01] [-3.92002434e-02 5.07529252e-04 9.99231246e-01 -1.06344538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94264 meters 0.01931932835358921 Centerline is valid? [True, True] Translation: X:228.31, Y:-32.07, Z:-10.64 [[ 9.82464898e-01 1.82393806e-01 3.86681265e-02 2.28313996e+02] [-1.82232498e-01 9.83225430e-01 -7.68578775e-03 -3.20704490e+01] [-3.94213254e-02 5.04427378e-04 9.99222550e-01 -1.06370672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00264 meters 0.01745698370511211 Centerline is valid? [True, True] Translation: X:228.37, Y:-32.08, Z:-10.64 [[ 9.81963819e-01 1.85321203e-01 3.74581004e-02 2.28370379e+02] [-1.85172028e-01 9.82677929e-01 -7.44362956e-03 -3.20837743e+01] [-3.81887109e-02 3.73182487e-04 9.99270475e-01 -1.06428076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06264000000002 meters 0.01463670303500321 Centerline is valid? [True, True] Translation: X:228.43, Y:-32.09, Z:-10.65 [[ 9.81223959e-01 1.89366985e-01 3.66017259e-02 2.28429042e+02] [-1.89227454e-01 9.81906361e-01 -7.27111568e-03 -3.20910550e+01] [-3.73163767e-02 2.08541510e-04 9.99303480e-01 -1.06457611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12264000000002 meters 0.013784207814470513 Centerline is valid? [True, True] Translation: X:228.49, Y:-32.10, Z:-10.65 [[ 9.80282675e-01 1.94342643e-01 3.57325235e-02 2.28487717e+02] [-1.94213028e-01 9.80933707e-01 -7.09668034e-03 -3.20974895e+01] [-3.64304244e-02 1.70311892e-05 9.99336192e-01 -1.06504521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18264 meters 0.016221250659411737 Centerline is valid? [True, True] Translation: X:228.55, Y:-32.10, Z:-10.66 [[ 9.78960601e-01 2.01071194e-01 3.47349577e-02 2.28546061e+02] [-2.00953000e-01 9.79576604e-01 -6.89701376e-03 -3.21002117e+01] [-3.54123427e-02 -2.28189216e-04 9.99372760e-01 -1.06562033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24264 meters 0.01829274289984076 Centerline is valid? [True, True] Translation: X:228.60, Y:-32.11, Z:-10.66 [[ 9.78310134e-01 2.04176802e-01 3.49444502e-02 2.28604591e+02] [-2.04059241e-01 9.78933968e-01 -6.93625205e-03 -3.21068624e+01] [-3.56245311e-02 -3.44932330e-04 9.99365185e-01 -1.06587938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30264 meters 0.020679043419747672 Centerline is valid? [True, True] Translation: X:228.66, Y:-32.11, Z:-10.66 [[ 9.77815837e-01 2.06270450e-01 3.64512120e-02 2.28662308e+02] [-2.06144048e-01 9.78494919e-01 -7.23356812e-03 -3.21145270e+01] [-3.71593971e-02 -4.41102942e-04 9.99309254e-01 -1.06598245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36264 meters 0.018038908961811224 Centerline is valid? [True, True] Translation: X:228.72, Y:-32.13, Z:-10.66 [[ 9.78089659e-01 2.05038795e-01 3.60515054e-02 2.28719252e+02] [-2.04914398e-01 9.78753768e-01 -7.15198510e-03 -3.21304068e+01] [-3.67519812e-02 -3.92189857e-04 9.99324341e-01 -1.06609910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42264 meters 0.015632042493258468 Centerline is valid? [True, True] Translation: X:228.77, Y:-32.15, Z:-10.67 [[ 9.78954069e-01 2.00929857e-01 3.57228773e-02 2.28774111e+02] [-2.00805042e-01 9.79605602e-01 -7.08511597e-03 -3.21483953e+01] [-3.64179421e-02 -2.37330759e-04 9.99336619e-01 -1.06655270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48264 meters 0.01420356949919066 Centerline is valid? [True, True] Translation: X:228.83, Y:-32.17, Z:-10.67 [[ 9.79785423e-01 1.96850826e-01 3.56409597e-02 2.28828885e+02] [-1.96723965e-01 9.80433447e-01 -7.06661795e-03 -3.21671503e+01] [-3.63346585e-02 -8.76616419e-05 9.99339674e-01 -1.06694987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54264 meters 0.014515170151489707 Centerline is valid? [True, True] Translation: X:228.88, Y:-32.19, Z:-10.67 [[ 9.81198388e-01 1.89552678e-01 3.63249955e-02 2.28883429e+02] [-1.89415982e-01 9.81870536e-01 -7.19981636e-03 -3.21927450e+01] [-3.70311873e-02 1.83913512e-04 9.99314093e-01 -1.06704900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60264 meters 0.017060125845929874 Centerline is valid? [True, True] Translation: X:228.94, Y:-32.21, Z:-10.67 [[ 9.81959437e-01 1.85713113e-01 3.55851506e-02 2.28938620e+02] [-1.85579471e-01 9.82603957e-01 -7.05145451e-03 -3.22126530e+01] [-3.62756573e-02 3.20368907e-04 9.99341770e-01 -1.06741249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66264 meters 0.017784157941158885 Centerline is valid? [True, True] Translation: X:229.00, Y:-32.23, Z:-10.68 [[ 9.82439857e-01 1.83312438e-01 3.47631564e-02 2.28997032e+02] [-1.83183477e-01 9.83054623e-01 -6.88634564e-03 -3.22304528e+01] [-3.54364345e-02 3.97384570e-04 9.99371853e-01 -1.06770553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72264 meters 0.017662182615658086 Centerline is valid? [True, True] Translation: X:229.06, Y:-32.25, Z:-10.68 [[ 9.82508000e-01 1.82012163e-01 3.93649923e-02 2.29058149e+02] [-1.81937622e-01 9.83294704e-01 -5.49795419e-03 -3.22472621e+01] [-3.97080830e-02 -1.76018910e-03 9.99209773e-01 -1.06783922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78264000000001 meters 0.017408144018551057 Centerline is valid? [True, True] Translation: X:229.11, Y:-32.26, Z:-10.68 [[ 9.82279925e-01 1.83671889e-01 3.72932335e-02 2.29114476e+02] [-1.83418335e-01 9.82982658e-01 -1.01394747e-02 -3.22592674e+01] [-3.85209382e-02 3.11953967e-03 9.99252924e-01 -1.06787091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84264000000002 meters 0.01681237133308525 Centerline is valid? [True, True] Translation: X:229.17, Y:-32.27, Z:-10.68 [[ 9.82082093e-01 1.84614481e-01 3.78451642e-02 2.29173068e+02] [-1.84462435e-01 9.82810940e-01 -7.50102711e-03 -3.22749860e+01] [-3.85794397e-02 3.85613251e-04 9.99255462e-01 -1.06812087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90264 meters 0.01658983433700317 Centerline is valid? [True, True] Translation: X:229.23, Y:-32.29, Z:-10.69 [[ 9.81650176e-01 1.86979850e-01 3.74361935e-02 2.29230984e+02] [-1.86832787e-01 9.82363707e-01 -7.42008241e-03 -3.22882819e+01] [-3.81633637e-02 2.89616816e-04 9.99271472e-01 -1.06869890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96264 meters 0.02626053082265691 Centerline is valid? [True, True] Translation: X:229.29, Y:-32.30, Z:-10.69 [[ 9.81180937e-01 1.89544471e-01 3.68356152e-02 2.29289751e+02] [-1.89403910e-01 9.81872119e-01 -7.30070810e-03 -3.22968502e+01] [-3.75516724e-02 1.86506080e-04 9.99294670e-01 -1.06893875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02264 meters 0.013385976647451567 Centerline is valid? [True, True] Translation: X:229.35, Y:-32.30, Z:-10.69 [[ 9.80296006e-01 1.93995103e-01 3.72241834e-02 2.29348725e+02] [-1.93854791e-01 9.81002497e-01 -7.37701762e-03 -3.23017525e+01] [-3.79481221e-02 1.55746403e-05 9.99279710e-01 -1.06900032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08264 meters 0.013575546284894728 Centerline is valid? [True, True] Translation: X:229.41, Y:-32.31, Z:-10.69 [[ 9.79692353e-01 1.96788300e-01 3.84351298e-02 2.29407038e+02] [-1.96640931e-01 9.80445998e-01 -7.61504807e-03 -3.23095232e+01] [-3.91821216e-02 -9.75153366e-05 9.99232081e-01 -1.06908030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14264 meters 0.014479842349193615 Centerline is valid? [True, True] Translation: X:229.47, Y:-32.32, Z:-10.69 [[ 9.79285718e-01 1.98861089e-01 3.81280737e-02 2.29465138e+02] [-1.98717707e-01 9.80027670e-01 -7.55237651e-03 -3.23162051e+01] [-3.88684411e-02 -1.80788919e-04 9.99244320e-01 -1.06943147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20264 meters 0.014458304411784693 Centerline is valid? [True, True] Translation: X:229.52, Y:-32.33, Z:-10.70 [[ 9.79340974e-01 1.98679665e-01 3.76516655e-02 2.29522389e+02] [-1.98539780e-01 9.80064468e-01 -7.45619981e-03 -3.23279783e+01] [-3.83824547e-02 -1.73191398e-04 9.99263107e-01 -1.06982275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26264 meters 0.014228600976224144 Centerline is valid? [True, True] Translation: X:229.58, Y:-32.34, Z:-10.70 [[ 9.79469485e-01 1.98213052e-01 3.67575051e-02 2.29580392e+02] [-1.98079470e-01 9.80158948e-01 -7.27741012e-03 -3.23400417e+01] [-3.74706752e-02 -1.52905997e-04 9.99297716e-01 -1.07010991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32264 meters 0.01375303524737602 Centerline is valid? [True, True] Translation: X:229.64, Y:-32.35, Z:-10.71 [[ 9.79859573e-01 1.96243788e-01 3.69268507e-02 2.29636581e+02] [-1.96107641e-01 9.80555133e-01 -7.30917781e-03 -3.23520531e+01] [-3.76431938e-02 -7.96697096e-05 9.99291241e-01 -1.07052111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38264 meters 0.013497260754103277 Centerline is valid? [True, True] Translation: X:229.69, Y:-32.36, Z:-10.71 [[ 9.80109821e-01 1.95103143e-01 3.63249473e-02 2.29694540e+02] [-1.94970702e-01 9.80782729e-01 -7.18770002e-03 -3.23645202e+01] [-3.70292238e-02 -3.75650795e-05 9.99314182e-01 -1.07072696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44264 meters 0.013300386784963574 Centerline is valid? [True, True] Translation: X:229.75, Y:-32.38, Z:-10.71 [[ 9.80409985e-01 1.93515258e-01 3.67165512e-02 2.29751613e+02] [-1.93378903e-01 9.81097265e-01 -7.26329125e-03 -3.23763917e+01] [-3.74280657e-02 2.07968635e-05 9.99299324e-01 -1.07098790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50264 meters 0.013692003128764415 Centerline is valid? [True, True] Translation: X:229.81, Y:-32.39, Z:-10.71 [[ 9.80634455e-01 1.92272110e-01 3.72491917e-02 2.29807961e+02] [-1.92130939e-01 9.81341649e-01 -7.36687278e-03 -3.23878487e+01] [-3.79706273e-02 6.74870837e-05 9.99278853e-01 -1.07137236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56264000000002 meters 0.013839734041718024 Centerline is valid? [True, True] Translation: X:229.87, Y:-32.40, Z:-10.72 [[ 9.81032668e-01 1.90281546e-01 3.69842921e-02 2.29865759e+02] [-1.90141072e-01 9.81729552e-01 -7.31160873e-03 -3.24011944e+01] [-3.76998367e-02 1.40694086e-04 9.99289099e-01 -1.07160312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62264000000002 meters 0.01595979281718896 Centerline is valid? [True, True] Translation: X:229.92, Y:-32.42, Z:-10.72 [[ 9.81905990e-01 1.85918136e-01 3.59871372e-02 2.29923618e+02] [-1.85782247e-01 9.82565192e-01 -7.11333336e-03 -3.24194602e+01] [-3.66822061e-02 2.98853426e-04 9.99326937e-01 -1.07204561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68264 meters 0.017939832332947176 Centerline is valid? [True, True] Translation: X:229.98, Y:-32.44, Z:-10.73 [[ 9.82352833e-01 1.83579788e-01 3.57962763e-02 2.29980850e+02] [-1.83443779e-01 9.83004737e-01 -7.07574201e-03 -3.24363934e+01] [-3.64868724e-02 3.84271022e-04 9.99334059e-01 -1.07250403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74264 meters 0.018795808661536902 Centerline is valid? [True, True] Translation: X:230.04, Y:-32.45, Z:-10.73 [[ 9.82572757e-01 1.82451248e-01 3.55291474e-02 2.30040004e+02] [-1.82316545e-01 9.83214811e-01 -7.02236047e-03 -3.24505451e+01] [-3.62140224e-02 4.22428676e-04 9.99343968e-01 -1.07286466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80264 meters 0.023034530571820068 Centerline is valid? [True, True] Translation: X:230.10, Y:-32.46, Z:-10.73 [[ 9.82416093e-01 1.83314934e-01 3.54154766e-02 2.30099173e+02] [-1.83181653e-01 9.83054161e-01 -6.99989335e-03 -3.24614105e+01] [-3.60985166e-02 3.89342314e-04 9.99348160e-01 -1.07328428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86264 meters 0.017276511426582687 Centerline is valid? [True, True] Translation: X:230.16, Y:-32.47, Z:-10.73 [[ 9.82286499e-01 1.83812063e-01 3.64192267e-02 2.30158797e+02] [-1.83671459e-01 9.82961332e-01 -7.19828526e-03 -3.24729316e+01] [-3.71218233e-02 3.81605906e-04 9.99310675e-01 -1.07323783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92264 meters 0.018043810982343745 Centerline is valid? [True, True] Translation: X:230.22, Y:-32.49, Z:-10.74 [[ 9.82345661e-01 1.83376777e-01 3.70129717e-02 2.30216306e+02] [-1.83231236e-01 9.83042621e-01 -7.31575878e-03 -3.24863992e+01] [-3.77268690e-02 4.04671326e-04 9.99288006e-01 -1.07350485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98264 meters 0.019488731240197 Centerline is valid? [True, True] Translation: X:230.27, Y:-32.50, Z:-10.74 [[ 9.82607685e-01 1.82007015e-01 3.68182655e-02 2.30274084e+02] [-1.81862084e-01 9.83297127e-01 -7.27610986e-03 -3.25022325e+01] [-3.75275977e-02 4.53714983e-04 9.99295489e-01 -1.07385457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04264 meters 0.020235312357136936 Centerline is valid? [True, True] Translation: X:230.33, Y:-32.52, Z:-10.74 [[ 9.82876181e-01 1.80906705e-01 3.50310800e-02 2.30333810e+02] [-1.80774724e-01 9.83500147e-01 -6.92529903e-03 -3.25173245e+01] [-3.57059054e-02 4.73977653e-04 9.99362228e-01 -1.07440593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10264 meters 0.019862381021223306 Centerline is valid? [True, True] Translation: X:230.39, Y:-32.53, Z:-10.75 [[ 9.82921219e-01 1.80637529e-01 3.51562145e-02 2.30394492e+02] [-1.80504463e-01 9.83549616e-01 -6.94916216e-03 -3.25331824e+01] [-3.58331608e-02 4.84625337e-04 9.99357669e-01 -1.07460524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16264 meters 0.020161759217859107 Centerline is valid? [True, True] Translation: X:230.45, Y:-32.55, Z:-10.75 [[ 9.82726857e-01 1.81724283e-01 3.49887019e-02 2.30454251e+02] [-1.81592943e-01 9.83349421e-01 -6.92239731e-03 -3.25470374e+01] [-3.56640874e-02 4.49124407e-04 9.99363733e-01 -1.07508452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22264 meters 0.01986381354723856 Centerline is valid? [True, True] Translation: X:230.51, Y:-32.56, Z:-10.76 [[ 9.82573109e-01 1.82786957e-01 3.37492929e-02 2.30512749e+02] [-1.82665140e-01 9.83152463e-01 -6.68436617e-03 -3.25616136e+01] [-3.44025154e-02 4.03059142e-04 9.99407977e-01 -1.07567434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28264000000001 meters 0.017897257999680886 Centerline is valid? [True, True] Translation: X:230.57, Y:-32.57, Z:-10.76 [[ 9.82342362e-01 1.83922767e-01 3.42913858e-02 2.30573482e+02] [-1.83797686e-01 9.82940629e-01 -6.79199656e-03 -3.25725939e+01] [-3.49555991e-02 3.69388594e-04 9.99388798e-01 -1.07570151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34264000000002 meters 0.0161051742428231 Centerline is valid? [True, True] Translation: X:230.63, Y:-32.58, Z:-10.76 [[ 9.81753080e-01 1.86903668e-01 3.50415185e-02 2.30632618e+02] [-1.86774907e-01 9.82378209e-01 -6.94176953e-03 -3.25824364e+01] [-3.57214664e-02 2.70227259e-04 9.99361748e-01 -1.07588489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40264 meters 0.014505327135419585 Centerline is valid? [True, True] Translation: X:230.69, Y:-32.59, Z:-10.76 [[ 9.81292897e-01 1.89298263e-01 3.50773093e-02 2.30692560e+02] [-1.89170768e-01 9.81919617e-01 -6.94885971e-03 -3.25915191e+01] [-3.57585051e-02 1.83265150e-04 9.99360443e-01 -1.07608112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46264 meters 0.013616124115052258 Centerline is valid? [True, True] Translation: X:230.75, Y:-32.60, Z:-10.76 [[ 9.80473119e-01 1.93455254e-01 3.53203628e-02 2.30752168e+02] [-1.93328674e-01 9.81109099e-01 -6.99715137e-03 -3.25978379e+01] [-3.60067651e-02 3.20799266e-05 9.99351546e-01 -1.07636358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52264 meters 0.013651953095059071 Centerline is valid? [True, True] Translation: X:230.81, Y:-32.61, Z:-10.77 [[ 9.79905455e-01 1.96223548e-01 3.57996866e-02 2.30811016e+02] [-1.96095366e-01 9.80559184e-01 -7.09178077e-03 -3.26054129e+01] [-3.64952859e-02 -7.08779973e-05 9.99333823e-01 -1.07660756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58264 meters 0.014036427945264156 Centerline is valid? [True, True] Translation: X:230.87, Y:-32.61, Z:-10.77 [[ 9.79499260e-01 1.98074574e-01 3.67105282e-02 2.30869946e+02] [-1.97941110e-01 9.80186943e-01 -7.27150888e-03 -3.26115393e+01] [-3.74234814e-02 -1.44085118e-04 9.99299486e-01 -1.07668705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64264 meters 0.013623404450744897 Centerline is valid? [True, True] Translation: X:230.93, Y:-32.63, Z:-10.77 [[ 9.79811156e-01 1.96608890e-01 3.62635247e-02 2.30927832e+02] [-1.96477729e-01 9.80481992e-01 -7.18091032e-03 -3.26258850e+01] [-3.69675638e-02 -8.90389345e-05 9.99316462e-01 -1.07704950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70264 meters 0.01377287039409954 Centerline is valid? [True, True] Translation: X:230.99, Y:-32.64, Z:-10.78 [[ 9.80462355e-01 1.93609182e-01 3.47714637e-02 2.30985686e+02] [-1.93486749e-01 9.81078735e-01 -6.88430057e-03 -3.26436161e+01] [-3.54464074e-02 2.19800802e-05 9.99371578e-01 -1.07765730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76264 meters 0.015367491995162122 Centerline is valid? [True, True] Translation: X:231.04, Y:-32.66, Z:-10.78 [[ 9.81579327e-01 1.87851330e-01 3.48410901e-02 2.31043543e+02] [-1.87724787e-01 9.82197447e-01 -6.89778736e-03 -3.26645532e+01] [-3.55165882e-02 2.30189252e-04 9.99369060e-01 -1.07808089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82264 meters 0.017578175057486514 Centerline is valid? [True, True] Translation: X:231.10, Y:-32.68, Z:-10.78 [[ 9.82103453e-01 1.85121222e-01 3.46834386e-02 2.31101955e+02] [-1.84994147e-01 9.82715639e-01 -6.86581149e-03 -3.26828186e+01] [-3.53549649e-02 3.26704036e-04 9.99374764e-01 -1.07848228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88264 meters 0.01833494497075109 Centerline is valid? [True, True] Translation: X:231.16, Y:-32.70, Z:-10.79 [[ 9.82238990e-01 1.84306251e-01 3.51819792e-02 2.31161783e+02] [-1.84174764e-01 9.82868797e-01 -6.97029241e-03 -3.27003030e+01] [-3.58639380e-02 3.66860252e-04 9.99356615e-01 -1.07868452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94264 meters 0.017482533648183994 Centerline is valid? [True, True] Translation: X:231.22, Y:-32.71, Z:-10.79 [[ 9.82196066e-01 1.84509250e-01 3.53160758e-02 2.31223523e+02] [-1.84376685e-01 9.82830709e-01 -7.00255795e-03 -3.27130704e+01] [-3.60017606e-02 3.66423889e-04 9.99351659e-01 -1.07888463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00264 meters 0.022426796265342996 Centerline is valid? [True, True] Translation: X:231.28, Y:-32.73, Z:-10.79 [[ 9.82097023e-01 1.84978784e-01 3.56130099e-02 2.31283384e+02] [-1.84844010e-01 9.82742449e-01 -7.06906849e-03 -3.27301514e+01] [-3.63060442e-02 3.59659553e-04 9.99340654e-01 -1.07924817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06264000000002 meters 0.016838443693462466 Centerline is valid? [True, True] Translation: X:231.34, Y:-32.75, Z:-10.79 [[ 9.81959490e-01 1.85643869e-01 3.59432027e-02 2.31343970e+02] [-1.85506793e-01 9.82617034e-01 -7.14105621e-03 -3.27456162e+01] [-3.66440965e-02 3.44519655e-04 9.99328320e-01 -1.07934181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12264000000002 meters 0.015736951093965633 Centerline is valid? [True, True] Translation: X:231.41, Y:-32.76, Z:-10.80 [[ 9.81513642e-01 1.88301240e-01 3.42580483e-02 2.31405204e+02] [-1.88178148e-01 9.82111290e-01 -6.81167958e-03 -3.27595420e+01] [-3.49278637e-02 2.39140348e-04 9.99389807e-01 -1.07988188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18264 meters 0.014969724845778838 Centerline is valid? [True, True] Translation: X:231.47, Y:-32.77, Z:-10.80 [[ 9.81192745e-01 1.89985881e-01 3.41491064e-02 2.31466113e+02] [-1.89864337e-01 9.81786805e-01 -6.79728808e-03 -3.27712741e+01] [-3.48185309e-02 1.85752298e-04 9.99393634e-01 -1.08017951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24264 meters 0.013885287919659988 Centerline is valid? [True, True] Translation: X:231.53, Y:-32.78, Z:-10.81 [[ 9.80419762e-01 1.93787730e-01 3.49772179e-02 2.31526705e+02] [-1.93662396e-01 9.81043481e-01 -6.96879581e-03 -3.27811437e+01] [-3.56646387e-02 5.85733270e-05 9.99363813e-01 -1.08050809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30264 meters 0.014167678498866378 Centerline is valid? [True, True] Translation: X:231.59, Y:-32.79, Z:-10.81 [[ 9.79318534e-01 1.99290261e-01 3.49084507e-02 2.31587163e+02] [-1.99168637e-01 9.79940495e-01 -6.96277515e-03 -3.27897641e+01] [-3.55958177e-02 -1.33893769e-04 9.99366259e-01 -1.08066538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36264 meters 0.01559582134962429 Centerline is valid? [True, True] Translation: X:231.65, Y:-32.80, Z:-10.81 [[ 9.78870639e-01 2.01562272e-01 3.44226929e-02 2.31645769e+02] [-2.01445408e-01 9.79475679e-01 -6.86604020e-03 -3.27979204e+01] [-3.51001252e-02 -2.13328266e-04 9.99383778e-01 -1.08114666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42264 meters 0.01577614233471393 Centerline is valid? [True, True] Translation: X:231.71, Y:-32.81, Z:-10.81 [[ 9.78606574e-01 2.02775497e-01 3.48033067e-02 2.31705077e+02] [-2.02656822e-01 9.79225219e-01 -6.94136278e-03 -3.28110399e+01] [-3.54878139e-02 -2.60264278e-04 9.99370075e-01 -1.08129855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48264 meters 0.015736979301153482 Centerline is valid? [True, True] Translation: X:231.76, Y:-32.82, Z:-10.81 [[ 9.78561138e-01 2.02708917e-01 3.64306724e-02 2.31762849e+02] [-2.02578829e-01 9.79239002e-01 -7.26606041e-03 -3.28245460e+01] [-3.71472305e-02 -2.69798629e-04 9.99309767e-01 -1.08131586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54264 meters 0.014834994385481888 Centerline is valid? [True, True] Translation: X:231.82, Y:-32.84, Z:-10.81 [[ 9.78683847e-01 2.01963173e-01 3.72666591e-02 2.31822713e+02] [-2.01826535e-01 9.79393085e-01 -7.43196747e-03 -3.28395103e+01] [-3.79996920e-02 -2.47854178e-04 9.99277720e-01 -1.08139097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60264 meters 0.014639788843574721 Centerline is valid? [True, True] Translation: X:231.88, Y:-32.85, Z:-10.82 [[ 9.78859395e-01 2.01191169e-01 3.68292991e-02 2.31881360e+02] [-2.01057153e-01 9.79551973e-01 -7.34533429e-03 -3.28532334e+01] [-3.75540290e-02 -2.14744546e-04 9.99294576e-01 -1.08182717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66264 meters 0.014620277632891351 Centerline is valid? [True, True] Translation: X:231.94, Y:-32.87, Z:-10.82 [[ 9.78951284e-01 2.00880681e-01 3.60740321e-02 2.31941414e+02] [-2.00751808e-01 9.79615697e-01 -7.19709058e-03 -3.28671468e+01] [-3.67844445e-02 -1.96326103e-04 9.99323204e-01 -1.08224679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72264 meters 0.015163387496097051 Centerline is valid? [True, True] Translation: X:232.00, Y:-32.88, Z:-10.82 [[ 9.78685682e-01 2.02100196e-01 3.64670620e-02 2.32001906e+02] [-2.01969311e-01 9.79364820e-01 -7.27641233e-03 -3.28786350e+01] [-3.71851220e-02 -2.43906810e-04 9.99308364e-01 -1.08245550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78264000000001 meters 0.01664639548139669 Centerline is valid? [True, True] Translation: X:232.06, Y:-32.89, Z:-10.83 [[ 9.78303582e-01 2.04063934e-01 3.57772656e-02 2.32061626e+02] [-2.03939226e-01 9.78957514e-01 -7.13990817e-03 -3.28864205e+01] [-3.64814208e-02 -3.11390111e-04 9.99334283e-01 -1.08277741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84264000000002 meters 0.016663364847280107 Centerline is valid? [True, True] Translation: X:232.12, Y:-32.90, Z:-10.83 [[ 9.78005131e-01 2.05441588e-01 3.60516057e-02 2.32121440e+02] [-2.05315895e-01 9.78669311e-01 -7.19465698e-03 -3.28967617e+01] [-3.67606819e-02 -3.65556251e-04 9.99324031e-01 -1.08292124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90264 meters 0.01789459108878386 Centerline is valid? [True, True] Translation: X:232.18, Y:-32.91, Z:-10.83 [[ 9.77768793e-01 2.06595622e-01 3.58669196e-02 2.32180090e+02] [-2.06471985e-01 9.78426330e-01 -7.15793712e-03 -3.29069197e+01] [-3.65719370e-02 -4.06706533e-04 9.99330940e-01 -1.08329008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96264 meters 0.01942190921524757 Centerline is valid? [True, True] Translation: X:232.24, Y:-32.91, Z:-10.84 [[ 9.77417055e-01 2.08299899e-01 3.55956952e-02 2.32239700e+02] [-2.08179266e-01 9.78064892e-01 -7.10349179e-03 -3.29143511e+01] [-3.62945564e-02 -4.67211652e-04 9.99341026e-01 -1.08367512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02264 meters 0.021238989006358525 Centerline is valid? [True, True] Translation: X:232.30, Y:-32.92, Z:-10.84 [[ 9.77207623e-01 2.09304518e-01 3.54524982e-02 2.32298501e+02] [-2.09185542e-01 9.77850380e-01 -7.07416006e-03 -3.29210299e+01] [-3.61478925e-02 -5.03226910e-04 9.99346325e-01 -1.08411869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08264 meters 0.021396813661881595 Centerline is valid? [True, True] Translation: X:232.36, Y:-32.93, Z:-10.84 [[ 9.77120865e-01 2.09673226e-01 3.56644486e-02 2.32356712e+02] [-2.09553112e-01 9.77771378e-01 -7.11523758e-03 -3.29301424e+01] [-3.63635518e-02 -5.21149065e-04 9.99338491e-01 -1.08441064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14264 meters 0.02133181145774936 Centerline is valid? [True, True] Translation: X:232.41, Y:-32.94, Z:-10.85 [[ 9.77140126e-01 2.09562837e-01 3.57853541e-02 2.32414342e+02] [-2.09441897e-01 9.77795043e-01 -7.13759718e-03 -3.29411508e+01] [-3.64865170e-02 -5.20519829e-04 9.99334010e-01 -1.08465942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20264 meters 0.020674980541272633 Centerline is valid? [True, True] Translation: X:232.47, Y:-32.95, Z:-10.85 [[ 9.77178752e-01 2.09304591e-01 3.62391375e-02 2.32472510e+02] [-2.09180452e-01 9.77850356e-01 -7.22631467e-03 -3.29520407e+01] [-3.69489544e-02 -5.19118016e-04 9.99317019e-01 -1.08480691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26264 meters 0.02107934531011328 Centerline is valid? [True, True] Translation: X:232.53, Y:-32.96, Z:-10.85 [[ 9.77270137e-01 2.09013815e-01 3.54443786e-02 2.32529919e+02] [-2.08894929e-01 9.77912561e-01 -7.06625827e-03 -3.29584115e+01] [-3.61384487e-02 -4.98507777e-04 9.99346669e-01 -1.08521599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32264 meters 0.020597766111887208 Centerline is valid? [True, True] Translation: X:232.59, Y:-32.97, Z:-10.86 [[ 9.77370899e-01 2.08696976e-01 3.45209804e-02 2.32587718e+02] [-2.08584084e-01 9.77980238e-01 -6.87998786e-03 -3.29690976e+01] [-3.51966693e-02 -4.76227177e-04 9.99380292e-01 -1.08564870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38264 meters 0.02156286811853777 Centerline is valid? [True, True] Translation: X:232.65, Y:-32.98, Z:-10.86 [[ 9.77567741e-01 2.07994351e-01 3.31611454e-02 2.32645015e+02] [-2.07889823e-01 9.78129931e-01 -6.60757415e-03 -3.29753035e+01] [-3.38102469e-02 -4.34513317e-04 9.99428176e-01 -1.08634454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44264 meters 0.01862929906791866 Centerline is valid? [True, True] Translation: X:232.70, Y:-32.99, Z:-10.86 [[ 9.77691511e-01 2.07186493e-01 3.45408087e-02 2.32703042e+02] [-2.07072664e-01 9.78301373e-01 -6.88011529e-03 -3.29869224e+01] [-3.52167875e-02 -4.25826970e-04 9.99379606e-01 -1.08601763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50264 meters 0.017525026349417855 Centerline is valid? [True, True] Translation: X:232.76, Y:-33.00, Z:-10.86 [[ 9.78098179e-01 2.05001997e-01 3.60296292e-02 2.32760891e+02] [-2.04876736e-01 9.78761487e-01 -7.17458315e-03 -3.29967097e+01] [-3.67352174e-02 -3.64186117e-04 9.99324968e-01 -1.08607572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56264000000002 meters 0.015612584777718937 Centerline is valid? [True, True] Translation: X:232.82, Y:-33.01, Z:-10.86 [[ 9.78461230e-01 2.03148336e-01 3.66657178e-02 2.32819023e+02] [-2.03017367e-01 9.79147927e-01 -7.29970206e-03 -3.30100376e+01] [-3.73840839e-02 -3.01302051e-04 9.99300925e-01 -1.08616721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62264000000002 meters 0.014110461227978325 Centerline is valid? [True, True] Translation: X:232.88, Y:-33.02, Z:-10.87 [[ 9.79146884e-01 1.99936547e-01 3.60105106e-02 2.32876023e+02] [-1.99808074e-01 9.79808831e-01 -7.16849433e-03 -3.30222475e+01] [-3.67166603e-02 -1.76181873e-04 9.99325701e-01 -1.08652963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68264 meters 0.013025097524604701 Centerline is valid? [True, True] Translation: X:232.93, Y:-33.04, Z:-10.87 [[ 9.79816223e-01 1.96728371e-01 3.54699576e-02 2.32933826e+02] [-1.96601678e-01 9.80458028e-01 -7.05943515e-03 -3.30363481e+01] [-3.61655958e-02 -5.65040783e-05 9.99345809e-01 -1.08679150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74264 meters 0.014236948723656512 Centerline is valid? [True, True] Translation: X:232.99, Y:-33.06, Z:-10.87 [[ 9.80872642e-01 1.91611957e-01 3.42595646e-02 2.32991186e+02] [-1.91490688e-01 9.81470754e-01 -6.81723075e-03 -3.30560816e+01] [-3.49310237e-02 1.26447541e-04 9.99389718e-01 -1.08740720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80264 meters 0.015561231807056302 Centerline is valid? [True, True] Translation: X:233.05, Y:-33.07, Z:-10.88 [[ 9.81480718e-01 1.88526573e-01 3.39607381e-02 2.33050027e+02] [-1.88405566e-01 9.82068061e-01 -6.75767012e-03 -3.30723629e+01] [-3.46257566e-02 2.34130815e-04 9.99400321e-01 -1.08757009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86264 meters 0.016302275981066715 Centerline is valid? [True, True] Translation: X:233.11, Y:-33.09, Z:-10.88 [[ 9.81690040e-01 1.87316953e-01 3.45980314e-02 2.33109089e+02] [-1.87190524e-01 9.82299485e-01 -6.88689747e-03 -3.30861821e+01] [-3.52756611e-02 2.84375042e-04 9.99377580e-01 -1.08763852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92264 meters 0.016688543266465187 Centerline is valid? [True, True] Translation: X:233.17, Y:-33.10, Z:-10.88 [[ 9.81604450e-01 1.87597268e-01 3.54960302e-02 2.33167172e+02] [-1.87464355e-01 9.82245990e-01 -7.06610304e-03 -3.31014120e+01] [-3.61914149e-02 2.81877778e-04 9.99344836e-01 -1.08780664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98264 meters 0.015251929076259095 Centerline is valid? [True, True] Translation: X:233.23, Y:-33.11, Z:-10.88 [[ 9.81294669e-01 1.89296108e-01 3.50393372e-02 2.33227445e+02] [-1.89167667e-01 9.81920025e-01 -6.97547299e-03 -3.31126367e+01] [-3.57262568e-02 2.16684768e-04 9.99361590e-01 -1.08811158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04264 meters 0.014283714598673754 Centerline is valid? [True, True] Translation: X:233.29, Y:-33.12, Z:-10.88 [[ 9.80902982e-01 1.91371078e-01 3.47340014e-02 2.33287604e+02] [-1.91246137e-01 9.81517749e-01 -6.91551596e-03 -3.31246106e+01] [-3.54154686e-02 1.40706654e-04 9.99372666e-01 -1.08838086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10264 meters 0.013554966010599339 Centerline is valid? [True, True] Translation: X:233.35, Y:-33.13, Z:-10.89 [[ 9.80671313e-01 1.92645590e-01 3.42264872e-02 2.33347819e+02] [-1.92525023e-01 9.81268397e-01 -6.81527444e-03 -3.31348894e+01] [-3.48983028e-02 9.40889015e-05 9.99390864e-01 -1.08859605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16264 meters 0.020302694808559486 Centerline is valid? [True, True] Translation: X:233.41, Y:-33.14, Z:-10.89 [[ 9.79608859e-01 1.98192665e-01 3.29568172e-02 2.33406967e+02] [-1.98083970e-01 9.80163077e-01 -6.56377334e-03 -3.31403764e+01] [-3.36039471e-02 -9.82866639e-05 9.99435223e-01 -1.08923213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22264 meters 0.01717910955013509 Centerline is valid? [True, True] Translation: X:233.47, Y:-33.14, Z:-10.89 [[ 9.78616589e-01 2.02899110e-01 3.37864306e-02 2.33465043e+02] [-2.02787663e-01 9.79199612e-01 -6.72928399e-03 -3.31442483e+01] [-3.44490255e-02 -2.66082371e-04 9.99406421e-01 -1.08942676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28264000000001 meters 0.0215733003684122 Centerline is valid? [True, True] Translation: X:233.53, Y:-33.15, Z:-10.89 [[ 9.76931948e-01 2.10767857e-01 3.43639100e-02 2.33525250e+02] [-2.10657519e-01 9.77535985e-01 -6.84160463e-03 -3.31453036e+01] [-3.50339490e-02 -5.55233903e-04 9.99385969e-01 -1.08924875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34264000000002 meters 0.026227368937812565 Centerline is valid? [True, True] Translation: X:233.58, Y:-33.15, Z:-10.90 [[ 9.75963507e-01 2.15171249e-01 3.45914330e-02 2.33584324e+02] [-2.15062271e-01 9.76576068e-01 -6.88506412e-03 -3.31479494e+01] [-3.52626335e-02 -7.19740818e-04 9.99377821e-01 -1.08953376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40264 meters 0.028704331461303165 Centerline is valid? [True, True] Translation: X:233.64, Y:-33.15, Z:-10.90 [[ 9.75449689e-01 2.17576700e-01 3.40335571e-02 2.33643549e+02] [-2.17472721e-01 9.76042902e-01 -6.77259244e-03 -3.31540811e+01] [-3.46917702e-02 -7.95047093e-04 9.99397743e-01 -1.08998778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46264 meters 0.030762896140294753 Centerline is valid? [True, True] Translation: X:233.70, Y:-33.16, Z:-10.91 [[ 9.75521859e-01 2.17418456e-01 3.29593425e-02 2.33701357e+02] [-2.17320854e-01 9.76078189e-01 -6.55869004e-03 -3.31596923e+01] [-3.35968755e-02 -7.64606937e-04 9.99435173e-01 -1.09065320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52264 meters 0.028623686362992926 Centerline is valid? [True, True] Translation: X:233.76, Y:-33.17, Z:-10.91 [[ 9.76040134e-01 2.14983552e-01 3.35816864e-02 2.33758653e+02] [-2.14880885e-01 9.76617421e-01 -6.67966199e-03 -3.31736605e+01] [-3.42324775e-02 -6.96444319e-04 9.99413654e-01 -1.09085109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58264 meters 0.021090294353333046 Centerline is valid? [True, True] Translation: X:233.82, Y:-33.19, Z:-10.91 [[ 9.77464551e-01 2.08227588e-01 3.47033471e-02 2.33815916e+02] [-2.08113758e-01 9.78080285e-01 -6.90072278e-03 -3.31933935e+01] [-3.53795805e-02 -4.77032067e-04 9.99373833e-01 -1.09095394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64264 meters 0.014048495918908652 Centerline is valid? [True, True] Translation: X:233.87, Y:-33.22, Z:-10.91 [[ 9.79506988e-01 1.98300459e-01 3.52560440e-02 2.33871679e+02] [-1.98176572e-01 9.80141272e-01 -7.00949072e-03 -3.32211569e+01] [-3.59458890e-02 -1.21076797e-04 9.99353730e-01 -1.09115115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70264 meters 0.014229546570137993 Centerline is valid? [True, True] Translation: X:233.93, Y:-33.25, Z:-10.92 [[ 9.80900355e-01 1.91352707e-01 3.49089666e-02 2.33929490e+02] [-1.91226873e-01 9.81521332e-01 -6.93963458e-03 -3.32460849e+01] [-3.55918132e-02 1.31557489e-04 9.99366402e-01 -1.09152696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76264 meters 0.016943375355746644 Centerline is valid? [True, True] Translation: X:233.99, Y:-33.27, Z:-10.92 [[ 9.81951310e-01 1.85962036e-01 3.44926876e-02 2.33987970e+02] [-1.85835894e-01 9.82556877e-01 -6.85587110e-03 -3.32687660e+01] [-3.51659592e-02 3.22152172e-04 9.99381434e-01 -1.09179967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82264 meters 0.020411202357320288 Centerline is valid? [True, True] Translation: X:234.05, Y:-33.29, Z:-10.92 [[ 9.82639937e-01 1.82487545e-01 3.34223006e-02 2.34045461e+02] [-1.82366841e-01 9.83208066e-01 -6.65080733e-03 -3.32908566e+01] [-3.40747650e-02 4.40229507e-04 9.99419190e-01 -1.09224282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88264 meters 0.019312279503349898 Centerline is valid? [True, True] Translation: X:234.11, Y:-33.30, Z:-10.93 [[ 9.82287674e-01 1.84525211e-01 3.25787130e-02 2.34106222e+02] [-1.84411686e-01 9.82827715e-01 -6.48169701e-03 -3.33035956e+01] [-3.32152985e-02 3.58995703e-04 9.99448155e-01 -1.09273350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94264 meters 0.01682591614774958 Centerline is valid? [True, True] Translation: X:234.17, Y:-33.31, Z:-10.93 [[ 9.81027586e-01 1.91096451e-01 3.26652919e-02 2.34168193e+02] [-1.90985711e-01 9.81571253e-01 -6.50636210e-03 -3.33094238e+01] [-3.33066542e-02 1.44316717e-04 9.99445169e-01 -1.09278912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00264 meters 0.014369335716818067 Centerline is valid? [True, True] Translation: X:234.23, Y:-33.32, Z:-10.93 [[ 9.79999059e-01 1.96314342e-01 3.25963661e-02 2.34227811e+02] [-1.96206886e-01 9.80541013e-01 -6.49460098e-03 -3.33150895e+01] [-3.32370571e-02 -3.09286381e-05 9.99447496e-01 -1.09321498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06264000000002 meters 0.016826734850340315 Centerline is valid? [True, True] Translation: X:234.29, Y:-33.32, Z:-10.94 [[ 9.78762561e-01 2.02469598e-01 3.20922153e-02 2.34288115e+02] [-2.02368752e-01 9.79288520e-01 -6.39392531e-03 -3.33172561e+01] [-3.27221136e-02 -2.36326844e-04 9.99464460e-01 -1.09350471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12264000000002 meters 0.02873460355096578 Centerline is valid? [True, True] Translation: X:234.35, Y:-33.33, Z:-10.94 [[ 9.78187358e-01 2.05150643e-01 3.25991713e-02 2.34345071e+02] [-2.05048082e-01 9.78730353e-01 -6.49461785e-03 -3.33255422e+01] [-3.32381735e-02 -3.31444485e-04 9.99447404e-01 -1.09384407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18264 meters 0.01841727995955671 Centerline is valid? [True, True] Translation: X:234.40, Y:-33.34, Z:-10.94 [[ 9.77767071e-01 2.07077213e-01 3.30239732e-02 2.34403402e+02] [-2.06973144e-01 9.78324519e-01 -6.57673617e-03 -3.33379074e+01] [-3.36700549e-02 -4.04559511e-04 9.99432921e-01 -1.09361996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24264 meters 0.019128730055168148 Centerline is valid? [True, True] Translation: X:234.46, Y:-33.35, Z:-10.94 [[ 9.77636752e-01 2.07717140e-01 3.28629031e-02 2.34462211e+02] [-2.07614475e-01 9.78188841e-01 -6.54379088e-03 -3.33480949e+01] [-3.35053826e-02 -4.25363905e-04 9.99438447e-01 -1.09396591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30264 meters 0.020949451655091617 Centerline is valid? [True, True] Translation: X:234.52, Y:-33.36, Z:-10.94 [[ 9.77361545e-01 2.09074461e-01 3.24388756e-02 2.34519373e+02] [-2.08975185e-01 9.77899613e-01 -6.45906783e-03 -3.33575085e+01] [-3.30723900e-02 -4.66075517e-04 9.99452850e-01 -1.09431967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36264 meters 0.029647733798516398 Centerline is valid? [True, True] Translation: X:234.58, Y:-33.37, Z:-10.95 [[ 9.77091491e-01 2.10284781e-01 3.27494868e-02 2.34577452e+02] [-2.10184352e-01 9.77640039e-01 -6.51858571e-03 -3.33664324e+01] [-3.33879689e-02 -5.14175012e-04 9.99442334e-01 -1.09457451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42264 meters 0.02639591948113675 Centerline is valid? [True, True] Translation: X:234.64, Y:-33.37, Z:-10.95 [[ 9.76461235e-01 2.12967919e-01 3.41778022e-02 2.34635365e+02] [-2.12860231e-01 9.77058987e-01 -6.80135592e-03 -3.33693503e+01] [-3.48421994e-02 -6.33834457e-04 9.99392625e-01 -1.09467943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48264 meters 0.02458380733868305 Centerline is valid? [True, True] Translation: X:234.69, Y:-33.38, Z:-10.95 [[ 9.76434483e-01 2.13122295e-01 3.39792180e-02 2.34693207e+02] [-2.13016046e-01 9.77025322e-01 -6.75900793e-03 -3.33794198e+01] [-3.46390517e-02 -6.38390249e-04 9.99399684e-01 -1.09487286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54264 meters 0.022747745389240345 Centerline is valid? [True, True] Translation: X:234.75, Y:-33.39, Z:-10.95 [[ 9.76941101e-01 2.10878823e-01 3.34096899e-02 2.34750141e+02] [-2.10774851e-01 9.77512055e-01 -6.64407381e-03 -3.33928655e+01] [-3.40594691e-02 -5.51053637e-04 9.99419656e-01 -1.09533750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60264 meters 0.02420660755859427 Centerline is valid? [True, True] Translation: X:234.81, Y:-33.41, Z:-10.96 [[ 9.77697259e-01 2.07389996e-01 3.31279219e-02 2.34807818e+02] [-2.07285835e-01 9.78258252e-01 -6.58605538e-03 -3.34089796e+01] [-3.37735449e-02 -4.27780643e-04 9.99429420e-01 -1.09573965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66264 meters 0.016165081064771505 Centerline is valid? [True, True] Translation: X:234.86, Y:-33.43, Z:-10.96 [[ 9.78964650e-01 2.01213394e-01 3.37843884e-02 2.34863510e+02] [-2.01101417e-01 9.79547407e-01 -6.71552283e-03 -3.34280018e+01] [-3.44446632e-02 -2.19828924e-04 9.99406582e-01 -1.09598617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72264 meters 0.014554970217359423 Centerline is valid? [True, True] Translation: X:234.92, Y:-33.45, Z:-10.96 [[ 9.79527095e-01 1.98422803e-01 3.39861831e-02 2.34920877e+02] [-1.98307814e-01 9.80116511e-01 -6.75535269e-03 -3.34454575e+01] [-3.46508353e-02 -1.22674681e-04 9.99399472e-01 -1.09613906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78264000000001 meters 0.014339095303575492 Centerline is valid? [True, True] Translation: X:234.98, Y:-33.46, Z:-10.97 [[ 9.79808540e-01 1.96906424e-01 3.46855240e-02 2.34977480e+02] [-1.96785733e-01 9.80422284e-01 -6.89350145e-03 -3.34592157e+01] [-3.53638354e-02 -7.13046750e-05 9.99374501e-01 -1.09651139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84264000000002 meters 0.01363102342084889 Centerline is valid? [True, True] Translation: X:235.04, Y:-33.47, Z:-10.96 [[ 9.79885027e-01 1.96433890e-01 3.52003054e-02 2.35036116e+02] [-1.96309316e-01 9.80517070e-01 -6.99491164e-03 -3.34723894e+01] [-3.58885380e-02 -5.59386757e-05 9.99355797e-01 -1.09649020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90264 meters 0.01341661706355867 Centerline is valid? [True, True] Translation: X:235.10, Y:-33.49, Z:-10.97 [[ 9.80095988e-01 1.95438531e-01 3.48659701e-02 2.35095249e+02] [-1.95315733e-01 9.80715953e-01 -6.92707210e-03 -3.34881804e+01] [-3.55474299e-02 -2.06769379e-05 9.99367990e-01 -1.09668546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96264 meters 0.013203979123893915 Centerline is valid? [True, True] Translation: X:235.16, Y:-33.50, Z:-10.97 [[ 9.80145233e-01 1.95279155e-01 3.43711221e-02 2.35156078e+02] [-1.95159758e-01 9.80747700e-01 -6.82770818e-03 -3.35018352e+01] [-3.50427081e-02 -1.57142495e-05 9.99385816e-01 -1.09690839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02264 meters 0.013745308579783497 Centerline is valid? [True, True] Translation: X:235.21, Y:-33.52, Z:-10.97 [[ 9.80214001e-01 1.95080329e-01 3.35287676e-02 2.35214880e+02] [-1.94966392e-01 9.80787268e-01 -6.66638662e-03 -3.35177096e+01] [-3.41850693e-02 -2.49734624e-06 9.99415520e-01 -1.09744184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08264 meters 0.025345310559209522 Centerline is valid? [True, True] Translation: X:235.27, Y:-33.53, Z:-10.98 [[ 9.79569570e-01 1.97304390e-01 3.89157434e-02 2.35273833e+02] [-1.97304018e-01 9.80334640e-01 -3.88828226e-03 -3.35327099e+01] [-3.89176265e-02 -3.86938958e-03 9.99234930e-01 -1.09766959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14264 meters 0.017593220802609635 Centerline is valid? [True, True] Translation: X:235.34, Y:-33.53, Z:-10.98 [[ 9.78319942e-01 2.04447604e-01 3.30343375e-02 2.35335903e+02] [-2.04212312e-01 9.78871565e-01 -1.03821974e-02 -3.35302407e+01] [-3.44589890e-02 3.41109236e-03 9.99400291e-01 -1.09783522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20264 meters 0.01926464265917353 Centerline is valid? [True, True] Translation: X:235.39, Y:-33.54, Z:-10.98 [[ 9.77504332e-01 2.08259694e-01 3.33643709e-02 2.35394715e+02] [-2.08154125e-01 9.78073463e-01 -6.64544595e-03 -3.35393836e+01] [-3.40167843e-02 -4.48979215e-04 9.99421161e-01 -1.09790432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26264 meters 0.02411979085632833 Centerline is valid? [True, True] Translation: X:235.45, Y:-33.54, Z:-10.99 [[ 9.76647633e-01 2.12339067e-01 3.27341181e-02 2.35452986e+02] [-2.12239767e-01 9.77195878e-01 -6.51904249e-03 -3.35425744e+01] [-3.33718927e-02 -5.80674184e-04 9.99442835e-01 -1.09852911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32264 meters 0.02855816337102193 Centerline is valid? [True, True] Translation: X:235.51, Y:-33.55, Z:-10.99 [[ 9.76519607e-01 2.12892632e-01 3.29573203e-02 2.35510047e+02] [-2.12792295e-01 9.77075413e-01 -6.56325628e-03 -3.35489139e+01] [-3.35990562e-02 -6.03915398e-04 9.99435210e-01 -1.09920005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38264 meters 0.026110922331447763 Centerline is valid? [True, True] Translation: X:235.57, Y:-33.56, Z:-10.99 [[ 9.76970174e-01 2.10743818e-01 3.34114200e-02 2.35567434e+02] [-2.10639519e-01 9.77541177e-01 -6.65137776e-03 -3.35635763e+01] [-3.40627756e-02 -5.39567761e-04 9.99419550e-01 -1.09934536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44264 meters 0.020914438412627977 Centerline is valid? [True, True] Translation: X:235.62, Y:-33.58, Z:-10.99 [[ 9.77390635e-01 2.08778913e-01 3.34501366e-02 2.35623546e+02] [-2.08673271e-01 9.77962751e-01 -6.65764006e-03 -3.35827705e+01] [-3.41029625e-02 -4.73034386e-04 9.99418213e-01 -1.09922971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50264 meters 0.026483645953523014 Centerline is valid? [True, True] Translation: X:235.68, Y:-33.60, Z:-11.00 [[ 9.77645843e-01 2.07520514e-01 3.38207355e-02 2.35681285e+02] [-2.07411835e-01 9.78230569e-01 -6.72938542e-03 -3.35987454e+01] [-3.44809629e-02 -4.35865129e-04 9.99405260e-01 -1.09950516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56264000000002 meters 0.019415740791775857 Centerline is valid? [True, True] Translation: X:235.74, Y:-33.61, Z:-11.00 [[ 9.77806782e-01 2.06665394e-01 3.43993015e-02 2.35738921e+02] [-2.06552461e-01 9.78411592e-01 -6.84375948e-03 -3.36112624e+01] [-3.50710436e-02 -4.13385936e-04 9.99384736e-01 -1.09972966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62264000000002 meters 0.017701678608272292 Centerline is valid? [True, True] Translation: X:235.80, Y:-33.63, Z:-11.00 [[ 9.77929013e-01 2.06014712e-01 3.48250421e-02 2.35797868e+02] [-2.05898615e-01 9.78548814e-01 -6.92667455e-03 -3.36272962e+01] [-3.55050005e-02 -3.96631948e-04 9.99369420e-01 -1.09978763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68264 meters 0.023781865819501303 Centerline is valid? [True, True] Translation: X:235.86, Y:-33.64, Z:-11.00 [[ 9.78217889e-01 2.04586098e-01 3.51324674e-02 2.35856022e+02] [-2.04467049e-01 9.78848511e-01 -6.98704512e-03 -3.36430070e+01] [-3.58188157e-02 -3.48579400e-04 9.99358240e-01 -1.10027540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74264 meters 0.025896367432558135 Centerline is valid? [True, True] Translation: X:235.91, Y:-33.66, Z:-11.01 [[ 9.78408920e-01 2.03695821e-01 3.49856707e-02 2.35914985e+02] [-2.03577094e-01 9.79034175e-01 -6.96071457e-03 -3.36586606e+01] [-3.56700357e-02 -3.11855924e-04 9.99363573e-01 -1.10062851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80264 meters 0.015878751459468633 Centerline is valid? [True, True] Translation: X:235.97, Y:-33.69, Z:-11.01 [[ 9.78243253e-01 2.02193742e-01 4.64524407e-02 2.35973335e+02] [-2.02872817e-01 9.79150372e-01 1.03522447e-02 -3.36868909e+01] [-4.33907655e-02 -1.95509510e-02 9.98866859e-01 -1.10088355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86264 meters 0.01747886988954919 Centerline is valid? [True, True] Translation: X:236.03, Y:-33.68, Z:-11.01 [[ 9.78073302e-01 2.05799390e-01 3.19253241e-02 2.36034816e+02] [-2.05016551e-01 9.78409158e-01 -2.61482797e-02 -3.36808458e+01] [-3.66173295e-02 1.90297145e-02 9.99148158e-01 -1.10114921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92264 meters 0.017431808364197665 Centerline is valid? [True, True] Translation: X:236.09, Y:-33.71, Z:-11.01 [[ 9.78029486e-01 2.05393333e-01 3.56637629e-02 2.36092350e+02] [-2.05270921e-01 9.78679435e-01 -7.10013165e-03 -3.37092401e+01] [-3.63617110e-02 -3.76595354e-04 9.99338623e-01 -1.10142639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98264 meters 0.019094731605241465 Centerline is valid? [True, True] Translation: X:236.15, Y:-33.73, Z:-11.02 [[ 9.77676278e-01 2.07093610e-01 3.55152363e-02 2.36151048e+02] [-2.06973108e-01 9.78321036e-01 -7.07690093e-03 -3.37256309e+01] [-3.62108838e-02 -4.31780681e-04 9.99344078e-01 -1.10179615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04264 meters 0.02016368826312342 Centerline is valid? [True, True] Translation: X:236.21, Y:-33.74, Z:-11.02 [[ 9.77240120e-01 2.09359830e-01 3.42083203e-02 2.36210812e+02] [-2.09249242e-01 9.77838545e-01 -6.82165359e-03 -3.37405135e+01] [-3.48783944e-02 -4.91671514e-04 9.99391443e-01 -1.10221113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10264 meters 0.024681119576066047 Centerline is valid? [True, True] Translation: X:236.27, Y:-33.75, Z:-11.03 [[ 9.76261162e-01 2.14034416e-01 3.32176423e-02 2.36271258e+02] [-2.13932602e-01 9.76825915e-01 -6.63122571e-03 -3.37494815e+01] [-3.38671643e-02 -6.32528532e-04 9.99426143e-01 -1.10274632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16264 meters 0.027096068951436462 Centerline is valid? [True, True] Translation: X:236.33, Y:-33.76, Z:-11.03 [[ 9.75515887e-01 2.17395654e-01 3.32848744e-02 2.36331418e+02] [-2.17295353e-01 9.76083279e-01 -6.64548553e-03 -3.37601427e+01] [-3.39335090e-02 -7.49871814e-04 9.99423811e-01 -1.10293380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22264 meters 0.03091120583989016 Centerline is valid? [True, True] Translation: X:236.39, Y:-33.77, Z:-11.03 [[ 9.74651153e-01 2.21249805e-01 3.32212980e-02 2.36392072e+02] [-2.21152092e-01 9.75216769e-01 -6.63363549e-03 -3.37690918e+01] [-3.38656575e-02 -8.81479096e-04 9.99426005e-01 -1.10324445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28264000000001 meters 0.03701628492031256 Centerline is valid? [True, True] Translation: X:236.45, Y:-33.78, Z:-11.04 [[ 9.74635145e-01 2.21089759e-01 3.47225111e-02 2.36451018e+02] [-2.20982865e-01 9.75253035e-01 -6.93476861e-03 -3.37773297e+01] [-3.53964407e-02 -9.14210774e-04 9.99372931e-01 -1.10360146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34264000000002 meters 0.02841895154459115 Centerline is valid? [True, True] Translation: X:236.51, Y:-33.80, Z:-11.04 [[ 9.75221267e-01 2.18356171e-01 3.55536476e-02 2.36510230e+02] [-2.18242317e-01 9.75868784e-01 -7.09975849e-03 -3.37958160e+01] [-3.62459709e-02 -8.35474965e-04 9.99342550e-01 -1.10357632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40264 meters 0.022554944899318686 Centerline is valid? [True, True] Translation: X:236.57, Y:-33.82, Z:-11.04 [[ 9.76592032e-01 2.11849260e-01 3.72544603e-02 2.36567555e+02] [-2.11719442e-01 9.77302157e-01 -7.44122266e-03 -3.38157326e+01] [-3.79852819e-02 -6.20454807e-04 9.99278106e-01 -1.10369045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46264 meters 0.01593350955092921 Centerline is valid? [True, True] Translation: X:236.63, Y:-33.84, Z:-11.04 [[ 9.78214319e-01 2.04193280e-01 3.74412974e-02 2.36625461e+02] [-2.04056555e-01 9.78930538e-01 -7.47820621e-03 -3.38417935e+01] [-3.81794289e-02 -3.24853768e-04 9.99270847e-01 -1.10402220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52264 meters 0.012722647507608036 Centerline is valid? [True, True] Translation: X:236.68, Y:-33.87, Z:-11.04 [[ 9.79560799e-01 1.97640540e-01 3.74013007e-02 2.36683790e+02] [-1.97499320e-01 9.80274560e-01 -7.47035828e-03 -3.38675174e+01] [-3.81399892e-02 -6.90613374e-05 9.99272404e-01 -1.10434383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58264 meters 0.012703919636868068 Centerline is valid? [True, True] Translation: X:236.74, Y:-33.89, Z:-11.05 [[ 9.80180039e-01 1.94546239e-01 3.74012296e-02 2.36743632e+02] [-1.94402530e-01 9.80893347e-01 -7.47654521e-03 -3.38873108e+01] [-3.81411511e-02 5.74667027e-05 9.99272360e-01 -1.10468700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64264 meters 0.01806191509476424 Centerline is valid? [True, True] Translation: X:236.80, Y:-33.90, Z:-11.05 [[ 9.80563718e-01 1.92791377e-01 3.64181174e-02 2.36802393e+02] [-1.92653642e-01 9.81239761e-01 -7.28739286e-03 -3.39048602e+01] [-3.71398513e-02 1.29670073e-04 9.99310069e-01 -1.10522248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70264 meters 0.013610752378327946 Centerline is valid? [True, True] Translation: X:236.86, Y:-33.92, Z:-11.05 [[ 9.80553628e-01 1.92847387e-01 3.63932440e-02 2.36863711e+02] [-1.92709680e-01 9.81228754e-01 -7.28774728e-03 -3.39202907e+01] [-3.71155205e-02 1.32696617e-04 9.99310973e-01 -1.10545540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76264 meters 0.012911485575582147 Centerline is valid? [True, True] Translation: X:236.92, Y:-33.93, Z:-11.06 [[ 9.80242922e-01 1.94377473e-01 3.66225707e-02 2.36924454e+02] [-1.94238809e-01 9.80926802e-01 -7.34123973e-03 -3.39340683e+01] [-3.73510328e-02 8.26737515e-05 9.99302203e-01 -1.10559701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82264 meters 0.012907625544842613 Centerline is valid? [True, True] Translation: X:236.99, Y:-33.95, Z:-11.06 [[ 9.79647168e-01 1.97427094e-01 3.62487198e-02 2.36985842e+02] [-1.97293102e-01 9.80317572e-01 -7.27253981e-03 -3.39450489e+01] [-3.69710534e-02 -2.70993493e-05 9.99316337e-01 -1.10605612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88264 meters 0.013146936434217537 Centerline is valid? [True, True] Translation: X:237.05, Y:-33.96, Z:-11.06 [[ 9.79419325e-01 1.98553721e-01 3.62519667e-02 2.37046751e+02] [-1.98420222e-01 9.80090004e-01 -7.28007322e-03 -3.39563199e+01] [-3.69756758e-02 -6.28788883e-05 9.99316164e-01 -1.10646618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94264 meters 0.013107665685568273 Centerline is valid? [True, True] Translation: X:237.11, Y:-33.97, Z:-11.07 [[ 9.79042242e-01 2.00430039e-01 3.61121497e-02 2.37108495e+02] [-2.00298609e-01 9.79708009e-01 -7.25836537e-03 -3.39666354e+01] [-3.68341567e-02 -1.26967026e-04 9.99321384e-01 -1.10666821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00264 meters 0.013886528409636693 Centerline is valid? [True, True] Translation: X:237.17, Y:-33.98, Z:-11.07 [[ 9.78670411e-01 2.02276740e-01 3.58935454e-02 2.37169191e+02] [-2.02147856e-01 9.79328385e-01 -7.22212815e-03 -3.39766982e+01] [-3.66124364e-02 -1.87720115e-04 9.99329522e-01 -1.10703560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06264000000002 meters 0.015072059052537029 Centerline is valid? [True, True] Translation: X:237.23, Y:-33.98, Z:-11.08 [[ 9.78307162e-01 2.04144058e-01 3.52178912e-02 2.37229473e+02] [-2.04020988e-01 9.78940827e-01 -7.09183691e-03 -3.39845566e+01] [-3.59239879e-02 -2.47194100e-04 9.99354495e-01 -1.10755041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12264000000002 meters 0.015941867456205554 Centerline is valid? [True, True] Translation: X:237.29, Y:-33.99, Z:-11.08 [[ 9.77867619e-01 2.06025173e-01 3.64492435e-02 2.37292608e+02] [-2.05894434e-01 9.78546639e-01 -7.34558436e-03 -3.39923176e+01] [-3.71806600e-02 -3.21687266e-04 9.99308508e-01 -1.10766198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18264 meters 0.018434447815453513 Centerline is valid? [True, True] Translation: X:237.35, Y:-34.01, Z:-11.08 [[ 9.78250502e-01 2.04063289e-01 3.72038897e-02 2.37353643e+02] [-2.03925365e-01 9.78957667e-01 -7.50539345e-03 -3.40058488e+01] [-3.79526084e-02 -2.44661895e-04 9.99279510e-01 -1.10791572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24264 meters 0.020871518320332613 Centerline is valid? [True, True] Translation: X:237.41, Y:-34.02, Z:-11.08 [[ 9.79006048e-01 2.00561655e-01 3.63618021e-02 2.37413187e+02] [-2.00427265e-01 9.79681077e-01 -7.34161467e-03 -3.40228173e+01] [-3.70954159e-02 -1.00411377e-04 9.99311723e-01 -1.10837752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30264 meters 0.025256034927942296 Centerline is valid? [True, True] Translation: X:237.47, Y:-34.04, Z:-11.09 [[ 9.80107722e-01 1.95186479e-01 3.59317613e-02 2.37473247e+02] [-1.95051420e-01 9.80766143e-01 -7.26063430e-03 -3.40412541e+01] [-3.66578326e-02 1.07662666e-04 9.99327870e-01 -1.10874735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36264 meters 0.014020111510033439 Centerline is valid? [True, True] Translation: X:237.53, Y:-34.06, Z:-11.09 [[ 9.80577290e-01 1.92761021e-01 3.62128022e-02 2.37533222e+02] [-1.92621901e-01 9.81245711e-01 -7.32514116e-03 -3.40560014e+01] [-3.69456585e-02 2.07488271e-04 9.99317255e-01 -1.10889557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42264 meters 0.015250946912323449 Centerline is valid? [True, True] Translation: X:237.59, Y:-34.07, Z:-11.09 [[ 9.80666847e-01 1.92414547e-01 3.56255227e-02 2.37592909e+02] [-1.92279441e-01 9.81313707e-01 -7.21279186e-03 -3.40667950e+01] [-3.63476598e-02 2.23290280e-04 9.99339181e-01 -1.10949245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48264 meters 0.014992418064028323 Centerline is valid? [True, True] Translation: X:237.65, Y:-34.08, Z:-11.10 [[ 9.80516609e-01 1.93200619e-01 3.55063297e-02 2.37654937e+02] [-1.93066730e-01 9.81159254e-01 -7.19421986e-03 -3.40763157e+01] [-3.62272917e-02 1.98961109e-04 9.99343556e-01 -1.10993303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54264 meters 0.014687147051004663 Centerline is valid? [True, True] Translation: X:237.72, Y:-34.09, Z:-11.10 [[ 9.80365224e-01 1.93952802e-01 3.55856443e-02 2.37716871e+02] [-1.93818557e-01 9.81010845e-01 -7.21721279e-03 -3.40856554e+01] [-3.63097017e-02 1.78346200e-04 9.99340569e-01 -1.11028818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60264 meters 0.027676521938146216 Centerline is valid? [True, True] Translation: X:237.78, Y:-34.10, Z:-11.11 [[ 9.80365631e-01 1.94042183e-01 3.50836150e-02 2.37778745e+02] [-1.93911521e-01 9.80993170e-01 -7.12200088e-03 -3.40967640e+01] [-3.57987553e-02 1.79047744e-04 9.99359003e-01 -1.11069785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66264 meters 0.015080309758832764 Centerline is valid? [True, True] Translation: X:237.84, Y:-34.11, Z:-11.11 [[ 9.80368762e-01 1.94151543e-01 3.43841245e-02 2.37839846e+02] [-1.94025865e-01 9.80971532e-01 -6.98691799e-03 -3.41072848e+01] [-3.50863682e-02 1.78346631e-04 9.99384268e-01 -1.11110889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72264 meters 0.01627947612816408 Centerline is valid? [True, True] Translation: X:237.90, Y:-34.12, Z:-11.11 [[ 9.80800844e-01 1.92074642e-01 3.37199714e-02 2.37899827e+02] [-1.91952319e-01 9.81380287e-01 -6.85857289e-03 -3.41210019e+01] [-3.44094731e-02 2.54267380e-04 9.99407786e-01 -1.11147987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78264000000001 meters 0.016756596293478313 Centerline is valid? [True, True] Translation: X:237.96, Y:-34.14, Z:-11.12 [[ 9.81091132e-01 1.90197826e-01 3.58465883e-02 2.37959764e+02] [-1.90230845e-01 9.81736157e-01 -2.51872493e-03 -3.41378312e+01] [-3.56709479e-02 -4.34802808e-03 9.99354130e-01 -1.11159564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84264000000002 meters 0.017071409004278906 Centerline is valid? [True, True] Translation: X:238.02, Y:-34.14, Z:-11.12 [[ 9.81065974e-01 1.90684516e-01 3.38964492e-02 2.38020901e+02] [-1.90391977e-01 9.81638571e-01 -1.16880946e-02 -3.41437627e+01] [-3.55028006e-02 5.01317989e-03 9.99357003e-01 -1.11183443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90264 meters 0.015364226041069424 Centerline is valid? [True, True] Translation: X:238.08, Y:-34.15, Z:-11.12 [[ 9.80503826e-01 1.93208453e-01 3.58153657e-02 2.38081730e+02] [-1.93070788e-01 9.81157702e-01 -7.29617247e-03 -3.41539328e+01] [-3.65502042e-02 2.39024120e-04 9.99331789e-01 -1.11199967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96264 meters 0.014909529198559786 Centerline is valid? [True, True] Translation: X:238.14, Y:-34.17, Z:-11.12 [[ 9.80304492e-01 1.94293770e-01 3.53982093e-02 2.38143136e+02] [-1.94159793e-01 9.80943367e-01 -7.21695308e-03 -3.41656246e+01] [-3.61258477e-02 2.01902510e-04 9.99347228e-01 -1.11235697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02264 meters 0.024935547158258953 Centerline is valid? [True, True] Translation: X:238.20, Y:-34.18, Z:-11.12 [[ 9.80442234e-01 1.93551878e-01 3.56468303e-02 2.38204192e+02] [-1.93415268e-01 9.81090013e-01 -7.27463462e-03 -3.41809366e+01] [-3.63807684e-02 2.37717787e-04 9.99337972e-01 -1.11249984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08264 meters 0.01590769165471655 Centerline is valid? [True, True] Translation: X:238.26, Y:-34.20, Z:-11.13 [[ 9.80562868e-01 1.92923242e-01 3.57363108e-02 2.38264648e+02] [-1.92785249e-01 9.81213815e-01 -7.30050137e-03 -3.41956876e+01] [-3.64733983e-02 2.69166963e-04 9.99334588e-01 -1.11286630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14264 meters 0.01574416791129569 Centerline is valid? [True, True] Translation: X:238.32, Y:-34.21, Z:-11.13 [[ 9.80615390e-01 1.92769678e-01 3.51184875e-02 2.38324221e+02] [-1.92636078e-01 9.81243993e-01 -7.18101690e-03 -3.42119549e+01] [-3.58440872e-02 2.76728003e-04 9.99357356e-01 -1.11324780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20264 meters 0.0144214788335854 Centerline is valid? [True, True] Translation: X:238.38, Y:-34.22, Z:-11.13 [[ 9.80081016e-01 1.95183569e-01 3.66684784e-02 2.38384233e+02] [-1.95039311e-01 9.80766706e-01 -7.50565404e-03 -3.42236476e+01] [-3.74282031e-02 2.04354291e-04 9.99299298e-01 -1.11334382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26264 meters 0.012762170643285673 Centerline is valid? [True, True] Translation: X:238.45, Y:-34.23, Z:-11.14 [[ 9.78912588e-01 2.00850214e-01 3.72738024e-02 2.38446335e+02] [-2.00705130e-01 9.79621964e-01 -7.63276667e-03 -3.42313484e+01] [-3.80472783e-02 -9.23198748e-06 9.99275940e-01 -1.11354673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32264 meters 0.015277681401630069 Centerline is valid? [True, True] Translation: X:238.51, Y:-34.24, Z:-11.14 [[ 9.77657593e-01 2.07377749e-01 3.43525944e-02 2.38508934e+02] [-2.07258307e-01 9.78260913e-01 -7.04134234e-03 -3.42351277e+01] [-3.50660181e-02 -2.35838765e-04 9.99384970e-01 -1.11421107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38264 meters 0.0180405902942723 Centerline is valid? [True, True] Translation: X:238.57, Y:-34.24, Z:-11.15 [[ 9.77012171e-01 2.10448805e-01 3.40370278e-02 2.38569128e+02] [-2.10333369e-01 9.77604820e-01 -6.97783600e-03 -3.42434823e+01] [-3.47432397e-02 -3.41692024e-04 9.99396213e-01 -1.11479733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44264 meters 0.02384294179215547 Centerline is valid? [True, True] Translation: X:238.63, Y:-34.26, Z:-11.15 [[ 9.76603090e-01 2.12507855e-01 3.29668894e-02 2.38630029e+02] [-2.12400675e-01 9.77159276e-01 -6.76032823e-03 -3.42553089e+01] [-3.36505246e-02 -4.00032093e-04 9.99433581e-01 -1.11524468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50264 meters 0.0229473792057047 Centerline is valid? [True, True] Translation: X:238.69, Y:-34.27, Z:-11.15 [[ 9.76319981e-01 2.13836263e-01 3.27619768e-02 2.38690676e+02] [-2.13730971e-01 9.76869419e-01 -6.72390121e-03 -3.42668852e+01] [-3.34419871e-02 -4.37570019e-04 9.99440565e-01 -1.11549434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56264000000002 meters 0.020694321482474586 Centerline is valid? [True, True] Translation: X:238.75, Y:-34.28, Z:-11.16 [[ 9.76068951e-01 2.15021853e-01 3.24808401e-02 2.38751524e+02] [-2.14918829e-01 9.76609125e-01 -6.67184644e-03 -3.42784237e+01] [-3.31556776e-02 -4.68561980e-04 9.99450090e-01 -1.11574175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62264000000002 meters 0.021955878788944422 Centerline is valid? [True, True] Translation: X:238.81, Y:-34.29, Z:-11.16 [[ 9.75972909e-01 2.15454732e-01 3.24982871e-02 2.38812174e+02] [-2.15351624e-01 9.76513712e-01 -6.68188949e-03 -3.42888880e+01] [-3.31746677e-02 -4.77215758e-04 9.99449455e-01 -1.11612930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68264 meters 0.02156402773144442 Centerline is valid? [True, True] Translation: X:238.87, Y:-34.30, Z:-11.16 [[ 9.75931557e-01 2.15670952e-01 3.23053695e-02 2.38874364e+02] [-2.15569086e-01 9.76465980e-01 -6.64515891e-03 -3.43005989e+01] [-3.29782621e-02 -4.78818708e-04 9.99455954e-01 -1.11628681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74264 meters 0.022073031470022608 Centerline is valid? [True, True] Translation: X:238.93, Y:-34.31, Z:-11.17 [[ 9.75879018e-01 2.15911823e-01 3.22835521e-02 2.38934470e+02] [-2.15809968e-01 9.76412748e-01 -6.64850252e-03 -3.43111840e+01] [-3.29575621e-02 -4.78978233e-04 9.99456637e-01 -1.11657577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80264 meters 0.022827103270447246 Centerline is valid? [True, True] Translation: X:238.99, Y:-34.32, Z:-11.17 [[ 9.75784851e-01 2.16155095e-01 3.34798452e-02 2.38994021e+02] [-2.16045536e-01 9.76358912e-01 -6.89943383e-03 -3.43189500e+01] [-3.41796930e-02 -5.00808104e-04 9.99415578e-01 -1.11666219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86264 meters 0.01970580845339967 Centerline is valid? [True, True] Translation: X:239.05, Y:-34.34, Z:-11.17 [[ 9.75699396e-01 2.16121004e-01 3.60887927e-02 2.39051846e+02] [-2.16051047e-01 9.76364401e-01 -5.87380138e-03 -3.43360245e+01] [-3.65052643e-02 -2.06595700e-03 9.99331325e-01 -1.11687768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92264 meters 0.021035451266298827 Centerline is valid? [True, True] Translation: X:239.11, Y:-34.34, Z:-11.18 [[ 9.76408720e-01 2.13669924e-01 3.11636805e-02 2.39114893e+02] [-2.13528077e-01 9.76905391e-01 -7.84966488e-03 -3.43427363e+01] [-3.21212048e-02 1.01016046e-03 9.99483470e-01 -1.11753712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98264 meters 0.01939417818617864 Centerline is valid? [True, True] Translation: X:239.18, Y:-34.36, Z:-11.18 [[ 9.76615820e-01 2.12811006e-01 3.05453103e-02 2.39175565e+02] [-2.12718018e-01 9.77093320e-01 -6.29985796e-03 -3.43572899e+01] [-3.11862978e-02 -3.44996926e-04 9.99513530e-01 -1.11770793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04264 meters 0.019025544914052988 Centerline is valid? [True, True] Translation: X:239.24, Y:-34.37, Z:-11.18 [[ 9.76767453e-01 2.12004083e-01 3.12987341e-02 2.39235543e+02] [-2.11905782e-01 9.77268728e-01 -6.46318184e-03 -3.43676218e+01] [-3.19574950e-02 -3.19357079e-04 9.99489178e-01 -1.11782118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10264 meters 0.017770790180383966 Centerline is valid? [True, True] Translation: X:239.30, Y:-34.38, Z:-11.18 [[ 9.76821010e-01 2.11690915e-01 3.17438180e-02 2.39296549e+02] [-2.11589680e-01 9.77336614e-01 -6.55361665e-03 -3.43816655e+01] [-3.24117367e-02 -3.14953864e-04 9.99474552e-01 -1.11781030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16264 meters 0.01834994924134055 Centerline is valid? [True, True] Translation: X:239.36, Y:-34.39, Z:-11.18 [[ 9.76788541e-01 2.11891055e-01 3.14058498e-02 2.39356970e+02] [-2.11791851e-01 9.77293244e-01 -6.49059770e-03 -3.43922437e+01] [-3.20680244e-02 -3.11561616e-04 9.99485640e-01 -1.11818357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22264 meters 0.020556816109460863 Centerline is valid? [True, True] Translation: X:239.42, Y:-34.40, Z:-11.19 [[ 9.76403010e-01 2.13786176e-01 3.05390568e-02 2.39416631e+02] [-2.13693168e-01 9.76880413e-01 -6.31569201e-03 -3.43996334e+01] [-3.11832141e-02 -3.59327111e-04 9.99513621e-01 -1.11872231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28264000000001 meters 0.02383112739435456 Centerline is valid? [True, True] Translation: X:239.48, Y:-34.40, Z:-11.19 [[ 9.75619065e-01 2.17568195e-01 2.88360910e-02 2.39477587e+02] [-2.17486906e-01 9.76045017e-01 -5.96405078e-03 -3.44038149e+01] [-2.94429107e-02 -4.52830578e-04 9.99566361e-01 -1.11928165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34264000000002 meters 0.02502322415581901 Centerline is valid? [True, True] Translation: X:239.54, Y:-34.41, Z:-11.20 [[ 9.75314434e-01 2.19009244e-01 2.82259759e-02 2.39536343e+02] [-2.18931943e-01 9.75722663e-01 -5.83854398e-03 -3.44112059e+01] [-2.88194195e-02 -4.85151530e-04 9.99584517e-01 -1.11972542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40264 meters 0.024597550671090197 Centerline is valid? [True, True] Translation: X:239.59, Y:-34.42, Z:-11.20 [[ 9.75484551e-01 2.18187957e-01 2.87037668e-02 2.39594139e+02] [-2.18107687e-01 9.75906653e-01 -5.93648756e-03 -3.44223403e+01] [-2.93074671e-02 -4.69560304e-04 9.99570334e-01 -1.11986321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46264 meters 0.03049989118829803 Centerline is valid? [True, True] Translation: X:239.65, Y:-34.43, Z:-11.20 [[ 9.75494547e-01 2.18055901e-01 2.93600396e-02 2.39652504e+02] [-2.17971915e-01 9.75936164e-01 -6.07030911e-03 -3.44342328e+01] [-2.99771911e-02 -4.78110632e-04 9.99550469e-01 -1.11986238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52264 meters 0.02550336150818067 Centerline is valid? [True, True] Translation: X:239.71, Y:-34.44, Z:-11.20 [[ 9.75243636e-01 2.19296097e-01 2.84442050e-02 2.39711272e+02] [-2.19217814e-01 9.75658225e-01 -5.88038884e-03 -3.44405227e+01] [-2.90413688e-02 -5.00664643e-04 9.99578085e-01 -1.12030472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58264 meters 0.026715885030291663 Centerline is valid? [True, True] Translation: X:239.77, Y:-34.45, Z:-11.21 [[ 9.75032000e-01 2.20191471e-01 2.87804540e-02 2.39770040e+02] [-2.20111734e-01 9.75456524e-01 -5.94927807e-03 -3.44483654e+01] [-2.93840619e-02 -5.34179136e-04 9.99568052e-01 -1.12058480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64264 meters 0.0257993693616599 Centerline is valid? [True, True] Translation: X:239.83, Y:-34.46, Z:-11.21 [[ 9.75236857e-01 2.19286667e-01 2.87476996e-02 2.39828030e+02] [-2.19206759e-01 9.75660340e-01 -5.94110721e-03 -3.44598877e+01] [-2.93507959e-02 -5.07703328e-04 9.99569044e-01 -1.12084882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70264 meters 0.024283678013396585 Centerline is valid? [True, True] Translation: X:239.89, Y:-34.47, Z:-11.21 [[ 9.75796031e-01 2.16913825e-01 2.77578643e-02 2.39885117e+02] [-2.16838403e-01 9.76190665e-01 -5.73525187e-03 -3.44744566e+01] [-2.83410234e-02 -4.22534959e-04 9.99598223e-01 -1.12132888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76264 meters 0.03727406334582784 Centerline is valid? [True, True] Translation: X:239.94, Y:-34.49, Z:-11.22 [[ 9.76409915e-01 2.14315881e-01 2.63131467e-02 2.39942300e+02] [-2.14247208e-01 9.76764349e-01 -5.43509825e-03 -3.44900559e+01] [-2.68665715e-02 -3.30634388e-04 9.99638974e-01 -1.12176175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82264 meters 0.027691866260178204 Centerline is valid? [True, True] Translation: X:240.00, Y:-34.50, Z:-11.22 [[ 9.76706032e-01 2.12814787e-01 2.74807728e-02 2.39999977e+02] [-2.12739302e-01 9.77092511e-01 -5.67576554e-03 -3.45025189e+01] [-2.80591442e-02 -3.02686009e-04 9.99606219e-01 -1.12189192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88264 meters 0.019152133917496202 Centerline is valid? [True, True] Translation: X:240.06, Y:-34.52, Z:-11.22 [[ 9.77088747e-01 2.10964366e-01 2.81356896e-02 2.40057147e+02] [-2.10884511e-01 9.77493719e-01 -5.80971278e-03 -3.45194866e+01] [-2.87281023e-02 -2.56776176e-04 9.99587230e-01 -1.12191826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94264 meters 0.017830588118024442 Centerline is valid? [True, True] Translation: X:240.11, Y:-34.54, Z:-11.22 [[ 9.77723021e-01 2.07949849e-01 2.85404003e-02 2.40114518e+02] [-2.07866465e-01 9.78139474e-01 -5.89086156e-03 -3.45390521e+01] [-2.91414960e-02 -1.72961182e-04 9.99575281e-01 -1.12228285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00264 meters 0.01750714576536246 Centerline is valid? [True, True] Translation: X:240.17, Y:-34.56, Z:-11.23 [[ 9.78248894e-01 2.05663960e-01 2.70450990e-02 2.40172544e+02] [-2.05588142e-01 9.78622668e-01 -5.58477285e-03 -3.45584124e+01] [-2.76155334e-02 -9.68537795e-05 9.99618614e-01 -1.12281746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06264000000002 meters 0.017710830070172556 Centerline is valid? [True, True] Translation: X:240.23, Y:-34.58, Z:-11.23 [[ 9.78532779e-01 2.04311131e-01 2.70289296e-02 2.40230716e+02] [-2.04234941e-01 9.78906001e-01 -5.57949142e-03 -3.45782539e+01] [-2.75987336e-02 -6.05365970e-05 9.99619081e-01 -1.12334112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12264000000002 meters 0.016891859177073806 Centerline is valid? [True, True] Translation: X:240.29, Y:-34.60, Z:-11.23 [[ 9.78480876e-01 2.04660309e-01 2.62551649e-02 2.40291093e+02] [-2.04588451e-01 9.78833057e-01 -5.42327162e-03 -3.45955636e+01] [-2.68093518e-02 -6.49359763e-05 9.99640563e-01 -1.12327550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18264 meters 0.01735816791127465 Centerline is valid? [True, True] Translation: X:240.35, Y:-34.61, Z:-11.23 [[ 9.77897554e-01 2.07332189e-01 2.70136522e-02 2.40351541e+02] [-2.07256995e-01 9.78270589e-01 -5.58510514e-03 -3.46104663e+01] [-2.75846335e-02 -1.37107743e-04 9.99619462e-01 -1.12348585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24264 meters 0.019564518211122255 Centerline is valid? [True, True] Translation: X:240.41, Y:-34.62, Z:-11.24 [[ 9.76742968e-01 2.12433541e-01 2.90717387e-02 2.40410986e+02] [-2.12348472e-01 9.77175472e-01 -6.01851085e-03 -3.46199863e+01] [-2.96867235e-02 -2.94801140e-04 9.99559209e-01 -1.12356155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30264 meters 0.02277754192146704 Centerline is valid? [True, True] Translation: X:240.47, Y:-34.63, Z:-11.24 [[ 9.75717602e-01 2.17039939e-01 2.94758574e-02 2.40471828e+02] [-2.16954516e-01 9.76162626e-01 -6.10454210e-03 -3.46279934e+01] [-3.00981598e-02 -4.38611188e-04 9.99546852e-01 -1.12373968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36264 meters 0.03232593636372989 Centerline is valid? [True, True] Translation: X:240.53, Y:-34.62, Z:-11.24 [[ 9.73703189e-01 2.26067836e-01 2.82034181e-02 2.40533245e+02] [-2.25993369e-01 9.74111320e-01 -5.84236039e-03 -3.46246320e+01] [-2.87940386e-02 -6.85060536e-04 9.99585131e-01 -1.12448132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42264 meters 0.04241690775496584 Centerline is valid? [True, True] Translation: X:240.59, Y:-34.62, Z:-11.25 [[ 9.71898008e-01 2.33786834e-01 2.75314158e-02 2.40594986e+02] [-2.33718976e-01 9.72287468e-01 -5.70264084e-03 -3.46222950e+01] [-2.81016529e-02 -8.92229034e-04 9.99604672e-01 -1.12497348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48264 meters 0.04306235216448112 Centerline is valid? [True, True] Translation: X:240.65, Y:-34.63, Z:-11.25 [[ 9.71090245e-01 2.37002247e-01 2.85249211e-02 2.40654041e+02] [-2.36930766e-01 9.71508566e-01 -5.90915873e-03 -3.46285124e+01] [-2.91126891e-02 -1.02010500e-03 9.99575615e-01 -1.12492004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54264 meters 0.046974068736347616 Centerline is valid? [True, True] Translation: X:240.71, Y:-34.63, Z:-11.25 [[ 9.70806503e-01 2.38186755e-01 2.83161458e-02 2.40713028e+02] [-2.38116856e-01 9.71218806e-01 -5.86463510e-03 -3.46293695e+01] [-2.88980518e-02 -1.04912574e-03 9.99581814e-01 -1.12535871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60264 meters 0.041691610023115055 Centerline is valid? [True, True] Translation: X:240.77, Y:-34.64, Z:-11.25 [[ 9.71083936e-01 2.36926236e-01 2.93589368e-02 2.40770241e+02] [-2.36850579e-01 9.71527073e-01 -6.07856764e-03 -3.46430898e+01] [-2.99631741e-02 -1.05088179e-03 9.99550451e-01 -1.12523449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66264 meters 0.03869530779274586 Centerline is valid? [True, True] Translation: X:240.83, Y:-34.65, Z:-11.25 [[ 9.71822035e-01 2.33792422e-01 3.00505623e-02 2.40829782e+02] [-2.33711726e-01 9.72286041e-01 -6.21961314e-03 -3.46532824e+01] [-3.06718407e-02 -9.78811699e-04 9.99529029e-01 -1.12533834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72264 meters 0.0372132282922 Centerline is valid? [True, True] Translation: X:240.89, Y:-34.66, Z:-11.26 [[ 9.72246742e-01 2.31938910e-01 3.06694465e-02 2.40888513e+02] [-2.31853935e-01 9.72729901e-01 -6.34770159e-03 -3.46618835e+01] [-3.13053666e-02 -9.39299653e-04 9.99509426e-01 -1.12552537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78264000000001 meters 0.035929927983731125 Centerline is valid? [True, True] Translation: X:240.95, Y:-34.67, Z:-11.26 [[ 9.72615338e-01 2.30306154e-01 3.12806527e-02 2.40947479e+02] [-2.30216951e-01 9.73117801e-01 -6.47301358e-03 -3.46697366e+01] [-3.19305349e-02 -9.05584221e-04 9.99489680e-01 -1.12568947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84264000000002 meters 0.030520835103117535 Centerline is valid? [True, True] Translation: X:241.01, Y:-34.68, Z:-11.26 [[ 9.73659633e-01 2.25782047e-01 3.17708263e-02 2.41006802e+02] [-2.25687668e-01 9.74177537e-01 -6.57289622e-03 -3.46809133e+01] [-3.24344673e-02 -7.70519990e-04 9.99473567e-01 -1.12592838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90264 meters 0.024155808768695945 Centerline is valid? [True, True] Translation: X:241.06, Y:-34.70, Z:-11.26 [[ 9.75249974e-01 2.19063527e-01 2.99776357e-02 2.41064900e+02] [-2.18976336e-01 9.75710461e-01 -6.20157505e-03 -3.46964313e+01] [-3.06080317e-02 -5.16306938e-04 9.99531331e-01 -1.12645853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96264 meters 0.022486651445824516 Centerline is valid? [True, True] Translation: X:241.12, Y:-34.71, Z:-11.27 [[ 9.76033245e-01 2.15658407e-01 2.91643073e-02 2.41121347e+02] [-2.15574348e-01 9.76468788e-01 -6.03383376e-03 -3.47068456e+01] [-2.97792828e-02 -3.97854204e-04 9.99556420e-01 -1.12707612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02264 meters 0.021059455673141627 Centerline is valid? [True, True] Translation: X:241.18, Y:-34.71, Z:-11.27 [[ 9.76402647e-01 2.13927917e-01 2.95417878e-02 2.41180413e+02] [-2.13840939e-01 9.76849386e-01 -6.10982431e-03 -3.47124213e+01] [-3.01649392e-02 -3.51595012e-04 9.99544873e-01 -1.12730653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08264 meters 0.021542160531112135 Centerline is valid? [True, True] Translation: X:241.24, Y:-34.72, Z:-11.28 [[ 9.76342020e-01 2.14280306e-01 2.89863924e-02 2.41239790e+02] [-2.14196765e-01 9.76772145e-01 -5.99356521e-03 -3.47151008e+01] [-2.95974036e-02 -3.57021917e-04 9.99561837e-01 -1.12769393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14264 meters 0.020905708070856552 Centerline is valid? [True, True] Translation: X:241.30, Y:-34.72, Z:-11.28 [[ 9.76514930e-01 2.13578859e-01 2.83312957e-02 2.41298792e+02] [-2.13498796e-01 9.76925771e-01 -5.85678110e-03 -3.47209699e+01] [-2.89284576e-02 -3.29463335e-04 9.99581430e-01 -1.12808444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20264 meters 0.0206426529026789 Centerline is valid? [True, True] Translation: X:241.36, Y:-34.73, Z:-11.28 [[ 9.76630149e-01 2.13001152e-01 2.87064880e-02 2.41357617e+02] [-2.12918747e-01 9.77051896e-01 -5.93287270e-03 -3.47273784e+01] [-2.93114372e-02 -3.17927093e-04 9.99570277e-01 -1.12835793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26264 meters 0.020358161057180187 Centerline is valid? [True, True] Translation: X:241.42, Y:-34.73, Z:-11.28 [[ 9.76551073e-01 2.13274207e-01 2.93617791e-02 2.41416680e+02] [-2.13188165e-01 9.76992324e-01 -6.06679967e-03 -3.47318826e+01] [-2.99801246e-02 -3.35044069e-04 9.99550439e-01 -1.12840746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32264 meters 0.01934181725749786 Centerline is valid? [True, True] Translation: X:241.48, Y:-34.74, Z:-11.29 [[ 9.76729928e-01 2.12240993e-01 3.08611206e-02 2.41475405e+02] [-2.12145454e-01 9.77217304e-01 -6.37556235e-03 -3.47403489e+01] [-3.15111767e-02 -3.19843863e-04 9.99503348e-01 -1.12854343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38264 meters 0.01819833761128454 Centerline is valid? [True, True] Translation: X:241.53, Y:-34.75, Z:-11.29 [[ 9.77111978e-01 2.10363589e-01 3.16123881e-02 2.41533115e+02] [-2.10262469e-01 9.77623183e-01 -6.52731484e-03 -3.47486096e+01] [-3.22781128e-02 -2.68981262e-04 9.99478890e-01 -1.12875571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44264 meters 0.025214340937094928 Centerline is valid? [True, True] Translation: X:241.59, Y:-34.76, Z:-11.29 [[ 9.77667711e-01 2.07958883e-01 3.03141714e-02 2.41590462e+02] [-2.07864806e-01 9.78137551e-01 -6.25727442e-03 -3.47620158e+01] [-3.09526851e-02 -1.83714175e-04 9.99520834e-01 -1.12944522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50264 meters 0.01681057636064284 Centerline is valid? [True, True] Translation: X:241.65, Y:-34.78, Z:-11.30 [[ 9.78381980e-01 2.04689940e-01 2.95081276e-02 2.41646347e+02] [-2.04599348e-01 9.78826860e-01 -6.08970383e-03 -3.47774718e+01] [-3.01298490e-02 -7.92871603e-05 9.99545990e-01 -1.13010645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56264000000002 meters 0.023934887868915282 Centerline is valid? [True, True] Translation: X:241.71, Y:-34.79, Z:-11.30 [[ 9.78419529e-01 2.04375153e-01 3.04305972e-02 2.41705393e+02] [-2.04278728e-01 9.78892635e-01 -6.27775860e-03 -3.47854977e+01] [-3.10713054e-02 -7.40420742e-05 9.99517168e-01 -1.12991981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62264000000002 meters 0.016376270025537272 Centerline is valid? [True, True] Translation: X:241.76, Y:-34.79, Z:-11.30 [[ 9.78239063e-01 2.05048139e-01 3.16795879e-02 2.41763247e+02] [-2.04944021e-01 9.78751884e-01 -6.53434030e-03 -3.47929333e+01] [-3.23463106e-02 -1.00395181e-04 9.99476716e-01 -1.13030315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68264 meters 0.016071555175215076 Centerline is valid? [True, True] Translation: X:241.82, Y:-34.81, Z:-11.31 [[ 9.78290630e-01 2.04781223e-01 3.18134217e-02 2.41820732e+02] [-2.04676135e-01 9.78807766e-01 -6.56033033e-03 -3.48055186e+01] [-3.24826567e-02 -9.35385025e-05 9.99472295e-01 -1.13056449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74264 meters 0.023557131644258943 Centerline is valid? [True, True] Translation: X:241.88, Y:-34.82, Z:-11.31 [[ 9.78847883e-01 2.02043903e-01 3.21726973e-02 2.41878340e+02] [-2.01934997e-01 9.79376466e-01 -6.63290855e-03 -3.48176527e+01] [-3.28493213e-02 -4.18504206e-06 9.99460315e-01 -1.13061618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80264 meters 0.015160649971948102 Centerline is valid? [True, True] Translation: X:241.93, Y:-34.83, Z:-11.31 [[ 9.79380883e-01 1.99204497e-01 3.36252158e-02 2.41934515e+02] [-1.99083915e-01 9.79957938e-01 -6.93071608e-03 -3.48327510e+01] [-3.43319269e-02 9.35712216e-05 9.99410481e-01 -1.13086857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86264 meters 0.014923276460413224 Centerline is valid? [True, True] Translation: X:241.99, Y:-34.84, Z:-11.31 [[ 9.79340628e-01 1.99356397e-01 3.38963268e-02 2.41992765e+02] [-1.99234034e-01 9.79927048e-01 -6.98428163e-03 -3.48421593e+01] [-3.46082887e-02 8.66888224e-05 9.99400950e-01 -1.13105888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92264 meters 0.014642262752803302 Centerline is valid? [True, True] Translation: X:242.05, Y:-34.85, Z:-11.31 [[ 9.79287425e-01 1.99663728e-01 3.36234137e-02 2.42050187e+02] [-1.99543565e-01 9.79864475e-01 -6.92643177e-03 -3.48521877e+01] [-3.43293458e-02 7.36316949e-05 9.99410572e-01 -1.13138193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98264 meters 0.01484624286201871 Centerline is valid? [True, True] Translation: X:242.11, Y:-34.86, Z:-11.32 [[ 9.79322124e-01 1.99596426e-01 3.30067299e-02 2.42107691e+02] [-1.99480637e-01 9.79878187e-01 -6.79808589e-03 -3.48584145e+01] [-3.36994483e-02 7.33124037e-05 9.99432010e-01 -1.13180150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04264 meters 0.015092638350602946 Centerline is valid? [True, True] Translation: X:242.16, Y:-34.87, Z:-11.32 [[ 9.79716332e-01 1.97546660e-01 3.36337071e-02 2.42164453e+02] [-1.97425308e-01 9.80293475e-01 -6.92468926e-03 -3.48707694e+01] [-3.43388528e-02 1.44086169e-04 9.99410237e-01 -1.13203893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10264 meters 0.016252865664673027 Centerline is valid? [True, True] Translation: X:242.22, Y:-34.88, Z:-11.32 [[ 9.80149036e-01 1.95268537e-01 3.43229574e-02 2.42220886e+02] [-1.95140861e-01 9.80749788e-01 -7.06376943e-03 -3.48835204e+01] [-3.50415652e-02 2.25735321e-04 9.99385830e-01 -1.13233015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16264 meters 0.025593775805599454 Centerline is valid? [True, True] Translation: X:242.28, Y:-34.90, Z:-11.32 [[ 9.81028609e-01 1.90719018e-01 3.47724801e-02 2.42278269e+02] [-1.90585198e-01 9.81644591e-01 -7.15394767e-03 -3.48984990e+01] [-3.54986109e-02 3.91107308e-04 9.99369649e-01 -1.13248768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22264 meters 0.020858239222645337 Centerline is valid? [True, True] Translation: X:242.33, Y:-34.91, Z:-11.33 [[ 9.81580694e-01 1.87872416e-01 3.46885751e-02 2.42334280e+02] [-1.87737527e-01 9.82193318e-01 -7.13492509e-03 -3.49148305e+01] [-3.54113423e-02 4.91157431e-04 9.99372701e-01 -1.13282221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28264000000001 meters 0.024555294188964374 Centerline is valid? [True, True] Translation: X:242.39, Y:-34.93, Z:-11.33 [[ 9.82384187e-01 1.83888820e-01 3.32597500e-02 2.42391380e+02] [-1.83762604e-01 9.82946862e-01 -6.83896482e-03 -3.49331100e+01] [-3.39501760e-02 6.06592622e-04 9.99423343e-01 -1.13341157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34264000000002 meters 0.027037044023371377 Centerline is valid? [True, True] Translation: X:242.45, Y:-34.95, Z:-11.34 [[ 9.82755143e-01 1.81666402e-01 3.44912523e-02 2.42447239e+02] [-1.81529300e-01 9.83359963e-01 -7.09203329e-03 -3.49528141e+01] [-3.52057008e-02 7.08559304e-04 9.99379836e-01 -1.13354994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40264 meters 0.025103865078151256 Centerline is valid? [True, True] Translation: X:242.51, Y:-34.97, Z:-11.34 [[ 9.82686321e-01 1.82077428e-01 3.42841634e-02 2.42506122e+02] [-1.81942278e-01 9.83283955e-01 -7.04775283e-03 -3.49650007e+01] [-3.49943045e-02 6.87991526e-04 9.99387275e-01 -1.13376823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46264 meters 0.025244095330277206 Centerline is valid? [True, True] Translation: X:242.56, Y:-34.98, Z:-11.34 [[ 9.82537396e-01 1.82971613e-01 3.37883853e-02 2.42563430e+02] [-1.82840867e-01 9.83117984e-01 -6.94599539e-03 -3.49810812e+01] [-3.44888892e-02 6.46802565e-04 9.99404872e-01 -1.13420693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52264 meters 0.02297443716852371 Centerline is valid? [True, True] Translation: X:242.62, Y:-34.99, Z:-11.35 [[ 9.81951087e-01 1.86228153e-01 3.30323844e-02 2.42620813e+02] [-1.86105043e-01 9.82506389e-01 -6.79034175e-03 -3.49944263e+01] [-3.37190815e-02 5.20290143e-04 9.99431215e-01 -1.13471276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58264 meters 0.01851524568283318 Centerline is valid? [True, True] Translation: X:242.68, Y:-35.00, Z:-11.35 [[ 9.81156857e-01 1.90498964e-01 3.22702141e-02 2.42680298e+02] [-1.90383808e-01 9.81687329e-01 -6.63273563e-03 -3.50037993e+01] [-3.29427896e-02 3.64027774e-04 9.99457173e-01 -1.13495244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64264 meters 0.01560475465270127 Centerline is valid? [True, True] Translation: X:242.74, Y:-35.01, Z:-11.35 [[ 9.79993016e-01 1.96331800e-01 3.26728236e-02 2.42738725e+02] [-1.96216980e-01 9.80537503e-01 -6.71575835e-03 -3.50071687e+01] [-3.33554458e-02 1.70433497e-04 9.99443538e-01 -1.13529401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70264 meters 0.014077671424996933 Centerline is valid? [True, True] Translation: X:242.80, Y:-35.01, Z:-11.35 [[ 9.78447150e-01 2.03691693e-01 3.39244605e-02 2.42798112e+02] [-2.03572404e-01 9.79035079e-01 -6.97063273e-03 -3.50113446e+01] [-3.46330968e-02 -8.56882268e-05 9.99400091e-01 -1.13522311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76264 meters 0.014843542473636109 Centerline is valid? [True, True] Translation: X:242.85, Y:-35.02, Z:-11.35 [[ 9.77952989e-01 2.05884254e-01 3.49231269e-02 2.42854808e+02] [-2.05759292e-01 9.78576336e-01 -7.17418078e-03 -3.50208954e+01] [-3.56519964e-02 -1.69746323e-04 9.99364251e-01 -1.13548198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82264 meters 0.014024788428859887 Centerline is valid? [True, True] Translation: X:242.91, Y:-35.04, Z:-11.36 [[ 9.78323260e-01 2.04206926e-01 3.43966502e-02 2.42911044e+02] [-2.04084755e-01 9.78927740e-01 -7.06351434e-03 -3.50395982e+01] [-3.51142536e-02 -1.09431577e-04 9.99383298e-01 -1.13572104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88264 meters 0.02704009641392358 Centerline is valid? [True, True] Translation: X:242.97, Y:-35.06, Z:-11.36 [[ 9.78747858e-01 2.02256468e-01 3.38371306e-02 2.42967383e+02] [-2.02137133e-01 9.79332589e-01 -6.94692922e-03 -3.50554045e+01] [-3.45428661e-02 -4.04484841e-05 9.99403216e-01 -1.13605751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94264 meters 0.013357955657940821 Centerline is valid? [True, True] Translation: X:243.02, Y:-35.08, Z:-11.36 [[ 9.79278243e-01 1.99291772e-01 3.60126565e-02 2.43021894e+02] [-1.99154658e-01 9.79940195e-01 -7.39167747e-03 -3.50774545e+01] [-3.67633501e-02 6.64206288e-05 9.99323997e-01 -1.13603825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00264 meters 0.013532805962637015 Centerline is valid? [True, True] Translation: X:243.08, Y:-35.10, Z:-11.36 [[ 9.79510764e-01 1.98002805e-01 3.67906672e-02 2.43079241e+02] [-1.97858897e-01 9.80201447e-01 -7.54855293e-03 -3.50952983e+01] [-3.75568999e-02 1.14527992e-04 9.99294484e-01 -1.13612803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06264000000002 meters 0.013638012248506092 Centerline is valid? [True, True] Translation: X:243.14, Y:-35.11, Z:-11.37 [[ 9.79504925e-01 1.98215181e-01 3.57888801e-02 2.43137296e+02] [-1.98079180e-01 9.80158524e-01 -7.34215635e-03 -3.51099760e+01] [-3.65341027e-02 1.02646303e-04 9.99332402e-01 -1.13663496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12264000000002 meters 0.013929598113945488 Centerline is valid? [True, True] Translation: X:243.19, Y:-35.12, Z:-11.37 [[ 9.78819532e-01 2.01921675e-01 3.37633020e-02 2.43194424e+02] [-2.01802855e-01 9.79401672e-01 -6.92614938e-03 -3.51213038e+01] [-3.44663741e-02 -3.40804541e-05 9.99405857e-01 -1.13729064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18264 meters 0.017365972450217867 Centerline is valid? [True, True] Translation: X:243.25, Y:-35.12, Z:-11.38 [[ 9.77475504e-01 2.08463665e-01 3.29323428e-02 2.43252822e+02] [-2.08354377e-01 9.78030078e-01 -6.75428642e-03 -3.51222025e+01] [-3.36168451e-02 -2.59448256e-04 9.99434760e-01 -1.13785759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24264 meters 0.018873287314731695 Centerline is valid? [True, True] Translation: X:243.31, Y:-35.13, Z:-11.38 [[ 9.77015121e-01 2.10732560e-01 3.21440871e-02 2.43310595e+02] [-2.10629737e-01 9.77543696e-01 -6.59055867e-03 -3.51312184e+01] [-3.28110950e-02 -3.31425147e-04 9.99461516e-01 -1.13819534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30264 meters 0.019904042165440252 Centerline is valid? [True, True] Translation: X:243.37, Y:-35.14, Z:-11.38 [[ 9.76609709e-01 2.12544735e-01 3.25301680e-02 2.43368776e+02] [-2.12440485e-01 9.77151256e-01 -6.66809757e-03 -3.51418551e+01] [-3.32041636e-02 -3.98595855e-04 9.99448510e-01 -1.13833968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36264 meters 0.022733044945885742 Centerline is valid? [True, True] Translation: X:243.43, Y:-35.15, Z:-11.39 [[ 9.76331588e-01 2.13787511e-01 3.27342464e-02 2.43426040e+02] [-2.13682696e-01 9.76880086e-01 -6.70844274e-03 -3.51483448e+01] [-3.34116148e-02 -4.45077484e-04 9.99441577e-01 -1.13877797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42264 meters 0.02111942463076174 Centerline is valid? [True, True] Translation: X:243.48, Y:-35.16, Z:-11.39 [[ 9.76271732e-01 2.14164605e-01 3.20472599e-02 2.43483332e+02] [-2.14064415e-01 9.76797481e-01 -6.56558443e-03 -3.51609770e+01] [-3.27097986e-02 -4.50383467e-04 9.99464790e-01 -1.13896260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48264 meters 0.019861228180463448 Centerline is valid? [True, True] Translation: X:243.54, Y:-35.18, Z:-11.39 [[ 9.76753425e-01 2.11961605e-01 3.20160124e-02 2.43539215e+02] [-2.11860474e-01 9.77277921e-01 -6.55774301e-03 -3.51753702e+01] [-3.26785318e-02 -3.77629610e-04 9.99465843e-01 -1.13939660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54264 meters 0.015666162795274673 Centerline is valid? [True, True] Translation: X:243.60, Y:-35.20, Z:-11.39 [[ 9.77768381e-01 2.07026817e-01 3.33000107e-02 2.43595120e+02] [-2.06914626e-01 9.78335243e-01 -6.81839136e-03 -3.51964587e+01] [-3.39901639e-02 -2.23451757e-04 9.99422142e-01 -1.13937992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60264 meters 0.01421717277611143 Centerline is valid? [True, True] Translation: X:243.65, Y:-35.21, Z:-11.39 [[ 9.78292692e-01 2.04349137e-01 3.44214810e-02 2.43652029e+02] [-2.04227666e-01 9.78898060e-01 -7.04618809e-03 -3.52124574e+01] [-3.51350034e-02 -1.36584423e-04 9.99382566e-01 -1.13945661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66264 meters 0.014072445959389227 Centerline is valid? [True, True] Translation: X:243.71, Y:-35.23, Z:-11.40 [[ 9.78699703e-01 2.02554748e-01 3.34434737e-02 2.43708105e+02] [-2.02439092e-01 9.79270937e-01 -6.84435651e-03 -3.52296858e+01] [-3.41365788e-02 -7.16967664e-05 9.99417175e-01 -1.13993828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72264 meters 0.014494041315494826 Centerline is valid? [True, True] Translation: X:243.76, Y:-35.24, Z:-11.40 [[ 9.78663892e-01 2.02761365e-01 3.32387581e-02 2.43764184e+02] [-2.02647288e-01 9.79228177e-01 -6.80104262e-03 -3.52411616e+01] [-3.39273172e-02 -7.98093378e-05 9.99424300e-01 -1.14034255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78264000000001 meters 0.014997306734329507 Centerline is valid? [True, True] Translation: X:243.82, Y:-35.25, Z:-11.41 [[ 9.78447726e-01 2.03977529e-01 3.21436578e-02 2.43821917e+02] [-2.03871578e-01 9.78975563e-01 -6.57467534e-03 -3.52519378e+01] [-3.28089415e-02 -1.20202092e-04 9.99461635e-01 -1.14072758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84264000000002 meters 0.01671031946253524 Centerline is valid? [True, True] Translation: X:243.88, Y:-35.26, Z:-11.41 [[ 9.77714575e-01 2.07417265e-01 3.24389780e-02 2.43881029e+02] [-2.07311303e-01 9.78252534e-01 -6.63345300e-03 -3.52552669e+01] [-3.31094051e-02 -2.39343105e-04 9.99451705e-01 -1.14096312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90264 meters 0.020111116254044263 Centerline is valid? [True, True] Translation: X:243.94, Y:-35.26, Z:-11.41 [[ 9.76658373e-01 2.12262960e-01 3.29067968e-02 2.43940363e+02] [-2.12156721e-01 9.77212498e-01 -6.72746149e-03 -3.52583601e+01] [-3.35849240e-02 -4.10966520e-04 9.99435783e-01 -1.14109011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96264 meters 0.02045036632146236 Centerline is valid? [True, True] Translation: X:244.00, Y:-35.27, Z:-11.42 [[ 9.76402891e-01 2.12627694e-01 3.77737921e-02 2.44001748e+02] [-2.12723624e-01 9.77111246e-01 -1.50763297e-03 -3.52688703e+01] [-3.72297616e-02 -6.56332076e-03 9.99285178e-01 -1.14161576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02264 meters 0.022728724808783768 Centerline is valid? [True, True] Translation: X:244.06, Y:-35.27, Z:-11.42 [[ 9.76179778e-01 2.14639490e-01 3.16690661e-02 2.44057509e+02] [-2.14327237e-01 9.76675593e-01 -1.29854095e-02 -3.52681523e+01] [-3.37175856e-02 5.88855068e-03 9.99414053e-01 -1.14186320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08264 meters 0.018791153221696257 Centerline is valid? [True, True] Translation: X:244.11, Y:-35.28, Z:-11.42 [[ 9.76838935e-01 2.11269104e-01 3.39272773e-02 2.44114208e+02] [-2.11155756e-01 9.77427854e-01 -6.93081364e-03 -3.52843297e+01] [-3.46257327e-02 -3.93651264e-04 9.99400272e-01 -1.14176031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14264 meters 0.017309927076844218 Centerline is valid? [True, True] Translation: X:244.17, Y:-35.30, Z:-11.42 [[ 9.77465275e-01 2.08480273e-01 3.31302237e-02 2.44170495e+02] [-2.08370635e-01 9.78026529e-01 -6.76654593e-03 -3.52971902e+01] [-3.38129290e-02 -2.89302074e-04 9.99428138e-01 -1.14222702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20264 meters 0.014607382656055176 Centerline is valid? [True, True] Translation: X:244.23, Y:-35.31, Z:-11.42 [[ 9.78272502e-01 2.04645371e-01 3.32142156e-02 2.44227702e+02] [-2.04533040e-01 9.78836170e-01 -6.78148815e-03 -3.53121994e+01] [-3.38990757e-02 -1.59261123e-04 9.99425248e-01 -1.14236726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26264 meters 0.01319741808147812 Centerline is valid? [True, True] Translation: X:244.29, Y:-35.33, Z:-11.43 [[ 9.79283373e-01 1.98320175e-01 4.09045727e-02 2.44287952e+02] [-1.98621696e-01 9.80070324e-01 3.40320181e-03 -3.53340438e+01] [-3.94144342e-02 -1.14572345e-02 9.99157262e-01 -1.14277086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32264 meters 0.014429491342979302 Centerline is valid? [True, True] Translation: X:244.35, Y:-35.34, Z:-11.43 [[ 9.80216755e-01 1.95110735e-01 3.32703376e-02 2.44345180e+02] [-1.94566949e-01 9.80707192e-01 -1.88972514e-02 -3.53386927e+01] [-3.63155160e-02 1.20500943e-02 9.99267721e-01 -1.14258425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38264 meters 0.021127794283411896 Centerline is valid? [True, True] Translation: X:244.40, Y:-35.36, Z:-11.43 [[ 9.81080436e-01 1.90292271e-01 3.56374872e-02 2.44401358e+02] [-1.90153486e-01 9.81727417e-01 -7.27535234e-03 -3.53647833e+01] [-3.63707416e-02 3.61113427e-04 9.99338300e-01 -1.14311412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44264 meters 0.02159217163247055 Centerline is valid? [True, True] Translation: X:244.46, Y:-35.38, Z:-11.43 [[ 9.81920236e-01 1.85979935e-01 3.52719891e-02 2.44459296e+02] [-1.85841184e-01 9.82553407e-01 -7.20117965e-03 -3.53845433e+01] [-3.59958880e-02 5.15995821e-04 9.99351805e-01 -1.14343444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50264 meters 0.027218995886297354 Centerline is valid? [True, True] Translation: X:244.52, Y:-35.40, Z:-11.44 [[ 9.81999665e-01 1.85742718e-01 3.42972474e-02 2.44520061e+02] [-1.85611445e-01 9.82598282e-01 -7.00053856e-03 -3.53954133e+01] [-3.50007154e-02 5.08564879e-04 9.99387158e-01 -1.14377366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56264000000002 meters 0.018953467460715474 Centerline is valid? [True, True] Translation: X:244.58, Y:-35.41, Z:-11.44 [[ 9.81584542e-01 1.87897412e-01 3.44434185e-02 2.44579874e+02] [-1.87766054e-01 9.82188560e-01 -7.03855605e-03 -3.54069246e+01] [-3.51524581e-02 4.41633039e-04 9.99381864e-01 -1.14393970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62264000000002 meters 0.017322207654636435 Centerline is valid? [True, True] Translation: X:244.64, Y:-35.42, Z:-11.44 [[ 9.81174471e-01 1.90124190e-01 3.39035333e-02 2.44638854e+02] [-1.89998227e-01 9.81759983e-01 -6.92881709e-03 -3.54177846e+01] [-3.46024681e-02 3.56767214e-04 9.99401092e-01 -1.14429655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68264 meters 0.01462400853381897 Centerline is valid? [True, True] Translation: X:244.70, Y:-35.43, Z:-11.44 [[ 9.80595640e-01 1.92024264e-01 3.94825536e-02 2.44699985e+02] [-1.92204030e-01 9.81354683e-01 7.73079875e-04 -3.54313657e+01] [-3.85979388e-02 -8.34678467e-03 9.99219961e-01 -1.14427472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74264 meters 0.015406896534090955 Centerline is valid? [True, True] Translation: X:244.76, Y:-35.44, Z:-11.45 [[ 9.80501365e-01 1.93576035e-01 3.38436415e-02 2.44759184e+02] [-1.93131553e-01 9.81042825e-01 -1.59743199e-02 -3.54383929e+01] [-3.62943072e-02 9.12656745e-03 9.99299469e-01 -1.14472201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80264 meters 0.018442642840751953 Centerline is valid? [True, True] Translation: X:244.82, Y:-35.45, Z:-11.45 [[ 9.79847875e-01 1.96660848e-01 3.49664497e-02 2.44817121e+02] [-1.96530780e-01 9.80471566e-01 -7.15264902e-03 -3.54521680e+01] [-3.56902558e-02 1.36524303e-04 9.99362891e-01 -1.14534136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86264 meters 0.01336758254726677 Centerline is valid? [True, True] Translation: X:244.88, Y:-35.46, Z:-11.45 [[ 9.79110728e-01 2.00287105e-01 3.50322293e-02 2.44876222e+02] [-2.00158829e-01 9.79737248e-01 -7.16710943e-03 -3.54613704e+01] [-3.57578595e-02 5.38374545e-06 9.99360483e-01 -1.14543479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92264 meters 0.013779900038958648 Centerline is valid? [True, True] Translation: X:244.94, Y:-35.47, Z:-11.46 [[ 9.78218159e-01 2.04527110e-01 3.54668043e-02 2.44935462e+02] [-2.04398436e-01 9.78860888e-01 -7.25540464e-03 -3.54657036e+01] [-3.62009945e-02 -1.51990779e-04 9.99344518e-01 -1.14559117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98264 meters 0.016103887269452777 Centerline is valid? [True, True] Translation: X:244.99, Y:-35.47, Z:-11.46 [[ 9.77393390e-01 2.08524739e-01 3.49226798e-02 2.44993103e+02] [-2.08402592e-01 9.78017047e-01 -7.14246055e-03 -3.54714218e+01] [-3.56443559e-02 -2.96983252e-04 9.99364494e-01 -1.14603049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04264 meters 0.017528467456594657 Centerline is valid? [True, True] Translation: X:245.05, Y:-35.48, Z:-11.46 [[ 9.76946453e-01 2.10618022e-01 3.48665539e-02 2.45051580e+02] [-2.10497685e-01 9.77568365e-01 -7.12858239e-03 -3.54795440e+01] [-3.55858480e-02 -3.75085588e-04 9.99366553e-01 -1.14634285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10264 meters 0.01825381658536418 Centerline is valid? [True, True] Translation: X:245.11, Y:-35.49, Z:-11.46 [[ 9.76543063e-01 2.12140967e-01 3.68762359e-02 2.45110634e+02] [-2.12007514e-01 9.77238968e-01 -7.53743770e-03 -3.54859122e+01] [-3.76358941e-02 -4.57406625e-04 9.99291414e-01 -1.14627070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16264 meters 0.01768451022591447 Centerline is valid? [True, True] Translation: X:245.17, Y:-35.49, Z:-11.46 [[ 9.76618282e-01 2.11575514e-01 3.81121165e-02 2.45169088e+02] [-2.11432612e-01 9.77361549e-01 -7.78800778e-03 -3.54949352e+01] [-3.88970690e-02 -4.52233582e-04 9.99243120e-01 -1.14637906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22264 meters 0.016793409998621986 Centerline is valid? [True, True] Translation: X:245.23, Y:-35.51, Z:-11.47 [[ 9.76813862e-01 2.10580941e-01 3.86049989e-02 2.45226845e+02] [-2.10433621e-01 9.77576335e-01 -7.88670890e-03 -3.55066491e+01] [-3.94001240e-02 -4.19943153e-04 9.99223425e-01 -1.14656259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28264000000001 meters 0.01662822000326887 Centerline is valid? [True, True] Translation: X:245.28, Y:-35.52, Z:-11.47 [[ 9.77080105e-01 2.09241852e-01 3.91448036e-02 2.45283422e+02] [-2.09089385e-01 9.77863850e-01 -7.99502961e-03 -3.55176087e+01] [-3.99511831e-02 -3.72978540e-04 9.99201563e-01 -1.14696275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34264000000002 meters 0.015589508514615186 Centerline is valid? [True, True] Translation: X:245.34, Y:-35.53, Z:-11.47 [[ 9.77378335e-01 2.07903476e-01 3.88295565e-02 2.45341470e+02] [-2.07752502e-01 9.78149295e-01 -7.92808184e-03 -3.55278885e+01] [-3.96293791e-02 -3.18202088e-04 9.99214397e-01 -1.14729212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40264 meters 0.025940769979869653 Centerline is valid? [True, True] Translation: X:245.40, Y:-35.54, Z:-11.48 [[ 9.77813674e-01 2.06003532e-01 3.79863496e-02 2.45398744e+02] [-2.05857682e-01 9.78551219e-01 -7.75411893e-03 -3.55406551e+01] [-3.87689646e-02 -2.37698370e-04 9.99248173e-01 -1.14783708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46264 meters 0.01423556302619374 Centerline is valid? [True, True] Translation: X:245.46, Y:-35.55, Z:-11.48 [[ 9.77812673e-01 2.06008021e-01 3.79877842e-02 2.45457197e+02] [-2.05862239e-01 9.78550273e-01 -7.75248245e-03 -3.55492695e+01] [-3.87700302e-02 -2.39774711e-04 9.99248131e-01 -1.14808396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52264 meters 0.016131057769929492 Centerline is valid? [True, True] Translation: X:245.51, Y:-35.56, Z:-11.49 [[ 9.77403858e-01 2.08154343e-01 3.67895143e-02 2.45513891e+02] [-2.08019201e-01 9.78095941e-01 -7.50616970e-03 -3.55572592e+01] [-3.75461165e-02 -3.16366147e-04 9.99294846e-01 -1.14867222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58264 meters 0.017262167802710577 Centerline is valid? [True, True] Translation: X:245.57, Y:-35.56, Z:-11.49 [[ 9.77036475e-01 2.09803801e-01 3.71764842e-02 2.45572526e+02] [-2.09667065e-01 9.77743431e-01 -7.58322506e-03 -3.55624013e+01] [-3.79400527e-02 -3.85596851e-04 9.99279943e-01 -1.14885523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64264 meters 0.017597155101700578 Centerline is valid? [True, True] Translation: X:245.63, Y:-35.57, Z:-11.49 [[ 9.76863349e-01 2.10192294e-01 3.94613299e-02 2.45630163e+02] [-2.10038626e-01 9.77659970e-01 -8.04727201e-03 -3.55687024e+01] [-4.02712371e-02 -4.27318423e-04 9.99188693e-01 -1.14884510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70264 meters 0.016878103560320913 Centerline is valid? [True, True] Translation: X:245.69, Y:-35.58, Z:-11.49 [[ 9.77005481e-01 2.09524011e-01 3.94965557e-02 2.45687725e+02] [-2.09369625e-01 9.77803419e-01 -8.05194076e-03 -3.55803110e+01] [-4.03069421e-02 -4.02588772e-04 9.99187264e-01 -1.14916248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76264 meters 0.015904773034936887 Centerline is valid? [True, True] Translation: X:245.75, Y:-35.59, Z:-11.49 [[ 9.77117794e-01 2.08931287e-01 3.98564293e-02 2.45745385e+02] [-2.08773660e-01 9.77930248e-01 -8.12333944e-03 -3.55926529e+01] [-4.06740276e-02 -3.83513106e-04 9.99172396e-01 -1.14938396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82264 meters 0.016430719045449082 Centerline is valid? [True, True] Translation: X:245.80, Y:-35.60, Z:-11.50 [[ 9.77030271e-01 2.09315849e-01 3.99840637e-02 2.45802907e+02] [-2.09157612e-01 9.77848001e-01 -8.14740243e-03 -3.56008251e+01] [-4.08037172e-02 -4.02712493e-04 9.99167100e-01 -1.14966448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88264 meters 0.0200112565409648 Centerline is valid? [True, True] Translation: X:245.86, Y:-35.61, Z:-11.50 [[ 9.77064818e-01 2.09206908e-01 3.97090717e-02 2.45860094e+02] [-2.09050847e-01 9.77871316e-01 -8.08899386e-03 -3.56118468e+01] [-4.05226356e-02 -3.97743770e-04 9.99178542e-01 -1.14999950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94264 meters 0.016572055798822004 Centerline is valid? [True, True] Translation: X:245.92, Y:-35.62, Z:-11.51 [[ 9.77157168e-01 2.08963238e-01 3.87070380e-02 2.45916861e+02] [-2.08814884e-01 9.77923422e-01 -7.88189319e-03 -3.56216863e+01] [-3.94995450e-02 -3.80757204e-04 9.99219516e-01 -1.15060393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00264 meters 0.014537608501940526 Centerline is valid? [True, True] Translation: X:245.97, Y:-35.64, Z:-11.51 [[ 9.77559442e-01 2.06856796e-01 3.98472565e-02 2.45973563e+02] [-2.06697929e-01 9.78371183e-01 -8.11139970e-03 -3.56364976e+01] [-4.06633057e-02 -3.06970025e-04 9.99172859e-01 -1.15068225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06264000000002 meters 0.013966770682006314 Centerline is valid? [True, True] Translation: X:246.03, Y:-35.65, Z:-11.51 [[ 9.77991038e-01 2.04940989e-01 3.91499733e-02 2.46029696e+02] [-2.04786176e-01 9.78774305e-01 -7.96756302e-03 -3.56492669e+01] [-3.99518681e-02 -2.25168080e-04 9.99201580e-01 -1.15117278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12264000000002 meters 0.01770845352432121 Centerline is valid? [True, True] Translation: X:246.09, Y:-35.67, Z:-11.52 [[ 9.78550485e-01 2.02495844e-01 3.78732230e-02 2.46085641e+02] [-2.02349231e-01 9.79283114e-01 -7.70526697e-03 -3.56666730e+01] [-3.86488923e-02 -1.23624804e-04 9.99252845e-01 -1.15173893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18264 meters 0.013102985877230851 Centerline is valid? [True, True] Translation: X:246.14, Y:-35.68, Z:-11.52 [[ 9.78564303e-01 2.02505638e-01 3.74615946e-02 2.46142845e+02] [-2.02362271e-01 9.79281089e-01 -7.61971546e-03 -3.56784703e+01] [-3.82284665e-02 -1.24431798e-04 9.99269017e-01 -1.15200893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24264 meters 0.014311148322554208 Centerline is valid? [True, True] Translation: X:246.20, Y:-35.69, Z:-11.52 [[ 9.77649277e-01 2.06770807e-01 3.80489823e-02 2.46196507e+02] [-2.06633736e-01 9.78389286e-01 -7.54341429e-03 -3.56885621e+01] [-3.87864745e-02 -4.87389857e-04 9.99247403e-01 -1.15236824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30264 meters 0.022388103053973797 Centerline is valid? [True, True] Translation: X:246.26, Y:-35.70, Z:-11.53 [[ 9.77655247e-01 2.07019802e-01 3.65105319e-02 2.46258203e+02] [-2.06888076e-01 9.78336698e-01 -7.39117659e-03 -3.56978479e+01] [-3.72497131e-02 -3.27571123e-04 9.99305935e-01 -1.15277758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36264 meters 0.016713078693179003 Centerline is valid? [True, True] Translation: X:246.32, Y:-35.71, Z:-11.53 [[ 9.77487365e-01 2.07808577e-01 3.65245927e-02 2.46315395e+02] [-2.07676150e-01 9.78169458e-01 -7.42486838e-03 -3.57062509e+01] [-3.72701923e-02 -3.27571761e-04 9.99305171e-01 -1.15317411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42264 meters 0.019740698853893967 Centerline is valid? [True, True] Translation: X:246.37, Y:-35.71, Z:-11.54 [[ 9.76740125e-01 2.11289482e-01 3.65442586e-02 2.46374844e+02] [-2.11159439e-01 9.77423419e-01 -7.42637393e-03 -3.57083798e+01] [-3.72883289e-02 -4.63027725e-04 9.99304441e-01 -1.15350315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48264 meters 0.018161126137773723 Centerline is valid? [True, True] Translation: X:246.43, Y:-35.72, Z:-11.54 [[ 9.76994529e-01 2.10163015e-01 3.62380560e-02 2.46432103e+02] [-2.10034432e-01 9.77666268e-01 -7.36241161e-03 -3.57234927e+01] [-3.69760316e-02 -4.18203642e-04 9.99316065e-01 -1.15383123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54264 meters 0.015932124278953238 Centerline is valid? [True, True] Translation: X:246.49, Y:-35.74, Z:-11.54 [[ 9.77686105e-01 2.06766616e-01 3.71139650e-02 2.46488275e+02] [-2.06629366e-01 9.78390248e-01 -7.53842175e-03 -3.57394743e+01] [-3.78706354e-02 -2.98624845e-04 9.99282606e-01 -1.15406529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60264 meters 0.012942782044619629 Centerline is valid? [True, True] Translation: X:246.54, Y:-35.76, Z:-11.54 [[ 9.78788707e-01 2.01259723e-01 3.83039191e-02 2.46544467e+02] [-2.01109386e-01 9.79537909e-01 -7.77811360e-03 -3.57588647e+01] [-3.90855618e-02 -9.01479090e-05 9.99235863e-01 -1.15416444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66264 meters 0.012547368642649962 Centerline is valid? [True, True] Translation: X:246.60, Y:-35.78, Z:-11.54 [[ 9.79435729e-01 1.97840050e-01 3.95596599e-02 2.46601423e+02] [-1.97676982e-01 9.80234315e-01 -8.03108517e-03 -3.57757668e+01] [-4.03666064e-02 4.58975768e-05 9.99184935e-01 -1.15426244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72264 meters 0.013894125150080289 Centerline is valid? [True, True] Translation: X:246.66, Y:-35.79, Z:-11.55 [[ 9.80168107e-01 1.94584117e-01 3.75167016e-02 2.46658539e+02] [-1.94435151e-01 9.80885821e-01 -7.61440035e-03 -3.57939515e+01] [-3.82812420e-02 1.68826850e-04 9.99266990e-01 -1.15487337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78264000000001 meters 0.014407445342213467 Centerline is valid? [True, True] Translation: X:246.72, Y:-35.81, Z:-11.56 [[ 9.80307896e-01 1.94316082e-01 3.51808159e-02 2.46715548e+02] [-1.94184935e-01 9.80938954e-01 -7.13994617e-03 -3.58050720e+01] [-3.58976392e-02 1.67761152e-04 9.99355458e-01 -1.15558382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84264000000002 meters 0.013757778971996086 Centerline is valid? [True, True] Translation: X:246.77, Y:-35.82, Z:-11.56 [[ 9.80007703e-01 1.95666845e-01 3.60470325e-02 2.46773224e+02] [-1.95530161e-01 9.80670419e-01 -7.31331473e-03 -3.58173122e+01] [-3.67812317e-02 1.18822716e-04 9.99323335e-01 -1.15571799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90264 meters 0.013345736786492817 Centerline is valid? [True, True] Translation: X:246.83, Y:-35.83, Z:-11.56 [[ 9.79701907e-01 1.97149830e-01 3.62783396e-02 2.46831584e+02] [-1.97012468e-01 9.80373368e-01 -7.35845512e-03 -3.58273237e+01] [-3.70170361e-02 6.18072986e-05 9.99314633e-01 -1.15597546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96264 meters 0.013472490425437448 Centerline is valid? [True, True] Translation: X:246.89, Y:-35.84, Z:-11.56 [[ 9.79205305e-01 1.99686292e-01 3.58099815e-02 2.46889548e+02] [-1.99554212e-01 9.79859879e-01 -7.26174425e-03 -3.58362326e+01] [-3.65388349e-02 -3.52941621e-05 9.99332233e-01 -1.15635149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02264 meters 0.015273753741009446 Centerline is valid? [True, True] Translation: X:246.95, Y:-35.84, Z:-11.57 [[ 9.78486529e-01 2.03252698e-01 3.53900128e-02 2.46947212e+02] [-2.03126081e-01 9.79126301e-01 -7.17512948e-03 -3.58403158e+01] [-3.61096567e-02 -1.67867066e-04 9.99347820e-01 -1.15696248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08264 meters 0.016635689696309422 Centerline is valid? [True, True] Translation: X:247.01, Y:-35.85, Z:-11.57 [[ 9.77872004e-01 2.06156134e-01 3.55807749e-02 2.47005700e+02] [-2.06030172e-01 9.78519070e-01 -7.21094655e-03 -3.58482463e+01] [-3.63030477e-02 -2.79330432e-04 9.99340788e-01 -1.15713931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14264 meters 0.017561740495148196 Centerline is valid? [True, True] Translation: X:247.06, Y:-35.86, Z:-11.57 [[ 9.77614401e-01 2.07431909e-01 3.52432318e-02 2.47063972e+02] [-2.07309215e-01 9.78249405e-01 -7.14084986e-03 -3.58560678e+01] [-3.59579107e-02 -3.25249069e-04 9.99353252e-01 -1.15748179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20264 meters 0.02386726452124692 Centerline is valid? [True, True] Translation: X:247.12, Y:-35.86, Z:-11.58 [[ 9.77374305e-01 2.08773927e-01 3.39545945e-02 2.47122148e+02] [-2.08660903e-01 9.77963862e-01 -6.87832550e-03 -3.58607392e+01] [-3.46423814e-02 -3.62297752e-04 9.99399707e-01 -1.15823640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26264 meters 0.03189462478928569 Centerline is valid? [True, True] Translation: X:247.18, Y:-35.87, Z:-11.59 [[ 9.77178246e-01 2.09828036e-01 3.30888311e-02 2.47180348e+02] [-2.09721380e-01 9.77738228e-01 -6.70080307e-03 -3.58676855e+01] [-3.37582314e-02 -3.91556319e-04 9.99429952e-01 -1.15872098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32264 meters 0.019686637960434693 Centerline is valid? [True, True] Translation: X:247.24, Y:-35.88, Z:-11.58 [[ 9.76653653e-01 2.11545677e-01 3.73640153e-02 2.47239939e+02] [-2.11351169e-01 9.77367584e-01 -9.12630974e-03 -3.58788126e+01] [-3.84490087e-02 1.01631541e-03 9.99260047e-01 -1.15833377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38264 meters 0.019810476376833232 Centerline is valid? [True, True] Translation: X:247.29, Y:-35.89, Z:-11.59 [[ 9.76962577e-01 2.10701779e-01 3.38951863e-02 2.47294621e+02] [-2.10640440e-01 9.77548631e-01 -5.41105571e-03 -3.58888213e+01] [-3.42743120e-02 -1.85329803e-03 9.99410745e-01 -1.15884683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44264 meters 0.028592155091375266 Centerline is valid? [True, True] Translation: X:247.35, Y:-35.90, Z:-11.59 [[ 9.77167630e-01 2.09915849e-01 3.28444627e-02 2.47352168e+02] [-2.09811135e-01 9.77719375e-01 -6.64169466e-03 -3.58973757e+01] [-3.35068645e-02 -4.01084964e-04 9.99438407e-01 -1.15915637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50264 meters 0.017860197937648148 Centerline is valid? [True, True] Translation: X:247.41, Y:-35.91, Z:-11.60 [[ 9.77695378e-01 2.07388928e-01 3.31900720e-02 2.47409601e+02] [-2.07280641e-01 9.78258519e-01 -6.70865375e-03 -3.59080760e+01] [-3.38597712e-02 -3.20639652e-04 9.99426542e-01 -1.15959678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56264000000002 meters 0.01636944120451757 Centerline is valid? [True, True] Translation: X:247.47, Y:-35.92, Z:-11.60 [[ 9.78280258e-01 2.04521001e-01 3.37475559e-02 2.47465640e+02] [-2.04407382e-01 9.78862150e-01 -6.82004596e-03 -3.59227602e+01] [-3.44290477e-02 -2.26333246e-04 9.99407119e-01 -1.15990215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62264000000002 meters 0.015180398814204873 Centerline is valid? [True, True] Translation: X:247.52, Y:-35.94, Z:-11.60 [[ 9.78660870e-01 2.02784648e-01 3.31856528e-02 2.47522360e+02] [-2.02673884e-01 9.79223345e-01 -6.70354847e-03 -3.59351958e+01] [-3.38555427e-02 -1.65364562e-04 9.99426723e-01 -1.16010390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68264 meters 0.01486093744801613 Centerline is valid? [True, True] Translation: X:247.58, Y:-35.95, Z:-11.61 [[ 9.79121808e-01 2.00508087e-01 3.34214395e-02 2.47579364e+02] [-2.00394510e-01 9.79692043e-01 -6.74842916e-03 -3.59463758e+01] [-3.40958330e-02 -8.99388317e-05 9.99418564e-01 -1.16058508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74264 meters 0.014297403214420903 Centerline is valid? [True, True] Translation: X:247.64, Y:-35.96, Z:-11.61 [[ 9.79352621e-01 1.99441151e-01 3.30404497e-02 2.47636742e+02] [-1.99329617e-01 9.79909804e-01 -6.66929426e-03 -3.59588098e+01] [-3.37067923e-02 -5.43493608e-05 9.99431763e-01 -1.16066324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80264 meters 0.014117279431730613 Centerline is valid? [True, True] Translation: X:247.70, Y:-35.97, Z:-11.61 [[ 9.79428610e-01 1.99022725e-01 3.33099560e-02 2.47695153e+02] [-1.98909180e-01 9.79994874e-01 -6.72196196e-03 -3.59674682e+01] [-3.39814093e-02 -4.19741735e-05 9.99422464e-01 -1.16080898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86264 meters 0.017128599297574546 Centerline is valid? [True, True] Translation: X:247.75, Y:-35.97, Z:-11.61 [[ 9.79176300e-01 2.00457999e-01 3.20992982e-02 2.47753058e+02] [-2.00353377e-01 9.79702293e-01 -6.47626740e-03 -3.59728751e+01] [-3.27459757e-02 -8.97952411e-05 9.99463703e-01 -1.16134334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92264 meters 0.015280700522869258 Centerline is valid? [True, True] Translation: X:247.81, Y:-35.98, Z:-11.62 [[ 9.79051775e-01 2.00988028e-01 3.25796532e-02 2.47811900e+02] [-2.00880620e-01 9.79593691e-01 -6.57088501e-03 -3.59797988e+01] [-3.32354920e-02 -1.11384299e-04 9.99447542e-01 -1.16161061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98264 meters 0.015587126467047893 Centerline is valid? [True, True] Translation: X:247.87, Y:-35.99, Z:-11.62 [[ 9.78742079e-01 2.02355069e-01 3.34121107e-02 2.47870391e+02] [-2.02242954e-01 9.79312207e-01 -6.73708371e-03 -3.59851881e+01] [-3.40841709e-02 -1.63496649e-04 9.99418952e-01 -1.16173367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04264 meters 0.015411243531831825 Centerline is valid? [True, True] Translation: X:247.92, Y:-36.01, Z:-11.62 [[ 9.77838508e-01 2.04912682e-01 4.29260329e-02 2.47924391e+02] [-2.05624185e-01 9.78546981e-01 1.28257748e-02 -3.60050214e+01] [-3.93769760e-02 -2.13681670e-02 9.98995924e-01 -1.16205896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10264 meters 0.017403922324069624 Centerline is valid? [True, True] Translation: X:247.99, Y:-35.98, Z:-11.62 [[ 9.78271549e-01 2.05461162e-01 2.77576611e-02 2.47990641e+02] [-2.04738269e-01 9.78449875e-01 -2.67970942e-02 -3.59823382e+01] [-3.26652421e-02 2.05317793e-02 9.99255437e-01 -1.16230193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16264 meters 0.017508675187631596 Centerline is valid? [True, True] Translation: X:248.05, Y:-36.00, Z:-11.63 [[ 9.78450018e-01 2.04082454e-01 3.13992638e-02 2.48045658e+02] [-2.03984653e-01 9.78953678e-01 -6.32122833e-03 -3.60032260e+01] [-3.20284766e-02 -2.19961940e-04 9.99486933e-01 -1.16285405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22264 meters 0.01760409358012112 Centerline is valid? [True, True] Translation: X:248.10, Y:-36.01, Z:-11.63 [[ 9.78608361e-01 2.03432915e-01 3.06712467e-02 2.48104424e+02] [-2.03339341e-01 9.79088868e-01 -6.17265432e-03 -3.60102626e+01] [-3.12855973e-02 -1.96059961e-04 9.99510467e-01 -1.16326854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28264000000001 meters 0.016657541097550608 Centerline is valid? [True, True] Translation: X:248.16, Y:-36.02, Z:-11.63 [[ 9.78734347e-01 2.02966692e-01 2.97254070e-02 2.48162776e+02] [-2.02878626e-01 9.79185626e-01 -5.98100515e-03 -3.60204857e+01] [-3.03206361e-02 -1.76834572e-04 9.99540208e-01 -1.16342758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34264000000002 meters 0.02310834788627915 Centerline is valid? [True, True] Translation: X:248.22, Y:-36.03, Z:-11.64 [[ 9.78753312e-01 2.02919894e-01 2.94189014e-02 2.48220983e+02] [-2.02833659e-01 9.79195326e-01 -5.91784531e-03 -3.60294733e+01] [-3.00076993e-02 -1.75032708e-04 9.99549652e-01 -1.16374443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40264 meters 0.015971570241908966 Centerline is valid? [True, True] Translation: X:248.28, Y:-36.04, Z:-11.64 [[ 9.79097356e-01 2.01145057e-01 3.01501761e-02 2.48278703e+02] [-2.01053688e-01 9.79561458e-01 -6.06335545e-03 -3.60418741e+01] [-3.07535645e-02 -1.25188812e-04 9.99526989e-01 -1.16396699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46264 meters 0.0160993932099513 Centerline is valid? [True, True] Translation: X:248.33, Y:-36.05, Z:-11.64 [[ 9.79616589e-01 1.98673472e-01 2.96680046e-02 2.48334999e+02] [-1.98583894e-01 9.80065737e-01 -5.96554933e-03 -3.60524492e+01] [-3.02617912e-02 -4.76367908e-05 9.99542006e-01 -1.16445195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52264 meters 0.015400255028966957 Centerline is valid? [True, True] Translation: X:248.39, Y:-36.07, Z:-11.64 [[ 9.80122213e-01 1.96221458e-01 2.92845783e-02 2.48391917e+02] [-1.96133179e-01 9.80559605e-01 -5.88533194e-03 -3.60669845e+01] [-2.98701029e-02 2.46671446e-05 9.99553789e-01 -1.16449545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58264 meters 0.015280328803912604 Centerline is valid? [True, True] Translation: X:248.45, Y:-36.08, Z:-11.65 [[ 9.80559352e-01 1.93954124e-01 2.97515515e-02 2.48449458e+02] [-1.93862009e-01 9.81010596e-01 -5.97766485e-03 -3.60806482e+01] [-3.03459800e-02 9.37596341e-05 9.99539450e-01 -1.16464691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64264 meters 0.017317220816847594 Centerline is valid? [True, True] Translation: X:248.50, Y:-36.10, Z:-11.65 [[ 9.81516259e-01 1.89010390e-01 3.00151019e-02 2.48504028e+02] [-1.88914364e-01 9.81975056e-01 -6.02926955e-03 -3.61017926e+01] [-3.06136760e-02 2.47542210e-04 9.99531261e-01 -1.16500260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70264 meters 0.019451731911000254 Centerline is valid? [True, True] Translation: X:248.56, Y:-36.12, Z:-11.65 [[ 9.82120497e-01 1.85691377e-01 3.09522571e-02 2.48559845e+02] [-1.85587674e-01 9.82608052e-01 -6.21546748e-03 -3.61195117e+01] [-3.15680958e-02 3.59980594e-04 9.99501539e-01 -1.16520442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76264 meters 0.025350269645494587 Centerline is valid? [True, True] Translation: X:248.62, Y:-36.14, Z:-11.66 [[ 9.82616672e-01 1.83169104e-01 3.02250919e-02 2.48615209e+02] [-1.83069080e-01 9.83081327e-01 -6.06765288e-03 -3.61399947e+01] [-3.08251300e-02 4.28897102e-04 9.99524701e-01 -1.16553813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82264 meters 0.018726011822834045 Centerline is valid? [True, True] Translation: X:248.67, Y:-36.15, Z:-11.66 [[ 9.81889317e-01 1.87321420e-01 2.83558460e-02 2.48673687e+02] [-1.87235169e-01 9.82298635e-01 -5.69063872e-03 -3.61475286e+01] [-2.89198873e-02 2.78365752e-04 9.99581694e-01 -1.16612746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88264 meters 0.016941964022923254 Centerline is valid? [True, True] Translation: X:248.73, Y:-36.15, Z:-11.67 [[ 9.80815835e-01 1.92988403e-01 2.74913519e-02 2.48731822e+02] [-1.92909585e-01 9.81201032e-01 -5.51608810e-03 -3.61509466e+01] [-2.80390839e-02 1.06921282e-04 9.99606822e-01 -1.16667344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94264 meters 0.02097092732672037 Centerline is valid? [True, True] Translation: X:248.78, Y:-36.16, Z:-11.67 [[ 9.78525817e-01 2.03368893e-01 3.35904435e-02 2.48784825e+02] [-2.03630110e-01 9.79037499e-01 4.51161792e-03 -3.61587276e+01] [-3.19687810e-02 -1.12547603e-02 9.99425499e-01 -1.16665401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00264 meters 0.018658834358453103 Centerline is valid? [True, True] Translation: X:248.85, Y:-36.15, Z:-11.67 [[ 9.78213283e-01 2.05930784e-01 2.62922819e-02 2.48852094e+02] [-2.05558919e-01 9.78511170e-01 -1.61685474e-02 -3.61503222e+01] [-2.90568931e-02 1.04116748e-02 9.99523533e-01 -1.16680673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06264000000002 meters 0.022646317968347755 Centerline is valid? [True, True] Translation: X:248.91, Y:-36.16, Z:-11.68 [[ 9.77700101e-01 2.08014235e-01 2.88546374e-02 2.48908479e+02] [-2.07934115e-01 9.78125738e-01 -5.78318017e-03 -3.61601049e+01] [-2.94264473e-02 -3.45647657e-04 9.99566889e-01 -1.16762031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12264000000002 meters 0.018912332653153018 Centerline is valid? [True, True] Translation: X:248.96, Y:-36.18, Z:-11.67 [[ 9.78196438e-01 2.05667228e-01 2.88568792e-02 2.48964892e+02] [-2.05586135e-01 9.78621947e-01 -5.78157236e-03 -3.61777306e+01] [-2.94290553e-02 -2.77060781e-04 9.99566833e-01 -1.16743242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18264 meters 0.019327104425111267 Centerline is valid? [True, True] Translation: X:249.02, Y:-36.19, Z:-11.68 [[ 9.78598088e-01 2.03683612e-01 2.93047371e-02 2.49020595e+02] [-2.03599132e-01 9.79036739e-01 -5.86997662e-03 -3.61914316e+01] [-2.98860323e-02 -2.22071137e-04 9.99553288e-01 -1.16807556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24264 meters 0.016921238294957335 Centerline is valid? [True, True] Translation: X:249.08, Y:-36.21, Z:-11.68 [[ 9.79092809e-01 2.01391996e-01 2.86100651e-02 2.49076185e+02] [-2.01310540e-01 9.79510715e-01 -5.72932771e-03 -3.62079895e+01] [-2.91777061e-02 -1.49964101e-04 9.99574229e-01 -1.16798643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30264 meters 0.016569612841536425 Centerline is valid? [True, True] Translation: X:249.13, Y:-36.23, Z:-11.68 [[ 9.79662712e-01 1.98577879e-01 2.87714563e-02 2.49131561e+02] [-1.98494359e-01 9.80085109e-01 -5.75920329e-03 -3.62252594e+01] [-2.93421262e-02 -6.88950462e-05 9.99569425e-01 -1.16844590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36264 meters 0.016272015050442196 Centerline is valid? [True, True] Translation: X:249.19, Y:-36.24, Z:-11.69 [[ 9.80063636e-01 1.96732470e-01 2.77777665e-02 2.49188300e+02] [-1.96653931e-01 9.80457207e-01 -5.55842431e-03 -3.62412358e+01] [-2.83284339e-02 -1.49974504e-05 9.99598669e-01 -1.16872363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42264 meters 0.017061711599984066 Centerline is valid? [True, True] Translation: X:249.24, Y:-36.26, Z:-11.69 [[ 9.80355607e-01 1.95437069e-01 2.65939146e-02 2.49243538e+02] [-1.95364635e-01 9.80716244e-01 -5.32052890e-03 -3.62584212e+01] [-2.71209126e-02 2.04999252e-05 9.99632160e-01 -1.16942204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48264 meters 0.01612115099873323 Centerline is valid? [True, True] Translation: X:249.30, Y:-36.27, Z:-11.69 [[ 9.80039947e-01 1.96755377e-01 2.84433484e-02 2.49301659e+02] [-1.96673134e-01 9.80452610e-01 -5.68832940e-03 -3.62687569e+01] [-2.90065646e-02 -1.92524283e-05 9.99579221e-01 -1.16915131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54264 meters 0.015279799138287468 Centerline is valid? [True, True] Translation: X:249.36, Y:-36.28, Z:-11.69 [[ 9.79864247e-01 1.97552138e-01 2.89691196e-02 2.49359125e+02] [-1.97467216e-01 9.80292380e-01 -5.79204336e-03 -3.62816367e+01] [-2.95424377e-02 -4.50351896e-05 9.99563526e-01 -1.16902165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60264 meters 0.026569662896381907 Centerline is valid? [True, True] Translation: X:249.41, Y:-36.29, Z:-11.70 [[ 9.79898275e-01 1.97569590e-01 2.76699768e-02 2.49414842e+02] [-1.97492133e-01 9.80288863e-01 -5.53193320e-03 -3.62934319e+01] [-2.82175119e-02 -4.38709356e-05 9.99601806e-01 -1.16993015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66264 meters 0.016778392529584654 Centerline is valid? [True, True] Translation: X:249.47, Y:-36.31, Z:-11.70 [[ 9.79753930e-01 1.98186624e-01 2.83601682e-02 2.49471323e+02] [-1.98105607e-01 9.80164301e-01 -5.66663804e-03 -3.63056178e+01] [-2.89206764e-02 -6.63974440e-05 9.99581708e-01 -1.17011725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72264 meters 0.01765565153489037 Centerline is valid? [True, True] Translation: X:249.53, Y:-36.32, Z:-11.71 [[ 9.79397503e-01 1.99993024e-01 2.79878681e-02 2.49528948e+02] [-1.99914951e-01 9.79797314e-01 -5.58896809e-03 -3.63163586e+01] [-2.85401926e-02 -1.21371880e-04 9.99592638e-01 -1.17050214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78264000000001 meters 0.01926083423861341 Centerline is valid? [True, True] Translation: X:249.59, Y:-36.32, Z:-11.71 [[ 9.78743479e-01 2.03207232e-01 2.77132335e-02 2.49586976e+02] [-2.03132002e-01 9.79135729e-01 -5.53307128e-03 -3.63238125e+01] [-2.82593772e-02 -2.13987163e-04 9.99600601e-01 -1.17068944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84264000000002 meters 0.020493685319821434 Centerline is valid? [True, True] Translation: X:249.64, Y:-36.33, Z:-11.71 [[ 9.78582678e-01 2.04010245e-01 2.74911289e-02 2.49644205e+02] [-2.03936578e-01 9.78968725e-01 -5.48708389e-03 -3.63340694e+01] [-2.80323767e-02 -2.36881511e-04 9.99606988e-01 -1.17115484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90264 meters 0.01777439381625829 Centerline is valid? [True, True] Translation: X:249.70, Y:-36.35, Z:-11.71 [[ 9.78785762e-01 2.02940722e-01 2.81690640e-02 2.49701364e+02] [-2.02862990e-01 9.79191002e-01 -5.62047858e-03 -3.63506057e+01] [-2.87235180e-02 -2.13216129e-04 9.99587372e-01 -1.17086315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96264 meters 0.018465334862336875 Centerline is valid? [True, True] Translation: X:249.76, Y:-36.36, Z:-11.71 [[ 9.78934133e-01 2.02241047e-01 2.80450168e-02 2.49756159e+02] [-2.02163731e-01 9.79335756e-01 -5.59499553e-03 -3.63639858e+01] [-2.85970255e-02 -1.92553130e-04 9.99591003e-01 -1.17143150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02263999999997 meters 0.01978933418848776 Centerline is valid? [True, True] Translation: X:249.81, Y:-36.37, Z:-11.72 [[ 9.78877726e-01 2.02495825e-01 2.81751273e-02 2.49811860e+02] [-2.02417945e-01 9.79283105e-01 -5.61921221e-03 -3.63743915e+01] [-2.87292931e-02 -2.02629693e-04 9.99587208e-01 -1.17193247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08263999999997 meters 0.017630431474509187 Centerline is valid? [True, True] Translation: X:249.87, Y:-36.39, Z:-11.72 [[ 9.78806440e-01 2.02757334e-01 2.87648680e-02 2.49869847e+02] [-2.02676427e-01 9.79228990e-01 -5.73155872e-03 -3.63879635e+01] [-2.93295083e-02 -2.19874082e-04 9.99569773e-01 -1.17158671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14264 meters 0.01719267225898135 Centerline is valid? [True, True] Translation: X:249.93, Y:-36.40, Z:-11.72 [[ 9.79387207e-01 1.99966988e-01 2.85289827e-02 2.49925357e+02] [-1.99886254e-01 9.79802626e-01 -5.68333125e-03 -3.64037444e+01] [-2.90892508e-02 -1.36369555e-04 9.99576809e-01 -1.17209198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20264 meters 0.016426732720297835 Centerline is valid? [True, True] Translation: X:249.98, Y:-36.42, Z:-11.72 [[ 9.79657934e-01 1.98683089e-01 2.82021743e-02 2.49981468e+02] [-1.98603706e-01 9.80063784e-01 -5.61669694e-03 -3.64174234e+01] [-2.87558724e-02 -9.86146236e-05 9.99586460e-01 -1.17225758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26264 meters 0.016280923185201617 Centerline is valid? [True, True] Translation: X:250.04, Y:-36.44, Z:-11.73 [[ 9.80552408e-01 1.94363405e-01 2.72000469e-02 2.50036829e+02] [-1.94287969e-01 9.80929593e-01 -5.41469216e-03 -3.64402696e+01] [-2.77337489e-02 2.47475516e-05 9.99615345e-01 -1.17277699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32264 meters 0.01673236775430192 Centerline is valid? [True, True] Translation: X:250.09, Y:-36.46, Z:-11.73 [[ 9.81082538e-01 1.91531514e-01 2.81555022e-02 2.50092095e+02] [-1.91449549e-01 9.81486458e-01 -5.60378542e-03 -3.64596658e+01] [-2.87075456e-02 1.07417826e-04 9.99587848e-01 -1.17302094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38264 meters 0.016029780858513205 Centerline is valid? [True, True] Translation: X:250.15, Y:-36.48, Z:-11.73 [[ 9.81195578e-01 1.90856422e-01 2.87934677e-02 2.50149120e+02] [-1.90770483e-01 9.81617955e-01 -5.72825515e-03 -3.64762530e+01] [-2.93574591e-02 1.27594893e-04 9.99568969e-01 -1.17278219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44264 meters 0.016169528725319703 Centerline is valid? [True, True] Translation: X:250.21, Y:-36.49, Z:-11.73 [[ 9.80622312e-01 1.93817865e-01 2.85397350e-02 2.50206400e+02] [-1.93734730e-01 9.81037529e-01 -5.67631526e-03 -3.64861980e+01] [-2.90987224e-02 3.71835328e-05 9.99576542e-01 -1.17335112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.50264 meters 0.018449857094342798 Centerline is valid? [True, True] Translation: X:250.27, Y:-36.49, Z:-11.74 [[ 9.78973573e-01 2.02022790e-01 2.82406917e-02 2.50266213e+02] [-2.01944837e-01 9.79380799e-01 -5.61538833e-03 -3.64884411e+01] [-2.87928276e-02 -2.05745107e-04 9.99585379e-01 -1.17370325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56264 meters 0.024790957665132306 Centerline is valid? [True, True] Translation: X:250.33, Y:-36.49, Z:-11.74 [[ 9.77186479e-01 2.10498493e-01 2.82306365e-02 2.50327833e+02] [-2.10424178e-01 9.77594075e-01 -5.61157084e-03 -3.64852238e+01] [-2.87793302e-02 -4.56857323e-04 9.99585685e-01 -1.17395838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62264 meters 0.028776842956606118 Centerline is valid? [True, True] Translation: X:250.39, Y:-36.49, Z:-11.74 [[ 9.76197659e-01 2.14926948e-01 2.90609391e-02 2.50387469e+02] [-2.14850171e-01 9.76629941e-01 -5.77608017e-03 -3.64888276e+01] [-2.96232185e-02 -6.05151799e-04 9.99560953e-01 -1.17410733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68264 meters 0.03176433880139626 Centerline is valid? [True, True] Translation: X:250.45, Y:-36.49, Z:-11.74 [[ 9.75505595e-01 2.18025002e-01 2.92221205e-02 2.50447027e+02] [-2.17948799e-01 9.75942930e-01 -5.80680071e-03 -3.64940835e+01] [-2.97851497e-02 -7.04359479e-04 9.99556076e-01 -1.17432307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74264 meters 0.03195381318513184 Centerline is valid? [True, True] Translation: X:250.51, Y:-36.50, Z:-11.75 [[ 9.75533501e-01 2.17975350e-01 2.86554628e-02 2.50505088e+02] [-2.17902060e-01 9.75954031e-01 -5.69395757e-03 -3.65034487e+01] [-2.92075568e-02 -6.89437993e-04 9.99573131e-01 -1.17469648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80264 meters 0.030206617654867655 Centerline is valid? [True, True] Translation: X:250.56, Y:-36.51, Z:-11.75 [[ 9.75828402e-01 2.16601242e-01 2.90315749e-02 2.50562808e+02] [-2.16525450e-01 9.76259939e-01 -5.76722860e-03 -3.65129504e+01] [-2.95915524e-02 -6.58249354e-04 9.99561857e-01 -1.17492235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86264 meters 0.028713799866814504 Centerline is valid? [True, True] Translation: X:250.62, Y:-36.52, Z:-11.75 [[ 9.76355782e-01 2.14193391e-01 2.91646694e-02 2.50619413e+02] [-2.14115854e-01 9.76791096e-01 -5.79279864e-03 -3.65248366e+01] [-2.97285686e-02 -5.88785658e-04 9.99557835e-01 -1.17524815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92264 meters 0.022971276706286563 Centerline is valid? [True, True] Translation: X:250.68, Y:-36.54, Z:-11.76 [[ 9.77506074e-01 2.09044437e-01 2.79695947e-02 2.50676745e+02] [-2.08971035e-01 9.77906054e-01 -5.55476863e-03 -3.65410195e+01] [-2.85128295e-02 -4.15015072e-04 9.99593340e-01 -1.17550086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98264 meters 0.018902549908699613 Centerline is valid? [True, True] Translation: X:250.73, Y:-36.56, Z:-11.76 [[ 9.78747245e-01 2.02968965e-01 2.92818849e-02 2.50733594e+02] [-2.02886020e-01 9.79185137e-01 -5.80773022e-03 -3.65581662e+01] [-2.98511755e-02 -2.56585128e-04 9.99554321e-01 -1.17577414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04263999999995 meters 0.01684387960820385 Centerline is valid? [True, True] Translation: X:250.79, Y:-36.57, Z:-11.76 [[ 9.79481688e-01 1.99269218e-01 3.01230961e-02 2.50790143e+02] [-1.99179699e-01 9.79944772e-01 -5.97416772e-03 -3.65722374e+01] [-3.07094383e-02 -1.48321321e-04 9.99528343e-01 -1.17594451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10263999999995 meters 0.015670777016418277 Centerline is valid? [True, True] Translation: X:250.85, Y:-36.59, Z:-11.76 [[ 9.80400330e-01 1.94784757e-01 2.95650366e-02 2.50845106e+02] [-1.94696514e-01 9.80846011e-01 -5.86251532e-03 -3.65915872e+01] [-3.01406769e-02 -8.59761828e-06 9.99545667e-01 -1.17626108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16263999999995 meters 0.015836120865652264 Centerline is valid? [True, True] Translation: X:250.90, Y:-36.60, Z:-11.77 [[ 9.80752929e-01 1.93050767e-01 2.92419975e-02 2.50902950e+02] [-1.92963746e-01 9.81188769e-01 -5.79594385e-03 -3.66040042e+01] [-2.98108310e-02 4.17435034e-05 9.99555558e-01 -1.17656862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22263999999996 meters 0.015239036010294324 Centerline is valid? [True, True] Translation: X:250.96, Y:-36.62, Z:-11.77 [[ 9.80889742e-01 1.92312298e-01 2.95176819e-02 2.50961070e+02] [-1.92223336e-01 9.81333774e-01 -5.84918068e-03 -3.66158053e+01] [-3.00915675e-02 6.34140348e-05 9.99547144e-01 -1.17659737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28263999999996 meters 0.030853024793816276 Centerline is valid? [True, True] Translation: X:251.02, Y:-36.63, Z:-11.77 [[ 9.81029851e-01 1.91757682e-01 2.84503411e-02 2.51018713e+02] [-1.91674845e-01 9.81442299e-01 -5.63631541e-03 -3.66289471e+01] [-2.90031749e-02 7.61789407e-05 9.99579317e-01 -1.17699649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34263999999996 meters 0.01647529891038551 Centerline is valid? [True, True] Translation: X:251.07, Y:-36.64, Z:-11.78 [[ 9.80934301e-01 1.92410857e-01 2.73122705e-02 2.51074719e+02] [-1.92334799e-01 9.81314455e-01 -5.40979052e-03 -3.66422730e+01] [-2.78428283e-02 5.35490328e-05 9.99612312e-01 -1.17762237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40263999999996 meters 0.01984623632176236 Centerline is valid? [True, True] Translation: X:251.13, Y:-36.65, Z:-11.78 [[ 9.80490912e-01 1.94652202e-01 2.73512534e-02 2.51132713e+02] [-1.94576841e-01 9.80872326e-01 -5.41599455e-03 -3.66494365e+01] [-2.78823228e-02 -1.15870457e-05 9.99611212e-01 -1.17789286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46263999999996 meters 0.016818366345708557 Centerline is valid? [True, True] Translation: X:251.19, Y:-36.65, Z:-11.78 [[ 9.79204852e-01 2.00545173e-01 3.06511382e-02 2.51192745e+02] [-2.00453510e-01 9.79684435e-01 -6.06616811e-03 -3.66523704e+01] [-3.12449837e-02 -2.04106970e-04 9.99511735e-01 -1.17754658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52263999999997 meters 0.021153115913514334 Centerline is valid? [True, True] Translation: X:251.25, Y:-36.66, Z:-11.78 [[ 9.78296100e-01 2.05186414e-01 2.89011299e-02 2.51250935e+02] [-2.05106963e-01 9.78722854e-01 -5.71919533e-03 -3.66571866e+01] [-2.94596976e-02 -3.32756485e-04 9.99565914e-01 -1.17826558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58263999999997 meters 0.022250226121885205 Centerline is valid? [True, True] Translation: X:251.31, Y:-36.66, Z:-11.79 [[ 9.77863403e-01 2.07364011e-01 2.79880533e-02 2.51309216e+02] [-2.07290438e-01 9.78263777e-01 -5.53690247e-03 -3.66641433e+01] [-2.85278530e-02 -3.87321537e-04 9.99592923e-01 -1.17864305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64264 meters 0.027618817815517994 Centerline is valid? [True, True] Translation: X:251.37, Y:-36.67, Z:-11.79 [[ 9.78073170e-01 2.06341543e-01 2.82142302e-02 2.51366724e+02] [-2.06266392e-01 9.78479962e-01 -5.58021869e-03 -3.66748338e+01] [-2.87584898e-02 -3.61785268e-04 9.99586324e-01 -1.17882129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70264 meters 0.01862701071470639 Centerline is valid? [True, True] Translation: X:251.42, Y:-36.69, Z:-11.79 [[ 9.78642631e-01 2.03436979e-01 2.95295925e-02 2.51423785e+02] [-2.03353382e-01 9.79088000e-01 -5.83874500e-03 -3.66905317e+01] [-3.00998863e-02 -2.90897746e-04 9.99546853e-01 -1.17892887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76264 meters 0.01582287929663234 Centerline is valid? [True, True] Translation: X:251.48, Y:-36.72, Z:-11.79 [[ 9.80262692e-01 1.95567282e-01 2.89567485e-02 2.51477326e+02] [-1.95483496e-01 9.80690285e-01 -5.72426239e-03 -3.67153104e+01] [-2.95170804e-02 -4.92855529e-05 9.99564275e-01 -1.17941605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82264 meters 0.029473346291163674 Centerline is valid? [True, True] Translation: X:251.53, Y:-36.74, Z:-11.80 [[ 9.81627002e-01 1.88557798e-01 2.92298868e-02 2.51532648e+02] [-1.88469374e-01 9.82062081e-01 -5.77615423e-03 -3.67404768e+01] [-2.97947024e-02 1.61090483e-04 9.99556026e-01 -1.17954990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88264 meters 0.028950681571738905 Centerline is valid? [True, True] Translation: X:251.59, Y:-36.76, Z:-11.80 [[ 9.82002726e-01 1.86542611e-01 2.95381100e-02 2.51587851e+02] [-1.86451436e-01 9.82446846e-01 -5.83588647e-03 -3.67583029e+01] [-3.01082645e-02 2.23433400e-04 9.99546618e-01 -1.17994071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94264 meters 0.01747953681625756 Centerline is valid? [True, True] Translation: X:251.64, Y:-36.77, Z:-11.80 [[ 9.81848489e-01 1.87410201e-01 2.91712257e-02 2.51644985e+02] [-1.87321728e-01 9.82281721e-01 -5.76113967e-03 -3.67725687e+01] [-2.97340581e-02 1.92161890e-04 9.99557827e-01 -1.18025033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.00264 meters 0.03257532982591813 Centerline is valid? [True, True] Translation: X:251.70, Y:-36.78, Z:-11.81 [[ 9.81632603e-01 1.88630711e-01 2.85637640e-02 2.51702211e+02] [-1.88546440e-01 9.82048080e-01 -5.63982041e-03 -3.67840712e+01] [-2.91148329e-02 1.50635564e-04 9.99576062e-01 -1.18060789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06264 meters 0.02735304945807911 Centerline is valid? [True, True] Translation: X:251.76, Y:-36.80, Z:-11.81 [[ 9.81422192e-01 1.89551038e-01 2.96796902e-02 2.51759181e+02] [-1.89460521e-01 9.81870861e-01 -5.85860267e-03 -3.67999273e+01] [-3.02521272e-02 1.26633113e-04 9.99542292e-01 -1.18070153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12264 meters 0.016259718245848157 Centerline is valid? [True, True] Translation: X:251.81, Y:-36.82, Z:-11.81 [[ 9.81323560e-01 1.89896762e-01 3.07130377e-02 2.51814729e+02] [-1.89800043e-01 9.81804057e-01 -6.06119184e-03 -3.68172427e+01] [-3.13051857e-02 1.18654469e-04 9.99509866e-01 -1.18105502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18264 meters 0.01596128753336517 Centerline is valid? [True, True] Translation: X:251.87, Y:-36.83, Z:-11.81 [[ 9.81191816e-01 1.90796491e-01 2.93141443e-02 2.51871396e+02] [-1.90708839e-01 9.81629610e-01 -5.78331613e-03 -3.68321351e+01] [-2.98790684e-02 8.40760402e-05 9.99553517e-01 -1.18133584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24264 meters 0.015285293284133175 Centerline is valid? [True, True] Translation: X:251.93, Y:-36.85, Z:-11.81 [[ 9.80636712e-01 1.93640934e-01 2.92374326e-02 2.51928511e+02] [-1.93555046e-01 9.81072469e-01 -5.76676636e-03 -3.68474493e+01] [-2.98007222e-02 -3.94980632e-06 9.99555860e-01 -1.18144456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30264 meters 0.02353521000377437 Centerline is valid? [True, True] Translation: X:251.98, Y:-36.86, Z:-11.82 [[ 9.79989247e-01 1.97109552e-01 2.77290415e-02 2.51984350e+02] [-1.97033717e-01 9.80381463e-01 -5.46817482e-03 -3.68619847e+01] [-2.82628678e-02 -1.04803582e-04 9.99600520e-01 -1.18222497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36264 meters 0.02096659186887503 Centerline is valid? [True, True] Translation: X:252.04, Y:-36.87, Z:-11.82 [[ 9.79440592e-01 1.99792020e-01 2.79155213e-02 2.52042409e+02] [-1.99716308e-01 9.79838310e-01 -5.50291269e-03 -3.68742062e+01] [-2.84521352e-02 -1.85408775e-04 9.99595139e-01 -1.18214600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42264 meters 0.020555217998752807 Centerline is valid? [True, True] Translation: X:252.10, Y:-36.88, Z:-11.82 [[ 9.78280118e-01 2.05323631e-01 2.84643162e-02 2.52100472e+02] [-2.05247294e-01 9.78694069e-01 -5.60958116e-03 -3.68817141e+01] [-2.90096370e-02 -3.54482172e-04 9.99579069e-01 -1.18240202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48264 meters 0.025459048251138237 Centerline is valid? [True, True] Translation: X:252.16, Y:-36.88, Z:-11.82 [[ 9.76708437e-01 2.13004629e-01 2.58777302e-02 2.52160842e+02] [-2.12580423e-01 9.76974108e-01 -1.81976917e-02 -3.68810969e+01] [-2.91580649e-02 1.22727402e-02 9.99499468e-01 -1.18234344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54263999999995 meters 0.03465186445283174 Centerline is valid? [True, True] Translation: X:252.22, Y:-36.89, Z:-11.83 [[ 9.75246132e-01 2.18871947e-01 3.14651103e-02 2.52218928e+02] [-2.19187726e-01 9.75658155e-01 6.92138196e-03 -3.68933973e+01] [-2.91842951e-02 -1.36468170e-02 9.99480886e-01 -1.18293417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60263999999995 meters 0.038825603291898436 Centerline is valid? [True, True] Translation: X:252.28, Y:-36.89, Z:-11.83 [[ 9.74140276e-01 2.24048473e-01 2.92062294e-02 2.52281887e+02] [-2.23976622e-01 9.74577549e-01 -5.75094672e-03 -3.68868499e+01] [-2.97522263e-02 -9.39283794e-04 9.99556863e-01 -1.18313404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66263999999995 meters 0.03735704324507985 Centerline is valid? [True, True] Translation: X:252.34, Y:-36.90, Z:-11.83 [[ 9.74277436e-01 2.23321942e-01 3.01792529e-02 2.52339774e+02] [-2.23244849e-01 9.74744281e-01 -5.94337241e-03 -3.68965417e+01] [-3.07443396e-02 -9.46869122e-04 9.99526833e-01 -1.18318992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72263999999996 meters 0.035297248704763244 Centerline is valid? [True, True] Translation: X:252.40, Y:-36.92, Z:-11.84 [[ 9.75789076e-01 2.16906127e-01 2.80608560e-02 2.52398083e+02] [-2.16663741e-01 9.76179209e-01 -1.14444144e-02 -3.69192921e+01] [-2.98747878e-02 5.08756456e-03 9.99540701e-01 -1.18392114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78263999999996 meters 0.024997120881423873 Centerline is valid? [True, True] Translation: X:252.45, Y:-36.94, Z:-11.84 [[ 9.77468806e-01 2.08917698e-01 3.01351784e-02 2.52452318e+02] [-2.09010112e-01 9.77913476e-01 -8.51963616e-05 -3.69438034e+01] [-2.94873960e-02 -6.21528023e-03 9.99545829e-01 -1.18417467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84263999999996 meters 0.01817289898262566 Centerline is valid? [True, True] Translation: X:252.51, Y:-36.96, Z:-11.84 [[ 9.79335079e-01 2.00032316e-01 2.98307941e-02 2.52508948e+02] [-1.99946161e-01 9.79789277e-01 -5.87409909e-03 -3.69630504e+01] [-3.04029018e-02 -2.11841481e-04 9.99537702e-01 -1.18436188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90263999999996 meters 0.023175674869212265 Centerline is valid? [True, True] Translation: X:252.56, Y:-36.99, Z:-11.85 [[ 9.80673946e-01 1.93705641e-01 2.75088270e-02 2.52564495e+02] [-1.93629890e-01 9.81059695e-01 -5.41676307e-03 -3.69861414e+01] [-2.80370590e-02 -1.44527173e-05 9.99606884e-01 -1.18490022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96263999999996 meters 0.01811923048343018 Centerline is valid? [True, True] Translation: X:252.62, Y:-37.00, Z:-11.85 [[ 9.80939285e-01 1.92186626e-01 2.86778594e-02 2.52624679e+02] [-1.91938670e-01 9.81343149e-01 -1.11879841e-02 -3.69992822e+01] [-3.02930018e-02 5.47034295e-03 9.99526092e-01 -1.18520302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02263999999997 meters 0.017350855441572357 Centerline is valid? [True, True] Translation: X:252.68, Y:-37.02, Z:-11.86 [[ 9.81380492e-01 1.89895672e-01 2.88437706e-02 2.52678746e+02] [-1.89966947e-01 9.81790448e-01 -2.73931721e-04 -3.70184811e+01] [-2.83705570e-02 -5.21053181e-03 9.99583894e-01 -1.18556682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08263999999997 meters 0.015605775864256568 Centerline is valid? [True, True] Translation: X:252.74, Y:-37.04, Z:-11.86 [[ 9.81237411e-01 1.89931891e-01 3.31514794e-02 2.52736578e+02] [-1.90023149e-01 9.81779527e-01 -4.04789303e-04 -3.70350276e+01] [-3.26243261e-02 -5.90235410e-03 9.99450257e-01 -1.18551248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14264 meters 0.017678959914069054 Centerline is valid? [True, True] Translation: X:252.80, Y:-37.04, Z:-11.86 [[ 9.81427341e-01 1.90037653e-01 2.61928306e-02 2.52796051e+02] [-1.89793838e-01 9.81756348e-01 -1.15226390e-02 -3.70423360e+01] [-2.79047130e-02 6.33739512e-03 9.99590498e-01 -1.18629762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20264 meters 0.017467485010145493 Centerline is valid? [True, True] Translation: X:252.85, Y:-37.06, Z:-11.87 [[ 9.81012997e-01 1.91834081e-01 2.85163963e-02 2.52852078e+02] [-1.91751857e-01 9.81427371e-01 -5.61618758e-03 -3.70576076e+01] [-2.90641480e-02 4.14810737e-05 9.99577548e-01 -1.18658215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26264 meters 0.015313535951204486 Centerline is valid? [True, True] Translation: X:252.91, Y:-37.07, Z:-11.86 [[ 9.79741256e-01 1.97000676e-01 3.60250609e-02 2.52909953e+02] [-1.97277983e-01 9.80338260e-01 4.27697781e-03 -3.70725527e+01] [-3.44741780e-02 -1.12972830e-02 9.99341735e-01 -1.18616013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32264 meters 0.024423904643390275 Centerline is valid? [True, True] Translation: X:252.97, Y:-37.08, Z:-11.87 [[ 9.78929226e-01 2.01432906e-01 3.35015507e-02 2.52969870e+02] [-2.01425105e-01 9.79497146e-01 -3.64265941e-03 -3.70774150e+01] [-3.35484248e-02 -3.18214760e-03 9.99432027e-01 -1.18657758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38264 meters 0.02220949002417671 Centerline is valid? [True, True] Translation: X:253.03, Y:-37.07, Z:-11.87 [[ 9.78179279e-01 2.06030828e-01 2.67693256e-02 2.53032755e+02] [-2.05560013e-01 9.78453844e-01 -1.93172395e-02 -3.70717844e+01] [-3.01724964e-02 1.33930205e-02 9.99454975e-01 -1.18725638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44264 meters 0.02210060278216854 Centerline is valid? [True, True] Translation: X:253.09, Y:-37.10, Z:-11.87 [[ 9.77252210e-01 2.08864697e-01 3.67920632e-02 2.53088450e+02] [-2.09115645e-01 9.77886108e-01 3.06698551e-03 -3.70977004e+01] [-3.53378625e-02 -1.06910144e-02 9.99318236e-01 -1.18722305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50264 meters 0.025081025733448777 Centerline is valid? [True, True] Translation: X:253.15, Y:-37.10, Z:-11.88 [[ 9.76469455e-01 2.12411435e-01 3.72664084e-02 2.53146970e+02] [-2.12445755e-01 9.77168000e-01 -3.08230516e-03 -3.71013571e+01] [-3.70702586e-02 -4.90731343e-03 9.99300613e-01 -1.18762376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56264 meters 0.02918444111879915 Centerline is valid? [True, True] Translation: X:253.21, Y:-37.09, Z:-11.88 [[ 9.76559541e-01 2.13621335e-01 2.64081221e-02 2.53207593e+02] [-2.13144642e-01 9.76821138e-01 -1.97440117e-02 -3.70946521e+01] [-3.00137540e-02 1.36524533e-02 9.99456245e-01 -1.18816584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62264 meters 0.027333407829342602 Centerline is valid? [True, True] Translation: X:253.26, Y:-37.11, Z:-11.88 [[ 9.76763768e-01 2.12369612e-01 2.88390154e-02 2.53263214e+02] [-2.12294392e-01 9.77189244e-01 -5.68084227e-03 -3.71149279e+01] [-2.93876139e-02 -5.73520334e-04 9.99567926e-01 -1.18839154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68264 meters 0.03481837914413837 Centerline is valid? [True, True] Translation: X:253.32, Y:-37.12, Z:-11.91 [[ 9.76718991e-01 2.10357605e-01 4.20676977e-02 2.53323093e+02] [-2.10623211e-01 9.77565405e-01 1.93433271e-03 -3.71212775e+01] [-4.07170243e-02 -1.07497331e-02 9.99112890e-01 -1.19060174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74264 meters 0.02222618206225896 Centerline is valid? [True, True] Translation: X:253.38, Y:-37.14, Z:-11.89 [[ 9.78294964e-01 2.05397292e-01 2.74028340e-02 2.53378903e+02] [-2.05027914e-01 9.78630202e-01 -1.56997660e-02 -3.71357806e+01] [-3.00419304e-02 9.74065616e-03 9.99501177e-01 -1.18909202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80264 meters 0.018983503336590036 Centerline is valid? [True, True] Translation: X:253.43, Y:-37.16, Z:-11.89 [[ 9.79128177e-01 2.00942537e-01 3.04976991e-02 2.53434927e+02] [-2.00852917e-01 9.79603000e-01 -6.00575406e-03 -3.71588026e+01] [-3.10824490e-02 -2.45148803e-04 9.99516794e-01 -1.18912383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86264 meters 0.016935312220276808 Centerline is valid? [True, True] Translation: X:253.49, Y:-37.17, Z:-11.89 [[ 9.79934907e-01 1.96878549e-01 3.10872066e-02 2.53492294e+02] [-1.96783454e-01 9.80427877e-01 -6.11960393e-03 -3.71722337e+01] [-3.16835827e-02 -1.20634397e-04 9.99497942e-01 -1.18932230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92264 meters 0.029126354533142045 Centerline is valid? [True, True] Translation: X:253.55, Y:-37.18, Z:-11.90 [[ 9.80231491e-01 1.95515902e-01 3.03274973e-02 2.53549336e+02] [-1.95424782e-01 9.80700528e-01 -5.96892955e-03 -3.71828269e+01] [-3.09092133e-02 -7.58118460e-05 9.99522193e-01 -1.18971247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98264 meters 0.015870340329947587 Centerline is valid? [True, True] Translation: X:253.61, Y:-37.20, Z:-11.90 [[ 9.80592854e-01 1.93627045e-01 3.07607352e-02 2.53607868e+02] [-1.93532459e-01 9.81075210e-01 -6.05145400e-03 -3.71956401e+01] [-3.13503199e-02 -1.91881744e-05 9.99508458e-01 -1.18972334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04263999999995 meters 0.014703089594806353 Centerline is valid? [True, True] Translation: X:253.66, Y:-37.23, Z:-11.90 [[ 9.80523571e-01 1.91643858e-01 4.29669492e-02 2.53662421e+02] [-1.92546137e-01 9.81124461e-01 1.79102554e-02 -3.72256985e+01] [-3.87235344e-02 -2.58345476e-02 9.98915944e-01 -1.18990236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10263999999995 meters 0.01756755161699232 Centerline is valid? [True, True] Translation: X:253.73, Y:-37.21, Z:-11.91 [[ 9.81663082e-01 1.89136359e-01 2.37703776e-02 2.53729059e+02] [-1.88377776e-01 9.81610194e-01 -3.09069507e-02 -3.72114168e+01] [-2.91788731e-02 2.58624016e-02 9.99239576e-01 -1.19070834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16263999999995 meters 0.018044096331249614 Centerline is valid? [True, True] Translation: X:253.79, Y:-37.24, Z:-11.91 [[ 9.82118917e-01 1.86012835e-01 2.90113509e-02 2.53785295e+02] [-1.85925265e-01 9.82547291e-01 -5.71113387e-03 -3.72390406e+01] [-2.95673684e-02 2.15069521e-04 9.99562767e-01 -1.19099002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22263999999996 meters 0.018703747383315327 Centerline is valid? [True, True] Translation: X:253.84, Y:-37.25, Z:-11.92 [[ 9.81981886e-01 1.86711276e-01 2.91628889e-02 2.53843417e+02] [-1.86623104e-01 9.82414811e-01 -5.74070490e-03 -3.72504218e+01] [-2.97219083e-02 1.94799389e-04 9.99558188e-01 -1.19156959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28263999999996 meters 0.018770963649854283 Centerline is valid? [True, True] Translation: X:253.90, Y:-37.26, Z:-11.92 [[ 9.81816744e-01 1.87742765e-01 2.80808773e-02 2.53901879e+02] [-1.87661398e-01 9.82218219e-01 -5.52905754e-03 -3.72584465e+01] [-2.86195898e-02 1.58824572e-04 9.99590363e-01 -1.19215975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34263999999996 meters 0.01713571935620964 Centerline is valid? [True, True] Translation: X:253.96, Y:-37.27, Z:-11.92 [[ 9.81451173e-01 1.89416275e-01 2.95815703e-02 2.53960158e+02] [-1.89326765e-01 9.81896869e-01 -5.82361718e-03 -3.72651224e+01] [-3.01491391e-02 1.15012907e-04 9.99545405e-01 -1.19221672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40263999999996 meters 0.017229151824557767 Centerline is valid? [True, True] Translation: X:254.02, Y:-37.27, Z:-11.92 [[ 9.81509960e-01 1.89207473e-01 2.89608576e-02 2.54018462e+02] [-1.89121629e-01 9.81937126e-01 -5.70007164e-03 -3.72733097e+01] [-2.95162374e-02 1.17552523e-04 9.99564294e-01 -1.19248911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46263999999996 meters 0.017548061665185417 Centerline is valid? [True, True] Translation: X:254.08, Y:-37.29, Z:-11.93 [[ 9.81663786e-01 1.88482954e-01 2.84673147e-02 2.54076141e+02] [-1.88399754e-01 9.82076452e-01 -5.60132950e-03 -3.72858860e+01] [-2.90128346e-02 1.35387244e-04 9.99579030e-01 -1.19294895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52263999999997 meters 0.01699073751057001 Centerline is valid? [True, True] Translation: X:254.14, Y:-37.29, Z:-11.93 [[ 9.81623474e-01 1.88717901e-01 2.83003442e-02 2.54135195e+02] [-1.88635808e-01 9.82031333e-01 -5.56721616e-03 -3.72941773e+01] [-2.88424580e-02 1.26451782e-04 9.99583962e-01 -1.19305968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58263999999997 meters 0.016439894222747494 Centerline is valid? [True, True] Translation: X:254.19, Y:-37.30, Z:-11.93 [[ 9.81199014e-01 1.90626958e-01 3.01638467e-02 2.54193448e+02] [-1.90534604e-01 9.81662548e-01 -5.93360345e-03 -3.72992272e+01] [-3.07418234e-02 7.47892836e-05 9.99527356e-01 -1.19327072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64264 meters 0.01585166711111004 Centerline is valid? [True, True] Translation: X:254.25, Y:-37.30, Z:-11.93 [[ 9.80821321e-01 1.92529530e-01 3.03630634e-02 2.54252880e+02] [-1.92436929e-01 9.81291180e-01 -5.97062987e-03 -3.73034430e+01] [-3.09445289e-02 1.31464112e-05 9.99521103e-01 -1.19335339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70264 meters 0.015512740927360796 Centerline is valid? [True, True] Translation: X:254.31, Y:-37.31, Z:-11.94 [[ 9.80724411e-01 1.92817780e-01 3.16375467e-02 2.54310345e+02] [-1.92717437e-01 9.81234581e-01 -6.21977608e-03 -3.73111060e+01] [-3.22431383e-02 2.77932331e-06 9.99480055e-01 -1.19357630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76264 meters 0.015427460287551936 Centerline is valid? [True, True] Translation: X:254.37, Y:-37.32, Z:-11.94 [[ 9.81060229e-01 1.91270319e-01 3.06021684e-02 2.54367861e+02] [-1.91175746e-01 9.81537397e-01 -6.01427254e-03 -3.73211091e+01] [-3.11875245e-02 4.99712264e-05 9.99513550e-01 -1.19380866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82264 meters 0.016800058724309598 Centerline is valid? [True, True] Translation: X:254.42, Y:-37.34, Z:-11.94 [[ 9.81874926e-01 1.86662319e-01 3.28452189e-02 2.54423417e+02] [-1.86550846e-01 9.82424112e-01 -6.45342809e-03 -3.73358963e+01] [-3.34725468e-02 2.09155857e-04 9.99439615e-01 -1.19397854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88264 meters 0.01781301997790091 Centerline is valid? [True, True] Translation: X:254.48, Y:-37.36, Z:-11.94 [[ 9.82078887e-01 1.83852339e-01 4.14653738e-02 2.54476657e+02] [-1.84321357e-01 9.82835446e-01 7.75388496e-03 -3.73623747e+01] [-3.93280692e-02 -1.52578807e-02 9.99109854e-01 -1.19425209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94264 meters 0.021674077248914056 Centerline is valid? [True, True] Translation: X:254.54, Y:-37.36, Z:-11.94 [[ 9.83492976e-01 1.78395477e-01 3.02757251e-02 2.54541556e+02] [-1.77814291e-01 9.83841402e-01 -2.09326048e-02 -3.73630992e+01] [-3.35207938e-02 1.52036132e-02 9.99322374e-01 -1.19430107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.00264 meters 0.025367521229739728 Centerline is valid? [True, True] Translation: X:254.60, Y:-37.39, Z:-11.95 [[ 9.83913641e-01 1.75727512e-01 3.21525871e-02 2.54598392e+02] [-1.75614808e-01 9.84438681e-01 -6.31848027e-03 -3.73915419e+01] [-3.27625812e-02 5.70368541e-04 9.99463000e-01 -1.19505259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06264 meters 0.02460042585147287 Centerline is valid? [True, True] Translation: X:254.66, Y:-37.41, Z:-11.95 [[ 9.83847581e-01 1.76147829e-01 3.18728675e-02 2.54657953e+02] [-1.76037058e-01 9.84363566e-01 -6.27089856e-03 -3.74055991e+01] [-3.24790946e-02 5.58802560e-04 9.99472259e-01 -1.19534189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12264 meters 0.02210595158735006 Centerline is valid? [True, True] Translation: X:254.72, Y:-37.42, Z:-11.96 [[ 9.83259636e-01 1.79414397e-01 3.17956219e-02 2.54717169e+02] [-1.79305830e-01 9.83773485e-01 -6.25687359e-03 -3.74160431e+01] [-3.24022630e-02 4.50990868e-04 9.99474807e-01 -1.19569472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18264 meters 0.019146595467820784 Centerline is valid? [True, True] Translation: X:254.78, Y:-37.43, Z:-11.96 [[ 9.82645946e-01 1.82847185e-01 3.12066068e-02 2.54776584e+02] [-1.82744316e-01 9.83141290e-01 -6.14155113e-03 -3.74254147e+01] [-3.18034690e-02 3.32140305e-04 9.99494087e-01 -1.19607758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24264 meters 0.01627190576721414 Centerline is valid? [True, True] Translation: X:254.84, Y:-37.43, Z:-11.97 [[ 9.81272453e-01 1.89932342e-01 3.20948523e-02 2.54835643e+02] [-1.89827358e-01 9.81797176e-01 -6.31501167e-03 -3.74313520e+01] [-3.27100604e-02 1.04265959e-04 9.99464877e-01 -1.19652167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30264 meters 0.0159410055151463 Centerline is valid? [True, True] Translation: X:254.89, Y:-37.44, Z:-11.97 [[ 9.80100686e-01 1.95924307e-01 3.18796313e-02 2.54894663e+02] [-1.95823905e-01 9.80619017e-01 -6.27226614e-03 -3.74376187e+01] [-3.24906621e-02 -9.53415423e-05 9.99472035e-01 -1.19675739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36264 meters 0.01742214071391689 Centerline is valid? [True, True] Translation: X:254.95, Y:-37.45, Z:-11.97 [[ 9.79346361e-01 1.99571728e-01 3.24319236e-02 2.54953270e+02] [-1.99469867e-01 9.79883195e-01 -6.37932725e-03 -3.74458956e+01] [-3.30526303e-02 -2.21620565e-04 9.99453588e-01 -1.19700532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42264 meters 0.029473621533538347 Centerline is valid? [True, True] Translation: X:255.01, Y:-37.45, Z:-11.97 [[ 9.78389960e-01 2.04321052e-01 3.17174058e-02 2.55012687e+02] [-2.04226184e-01 9.78903860e-01 -6.23691744e-03 -3.74535349e+01] [-3.23226245e-02 -3.75387330e-04 9.99477417e-01 -1.19722604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48264 meters 0.021635445079720088 Centerline is valid? [True, True] Translation: X:255.07, Y:-37.47, Z:-11.97 [[ 9.77764610e-01 2.07234351e-01 3.20981438e-02 2.55070602e+02] [-2.07138771e-01 9.78291212e-01 -6.31140485e-03 -3.74658342e+01] [-3.27092718e-02 -4.77701765e-04 9.99464794e-01 -1.19746713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54263999999995 meters 0.024912794341614957 Centerline is valid? [True, True] Translation: X:255.13, Y:-37.47, Z:-11.98 [[ 9.77404157e-01 2.08934774e-01 3.20526922e-02 2.55127436e+02] [-2.08840420e-01 9.77929432e-01 -6.30120350e-03 -3.74729036e+01] [-3.26618116e-02 -5.35075201e-04 9.99466317e-01 -1.19800454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60263999999995 meters 0.02576001946446523 Centerline is valid? [True, True] Translation: X:255.19, Y:-37.48, Z:-11.98 [[ 9.77369013e-01 2.09053771e-01 3.23470893e-02 2.55185038e+02] [-2.08957831e-01 9.77903994e-01 -6.35631271e-03 -3.74817704e+01] [-3.29611590e-02 -5.46714570e-04 9.99456484e-01 -1.19832973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66263999999995 meters 0.02686273842735223 Centerline is valid? [True, True] Translation: X:255.24, Y:-37.50, Z:-11.99 [[ 9.77997442e-01 2.06357535e-01 3.06197942e-02 2.55240820e+02] [-2.06270306e-01 9.78476561e-01 -6.01504979e-03 -3.75029730e+01] [-3.12020017e-02 -4.33251003e-04 9.99513005e-01 -1.19856992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72263999999996 meters 0.01981839289398081 Centerline is valid? [True, True] Translation: X:255.30, Y:-37.52, Z:-11.99 [[ 9.78466811e-01 2.04030328e-01 3.12141713e-02 2.55298537e+02] [-2.03938554e-01 9.78964499e-01 -6.12994325e-03 -3.75164204e+01] [-3.18082598e-02 -3.67826910e-04 9.99493922e-01 -1.19891154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78263999999996 meters 0.018257462037450482 Centerline is valid? [True, True] Translation: X:255.35, Y:-37.53, Z:-11.99 [[ 9.79363704e-01 1.99720041e-01 3.09619243e-02 2.55354145e+02] [-1.99627613e-01 9.79852976e-01 -6.07965595e-03 -3.75338728e+01] [-3.15523628e-02 -2.26660657e-04 9.99502075e-01 -1.19948900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84263999999996 meters 0.016508257022221962 Centerline is valid? [True, True] Translation: X:255.41, Y:-37.55, Z:-12.00 [[ 9.79769016e-01 1.97694338e-01 3.11388023e-02 2.55411080e+02] [-1.97599898e-01 9.80263700e-01 -6.11216846e-03 -3.75473846e+01] [-3.17325787e-02 -1.64510872e-04 9.99496381e-01 -1.19955148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90263999999996 meters 0.01643053728207888 Centerline is valid? [True, True] Translation: X:255.47, Y:-37.56, Z:-12.00 [[ 9.80134163e-01 1.95985144e-01 3.04441468e-02 2.55467750e+02] [-1.95894100e-01 9.80606859e-01 -5.97411381e-03 -3.75608360e+01] [-3.10245767e-02 -1.08395708e-04 9.99518616e-01 -1.20002060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96263999999996 meters 0.016075867586072535 Centerline is valid? [True, True] Translation: X:255.52, Y:-37.58, Z:-12.00 [[ 9.80532960e-01 1.93919866e-01 3.08252975e-02 2.55524478e+02] [-1.93825544e-01 9.81017372e-01 -6.04772944e-03 -3.75781959e+01] [-3.14129272e-02 -4.47319928e-05 9.99506491e-01 -1.20029712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02263999999997 meters 0.015290413347001807 Centerline is valid? [True, True] Translation: X:255.58, Y:-37.59, Z:-12.00 [[ 9.80857912e-01 1.92276702e-01 3.07802904e-02 2.55583754e+02] [-1.92181901e-01 9.81340751e-01 -6.03713744e-03 -3.75913965e+01] [-3.13667542e-02 6.15929075e-06 9.99507942e-01 -1.20025219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08263999999997 meters 0.015270001856738442 Centerline is valid? [True, True] Translation: X:255.64, Y:-37.60, Z:-12.00 [[ 9.80969076e-01 1.91489558e-01 3.21157334e-02 2.55641448e+02] [-1.91385922e-01 9.81494650e-01 -6.29926546e-03 -3.76046750e+01] [-3.27276641e-02 3.28853823e-05 9.99464306e-01 -1.20046296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14264 meters 0.013856882017566586 Centerline is valid? [True, True] Translation: X:255.71, Y:-37.61, Z:-12.00 [[ 9.81010809e-01 1.91119695e-01 3.30311273e-02 2.55706398e+02] [-1.90745234e-01 9.81537330e-01 -1.41677949e-02 -3.76124907e+01] [-3.51290291e-02 7.59822980e-03 9.99353900e-01 -1.20027325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20264 meters 0.014404220815538877 Centerline is valid? [True, True] Translation: X:255.76, Y:-37.63, Z:-12.01 [[ 9.81054208e-01 1.90291954e-01 3.63540060e-02 2.55763529e+02] [-1.90304400e-01 9.81720080e-01 -3.14956299e-03 -3.76333658e+01] [-3.62887942e-02 -3.82843528e-03 9.99334011e-01 -1.20079785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26264 meters 0.014409836283363358 Centerline is valid? [True, True] Translation: X:255.83, Y:-37.64, Z:-12.01 [[ 9.81233155e-01 1.89475367e-01 3.57852189e-02 2.55825403e+02] [-1.89398092e-01 9.81884595e-01 -5.56812917e-03 -3.76449885e+01] [-3.61919785e-02 -1.31401923e-03 9.99343992e-01 -1.20110878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32264 meters 0.014599885263131279 Centerline is valid? [True, True] Translation: X:255.89, Y:-37.66, Z:-12.01 [[ 9.81632568e-01 1.87312013e-01 3.62175475e-02 2.55886749e+02] [-1.87244126e-01 9.82299180e-01 -5.28761002e-03 -3.76609048e+01] [-3.65669001e-02 -1.59103284e-03 9.99329941e-01 -1.20126732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38264 meters 0.014988017578161927 Centerline is valid? [True, True] Translation: X:255.95, Y:-37.67, Z:-12.02 [[ 9.81616480e-01 1.87997698e-01 3.29537853e-02 2.55946799e+02] [-1.87647694e-01 9.82144472e-01 -1.34379332e-02 -3.76710475e+01] [-3.48916786e-02 7.00719481e-03 9.99366534e-01 -1.20181305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44264 meters 0.01586877140599622 Centerline is valid? [True, True] Translation: X:256.00, Y:-37.69, Z:-12.02 [[ 9.81439077e-01 1.88862071e-01 3.32934989e-02 2.56002229e+02] [-1.88894492e-01 9.81994930e-01 -2.19744165e-03 -3.76918013e+01] [-3.31090605e-02 -4.13230346e-03 9.99443202e-01 -1.20228884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.50264 meters 0.015898446054824628 Centerline is valid? [True, True] Translation: X:256.06, Y:-37.70, Z:-12.02 [[ 9.81325731e-01 1.89553303e-01 3.27009862e-02 2.56061090e+02] [-1.89444127e-01 9.81870425e-01 -6.43360020e-03 -3.77037751e+01] [-3.33276414e-02 1.18447618e-04 9.99444473e-01 -1.20247237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56264 meters 0.015828142567072115 Centerline is valid? [True, True] Translation: X:256.12, Y:-37.72, Z:-12.03 [[ 9.81271573e-01 1.89808234e-01 3.28471513e-02 2.56120644e+02] [-1.89698215e-01 9.81821176e-01 -6.46257419e-03 -3.77178205e+01] [-3.34766785e-02 1.10494368e-04 9.99439493e-01 -1.20283337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62264 meters 0.015906379764104677 Centerline is valid? [True, True] Translation: X:256.18, Y:-37.73, Z:-12.03 [[ 9.80974432e-01 1.91714600e-01 3.05724599e-02 2.56180693e+02] [-1.91620284e-01 9.81450717e-01 -6.01299681e-03 -3.77339302e+01] [-3.11581420e-02 4.02926879e-05 9.99514466e-01 -1.20340947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68264 meters 0.029647993836999172 Centerline is valid? [True, True] Translation: X:256.24, Y:-37.75, Z:-12.04 [[ 9.79870336e-01 1.96101159e-01 3.73959880e-02 2.56240846e+02] [-1.96242168e-01 9.80555455e-01 1.02088296e-04 -3.77452216e+01] [-3.66488204e-02 -7.43870304e-03 9.99300520e-01 -1.20381695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74264 meters 0.016811777411478667 Centerline is valid? [True, True] Translation: X:256.30, Y:-37.74, Z:-12.04 [[ 9.78917113e-01 2.01900408e-01 3.09436855e-02 2.56301463e+02] [-2.01394866e-01 9.79331659e-01 -1.86978595e-02 -3.77421194e+01] [-3.40792363e-02 1.20717552e-02 9.99346225e-01 -1.20400387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80264 meters 0.021469751324028712 Centerline is valid? [True, True] Translation: X:256.36, Y:-37.76, Z:-12.04 [[ 9.78322220e-01 2.04646610e-01 3.17080097e-02 2.56359721e+02] [-2.04695732e-01 9.78824134e-01 -1.72378288e-03 -3.77573346e+01] [-3.13893314e-02 -4.80407917e-03 9.99495688e-01 -1.20448876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86264 meters 0.019179439602842116 Centerline is valid? [True, True] Translation: X:256.42, Y:-37.78, Z:-12.05 [[ 9.77924854e-01 2.04946635e-01 4.07413464e-02 2.56418903e+02] [-2.05515757e-01 9.78599975e-01 1.02646266e-02 -3.77793959e+01] [-3.77657799e-02 -1.84110221e-02 9.99117000e-01 -1.20452543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92264 meters 0.023664372633348845 Centerline is valid? [True, True] Translation: X:256.48, Y:-37.76, Z:-12.05 [[ 9.77140148e-01 2.09721470e-01 3.48430369e-02 2.56479819e+02] [-2.09078973e-01 9.77668914e-01 -2.12008730e-02 -3.77635783e+01] [-3.85112323e-02 1.34312778e-02 9.99167897e-01 -1.20489648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98264 meters 0.02279515444730133 Centerline is valid? [True, True] Translation: X:256.54, Y:-37.78, Z:-12.05 [[ 9.77479216e-01 2.08552783e-01 3.22508745e-02 2.56538803e+02] [-2.08324380e-01 9.78005295e-01 -1.03245149e-02 -3.77821873e+01] [-3.36947324e-02 3.37335534e-03 9.99426478e-01 -1.20479117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04263999999995 meters 0.026039936192823413 Centerline is valid? [True, True] Translation: X:256.60, Y:-37.79, Z:-12.06 [[ 9.77279266e-01 2.09545574e-01 3.18730169e-02 2.56597154e+02] [-2.09452284e-01 9.77798731e-01 -6.27558130e-03 -3.77898781e+01] [-3.24804158e-02 -5.42880725e-04 9.99472225e-01 -1.20552213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10263999999995 meters 0.024018816902953627 Centerline is valid? [True, True] Translation: X:256.66, Y:-37.80, Z:-12.05 [[ 9.77132609e-01 2.10144775e-01 3.24197230e-02 2.56655787e+02] [-2.10048620e-01 9.77670110e-01 -6.38220353e-03 -3.77990941e+01] [-3.30369809e-02 -5.73458886e-04 9.99453965e-01 -1.20536365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16263999999995 meters 0.0260852990756551 Centerline is valid? [True, True] Translation: X:256.71, Y:-37.81, Z:-12.06 [[ 9.77121130e-01 2.10332474e-01 3.15364607e-02 2.56712715e+02] [-2.10241629e-01 9.77629751e-01 -6.20698127e-03 -3.78074866e+01] [-3.21365119e-02 -5.65304307e-04 9.99483329e-01 -1.20595109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22263999999996 meters 0.02542845207494611 Centerline is valid? [True, True] Translation: X:256.77, Y:-37.82, Z:-12.06 [[ 9.77178801e-01 2.10299011e-01 2.99318801e-02 2.56770040e+02] [-2.10217215e-01 9.77636966e-01 -5.88941702e-03 -3.78177117e+01] [-3.05010511e-02 -5.37183023e-04 9.99534590e-01 -1.20635151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28263999999996 meters 0.024376449047364065 Centerline is valid? [True, True] Translation: X:256.83, Y:-37.84, Z:-12.07 [[ 9.77144321e-01 2.07523694e-01 4.60748613e-02 2.56825747e+02] [-2.08561076e-01 9.77826133e-01 1.89296236e-02 -3.78418980e+01] [-4.11248581e-02 -2.81063968e-02 9.98758618e-01 -1.20707003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34263999999996 meters 0.021911852194282558 Centerline is valid? [True, True] Translation: X:256.89, Y:-37.82, Z:-12.07 [[ 9.77822477e-01 2.07830826e-01 2.58756834e-02 2.56891128e+02] [-2.06960041e-01 9.77801502e-01 -3.27378082e-02 -3.78205479e+01] [-3.21052078e-02 2.66565322e-02 9.99128963e-01 -1.20661696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40263999999996 meters 0.021303031736892682 Centerline is valid? [True, True] Translation: X:256.94, Y:-37.85, Z:-12.07 [[ 9.78480817e-01 2.04099716e-01 3.03083736e-02 2.56943457e+02] [-2.04012930e-01 9.78950041e-01 -5.96162375e-03 -3.78505484e+01] [-3.08871493e-02 -3.49965629e-04 9.99522817e-01 -1.20725286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46263999999996 meters 0.02046688102768683 Centerline is valid? [True, True] Translation: X:257.00, Y:-37.86, Z:-12.08 [[ 9.78944788e-01 2.02028235e-01 2.91838050e-02 2.57000781e+02] [-2.01946910e-01 9.79379659e-01 -5.73841628e-03 -3.78623434e+01] [-2.97413471e-02 -2.75986522e-04 9.99557590e-01 -1.20789581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52263999999997 meters 0.01949347331269869 Centerline is valid? [True, True] Translation: X:257.06, Y:-37.87, Z:-12.08 [[ 9.78952619e-01 2.02138993e-01 2.81353210e-02 2.57058251e+02] [-2.02063489e-01 9.79356806e-01 -5.53102194e-03 -3.78733888e+01] [-2.86725533e-02 -2.70512704e-04 9.99588821e-01 -1.20793736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58263999999997 meters 0.021079990547688304 Centerline is valid? [True, True] Translation: X:257.12, Y:-37.88, Z:-12.08 [[ 9.78740958e-01 2.03092230e-01 2.86300932e-02 2.57116414e+02] [-2.03014492e-01 9.79159565e-01 -5.62700463e-03 -3.78785037e+01] [-2.91762306e-02 -3.04943921e-04 9.99574237e-01 -1.20841609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64264 meters 0.02329684004005537 Centerline is valid? [True, True] Translation: X:257.17, Y:-37.89, Z:-12.09 [[ 9.78280950e-01 2.05332761e-01 2.83697072e-02 2.57174554e+02] [-2.05257433e-01 9.78692148e-01 -5.57370360e-03 -3.78852367e+01] [-2.89096736e-02 -3.70445224e-04 9.99581959e-01 -1.20882514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70264 meters 0.02360101608360828 Centerline is valid? [True, True] Translation: X:257.23, Y:-37.89, Z:-12.09 [[ 9.77814594e-01 2.07535261e-01 2.84206907e-02 2.57233479e+02] [-2.07460631e-01 9.78227440e-01 -5.58236593e-03 -3.78888489e+01] [-2.89604372e-02 -4.37655539e-04 9.99580463e-01 -1.20883019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76264 meters 0.029200940506027787 Centerline is valid? [True, True] Translation: X:257.29, Y:-37.89, Z:-12.10 [[ 9.77331608e-01 2.09754678e-01 2.87385372e-02 2.57291721e+02] [-2.09679357e-01 9.77753913e-01 -5.64378894e-03 -3.78881069e+01] [-2.92830284e-02 -5.10024691e-04 9.99571030e-01 -1.20960167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82264 meters 0.0258212169569378 Centerline is valid? [True, True] Translation: X:257.35, Y:-37.90, Z:-12.09 [[ 9.77209873e-01 2.10232724e-01 2.93779847e-02 2.57349780e+02] [-2.10154313e-01 9.77651222e-01 -5.76656164e-03 -3.79008769e+01] [-2.99337426e-02 -5.38769234e-04 9.99551740e-01 -1.20928429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88264 meters 0.028232330391660333 Centerline is valid? [True, True] Translation: X:257.41, Y:-37.90, Z:-12.10 [[ 9.76898905e-01 2.11528177e-01 3.04032879e-02 2.57408297e+02] [-2.11444867e-01 9.77371716e-01 -5.96640419e-03 -3.79008813e+01] [-3.09773763e-02 -6.00045449e-04 9.99519906e-01 -1.20954213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94264 meters 0.025762999668640315 Centerline is valid? [True, True] Translation: X:257.47, Y:-37.91, Z:-12.09 [[ 9.76990721e-01 2.11019323e-01 3.09835002e-02 2.57466696e+02] [-2.10932616e-01 9.77481708e-01 -6.07806321e-03 -3.79081791e+01] [-3.15683934e-02 -5.97219387e-04 9.99501416e-01 -1.20947292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00264 meters 0.027112824094620562 Centerline is valid? [True, True] Translation: X:257.52, Y:-37.91, Z:-12.10 [[ 9.77182642e-01 2.10068828e-01 3.13874370e-02 2.57524839e+02] [-2.09979401e-01 9.77686430e-01 -6.15587214e-03 -3.79125548e+01] [-3.19802281e-02 -5.75303822e-04 9.99488336e-01 -1.20998302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06264 meters 0.024128170002695657 Centerline is valid? [True, True] Translation: X:257.58, Y:-37.92, Z:-12.10 [[ 9.77602979e-01 2.08093477e-01 3.14566496e-02 2.57583514e+02] [-2.08002711e-01 9.78108808e-01 -6.16697240e-03 -3.79217328e+01] [-3.20513328e-02 -5.14217820e-04 9.99486092e-01 -1.21012138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12264 meters 0.022094878858850232 Centerline is valid? [True, True] Translation: X:257.64, Y:-37.93, Z:-12.10 [[ 9.78129976e-01 2.05562282e-01 3.17159116e-02 2.57641735e+02] [-2.05468716e-01 9.78643938e-01 -6.21679820e-03 -3.79306809e+01] [-3.23165239e-02 -4.35790968e-04 9.99477590e-01 -1.21034565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18264 meters 0.017949892310549338 Centerline is valid? [True, True] Translation: X:257.70, Y:-37.95, Z:-12.11 [[ 9.79678581e-01 1.98324841e-01 2.99522177e-02 2.57697738e+02] [-1.98238049e-01 9.80136329e-01 -5.86971548e-03 -3.79481465e+01] [-3.05213670e-02 -1.87234643e-04 9.99534097e-01 -1.21097596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24264 meters 0.015987086003306703 Centerline is valid? [True, True] Translation: X:257.75, Y:-37.96, Z:-12.11 [[ 9.80776526e-01 1.92705620e-01 3.06911946e-02 2.57754430e+02] [-1.92611789e-01 9.81256615e-01 -6.01292308e-03 -3.79646860e+01] [-3.12746617e-02 -1.41520605e-05 9.99510828e-01 -1.21105314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30264 meters 0.016993224110817058 Centerline is valid? [True, True] Translation: X:257.81, Y:-37.98, Z:-12.11 [[ 9.81827994e-01 1.87437989e-01 2.96781207e-02 2.57811413e+02] [-1.87347887e-01 9.82276427e-01 -5.81299693e-03 -3.79801433e+01] [-3.02416948e-02 1.47229915e-04 9.99542605e-01 -1.21147326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36264 meters 0.016965626612484932 Centerline is valid? [True, True] Translation: X:257.87, Y:-37.99, Z:-12.12 [[ 9.81694167e-01 1.88071553e-01 3.00940650e-02 2.57869302e+02] [-1.87979246e-01 9.82155321e-01 -5.89311009e-03 -3.79873912e+01] [-3.06653725e-02 1.28172150e-04 9.99529699e-01 -1.21177050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42264 meters 0.01658073588801331 Centerline is valid? [True, True] Translation: X:257.93, Y:-37.99, Z:-12.12 [[ 9.81189840e-01 1.90714180e-01 2.99098676e-02 2.57927459e+02] [-1.90624292e-01 9.81645608e-01 -5.85489053e-03 -3.79944872e+01] [-3.04775008e-02 4.32117520e-05 9.99535452e-01 -1.21222055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48264 meters 0.017278576933084086 Centerline is valid? [True, True] Translation: X:257.99, Y:-38.00, Z:-12.13 [[ 9.80536112e-01 1.94079257e-01 2.97014414e-02 2.57985298e+02] [-1.93992197e-01 9.80985850e-01 -5.81284262e-03 -3.79985195e+01] [-3.02648459e-02 -6.21457674e-05 9.99541913e-01 -1.21274038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54263999999995 meters 0.017811481031559825 Centerline is valid? [True, True] Translation: X:258.04, Y:-38.00, Z:-12.13 [[ 9.80030638e-01 1.96589345e-01 2.98760347e-02 2.58043456e+02] [-1.96502489e-01 9.80485905e-01 -5.84488663e-03 -3.80049098e+01] [-3.04420734e-02 -1.42547198e-04 9.99536523e-01 -1.21296799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60263999999995 meters 0.018278458157435604 Centerline is valid? [True, True] Translation: X:258.10, Y:-38.01, Z:-12.13 [[ 9.79491303e-01 1.99270103e-01 2.98029107e-02 2.58101758e+02] [-1.99184955e-01 9.79944577e-01 -5.82915604e-03 -3.80130764e+01] [-3.03667773e-02 -2.26683786e-04 9.99538797e-01 -1.21307756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66263999999995 meters 0.021750613557780536 Centerline is valid? [True, True] Translation: X:258.16, Y:-38.02, Z:-12.13 [[ 9.79078763e-01 2.01231649e-01 3.01761443e-02 2.58158607e+02] [-2.01145327e-01 9.79543638e-01 -5.90079637e-03 -3.80209700e+01] [-3.07462772e-02 -2.92446020e-04 9.99527179e-01 -1.21346087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72263999999996 meters 0.02007420907695989 Centerline is valid? [True, True] Translation: X:258.22, Y:-38.03, Z:-12.14 [[ 9.78715650e-01 2.02851640e-01 3.10948414e-02 2.58216567e+02] [-2.02760857e-01 9.79209419e-01 -6.07858361e-03 -3.80291866e+01] [-3.16814122e-02 -3.55611787e-04 9.99497955e-01 -1.21351697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78263999999996 meters 0.03200588696199906 Centerline is valid? [True, True] Translation: X:258.28, Y:-38.03, Z:-12.15 [[ 9.78365236e-01 2.04854462e-01 2.89156591e-02 2.58275350e+02] [-2.04776908e-01 9.78792366e-01 -5.65007026e-03 -3.80297972e+01] [-2.94598685e-02 -3.93426933e-04 9.99565886e-01 -1.21456420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84263999999996 meters 0.02465056894250472 Centerline is valid? [True, True] Translation: X:258.33, Y:-38.04, Z:-12.15 [[ 9.77959828e-01 2.06593467e-01 3.02277144e-02 2.58332450e+02] [-2.06509582e-01 9.78426758e-01 -5.90522094e-03 -3.80401888e+01] [-3.07955847e-02 -4.67243820e-04 9.99525594e-01 -1.21463973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90263999999996 meters 0.025519825844423718 Centerline is valid? [True, True] Translation: X:258.39, Y:-38.05, Z:-12.15 [[ 9.77822923e-01 2.07190437e-01 3.05688460e-02 2.58390207e+02] [-2.07105019e-01 9.78300505e-01 -5.96928929e-03 -3.80467582e+01] [-3.11422972e-02 -4.94053534e-04 9.99514839e-01 -1.21488946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96263999999996 meters 0.024517441328124424 Centerline is valid? [True, True] Translation: X:258.45, Y:-38.06, Z:-12.15 [[ 9.77816318e-01 2.07122018e-01 3.12364983e-02 2.58448370e+02] [-2.07032862e-01 9.78314988e-01 -6.09747127e-03 -3.80569005e+01] [-3.18220550e-02 -5.04774734e-04 9.99493423e-01 -1.21498030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02263999999997 meters 0.0236231880938932 Centerline is valid? [True, True] Translation: X:258.50, Y:-38.07, Z:-12.15 [[ 9.78175896e-01 2.05346320e-01 3.16986641e-02 2.58504436e+02] [-2.05253620e-01 9.78689267e-01 -6.18626560e-03 -3.80693019e+01] [-3.22934692e-02 -4.55009651e-04 9.99478326e-01 -1.21526520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08263999999997 meters 0.020306743351181038 Centerline is valid? [True, True] Translation: X:258.56, Y:-38.08, Z:-12.15 [[ 9.78693664e-01 2.02655817e-01 3.30050361e-02 2.58562061e+02] [-2.02553872e-01 9.79249954e-01 -6.43865993e-03 -3.80835315e+01] [-3.36250120e-02 -3.83822177e-04 9.99434446e-01 -1.21522955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14264 meters 0.03129859069975329 Centerline is valid? [True, True] Translation: X:258.62, Y:-38.09, Z:-12.15 [[ 9.79355720e-01 1.99866869e-01 3.02590366e-02 2.58624666e+02] [-1.99492120e-01 9.79785144e-01 -1.49654533e-02 -3.80930259e+01] [-3.26384528e-02 8.62006294e-03 9.99430051e-01 -1.21534018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20264 meters 0.02011176416741943 Centerline is valid? [True, True] Translation: X:258.67, Y:-38.12, Z:-12.16 [[ 9.79865811e-01 1.96595478e-01 3.48311591e-02 2.58673455e+02] [-1.96782008e-01 9.80445273e-01 1.97680890e-03 -3.81206514e+01] [-3.37614136e-02 -8.79115289e-03 9.99391256e-01 -1.21571097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26264 meters 0.01670919031218542 Centerline is valid? [True, True] Translation: X:258.73, Y:-38.13, Z:-12.16 [[ 9.80064617e-01 1.95753708e-01 3.39680968e-02 2.58731083e+02] [-1.95641871e-01 9.80653079e-01 -6.61800278e-03 -3.81280927e+01] [-3.46064172e-02 -1.59511641e-04 9.99401006e-01 -1.21610438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32264 meters 0.015934823099048354 Centerline is valid? [True, True] Translation: X:258.79, Y:-38.14, Z:-12.16 [[ 9.79850635e-01 1.97379781e-01 3.05606789e-02 2.58793042e+02] [-1.97095162e-01 9.80309799e-01 -1.20911462e-02 -3.81378195e+01] [-3.23454808e-02 5.82415529e-03 9.99459779e-01 -1.21596861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38264 meters 0.019150211156486237 Centerline is valid? [True, True] Translation: X:258.85, Y:-38.15, Z:-12.17 [[ 9.79309672e-01 1.99623453e-01 3.32120930e-02 2.58845998e+02] [-1.99714814e-01 9.79853897e-01 -5.77158716e-04 -3.81473074e+01] [-3.26582132e-02 -6.06772987e-03 9.99448160e-01 -1.21693783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44264 meters 0.020065701724969114 Centerline is valid? [True, True] Translation: X:258.91, Y:-38.15, Z:-12.17 [[ 9.78962904e-01 2.01292491e-01 3.33611489e-02 2.58905117e+02] [-2.01188088e-01 9.79531115e-01 -6.49206507e-03 -3.81526005e+01] [-3.39850873e-02 -3.56374896e-04 9.99422277e-01 -1.21705552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.50264 meters 0.02879951517538141 Centerline is valid? [True, True] Translation: X:258.96, Y:-38.16, Z:-12.17 [[ 9.78960855e-01 2.01266032e-01 3.35801906e-02 2.58962815e+02] [-2.01160296e-01 9.79536551e-01 -6.53302382e-03 -3.81632346e+01] [-3.42078998e-02 -3.59426483e-04 9.99414674e-01 -1.21718672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56264 meters 0.01954779466850216 Centerline is valid? [True, True] Translation: X:259.02, Y:-38.18, Z:-12.18 [[ 9.79107149e-01 2.00549516e-01 3.36018286e-02 2.59018779e+02] [-2.00443273e-01 9.79683510e-01 -6.53572324e-03 -3.81762511e+01] [-3.42298935e-02 -3.36087141e-04 9.99413929e-01 -1.21771399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62264 meters 0.02280731185269986 Centerline is valid? [True, True] Translation: X:259.08, Y:-38.19, Z:-12.18 [[ 9.79375416e-01 1.99106850e-01 3.43548558e-02 2.59076129e+02] [-1.98994986e-01 9.79977742e-01 -6.67981563e-03 -3.81899021e+01] [-3.49969911e-02 -2.94396854e-04 9.99387374e-01 -1.21768214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68264 meters 0.019407507545792485 Centerline is valid? [True, True] Translation: X:259.13, Y:-38.20, Z:-12.19 [[ 9.79484982e-01 1.98610508e-01 3.41033094e-02 2.59131932e+02] [-1.98500016e-01 9.80078461e-01 -6.62976369e-03 -3.82001030e+01] [-3.47406597e-02 -2.75753487e-04 9.99396323e-01 -1.21851766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74264 meters 0.030155837335342023 Centerline is valid? [True, True] Translation: X:259.19, Y:-38.21, Z:-12.19 [[ 9.79237698e-01 2.00221814e-01 3.16978795e-02 2.59190365e+02] [-2.00127320e-01 9.79750543e-01 -6.15861226e-03 -3.82102617e+01] [-3.22891032e-02 -3.12866388e-04 9.99478522e-01 -1.21882763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80264 meters 0.021458205576843158 Centerline is valid? [True, True] Translation: X:259.25, Y:-38.22, Z:-12.19 [[ 9.78494351e-01 2.03597026e-01 3.31218393e-02 2.59248643e+02] [-2.03495796e-01 9.79054674e-01 -6.43482571e-03 -3.82176701e+01] [-3.37382030e-02 -4.43714455e-04 9.99430606e-01 -1.21885370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86264 meters 0.027505398308833407 Centerline is valid? [True, True] Translation: X:259.31, Y:-38.21, Z:-12.19 [[ 9.77092809e-01 2.10073131e-01 3.40429551e-02 2.59308718e+02] [-2.09970172e-01 9.77685434e-01 -6.61210496e-03 -3.82148174e+01] [-3.46723269e-02 -6.87364932e-04 9.99398498e-01 -1.21903904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92264 meters 0.027415854357717123 Centerline is valid? [True, True] Translation: X:259.37, Y:-38.23, Z:-12.19 [[ 9.75936312e-01 2.15083429e-01 3.58808114e-02 2.59367604e+02] [-2.15071641e-01 9.76589097e-01 -4.23365950e-03 -3.82285968e+01] [-3.59513992e-02 -3.58516296e-03 9.99347109e-01 -1.21910250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98264 meters 0.028560178061364967 Centerline is valid? [True, True] Translation: X:259.42, Y:-38.23, Z:-12.19 [[ 9.75548722e-01 2.16799935e-01 3.60898795e-02 2.59423480e+02] [-2.16677042e-01 9.76215827e-01 -7.32936620e-03 -3.82336925e+01] [-3.68205176e-02 -6.69694493e-04 9.99321670e-01 -1.21903985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04263999999995 meters 0.031292494782130705 Centerline is valid? [True, True] Translation: X:259.48, Y:-38.23, Z:-12.20 [[ 9.76531058e-01 2.12545593e-01 3.48060839e-02 2.59484215e+02] [-2.12352672e-01 9.77149866e-01 -9.19146121e-03 -3.82343415e+01] [-3.59643648e-02 1.58458242e-03 9.99351817e-01 -1.21978353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10263999999995 meters 0.028682947785804505 Centerline is valid? [True, True] Translation: X:259.54, Y:-38.25, Z:-12.20 [[ 9.76985439e-01 2.10248889e-01 3.59841165e-02 2.59541508e+02] [-2.10134364e-01 9.77647611e-01 -6.97835206e-03 -3.82489522e+01] [-3.66469763e-02 -7.43751097e-04 9.99327997e-01 -1.22004979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16263999999995 meters 0.0239932223649384 Centerline is valid? [True, True] Translation: X:259.60, Y:-38.26, Z:-12.20 [[ 9.77850540e-01 2.06354542e-01 3.50160619e-02 2.59598315e+02] [-2.06243659e-01 9.78477114e-01 -6.78898068e-03 -3.82644546e+01] [-3.56633522e-02 -5.83232315e-04 9.99363690e-01 -1.22045685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22263999999996 meters 0.021622282254477744 Centerline is valid? [True, True] Translation: X:259.66, Y:-38.27, Z:-12.21 [[ 9.78487213e-01 2.03395665e-01 3.45395012e-02 2.59656587e+02] [-2.03285939e-01 9.79096514e-01 -6.69653307e-03 -3.82747829e+01] [-3.51795510e-02 -4.68922948e-04 9.99380898e-01 -1.22091228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28263999999996 meters 0.02147574839682031 Centerline is valid? [True, True] Translation: X:259.71, Y:-38.28, Z:-12.22 [[ 9.78829515e-01 2.01970116e-01 3.31791095e-02 2.59713255e+02] [-2.01868275e-01 9.79391600e-01 -6.42600489e-03 -3.82844585e+01] [-3.37932021e-02 -4.07846358e-04 9.99428763e-01 -1.22154378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34263999999996 meters 0.018833666464495493 Centerline is valid? [True, True] Translation: X:259.77, Y:-38.30, Z:-12.22 [[ 9.79550006e-01 1.98364523e-01 3.36645508e-02 2.59770013e+02] [-1.98257631e-01 9.80128273e-01 -6.51765082e-03 -3.82993566e+01] [-3.42884487e-02 -2.89889181e-04 9.99411936e-01 -1.22173909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40263999999996 meters 0.02813631775201411 Centerline is valid? [True, True] Translation: X:259.83, Y:-38.31, Z:-12.22 [[ 9.80068098e-01 1.95557758e-01 3.49812282e-02 2.59827991e+02] [-1.95440621e-01 9.80692165e-01 -6.77059335e-03 -3.83124908e+01] [-3.56298585e-02 -2.01110416e-04 9.99365035e-01 -1.22165243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46263999999996 meters 0.01552189412736537 Centerline is valid? [True, True] Translation: X:259.89, Y:-38.33, Z:-12.22 [[ 9.80475223e-01 1.93398463e-01 3.55720603e-02 2.59885383e+02] [-1.93275961e-01 9.81120288e-01 -6.88361748e-03 -3.83283114e+01] [-3.62317510e-02 -1.26007742e-04 9.99343407e-01 -1.22179468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52263999999997 meters 0.015706463422321505 Centerline is valid? [True, True] Translation: X:259.94, Y:-38.34, Z:-12.22 [[ 9.80728418e-01 1.92352076e-01 3.42410386e-02 2.59942420e+02] [-1.92237971e-01 9.81325976e-01 -6.62502467e-03 -3.83406591e+01] [-3.48759579e-02 -8.50778217e-05 9.99391645e-01 -1.22231917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58263999999997 meters 0.027990775388833943 Centerline is valid? [True, True] Translation: X:260.00, Y:-38.35, Z:-12.23 [[ 9.80679721e-01 1.92886990e-01 3.25867064e-02 2.59998442e+02] [-1.92783967e-01 9.81220974e-01 -6.30420277e-03 -3.83521198e+01] [-3.31907585e-02 -9.97907325e-05 9.99449030e-01 -1.22291859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64264 meters 0.01757229291045989 Centerline is valid? [True, True] Translation: X:260.06, Y:-38.36, Z:-12.23 [[ 9.80215629e-01 1.95209565e-01 3.27192059e-02 2.60056830e+02] [-1.95107125e-01 9.80761537e-01 -6.32594019e-03 -3.83610746e+01] [-3.33246227e-02 -1.82964746e-04 9.99444564e-01 -1.22318119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70264 meters 0.019437567490664307 Centerline is valid? [True, True] Translation: X:260.11, Y:-38.37, Z:-12.24 [[ 9.79659568e-01 1.98020313e-01 3.24820799e-02 2.60114841e+02] [-1.97920948e-01 9.80197877e-01 -6.27855073e-03 -3.83688857e+01] [-3.30821463e-02 -2.78041744e-04 9.99452597e-01 -1.22352317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76264 meters 0.02190330191393658 Centerline is valid? [True, True] Translation: X:260.17, Y:-38.37, Z:-12.24 [[ 9.78883243e-01 2.01808176e-01 3.25738732e-02 2.60173761e+02] [-2.01710394e-01 9.79424981e-01 -6.29473265e-03 -3.83738885e+01] [-3.31739937e-02 -4.08680511e-04 9.99449508e-01 -1.22350836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82264 meters 0.023670405608651534 Centerline is valid? [True, True] Translation: X:260.23, Y:-38.38, Z:-12.24 [[ 9.78414013e-01 2.04130623e-01 3.21979435e-02 2.60231437e+02] [-2.04036386e-01 9.78943540e-01 -6.22076794e-03 -3.83827950e+01] [-3.27898181e-02 -4.83065510e-04 9.99462153e-01 -1.22372551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88264 meters 0.028526246878911827 Centerline is valid? [True, True] Translation: X:260.29, Y:-38.38, Z:-12.24 [[ 9.77200829e-01 2.09734658e-01 3.30138201e-02 2.60291628e+02] [-2.09638860e-01 9.77758097e-01 -6.37588386e-03 -3.83831244e+01] [-3.36167738e-02 -6.90460627e-04 9.99434558e-01 -1.22375185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94264 meters 0.034059735594455305 Centerline is valid? [True, True] Translation: X:260.35, Y:-38.38, Z:-12.24 [[ 9.76547239e-01 2.12591012e-01 3.40668646e-02 2.60350640e+02] [-2.12490773e-01 9.77140930e-01 -6.57828664e-03 -3.83832820e+01] [-3.46866124e-02 -8.14886743e-04 9.99397906e-01 -1.22409795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.00264 meters 0.03265576241930952 Centerline is valid? [True, True] Translation: X:260.41, Y:-38.39, Z:-12.25 [[ 9.76747061e-01 2.11910319e-01 3.25452914e-02 2.60408008e+02] [-2.11818461e-01 9.77288824e-01 -6.28436772e-03 -3.83946805e+01] [-3.31378719e-02 -7.55455845e-04 9.99450504e-01 -1.22458941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06264 meters 0.025799780874258188 Centerline is valid? [True, True] Translation: X:260.46, Y:-38.42, Z:-12.25 [[ 9.78071842e-01 2.05736237e-01 3.23739444e-02 2.60464450e+02] [-2.05642221e-01 9.78607325e-01 -6.24337665e-03 -3.84171851e+01] [-3.29658679e-02 -5.50978929e-04 9.99456326e-01 -1.22482398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12264 meters 0.02195617335986944 Centerline is valid? [True, True] Translation: X:260.52, Y:-38.43, Z:-12.25 [[ 9.79184297e-01 2.00571627e-01 3.11309240e-02 2.60519834e+02] [-2.00482084e-01 9.79678974e-01 -6.00358518e-03 -3.84333696e+01] [-3.17024605e-02 -3.62576161e-04 9.99497285e-01 -1.22538056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18264 meters 0.017603801889544857 Centerline is valid? [True, True] Translation: X:260.58, Y:-38.46, Z:-12.26 [[ 9.80538813e-01 1.94106753e-01 2.94313631e-02 2.60575281e+02] [-1.94023861e-01 9.80980401e-01 -5.67400552e-03 -3.84574949e+01] [-2.99729532e-02 -1.46804069e-04 9.99550699e-01 -1.22562908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24264 meters 0.017231110888690764 Centerline is valid? [True, True] Translation: X:260.63, Y:-38.47, Z:-12.26 [[ 9.80850199e-01 1.92515847e-01 2.95048603e-02 2.60632268e+02] [-1.92431866e-01 9.81293860e-01 -5.68667019e-03 -3.84716338e+01] [-3.00477123e-02 -9.99037390e-05 9.99548461e-01 -1.22589270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30264 meters 0.017316641252770975 Centerline is valid? [True, True] Translation: X:260.69, Y:-38.48, Z:-12.26 [[ 9.80658660e-01 1.93452545e-01 2.97440144e-02 2.60690267e+02] [-1.93367659e-01 9.81109625e-01 -5.73172968e-03 -3.84796460e+01] [-3.02909565e-02 -1.30660089e-04 9.99541115e-01 -1.22597563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36264 meters 0.01676037835889424 Centerline is valid? [True, True] Translation: X:260.75, Y:-38.49, Z:-12.26 [[ 9.80083334e-01 1.95233372e-01 3.63399077e-02 2.60748743e+02] [-1.95422348e-01 9.80717724e-01 1.68846658e-03 -3.84927548e+01] [-3.53095466e-02 -8.75646806e-03 9.99338061e-01 -1.22608336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42264 meters 0.018230265357453975 Centerline is valid? [True, True] Translation: X:260.81, Y:-38.49, Z:-12.27 [[ 9.79944397e-01 1.96500223e-01 3.31155633e-02 2.60807490e+02] [-1.96146473e-01 9.80479676e-01 -1.36442705e-02 -3.84941482e+01] [-3.51502390e-02 6.87512549e-03 9.99358391e-01 -1.22657381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48264 meters 0.02429836833943935 Centerline is valid? [True, True] Translation: X:260.86, Y:-38.51, Z:-12.27 [[ 9.79860079e-01 1.97535520e-01 2.92223152e-02 2.60863407e+02] [-1.97449084e-01 9.80295729e-01 -5.84318813e-03 -3.85064929e+01] [-2.98007480e-02 -4.44125884e-05 9.99555858e-01 -1.22699611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54263999999995 meters 0.021542647217909053 Centerline is valid? [True, True] Translation: X:260.92, Y:-38.52, Z:-12.28 [[ 9.79781383e-01 1.97926318e-01 2.92166940e-02 2.60920214e+02] [-1.97846625e-01 9.80216863e-01 -5.62262070e-03 -3.85177675e+01] [-2.97515607e-02 -2.71485222e-04 9.99557287e-01 -1.22780896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60263999999995 meters 0.020832532022267248 Centerline is valid? [True, True] Translation: X:260.98, Y:-38.53, Z:-12.28 [[ 9.79686522e-01 1.97493509e-01 3.47941511e-02 2.60979084e+02] [-1.97544811e-01 9.80291835e-01 -1.99129764e-03 -3.85330656e+01] [-3.45016906e-02 -4.92255656e-03 9.99392516e-01 -1.22825200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66263999999995 meters 0.02099867679815221 Centerline is valid? [True, True] Translation: X:261.04, Y:-38.54, Z:-12.28 [[ 9.79505412e-01 1.99363261e-01 2.86956165e-02 2.61037606e+02] [-1.99142928e-01 9.79915581e-01 -1.03705796e-02 -3.85398858e+01] [-3.01867943e-02 4.44350971e-03 9.99534398e-01 -1.22800918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72263999999996 meters 0.02163273241017364 Centerline is valid? [True, True] Translation: X:261.09, Y:-38.55, Z:-12.28 [[ 9.79022415e-01 2.01383631e-01 3.09797297e-02 2.61094377e+02] [-2.01296001e-01 9.79512362e-01 -5.95419272e-03 -3.85526852e+01] [-3.15441052e-02 -4.06807562e-04 9.99502278e-01 -1.22794557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78263999999996 meters 0.023890900104928534 Centerline is valid? [True, True] Translation: X:261.15, Y:-38.56, Z:-12.28 [[ 9.78546852e-01 2.03782153e-01 3.03132446e-02 2.61152972e+02] [-2.03699488e-01 9.79016142e-01 -5.82334713e-03 -3.85604055e+01] [-3.08638500e-02 -4.76374406e-04 9.99523484e-01 -1.22837216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84263999999996 meters 0.03122215933319654 Centerline is valid? [True, True] Translation: X:261.21, Y:-38.56, Z:-12.29 [[ 9.77706322e-01 2.07839429e-01 2.98850901e-02 2.61211894e+02] [-2.07761017e-01 9.78162775e-01 -5.73974721e-03 -3.85593566e+01] [-3.04254284e-02 -5.97169588e-04 9.99536861e-01 -1.22925882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90263999999996 meters 0.0302963721342487 Centerline is valid? [True, True] Translation: X:261.27, Y:-38.57, Z:-12.29 [[ 9.77369810e-01 2.09483125e-01 2.94121415e-02 2.61270099e+02] [-2.09407900e-01 9.77812055e-01 -5.64953919e-03 -3.85696884e+01] [-2.99430297e-02 -6.37445758e-04 9.99551404e-01 -1.22924304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96263999999996 meters 0.030668309234326695 Centerline is valid? [True, True] Translation: X:261.33, Y:-38.58, Z:-12.29 [[ 9.77195071e-01 2.10273171e-01 2.95801589e-02 2.61328134e+02] [-2.10197603e-01 9.77642442e-01 -5.67659113e-03 -3.85788200e+01] [-3.01124536e-02 -6.70541640e-04 9.99546292e-01 -1.22945561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02263999999997 meters 0.0320625862467401 Centerline is valid? [True, True] Translation: X:261.39, Y:-38.59, Z:-12.30 [[ 9.77306666e-01 2.09562519e-01 3.09068048e-02 2.61385510e+02] [-2.09479917e-01 9.77795009e-01 -5.92316412e-03 -3.85859322e+01] [-3.14617927e-02 -6.85607108e-04 9.99504720e-01 -1.22982375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08263999999997 meters 0.026310850969638762 Centerline is valid? [True, True] Translation: X:261.44, Y:-38.60, Z:-12.30 [[ 9.77875558e-01 2.07043135e-01 2.98752994e-02 2.61442300e+02] [-2.06964763e-01 9.78331641e-01 -5.72603474e-03 -3.86019523e+01] [-3.04134868e-02 -5.83784842e-04 9.99537232e-01 -1.22976063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14264 meters 0.02520396650294727 Centerline is valid? [True, True] Translation: X:261.50, Y:-38.61, Z:-12.30 [[ 9.78498728e-01 2.04173820e-01 2.92111550e-02 2.61499166e+02] [-2.04097822e-01 9.78934528e-01 -5.59179597e-03 -3.86115394e+01] [-2.97375066e-02 -4.90367875e-04 9.99557622e-01 -1.23036364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20264 meters 0.027792378353450362 Centerline is valid? [True, True] Translation: X:261.55, Y:-38.63, Z:-12.31 [[ 9.79974716e-01 1.97191872e-01 2.76572222e-02 2.61554576e+02] [-1.97121050e-01 9.80364878e-01 -5.29123913e-03 -3.86275765e+01] [-2.81575586e-02 -2.66540104e-04 9.99603462e-01 -1.23092864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26264 meters 0.016916716502965265 Centerline is valid? [True, True] Translation: X:261.61, Y:-38.65, Z:-12.31 [[ 9.81251853e-01 1.90468228e-01 2.94390158e-02 2.61610718e+02] [-1.90385024e-01 9.81693357e-01 -5.62983326e-03 -3.86469757e+01] [-2.99723906e-02 -8.04634221e-05 9.99550724e-01 -1.23080835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32264 meters 0.01653777001759506 Centerline is valid? [True, True] Translation: X:261.67, Y:-38.66, Z:-12.31 [[ 9.82097154e-01 1.86094150e-01 2.92258050e-02 2.61667460e+02] [-1.86010252e-01 9.82531915e-01 -5.58760452e-03 -3.86638438e+01] [-2.97551067e-02 5.12711274e-05 9.99557217e-01 -1.23108843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38264 meters 0.01664321555814471 Centerline is valid? [True, True] Translation: X:261.73, Y:-38.68, Z:-12.31 [[ 9.82812334e-01 1.81877797e-01 3.16288437e-02 2.61725161e+02] [-1.81777406e-01 9.83321123e-01 -6.04521130e-03 -3.86780283e+01] [-3.22007998e-02 1.91899072e-04 9.99481401e-01 -1.23093504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44264 meters 0.028936649250397694 Centerline is valid? [True, True] Translation: X:261.78, Y:-38.69, Z:-12.31 [[ 9.83057736e-01 1.80501112e-01 3.18878663e-02 2.61782058e+02] [-1.80398384e-01 9.83574752e-01 -6.09352533e-03 -3.86898003e+01] [-3.24639883e-02 2.37767673e-04 9.99472878e-01 -1.23125703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.50264 meters 0.017729382475374485 Centerline is valid? [True, True] Translation: X:261.84, Y:-38.70, Z:-12.32 [[ 9.82922211e-01 1.81311381e-01 3.14660255e-02 2.61838590e+02] [-1.81211850e-01 9.83425717e-01 -6.01036582e-03 -3.86997518e+01] [-3.20342465e-02 2.05705360e-04 9.99486751e-01 -1.23175366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56264 meters 0.016059991139808813 Centerline is valid? [True, True] Translation: X:261.90, Y:-38.71, Z:-12.32 [[ 9.82355210e-01 1.84416007e-01 3.11284108e-02 2.61897079e+02] [-1.84320242e-01 9.82848272e-01 -5.94325576e-03 -3.87080909e+01] [-3.16905362e-02 1.00792073e-04 9.99497724e-01 -1.23191427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62264 meters 0.016019437415856624 Centerline is valid? [True, True] Translation: X:261.95, Y:-38.71, Z:-12.32 [[ 9.81855747e-01 1.87018831e-01 3.13568007e-02 2.61954322e+02] [-1.86923027e-01 9.82356329e-01 -5.98545145e-03 -3.87136253e+01] [-3.19229437e-02 1.55418180e-05 9.99490333e-01 -1.23223917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68264 meters 0.01704768436878299 Centerline is valid? [True, True] Translation: X:262.01, Y:-38.72, Z:-12.33 [[ 9.81025098e-01 1.91415897e-01 3.08174024e-02 2.62011802e+02] [-1.91325588e-01 9.81509011e-01 -5.88055267e-03 -3.87185950e+01] [-3.13731894e-02 -1.27187882e-04 9.99507732e-01 -1.23276499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74264 meters 0.019024403195970443 Centerline is valid? [True, True] Translation: X:262.07, Y:-38.72, Z:-12.33 [[ 9.80361169e-01 1.94978962e-01 2.95834888e-02 2.62070236e+02] [-1.94897422e-01 9.80807397e-01 -5.64314457e-03 -3.87241137e+01] [-3.01159991e-02 -2.33425886e-04 9.99546383e-01 -1.23318928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80264 meters 0.02299301145715679 Centerline is valid? [True, True] Translation: X:262.13, Y:-38.72, Z:-12.33 [[ 9.79189537e-01 2.00692815e-01 3.01702477e-02 2.62130310e+02] [-2.00610691e-01 9.79654133e-01 -5.75586903e-03 -3.87245636e+01] [-3.07115694e-02 -4.16387510e-04 9.99528202e-01 -1.23343811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86264 meters 0.02779052450656802 Centerline is valid? [True, True] Translation: X:262.19, Y:-38.72, Z:-12.34 [[ 9.78091821e-01 2.05873011e-01 3.08657374e-02 2.62191045e+02] [-2.05789893e-01 9.78578532e-01 -5.88023772e-03 -3.87237363e+01] [-3.14151302e-02 -6.00444378e-04 9.99506243e-01 -1.23367913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92264 meters 0.029814996914242258 Centerline is valid? [True, True] Translation: X:262.25, Y:-38.73, Z:-12.34 [[ 9.77817199e-01 2.07177405e-01 3.08390567e-02 2.62249401e+02] [-2.07095018e-01 9.78303181e-01 -5.87708370e-03 -3.87294299e+01] [-3.13875462e-02 -6.39901476e-04 9.99507085e-01 -1.23399439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98264 meters 0.02874331756873768 Centerline is valid? [True, True] Translation: X:262.31, Y:-38.74, Z:-12.34 [[ 9.78081685e-01 2.05760329e-01 3.19202808e-02 2.62308340e+02] [-2.05671503e-01 9.78602218e-01 -6.07714201e-03 -3.87365768e+01] [-3.24876923e-02 -6.21150835e-04 9.99471943e-01 -1.23412856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04263999999995 meters 0.027663469729966847 Centerline is valid? [True, True] Translation: X:262.37, Y:-38.75, Z:-12.35 [[ 9.79282061e-01 2.00217578e-01 3.03243527e-02 2.62366055e+02] [-2.00134935e-01 9.79751369e-01 -5.76746562e-03 -3.87500510e+01] [-3.08650741e-02 -4.20986738e-04 9.99523471e-01 -1.23463114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10263999999995 meters 0.01820307405180957 Centerline is valid? [True, True] Translation: X:262.42, Y:-38.77, Z:-12.34 [[ 9.80251264e-01 1.95186180e-01 3.17775861e-02 2.62423103e+02] [-1.95092819e-01 9.80766169e-01 -6.04259633e-03 -3.87681812e+01] [-3.23458127e-02 -2.76316171e-04 9.99476699e-01 -1.23444942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16263999999995 meters 0.015532323162386834 Centerline is valid? [True, True] Translation: X:262.48, Y:-38.78, Z:-12.35 [[ 9.81643447e-01 1.87815077e-01 3.31909540e-02 2.62479028e+02] [-1.87709263e-01 9.82204406e-01 -6.30375746e-03 -3.87848348e+01] [-3.37842420e-02 -4.22073111e-05 9.99429149e-01 -1.23466017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22263999999996 meters 0.016178743583394953 Centerline is valid? [True, True] Translation: X:262.53, Y:-38.80, Z:-12.35 [[ 9.82505965e-01 1.83211151e-01 3.34021427e-02 2.62534166e+02] [-1.83101386e-01 9.83073579e-01 -6.34204677e-03 -3.87993470e+01] [-3.39986976e-02 1.15120182e-04 9.99421871e-01 -1.23503142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28263999999996 meters 0.019967716226042976 Centerline is valid? [True, True] Translation: X:262.59, Y:-38.82, Z:-12.35 [[ 9.84131129e-01 1.74169684e-01 3.39240565e-02 2.62590890e+02] [-1.74051215e-01 9.84715561e-01 -6.43729978e-03 -3.88196936e+01] [-3.45267288e-02 4.30623855e-04 9.99403682e-01 -1.23503296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34263999999996 meters 0.023372933718075098 Centerline is valid? [True, True] Translation: X:262.65, Y:-38.84, Z:-12.35 [[ 9.85139139e-01 1.68075523e-01 3.53764756e-02 2.62648676e+02] [-1.67942791e-01 9.85773893e-01 -6.71197608e-03 -3.88373274e+01] [-3.60013249e-02 6.71006312e-04 9.99351517e-01 -1.23496494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40263999999996 meters 0.03312755849528103 Centerline is valid? [True, True] Translation: X:262.71, Y:-38.86, Z:-12.35 [[ 9.86096183e-01 1.62259420e-01 3.58636134e-02 2.62706866e+02] [-1.62166462e-01 9.86748058e-01 -5.50524526e-03 -3.88572504e+01] [-3.62816288e-02 -3.87173977e-04 9.99341530e-01 -1.23541440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46263999999996 meters 0.03158496394134491 Centerline is valid? [True, True] Translation: X:262.76, Y:-38.87, Z:-12.36 [[ 9.86510234e-01 1.60093057e-01 3.41726609e-02 2.62761854e+02] [-1.59915221e-01 9.87099196e-01 -7.89302578e-03 -3.88716414e+01] [-3.49954247e-02 2.32182208e-03 9.99384775e-01 -1.23584568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52263999999997 meters 0.029092982449192895 Centerline is valid? [True, True] Translation: X:262.82, Y:-38.88, Z:-12.36 [[ 9.86166575e-01 1.62067491e-01 3.47795040e-02 2.62820726e+02] [-1.61960481e-01 9.86779660e-01 -5.89113490e-03 -3.88830100e+01] [-3.52744685e-02 1.76735139e-04 9.99377647e-01 -1.23623253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58263999999997 meters 0.029199860960648926 Centerline is valid? [True, True] Translation: X:262.88, Y:-38.90, Z:-12.36 [[ 9.86184719e-01 1.61890377e-01 3.50885407e-02 2.62877304e+02] [-1.61728289e-01 9.86807367e-01 -7.42832953e-03 -3.88952810e+01] [-3.58282056e-02 1.65089540e-03 9.99356600e-01 -1.23631472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64264 meters 0.02771936623186753 Centerline is valid? [True, True] Translation: X:262.94, Y:-38.91, Z:-12.36 [[ 9.85798308e-01 1.63955202e-01 3.63371513e-02 2.62935011e+02] [-1.63812670e-01 9.86467432e-01 -6.88590839e-03 -3.89072934e+01] [-3.69743968e-02 8.35631070e-04 9.99315864e-01 -1.23648189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70264 meters 0.026985744661878402 Centerline is valid? [True, True] Translation: X:262.99, Y:-38.92, Z:-12.37 [[ 9.85485516e-01 1.65832503e-01 3.63026043e-02 2.62991848e+02] [-1.65691581e-01 9.86153639e-01 -6.87756426e-03 -3.89202894e+01] [-3.69404690e-02 7.62704066e-04 9.99317177e-01 -1.23690510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76264 meters 0.026263575086777652 Centerline is valid? [True, True] Translation: X:263.05, Y:-38.94, Z:-12.37 [[ 9.85226624e-01 1.67348346e-01 3.63734745e-02 2.63047376e+02] [-1.67207966e-01 9.85897577e-01 -6.88933850e-03 -3.89354141e+01] [-3.70134398e-02 7.05625028e-04 9.99314519e-01 -1.23734803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82264 meters 0.021864847472527756 Centerline is valid? [True, True] Translation: X:263.10, Y:-38.95, Z:-12.38 [[ 9.84460398e-01 1.71547776e-01 3.75377864e-02 2.63104315e+02] [-1.71479015e-01 9.85174738e-01 -5.06786722e-03 -3.89516403e+01] [-3.78506602e-02 -1.44782805e-03 9.99282358e-01 -1.23770926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88264 meters 0.022138034772185785 Centerline is valid? [True, True] Translation: X:263.16, Y:-38.96, Z:-12.38 [[ 9.84416661e-01 1.72238163e-01 3.54662247e-02 2.63162542e+02] [-1.72035990e-01 9.85052261e-01 -8.69832634e-03 -3.89617723e+01] [-3.64342685e-02 2.46131030e-03 9.99333021e-01 -1.23811560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94264 meters 0.017532615752728856 Centerline is valid? [True, True] Translation: X:263.22, Y:-38.97, Z:-12.38 [[ 9.83224356e-01 1.78441071e-01 3.77974879e-02 2.63219575e+02] [-1.78384540e-01 9.83948699e-01 -4.89014157e-03 -3.89749571e+01] [-3.80633912e-02 -1.93438121e-03 9.99273454e-01 -1.23838565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.00264 meters 0.014749723564491994 Centerline is valid? [True, True] Translation: X:263.27, Y:-38.99, Z:-12.38 [[ 9.82568688e-01 1.81701810e-01 3.92839184e-02 2.63274795e+02] [-1.81803610e-01 9.83334357e-01 -9.95284282e-04 -3.89871963e+01] [-3.88100716e-02 -6.16402299e-03 9.99227593e-01 -1.23842970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06264 meters 0.014664713114616512 Centerline is valid? [True, True] Translation: X:263.33, Y:-39.00, Z:-12.39 [[ 9.81822458e-01 1.85981938e-01 3.78864030e-02 2.63332325e+02] [-1.85825967e-01 9.82553061e-01 -7.62844439e-03 -3.89972125e+01] [-3.86441541e-02 4.49500546e-04 9.99252935e-01 -1.23917039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12264 meters 0.014881692934122772 Centerline is valid? [True, True] Translation: X:263.39, Y:-39.00, Z:-12.39 [[ 9.81842063e-01 1.86868505e-01 3.26546328e-02 2.63393025e+02] [-1.86471434e-01 9.82348355e-01 -1.48362351e-02 -3.90047111e+01] [-3.48506499e-02 8.47768353e-03 9.99356574e-01 -1.23943158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18264 meters 0.015319058285964127 Centerline is valid? [True, True] Translation: X:263.45, Y:-39.02, Z:-12.40 [[ 9.81509335e-01 1.88266442e-01 3.45712499e-02 2.63448530e+02] [-1.88152797e-01 9.82117987e-01 -6.54104588e-03 -3.90205349e+01] [-3.51845057e-02 -8.45797618e-05 9.99380830e-01 -1.23986080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24264 meters 0.01579590647122063 Centerline is valid? [True, True] Translation: X:263.51, Y:-39.03, Z:-12.40 [[ 9.81270560e-01 1.89578342e-01 3.41780624e-02 2.63505366e+02] [-1.89468171e-01 9.81865589e-01 -6.46357342e-03 -3.90342254e+01] [-3.47836169e-02 -1.33140648e-04 9.99394858e-01 -1.24023124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30264 meters 0.016211345593587716 Centerline is valid? [True, True] Translation: X:263.56, Y:-39.05, Z:-12.41 [[ 9.81221336e-01 1.89874672e-01 3.39455368e-02 2.63561915e+02] [-1.89766224e-01 9.81808326e-01 -6.41812263e-03 -3.90459899e+01] [-3.45466495e-02 -1.44117456e-04 9.99403076e-01 -1.24069498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36264 meters 0.016089985302457588 Centerline is valid? [True, True] Translation: X:263.61, Y:-39.07, Z:-12.41 [[ 9.80564741e-01 1.91443174e-01 4.29220117e-02 2.63614572e+02] [-1.91872420e-01 9.81401068e-01 6.07600435e-03 -3.90683478e+01] [-4.09604986e-02 -1.41934659e-02 9.99059950e-01 -1.24122704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42264 meters 0.01438964281529162 Centerline is valid? [True, True] Translation: X:263.67, Y:-39.07, Z:-12.41 [[ 9.81539814e-01 1.88315041e-01 3.34221211e-02 2.63674407e+02] [-1.87670038e-01 9.81996459e-01 -2.15153612e-02 -3.90706084e+01] [-3.68720707e-02 1.48458529e-02 9.99209713e-01 -1.24071925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48264 meters 0.015191359514366013 Centerline is valid? [True, True] Translation: X:263.73, Y:-39.10, Z:-12.41 [[ 9.82347335e-01 1.82978026e-01 3.88941699e-02 2.63729610e+02] [-1.83024266e-01 9.83105469e-01 -2.39877749e-03 -3.91015356e+01] [-3.86759948e-02 -4.76214421e-03 9.99240456e-01 -1.24124489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54263999999995 meters 0.01599221406251214 Centerline is valid? [True, True] Translation: X:263.79, Y:-39.12, Z:-12.41 [[ 9.82805403e-01 1.80412231e-01 3.93060639e-02 2.63785508e+02] [-1.80258026e-01 9.83591056e-01 -7.46181545e-03 -3.91155697e+01] [-4.00072957e-02 2.48279061e-04 9.99199357e-01 -1.24134239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60263999999995 meters 0.017320948793246055 Centerline is valid? [True, True] Translation: X:263.84, Y:-39.13, Z:-12.42 [[ 9.83261172e-01 1.78826732e-01 3.49065532e-02 2.63844103e+02] [-1.78250471e-01 9.83801667e-01 -1.90012872e-02 -3.91300237e+01] [-3.77390633e-02 1.24611184e-02 9.99209930e-01 -1.24160919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66263999999995 meters 0.020616661482955 Centerline is valid? [True, True] Translation: X:263.90, Y:-39.17, Z:-12.43 [[ 9.83851301e-01 1.74854411e-01 3.82433330e-02 2.63899188e+02] [-1.75173997e-01 9.84524043e-01 5.14583559e-03 -3.91670489e+01] [-3.67517088e-02 -1.17619746e-02 9.99255207e-01 -1.24271897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72263999999996 meters 0.03166336594813584 Centerline is valid? [True, True] Translation: X:263.96, Y:-39.17, Z:-12.43 [[ 9.83820070e-01 1.75715008e-01 3.49614873e-02 2.63958961e+02] [-1.75589951e-01 9.84440999e-01 -6.63986023e-03 -3.91745606e+01] [-3.55842446e-02 3.93541903e-04 9.99366603e-01 -1.24311317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78263999999996 meters 0.017818022516885565 Centerline is valid? [True, True] Translation: X:264.02, Y:-39.19, Z:-12.43 [[ 9.83240196e-01 1.78828529e-01 3.54834248e-02 2.64016920e+02] [-1.78701722e-01 9.83880214e-01 -6.73936750e-03 -3.91875594e+01] [-3.61166307e-02 2.85467924e-04 9.99347541e-01 -1.24310824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84263999999996 meters 0.01592822421541118 Centerline is valid? [True, True] Translation: X:264.08, Y:-39.20, Z:-12.43 [[ 9.82516399e-01 1.82786959e-01 3.53617370e-02 2.64076121e+02] [-1.82663612e-01 9.83152536e-01 -6.71539143e-03 -3.91953005e+01] [-3.59934674e-02 1.38679584e-04 9.99352016e-01 -1.24345455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90263999999996 meters 0.016007402391317007 Centerline is valid? [True, True] Translation: X:264.14, Y:-39.20, Z:-12.44 [[ 9.80944881e-01 1.91072281e-01 3.51926704e-02 2.64135578e+02] [-1.90955449e-01 9.81575955e-01 -6.68283934e-03 -3.91988411e+01] [-3.58211845e-02 -1.64735144e-04 9.99358202e-01 -1.24378596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96263999999996 meters 0.02810888878299707 Centerline is valid? [True, True] Translation: X:264.19, Y:-39.20, Z:-12.45 [[ 9.80063393e-01 1.95899071e-01 3.31556808e-02 2.64194491e+02] [-1.95798194e-01 9.80624010e-01 -6.29427963e-03 -3.92026014e+01] [-3.37463002e-02 -3.23029350e-04 9.99430379e-01 -1.24454602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02263999999997 meters 0.02438734554413343 Centerline is valid? [True, True] Translation: X:264.25, Y:-39.21, Z:-12.45 [[ 9.78809899e-01 2.01861046e-01 3.43991152e-02 2.64254162e+02] [-2.01756188e-01 9.79414017e-01 -6.52874825e-03 -3.92073124e+01] [-3.50088755e-02 -5.49830939e-04 9.99386850e-01 -1.24479169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08263999999997 meters 0.026978366378987217 Centerline is valid? [True, True] Translation: X:264.31, Y:-39.22, Z:-12.45 [[ 9.77876459e-01 2.06122155e-01 3.56551191e-02 2.64313151e+02] [-2.06012352e-01 9.78525997e-01 -6.76641721e-03 -3.92150725e+01] [-3.62841694e-02 -7.28674856e-04 9.99341247e-01 -1.24470948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14264 meters 0.030164106342283684 Centerline is valid? [True, True] Translation: X:264.37, Y:-39.22, Z:-12.45 [[ 9.77361581e-01 2.08404410e-01 3.64957717e-02 2.64371106e+02] [-2.08290983e-01 9.78042385e-01 -6.92523082e-03 -3.92199678e+01] [-3.71376602e-02 -8.33285605e-04 9.99309812e-01 -1.24497530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20264 meters 0.03392542224473014 Centerline is valid? [True, True] Translation: X:264.43, Y:-39.23, Z:-12.45 [[ 9.76902566e-01 2.10756633e-01 3.52564696e-02 2.64430092e+02] [-2.10652448e-01 9.77538153e-01 -6.68621056e-03 -3.92269479e+01] [-3.58737074e-02 -8.95085383e-04 9.99355931e-01 -1.24547988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26264 meters 0.03335426431541828 Centerline is valid? [True, True] Translation: X:264.49, Y:-39.23, Z:-12.46 [[ 9.76978860e-01 2.10582607e-01 3.41653813e-02 2.64488782e+02] [-2.10484680e-01 9.77575687e-01 -6.47889741e-03 -3.92330093e+01] [-3.47635892e-02 -8.61543551e-04 9.99395192e-01 -1.24612664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32264 meters 0.03073408672352407 Centerline is valid? [True, True] Translation: X:264.55, Y:-39.25, Z:-12.46 [[ 9.77359831e-01 2.08892663e-01 3.36394905e-02 2.64545927e+02] [-2.08796782e-01 9.77938255e-01 -6.37759766e-03 -3.92450046e+01] [-3.42295780e-02 -7.90609595e-04 9.99413684e-01 -1.24637133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38264 meters 0.029627810506712465 Centerline is valid? [True, True] Translation: X:264.60, Y:-39.25, Z:-12.47 [[ 9.78074262e-01 2.05288554e-01 3.50335204e-02 2.64603929e+02] [-2.05182320e-01 9.78701246e-01 -6.63982954e-03 -3.92535428e+01] [-3.56504310e-02 -6.94012620e-04 9.99364080e-01 -1.24677343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44264 meters 0.025480718524381166 Centerline is valid? [True, True] Translation: X:264.66, Y:-39.27, Z:-12.47 [[ 9.78378925e-01 2.03821087e-01 3.50947911e-02 2.64661282e+02] [-2.03713577e-01 9.79007943e-01 -6.65034914e-03 -3.92674931e+01] [-3.57135606e-02 -6.42723984e-04 9.99361861e-01 -1.24674352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50264 meters 0.021777779553717798 Centerline is valid? [True, True] Translation: X:264.72, Y:-39.28, Z:-12.47 [[ 9.79307560e-01 1.99244429e-01 3.54733720e-02 2.64718670e+02] [-1.99131649e-01 9.79949705e-01 -6.72025946e-03 -3.92783896e+01] [-3.61010947e-02 -4.82670181e-04 9.99348026e-01 -1.24705881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56264 meters 0.018477276804195038 Centerline is valid? [True, True] Translation: X:264.78, Y:-39.29, Z:-12.47 [[ 9.80126134e-01 1.95384387e-01 3.43176699e-02 2.64779771e+02] [-1.94954552e-01 9.80690006e-01 -1.54866290e-02 -3.92883154e+01] [-3.66808414e-02 8.48846390e-03 9.99290980e-01 -1.24732804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62264 meters 0.014906551090099559 Centerline is valid? [True, True] Translation: X:264.83, Y:-39.31, Z:-12.47 [[ 9.81477592e-01 1.87835805e-01 3.76755349e-02 2.64832271e+02] [-1.88012351e-01 9.82165970e-01 1.16717950e-03 -3.93142938e+01] [-3.67843902e-02 -8.22902642e-03 9.99289343e-01 -1.24733228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68264 meters 0.015010245992140172 Centerline is valid? [True, True] Translation: X:264.89, Y:-39.32, Z:-12.48 [[ 9.82265495e-01 1.84037850e-01 3.58408509e-02 2.64890718e+02] [-1.83912818e-01 9.82919155e-01 -6.78311546e-03 -3.93235449e+01] [-3.64770089e-02 7.12283876e-05 9.99334490e-01 -1.24765829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74264 meters 0.016570204604589665 Centerline is valid? [True, True] Translation: X:264.95, Y:-39.34, Z:-12.48 [[ 9.82840906e-01 1.81037907e-01 3.53416179e-02 2.64947534e+02] [-1.80914452e-01 9.83476103e-01 -6.68706155e-03 -3.93351443e+01] [-3.59682482e-02 1.78508200e-04 9.99352917e-01 -1.24829587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80264 meters 0.015690104769504536 Centerline is valid? [True, True] Translation: X:265.01, Y:-39.34, Z:-12.48 [[ 9.82544378e-01 1.82757964e-01 3.47285447e-02 2.65006974e+02] [-1.82639912e-01 9.83157929e-01 -6.56873512e-03 -3.93360259e+01] [-3.53441327e-02 1.11255404e-04 9.99375195e-01 -1.24841941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86264 meters 0.01557641032522216 Centerline is valid? [True, True] Translation: X:265.07, Y:-39.34, Z:-12.49 [[ 9.82078242e-01 1.85285940e-01 3.45173387e-02 2.65065781e+02] [-1.85170941e-01 9.82684649e-01 -6.52706369e-03 -3.93385290e+01] [-3.51290320e-02 1.84791490e-05 9.99382785e-01 -1.24884638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92264 meters 0.015239298819510153 Centerline is valid? [True, True] Translation: X:265.13, Y:-39.34, Z:-12.49 [[ 9.81608974e-01 1.87611418e-01 3.52955772e-02 2.65125085e+02] [-1.87492740e-01 9.82243326e-01 -6.67242078e-03 -3.93420364e+01] [-3.59206674e-02 -6.79563651e-05 9.99354642e-01 -1.24892787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98264 meters 0.015096485836593463 Centerline is valid? [True, True] Translation: X:265.18, Y:-39.35, Z:-12.49 [[ 9.81617893e-01 1.87522055e-01 3.55217087e-02 2.65184360e+02] [-1.87401859e-01 9.82260390e-01 -6.71335218e-03 -3.93461494e+01] [-3.61504691e-02 -6.68876092e-05 9.99346356e-01 -1.24917611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04263999999995 meters 0.014869077507025994 Centerline is valid? [True, True] Translation: X:265.25, Y:-39.35, Z:-12.49 [[ 9.81851797e-01 1.86228770e-01 3.58593598e-02 2.65245491e+02] [-1.85780199e-01 9.82469244e-01 -1.54887523e-02 -3.93536767e+01] [-3.81151694e-02 8.54570031e-03 9.99236811e-01 -1.24946577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10263999999995 meters 0.016339800322263138 Centerline is valid? [True, True] Translation: X:265.30, Y:-39.38, Z:-12.50 [[ 9.83064102e-01 1.78960003e-01 3.94751706e-02 2.65296327e+02] [-1.79160401e-01 9.83818625e-01 1.56996152e-03 -3.93805448e+01] [-3.85554477e-02 -8.61576020e-03 9.99219318e-01 -1.24961621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16263999999995 meters 0.029027141266903367 Centerline is valid? [True, True] Translation: X:265.35, Y:-39.39, Z:-12.50 [[ 9.84162038e-01 1.73871099e-01 3.45532038e-02 2.65354372e+02] [-1.73749008e-01 9.84768330e-01 -6.52830088e-03 -3.93923294e+01] [-3.51619837e-02 4.21321017e-04 9.99381537e-01 -1.25022292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22263999999996 meters 0.021893135653613886 Centerline is valid? [True, True] Translation: X:265.42, Y:-39.40, Z:-12.51 [[ 9.84182816e-01 1.73933091e-01 3.36372426e-02 2.65415192e+02] [-1.73312799e-01 9.84651900e-01 -2.05744881e-02 -3.94004626e+01] [-3.66995591e-02 1.44192929e-02 9.99222311e-01 -1.25056409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28263999999996 meters 0.020190412321608005 Centerline is valid? [True, True] Translation: X:265.47, Y:-39.43, Z:-12.51 [[ 9.84135553e-01 1.73466635e-01 3.72362668e-02 2.65467919e+02] [-1.73814923e-01 9.84758155e-01 6.30463952e-03 -3.94250730e+01] [-3.55750728e-02 -1.26768387e-02 9.99286602e-01 -1.25092810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34263999999996 meters 0.016832403696335808 Centerline is valid? [True, True] Translation: X:265.53, Y:-39.42, Z:-12.51 [[ 9.83113799e-01 1.79444178e-01 3.58754164e-02 2.65529039e+02] [-1.79316349e-01 9.83768131e-01 -6.77585167e-03 -3.94219679e+01] [-3.65089784e-02 2.28384582e-04 9.99333299e-01 -1.25094849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40263999999996 meters 0.015394297592253747 Centerline is valid? [True, True] Translation: X:265.59, Y:-39.43, Z:-12.51 [[ 9.82406150e-01 1.83219868e-01 3.61750772e-02 2.65587307e+02] [-1.83092493e-01 9.83071957e-01 -6.83129749e-03 -3.94286831e+01] [-3.68143334e-02 8.77235827e-05 9.99322119e-01 -1.25123101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46263999999996 meters 0.015572435074264684 Centerline is valid? [True, True] Translation: X:265.65, Y:-39.43, Z:-12.52 [[ 9.81339539e-01 1.88997829e-01 3.53910955e-02 2.65647299e+02] [-1.88879729e-01 9.81977497e-01 -6.68159618e-03 -3.94289227e+01] [-3.60160666e-02 -1.27746032e-04 9.99351203e-01 -1.25152392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52263999999997 meters 0.017690784267200825 Centerline is valid? [True, True] Translation: X:265.70, Y:-39.43, Z:-12.52 [[ 9.80702906e-01 1.92275294e-01 3.53839229e-02 2.65704274e+02] [-1.92159419e-01 9.81340995e-01 -6.67893724e-03 -3.94348672e+01] [-3.60078887e-02 -2.49300915e-04 9.99351475e-01 -1.25207883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58263999999997 meters 0.0197722986802787 Centerline is valid? [True, True] Translation: X:265.76, Y:-39.44, Z:-12.52 [[ 9.79961599e-01 1.96014176e-01 3.54077348e-02 2.65763314e+02] [-1.95900707e-01 9.80600984e-01 -6.67999899e-03 -3.94374397e+01] [-3.60302341e-02 -3.90257806e-04 9.99350624e-01 -1.25228000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64264 meters 0.027917238133353065 Centerline is valid? [True, True] Translation: X:265.82, Y:-39.44, Z:-12.53 [[ 9.79499925e-01 1.98525493e-01 3.41690709e-02 2.65821995e+02] [-1.98421409e-01 9.80095613e-01 -6.44471079e-03 -3.94414129e+01] [-3.47683959e-02 -4.67281456e-04 9.99395287e-01 -1.25278384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70264 meters 0.028790437462163133 Centerline is valid? [True, True] Translation: X:265.88, Y:-39.45, Z:-12.53 [[ 9.79374499e-01 1.99293521e-01 3.32818856e-02 2.65880008e+02] [-1.99195267e-01 9.79939722e-01 -6.27587077e-03 -3.94509734e+01] [-3.38649821e-02 -4.83166280e-04 9.99426300e-01 -1.25308736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76264 meters 0.01975916886219599 Centerline is valid? [True, True] Translation: X:265.94, Y:-39.46, Z:-12.54 [[ 9.80101994e-01 1.95748722e-01 3.29016582e-02 2.65936876e+02] [-1.95650759e-01 9.80654021e-01 -6.20249629e-03 -3.94635566e+01] [-3.34792741e-02 -3.58155426e-04 9.99439348e-01 -1.25360115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82264 meters 0.01687643856368552 Centerline is valid? [True, True] Translation: X:265.99, Y:-39.48, Z:-12.54 [[ 9.81105174e-01 1.90492349e-01 3.38423135e-02 2.65993391e+02] [-1.90385636e-01 9.81688663e-01 -6.37801291e-03 -3.94804909e+01] [-3.44375781e-02 -1.85588919e-04 9.99406833e-01 -1.25384759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88264 meters 0.027561517607827837 Centerline is valid? [True, True] Translation: X:266.05, Y:-39.50, Z:-12.54 [[ 9.82607112e-01 1.82366794e-01 3.50088101e-02 2.66049603e+02] [-1.82247505e-01 9.83230564e-01 -6.59581054e-03 -3.95028160e+01] [-3.56245889e-02 1.00822053e-04 9.99365238e-01 -1.25380880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94264 meters 0.01686447940257942 Centerline is valid? [True, True] Translation: X:266.10, Y:-39.53, Z:-12.54 [[ 9.83010689e-01 1.78938568e-01 4.08775523e-02 2.66099918e+02] [-1.79027592e-01 9.83842907e-01 -1.50214302e-03 -3.95291295e+01] [-4.04858812e-02 -5.84158711e-03 9.99163034e-01 -1.25410026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.00264 meters 0.027832074265726942 Centerline is valid? [True, True] Translation: X:266.16, Y:-39.54, Z:-12.55 [[ 9.84045808e-01 1.74749930e-01 3.34112232e-02 2.66162073e+02] [-1.74435459e-01 9.84593909e-01 -1.21286798e-02 -3.95368212e+01] [-3.50159728e-02 6.10707450e-03 9.99368093e-01 -1.25471699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06264 meters 0.02134795914885248 Centerline is valid? [True, True] Translation: X:266.22, Y:-39.56, Z:-12.55 [[ 9.84145327e-01 1.73812396e-01 3.53160907e-02 2.66216546e+02] [-1.73685669e-01 9.84778698e-01 -6.64866852e-03 -3.95593234e+01] [-3.59341548e-02 4.09357211e-04 9.99354076e-01 -1.25518063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12264 meters 0.01687660727157912 Centerline is valid? [True, True] Translation: X:266.27, Y:-39.57, Z:-12.55 [[ 9.83310200e-01 1.77393073e-01 4.04072896e-02 2.66270681e+02] [-1.77590690e-01 9.84103546e-01 1.32611302e-03 -3.95745578e+01] [-3.95297137e-02 -8.47993887e-03 9.99182412e-01 -1.25499125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18264 meters 0.015375089027710662 Centerline is valid? [True, True] Translation: X:266.33, Y:-39.57, Z:-12.55 [[ 9.82370472e-01 1.83923547e-01 3.34721540e-02 2.66332903e+02] [-1.83419536e-01 9.82877547e-01 -1.75784523e-02 -3.95677294e+01] [-3.61321199e-02 1.11291055e-02 9.99285051e-01 -1.25529525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24264 meters 0.016029953899183536 Centerline is valid? [True, True] Translation: X:266.39, Y:-39.58, Z:-12.56 [[ 9.81142545e-01 1.89592422e-01 3.76034690e-02 2.66393049e+02] [-1.89582316e-01 9.81857216e-01 -3.86695916e-03 -3.95800372e+01] [-3.76543835e-02 -3.33491460e-03 9.99285257e-01 -1.25576509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30264 meters 0.017698592848015293 Centerline is valid? [True, True] Translation: X:266.45, Y:-39.59, Z:-12.56 [[ 9.79484545e-01 1.96865487e-01 4.30581772e-02 2.66445620e+02] [-1.97204027e-01 9.80355414e-01 3.71940060e-03 -3.95900242e+01] [-4.14800955e-02 -1.21343413e-02 9.99065643e-01 -1.25568488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36264 meters 0.022069170896916453 Centerline is valid? [True, True] Translation: X:266.51, Y:-39.58, Z:-12.56 [[ 9.79114191e-01 2.00149198e-01 3.57169249e-02 2.66511469e+02] [-1.99609898e-01 9.79708045e-01 -1.81117521e-02 -3.95787725e+01] [-3.86172114e-02 1.06040218e-02 9.99197811e-01 -1.25601782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42264 meters 0.031599298639866776 Centerline is valid? [True, True] Translation: X:266.56, Y:-39.60, Z:-12.58 [[ 9.77118474e-01 2.06570608e-01 5.06761527e-02 2.66560207e+02] [-2.07432481e-01 9.78171691e-01 1.23250978e-02 -3.96007905e+01] [-4.70239750e-02 -2.25549608e-02 9.98639084e-01 -1.25840070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48264 meters 0.023620319705786673 Centerline is valid? [True, True] Translation: X:266.62, Y:-39.61, Z:-12.58 [[ 9.77003713e-01 2.08184184e-01 4.60770005e-02 2.66615414e+02] [-2.07941714e-01 9.78089613e-01 -1.00475463e-02 -3.96067371e+01] [-4.71591758e-02 2.35159521e-04 9.98887359e-01 -1.25763787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54263999999995 meters 0.029008431164297948 Centerline is valid? [True, True] Translation: X:266.68, Y:-39.60, Z:-12.58 [[ 9.77588413e-01 2.06850569e-01 3.91629455e-02 2.66682852e+02] [-2.06031312e-01 9.78252121e-01 -2.39559252e-02 -3.96002982e+01] [-4.32665312e-02 1.53502419e-02 9.98945633e-01 -1.25819526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60263999999995 meters 0.03539396917868921 Centerline is valid? [True, True] Translation: X:266.73, Y:-39.63, Z:-12.61 [[ 9.76670139e-01 2.07002191e-01 5.71448454e-02 2.66733809e+02] [-2.07774654e-01 9.78145146e-01 7.85918106e-03 -3.96290513e+01] [-5.42690855e-02 -1.95490779e-02 9.98334964e-01 -1.26146267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66263999999995 meters 0.02021188242016056 Centerline is valid? [True, True] Translation: X:266.78, Y:-39.65, Z:-12.60 [[ 9.77640227e-01 2.04420524e-01 4.93136460e-02 2.66784615e+02] [-2.04063078e-01 9.78881331e-01 -1.22311126e-02 -3.96485143e+01] [-5.07724979e-02 1.89453334e-03 9.98708448e-01 -1.26004916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72263999999996 meters 0.023669619240595508 Centerline is valid? [True, True] Translation: X:266.83, Y:-39.68, Z:-12.62 [[ 9.76565559e-01 2.04376414e-01 6.74536150e-02 2.66832638e+02] [-2.05851106e-01 9.78458753e-01 1.56138284e-02 -3.96803236e+01] [-6.28094817e-02 -2.91333284e-02 9.97600230e-01 -1.26230822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78263999999996 meters 0.016334560827790175 Centerline is valid? [True, True] Translation: X:266.91, Y:-39.65, Z:-12.60 [[ 9.80114484e-01 1.94828757e-01 3.76477659e-02 2.66909095e+02] [-1.92982223e-01 9.80042210e-01 -4.76982949e-02 -3.96518589e+01] [-4.61893992e-02 3.94844401e-02 9.98152052e-01 -1.26015660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84263999999996 meters 0.01520125363488455 Centerline is valid? [True, True] Translation: X:266.96, Y:-39.69, Z:-12.61 [[ 9.80328161e-01 1.92109820e-01 4.52826027e-02 2.66961531e+02] [-1.91913958e-01 9.81373416e-01 -8.67469792e-03 -3.96885145e+01] [-4.61056371e-02 -1.86312865e-04 9.98936552e-01 -1.26050879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90263999999996 meters 0.01532516481587513 Centerline is valid? [True, True] Translation: X:267.02, Y:-39.69, Z:-12.61 [[ 9.80341136e-01 1.93110146e-01 4.04935521e-02 2.67022710e+02] [-1.92441467e-01 9.81107778e-01 -1.98446418e-02 -3.96896933e+01] [-4.35607406e-02 1.16618801e-02 9.98982714e-01 -1.26058635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96263999999996 meters 0.01708800665149031 Centerline is valid? [True, True] Translation: X:267.07, Y:-39.72, Z:-12.62 [[ 9.79761768e-01 1.93742003e-01 5.03081914e-02 2.67071643e+02] [-1.94695714e-01 9.80752665e-01 1.47576679e-02 -3.97182059e+01] [-4.64807126e-02 -2.42537880e-02 9.98624703e-01 -1.26216948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02263999999997 meters 0.016745277679293926 Centerline is valid? [True, True] Translation: X:267.14, Y:-39.71, Z:-12.62 [[ 9.80184432e-01 1.94058124e-01 3.97482576e-02 2.67139596e+02] [-1.93295017e-01 9.80888262e-01 -2.22543054e-02 -3.97054666e+01] [-4.33072280e-02 1.41301836e-02 9.98961872e-01 -1.26186852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08263999999997 meters 0.016600442607182145 Centerline is valid? [True, True] Translation: X:267.20, Y:-39.72, Z:-12.62 [[ 9.80201315e-01 1.93344634e-01 4.26993530e-02 2.67196021e+02] [-1.93173369e-01 9.81130868e-01 -8.14059669e-03 -3.97233529e+01] [-4.34675940e-02 -2.68954307e-04 9.99054801e-01 -1.26224298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14264 meters 0.016799666590508022 Centerline is valid? [True, True] Translation: X:267.25, Y:-39.73, Z:-12.63 [[ 9.80213171e-01 1.93507016e-01 4.16794184e-02 2.67253941e+02] [-1.93344070e-01 9.81098854e-01 -7.94415878e-03 -3.97329809e+01] [-4.24288801e-02 -2.71499312e-04 9.99099453e-01 -1.26279083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20264 meters 0.018025532626418914 Centerline is valid? [True, True] Translation: X:267.31, Y:-39.74, Z:-12.64 [[ 9.80360906e-01 1.92926143e-01 4.08900603e-02 2.67310701e+02] [-1.92768883e-01 9.81213251e-01 -7.79189654e-03 -3.97432772e+01] [-4.16251295e-02 -2.43460480e-04 9.99133269e-01 -1.26364676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26264 meters 0.016344072926107 Centerline is valid? [True, True] Translation: X:267.37, Y:-39.76, Z:-12.64 [[ 9.80667305e-01 1.91276287e-01 4.12918689e-02 2.67367261e+02] [-1.91114578e-01 9.81536220e-01 -7.86561836e-03 -3.97602945e+01] [-4.20339712e-02 -1.77923326e-04 9.99116166e-01 -1.26371893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32264 meters 0.015748148673663375 Centerline is valid? [True, True] Translation: X:267.43, Y:-39.77, Z:-12.64 [[ 9.80621644e-01 1.91239289e-01 4.25291210e-02 2.67425026e+02] [-1.91067798e-01 9.81543428e-01 -8.09913228e-03 -3.97708555e+01] [-4.32930515e-02 -1.83761077e-04 9.99062399e-01 -1.26376282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38264 meters 0.016094701607005917 Centerline is valid? [True, True] Translation: X:267.48, Y:-39.77, Z:-12.64 [[ 9.80187391e-01 1.93646831e-01 4.16363137e-02 2.67483376e+02] [-1.93191939e-01 9.81050510e-01 -1.47231868e-02 -3.97745454e+01] [-4.36984253e-02 6.38768185e-03 9.99024347e-01 -1.26380734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44264 meters 0.020432851674323495 Centerline is valid? [True, True] Translation: X:267.54, Y:-39.78, Z:-12.64 [[ 9.78913247e-01 1.99054437e-01 4.58931931e-02 2.67541701e+02] [-1.99181810e-01 9.79960851e-01 -1.82691291e-03 -3.97826355e+01] [-4.53371877e-02 -7.35270002e-03 9.98944682e-01 -1.26404771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50264 meters 0.02430334296186841 Centerline is valid? [True, True] Translation: X:267.60, Y:-39.78, Z:-12.64 [[ 9.77674589e-01 2.05491076e-01 4.38841130e-02 2.67602718e+02] [-2.05323361e-01 9.78658618e-01 -8.34423212e-03 -3.97792521e+01] [-4.46622307e-02 -8.52489884e-04 9.99001781e-01 -1.26423810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56264 meters 0.028303911867841883 Centerline is valid? [True, True] Translation: X:267.66, Y:-39.78, Z:-12.65 [[ 9.77078576e-01 2.08271124e-01 4.40521965e-02 2.67660673e+02] [-2.08105021e-01 9.78070636e-01 -8.37445716e-03 -3.97800395e+01] [-4.48303174e-02 -9.84980604e-04 9.98994130e-01 -1.26459464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62264 meters 0.02966521328539009 Centerline is valid? [True, True] Translation: X:267.72, Y:-39.79, Z:-12.65 [[ 9.76951048e-01 2.07891559e-01 4.84535815e-02 2.67721668e+02] [-2.08151354e-01 9.78096575e-01 3.23214760e-04 -3.97864017e+01] [-4.73250885e-02 -1.04014436e-02 9.98825383e-01 -1.26530060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68264 meters 0.03147350460784008 Centerline is valid? [True, True] Translation: X:267.78, Y:-39.78, Z:-12.66 [[ 9.77428266e-01 2.06356002e-01 4.52900052e-02 2.67782446e+02] [-2.05936624e-01 9.78468176e-01 -1.37889760e-02 -3.97846885e+01] [-4.71602668e-02 4.15086413e-03 9.98878711e-01 -1.26581754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74264 meters 0.02513352789239658 Centerline is valid? [True, True] Translation: X:267.84, Y:-39.80, Z:-12.66 [[ 9.78137000e-01 2.03382886e-01 4.33982887e-02 2.67836775e+02] [-2.03008996e-01 9.79091870e-01 -1.29018869e-02 -3.97958127e+01] [-4.51149346e-02 3.80956992e-03 9.98974539e-01 -1.26573048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80264 meters 0.02075656780243745 Centerline is valid? [True, True] Translation: X:267.89, Y:-39.81, Z:-12.66 [[ 9.78868457e-01 1.99560543e-01 4.46333259e-02 2.67893836e+02] [-1.99382018e-01 9.79885304e-01 -8.46173987e-03 -3.98107769e+01] [-4.54241695e-02 -6.16152324e-04 9.98967600e-01 -1.26594097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86264 meters 0.022805139334987044 Centerline is valid? [True, True] Translation: X:267.95, Y:-39.82, Z:-12.67 [[ 9.80130660e-01 1.93604811e-01 4.31400699e-02 2.67950743e+02] [-1.93432355e-01 9.81079542e-01 -8.17656988e-03 -3.98212609e+01] [-4.39068633e-02 -3.30578474e-04 9.99035574e-01 -1.26689282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92264 meters 0.026302293492914 Centerline is valid? [True, True] Translation: X:268.01, Y:-39.84, Z:-12.67 [[ 9.81380356e-01 1.87251317e-01 4.27731323e-02 2.68007429e+02] [-1.87075836e-01 9.82312039e-01 -8.10491305e-03 -3.98370350e+01] [-4.35342185e-02 -4.78170421e-05 9.99051935e-01 -1.26719220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98264 meters 0.015163483215919246 Centerline is valid? [True, True] Translation: X:268.06, Y:-39.85, Z:-12.67 [[ 9.82217431e-01 1.82754174e-01 4.30096390e-02 2.68063796e+02] [-1.82572509e-01 9.83158629e-01 -8.14799665e-03 -3.98513290e+01] [-4.37743781e-02 1.50726630e-04 9.99041431e-01 -1.26732352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04263999999995 meters 0.01705302762209533 Centerline is valid? [True, True] Translation: X:268.12, Y:-39.87, Z:-12.68 [[ 9.83206279e-01 1.77570463e-01 4.21205907e-02 2.68120919e+02] [-1.77391616e-01 9.84108019e-01 -7.97628827e-03 -3.98662653e+01] [-4.28675643e-02 3.70497070e-04 9.99080695e-01 -1.26772205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10263999999995 meters 0.018548653309073296 Centerline is valid? [True, True] Translation: X:268.18, Y:-39.88, Z:-12.68 [[ 9.83516856e-01 1.75775421e-01 4.23980593e-02 2.68177126e+02] [-1.75592626e-01 9.84430190e-01 -8.02687428e-03 -3.98800479e+01] [-4.31488568e-02 4.49779591e-04 9.99068553e-01 -1.26810870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16263999999995 meters 0.01927789351163322 Centerline is valid? [True, True] Translation: X:268.23, Y:-39.89, Z:-12.69 [[ 9.83626552e-01 1.75365737e-01 4.15411216e-02 2.68233822e+02] [-1.75189995e-01 9.84503251e-01 -7.86226827e-03 -3.98908346e+01] [-4.22761418e-02 4.55946943e-04 9.99105860e-01 -1.26860952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22263999999996 meters 0.030863276361200506 Centerline is valid? [True, True] Translation: X:268.29, Y:-39.90, Z:-12.69 [[ 9.83294576e-01 1.77714088e-01 3.93634392e-02 2.68292510e+02] [-1.77558289e-01 9.84082106e-01 -7.44729478e-03 -3.98952147e+01] [-4.00603454e-02 3.33579627e-04 9.99197206e-01 -1.26919027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28263999999996 meters 0.017046541339261794 Centerline is valid? [True, True] Translation: X:268.35, Y:-39.90, Z:-12.70 [[ 9.82471302e-01 1.82090447e-01 3.99150398e-02 2.68349949e+02] [-1.81933931e-01 9.83281773e-01 -7.54983110e-03 -3.99007955e+01] [-4.06224833e-02 1.55592295e-04 9.99174554e-01 -1.26985212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34263999999996 meters 0.016185533607858963 Centerline is valid? [True, True] Translation: X:268.41, Y:-39.90, Z:-12.70 [[ 9.80944604e-01 1.89917511e-01 4.09758804e-02 2.68410625e+02] [-1.89759495e-01 9.81800035e-01 -7.74763461e-03 -3.98965708e+01] [-4.17015323e-02 -1.75562009e-04 9.99130097e-01 -1.26964957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40263999999996 meters 0.01792472871318437 Centerline is valid? [True, True] Translation: X:268.47, Y:-39.90, Z:-12.70 [[ 9.80044182e-01 1.94277402e-01 4.20677078e-02 2.68470217e+02] [-1.94114950e-01 9.80946559e-01 -7.95199561e-03 -3.99001743e+01] [-4.28110663e-02 -3.72663959e-04 9.99083117e-01 -1.26966887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46263999999996 meters 0.022465186993108035 Centerline is valid? [True, True] Translation: X:268.53, Y:-39.90, Z:-12.70 [[ 9.79107943e-01 1.98666130e-01 4.33520916e-02 2.68529504e+02] [-1.98497987e-01 9.80067053e-01 -8.19274088e-03 -3.98970758e+01] [-4.41155768e-02 -5.83725264e-04 9.99026263e-01 -1.26990732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52263999999997 meters 0.02443241167627306 Centerline is valid? [True, True] Translation: X:268.59, Y:-39.91, Z:-12.70 [[ 9.78950519e-01 1.99619873e-01 4.25180835e-02 2.68586964e+02] [-1.99459146e-01 9.79873219e-01 -8.03264105e-03 -3.99067434e+01] [-4.32658062e-02 -6.17062518e-04 9.99063406e-01 -1.27030162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58263999999997 meters 0.023017629948752255 Centerline is valid? [True, True] Translation: X:268.64, Y:-39.91, Z:-12.71 [[ 9.79230512e-01 1.98314528e-01 4.21776331e-02 2.68643861e+02] [-1.98155248e-01 9.80138275e-01 -7.96616695e-03 -3.99143787e+01] [-4.29197192e-02 -5.57005625e-04 9.99078369e-01 -1.27094781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64264 meters 0.017650657189694607 Centerline is valid? [True, True] Translation: X:268.70, Y:-39.93, Z:-12.71 [[ 9.80247638e-01 1.93170970e-01 4.24210386e-02 2.68700609e+02] [-1.93005157e-01 9.81165054e-01 -8.00913909e-03 -3.99328185e+01] [-4.31691738e-02 -3.36539520e-04 9.99067720e-01 -1.27110664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70264 meters 0.014231141069832044 Centerline is valid? [True, True] Translation: X:268.76, Y:-39.95, Z:-12.71 [[ 9.81568715e-01 1.86226423e-01 4.29252452e-02 2.68757188e+02] [-1.86050372e-01 9.82506854e-01 -8.09576548e-03 -3.99539713e+01] [-4.36819931e-02 -3.97077076e-05 9.99045485e-01 -1.27104442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76264 meters 0.014192515398431244 Centerline is valid? [True, True] Translation: X:268.81, Y:-39.97, Z:-12.71 [[ 9.82214725e-01 1.82712451e-01 4.32480545e-02 2.68812798e+02] [-1.82530382e-01 9.83166388e-01 -8.15554473e-03 -3.99692718e+01] [-4.40101532e-02 1.16412224e-04 9.99031077e-01 -1.27127808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82264 meters 0.014571635280850193 Centerline is valid? [True, True] Translation: X:268.87, Y:-39.98, Z:-12.72 [[ 9.82433911e-01 1.81885432e-01 4.17288870e-02 2.68869742e+02] [-1.81715332e-01 9.83319718e-01 -7.86571782e-03 -3.99818700e+01] [-4.24634969e-02 1.44769390e-04 9.99098008e-01 -1.27169943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88264 meters 0.014111324371651092 Centerline is valid? [True, True] Translation: X:268.93, Y:-39.99, Z:-12.72 [[ 9.82018585e-01 1.84083523e-01 4.18659239e-02 2.68928380e+02] [-1.83914390e-01 9.82910603e-01 -7.88942764e-03 -3.99901802e+01] [-4.26027742e-02 4.78187013e-05 9.99092089e-01 -1.27200335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94264 meters 0.014875986019856787 Centerline is valid? [True, True] Translation: X:268.99, Y:-39.99, Z:-12.72 [[ 9.81100588e-01 1.88847160e-01 4.21709158e-02 2.68985673e+02] [-1.88680014e-01 9.82006479e-01 -7.94532394e-03 -3.99945578e+01] [-4.29125644e-02 -1.61646989e-04 9.99078819e-01 -1.27224390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.00264 meters 0.016672788104012858 Centerline is valid? [True, True] Translation: X:269.04, Y:-40.00, Z:-12.73 [[ 9.80385114e-01 1.92623537e-01 4.17277126e-02 2.69044425e+02] [-1.92463481e-01 9.81272677e-01 -7.85764316e-03 -3.99995228e+01] [-4.24598313e-02 -3.27544445e-04 9.99098121e-01 -1.27261740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06264 meters 0.019294684925445137 Centerline is valid? [True, True] Translation: X:269.10, Y:-40.00, Z:-12.73 [[ 9.79536465e-01 1.96805241e-01 4.21427528e-02 2.69103188e+02] [-1.96645932e-01 9.80442467e-01 -7.93386238e-03 -4.00026168e+01] [-4.28799702e-02 -5.15693392e-04 9.99080098e-01 -1.27284459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12264 meters 0.02177139817486289 Centerline is valid? [True, True] Translation: X:269.16, Y:-40.01, Z:-12.73 [[ 9.79456684e-01 1.97256454e-01 4.18866936e-02 2.69161241e+02] [-1.97099525e-01 9.80351777e-01 -7.88479648e-03 -4.00100436e+01] [-4.26190215e-02 -5.33030795e-04 9.99091255e-01 -1.27335708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18264 meters 0.01898158804112807 Centerline is valid? [True, True] Translation: X:269.22, Y:-40.02, Z:-12.74 [[ 9.80108228e-01 1.94353619e-01 4.01812502e-02 2.69217194e+02] [-1.94207126e-01 9.80931451e-01 -7.55515642e-03 -4.00218689e+01] [-4.08834241e-02 -3.98614152e-04 9.99163844e-01 -1.27397748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24264 meters 0.01679381079964841 Centerline is valid? [True, True] Translation: X:269.27, Y:-40.04, Z:-12.75 [[ 9.80960204e-01 1.89992428e-01 4.02486653e-02 2.69272651e+02] [-1.89841874e-01 9.81785531e-01 -7.56530226e-03 -4.00392906e+01] [-4.09529073e-02 -2.19621597e-04 9.99161054e-01 -1.27454921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30264 meters 0.015624031971050972 Centerline is valid? [True, True] Translation: X:269.33, Y:-40.05, Z:-12.75 [[ 9.81325225e-01 1.87853676e-01 4.13739015e-02 2.69329524e+02] [-1.87692774e-01 9.82197016e-01 -7.77460621e-03 -4.00518788e+01] [-4.20978110e-02 -1.36165165e-04 9.99113485e-01 -1.27466700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36264 meters 0.01553186794725756 Centerline is valid? [True, True] Translation: X:269.39, Y:-40.06, Z:-12.75 [[ 9.81533569e-01 1.87147907e-01 3.95918419e-02 2.69387576e+02] [-1.87000157e-01 9.82331741e-01 -7.43581935e-03 -4.00622824e+01] [-4.02839210e-02 -1.05174361e-04 9.99188268e-01 -1.27507344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42264 meters 0.01770254458099783 Centerline is valid? [True, True] Translation: X:269.44, Y:-40.07, Z:-12.76 [[ 9.81564881e-01 1.87414206e-01 3.75006557e-02 2.69444797e+02] [-1.87281914e-01 9.82280970e-01 -7.04143316e-03 -4.00747274e+01] [-3.81558451e-02 -1.11571063e-04 9.99271794e-01 -1.27566760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48264 meters 0.016462858405854357 Centerline is valid? [True, True] Translation: X:269.50, Y:-40.08, Z:-12.75 [[ 9.80781865e-01 1.90858921e-01 4.04945212e-02 2.69503183e+02] [-1.90707651e-01 9.81617441e-01 -7.60201652e-03 -4.00783906e+01] [-4.12010410e-02 -2.66695096e-04 9.99150841e-01 -1.27547174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54263999999995 meters 0.018624185651161654 Centerline is valid? [True, True] Translation: X:269.56, Y:-40.08, Z:-12.76 [[ 9.80220039e-01 1.93750826e-01 4.03645001e-02 2.69562072e+02] [-1.93603071e-01 9.81050695e-01 -7.57528506e-03 -4.00829445e+01] [-4.10673386e-02 -3.89244968e-04 9.99156305e-01 -1.27584617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60263999999995 meters 0.02284175112939118 Centerline is valid? [True, True] Translation: X:269.62, Y:-40.08, Z:-12.76 [[ 9.79496468e-01 1.97303362e-01 4.07192011e-02 2.69620273e+02] [-1.97156435e-01 9.80342327e-01 -7.63289624e-03 -4.00844953e+01] [-4.14247525e-02 -5.51657636e-04 9.99141474e-01 -1.27645514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66263999999995 meters 0.02313454240571981 Centerline is valid? [True, True] Translation: X:269.68, Y:-40.09, Z:-12.77 [[ 9.79212451e-01 1.98790431e-01 4.03154972e-02 2.69678982e+02] [-1.98647685e-01 9.80041833e-01 -7.55669812e-03 -4.00912961e+01] [-4.10130730e-02 -6.08967300e-04 9.99158424e-01 -1.27662311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72263999999996 meters 0.022764536970027636 Centerline is valid? [True, True] Translation: X:269.74, Y:-40.10, Z:-12.77 [[ 9.79408977e-01 1.97892930e-01 3.99555289e-02 2.69736291e+02] [-1.97752232e-01 9.80223475e-01 -7.48292342e-03 -4.00997395e+01] [-4.06461650e-02 -5.72452650e-04 9.99173439e-01 -1.27711718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78263999999996 meters 0.01922967146788689 Centerline is valid? [True, True] Translation: X:269.79, Y:-40.12, Z:-12.77 [[ 9.80002062e-01 1.94990485e-01 3.96820999e-02 2.69793469e+02] [-1.94849712e-01 9.80805027e-01 -7.42220649e-03 -4.01167445e+01] [-4.03676627e-02 -4.58268051e-04 9.99184789e-01 -1.27726550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84263999999996 meters 0.016733383463521097 Centerline is valid? [True, True] Translation: X:269.85, Y:-40.13, Z:-12.78 [[ 9.80748356e-01 1.90953207e-01 4.08599455e-02 2.69850047e+02] [-1.90800641e-01 9.81599093e-01 -7.63778495e-03 -4.01317908e+01] [-4.15665450e-02 -3.05358765e-04 9.99135691e-01 -1.27754168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90263999999996 meters 0.015546556110173849 Centerline is valid? [True, True] Translation: X:269.91, Y:-40.14, Z:-12.78 [[ 9.81300070e-01 1.88483919e-01 3.90382594e-02 2.69908185e+02] [-1.88014310e-01 9.82045493e-01 -1.54035311e-02 -4.01435757e+01] [-4.12406647e-02 7.77573475e-03 9.99118985e-01 -1.27767114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96263999999996 meters 0.014151943096223182 Centerline is valid? [True, True] Translation: X:269.96, Y:-40.17, Z:-12.78 [[ 9.82180026e-01 1.82935647e-01 4.30922867e-02 2.69960529e+02] [-1.83105503e-01 9.83093269e-01 -5.46697461e-06 -4.01717955e+01] [-4.23647371e-02 -7.88506529e-03 9.99071096e-01 -1.27820267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02263999999997 meters 0.014802233691442745 Centerline is valid? [True, True] Translation: X:270.02, Y:-40.18, Z:-12.79 [[ 9.82595473e-01 1.81234314e-01 4.07462762e-02 2.70017272e+02] [-1.81074753e-01 9.83439940e-01 -7.60388613e-03 -4.01835570e+01] [-4.14496005e-02 9.34221921e-05 9.99140592e-01 -1.27867394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08263999999997 meters 0.0156597165561533 Centerline is valid? [True, True] Translation: X:270.07, Y:-40.20, Z:-12.79 [[ 9.82804039e-01 1.80142056e-01 4.05593474e-02 2.70073204e+02] [-1.79983130e-01 9.83640595e-01 -7.56651191e-03 -4.01980542e+01] [-4.12588676e-02 1.36400186e-04 9.99148481e-01 -1.27923344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14264 meters 0.015072555692455858 Centerline is valid? [True, True] Translation: X:270.13, Y:-40.21, Z:-12.79 [[ 9.82720042e-01 1.80626593e-01 4.04394860e-02 2.70129714e+02] [-1.80469106e-01 9.83551738e-01 -7.54194203e-03 -4.02093295e+01] [-4.11366020e-02 1.13539726e-04 9.99153525e-01 -1.27937990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20264 meters 0.014021894947622378 Centerline is valid? [True, True] Translation: X:270.19, Y:-40.22, Z:-12.79 [[ 9.82302909e-01 1.82645360e-01 4.14929773e-02 2.70187953e+02] [-1.82481502e-01 9.83178861e-01 -7.73494563e-03 -4.02207012e+01] [-4.22077701e-02 2.63587585e-05 9.99108855e-01 -1.27930996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26264 meters 0.015058949602967575 Centerline is valid? [True, True] Translation: X:270.24, Y:-40.23, Z:-12.80 [[ 9.81635021e-01 1.86436293e-01 4.04251621e-02 2.70244091e+02] [-1.86284047e-01 9.82467043e-01 -7.53414098e-03 -4.02317249e+01] [-4.11210268e-02 -1.34786175e-04 9.99154164e-01 -1.27983727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32264 meters 0.01633327057554939 Centerline is valid? [True, True] Translation: X:270.30, Y:-40.24, Z:-12.80 [[ 9.80803903e-01 1.90455243e-01 4.18390201e-02 2.70301526e+02] [-1.90295916e-01 9.81695829e-01 -7.79512709e-03 -4.02379329e+01] [-4.25578144e-02 -3.16303593e-04 9.99093956e-01 -1.27990445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38264 meters 0.022562369251579492 Centerline is valid? [True, True] Translation: X:270.36, Y:-40.24, Z:-12.80 [[ 9.79401575e-01 1.97570022e-01 4.16970096e-02 2.70360234e+02] [-1.97418359e-01 9.80288577e-01 -7.76515194e-03 -4.02406304e+01] [-4.24092634e-02 -6.26553187e-04 9.99100126e-01 -1.28033703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44264 meters 0.031956174059380366 Centerline is valid? [True, True] Translation: X:270.42, Y:-40.24, Z:-12.81 [[ 9.77968593e-01 2.04794427e-01 4.04558259e-02 2.70420927e+02] [-2.04657926e-01 9.78804581e-01 -7.53165340e-03 -4.02375372e+01] [-4.11407884e-02 -9.13884941e-04 9.99152941e-01 -1.28112780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.50264 meters 0.035420670410428866 Centerline is valid? [True, True] Translation: X:270.48, Y:-40.24, Z:-12.82 [[ 9.77195326e-01 2.08666796e-01 3.93378030e-02 2.70481058e+02] [-2.08540923e-01 9.77986232e-01 -7.32217977e-03 -4.02442973e+01] [-3.99997255e-02 -1.04834191e-03 9.99199141e-01 -1.28158615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56264 meters 0.03840679215661121 Centerline is valid? [True, True] Translation: X:270.54, Y:-40.25, Z:-12.82 [[ 9.76598680e-01 2.11110937e-01 4.10754236e-02 2.70539639e+02] [-2.10975811e-01 9.77461373e-01 -7.64661428e-03 -4.02485652e+01] [-4.17639239e-02 -1.19824741e-03 9.99126788e-01 -1.28164007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62264 meters 0.03690224301953562 Centerline is valid? [True, True] Translation: X:270.60, Y:-40.26, Z:-12.82 [[ 9.76933917e-01 2.09407092e-01 4.18185543e-02 2.70596019e+02] [-2.09265566e-01 9.77827874e-01 -7.78272616e-03 -4.02597114e+01] [-4.25211061e-02 -1.14797429e-03 9.99094909e-01 -1.28183212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68264 meters 0.03418058147169623 Centerline is valid? [True, True] Translation: X:270.65, Y:-40.27, Z:-12.82 [[ 9.77618679e-01 2.06247401e-01 4.15177952e-02 2.70651930e+02] [-2.06105219e-01 9.78499359e-01 -7.72288431e-03 -4.02734391e+01] [-4.22179608e-02 -1.00699833e-03 9.99107917e-01 -1.28225044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74264 meters 0.029949928274604 Centerline is valid? [True, True] Translation: X:270.71, Y:-40.29, Z:-12.83 [[ 9.78460645e-01 2.02225100e-01 4.14701748e-02 2.70709327e+02] [-2.02079758e-01 9.79338711e-01 -7.71105052e-03 -4.02903155e+01] [-4.21727155e-02 -8.35323401e-04 9.99109986e-01 -1.28259800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80264 meters 0.02485047363245094 Centerline is valid? [True, True] Translation: X:270.77, Y:-40.31, Z:-12.83 [[ 9.79163268e-01 1.98852299e-01 4.11953503e-02 2.70766609e+02] [-1.98705840e-01 9.80029232e-01 -7.66119793e-03 -4.03061582e+01] [-4.18960943e-02 -6.84193100e-04 9.99121739e-01 -1.28277102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86264 meters 0.023821837696087422 Centerline is valid? [True, True] Translation: X:270.82, Y:-40.32, Z:-12.83 [[ 9.79550146e-01 1.97007503e-01 4.08602002e-02 2.70823409e+02] [-1.96862147e-01 9.80401792e-01 -7.59086594e-03 -4.03172520e+01] [-4.15548710e-02 -6.08192887e-04 9.99136038e-01 -1.28322528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92264 meters 0.03133986106021822 Centerline is valid? [True, True] Translation: X:270.88, Y:-40.33, Z:-12.84 [[ 9.80191987e-01 1.93838385e-01 4.06244772e-02 2.70880598e+02] [-1.93692089e-01 9.81033361e-01 -7.54445514e-03 -4.03276431e+01] [-4.13163725e-02 -4.73625363e-04 9.99146002e-01 -1.28373292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98263999999995 meters 0.021119666046868657 Centerline is valid? [True, True] Translation: X:270.94, Y:-40.34, Z:-12.84 [[ 9.80479774e-01 1.92341217e-01 4.07954548e-02 2.70937500e+02] [-1.92192463e-01 9.81328021e-01 -7.57445771e-03 -4.03381106e+01] [-4.14906033e-02 -4.13976348e-04 9.99138808e-01 -1.28411138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04263999999995 meters 0.02274240317754321 Centerline is valid? [True, True] Translation: X:271.00, Y:-40.35, Z:-12.84 [[ 9.80744002e-01 1.91035753e-01 4.05776229e-02 2.70995245e+02] [-1.90887471e-01 9.81583014e-01 -7.53389993e-03 -4.03485531e+01] [-4.12695496e-02 -3.56932648e-04 9.99147985e-01 -1.28390481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10263999999995 meters 0.018407436362740313 Centerline is valid? [True, True] Translation: X:271.05, Y:-40.35, Z:-12.84 [[ 9.80729118e-01 1.91023388e-01 4.09934392e-02 2.71053358e+02] [-1.90872451e-01 9.81585416e-01 -7.60126186e-03 -4.03535196e+01] [-4.16905808e-02 -3.69739347e-04 9.99130501e-01 -1.28430512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16263999999995 meters 0.01705680707786302 Centerline is valid? [True, True] Translation: X:271.11, Y:-40.37, Z:-12.85 [[ 9.81110451e-01 1.89274306e-01 3.99689979e-02 2.71110024e+02] [-1.89129368e-01 9.81924210e-01 -7.41134316e-03 -4.03652338e+01] [-4.06493035e-02 -2.87965110e-04 9.99173434e-01 -1.28467748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22263999999996 meters 0.016481214611466614 Centerline is valid? [True, True] Translation: X:271.17, Y:-40.38, Z:-12.86 [[ 9.81903782e-01 1.85564792e-01 3.78242107e-02 2.71165981e+02] [-1.85432612e-01 9.82632021e-01 -7.00406445e-03 -4.03801985e+01] [-3.84669884e-02 -1.36524841e-04 9.99259862e-01 -1.28552254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28263999999996 meters 0.01526437873023526 Centerline is valid? [True, True] Translation: X:271.22, Y:-40.39, Z:-12.85 [[ 9.82219423e-01 1.83782917e-01 3.83255086e-02 2.71223856e+02] [-1.83645953e-01 9.82966853e-01 -7.09431330e-03 -4.03914677e+01] [-3.89765182e-02 -7.01522365e-05 9.99240124e-01 -1.28543042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34263999999996 meters 0.014799687496491354 Centerline is valid? [True, True] Translation: X:271.28, Y:-40.40, Z:-12.86 [[ 9.82512537e-01 1.81953748e-01 3.95214963e-02 2.71280133e+02] [-1.81806695e-01 9.83307090e-01 -7.31384358e-03 -4.04037972e+01] [-4.01925488e-02 6.70383897e-07 9.99191953e-01 -1.28556391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40263999999996 meters 0.014752067532095622 Centerline is valid? [True, True] Translation: X:271.34, Y:-40.42, Z:-12.86 [[ 9.82599622e-01 1.81407840e-01 3.98645045e-02 2.71337793e+02] [-1.81257883e-01 9.83407950e-01 -7.37459742e-03 -4.04151062e+01] [-4.05408805e-02 2.05209366e-05 9.99177880e-01 -1.28581749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46263999999996 meters 0.014744642683170023 Centerline is valid? [True, True] Translation: X:271.40, Y:-40.43, Z:-12.86 [[ 9.82524726e-01 1.81783685e-01 3.99981709e-02 2.71395162e+02] [-1.81633112e-01 9.83338544e-01 -7.39734432e-03 -4.04251910e+01] [-4.06764596e-02 3.08144939e-06 9.99172370e-01 -1.28615671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52263999999997 meters 0.014268538475990454 Centerline is valid? [True, True] Translation: X:271.45, Y:-40.44, Z:-12.86 [[ 9.82711486e-01 1.80537018e-01 4.10429079e-02 2.71452783e+02] [-1.80377473e-01 9.83568189e-01 -7.58848521e-03 -4.04377161e+01] [-4.17385011e-02 5.40755564e-05 9.99128568e-01 -1.28617008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58263999999997 meters 0.014612598510140651 Centerline is valid? [True, True] Translation: X:271.51, Y:-40.45, Z:-12.87 [[ 9.83016031e-01 1.78647677e-01 4.20058401e-02 2.71508809e+02] [-1.78478913e-01 9.83913100e-01 -7.76456756e-03 -4.04535663e+01] [-4.27172184e-02 1.35537703e-04 9.99087194e-01 -1.28650826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64264 meters 0.015157695785952899 Centerline is valid? [True, True] Translation: X:271.57, Y:-40.47, Z:-12.87 [[ 9.83497448e-01 1.76160977e-01 4.12320366e-02 2.71565185e+02] [-1.75996300e-01 9.84361343e-01 -7.61892566e-03 -4.04715379e+01] [-4.19293804e-02 2.36508053e-04 9.99120549e-01 -1.28667880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70264 meters 0.016408306927023445 Centerline is valid? [True, True] Translation: X:271.62, Y:-40.49, Z:-12.87 [[ 9.83670813e-01 1.75307374e-01 4.07315236e-02 2.71620024e+02] [-1.75146008e-01 9.84513714e-01 -7.52483167e-03 -4.04884682e+01] [-4.14199021e-02 2.67993513e-04 9.99141792e-01 -1.28737081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76264 meters 0.01648962055242962 Centerline is valid? [True, True] Translation: X:271.68, Y:-40.50, Z:-12.88 [[ 9.83547670e-01 1.76343055e-01 3.92059611e-02 2.71676701e+02] [-1.76194508e-01 9.84328747e-01 -7.23972362e-03 -4.05027550e+01] [-3.98682295e-02 2.12738288e-04 9.99204923e-01 -1.28801378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82264 meters 0.014776786038219475 Centerline is valid? [True, True] Translation: X:271.74, Y:-40.51, Z:-12.88 [[ 9.82572100e-01 1.81449912e-01 4.03484526e-02 2.71735509e+02] [-1.81296968e-01 9.83400188e-01 -7.44848640e-03 -4.05118252e+01] [-4.10302031e-02 3.62280127e-06 9.99157907e-01 -1.28803259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88264 meters 0.027211890413736162 Centerline is valid? [True, True] Translation: X:271.79, Y:-40.52, Z:-12.89 [[ 9.81366367e-01 1.88098935e-01 3.92281144e-02 2.71794458e+02] [-1.87959719e-01 9.82150049e-01 -7.24052034e-03 -4.05176046e+01] [-3.98898287e-02 -2.67702238e-04 9.99204048e-01 -1.28852069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94264 meters 0.020383264424022954 Centerline is valid? [True, True] Translation: X:271.85, Y:-40.52, Z:-12.89 [[ 9.80439949e-01 1.92841084e-01 3.93677961e-02 2.71852664e+02] [-1.92704770e-01 9.81229892e-01 -7.26433069e-03 -4.05244248e+01] [-4.00297198e-02 -4.64122100e-04 9.99198382e-01 -1.28884358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.00264 meters 0.02734155906758796 Centerline is valid? [True, True] Translation: X:271.91, Y:-40.52, Z:-12.89 [[ 9.79004285e-01 2.00042890e-01 3.91593231e-02 2.71912384e+02] [-1.99913873e-01 9.79786849e-01 -7.22315797e-03 -4.05247875e+01] [-3.98127311e-02 -7.56989349e-04 9.99206872e-01 -1.28926693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06264 meters 0.028837725655024547 Centerline is valid? [True, True] Translation: X:271.97, Y:-40.53, Z:-12.89 [[ 9.78531256e-01 2.02387358e-01 3.89350455e-02 2.71970897e+02] [-2.02261555e-01 9.79305184e-01 -7.18466167e-03 -4.05319000e+01] [-3.95833766e-02 -8.44646830e-04 9.99215914e-01 -1.28949543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12264 meters 0.035119564162104024 Centerline is valid? [True, True] Translation: X:272.03, Y:-40.53, Z:-12.89 [[ 9.77317120e-01 2.07670383e-01 4.15241924e-02 2.72030528e+02] [-2.07532468e-01 9.78198198e-01 -7.65242332e-03 -4.05300582e+01] [-4.22080719e-02 -1.13877380e-03 9.99108193e-01 -1.28947424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18264 meters 0.03467733192358982 Centerline is valid? [True, True] Translation: X:272.09, Y:-40.54, Z:-12.90 [[ 9.77157022e-01 2.08373209e-01 4.17703375e-02 2.72088738e+02] [-2.08234297e-01 9.78048681e-01 -7.69771632e-03 -4.05384793e+01] [-4.24574213e-02 -1.17613933e-03 9.99097585e-01 -1.28963538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24264 meters 0.032212425376450665 Centerline is valid? [True, True] Translation: X:272.15, Y:-40.55, Z:-12.90 [[ 9.77846737e-01 2.05167867e-01 4.14958473e-02 2.72145763e+02] [-2.05028276e-01 9.78726247e-01 -7.63800428e-03 -4.05479925e+01] [-4.21801479e-02 -1.03902448e-03 9.99109481e-01 -1.29008749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30264 meters 0.024936460347134797 Centerline is valid? [True, True] Translation: X:272.20, Y:-40.56, Z:-12.90 [[ 9.79153218e-01 1.99136950e-01 4.00431257e-02 2.72203409e+02] [-1.99002041e-01 9.79971380e-01 -7.36762126e-03 -4.05644320e+01] [-4.07082828e-02 -7.54633672e-04 9.99170789e-01 -1.29049157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36264 meters 0.023344418362727538 Centerline is valid? [True, True] Translation: X:272.26, Y:-40.57, Z:-12.91 [[ 9.79921493e-01 1.95396403e-01 3.96751030e-02 2.72260172e+02] [-1.95260894e-01 9.80724168e-01 -7.30000101e-03 -4.05738463e+01] [-4.03367263e-02 -5.93568184e-04 9.99185967e-01 -1.29112750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42264 meters 0.020274668085192453 Centerline is valid? [True, True] Translation: X:272.32, Y:-40.58, Z:-12.92 [[ 9.80983711e-01 1.90278533e-01 3.82758349e-02 2.72316681e+02] [-1.90148661e-01 9.81730075e-01 -7.03889190e-03 -4.05832501e+01] [-3.89158883e-02 -3.73060461e-04 9.99242420e-01 -1.29180874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48263999999995 meters 0.017106890265354713 Centerline is valid? [True, True] Translation: X:272.37, Y:-40.60, Z:-12.92 [[ 9.81794088e-01 1.85931903e-01 3.88548068e-02 2.72374206e+02] [-1.85794679e-01 9.82562612e-01 -7.14504988e-03 -4.05962799e+01] [-3.95057732e-02 -2.04048607e-04 9.99219321e-01 -1.29196994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54263999999995 meters 0.01599169846054028 Centerline is valid? [True, True] Translation: X:272.43, Y:-40.61, Z:-12.92 [[ 9.83427974e-01 1.76936235e-01 3.95346394e-02 2.72431032e+02] [-1.76787256e-01 9.84222305e-01 -7.26087017e-03 -4.06141558e+01] [-4.01955850e-02 1.51322400e-04 9.99191819e-01 -1.29217198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60263999999995 meters 0.02218449610000926 Centerline is valid? [True, True] Translation: X:272.49, Y:-40.64, Z:-12.92 [[ 9.85225772e-01 1.66491559e-01 4.01340210e-02 2.72485655e+02] [-1.66329428e-01 9.86042706e-01 -7.36902963e-03 -4.06376456e+01] [-4.08007399e-02 5.84689140e-04 9.99167132e-01 -1.29241508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66263999999995 meters 0.02707081985475904 Centerline is valid? [True, True] Translation: X:272.54, Y:-40.66, Z:-12.93 [[ 9.86154933e-01 1.60845241e-01 4.03392764e-02 2.72543069e+02] [-1.60676832e-01 9.86979299e-01 -7.40402153e-03 -4.06556981e+01] [-4.10049323e-02 8.19925234e-04 9.99158608e-01 -1.29270552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72263999999996 meters 0.0430488236873164 Centerline is valid? [True, True] Translation: X:272.60, Y:-40.68, Z:-12.93 [[ 9.87145269e-01 1.54426681e-01 4.11900150e-02 2.72599002e+02] [-1.54245544e-01 9.88003629e-01 -7.55915423e-03 -4.06798286e+01] [-4.18632194e-02 1.10860706e-03 9.99122736e-01 -1.29281871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78263999999996 meters 0.03656825336407898 Centerline is valid? [True, True] Translation: X:272.66, Y:-40.70, Z:-12.93 [[ 9.87634530e-01 1.51206674e-01 4.14074368e-02 2.72656685e+02] [-1.51020832e-01 9.88501379e-01 -7.59809122e-03 -4.06953344e+01] [-4.20801906e-02 1.25075168e-03 9.99113454e-01 -1.29286636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84263999999996 meters 0.03799050903698229 Centerline is valid? [True, True] Translation: X:272.71, Y:-40.72, Z:-12.93 [[ 9.87920520e-01 1.49642487e-01 4.02513718e-02 2.72712939e+02] [-1.49465616e-01 9.88739343e-01 -7.38521782e-03 -4.07155990e+01] [-4.09032573e-02 1.27981214e-03 9.99162292e-01 -1.29348473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90263999999996 meters 0.03776154229664922 Centerline is valid? [True, True] Translation: X:272.77, Y:-40.73, Z:-12.94 [[ 9.87681270e-01 1.51558553e-01 3.89321760e-02 2.72769571e+02] [-1.51394631e-01 9.88447601e-01 -7.14182281e-03 -4.07342867e+01] [-3.95648203e-02 1.15972222e-03 9.99216333e-01 -1.29415307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96263999999996 meters 0.0321796257366869 Centerline is valid? [True, True] Translation: X:272.83, Y:-40.75, Z:-12.95 [[ 9.87119137e-01 1.55256153e-01 3.86178121e-02 2.72827469e+02] [-1.55097757e-01 9.87873739e-01 -7.08253619e-03 -4.07473208e+01] [-3.92491297e-02 1.00177096e-03 9.99228954e-01 -1.29464939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02263999999997 meters 0.025056372119966475 Centerline is valid? [True, True] Translation: X:272.89, Y:-40.76, Z:-12.95 [[ 9.86021484e-01 1.62234675e-01 3.79676728e-02 2.72886360e+02] [-1.62086777e-01 9.86751947e-01 -6.96217038e-03 -4.07575144e+01] [-3.85941805e-02 7.10791861e-04 9.99254714e-01 -1.29493548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08263999999997 meters 0.01998942397889586 Centerline is valid? [True, True] Translation: X:272.94, Y:-40.77, Z:-12.95 [[ 9.84554279e-01 1.70689675e-01 3.89603206e-02 2.72944456e+02] [-1.70540556e-01 9.85324760e-01 -7.14392041e-03 -4.07666074e+01] [-3.96079620e-02 3.89262679e-04 9.99215221e-01 -1.29542713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14264 meters 0.026604709862190882 Centerline is valid? [True, True] Translation: X:273.00, Y:-40.77, Z:-12.95 [[ 9.83363288e-01 1.77351188e-01 3.92835770e-02 2.73003829e+02] [-1.77204911e-01 9.84147622e-01 -7.20266164e-03 -4.07708909e+01] [-3.99382395e-02 1.21590284e-04 9.99202143e-01 -1.29543519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20264 meters 0.016987316595237553 Centerline is valid? [True, True] Translation: X:273.06, Y:-40.77, Z:-12.96 [[ 9.81449962e-01 1.87439570e-01 4.02787769e-02 2.73062808e+02] [-1.87294332e-01 9.82276091e-01 -7.38336589e-03 -4.07728433e+01] [-4.09488145e-02 -2.97582457e-04 9.99161201e-01 -1.29554259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26264 meters 0.021499565677723778 Centerline is valid? [True, True] Translation: X:273.12, Y:-40.77, Z:-12.96 [[ 9.80461378e-01 1.92724890e-01 3.94030841e-02 2.73121816e+02] [-1.92590279e-01 9.81252698e-01 -7.21994388e-03 -4.07742847e+01] [-4.00558454e-02 -5.09774832e-04 9.99197313e-01 -1.29626172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32264 meters 0.027215901517701493 Centerline is valid? [True, True] Translation: X:273.18, Y:-40.78, Z:-12.97 [[ 9.79646069e-01 1.97069673e-01 3.81722872e-02 2.73179941e+02] [-1.96946690e-01 9.80389259e-01 -6.99302504e-03 -4.07790723e+01] [-3.88018135e-02 -6.67216110e-04 9.99246703e-01 -1.29717536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38264 meters 0.027117879914973712 Centerline is valid? [True, True] Translation: X:273.24, Y:-40.79, Z:-12.98 [[ 9.79712022e-01 1.96767454e-01 3.80384495e-02 2.73237383e+02] [-1.96645040e-01 9.80449971e-01 -6.97016462e-03 -4.07891510e+01] [-3.86662982e-02 -6.51318348e-04 9.99251967e-01 -1.29752590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44264 meters 0.024278107952884653 Centerline is valid? [True, True] Translation: X:273.30, Y:-40.80, Z:-12.97 [[ 9.79916601e-01 1.95529284e-01 3.91376352e-02 2.73295251e+02] [-1.95399124e-01 9.80697661e-01 -7.16103872e-03 -4.08012597e+01] [-3.97823800e-02 -6.30238912e-04 9.99208169e-01 -1.29740283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.50264 meters 0.024473976647521756 Centerline is valid? [True, True] Translation: X:273.34, Y:-40.82, Z:-12.98 [[ 9.79003558e-01 1.98144632e-01 4.78616568e-02 2.73343085e+02] [-1.98586940e-01 9.80072375e-01 4.62250713e-03 -4.08191422e+01] [-4.59919627e-02 -1.40301509e-02 9.98843278e-01 -1.29783119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56264 meters 0.022061417379761063 Centerline is valid? [True, True] Translation: X:273.41, Y:-40.81, Z:-12.98 [[ 9.80343825e-01 1.93425629e-01 3.88910192e-02 2.73411667e+02] [-1.92776417e-01 9.81042151e-01 -1.98381321e-02 -4.08136560e+01] [-4.19909323e-02 1.19509190e-02 9.99046514e-01 -1.29778031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62264 meters 0.017784148568926985 Centerline is valid? [True, True] Translation: X:273.47, Y:-40.84, Z:-12.98 [[ 9.81388656e-01 1.87691888e-01 4.05963209e-02 2.73467262e+02] [-1.87545361e-01 9.82227899e-01 -7.42233957e-03 -4.08390519e+01] [-4.12679520e-02 -3.29451803e-04 9.99148061e-01 -1.29820371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68264 meters 0.01713429932328372 Centerline is valid? [True, True] Translation: X:273.52, Y:-40.85, Z:-12.99 [[ 9.82011587e-01 1.84459848e-01 4.03460895e-02 2.73523402e+02] [-1.84312545e-01 9.82840031e-01 -7.37291080e-03 -4.08503941e+01] [-4.10137579e-02 -1.96006585e-04 9.99158563e-01 -1.29878875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74264 meters 0.015678140464773775 Centerline is valid? [True, True] Translation: X:273.58, Y:-40.87, Z:-12.99 [[ 9.82744621e-01 1.80543185e-01 4.02140225e-02 2.73580795e+02] [-1.80393740e-01 9.83567058e-01 -7.34450356e-03 -4.08651806e+01] [-4.08791879e-02 -3.65865377e-05 9.99164096e-01 -1.29893849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80264 meters 0.015522285312126878 Centerline is valid? [True, True] Translation: X:273.64, Y:-40.88, Z:-12.99 [[ 9.82982812e-01 1.79300313e-01 3.99523393e-02 2.73638860e+02] [-1.79151861e-01 9.83794388e-01 -7.29474366e-03 -4.08757729e+01] [-4.06128370e-02 1.30717032e-05 9.99174958e-01 -1.29919845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86264 meters 0.029312758444108234 Centerline is valid? [True, True] Translation: X:273.69, Y:-40.89, Z:-13.00 [[ 9.83363356e-01 1.77166423e-01 4.01069617e-02 2.73694263e+02] [-1.77015083e-01 9.84180902e-01 -7.32200634e-03 -4.08877190e+01] [-4.07697194e-02 1.00655574e-04 9.99168564e-01 -1.29974373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92264 meters 0.01631170913848922 Centerline is valid? [True, True] Translation: X:273.75, Y:-40.90, Z:-13.00 [[ 9.83708430e-01 1.75092780e-01 4.07460711e-02 2.73751680e+02] [-1.74935035e-01 9.84551921e-01 -7.43294560e-03 -4.09004434e+01] [-4.14180777e-02 1.83935863e-04 9.99141886e-01 -1.29988993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98263999999995 meters 0.01667778184946233 Centerline is valid? [True, True] Translation: X:273.81, Y:-40.91, Z:-13.00 [[ 9.83777435e-01 1.74731285e-01 4.06317178e-02 2.73809406e+02] [-1.74574200e-01 9.84616138e-01 -7.41008070e-03 -4.09111342e+01] [-4.13014179e-02 1.96620559e-04 9.99146713e-01 -1.30028351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04263999999995 meters 0.01625137236101314 Centerline is valid? [True, True] Translation: X:273.87, Y:-40.92, Z:-13.01 [[ 9.83517177e-01 1.76186782e-01 4.06470339e-02 2.73868154e+02] [-1.76030903e-01 9.84356744e-01 -7.41087373e-03 -4.09185383e+01] [-4.13168800e-02 1.33587519e-04 9.99146084e-01 -1.30059924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10263999999995 meters 0.015292751679194048 Centerline is valid? [True, True] Translation: X:273.93, Y:-40.93, Z:-13.01 [[ 9.83133197e-01 1.78240396e-01 4.09814486e-02 2.73926790e+02] [-1.78083806e-01 9.83986971e-01 -7.46987183e-03 -4.09261229e+01] [-4.16566444e-02 4.57466342e-05 9.99131984e-01 -1.30059932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16263999999995 meters 0.015420048430956524 Centerline is valid? [True, True] Translation: X:273.98, Y:-40.93, Z:-13.01 [[ 9.82575757e-01 1.81011871e-01 4.21851170e-02 2.73984484e+02] [-1.80848583e-01 9.83480908e-01 -7.68720642e-03 -4.09314498e+01] [-4.28797328e-02 -7.58559581e-05 9.99080238e-01 -1.30089400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22263999999996 meters 0.015397221203841344 Centerline is valid? [True, True] Translation: X:274.04, Y:-40.94, Z:-13.01 [[ 9.82511767e-01 1.81306818e-01 4.24083172e-02 2.74042477e+02] [-1.81142198e-01 9.83426575e-01 -7.72494957e-03 -4.09406396e+01] [-4.31060522e-02 -9.20819512e-05 9.99070498e-01 -1.30124899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28263999999996 meters 0.021126967979830092 Centerline is valid? [True, True] Translation: X:274.10, Y:-40.95, Z:-13.02 [[ 9.82418229e-01 1.81864759e-01 4.21857026e-02 2.74100703e+02] [-1.81702467e-01 9.83323546e-01 -7.68231073e-03 -4.09506868e+01] [-4.28793362e-02 -1.18004139e-04 9.99080251e-01 -1.30160150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34263999999996 meters 0.0160638650669275 Centerline is valid? [True, True] Translation: X:274.16, Y:-40.96, Z:-13.02 [[ 9.81954179e-01 1.83862486e-01 4.42783931e-02 2.74158020e+02] [-1.83685812e-01 9.82951952e-01 -8.06124309e-03 -4.09589258e+01] [-4.50056931e-02 -2.17541231e-04 9.98986707e-01 -1.30172264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40263999999996 meters 0.025048892761836295 Centerline is valid? [True, True] Translation: X:274.22, Y:-40.97, Z:-13.02 [[ 9.81828954e-01 1.84974386e-01 4.23837483e-02 2.74215234e+02] [-1.84813656e-01 9.82743308e-01 -7.71385354e-03 -4.09655164e+01] [-4.30792103e-02 -2.59410705e-04 9.99071626e-01 -1.30240293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46263999999996 meters 0.016903121380955694 Centerline is valid? [True, True] Translation: X:274.27, Y:-40.98, Z:-13.03 [[ 9.81977241e-01 1.84667114e-01 4.02337619e-02 2.74272557e+02] [-1.84522092e-01 9.82801100e-01 -7.32092970e-03 -4.09755745e+01] [-4.08937204e-02 -2.35031556e-04 9.99163474e-01 -1.30294995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52263999999997 meters 0.016199692448614078 Centerline is valid? [True, True] Translation: X:274.33, Y:-40.99, Z:-13.03 [[ 9.82283830e-01 1.82778831e-01 4.13566954e-02 2.74332410e+02] [-1.82632808e-01 9.83153987e-01 -7.31399766e-03 -4.09870012e+01] [-4.19968439e-02 -3.68667759e-04 9.99117675e-01 -1.30334911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58263999999997 meters 0.014868054717791578 Centerline is valid? [True, True] Translation: X:274.39, Y:-41.00, Z:-13.03 [[ 9.82753824e-01 1.79773375e-01 4.33180637e-02 2.74390702e+02] [-1.79701986e-01 9.83705336e-01 -5.56844948e-03 -4.10030947e+01] [-4.36132694e-02 -2.31192705e-03 9.99045814e-01 -1.30349324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64264 meters 0.02077466840838998 Centerline is valid? [True, True] Translation: X:274.45, Y:-41.01, Z:-13.04 [[ 9.82983003e-01 1.79142265e-01 4.06505157e-02 2.74445308e+02] [-1.78838558e-01 9.83816736e-01 -1.10182016e-02 -4.10084286e+01] [-4.19664832e-02 3.56082527e-03 9.99112674e-01 -1.30394555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70264 meters 0.015798388271838118 Centerline is valid? [True, True] Translation: X:274.50, Y:-41.03, Z:-13.04 [[ 9.83361699e-01 1.76827474e-01 4.16150576e-02 2.74502271e+02] [-1.76666251e-01 9.84241860e-01 -7.54959190e-03 -4.10250271e+01] [-4.22942570e-02 7.20032995e-05 9.99105195e-01 -1.30439984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76264 meters 0.016622317024531826 Centerline is valid? [True, True] Translation: X:274.56, Y:-41.04, Z:-13.05 [[ 9.84010848e-01 1.73404079e-01 4.06654173e-02 2.74559170e+02] [-1.73247280e-01 9.84850740e-01 -7.37561987e-03 -4.10375219e+01] [-4.13283289e-02 2.12517005e-04 9.99145597e-01 -1.30473817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82264 meters 0.01782138789982756 Centerline is valid? [True, True] Translation: X:274.61, Y:-41.05, Z:-13.05 [[ 9.84432122e-01 1.71015693e-01 4.05836231e-02 2.74614353e+02] [-1.70857599e-01 9.85268256e-01 -7.35824286e-03 -4.10541317e+01] [-4.12441306e-02 3.09670205e-04 9.99149051e-01 -1.30526073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88264 meters 0.024162075140445306 Centerline is valid? [True, True] Translation: X:274.67, Y:-41.06, Z:-13.06 [[ 9.84543070e-01 1.70817470e-01 3.86825020e-02 2.74672698e+02] [-1.70673790e-01 9.85302645e-01 -7.01110924e-03 -4.10636833e+01] [-3.93115914e-02 3.00649780e-04 9.99226955e-01 -1.30562777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94264 meters 0.017122623044393655 Centerline is valid? [True, True] Translation: X:274.73, Y:-41.07, Z:-13.06 [[ 9.84321814e-01 1.71626830e-01 4.06792036e-02 2.74729539e+02] [-1.71468702e-01 9.85161993e-01 -7.37101259e-03 -4.10733646e+01] [-4.13406688e-02 2.80238262e-04 9.99145070e-01 -1.30582190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.00264 meters 0.01702583352345087 Centerline is valid? [True, True] Translation: X:274.79, Y:-41.08, Z:-13.06 [[ 9.84195664e-01 1.72435198e-01 4.03112673e-02 2.74786401e+02] [-1.72280680e-01 9.85020834e-01 -7.30227846e-03 -4.10812112e+01] [-4.09666080e-02 2.42018252e-04 9.99160487e-01 -1.30616505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06264 meters 0.01636543372562073 Centerline is valid? [True, True] Translation: X:274.84, Y:-41.09, Z:-13.06 [[ 9.83953154e-01 1.73520100e-01 4.15567813e-02 2.74843889e+02] [-1.73357025e-01 9.84830308e-01 -7.52374213e-03 -4.10897427e+01] [-4.22318982e-02 1.98849835e-04 9.99107816e-01 -1.30637887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12264 meters 0.01674163462624435 Centerline is valid? [True, True] Translation: X:274.90, Y:-41.10, Z:-13.07 [[ 9.83939462e-01 1.73693458e-01 4.11548090e-02 2.74900724e+02] [-1.73533770e-01 9.84799750e-01 -7.44871335e-03 -4.10993504e+01] [-4.18230384e-02 1.87333860e-04 9.99125016e-01 -1.30690246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18264 meters 0.01675981999437478 Centerline is valid? [True, True] Translation: X:274.96, Y:-41.11, Z:-13.07 [[ 9.84148423e-01 1.72190680e-01 4.24529223e-02 2.74958019e+02] [-1.72019516e-01 9.85063604e-01 -7.67996728e-03 -4.11134588e+01] [-4.31412474e-02 2.55496545e-04 9.99068950e-01 -1.30699658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24264 meters 0.018126270488920695 Centerline is valid? [True, True] Translation: X:275.01, Y:-41.13, Z:-13.07 [[ 9.84822766e-01 1.68228782e-01 4.26989113e-02 2.75014429e+02] [-1.68051991e-01 9.85747885e-01 -7.72243436e-03 -4.11311196e+01] [-4.33894972e-02 4.29592087e-04 9.99058140e-01 -1.30712756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30264 meters 0.02019216729093145 Centerline is valid? [True, True] Translation: X:275.07, Y:-41.15, Z:-13.07 [[ 9.85177668e-01 1.65864037e-01 4.37502511e-02 2.75069850e+02] [-1.65676186e-01 9.86148480e-01 -7.91058398e-03 -4.11482289e+01] [-4.44563250e-02 5.44955946e-04 9.99011180e-01 -1.30743404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36264 meters 0.020968858393718388 Centerline is valid? [True, True] Translation: X:275.13, Y:-41.17, Z:-13.07 [[ 9.85449848e-01 1.64076232e-01 4.43574965e-02 2.75126435e+02] [-1.63881464e-01 9.86447460e-01 -8.01710831e-03 -4.11654240e+01] [-4.50717567e-02 6.31086717e-04 9.98983553e-01 -1.30749189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42264 meters 0.021405297489563536 Centerline is valid? [True, True] Translation: X:275.18, Y:-41.18, Z:-13.08 [[ 9.85493436e-01 1.63983781e-01 4.37265091e-02 2.75182797e+02] [-1.63794512e-01 9.86462838e-01 -7.90113514e-03 -4.11794077e+01] [-4.44302342e-02 6.24354608e-04 9.99012294e-01 -1.30795646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48263999999995 meters 0.024265008782236672 Centerline is valid? [True, True] Translation: X:275.24, Y:-41.19, Z:-13.09 [[ 9.85297055e-01 1.65854797e-01 4.10109739e-02 2.75240559e+02] [-1.65690039e-01 9.86150056e-01 -7.40800750e-03 -4.11912502e+01] [-4.16716278e-02 5.03978107e-04 9.99131233e-01 -1.30855081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54263999999995 meters 0.017808877666953417 Centerline is valid? [True, True] Translation: X:275.30, Y:-41.20, Z:-13.09 [[ 9.84705938e-01 1.69003280e-01 4.23332931e-02 2.75297143e+02] [-1.68830713e-01 9.85615415e-01 -7.64487297e-03 -4.12015152e+01] [-4.30163549e-02 3.80791738e-04 9.99074296e-01 -1.30872235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60263999999995 meters 0.014633026700158834 Centerline is valid? [True, True] Translation: X:275.36, Y:-41.20, Z:-13.09 [[ 9.83367456e-01 1.76218856e-01 4.39927468e-02 2.75357251e+02] [-1.76039836e-01 9.84351010e-01 -7.94136988e-03 -4.12023113e+01] [-4.47037239e-02 6.48087435e-05 9.99000287e-01 -1.30881018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66263999999995 meters 0.02296887549495251 Centerline is valid? [True, True] Translation: X:275.42, Y:-41.20, Z:-13.09 [[ 9.82004207e-01 1.83664672e-01 4.39889255e-02 2.75416165e+02] [-1.83493196e-01 9.82988918e-01 -7.93941717e-03 -4.12032400e+01] [-4.46988167e-02 -2.75127469e-04 9.99000471e-01 -1.30922644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72263999999996 meters 0.01863783135804373 Centerline is valid? [True, True] Translation: X:275.48, Y:-41.21, Z:-13.09 [[ 9.81174461e-01 1.87818535e-01 4.49541312e-02 2.75475674e+02] [-1.87643936e-01 9.82203630e-01 -8.11070039e-03 -4.12060627e+01] [-4.56774507e-02 -4.77358031e-04 9.98956126e-01 -1.30945850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78263999999996 meters 0.02044214075268862 Centerline is valid? [True, True] Translation: X:275.53, Y:-41.21, Z:-13.10 [[ 9.80879292e-01 1.89665559e-01 4.36209736e-02 2.75533564e+02] [-1.89503075e-01 9.81848601e-01 -7.86827354e-03 -4.12127094e+01] [-4.43215324e-02 -5.48482047e-04 9.99017167e-01 -1.31010221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84263999999996 meters 0.02053745935444465 Centerline is valid? [True, True] Translation: X:275.59, Y:-41.22, Z:-13.11 [[ 9.80991284e-01 1.89159624e-01 4.32982397e-02 2.75590016e+02] [-1.88999121e-01 9.81946212e-01 -7.80829559e-03 -4.12218727e+01] [-4.39935567e-02 -5.23459339e-04 9.99031678e-01 -1.31053837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90263999999996 meters 0.026307242056905683 Centerline is valid? [True, True] Translation: X:275.65, Y:-41.23, Z:-13.12 [[ 9.81610405e-01 1.86166183e-01 4.22275463e-02 2.75646682e+02] [-1.86011012e-01 9.82518195e-01 -7.60918619e-03 -4.12314784e+01] [-4.29059058e-02 -3.85532302e-04 9.99079043e-01 -1.31157467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96263999999996 meters 0.017870644763626375 Centerline is valid? [True, True] Translation: X:275.70, Y:-41.25, Z:-13.12 [[ 9.81906052e-01 1.84517525e-01 4.25885868e-02 2.75704082e+02] [-1.84358260e-01 9.82829172e-01 -7.67143790e-03 -4.12456366e+01] [-4.32728202e-02 -3.18926436e-04 9.99063242e-01 -1.31151462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02263999999997 meters 0.01666602346055525 Centerline is valid? [True, True] Translation: X:275.76, Y:-41.25, Z:-13.12 [[ 9.81952458e-01 1.84276211e-01 4.25634702e-02 2.75761767e+02] [-1.84116976e-01 9.82874449e-01 -7.66530226e-03 -4.12522812e+01] [-4.32470802e-02 -3.09695032e-04 9.99064359e-01 -1.31155399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08263999999997 meters 0.017258382327420652 Centerline is valid? [True, True] Translation: X:275.83, Y:-41.25, Z:-13.12 [[ 9.81927823e-01 1.86006046e-01 3.49213683e-02 2.75825836e+02] [-1.85158235e-01 9.82360851e-01 -2.61454689e-02 -4.12496880e+01] [-3.91686004e-02 1.92069844e-02 9.99048003e-01 -1.31154865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14264 meters 0.018894562863903376 Centerline is valid? [True, True] Translation: X:275.88, Y:-41.27, Z:-13.13 [[ 9.81490005e-01 1.86054869e-01 4.53977476e-02 2.75876354e+02] [-1.86745043e-01 9.82341918e-01 1.14299909e-02 -4.12727936e+01] [-4.24695050e-02 -1.96962261e-02 9.98903599e-01 -1.31272617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20264 meters 0.024739061342387906 Centerline is valid? [True, True] Translation: X:275.94, Y:-41.26, Z:-13.13 [[ 9.81105317e-01 1.89027273e-01 4.12437498e-02 2.75938536e+02] [-1.88882493e-01 9.81971702e-01 -7.41480876e-03 -4.12612057e+01] [-4.19017962e-02 -5.15513976e-04 9.99121601e-01 -1.31288961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26264 meters 0.023064079107326642 Centerline is valid? [True, True] Translation: X:276.00, Y:-41.26, Z:-13.14 [[ 9.80933705e-01 1.89927607e-01 4.11894357e-02 2.75996347e+02] [-1.89784059e-01 9.81797941e-01 -7.40367832e-03 -4.12641650e+01] [-4.18458661e-02 -5.54580696e-04 9.99123924e-01 -1.31366747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32264 meters 0.0206290880553533 Centerline is valid? [True, True] Translation: X:276.06, Y:-41.27, Z:-13.14 [[ 9.81098915e-01 1.88969554e-01 4.16584508e-02 2.76055092e+02] [-1.88822050e-01 9.81982807e-01 -7.48334184e-03 -4.12705183e+01] [-4.23220062e-02 -5.24135521e-04 9.99103885e-01 -1.31359062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38264 meters 0.01943918173868194 Centerline is valid? [True, True] Translation: X:276.11, Y:-41.28, Z:-13.14 [[ 9.81552676e-01 1.86513296e-01 4.20373021e-02 2.76112652e+02] [-1.86360936e-01 9.82452345e-01 -7.54925644e-03 -4.12798277e+01] [-4.27076827e-02 -4.24118096e-04 9.99087521e-01 -1.31387646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44264 meters 0.0157285127648817 Centerline is valid? [True, True] Translation: X:276.17, Y:-41.29, Z:-13.14 [[ 9.82508661e-01 1.81390928e-01 4.21196207e-02 2.76170396e+02] [-1.81233349e-01 9.83411048e-01 -7.56198606e-03 -4.12931211e+01] [-4.27925760e-02 -2.03763123e-04 9.99083957e-01 -1.31387318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.50264 meters 0.02497258637806543 Centerline is valid? [True, True] Translation: X:276.23, Y:-41.30, Z:-13.14 [[ 9.83096943e-01 1.78440998e-01 4.09781662e-02 2.76226442e+02] [-1.78289338e-01 9.83950611e-01 -7.35576857e-03 -4.13045401e+01] [-4.16330624e-02 -7.45365256e-05 9.99132965e-01 -1.31447992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56264 meters 0.015613005165730609 Centerline is valid? [True, True] Translation: X:276.28, Y:-41.32, Z:-13.15 [[ 9.83932695e-01 1.73761807e-01 4.10278649e-02 2.76282887e+02] [-1.73605886e-01 9.84787703e-01 -7.36045217e-03 -4.13174342e+01] [-4.16827023e-02 1.19510712e-04 9.99130891e-01 -1.31464354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62264 meters 0.022699463527960626 Centerline is valid? [True, True] Translation: X:276.34, Y:-41.33, Z:-13.15 [[ 9.84330906e-01 1.71659275e-01 4.03207308e-02 2.76340359e+02] [-1.71507058e-01 9.85156360e-01 -7.23023401e-03 -4.13299981e+01] [-4.09633611e-02 2.01652873e-04 9.99160629e-01 -1.31493296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68264 meters 0.016374500349285816 Centerline is valid? [True, True] Translation: X:276.40, Y:-41.34, Z:-13.15 [[ 9.84575176e-01 1.69839122e-01 4.20285038e-02 2.76399306e+02] [-1.69500269e-01 9.85462753e-01 -1.15248345e-02 -4.13399060e+01] [-4.33748928e-02 4.22322323e-03 9.99049940e-01 -1.31508885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74264 meters 0.018354234262362688 Centerline is valid? [True, True] Translation: X:276.45, Y:-41.35, Z:-13.16 [[ 9.84983196e-01 1.67716000e-01 4.09810614e-02 2.76454177e+02] [-1.67710060e-01 9.85829764e-01 -3.60738354e-03 -4.13544687e+01] [-4.10053660e-02 -3.31972409e-03 9.99153411e-01 -1.31561559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80264 meters 0.01890916357406095 Centerline is valid? [True, True] Translation: X:276.51, Y:-41.36, Z:-13.16 [[ 9.85103379e-01 1.67249210e-01 3.99879215e-02 2.76511813e+02] [-1.67096230e-01 9.85914582e-01 -7.16150792e-03 -4.13649093e+01] [-4.06224315e-02 3.72994703e-04 9.99174499e-01 -1.31596856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86264 meters 0.018363504378651523 Centerline is valid? [True, True] Translation: X:276.57, Y:-41.37, Z:-13.16 [[ 9.84969093e-01 1.68097057e-01 3.97399601e-02 2.76570311e+02] [-1.67946736e-01 9.85770393e-01 -7.11520058e-03 -4.13741888e+01] [-4.03705204e-02 3.34056084e-04 9.99184722e-01 -1.31618405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92264 meters 0.017513105185284938 Centerline is valid? [True, True] Translation: X:276.63, Y:-41.38, Z:-13.16 [[ 9.84729534e-01 1.69409983e-01 4.00999171e-02 2.76628543e+02] [-1.69258094e-01 9.85545625e-01 -7.17766977e-03 -4.13819049e+01] [-4.07362668e-02 2.80827876e-04 9.99169894e-01 -1.31639480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98263999999995 meters 0.017639483244057133 Centerline is valid? [True, True] Translation: X:276.69, Y:-41.39, Z:-13.17 [[ 9.84663084e-01 1.70160899e-01 3.85211606e-02 2.76686837e+02] [-1.70021383e-01 9.85416263e-01 -6.89330453e-03 -4.13909674e+01] [-3.91323490e-02 2.38161509e-04 9.99234008e-01 -1.31690478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04263999999995 meters 0.01715186641987957 Centerline is valid? [True, True] Translation: X:276.74, Y:-41.40, Z:-13.17 [[ 9.84684485e-01 1.70126921e-01 3.81221196e-02 2.76744041e+02] [-1.69990326e-01 9.85422131e-01 -6.82009604e-03 -4.14045687e+01] [-3.87266623e-02 2.35251204e-04 9.99249814e-01 -1.31706212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10263999999995 meters 0.01744021988053394 Centerline is valid? [True, True] Translation: X:276.80, Y:-41.42, Z:-13.17 [[ 9.84576075e-01 1.70562694e-01 3.89656275e-02 2.76801096e+02] [-1.70420377e-01 9.85346801e-01 -6.96970499e-03 -4.14152699e+01] [-3.95834281e-02 2.21667824e-04 9.99216244e-01 -1.31745443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16263999999995 meters 0.016729527590692215 Centerline is valid? [True, True] Translation: X:276.86, Y:-41.42, Z:-13.18 [[ 9.84150855e-01 1.73269224e-01 3.77474459e-02 2.76859116e+02] [-1.73137814e-01 9.84874492e-01 -6.74777799e-03 -4.14222499e+01] [-3.83456788e-02 1.05321209e-04 9.99264528e-01 -1.31774064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22263999999996 meters 0.01664983215586589 Centerline is valid? [True, True] Translation: X:276.92, Y:-41.43, Z:-13.18 [[ 9.83688344e-01 1.75938330e-01 3.74559257e-02 2.76917099e+02] [-1.75810946e-01 9.84401191e-01 -6.69382109e-03 -4.14287515e+01] [-3.80493576e-02 -5.27954314e-07 9.99275861e-01 -1.31817055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28263999999996 meters 0.025969588869202018 Centerline is valid? [True, True] Translation: X:276.98, Y:-41.43, Z:-13.18 [[ 9.83176724e-01 1.78763188e-01 3.75133431e-02 2.76975291e+02] [-1.78637539e-01 9.83892123e-01 -6.70221658e-03 -4.14349954e+01] [-3.81071924e-02 -1.11827951e-04 9.99273651e-01 -1.31848202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34263999999996 meters 0.016923006289902547 Centerline is valid? [True, True] Translation: X:277.03, Y:-41.44, Z:-13.19 [[ 9.83076024e-01 1.78975881e-01 3.91045365e-02 2.77032945e+02] [-1.78839591e-01 9.83853453e-01 -6.98446060e-03 -4.14442766e+01] [-3.97231833e-02 -1.27183568e-04 9.99210715e-01 -1.31858275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40263999999996 meters 0.016074288000559035 Centerline is valid? [True, True] Translation: X:277.09, Y:-41.46, Z:-13.19 [[ 9.83377750e-01 1.77342038e-01 3.89615580e-02 2.77089706e+02] [-1.77205517e-01 9.84149276e-01 -6.95753197e-03 -4.14553221e+01] [-3.95778520e-02 -6.23208816e-05 9.99216488e-01 -1.31867369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46263999999996 meters 0.01607511861080903 Centerline is valid? [True, True] Translation: X:277.15, Y:-41.47, Z:-13.19 [[ 9.83618133e-01 1.75693074e-01 4.03399608e-02 2.77145808e+02] [-1.75545470e-01 9.84444993e-01 -7.20028027e-03 -4.14688361e+01] [-4.09775118e-02 8.28837608e-07 9.99160069e-01 -1.31909566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52263999999997 meters 0.016198911595541824 Centerline is valid? [True, True] Translation: X:277.20, Y:-41.48, Z:-13.19 [[ 9.84152196e-01 1.72850487e-01 3.95874346e-02 2.77202917e+02] [-1.72706146e-01 9.84948068e-01 -7.06337055e-03 -4.14829091e+01] [-4.02124743e-02 1.14438381e-04 9.99191145e-01 -1.31931995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58263999999997 meters 0.023630053675562302 Centerline is valid? [True, True] Translation: X:277.26, Y:-41.50, Z:-13.20 [[ 9.84702700e-01 1.69874508e-01 3.87717010e-02 2.77260002e+02] [-1.69733821e-01 9.85465676e-01 -6.91598875e-03 -4.14982410e+01] [-3.93830307e-02 2.29323827e-04 9.99224161e-01 -1.31988779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64264 meters 0.01916782429168925 Centerline is valid? [True, True] Translation: X:277.32, Y:-41.51, Z:-13.20 [[ 9.85201842e-01 1.66968483e-01 3.87150728e-02 2.77317326e+02] [-1.66826037e-01 9.85962174e-01 -6.90402773e-03 -4.15126742e+01] [-3.93243524e-02 3.43178663e-04 9.99226440e-01 -1.32029394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70264 meters 0.032733771021734276 Centerline is valid? [True, True] Translation: X:277.37, Y:-41.53, Z:-13.21 [[ 9.85852301e-01 1.63263701e-01 3.79500215e-02 2.77373806e+02] [-1.63124171e-01 9.86582351e-01 -6.76537008e-03 -4.15331760e+01] [-3.85453608e-02 4.79089847e-04 9.99256737e-01 -1.32076141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76264 meters 0.022655781441757335 Centerline is valid? [True, True] Translation: X:277.43, Y:-41.55, Z:-13.21 [[ 9.85917115e-01 1.62720095e-01 3.85955053e-02 2.77430626e+02] [-1.62575379e-01 9.86672140e-01 -6.87995418e-03 -4.15467201e+01] [-3.92006166e-02 5.08385663e-04 9.99231231e-01 -1.32116059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82264 meters 0.021145744749389944 Centerline is valid? [True, True] Translation: X:277.49, Y:-41.56, Z:-13.21 [[ 9.85838841e-01 1.63185215e-01 3.86311399e-02 2.77488431e+02] [-1.63040659e-01 9.86595331e-01 -6.88453498e-03 -4.15565767e+01] [-3.92367566e-02 4.88595484e-04 9.99229823e-01 -1.32121720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88264 meters 0.019947963114815857 Centerline is valid? [True, True] Translation: X:277.55, Y:-41.57, Z:-13.21 [[ 9.85515458e-01 1.64654513e-01 4.05976942e-02 2.77546249e+02] [-1.64496191e-01 9.86351200e-01 -7.23287309e-03 -4.15676917e+01] [-4.12345096e-02 4.49942186e-04 9.99149395e-01 -1.32142773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94264 meters 0.027759488495776564 Centerline is valid? [True, True] Translation: X:277.60, Y:-41.58, Z:-13.22 [[ 9.85028462e-01 1.67978388e-01 3.87580901e-02 2.77604199e+02] [-1.67836733e-01 9.85790634e-01 -6.90339487e-03 -4.15773603e+01] [-3.93669834e-02 2.95009221e-04 9.99224776e-01 -1.32178757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.00264 meters 0.016732613452827075 Centerline is valid? [True, True] Translation: X:277.66, Y:-41.59, Z:-13.22 [[ 9.84544701e-01 1.70653748e-01 3.93577289e-02 2.77662696e+02] [-1.70509897e-01 9.85331042e-01 -7.00802915e-03 -4.15865613e+01] [-3.99763385e-02 1.88835675e-04 9.99200609e-01 -1.32220030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06264 meters 0.017139689436882564 Centerline is valid? [True, True] Translation: X:277.72, Y:-41.60, Z:-13.23 [[ 9.84397051e-01 1.71402003e-01 3.97969710e-02 2.77718799e+02] [-1.71255561e-01 9.85201161e-01 -7.08554903e-03 -4.15991985e+01] [-4.04224993e-02 1.59540994e-04 9.99182664e-01 -1.32280654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12264 meters 0.02115461313025951 Centerline is valid? [True, True] Translation: X:277.78, Y:-41.61, Z:-13.23 [[ 9.84906846e-01 1.70628724e-01 2.90576001e-02 2.77784825e+02] [-1.69833345e-01 9.85076243e-01 -2.79540849e-02 -4.16061438e+01] [-3.33937213e-02 2.25972201e-02 9.99186782e-01 -1.32291305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18264 meters 0.016133404675403952 Centerline is valid? [True, True] Translation: X:277.83, Y:-41.64, Z:-13.23 [[ 9.84713724e-01 1.68710934e-01 4.33070733e-02 2.77833955e+02] [-1.69287114e-01 9.85516302e-01 9.97456112e-03 -4.16428286e+01] [-4.09970092e-02 -1.71534167e-02 9.99012015e-01 -1.32308348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24264 meters 0.01628709698924056 Centerline is valid? [True, True] Translation: X:277.89, Y:-41.64, Z:-13.24 [[ 9.84345418e-01 1.71687068e-01 3.98453051e-02 2.77891829e+02] [-1.71541997e-01 9.85151531e-01 -7.05727576e-03 -4.16447145e+01] [-4.04653063e-02 1.11653853e-04 9.99180938e-01 -1.32351769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30264 meters 0.02101540562006538 Centerline is valid? [True, True] Translation: X:277.95, Y:-41.66, Z:-13.24 [[ 9.83991438e-01 1.73958669e-01 3.87199204e-02 2.77950114e+02] [-1.73823538e-01 9.84752955e-01 -6.85538590e-03 -4.16552569e+01] [-3.93221098e-02 1.52074871e-05 9.99226587e-01 -1.32362090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36264 meters 0.016258075240261717 Centerline is valid? [True, True] Translation: X:278.01, Y:-41.66, Z:-13.24 [[ 9.83209117e-01 1.77850590e-01 4.08534047e-02 2.78007215e+02] [-1.77703591e-01 9.84057491e-01 -7.23107532e-03 -4.16636522e+01] [-4.14881500e-02 -1.50137557e-04 9.99138985e-01 -1.32402808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42264 meters 0.017709296325875576 Centerline is valid? [True, True] Translation: X:278.07, Y:-41.67, Z:-13.24 [[ 9.82624432e-01 1.80964154e-01 4.12456175e-02 2.78065263e+02] [-1.80817170e-01 9.83489650e-01 -7.29783365e-03 -4.16688476e+01] [-4.18852842e-02 -2.86886182e-04 9.99122385e-01 -1.32441058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48263999999995 meters 0.019950521040813407 Centerline is valid? [True, True] Translation: X:278.12, Y:-41.67, Z:-13.25 [[ 9.81922707e-01 1.84471796e-01 4.24022974e-02 2.78124578e+02] [-1.84319839e-01 9.82837704e-01 -7.49962442e-03 -4.16719951e+01] [-4.30580458e-02 -4.51533106e-04 9.99072470e-01 -1.32463262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54263999999995 meters 0.018974145853336198 Centerline is valid? [True, True] Translation: X:278.18, Y:-41.68, Z:-13.25 [[ 9.81965677e-01 1.84163131e-01 4.27475282e-02 2.78182658e+02] [-1.84008486e-01 9.82895592e-01 -7.55862538e-03 -4.16831436e+01] [-4.34083772e-02 -4.43597263e-04 9.99057314e-01 -1.32485644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60263999999995 meters 0.017076019403206816 Centerline is valid? [True, True] Translation: X:278.24, Y:-41.70, Z:-13.26 [[ 9.83000786e-01 1.78678343e-01 4.22315702e-02 2.78238801e+02] [-1.78522435e-01 9.83907521e-01 -7.46530548e-03 -4.16985521e+01] [-4.28858480e-02 -2.00881588e-04 9.99079959e-01 -1.32560787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66263999999995 meters 0.01568723581003206 Centerline is valid? [True, True] Translation: X:278.29, Y:-41.72, Z:-13.26 [[ 9.84058152e-01 1.72924632e-01 4.15526806e-02 2.78294382e+02] [-1.72768636e-01 9.84935058e-01 -7.34363141e-03 -4.17174705e+01] [-4.21965866e-02 4.75603959e-05 9.99109326e-01 -1.32591381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72263999999996 meters 0.03131600028003386 Centerline is valid? [True, True] Translation: X:278.35, Y:-41.75, Z:-13.26 [[ 9.85740972e-01 1.63779862e-01 3.86120803e-02 2.78348552e+02] [-1.63638279e-01 9.86496829e-01 -6.82062862e-03 -4.17451705e+01] [-3.92077764e-02 4.04958720e-04 9.99230997e-01 -1.32636846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78263999999996 meters 0.03179121021778743 Centerline is valid? [True, True] Translation: X:278.41, Y:-41.76, Z:-13.26 [[ 9.86453764e-01 1.59329804e-01 3.90254361e-02 2.78406073e+02] [-1.59181739e-01 9.87225237e-01 -6.89236632e-03 -4.17622716e+01] [-3.96250548e-02 5.86863889e-04 9.99214447e-01 -1.32646621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84263999999996 meters 0.02606806690530616 Centerline is valid? [True, True] Translation: X:278.47, Y:-41.76, Z:-13.26 [[ 9.87380179e-01 1.56633713e-01 2.33722656e-02 2.78471028e+02] [-1.55596276e-01 9.86967060e-01 -4.10587666e-02 -4.17615759e+01] [-2.94988433e-02 3.69039748e-02 9.98883334e-01 -1.32614306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90263999999996 meters 0.027347404563931997 Centerline is valid? [True, True] Translation: X:278.52, Y:-41.82, Z:-13.27 [[ 9.87282953e-01 1.51713495e-01 4.74909029e-02 2.78516316e+02] [-1.53159883e-01 9.87792019e-01 2.84425391e-02 -4.18249065e+01] [-4.25960178e-02 -3.53545351e-02 9.98466642e-01 -1.32748461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96263999999996 meters 0.02649897031998035 Centerline is valid? [True, True] Translation: X:278.58, Y:-41.82, Z:-13.28 [[ 9.86968234e-01 1.55538268e-01 4.12498793e-02 2.78578965e+02] [-1.55369569e-01 9.87829559e-01 -7.28413385e-03 -4.18164644e+01] [-4.18808116e-02 7.80232738e-04 9.99122309e-01 -1.32762430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02263999999997 meters 0.02238306805888286 Centerline is valid? [True, True] Translation: X:278.64, Y:-41.82, Z:-13.28 [[ 9.86314696e-01 1.59425732e-01 4.20328005e-02 2.78639365e+02] [-1.59253935e-01 9.87209724e-01 -7.42601493e-03 -4.18246558e+01] [-4.26790872e-02 6.30498774e-04 9.99088634e-01 -1.32766792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08263999999997 meters 0.020241361201141245 Centerline is valid? [True, True] Translation: X:278.70, Y:-41.84, Z:-13.28 [[ 9.85966740e-01 1.61912891e-01 4.06669691e-02 2.78699320e+02] [-1.61754178e-01 9.86804925e-01 -7.18517633e-03 -4.18351604e+01] [-4.12937381e-02 5.06292736e-04 9.99146922e-01 -1.32812107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14264 meters 0.018741156389104504 Centerline is valid? [True, True] Translation: X:278.76, Y:-41.85, Z:-13.29 [[ 9.85478888e-01 1.65018540e-01 4.00030301e-02 2.78757272e+02] [-1.64867488e-01 9.86290395e-01 -7.06876061e-03 -4.18463781e+01] [-4.06210809e-02 3.70915252e-04 9.99174554e-01 -1.32859979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20264 meters 0.016708557867771947 Centerline is valid? [True, True] Translation: X:278.82, Y:-41.86, Z:-13.29 [[ 9.84986381e-01 1.67830320e-01 4.04328132e-02 2.78816505e+02] [-1.67678383e-01 9.85815864e-01 -7.14439362e-03 -4.18561129e+01] [-4.10583545e-02 2.57421682e-04 9.99156717e-01 -1.32868593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26264 meters 0.016089919876887186 Centerline is valid? [True, True] Translation: X:278.88, Y:-41.87, Z:-13.29 [[ 9.84874786e-01 1.68457629e-01 4.05423724e-02 2.78875112e+02] [-1.68305440e-01 9.85708869e-01 -7.16274345e-03 -4.18671539e+01] [-4.11695948e-02 2.30903605e-04 9.99152146e-01 -1.32892559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32264 meters 0.015970444617477143 Centerline is valid? [True, True] Translation: X:278.93, Y:-41.88, Z:-13.29 [[ 9.84638465e-01 1.69883464e-01 4.03323963e-02 2.78932607e+02] [-1.69734078e-01 9.85464144e-01 -7.12482112e-03 -4.18777382e+01] [-4.09565197e-02 1.69590831e-04 9.99160915e-01 -1.32936287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38264 meters 0.016758616521011925 Centerline is valid? [True, True] Translation: X:278.99, Y:-41.89, Z:-13.30 [[ 9.84566258e-01 1.70617584e-01 3.89733757e-02 2.78989882e+02] [-1.70478730e-01 9.85337314e-01 -6.88331944e-03 -4.18871242e+01] [-3.95763367e-02 1.32952447e-04 9.99216541e-01 -1.33004955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44264 meters 0.015634071923350795 Centerline is valid? [True, True] Translation: X:279.05, Y:-41.90, Z:-13.30 [[ 9.84345241e-01 1.71680245e-01 3.98790556e-02 2.79048401e+02] [-1.71535785e-01 9.85152722e-01 -7.04195537e-03 -4.18956965e+01] [-4.04959248e-02 9.10301404e-05 9.99179699e-01 -1.33008742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.50264 meters 0.014763121268363986 Centerline is valid? [True, True] Translation: X:279.11, Y:-41.90, Z:-13.30 [[ 9.83952601e-01 1.73618514e-01 4.11569106e-02 2.79107632e+02] [-1.73466437e-01 9.84812983e-01 -7.26526386e-03 -4.19016918e+01] [-4.17932442e-02 9.33265449e-06 9.99126281e-01 -1.33006051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56264 meters 0.01733528377414445 Centerline is valid? [True, True] Translation: X:279.17, Y:-41.91, Z:-13.30 [[ 9.83589635e-01 1.75441501e-01 4.20916741e-02 2.79166013e+02] [-1.75284164e-01 9.84489855e-01 -7.42879425e-03 -4.19082422e+01] [-4.27421449e-02 -7.11188882e-05 9.99086134e-01 -1.33009220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62264 meters 0.014474240022133295 Centerline is valid? [True, True] Translation: X:279.22, Y:-41.92, Z:-13.31 [[ 9.83707873e-01 1.74684221e-01 4.24763856e-02 2.79223370e+02] [-1.74523383e-01 9.84624508e-01 -7.49450415e-03 -4.19181483e+01] [-4.31324619e-02 -4.07197714e-05 9.99069361e-01 -1.33054297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68264 meters 0.014984081659977841 Centerline is valid? [True, True] Translation: X:279.28, Y:-41.93, Z:-13.31 [[ 9.83866603e-01 1.73803471e-01 4.24129754e-02 2.79280735e+02] [-1.73642402e-01 9.84780358e-01 -7.48082799e-03 -4.19288537e+01] [-4.30676590e-02 -4.55409291e-06 9.99072158e-01 -1.33113075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74264 meters 0.015037476335057698 Centerline is valid? [True, True] Translation: X:279.34, Y:-41.94, Z:-13.31 [[ 9.84319483e-01 1.71384757e-01 4.17423184e-02 2.79338231e+02] [-1.71226598e-01 9.85204169e-01 -7.36184575e-03 -4.19398031e+01] [-4.23864143e-02 9.90130291e-05 9.99101287e-01 -1.33139491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80264 meters 0.014615033792438536 Centerline is valid? [True, True] Translation: X:279.40, Y:-41.95, Z:-13.32 [[ 9.84349508e-01 1.71019385e-01 4.25254863e-02 2.79395978e+02] [-1.70854984e-01 9.85267657e-01 -7.49783904e-03 -4.19508840e+01] [-4.31812621e-02 1.14802890e-04 9.99067248e-01 -1.33152140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86264 meters 0.014734064519445762 Centerline is valid? [True, True] Translation: X:279.45, Y:-41.96, Z:-13.32 [[ 9.84100853e-01 1.72469009e-01 4.24258348e-02 2.79453260e+02] [-1.72306806e-01 9.85014943e-01 -7.47837489e-03 -4.19567107e+01] [-4.30798691e-02 4.92150164e-05 9.99071630e-01 -1.33197918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92264 meters 0.01432256576151342 Centerline is valid? [True, True] Translation: X:279.51, Y:-41.96, Z:-13.32 [[ 9.83750254e-01 1.74366879e-01 4.27975287e-02 2.79511961e+02] [-1.74203750e-01 9.84680755e-01 -7.54078762e-03 -4.19622102e+01] [-4.34567665e-02 -3.72382401e-05 9.99055308e-01 -1.33215770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98263999999995 meters 0.014122175352158322 Centerline is valid? [True, True] Translation: X:279.57, Y:-41.97, Z:-13.32 [[ 9.83677361e-01 1.74691791e-01 4.31465899e-02 2.79569760e+02] [-1.74526396e-01 9.84623164e-01 -7.60012330e-03 -4.19705395e+01] [-4.38108110e-02 -5.41496160e-05 9.99039844e-01 -1.33240824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04263999999995 meters 0.014734664308034875 Centerline is valid? [True, True] Translation: X:279.63, Y:-41.98, Z:-13.33 [[ 9.83829600e-01 1.74227408e-01 4.15226156e-02 2.79626315e+02] [-1.74073897e-01 9.84705443e-01 -7.31225384e-03 -4.19814349e+01] [-4.21615406e-02 -3.39917459e-05 9.99110806e-01 -1.33307225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10263999999995 meters 0.014544476393348767 Centerline is valid? [True, True] Translation: X:279.68, Y:-41.99, Z:-13.33 [[ 9.84238681e-01 1.71929937e-01 4.14042919e-02 2.79683883e+02] [-1.71775382e-01 9.85109178e-01 -7.28869216e-03 -4.19937217e+01] [-4.20408924e-02 6.15747001e-05 9.99115889e-01 -1.33326833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16263999999995 meters 0.017330232911333794 Centerline is valid? [True, True] Translation: X:279.74, Y:-42.01, Z:-13.33 [[ 9.84430318e-01 1.70506903e-01 4.27123607e-02 2.79740959e+02] [-1.70341184e-01 9.85356474e-01 -7.51668132e-03 -4.20059008e+01] [-4.33685472e-02 1.23974899e-04 9.99059134e-01 -1.33340907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22263999999996 meters 0.015463761976447016 Centerline is valid? [True, True] Translation: X:279.80, Y:-42.02, Z:-13.34 [[ 9.84896484e-01 1.67605966e-01 4.34414108e-02 2.79799063e+02] [-1.67431830e-01 9.85854034e-01 -7.64241236e-03 -4.20216488e+01] [-4.41078040e-02 2.53510175e-04 9.99026745e-01 -1.33375120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28263999999996 meters 0.01728737899268472 Centerline is valid? [True, True] Translation: X:279.86, Y:-42.04, Z:-13.34 [[ 9.85373757e-01 1.64386279e-01 4.48966568e-02 2.79856574e+02] [-1.64196991e-01 9.86395957e-01 -7.89713930e-03 -4.20388581e+01] [-4.55840621e-02 4.09737853e-04 9.98960422e-01 -1.33388082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34263999999996 meters 0.020771639364114455 Centerline is valid? [True, True] Translation: X:279.92, Y:-42.06, Z:-13.34 [[ 9.86090511e-01 1.60077932e-01 4.47276221e-02 2.79915342e+02] [-1.59885747e-01 9.87104194e-01 -7.86494213e-03 -4.20601966e+01] [-4.54098271e-02 6.04235523e-04 9.98968259e-01 -1.33423888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40263999999996 meters 0.022374519624366217 Centerline is valid? [True, True] Translation: X:279.98, Y:-42.08, Z:-13.34 [[ 9.86338285e-01 1.58310053e-01 4.55490401e-02 2.79975903e+02] [-1.58108525e-01 9.87389199e-01 -8.01650687e-03 -4.20767449e+01] [-4.62437238e-02 7.05296076e-04 9.98929938e-01 -1.33446357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46263999999996 meters 0.02469490639486136 Centerline is valid? [True, True] Translation: X:280.03, Y:-42.09, Z:-13.35 [[ 9.86569805e-01 1.57354040e-01 4.38146678e-02 2.80034004e+02] [-1.57166278e-01 9.87541986e-01 -7.71927202e-03 -4.20948675e+01] [-4.44834827e-02 7.29412432e-04 9.99009854e-01 -1.33521480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52263999999997 meters 0.024863353128935426 Centerline is valid? [True, True] Translation: X:280.09, Y:-42.11, Z:-13.36 [[ 9.86529348e-01 1.57591467e-01 4.38722591e-02 2.80094579e+02] [-1.57403326e-01 9.87504131e-01 -7.73208946e-03 -4.21100140e+01] [-4.45425484e-02 7.22293691e-04 9.99007227e-01 -1.33559949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58263999999997 meters 0.036017500637706076 Centerline is valid? [True, True] Translation: X:280.16, Y:-42.12, Z:-13.35 [[ 9.86498179e-01 1.57521116e-01 4.48156365e-02 2.80156004e+02] [-1.57324391e-01 9.87515336e-01 -7.90554505e-03 -4.21234314e+01] [-4.55014186e-02 7.48213068e-04 9.98963994e-01 -1.33528588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64264 meters 0.023670649611016555 Centerline is valid? [True, True] Translation: X:280.21, Y:-42.14, Z:-13.36 [[ 9.86566862e-01 1.57024997e-01 4.50441727e-02 2.80214907e+02] [-1.56825367e-01 9.87594318e-01 -7.95407461e-03 -4.21410475e+01] [-4.57343576e-02 7.83157509e-04 9.98953330e-01 -1.33592776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70264 meters 0.02360681599894067 Centerline is valid? [True, True] Translation: X:280.27, Y:-42.16, Z:-13.36 [[ 9.86742526e-01 1.55920925e-01 4.50316807e-02 2.80275000e+02] [-1.55719927e-01 9.87769182e-01 -7.95906059e-03 -4.21587707e+01] [-4.57218905e-02 8.41213503e-04 9.98953853e-01 -1.33622897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76264 meters 0.030159493451918023 Centerline is valid? [True, True] Translation: X:280.33, Y:-42.18, Z:-13.37 [[ 9.87053446e-01 1.54207960e-01 4.41066988e-02 2.80332337e+02] [-1.54013084e-01 9.88037994e-01 -7.80329659e-03 -4.21834411e+01] [-4.47824247e-02 9.09262066e-04 9.98996350e-01 -1.33667183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82264 meters 0.025871992701223513 Centerline is valid? [True, True] Translation: X:280.39, Y:-42.20, Z:-13.37 [[ 9.87149350e-01 1.53726984e-01 4.36368550e-02 2.80392437e+02] [-1.53535472e-01 9.88112925e-01 -7.72693715e-03 -4.21994665e+01] [-4.43059792e-02 9.27835872e-04 9.99017577e-01 -1.33710336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88264 meters 0.036524890030142976 Centerline is valid? [True, True] Translation: X:280.45, Y:-42.22, Z:-13.38 [[ 9.86966300e-01 1.55376561e-01 4.19004442e-02 2.80450878e+02] [-1.55201172e-01 9.87854969e-01 -7.42667640e-03 -4.22195193e+01] [-4.25454935e-02 8.26881283e-04 9.99094188e-01 -1.33768958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94264 meters 0.030080955853358654 Centerline is valid? [True, True] Translation: X:280.51, Y:-42.23, Z:-13.38 [[ 9.86488888e-01 1.58545833e-01 4.12661200e-02 2.80512401e+02] [-1.58378151e-01 9.87351379e-01 -7.32224395e-03 -4.22306921e+01] [-4.19050717e-02 6.87660505e-04 9.99121360e-01 -1.33799486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.00264 meters 0.017115592201157128 Centerline is valid? [True, True] Translation: X:280.57, Y:-42.24, Z:-13.39 [[ 9.85240454e-01 1.66229393e-01 4.08538419e-02 2.80573022e+02] [-1.66071518e-01 9.86087044e-01 -7.25202194e-03 -4.22399839e+01] [-4.14909434e-02 3.60325829e-04 9.99138815e-01 -1.33866348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06264 meters 0.014388347453256194 Centerline is valid? [True, True] Translation: X:280.64, Y:-42.25, Z:-13.39 [[ 9.84038906e-01 1.73250171e-01 4.06424691e-02 2.80635482e+02] [-1.73099930e-01 9.84877847e-01 -7.21385987e-03 -4.22453654e+01] [-4.12776700e-02 6.35101901e-05 9.99147712e-01 -1.33906593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12264 meters 0.017089948868314837 Centerline is valid? [True, True] Translation: X:280.70, Y:-42.25, Z:-13.39 [[ 9.82163821e-01 1.83300668e-01 4.18938334e-02 2.80696614e+02] [-1.83149815e-01 9.83056832e-01 -7.44386447e-03 -4.22485361e+01] [-4.25484845e-02 -3.61753469e-04 9.99094338e-01 -1.33939044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18264 meters 0.020492093379907327 Centerline is valid? [True, True] Translation: X:280.76, Y:-42.25, Z:-13.40 [[ 9.81336092e-01 1.87636901e-01 4.20935731e-02 2.80757621e+02] [-1.87488210e-01 9.82238310e-01 -7.48819791e-03 -4.22545898e+01] [-4.27509823e-02 -5.43609799e-04 9.99085611e-01 -1.33968518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24264 meters 0.022963914332843886 Centerline is valid? [True, True] Translation: X:280.82, Y:-42.26, Z:-13.40 [[ 9.80672727e-01 1.90779575e-01 4.34068738e-02 2.80817309e+02] [-1.90624469e-01 9.81632652e-01 -7.72324512e-03 -4.22630269e+01] [-4.40830421e-02 -7.00436418e-04 9.99027625e-01 -1.33983970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30264 meters 0.022601516120792194 Centerline is valid? [True, True] Translation: X:280.88, Y:-42.27, Z:-13.40 [[ 9.80454680e-01 1.91816790e-01 4.37600150e-02 2.80877131e+02] [-1.91660195e-01 9.81430462e-01 -7.78576455e-03 -4.22744985e+01] [-4.44408521e-02 -7.53463712e-04 9.99011733e-01 -1.34008937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36264 meters 0.02382358650188271 Centerline is valid? [True, True] Translation: X:280.94, Y:-42.28, Z:-13.41 [[ 9.80348055e-01 1.92374041e-01 4.37026256e-02 2.80937003e+02] [-1.92218355e-01 9.81321367e-01 -7.77681541e-03 -4.22842231e+01] [-4.43823777e-02 -7.76460925e-04 9.99014315e-01 -1.34050022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42264 meters 0.024240841489464805 Centerline is valid? [True, True] Translation: X:281.00, Y:-42.29, Z:-13.41 [[ 9.80545437e-01 1.91574395e-01 4.27772939e-02 2.80996014e+02] [-1.91424437e-01 9.81477828e-01 -7.61300124e-03 -4.22925935e+01] [-4.34434216e-02 -7.23725760e-04 9.99055627e-01 -1.34115174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48263999999995 meters 0.019356594934542004 Centerline is valid? [True, True] Translation: X:281.06, Y:-42.31, Z:-13.41 [[ 9.81167553e-01 1.88103122e-01 4.39027249e-02 2.81055860e+02] [-1.87941743e-01 9.82149109e-01 -7.81212594e-03 -4.23097478e+01] [-4.45885074e-02 -5.86150170e-04 9.99005266e-01 -1.34120626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54263999999995 meters 0.018411128617895102 Centerline is valid? [True, True] Translation: X:281.12, Y:-42.33, Z:-13.41 [[ 9.82000857e-01 1.83569811e-01 4.44571915e-02 2.81115934e+02] [-1.83399678e-01 9.83006600e-01 -7.91086882e-03 -4.23270028e+01] [-4.51539094e-02 -3.84954656e-04 9.98979968e-01 -1.34136928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60263999999995 meters 0.013870638554874755 Centerline is valid? [True, True] Translation: X:281.17, Y:-42.35, Z:-13.42 [[ 9.83070590e-01 1.77638945e-01 4.49068000e-02 2.81174506e+02] [-1.77458792e-01 9.84095724e-01 -7.99893603e-03 -4.23473229e+01] [-4.56135125e-02 -1.05587746e-04 9.98959156e-01 -1.34214608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66263999999995 meters 0.01331883614463604 Centerline is valid? [True, True] Translation: X:281.24, Y:-42.37, Z:-13.42 [[ 9.84028126e-01 1.72358521e-01 4.45105275e-02 2.81235452e+02] [-1.72175795e-01 9.85034273e-01 -7.93577023e-03 -4.23674360e+01] [-4.52121927e-02 1.45385659e-04 9.98977395e-01 -1.34213343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72263999999996 meters 0.016809120491930583 Centerline is valid? [True, True] Translation: X:281.29, Y:-42.39, Z:-13.43 [[ 9.85059857e-01 1.66397213e-01 4.43739202e-02 2.81292841e+02] [-1.66209055e-01 9.86058712e-01 -7.92252768e-03 -4.23905307e+01] [-4.50735771e-02 4.28816670e-04 9.98983578e-01 -1.34263470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78263999999996 meters 0.01919044408305588 Centerline is valid? [True, True] Translation: X:281.35, Y:-42.41, Z:-13.43 [[ 9.85416961e-01 1.64163216e-01 4.47643997e-02 2.81352249e+02] [-1.63969443e-01 9.86433045e-01 -7.99185664e-03 -4.24077883e+01] [-4.54690520e-02 5.35317409e-04 9.98965604e-01 -1.34295059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84263999999996 meters 0.020189011312010858 Centerline is valid? [True, True] Translation: X:281.41, Y:-42.42, Z:-13.43 [[ 9.85584092e-01 1.63125437e-01 4.48786082e-02 2.81412213e+02] [-1.62929277e-01 9.86605160e-01 -8.01929088e-03 -4.24233767e+01] [-4.55856167e-02 5.91646354e-04 9.98960260e-01 -1.34334000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90263999999996 meters 0.01796132588809379 Centerline is valid? [True, True] Translation: X:281.47, Y:-42.43, Z:-13.44 [[ 9.85390682e-01 1.64679121e-01 4.34279906e-02 2.81474902e+02] [-1.64496661e-01 9.86347062e-01 -7.76665071e-03 -4.24326567e+01] [-4.41140762e-02 5.09425790e-04 9.99026370e-01 -1.34378917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96263999999996 meters 0.017749620276626302 Centerline is valid? [True, True] Translation: X:281.53, Y:-42.44, Z:-13.44 [[ 9.85094673e-01 1.66448401e-01 4.33983277e-02 2.81534421e+02] [-1.66267493e-01 9.86050068e-01 -7.77070934e-03 -4.24441685e+01] [-4.40863461e-02 4.39153232e-04 9.99027628e-01 -1.34434464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02263999999997 meters 0.027652774064835517 Centerline is valid? [True, True] Translation: X:281.60, Y:-42.45, Z:-13.44 [[ 9.84596812e-01 1.69087411e-01 4.44810673e-02 2.81596309e+02] [-1.68899713e-01 9.85601002e-01 -7.97198250e-03 -4.24525298e+01] [-4.51885463e-02 3.36349042e-04 9.98978419e-01 -1.34430682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08263999999997 meters 0.015666380643010045 Centerline is valid? [True, True] Translation: X:281.66, Y:-42.47, Z:-13.45 [[ 9.84483479e-01 1.69793620e-01 4.42990482e-02 2.81657051e+02] [-1.69607829e-01 9.85479594e-01 -7.94695163e-03 -4.24663339e+01] [-4.50051497e-02 3.10177213e-04 9.98986707e-01 -1.34497113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14264 meters 0.016751093744800626 Centerline is valid? [True, True] Translation: X:281.72, Y:-42.48, Z:-13.46 [[ 9.84748194e-01 1.68376125e-01 4.38232323e-02 2.81717100e+02] [-1.68192536e-01 9.85722748e-01 -7.86982048e-03 -4.24830791e+01] [-4.45226469e-02 3.79050933e-04 9.99008303e-01 -1.34552600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20264 meters 0.0178148368302858 Centerline is valid? [True, True] Translation: X:281.78, Y:-42.50, Z:-13.46 [[ 9.84922943e-01 1.67511227e-01 4.32063142e-02 2.81776187e+02] [-1.67331616e-01 9.85870079e-01 -7.76642064e-03 -4.24982069e+01] [-4.38967750e-02 4.19543495e-04 9.99035984e-01 -1.34602465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26264 meters 0.01718154989200818 Centerline is valid? [True, True] Translation: X:281.84, Y:-42.52, Z:-13.46 [[ 9.84831000e-01 1.67620838e-01 4.48459151e-02 2.81836222e+02] [-1.67427115e-01 9.85851441e-01 -8.06834735e-03 -4.25155526e+01] [-4.55638331e-02 4.37536426e-04 9.98961333e-01 -1.34606219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32264 meters 0.015104307901717825 Centerline is valid? [True, True] Translation: X:281.90, Y:-42.53, Z:-13.47 [[ 9.84266605e-01 1.71296689e-01 4.33208401e-02 2.81897820e+02] [-1.71119106e-01 9.85219454e-01 -7.80244396e-03 -4.25257187e+01] [-4.40170673e-02 2.66661580e-04 9.99030744e-01 -1.34668923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38264 meters 0.01571372329389046 Centerline is valid? [True, True] Translation: X:281.96, Y:-42.53, Z:-13.47 [[ 9.83500228e-01 1.75554951e-01 4.36779243e-02 2.81959351e+02] [-1.75378556e-01 9.84469630e-01 -7.86824261e-03 -4.25309987e+01] [-4.43808990e-02 7.82471118e-05 9.99014679e-01 -1.34705556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44264 meters 0.014018587192434852 Centerline is valid? [True, True] Translation: X:282.02, Y:-42.53, Z:-13.47 [[ 9.82182447e-01 1.82604784e-01 4.44199757e-02 2.82022548e+02] [-1.82429232e-01 9.83186369e-01 -8.00867679e-03 -4.25328284e+01] [-4.51355373e-02 -2.37520287e-04 9.98980844e-01 -1.34722723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.50264 meters 0.02920864666307197 Centerline is valid? [True, True] Translation: X:282.08, Y:-42.54, Z:-13.47 [[ 9.81610056e-01 1.85673792e-01 4.43502063e-02 2.82083701e+02] [-1.85501547e-01 9.82611371e-01 -8.00437817e-03 -4.25424554e+01] [-4.50652203e-02 -3.69853762e-04 9.98983978e-01 -1.34744105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56264 meters 0.01581693628441472 Centerline is valid? [True, True] Translation: X:282.15, Y:-42.55, Z:-13.48 [[ 9.81273793e-01 1.87275418e-01 4.50517580e-02 2.82146507e+02] [-1.87099007e-01 9.82307346e-01 -8.13876814e-03 -4.25519334e+01] [-4.57788641e-02 -4.42779319e-04 9.98951500e-01 -1.34763503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62264 meters 0.016886925628225094 Centerline is valid? [True, True] Translation: X:282.21, Y:-42.56, Z:-13.48 [[ 9.81135962e-01 1.87777464e-01 4.59548499e-02 2.82206614e+02] [-1.87593982e-01 9.82211488e-01 -8.31207894e-03 -4.25607968e+01] [-4.66982026e-02 -4.65573725e-04 9.98908935e-01 -1.34811549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68264 meters 0.015759240426716923 Centerline is valid? [True, True] Translation: X:282.27, Y:-42.58, Z:-13.49 [[ 9.81337175e-01 1.87065538e-01 4.45402458e-02 2.82267415e+02] [-1.86892149e-01 9.82347349e-01 -8.06286124e-03 -4.25760157e+01] [-4.52622759e-02 -4.11836786e-04 9.98975053e-01 -1.34860257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74264 meters 0.01633195055297959 Centerline is valid? [True, True] Translation: X:282.33, Y:-42.59, Z:-13.49 [[ 9.81313208e-01 1.87130080e-01 4.47964475e-02 2.82328039e+02] [-1.86954332e-01 9.82335058e-01 -8.11857443e-03 -4.25882286e+01] [-4.55243503e-02 -4.08025592e-04 9.98963146e-01 -1.34907411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80264 meters 0.01668159704782887 Centerline is valid? [True, True] Translation: X:282.39, Y:-42.60, Z:-13.49 [[ 9.81182573e-01 1.87952082e-01 4.42128215e-02 2.82389549e+02] [-1.87781344e-01 9.82178104e-01 -8.02115024e-03 -4.25982964e+01] [-4.49324571e-02 -4.32130197e-04 9.98989934e-01 -1.34941973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86264 meters 0.017238284912659742 Centerline is valid? [True, True] Translation: X:282.45, Y:-42.61, Z:-13.50 [[ 9.81003532e-01 1.88908670e-01 4.41087854e-02 2.82449981e+02] [-1.88739314e-01 9.81994550e-01 -8.01088580e-03 -4.26098758e+01] [-4.48279127e-02 -4.66354650e-04 9.98994615e-01 -1.34985309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92264 meters 0.017383878119769918 Centerline is valid? [True, True] Translation: X:282.51, Y:-42.62, Z:-13.50 [[ 9.80706475e-01 1.90118259e-01 4.54956798e-02 2.82511544e+02] [-1.89939222e-01 9.81761051e-01 -8.26619639e-03 -4.26215577e+01] [-4.62374413e-02 -5.34701714e-04 9.98930334e-01 -1.34992002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98263999999995 meters 0.019058535338785768 Centerline is valid? [True, True] Translation: X:282.57, Y:-42.63, Z:-13.50 [[ 9.80571924e-01 1.90801505e-01 4.55355628e-02 2.82572717e+02] [-1.90622455e-01 9.81628481e-01 -8.28284860e-03 -4.26303258e+01] [-4.62793853e-02 -5.58171990e-04 9.98928379e-01 -1.35041783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04263999999995 meters 0.017838703738504543 Centerline is valid? [True, True] Translation: X:282.63, Y:-42.64, Z:-13.51 [[ 9.80553907e-01 1.90971764e-01 4.52086350e-02 2.82634150e+02] [-1.90795079e-01 9.81595374e-01 -8.23161526e-03 -4.26437540e+01] [-4.59485931e-02 -5.54042580e-04 9.98943652e-01 -1.35070801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10263999999995 meters 0.017346825557213317 Centerline is valid? [True, True] Translation: X:282.69, Y:-42.66, Z:-13.51 [[ 9.80617265e-01 1.90610315e-01 4.53595438e-02 2.82694663e+02] [-1.90431621e-01 9.81665639e-01 -8.26861874e-03 -4.26571845e+01] [-4.61039896e-02 -5.29541188e-04 9.98936505e-01 -1.35102399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16263999999995 meters 0.016895179005008632 Centerline is valid? [True, True] Translation: X:282.76, Y:-42.67, Z:-13.51 [[ 9.80710245e-01 1.90065185e-01 4.56359691e-02 2.82755630e+02] [-1.89883336e-01 9.81771346e-01 -8.32719642e-03 -4.26702708e+01] [-4.63867969e-02 -4.98943204e-04 9.98923429e-01 -1.35144735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22263999999996 meters 0.01742440777326795 Centerline is valid? [True, True] Translation: X:282.82, Y:-42.68, Z:-13.52 [[ 9.80558987e-01 1.91004846e-01 4.49580028e-02 2.82817531e+02] [-1.90828993e-01 9.81588952e-01 -8.21128715e-03 -4.26774157e+01] [-4.56986745e-02 -5.27638980e-04 9.98955130e-01 -1.35189268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28263999999996 meters 0.01882326932840363 Centerline is valid? [True, True] Translation: X:282.88, Y:-42.69, Z:-13.53 [[ 9.80537388e-01 1.91333767e-01 4.40206908e-02 2.82877469e+02] [-1.91165152e-01 9.81524893e-01 -8.04794887e-03 -4.26874167e+01] [-4.47472482e-02 -5.23907280e-04 9.98998203e-01 -1.35255854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34263999999996 meters 0.01905880579494056 Centerline is valid? [True, True] Translation: X:282.94, Y:-42.70, Z:-13.53 [[ 9.80572443e-01 1.91442127e-01 4.27503966e-02 2.82938952e+02] [-1.91282919e-01 9.81503772e-01 -7.82238523e-03 -4.26963677e+01] [-4.34572096e-02 -5.07005273e-04 9.99055161e-01 -1.35314570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40263999999996 meters 0.016534210321254534 Centerline is valid? [True, True] Translation: X:283.00, Y:-42.71, Z:-13.53 [[ 9.80853085e-01 1.89620060e-01 4.44011154e-02 2.83000005e+02] [-1.89446091e-01 9.81857446e-01 -8.13234482e-03 -4.27093197e+01] [-4.51376214e-02 -4.34982250e-04 9.98980683e-01 -1.35320458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46263999999996 meters 0.015807670814764082 Centerline is valid? [True, True] Translation: X:283.06, Y:-42.72, Z:-13.53 [[ 9.81010344e-01 1.88539828e-01 4.55130564e-02 2.83060053e+02] [-1.88355445e-01 9.82065469e-01 -8.34516413e-03 -4.27212286e+01] [-4.62701969e-02 -3.85939670e-04 9.98928886e-01 -1.35342706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52263999999997 meters 0.01469684811052042 Centerline is valid? [True, True] Translation: X:283.12, Y:-42.74, Z:-13.54 [[ 9.81448011e-01 1.85974543e-01 4.66183574e-02 2.83119610e+02] [-1.85777968e-01 9.82554527e-01 -8.55268498e-03 -4.27353964e+01] [-4.73956598e-02 -2.66648045e-04 9.98876159e-01 -1.35379051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58263999999997 meters 0.012900224037575991 Centerline is valid? [True, True] Translation: X:283.18, Y:-42.75, Z:-13.54 [[ 9.81973009e-01 1.82993502e-01 4.73538677e-02 2.83179937e+02] [-1.82787005e-01 9.83114115e-01 -8.69177877e-03 -4.27526502e+01] [-4.81447948e-02 -1.20579498e-04 9.98840360e-01 -1.35390783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64264 meters 0.01235812296381986 Centerline is valid? [True, True] Translation: X:283.24, Y:-42.77, Z:-13.54 [[ 9.82451833e-01 1.80193963e-01 4.81511241e-02 2.83239986e+02] [-1.79976680e-01 9.83631097e-01 -8.84644032e-03 -4.27686028e+01] [-4.89570181e-02 2.51220483e-05 9.98800886e-01 -1.35407562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70264 meters 0.012800989574592001 Centerline is valid? [True, True] Translation: X:283.30, Y:-42.78, Z:-13.54 [[ 9.82814592e-01 1.78328009e-01 4.76927635e-02 2.83300936e+02] [-1.78112250e-01 9.83971090e-01 -8.77045061e-03 -4.27839396e+01] [-4.84923175e-02 1.25061431e-04 9.98823548e-01 -1.35447344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76264 meters 0.014155087128652514 Centerline is valid? [True, True] Translation: X:283.36, Y:-42.80, Z:-13.55 [[ 9.83322395e-01 1.75949826e-01 4.60296302e-02 2.83358868e+02] [-1.75745774e-01 9.84399106e-01 -8.47488963e-03 -4.28048434e+01] [-4.68026822e-02 2.44035791e-04 9.98904124e-01 -1.35519073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82264 meters 0.029462861083410886 Centerline is valid? [True, True] Translation: X:283.42, Y:-42.82, Z:-13.55 [[ 9.83201688e-01 1.76889205e-01 4.49961102e-02 2.83420843e+02] [-1.76695064e-01 9.84230750e-01 -8.28759816e-03 -4.28185020e+01] [-4.57525420e-02 1.97789908e-04 9.98952785e-01 -1.35539062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88264 meters 0.030033141002392655 Centerline is valid? [True, True] Translation: X:283.48, Y:-42.82, Z:-13.56 [[ 9.82106937e-01 1.82816988e-01 4.52096680e-02 2.83483221e+02] [-1.82626831e-01 9.83146960e-01 -8.33644281e-03 -4.28245632e+01] [-4.59717910e-02 -6.92200997e-05 9.98942736e-01 -1.35561009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94264 meters 0.020466053089639672 Centerline is valid? [True, True] Translation: X:283.55, Y:-42.83, Z:-13.56 [[ 9.80970547e-01 1.88738269e-01 4.55483429e-02 2.83545768e+02] [-1.88551241e-01 9.82027367e-01 -8.40713239e-03 -4.28287399e+01] [-4.63164669e-02 -3.41047342e-04 9.98926758e-01 -1.35611607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00264 meters 0.020306890676408187 Centerline is valid? [True, True] Translation: X:283.61, Y:-42.83, Z:-13.57 [[ 9.79491087e-01 1.96194198e-01 4.58807946e-02 2.83608103e+02] [-1.96012199e-01 9.80564817e-01 -8.47688598e-03 -4.28301766e+01] [-4.66522088e-02 -6.90161177e-04 9.98910955e-01 -1.35661154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06264 meters 0.025683570937724935 Centerline is valid? [True, True] Translation: X:283.67, Y:-42.83, Z:-13.57 [[ 9.78476090e-01 2.01436498e-01 4.48093552e-02 2.83668704e+02] [-2.01267976e-01 9.79501154e-01 -8.28801468e-03 -4.28319043e+01] [-4.55603238e-02 -9.09064012e-04 9.98961176e-01 -1.35718999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12264 meters 0.028629820996116627 Centerline is valid? [True, True] Translation: X:283.73, Y:-42.84, Z:-13.58 [[ 9.78058728e-01 2.03521509e-01 4.44985455e-02 2.83729565e+02] [-2.03357557e-01 9.79069963e-01 -8.22866504e-03 -4.28375341e+01] [-4.52418996e-02 -1.00099783e-03 9.98975560e-01 -1.35762067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18264 meters 0.028186639952354712 Centerline is valid? [True, True] Translation: X:283.79, Y:-42.85, Z:-13.58 [[ 9.77897080e-01 2.04264463e-01 4.46467257e-02 2.83791061e+02] [-2.04099870e-01 9.78915198e-01 -8.26309361e-03 -4.28488156e+01] [-4.53932147e-02 -1.03193579e-03 9.98968664e-01 -1.35769203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24264 meters 0.032155840188196734 Centerline is valid? [True, True] Translation: X:283.85, Y:-42.86, Z:-13.58 [[ 9.78059377e-01 2.03508948e-01 4.45417020e-02 2.83852068e+02] [-2.03343998e-01 9.79072589e-01 -8.25133999e-03 -4.28596516e+01] [-4.52887810e-02 -9.86987307e-04 9.98973449e-01 -1.35768885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30264 meters 0.024407849565286646 Centerline is valid? [True, True] Translation: X:283.91, Y:-42.87, Z:-13.58 [[ 9.78304331e-01 2.02164996e-01 4.52763857e-02 2.83913403e+02] [-2.01992746e-01 9.79351033e-01 -8.39554766e-03 -4.28710594e+01] [-4.60387609e-02 -9.32100817e-04 9.98939219e-01 -1.35799505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36264 meters 0.0260653216163924 Centerline is valid? [True, True] Translation: X:283.97, Y:-42.88, Z:-13.58 [[ 9.78504573e-01 2.01190927e-01 4.52880888e-02 2.83974559e+02] [-2.01017162e-01 9.79551652e-01 -8.40603052e-03 -4.28773588e+01] [-4.60532393e-02 -8.78343773e-04 9.98938601e-01 -1.35846270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42264 meters 0.026816715505004727 Centerline is valid? [True, True] Translation: X:284.04, Y:-42.89, Z:-13.59 [[ 9.78473067e-01 2.01601465e-01 4.41282939e-02 2.84035944e+02] [-2.01436594e-01 9.79467251e-01 -8.19771324e-03 -4.28872854e+01] [-4.48748897e-02 -8.67811602e-04 9.98992238e-01 -1.35880059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48263999999995 meters 0.029380495000431404 Centerline is valid? [True, True] Translation: X:284.10, Y:-42.89, Z:-13.60 [[ 9.78116582e-01 2.03311899e-01 4.41839752e-02 2.84095981e+02] [-2.03147953e-01 9.79113574e-01 -8.21698421e-03 -4.28897125e+01] [-4.49317406e-02 -9.38715614e-04 9.98989618e-01 -1.35952200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54263999999995 meters 0.02767988038165833 Centerline is valid? [True, True] Translation: X:284.16, Y:-42.90, Z:-13.60 [[ 9.77954335e-01 2.04111028e-01 4.40908858e-02 2.84156547e+02] [-2.03948444e-01 9.78947265e-01 -8.20277325e-03 -4.28996353e+01] [-4.48369285e-02 -9.70329889e-04 9.98993848e-01 -1.35965038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60263999999995 meters 0.028432827498308284 Centerline is valid? [True, True] Translation: X:284.22, Y:-42.90, Z:-13.60 [[ 9.77928467e-01 2.04109202e-01 4.46693014e-02 2.84216726e+02] [-2.03942263e-01 9.78947634e-01 -8.31164856e-03 -4.29046086e+01] [-4.54253909e-02 -9.81760703e-04 9.98967252e-01 -1.35999037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66263999999995 meters 0.026086996507162587 Centerline is valid? [True, True] Translation: X:284.28, Y:-42.92, Z:-13.61 [[ 9.78229383e-01 2.03042390e-01 4.29076061e-02 2.84277300e+02] [-2.02887410e-01 9.79169538e-01 -7.98219264e-03 -4.29166379e+01] [-4.36345443e-02 -8.96997704e-04 9.99047157e-01 -1.36051611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72263999999996 meters 0.025610779806658705 Centerline is valid? [True, True] Translation: X:284.34, Y:-42.92, Z:-13.61 [[ 9.78429087e-01 2.01814583e-01 4.41293013e-02 2.84337589e+02] [-2.01648953e-01 9.79423371e-01 -8.21944516e-03 -4.29242324e+01] [-4.48800730e-02 -8.56483178e-04 9.98992015e-01 -1.36071560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78263999999996 meters 0.02387720205489285 Centerline is valid? [True, True] Translation: X:284.40, Y:-42.93, Z:-13.61 [[ 9.78826684e-01 1.99895953e-01 4.40446412e-02 2.84397955e+02] [-1.99728998e-01 9.79816830e-01 -8.20407940e-03 -4.29338641e+01] [-4.47956430e-02 -7.66620218e-04 9.98995877e-01 -1.36113539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84263999999996 meters 0.03899347694401144 Centerline is valid? [True, True] Translation: X:284.46, Y:-42.95, Z:-13.61 [[ 9.79256654e-01 1.98004231e-01 4.30201123e-02 2.84458036e+02] [-1.97843087e-01 9.80200941e-01 -8.01426147e-03 -4.29471545e+01] [-4.37552122e-02 -6.63212940e-04 9.99042062e-01 -1.36143682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90263999999996 meters 0.020283598941317205 Centerline is valid? [True, True] Translation: X:284.52, Y:-42.96, Z:-13.62 [[ 9.79763891e-01 1.95514742e-01 4.28567812e-02 2.84517339e+02] [-1.95352417e-01 9.80700609e-01 -7.98431641e-03 -4.29582122e+01] [-4.35907230e-02 -5.49430886e-04 9.99049322e-01 -1.36210771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96263999999996 meters 0.01589166044826163 Centerline is valid? [True, True] Translation: X:284.58, Y:-42.98, Z:-13.62 [[ 9.80775603e-01 1.90288947e-01 4.32357816e-02 2.84576868e+02] [-1.90118518e-01 9.81728077e-01 -8.05808649e-03 -4.29764329e+01] [-4.39791455e-02 -3.16748094e-04 9.99032399e-01 -1.36232272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02263999999997 meters 0.026168734632260608 Centerline is valid? [True, True] Translation: X:284.64, Y:-43.00, Z:-13.62 [[ 9.81738977e-01 1.85084906e-01 4.39563218e-02 2.84635753e+02] [-1.84903490e-01 9.82722530e-01 -8.19323292e-03 -4.29981442e+01] [-4.47133115e-02 -8.40611854e-05 9.98999856e-01 -1.36243035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08263999999997 meters 0.0140760268193116 Centerline is valid? [True, True] Translation: X:284.70, Y:-43.02, Z:-13.63 [[ 9.82560473e-01 1.80846364e-01 4.32378209e-02 2.84695201e+02] [-1.80666404e-01 9.83511352e-01 -8.06663846e-03 -4.30193904e+01] [-4.39837099e-02 1.14338468e-04 9.99032242e-01 -1.36302189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14264 meters 0.015649986554696158 Centerline is valid? [True, True] Translation: X:284.75, Y:-43.04, Z:-13.63 [[ 9.83209758e-01 1.77085056e-01 4.40392426e-02 2.84753135e+02] [-1.76894199e-01 9.84195506e-01 -8.22480266e-03 -4.30401482e+01] [-4.47997143e-02 2.96419677e-04 9.98995945e-01 -1.36324110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20264 meters 0.02144682415140819 Centerline is valid? [True, True] Translation: X:284.81, Y:-43.06, Z:-13.64 [[ 9.83298076e-01 1.76704235e-01 4.35948138e-02 2.84813348e+02] [-1.76516700e-01 9.84263946e-01 -8.14490123e-03 -4.30562150e+01] [-4.43480420e-02 3.13653021e-04 9.99016092e-01 -1.36360183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26264 meters 0.021927630123537933 Centerline is valid? [True, True] Translation: X:284.87, Y:-43.07, Z:-13.64 [[ 9.82991229e-01 1.78574760e-01 4.28870549e-02 2.84874314e+02] [-1.78394760e-01 9.83926319e-01 -8.01925508e-03 -4.30703604e+01] [-4.36297386e-02 2.32031537e-04 9.99047743e-01 -1.36394770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32264 meters 0.01379310227851513 Centerline is valid? [True, True] Translation: X:284.93, Y:-43.08, Z:-13.64 [[ 9.82339201e-01 1.82209719e-01 4.25360134e-02 2.84934592e+02] [-1.82035680e-01 9.83259687e-01 -7.96234411e-03 -4.30828687e+01] [-4.32747637e-02 7.86506143e-05 9.99063206e-01 -1.36442585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38264 meters 0.013421078314568883 Centerline is valid? [True, True] Translation: X:285.00, Y:-43.09, Z:-13.65 [[ 9.81962148e-01 1.84156414e-01 4.28573732e-02 2.84996096e+02] [-1.83981260e-01 9.82896950e-01 -8.02999981e-03 -4.30937211e+01] [-4.36031574e-02 2.02338823e-07 9.99048930e-01 -1.36472384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44264 meters 0.013907324614907983 Centerline is valid? [True, True] Translation: X:285.06, Y:-43.10, Z:-13.65 [[ 9.81111014e-01 1.88624685e-01 4.29174353e-02 2.85057117e+02] [-1.88452941e-01 9.82049231e-01 -8.04965567e-03 -4.31030824e+01] [-4.36653981e-02 -1.90311060e-04 9.99046194e-01 -1.36487554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.50264 meters 0.021535276225881975 Centerline is valid? [True, True] Translation: X:285.12, Y:-43.10, Z:-13.66 [[ 9.79482163e-01 1.96822484e-01 4.33082281e-02 2.85118200e+02] [-1.96655362e-01 9.80438984e-01 -8.12817941e-03 -4.31043615e+01] [-4.40608836e-02 -5.55388528e-04 9.99028693e-01 -1.36557800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56264 meters 0.025417374698170587 Centerline is valid? [True, True] Translation: X:285.18, Y:-43.11, Z:-13.66 [[ 9.78424479e-01 2.02028167e-01 4.32453267e-02 2.85178762e+02] [-2.01866562e-01 9.79379395e-01 -8.11734843e-03 -4.31118454e+01] [-4.39935150e-02 -7.87573038e-04 9.99031506e-01 -1.36577499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62264 meters 0.030462398118578638 Centerline is valid? [True, True] Translation: X:285.24, Y:-43.12, Z:-13.66 [[ 9.77194767e-01 2.07979184e-01 4.28374522e-02 2.85240138e+02] [-2.07826250e-01 9.78132695e-01 -8.04239804e-03 -4.31179715e+01] [-4.35733639e-02 -1.04375775e-03 9.99049685e-01 -1.36592717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68264 meters 0.034182211615979875 Centerline is valid? [True, True] Translation: X:285.30, Y:-43.12, Z:-13.66 [[ 9.76448780e-01 2.11458886e-01 4.28126196e-02 2.85300156e+02] [-2.11309442e-01 9.77386160e-01 -8.03833047e-03 -4.31214773e+01] [-4.35442383e-02 -1.19769277e-03 9.99050782e-01 -1.36634959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74264 meters 0.038947262159573816 Centerline is valid? [True, True] Translation: X:285.36, Y:-43.12, Z:-13.67 [[ 9.75407504e-01 2.16367974e-01 4.20130972e-02 2.85361283e+02] [-2.16228464e-01 9.76310901e-01 -7.89147226e-03 -4.31240103e+01] [-4.27253066e-02 -1.38702619e-03 9.99085894e-01 -1.36676396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80264 meters 0.03879615411425711 Centerline is valid? [True, True] Translation: X:285.42, Y:-43.13, Z:-13.67 [[ 9.74631348e-01 2.19741989e-01 4.25110948e-02 2.85421763e+02] [-2.19602336e-01 9.75556788e-01 -7.98539883e-03 -4.31283375e+01] [-4.32267145e-02 -1.55271569e-03 9.99064082e-01 -1.36687998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86264 meters 0.04515961210936656 Centerline is valid? [True, True] Translation: X:285.48, Y:-43.12, Z:-13.67 [[ 9.74376151e-01 2.20692451e-01 4.34276313e-02 2.85480634e+02] [-2.20547652e-01 9.75342087e-01 -8.15756119e-03 -4.31249822e+01] [-4.41571088e-02 -1.62932905e-03 9.99023271e-01 -1.36732170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92264 meters 0.044111462845630084 Centerline is valid? [True, True] Translation: X:285.54, Y:-43.13, Z:-13.68 [[ 9.74710589e-01 2.19510569e-01 4.18852958e-02 2.85539424e+02] [-2.19374889e-01 9.75608935e-01 -7.86541145e-03 -4.31284684e+01] [-4.25902097e-02 -1.52208230e-03 9.99091466e-01 -1.36797540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98263999999995 meters 0.034851506658002906 Centerline is valid? [True, True] Translation: X:285.60, Y:-43.15, Z:-13.68 [[ 9.75559173e-01 2.15627460e-01 4.22977408e-02 2.85596992e+02] [-2.15485556e-01 9.76474744e-01 -7.94033858e-03 -4.31463398e+01] [-4.30148307e-02 -1.36828206e-03 9.99073497e-01 -1.36804464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04263999999995 meters 0.026447120363407586 Centerline is valid? [True, True] Translation: X:285.65, Y:-43.16, Z:-13.68 [[ 9.77747860e-01 2.05147232e-01 4.38604166e-02 2.85654841e+02] [-2.04984123e-01 9.78730672e-01 -8.23296324e-03 -4.31633860e+01] [-4.46165046e-02 -9.40926821e-04 9.99003745e-01 -1.36838603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10263999999995 meters 0.019003455732456348 Centerline is valid? [True, True] Translation: X:285.71, Y:-43.18, Z:-13.69 [[ 9.79490481e-01 1.96613934e-01 4.40608492e-02 2.85711537e+02] [-1.96440685e-01 9.80480828e-01 -8.27065598e-03 -4.31832098e+01] [-4.48269441e-02 -5.54314589e-04 9.98994614e-01 -1.36876532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16263999999995 meters 0.023682405269170734 Centerline is valid? [True, True] Translation: X:285.77, Y:-43.21, Z:-13.69 [[ 9.81627631e-01 1.85543158e-01 4.45076398e-02 2.85768145e+02] [-1.85355048e-01 9.82636115e-01 -8.35297685e-03 -4.32075060e+01] [-4.52846520e-02 -5.02028382e-05 9.98974123e-01 -1.36912423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22263999999996 meters 0.013961837635232403 Centerline is valid? [True, True] Translation: X:285.83, Y:-43.23, Z:-13.70 [[ 9.82840339e-01 1.79238375e-01 4.35714747e-02 2.85827481e+02] [-1.79051820e-01 9.83805646e-01 -8.17906099e-03 -4.32279781e+01] [-4.43318644e-02 2.37159216e-04 9.99016831e-01 -1.36954763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28263999999996 meters 0.015593062674012798 Centerline is valid? [True, True] Translation: X:285.89, Y:-43.24, Z:-13.70 [[ 9.83089995e-01 1.77884910e-01 4.34858555e-02 2.85886880e+02] [-1.77697412e-01 9.84051251e-01 -8.17094741e-03 -4.32428367e+01] [-4.42457987e-02 3.05452671e-04 9.99020628e-01 -1.37014561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34263999999996 meters 0.013950240210987223 Centerline is valid? [True, True] Translation: X:285.95, Y:-43.25, Z:-13.70 [[ 9.82647450e-01 1.80189477e-01 4.39970585e-02 2.85948017e+02] [-1.79999525e-01 9.83631896e-01 -8.27424871e-03 -4.32530088e+01] [-4.47678427e-02 2.11219733e-04 9.98997395e-01 -1.37032908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40263999999996 meters 0.012588112926041556 Centerline is valid? [True, True] Translation: X:286.01, Y:-43.26, Z:-13.71 [[ 9.82032507e-01 1.83493621e-01 4.40709276e-02 2.86010162e+02] [-1.83306017e-01 9.83020898e-01 -8.29563852e-03 -4.32605313e+01] [-4.48448396e-02 6.81204853e-05 9.98993962e-01 -1.37059395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46263999999996 meters 0.013202446739811878 Centerline is valid? [True, True] Translation: X:286.07, Y:-43.27, Z:-13.71 [[ 9.80996409e-01 1.88854745e-01 4.44964089e-02 2.86071784e+02] [-1.88668650e-01 9.82005018e-01 -8.38358843e-03 -4.32675054e+01] [-4.52789773e-02 -1.70807244e-04 9.98974367e-01 -1.37106955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52263999999997 meters 0.029826575645868224 Centerline is valid? [True, True] Translation: X:286.13, Y:-43.28, Z:-13.71 [[ 9.80141846e-01 1.92849277e-01 4.61640396e-02 2.86134088e+02] [-1.92652966e-01 9.81228326e-01 -8.70675301e-03 -4.32754427e+01] [-4.69765543e-02 -3.59786206e-04 9.98895927e-01 -1.37099980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58263999999997 meters 0.01914726627582811 Centerline is valid? [True, True] Translation: X:286.20, Y:-43.28, Z:-13.71 [[ 9.78793607e-01 1.99547510e-01 4.63018935e-02 2.86195842e+02] [-1.99357040e-01 9.79887921e-01 -8.74258730e-03 -4.32801125e+01] [-4.71152277e-02 -6.73419883e-04 9.98889234e-01 -1.37132902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64264 meters 0.027963920711627708 Centerline is valid? [True, True] Translation: X:286.26, Y:-43.28, Z:-13.72 [[ 9.77843949e-01 2.04030048e-01 4.68289591e-02 2.86257242e+02] [-2.03839915e-01 9.78964221e-01 -8.85113882e-03 -4.32794775e+01] [-4.76497737e-02 -8.90578494e-04 9.98863707e-01 -1.37189117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70264 meters 0.03185429366795041 Centerline is valid? [True, True] Translation: X:286.32, Y:-43.29, Z:-13.72 [[ 9.76382605e-01 2.10924723e-01 4.67735942e-02 2.86317922e+02] [-2.10742810e-01 9.77501543e-01 -8.84318843e-03 -4.32850978e+01] [-4.75865076e-02 -1.22286335e-03 9.98866372e-01 -1.37200607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76264 meters 0.03727687837408585 Centerline is valid? [True, True] Translation: X:286.38, Y:-43.29, Z:-13.72 [[ 9.75407954e-01 2.15522621e-01 4.61445803e-02 2.86378786e+02] [-2.15350697e-01 9.76497805e-01 -8.72440013e-03 -4.32865167e+01] [-4.69403870e-02 -1.42741824e-03 9.98896673e-01 -1.37248743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82264 meters 0.04439903990703869 Centerline is valid? [True, True] Translation: X:286.44, Y:-43.28, Z:-13.73 [[ 9.74012539e-01 2.21364260e-01 4.79315956e-02 2.86441230e+02] [-2.21185842e-01 9.75189577e-01 -9.06157444e-03 -4.32839200e+01] [-4.87483011e-02 -1.77570320e-03 9.98809516e-01 -1.37257208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88264 meters 0.04214279207293293 Centerline is valid? [True, True] Translation: X:286.50, Y:-43.29, Z:-13.73 [[ 9.73436668e-01 2.23821840e-01 4.82165591e-02 2.86500587e+02] [-2.23644295e-01 9.74628204e-01 -9.11555178e-03 -4.32925243e+01] [-4.90334780e-02 -1.90994602e-03 9.98795309e-01 -1.37277044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94264 meters 0.048391816670646015 Centerline is valid? [True, True] Translation: X:286.56, Y:-43.29, Z:-13.73 [[ 9.73319369e-01 2.24560282e-01 4.71390014e-02 2.86559427e+02] [-2.24391486e-01 9.74458339e-01 -8.91107360e-03 -4.32876299e+01] [-4.79360662e-02 -1.90427006e-03 9.98848591e-01 -1.37349608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.00264 meters 0.0424819553308264 Centerline is valid? [True, True] Translation: X:286.62, Y:-43.30, Z:-13.74 [[ 9.73807745e-01 2.22324550e-01 4.76473455e-02 2.86618362e+02] [-2.22149609e-01 9.74971021e-01 -9.00329254e-03 -4.32995156e+01] [-4.84564340e-02 -1.81736317e-03 9.98823644e-01 -1.37368927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06264 meters 0.03521268499643609 Centerline is valid? [True, True] Translation: X:286.68, Y:-43.31, Z:-13.74 [[ 9.74918947e-01 2.17107807e-01 4.89616885e-02 2.86677260e+02] [-2.16916539e-01 9.76146318e-01 -9.25094967e-03 -4.33112158e+01] [-4.98022254e-02 -1.60167392e-03 9.98757815e-01 -1.37376941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12264 meters 0.03148433989899168 Centerline is valid? [True, True] Translation: X:286.74, Y:-43.32, Z:-13.74 [[ 9.75822930e-01 2.12926087e-01 4.93162291e-02 2.86736175e+02] [-2.12726703e-01 9.77067309e-01 -9.31790216e-03 -4.33222385e+01] [-5.01692997e-02 -1.39825622e-03 9.98739749e-01 -1.37407621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18264 meters 0.027493110909287594 Centerline is valid? [True, True] Translation: X:286.79, Y:-43.33, Z:-13.75 [[ 9.77172702e-01 2.06617183e-01 4.94251887e-02 2.86794423e+02] [-2.06408876e-01 9.78421269e-01 -9.33790534e-03 -4.33328540e+01] [-5.02880275e-02 -1.07705143e-03 9.98734176e-01 -1.37454826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24264 meters 0.02417531318864622 Centerline is valid? [True, True] Translation: X:286.85, Y:-43.34, Z:-13.75 [[ 9.77824563e-01 2.03282641e-01 5.03516884e-02 2.86852155e+02] [-2.03062066e-01 9.79119663e-01 -9.51220056e-03 -4.33398089e+01] [-5.12339935e-02 -9.23254523e-04 9.98686250e-01 -1.37475078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30264 meters 0.022016447893908105 Centerline is valid? [True, True] Translation: X:286.91, Y:-43.35, Z:-13.75 [[ 9.77927828e-01 2.02834184e-01 5.01543379e-02 2.86910107e+02] [-2.02614903e-01 9.79212686e-01 -9.47185341e-03 -4.33509088e+01] [-5.10329796e-02 -8.99227291e-04 9.98696564e-01 -1.37504225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36264 meters 0.027948567802690994 Centerline is valid? [True, True] Translation: X:286.97, Y:-43.36, Z:-13.76 [[ 9.78014604e-01 2.02894665e-01 4.81787231e-02 2.86968303e+02] [-2.02692513e-01 9.79200184e-01 -9.09645329e-03 -4.33582124e+01] [-4.90222363e-02 -8.69002302e-04 9.98797309e-01 -1.37550678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42264 meters 0.023170528597471367 Centerline is valid? [True, True] Translation: X:287.03, Y:-43.36, Z:-13.76 [[ 9.77913567e-01 2.03772828e-01 4.64939738e-02 2.87026653e+02] [-2.03585670e-01 9.79017801e-01 -8.77614423e-03 -4.33582536e+01] [-4.73067677e-02 -8.83196286e-04 9.98880018e-01 -1.37646410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48263999999995 meters 0.024490566697996187 Centerline is valid? [True, True] Translation: X:287.08, Y:-43.36, Z:-13.77 [[ 9.77900772e-01 2.03800755e-01 4.66404673e-02 2.87084208e+02] [-2.03612581e-01 9.79011981e-01 -8.80095816e-03 -4.33607955e+01] [-4.74552182e-02 -8.90122167e-04 9.98872970e-01 -1.37681036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54263999999995 meters 0.02713811454356107 Centerline is valid? [True, True] Translation: X:287.14, Y:-43.37, Z:-13.77 [[ 9.78316697e-01 2.01767935e-01 4.67561860e-02 2.87141428e+02] [-2.01576714e-01 9.79433032e-01 -8.81840048e-03 -4.33678051e+01] [-4.75738235e-02 -7.97769914e-04 9.98867406e-01 -1.37708997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60263999999995 meters 0.024442378542981702 Centerline is valid? [True, True] Translation: X:287.20, Y:-43.38, Z:-13.77 [[ 9.79015208e-01 1.98356902e-01 4.67307328e-02 2.87199671e+02] [-1.98162151e-01 9.80129653e-01 -8.81052121e-03 -4.33798044e+01] [-4.75498046e-02 -6.34628279e-04 9.98868667e-01 -1.37722664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66263999999995 meters 0.016555245915270037 Centerline is valid? [True, True] Translation: X:287.26, Y:-43.39, Z:-13.78 [[ 9.79371659e-01 1.96452536e-01 4.73027977e-02 2.87258427e+02] [-1.96250854e-01 9.80513181e-01 -8.91652137e-03 -4.33873298e+01] [-4.81326899e-02 -5.50626149e-04 9.98840799e-01 -1.37760714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72263999999996 meters 0.015527115469143976 Centerline is valid? [True, True] Translation: X:287.32, Y:-43.39, Z:-13.78 [[ 9.79565743e-01 1.95397608e-01 4.76521713e-02 2.87317006e+02] [-1.95191771e-01 9.80723978e-01 -8.98063561e-03 -4.33917621e+01] [-4.84884217e-02 -5.04188717e-04 9.98823617e-01 -1.37791932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78263999999996 meters 0.0161006526905906 Centerline is valid? [True, True] Translation: X:287.37, Y:-43.40, Z:-13.78 [[ 9.79568947e-01 1.95489247e-01 4.72083824e-02 2.87374838e+02] [-1.95287446e-01 9.80705714e-01 -8.89470157e-03 -4.33961747e+01] [-4.80363489e-02 -5.06230958e-04 9.98845460e-01 -1.37831791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84263999999996 meters 0.016330519723353212 Centerline is valid? [True, True] Translation: X:287.43, Y:-43.40, Z:-13.79 [[ 9.79588201e-01 1.95444918e-01 4.69919196e-02 2.87434175e+02] [-1.95245059e-01 9.80714550e-01 -8.85084651e-03 -4.33992966e+01] [-4.78155123e-02 -5.04755316e-04 9.98856057e-01 -1.37871544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90263999999996 meters 0.02660240797880288 Centerline is valid? [True, True] Translation: X:287.49, Y:-43.41, Z:-13.79 [[ 9.79737478e-01 1.94631242e-01 4.72562484e-02 2.87491924e+02] [-1.94428291e-01 9.80876373e-01 -8.89835954e-03 -4.34059155e+01] [-4.80844363e-02 -4.69895299e-04 9.98843164e-01 -1.37886465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96263999999996 meters 0.012769963140551125 Centerline is valid? [True, True] Translation: X:287.55, Y:-43.42, Z:-13.79 [[ 9.80367538e-01 1.91125572e-01 4.84820146e-02 2.87550035e+02] [-1.90907819e-01 9.81565546e-01 -9.12600242e-03 -4.34166942e+01] [-4.93324875e-02 -3.08759149e-04 9.98782364e-01 -1.37905902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02263999999997 meters 0.01154605914377961 Centerline is valid? [True, True] Translation: X:287.61, Y:-43.43, Z:-13.80 [[ 9.81061067e-01 1.87776904e-01 4.75291288e-02 2.87607323e+02] [-1.87563815e-01 9.82211696e-01 -8.94428438e-03 -4.34290632e+01] [-4.83631962e-02 -1.39855562e-04 9.98829806e-01 -1.37956935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08263999999997 meters 0.0112237232083477 Centerline is valid? [True, True] Translation: X:287.66, Y:-43.44, Z:-13.80 [[ 9.81744177e-01 1.84293137e-01 4.70575174e-02 2.87662565e+02] [-1.84080352e-01 9.82871324e-01 -8.85353754e-03 -4.34412603e+01] [-4.78831306e-02 2.95445458e-05 9.98852945e-01 -1.38004317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14264 meters 0.014877896157528828 Centerline is valid? [True, True] Translation: X:287.72, Y:-43.45, Z:-13.80 [[ 9.81913701e-01 1.83695210e-01 4.58427138e-02 2.87720087e+02] [-1.83492820e-01 9.82983249e-01 -8.62077783e-03 -4.34516493e+01] [-4.66462154e-02 5.30510153e-05 9.98911471e-01 -1.38042090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20264 meters 0.011632926497508534 Centerline is valid? [True, True] Translation: X:287.78, Y:-43.46, Z:-13.81 [[ 9.81477816e-01 1.86105704e-01 4.54528746e-02 2.87778817e+02] [-1.85909432e-01 9.82529726e-01 -8.54517935e-03 -4.34558309e+01] [-4.62491071e-02 -6.32141583e-05 9.98929936e-01 -1.38093400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26264 meters 0.012117089068245542 Centerline is valid? [True, True] Translation: X:287.84, Y:-43.46, Z:-13.81 [[ 9.81108130e-01 1.88027092e-01 4.55263560e-02 2.87837475e+02] [-1.87832357e-01 9.82163830e-01 -8.55671707e-03 -4.34631695e+01] [-4.63232347e-02 -1.56258053e-04 9.98926491e-01 -1.38122892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32264 meters 0.013178180301042128 Centerline is valid? [True, True] Translation: X:287.90, Y:-43.47, Z:-13.82 [[ 9.80756496e-01 1.89755552e-01 4.59295855e-02 2.87895618e+02] [-1.89559348e-01 9.81831336e-01 -8.63028185e-03 -4.34666947e+01] [-4.67327502e-02 -2.42177310e-04 9.98907399e-01 -1.38160134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38264 meters 0.012858183292736287 Centerline is valid? [True, True] Translation: X:287.95, Y:-43.48, Z:-13.82 [[ 9.80802599e-01 1.89627366e-01 4.54722408e-02 2.87953698e+02] [-1.89435050e-01 9.81856102e-01 -8.54141578e-03 -4.34769946e+01] [-4.62668833e-02 -2.36593434e-04 9.98929086e-01 -1.38194941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44264 meters 0.012146315395745871 Centerline is valid? [True, True] Translation: X:288.01, Y:-43.49, Z:-13.82 [[ 9.81226761e-01 1.87296702e-01 4.59781320e-02 2.88010141e+02] [-1.87097615e-01 9.82303379e-01 -8.63447306e-03 -4.34896559e+01] [-4.67816828e-02 -1.30022786e-04 9.98905129e-01 -1.38232850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.50264 meters 0.011521377030120768 Centerline is valid? [True, True] Translation: X:288.07, Y:-43.50, Z:-13.83 [[ 9.81608823e-01 1.84987862e-01 4.71551552e-02 2.88066496e+02] [-1.84776002e-01 9.82740805e-01 -8.85092531e-03 -4.35046759e+01] [-4.79786089e-02 -2.49946776e-05 9.98848363e-01 -1.38251667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56264 meters 0.012013037271833803 Centerline is valid? [True, True] Translation: X:288.12, Y:-43.52, Z:-13.83 [[ 9.82374742e-01 1.81197890e-01 4.59041566e-02 2.88123996e+02] [-1.80993119e-01 9.83446644e-01 -8.61333327e-03 -4.35183811e+01] [-4.67050066e-02 1.53184572e-04 9.98908714e-01 -1.38279904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62264 meters 0.013003917252842546 Centerline is valid? [True, True] Translation: X:288.18, Y:-43.53, Z:-13.83 [[ 9.82967764e-01 1.77986089e-01 4.57747432e-02 2.88180778e+02] [-1.77779093e-01 9.84032957e-01 -8.58682220e-03 -4.35341209e+01] [-4.65721908e-02 3.02777071e-04 9.98914881e-01 -1.38298078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68264 meters 0.01407249937857269 Centerline is valid? [True, True] Translation: X:288.24, Y:-43.55, Z:-13.83 [[ 9.83231775e-01 1.76334881e-01 4.64896420e-02 2.88236300e+02] [-1.76119627e-01 9.84330159e-01 -8.71868102e-03 -4.35495983e+01] [-4.72985643e-02 3.84745807e-04 9.98880723e-01 -1.38325683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74264 meters 0.01406724064893843 Centerline is valid? [True, True] Translation: X:288.29, Y:-43.56, Z:-13.83 [[ 9.83292469e-01 1.75857801e-01 4.70101441e-02 2.88294547e+02] [-1.75637316e-01 9.84415495e-01 -8.81287115e-03 -4.35597525e+01] [-4.78273265e-02 4.08894296e-04 9.98855535e-01 -1.38332046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80264 meters 0.013424913891976649 Centerline is valid? [True, True] Translation: X:288.35, Y:-43.57, Z:-13.84 [[ 9.83130678e-01 1.76912541e-01 4.64329997e-02 2.88352857e+02] [-1.76698724e-01 9.84226513e-01 -8.70236955e-03 -4.35675903e+01] [-4.72401477e-02 3.50914681e-04 9.98883499e-01 -1.38380307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86264 meters 0.013699490169465865 Centerline is valid? [True, True] Translation: X:288.41, Y:-43.58, Z:-13.85 [[ 9.82789850e-01 1.79508971e-01 4.35963235e-02 2.88409972e+02] [-1.79323130e-01 9.83756314e-01 -8.16884517e-03 -4.35751166e+01] [-4.43545395e-02 2.10428946e-04 9.99015831e-01 -1.38489184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92264 meters 0.012876516857814475 Centerline is valid? [True, True] Translation: X:288.47, Y:-43.58, Z:-13.85 [[ 9.82537273e-01 1.81060437e-01 4.28675390e-02 2.88468938e+02] [-1.80882358e-01 9.83471962e-01 -8.02948436e-03 -4.35812655e+01] [-4.36128447e-02 1.35286122e-04 9.99048498e-01 -1.38523731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98263999999995 meters 0.022774931381435826 Centerline is valid? [True, True] Translation: X:288.53, Y:-43.59, Z:-13.85 [[ 9.82622336e-01 1.80511902e-01 4.32295996e-02 2.88526869e+02] [-1.80330364e-01 9.83572787e-01 -8.09517182e-03 -4.35893646e+01] [-4.39807326e-02 1.58887228e-04 9.99032367e-01 -1.38525155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04263999999995 meters 0.013597451609073231 Centerline is valid? [True, True] Translation: X:288.58, Y:-43.61, Z:-13.85 [[ 9.83037353e-01 1.77684508e-01 4.54508350e-02 2.88583848e+02] [-1.77480912e-01 9.84087459e-01 -8.50875322e-03 -4.36053803e+01] [-4.62394704e-02 2.97766607e-04 9.98930339e-01 -1.38534598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10263999999995 meters 0.015935473960353195 Centerline is valid? [True, True] Translation: X:288.64, Y:-43.62, Z:-13.86 [[ 9.83627116e-01 1.74316110e-01 4.57339034e-02 2.88640294e+02] [-1.74106433e-01 9.84689639e-01 -8.55949123e-03 -4.36215443e+01] [-4.65257580e-02 4.56780887e-04 9.98916986e-01 -1.38559884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16263999999995 meters 0.01822805917166031 Centerline is valid? [True, True] Translation: X:288.70, Y:-43.64, Z:-13.86 [[ 9.84344453e-01 1.70122004e-01 4.60923103e-02 2.88697148e+02] [-1.69904532e-01 9.85422788e-01 -8.62434971e-03 -4.36391341e+01] [-4.68876046e-02 6.58038410e-04 9.98899955e-01 -1.38585427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22263999999996 meters 0.021398831997936102 Centerline is valid? [True, True] Translation: X:288.75, Y:-43.66, Z:-13.87 [[ 9.84526923e-01 1.69274529e-01 4.53086216e-02 2.88752847e+02] [-1.69063593e-01 9.85568702e-01 -8.47561969e-03 -4.36550834e+01] [-4.60894659e-02 6.84437413e-04 9.98937081e-01 -1.38654967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28263999999996 meters 0.03099501093806153 Centerline is valid? [True, True] Translation: X:288.81, Y:-43.67, Z:-13.87 [[ 9.84861432e-01 1.67648529e-01 4.40673392e-02 2.88810351e+02] [-1.67447504e-01 9.85846554e-01 -8.24049119e-03 -4.36700178e+01] [-4.48251408e-02 7.36776014e-04 9.98994577e-01 -1.38673704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34263999999996 meters 0.020428949125887077 Centerline is valid? [True, True] Translation: X:288.87, Y:-43.68, Z:-13.87 [[ 9.84796749e-01 1.67976779e-01 4.42624543e-02 2.88867863e+02] [-1.67774365e-01 9.85790687e-01 -8.27552362e-03 -4.36821306e+01] [-4.50236110e-02 7.23603586e-04 9.98985661e-01 -1.38690759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40263999999996 meters 0.019132237514221558 Centerline is valid? [True, True] Translation: X:288.92, Y:-43.70, Z:-13.87 [[ 9.84432806e-01 1.70241060e-01 4.37039044e-02 2.88923877e+02] [-1.70046043e-01 9.85402257e-01 -8.16911138e-03 -4.36951035e+01] [-4.44566442e-02 6.10265252e-04 9.99011128e-01 -1.38739435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46263999999996 meters 0.03118102282538129 Centerline is valid? [True, True] Translation: X:288.98, Y:-43.71, Z:-13.88 [[ 9.84131092e-01 1.72048030e-01 4.34219843e-02 2.88981198e+02] [-1.71857406e-01 9.85088424e-01 -8.11355517e-03 -4.37074750e+01] [-4.41704152e-02 5.22412346e-04 9.99023874e-01 -1.38759667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52263999999997 meters 0.01501420848545835 Centerline is valid? [True, True] Translation: X:289.04, Y:-43.72, Z:-13.88 [[ 9.83519733e-01 1.75629057e-01 4.29344710e-02 2.89038833e+02] [-1.75446190e-01 9.84456351e-01 -8.02038779e-03 -4.37194977e+01] [-4.36757259e-02 3.55520303e-04 9.99045697e-01 -1.38808939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58263999999997 meters 0.012510448604235091 Centerline is valid? [True, True] Translation: X:289.10, Y:-43.73, Z:-13.88 [[ 9.82445420e-01 1.81646988e-01 4.24896168e-02 2.89097208e+02] [-1.81473602e-01 9.83363801e-01 -7.93520782e-03 -4.37265157e+01] [-4.32241577e-02 8.51647875e-05 9.99065396e-01 -1.38841192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64264 meters 0.012950402415793216 Centerline is valid? [True, True] Translation: X:289.15, Y:-43.73, Z:-13.89 [[ 9.81521112e-01 1.86537566e-01 4.26619726e-02 2.89154931e+02] [-1.86367462e-01 9.82447820e-01 -7.96557030e-03 -4.37329234e+01] [-4.33990401e-02 -1.32428122e-04 9.99057809e-01 -1.38879437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70264 meters 0.01516308475723818 Centerline is valid? [True, True] Translation: X:289.21, Y:-43.74, Z:-13.89 [[ 9.80632394e-01 1.91183084e-01 4.25339411e-02 2.89213557e+02] [-1.91018515e-01 9.81554335e-01 -7.93816219e-03 -4.37396431e+01] [-4.32670166e-02 -3.40351284e-04 9.99063486e-01 -1.38905685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76264 meters 0.0204895764064932 Centerline is valid? [True, True] Translation: X:289.27, Y:-43.74, Z:-13.89 [[ 9.79488311e-01 1.96817690e-01 4.31907936e-02 2.89271277e+02] [-1.96653532e-01 9.80439920e-01 -8.05921552e-03 -4.37425268e+01] [-4.39321744e-02 -5.99714722e-04 9.99034336e-01 -1.38940105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82264 meters 0.021891004888910312 Centerline is valid? [True, True] Translation: X:289.33, Y:-43.75, Z:-13.90 [[ 9.79051328e-01 1.99172823e-01 4.22928350e-02 2.89328688e+02] [-1.99017825e-01 9.79964133e-01 -7.88684764e-03 -4.37524881e+01] [-4.30163071e-02 -6.95399391e-04 9.99074128e-01 -1.38972374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88264 meters 0.027248091567787545 Centerline is valid? [True, True] Translation: X:289.39, Y:-43.76, Z:-13.90 [[ 9.78496456e-01 2.01757673e-01 4.28780348e-02 2.89386817e+02] [-2.01600954e-01 9.79435125e-01 -7.99320013e-03 -4.37592216e+01] [-4.36089429e-02 -8.22934733e-04 9.99048339e-01 -1.38995868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94264 meters 0.026761706782546777 Centerline is valid? [True, True] Translation: X:289.44, Y:-43.77, Z:-13.90 [[ 9.78085605e-01 2.03563424e-01 4.37090468e-02 2.89444858e+02] [-2.03402502e-01 9.79061325e-01 -8.14513482e-03 -4.37674205e+01] [-4.44518888e-02 -9.23890375e-04 9.99011099e-01 -1.39023484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.00264 meters 0.03130268019247827 Centerline is valid? [True, True] Translation: X:289.50, Y:-43.77, Z:-13.91 [[ 9.77418292e-01 2.06848918e-01 4.32088807e-02 2.89504323e+02] [-2.06694965e-01 9.78372319e-01 -8.04963899e-03 -4.37689527e+01] [-4.39394319e-02 -1.06319367e-03 9.99033631e-01 -1.39056672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06264 meters 0.033784356362412275 Centerline is valid? [True, True] Translation: X:289.56, Y:-43.77, Z:-13.91 [[ 9.77081124e-01 2.08518484e-01 4.28079341e-02 2.89562210e+02] [-2.08369012e-01 9.78017775e-01 -7.97411209e-03 -4.37736069e+01] [-4.35296702e-02 -1.12849256e-03 9.99051497e-01 -1.39099744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12264 meters 0.032473476372512085 Centerline is valid? [True, True] Translation: X:289.62, Y:-43.78, Z:-13.92 [[ 9.77416199e-01 2.07092443e-01 4.20748618e-02 2.89620132e+02] [-2.06946916e-01 9.78320814e-01 -7.83317478e-03 -4.37818976e+01] [-4.27849044e-02 -1.05099097e-03 9.99083754e-01 -1.39151779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18264 meters 0.024582726582212697 Centerline is valid? [True, True] Translation: X:289.68, Y:-43.80, Z:-13.92 [[ 9.78597120e-01 2.01396480e-01 4.22745205e-02 2.89677563e+02] [-2.01244362e-01 9.79509472e-01 -7.86778621e-03 -4.38014598e+01] [-4.29928376e-02 -8.08115968e-04 9.99075054e-01 -1.39170692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24264 meters 0.0201843547250787 Centerline is valid? [True, True] Translation: X:289.74, Y:-43.81, Z:-13.92 [[ 9.79585073e-01 1.96494597e-01 4.24612524e-02 2.89736047e+02] [-1.96336548e-01 9.80504726e-01 -7.90200179e-03 -4.38149679e+01] [-4.31861593e-02 -5.96012732e-04 9.99066865e-01 -1.39200803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30264 meters 0.015765412404305845 Centerline is valid? [True, True] Translation: X:289.79, Y:-43.83, Z:-13.92 [[ 9.80640181e-01 1.91141760e-01 4.25401266e-02 2.89792659e+02] [-1.90978086e-01 9.81562376e-01 -7.91665331e-03 -4.38306456e+01] [-4.32689908e-02 -3.60843602e-04 9.99063394e-01 -1.39229039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36264 meters 0.012082044237504216 Centerline is valid? [True, True] Translation: X:289.85, Y:-43.85, Z:-13.92 [[ 9.82015967e-01 1.84000100e-01 4.22918877e-02 2.89849070e+02] [-1.83831799e-01 9.82926223e-01 -7.86823288e-03 -4.38519946e+01] [-4.30175611e-02 -4.78634621e-05 9.99074315e-01 -1.39244926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42264 meters 0.012939673338047542 Centerline is valid? [True, True] Translation: X:289.90, Y:-43.87, Z:-13.93 [[ 9.82646825e-01 1.80627929e-01 4.21754485e-02 2.89904517e+02] [-1.80457502e-01 9.83551494e-01 -7.84527209e-03 -4.38670802e+01] [-4.28988007e-02 9.82556208e-05 9.99079418e-01 -1.39309912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48263999999995 meters 0.013005538385991755 Centerline is valid? [True, True] Translation: X:289.96, Y:-43.88, Z:-13.93 [[ 9.83078561e-01 1.78219685e-01 4.23590238e-02 2.89962218e+02] [-1.78045663e-01 9.83990703e-01 -7.87645258e-03 -4.38791668e+01] [-4.30846245e-02 2.01331204e-04 9.99071406e-01 -1.39319403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54263999999995 meters 0.01758344930530414 Centerline is valid? [True, True] Translation: X:290.02, Y:-43.90, Z:-13.94 [[ 9.83482551e-01 1.76127679e-01 4.17266330e-02 2.90017641e+02] [-1.75957011e-01 9.84367288e-01 -7.75705644e-03 -4.38971332e+01] [-4.24405650e-02 2.86836028e-04 9.99098952e-01 -1.39389775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60263999999995 meters 0.01470030678163075 Centerline is valid? [True, True] Translation: X:290.08, Y:-43.91, Z:-13.94 [[ 9.83687103e-01 1.74875203e-01 4.21704575e-02 2.90075286e+02] [-1.74699875e-01 9.84590548e-01 -7.83625766e-03 -4.39115225e+01] [-4.28910010e-02 3.41251940e-04 9.99079699e-01 -1.39398928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66263999999995 meters 0.014235605144983635 Centerline is valid? [True, True] Translation: X:290.13, Y:-43.92, Z:-13.94 [[ 9.83642630e-01 1.75011285e-01 4.26406554e-02 2.90133604e+02] [-1.74832246e-01 9.84566370e-01 -7.92144847e-03 -4.39217505e+01] [-4.33688981e-02 3.36912867e-04 9.99059070e-01 -1.39411646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72263999999996 meters 0.013880238259007933 Centerline is valid? [True, True] Translation: X:290.19, Y:-43.94, Z:-13.95 [[ 9.83405260e-01 1.76392484e-01 4.24238778e-02 2.90189268e+02] [-1.76216633e-01 9.84319875e-01 -7.87916649e-03 -4.39359382e+01] [-4.31484919e-02 2.72620884e-04 9.99068633e-01 -1.39455458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78263999999996 meters 0.013378330484844839 Centerline is valid? [True, True] Translation: X:290.25, Y:-43.95, Z:-13.95 [[ 9.83060344e-01 1.78258307e-01 4.26184875e-02 2.90246013e+02] [-1.78082710e-01 9.83983709e-01 -7.91253732e-03 -4.39469380e+01] [-4.33463729e-02 1.88885916e-04 9.99060086e-01 -1.39498706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84263999999996 meters 0.0123978614377297 Centerline is valid? [True, True] Translation: X:290.30, Y:-43.95, Z:-13.95 [[ 9.82293598e-01 1.82370570e-01 4.28982748e-02 2.90304550e+02] [-1.82196700e-01 9.83229869e-01 -7.96160351e-03 -4.39520850e+01] [-4.36308272e-02 4.70804834e-06 9.99047722e-01 -1.39523007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90263999999996 meters 0.012383425215860255 Centerline is valid? [True, True] Translation: X:290.36, Y:-43.96, Z:-13.96 [[ 9.81801475e-01 1.84955533e-01 4.30965824e-02 2.90362638e+02] [-1.84782632e-01 9.82746884e-01 -7.99629661e-03 -4.39607790e+01] [-4.38319914e-02 -1.12724119e-04 9.99038910e-01 -1.39550194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96263999999996 meters 0.013947317745283055 Centerline is valid? [True, True] Translation: X:290.42, Y:-43.97, Z:-13.96 [[ 9.81154207e-01 1.88139206e-01 4.40461266e-02 2.90419322e+02] [-1.87961900e-01 9.82142337e-01 -8.17031761e-03 -4.39695469e+01] [-4.47967228e-02 -2.62652153e-04 9.98996088e-01 -1.39582020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02263999999997 meters 0.01655625775788802 Centerline is valid? [True, True] Translation: X:290.48, Y:-43.98, Z:-13.96 [[ 9.80845047e-01 1.89678839e-01 4.43275514e-02 2.90477850e+02] [-1.89500966e-01 9.81846130e-01 -8.21951159e-03 -4.39781323e+01] [-4.50819022e-02 -3.38046558e-04 9.98983237e-01 -1.39595047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08263999999997 meters 0.015283966540772822 Centerline is valid? [True, True] Translation: X:290.54, Y:-43.99, Z:-13.96 [[ 9.80752649e-01 1.90193678e-01 4.41656776e-02 2.90535024e+02] [-1.90017710e-01 9.81746522e-01 -8.18757253e-03 -4.39875946e+01] [-4.49167249e-02 -3.62277478e-04 9.98990669e-01 -1.39642293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14264 meters 0.01672620310559916 Centerline is valid? [True, True] Translation: X:290.59, Y:-44.00, Z:-13.97 [[ 9.80661511e-01 1.90801161e-01 4.35650941e-02 2.90591239e+02] [-1.90630697e-01 9.81628630e-01 -8.07284275e-03 -4.39987393e+01] [-4.43050514e-02 -3.88118100e-04 9.99017974e-01 -1.39703887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20264 meters 0.017311308500175728 Centerline is valid? [True, True] Translation: X:290.65, Y:-44.01, Z:-13.97 [[ 9.80365833e-01 1.92358894e-01 4.33692208e-02 2.90648786e+02] [-1.92191605e-01 9.81324536e-01 -8.03378263e-03 -4.40112569e+01] [-4.41046500e-02 -4.59154173e-04 9.99026811e-01 -1.39729387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26264 meters 0.017260002275002167 Centerline is valid? [True, True] Translation: X:290.71, Y:-44.02, Z:-13.97 [[ 9.80066587e-01 1.93562401e-01 4.47557987e-02 2.90707321e+02] [-1.93385597e-01 9.81087822e-01 -8.28836386e-03 -4.40209287e+01] [-4.55136847e-02 -5.31978360e-04 9.98963574e-01 -1.39721499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32264 meters 0.022439177595561563 Centerline is valid? [True, True] Translation: X:290.77, Y:-44.03, Z:-13.98 [[ 9.79385203e-01 1.96583443e-01 4.64712167e-02 2.90765056e+02] [-1.96396327e-01 9.80486848e-01 -8.60368182e-03 -4.40250910e+01] [-4.72557582e-02 -7.00457600e-04 9.98882577e-01 -1.39754677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38264 meters 0.02360551240133325 Centerline is valid? [True, True] Translation: X:290.82, Y:-44.04, Z:-13.98 [[ 9.78938364e-01 1.98948335e-01 4.58174669e-02 2.90823129e+02] [-1.98769175e-01 9.80009648e-01 -8.47967359e-03 -4.40354025e+01] [-4.65885766e-02 -8.06022306e-04 9.98913838e-01 -1.39782829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44264 meters 0.03195609961121798 Centerline is valid? [True, True] Translation: X:290.88, Y:-44.04, Z:-13.98 [[ 9.78236443e-01 2.02222982e-01 4.64685499e-02 2.90881589e+02] [-2.02042487e-01 9.79339017e-01 -8.59790737e-03 -4.40438892e+01] [-4.72471584e-02 -9.77835070e-04 9.98882751e-01 -1.39786884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.50264 meters 0.029513690203875984 Centerline is valid? [True, True] Translation: X:290.94, Y:-44.05, Z:-13.99 [[ 9.77672856e-01 2.05238624e-01 4.50876229e-02 2.90939906e+02] [-2.05072003e-01 9.78711354e-01 -8.34022245e-03 -4.40482455e+01] [-4.58395042e-02 -1.09220004e-03 9.98948220e-01 -1.39855343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56264 meters 0.03803164145294232 Centerline is valid? [True, True] Translation: X:291.00, Y:-44.05, Z:-13.99 [[ 9.76869171e-01 2.09189973e-01 4.43415975e-02 2.90999748e+02] [-2.09033007e-01 9.77874210e-01 -8.19951055e-03 -4.40480927e+01] [-4.50757601e-02 -1.25900839e-03 9.98982778e-01 -1.39926552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62264 meters 0.035284421704899774 Centerline is valid? [True, True] Translation: X:291.06, Y:-44.06, Z:-14.00 [[ 9.76435126e-01 2.11346718e-01 4.36693205e-02 2.91057915e+02] [-2.11196677e-01 9.77410237e-01 -8.07414040e-03 -4.40603421e+01] [-4.43892840e-02 -1.33894106e-03 9.99013413e-01 -1.39953006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68264 meters 0.037330422934935 Centerline is valid? [True, True] Translation: X:291.12, Y:-44.07, Z:-14.00 [[ 9.76388035e-01 2.11598082e-01 4.35046664e-02 2.91115376e+02] [-2.11449448e-01 9.77355841e-01 -8.04307165e-03 -4.40660984e+01] [-4.42214383e-02 -1.34587874e-03 9.99020847e-01 -1.40000993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74264 meters 0.03531745019214013 Centerline is valid? [True, True] Translation: X:291.17, Y:-44.08, Z:-14.00 [[ 9.77061790e-01 2.08316370e-01 4.42102839e-02 2.91172861e+02] [-2.08159662e-01 9.78060735e-01 -8.17027192e-03 -4.40793552e+01] [-4.49423442e-02 -1.21993724e-03 9.98988838e-01 -1.40044569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80264 meters 0.03068654456845349 Centerline is valid? [True, True] Translation: X:291.23, Y:-44.10, Z:-14.01 [[ 9.78159149e-01 2.03076301e-01 4.43248886e-02 2.91229692e+02] [-2.02913447e-01 9.79162423e-01 -8.19039681e-03 -4.41032817e+01] [-4.50645409e-02 -9.82604359e-04 9.98983594e-01 -1.40053386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86264 meters 0.019194835753087107 Centerline is valid? [True, True] Translation: X:291.29, Y:-44.13, Z:-14.01 [[ 9.79794780e-01 1.94866504e-01 4.50470271e-02 2.91285809e+02] [-1.94689681e-01 9.80829581e-01 -8.32237643e-03 -4.41288484e+01] [-4.58052091e-02 -6.15970354e-04 9.98950201e-01 -1.40083292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92264 meters 0.014848116708697007 Centerline is valid? [True, True] Translation: X:291.34, Y:-44.15, Z:-14.01 [[ 9.80688830e-01 1.90328172e-01 4.49956225e-02 2.91341352e+02] [-1.90146966e-01 9.81720441e-01 -8.31307106e-03 -4.41501416e+01] [-4.57553340e-02 -4.03245167e-04 9.98952595e-01 -1.40109803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98263999999995 meters 0.015195770689964186 Centerline is valid? [True, True] Translation: X:291.40, Y:-44.16, Z:-14.02 [[ 9.80744317e-01 1.90217758e-01 4.42469066e-02 2.91396958e+02] [-1.90042512e-01 9.81741845e-01 -8.17274548e-03 -4.41641588e+01] [-4.49936411e-02 -3.93419608e-04 9.98987196e-01 -1.40159797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04263999999995 meters 0.020184461392732462 Centerline is valid? [True, True] Translation: X:291.46, Y:-44.17, Z:-14.02 [[ 9.79897118e-01 1.95018027e-01 4.20667086e-02 2.91455333e+02] [-1.94864178e-01 9.80799483e-01 -7.76703551e-03 -4.41676313e+01] [-4.27737180e-02 -5.86398877e-04 9.99084614e-01 -1.40235715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10263999999995 meters 0.02386387106158579 Centerline is valid? [True, True] Translation: X:291.51, Y:-44.17, Z:-14.03 [[ 9.79194984e-01 1.98548058e-01 4.19028981e-02 2.91514969e+02] [-1.98398737e-01 9.80090874e-01 -7.73435420e-03 -4.41726039e+01] [-4.26042890e-02 -7.40041236e-04 9.99091751e-01 -1.40275759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16263999999995 meters 0.031029704905181713 Centerline is valid? [True, True] Translation: X:291.57, Y:-44.18, Z:-14.03 [[ 9.78635424e-01 2.01196788e-01 4.23386356e-02 2.91572230e+02] [-2.01046844e-01 9.79550460e-01 -7.81422525e-03 -4.41784827e+01] [-4.30450271e-02 -8.64771425e-04 9.99072759e-01 -1.40326193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22263999999996 meters 0.027994505153640707 Centerline is valid? [True, True] Translation: X:291.63, Y:-44.19, Z:-14.04 [[ 9.78561922e-01 2.01760678e-01 4.13423842e-02 2.91630015e+02] [-2.01618323e-01 9.79434464e-01 -7.62771723e-03 -4.41902549e+01] [-4.20311294e-02 -8.71188543e-04 9.99115922e-01 -1.40367148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28263999999996 meters 0.026177575037281412 Centerline is valid? [True, True] Translation: X:291.69, Y:-44.20, Z:-14.04 [[ 9.78508962e-01 2.01798390e-01 4.23983653e-02 2.91687408e+02] [-2.01648794e-01 9.79426671e-01 -7.82043593e-03 -4.42026716e+01] [-4.31042412e-02 -8.97212584e-04 9.99070177e-01 -1.40374739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34263999999996 meters 0.026208436426650834 Centerline is valid? [True, True] Translation: X:291.74, Y:-44.21, Z:-14.04 [[ 9.78674363e-01 2.00613607e-01 4.41664165e-02 2.91744839e+02] [-2.00450169e-01 9.79670047e-01 -8.14419081e-03 -4.42128591e+01] [-4.49023508e-02 -8.82654916e-04 9.98990991e-01 -1.40385002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40263999999996 meters 0.021858324586087444 Centerline is valid? [True, True] Translation: X:291.80, Y:-44.23, Z:-14.04 [[ 9.79227437e-01 1.97717902e-01 4.49584065e-02 2.91801221e+02] [-1.97545602e-01 9.80258662e-01 -8.28794381e-03 -4.42303455e+01] [-4.57095423e-02 -7.65553507e-04 9.98954479e-01 -1.40387794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46263999999996 meters 0.024404535261820494 Centerline is valid? [True, True] Translation: X:291.86, Y:-44.24, Z:-14.04 [[ 9.79680928e-01 1.95100032e-01 4.64893203e-02 2.91858487e+02] [-1.94912962e-01 9.80783122e-01 -8.56770809e-03 -4.42418301e+01] [-4.72675008e-02 -6.67750912e-04 9.98882044e-01 -1.40391643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52263999999997 meters 0.017494508888991015 Centerline is valid? [True, True] Translation: X:291.92, Y:-44.25, Z:-14.04 [[ 9.79958718e-01 1.93611371e-01 4.68566756e-02 2.91915728e+02] [-1.93419743e-01 9.81078118e-01 -8.63305503e-03 -4.42549061e+01] [-4.76415167e-02 -6.02968591e-04 9.98864316e-01 -1.40410355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58263999999997 meters 0.018444437590462128 Centerline is valid? [True, True] Translation: X:291.97, Y:-44.26, Z:-14.04 [[ 9.79868337e-01 1.94011459e-01 4.70913588e-02 2.91972674e+02] [-1.93818478e-01 9.80999062e-01 -8.67399584e-03 -4.42641849e+01] [-4.78794334e-02 -6.27801594e-04 9.98852925e-01 -1.40441583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64264 meters 0.02137189421130062 Centerline is valid? [True, True] Translation: X:292.03, Y:-44.27, Z:-14.05 [[ 9.79644289e-01 1.95280706e-01 4.65028373e-02 2.92031748e+02] [-1.95094090e-01 9.80747153e-01 -8.56260622e-03 -4.42693293e+01] [-4.72796371e-02 -6.84120447e-04 9.98881458e-01 -1.40477154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70264 meters 0.021003382368556794 Centerline is valid? [True, True] Translation: X:292.09, Y:-44.27, Z:-14.05 [[ 9.79521758e-01 1.95847676e-01 4.66991924e-02 2.92089683e+02] [-1.95660230e-01 9.80634068e-01 -8.59652354e-03 -4.42749777e+01] [-4.74784281e-02 -7.16692850e-04 9.98872006e-01 -1.40511477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76264 meters 0.023033325503310092 Centerline is valid? [True, True] Translation: X:292.15, Y:-44.28, Z:-14.05 [[ 9.79185367e-01 1.97527675e-01 4.66779909e-02 2.92149147e+02] [-1.97342449e-01 9.80296984e-01 -8.58961539e-03 -4.42769307e+01] [-4.74549804e-02 -8.00723336e-04 9.98873057e-01 -1.40536471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82264 meters 0.03054625372350733 Centerline is valid? [True, True] Translation: X:292.21, Y:-44.28, Z:-14.05 [[ 9.78662325e-01 2.00049769e-01 4.69056854e-02 2.92208516e+02] [-1.99865731e-01 9.79785296e-01 -8.62924137e-03 -4.42809766e+01] [-4.76837786e-02 -9.29725706e-04 9.98862049e-01 -1.40546852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88264 meters 0.03008586466533559 Centerline is valid? [True, True] Translation: X:292.27, Y:-44.27, Z:-14.06 [[ 9.77742294e-01 2.04581569e-01 4.65444852e-02 2.92268449e+02] [-2.04405590e-01 9.78848851e-01 -8.56047560e-03 -4.42746297e+01] [-4.73113314e-02 -1.14401391e-03 9.98879537e-01 -1.40591555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94264 meters 0.03375079269748604 Centerline is valid? [True, True] Translation: X:292.33, Y:-44.27, Z:-14.06 [[ 9.77112166e-01 2.07646675e-01 4.62025209e-02 2.92328897e+02] [-2.07476807e-01 9.78203050e-01 -8.49517238e-03 -4.42721442e+01] [-4.69594412e-02 -1.28521525e-03 9.98895970e-01 -1.40638088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.00264 meters 0.038071069524298694 Centerline is valid? [True, True] Translation: X:292.39, Y:-44.27, Z:-14.07 [[ 9.77085923e-01 2.07836983e-01 4.59008329e-02 2.92386688e+02] [-2.07669604e-01 9.78162630e-01 -8.43826866e-03 -4.42739117e+01] [-4.66522637e-02 -1.28729427e-03 9.98910361e-01 -1.40696299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06264 meters 0.03132991816048206 Centerline is valid? [True, True] Translation: X:292.44, Y:-44.28, Z:-14.07 [[ 9.77563544e-01 2.05789012e-01 4.49488600e-02 2.92444485e+02] [-2.05626405e-01 9.78595689e-01 -8.26188476e-03 -4.42839996e+01] [-4.56869658e-02 -1.16615516e-03 9.98955125e-01 -1.40730190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12264 meters 0.02948134803997582 Centerline is valid? [True, True] Translation: X:292.50, Y:-44.29, Z:-14.08 [[ 9.77985850e-01 2.03821152e-01 4.47282341e-02 2.92502556e+02] [-2.03658437e-01 9.79007548e-01 -8.21353988e-03 -4.42919308e+01] [-4.54633719e-02 -1.07655643e-03 9.98965426e-01 -1.40773857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18264 meters 0.02776357346314618 Centerline is valid? [True, True] Translation: X:292.56, Y:-44.30, Z:-14.08 [[ 9.78388050e-01 2.01755252e-01 4.52950566e-02 2.92559717e+02] [-2.01586600e-01 9.79435457e-01 -8.30835545e-03 -4.42985162e+01] [-4.60398388e-02 -1.00208074e-03 9.98939102e-01 -1.40796338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24264 meters 0.02471382447223531 Centerline is valid? [True, True] Translation: X:292.62, Y:-44.30, Z:-14.08 [[ 9.79114744e-01 1.98419340e-01 4.43179924e-02 2.92618285e+02] [-1.98254599e-01 9.80116869e-01 -8.12631419e-03 -4.43029708e+01] [-4.50492298e-02 -8.29651755e-04 9.98984424e-01 -1.40842571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30264 meters 0.018721176713739737 Centerline is valid? [True, True] Translation: X:292.68, Y:-44.32, Z:-14.09 [[ 9.79944741e-01 1.94140676e-01 4.49188411e-02 2.92675880e+02] [-1.93967040e-01 9.80973488e-01 -8.23429784e-03 -4.43155294e+01] [-4.56628044e-02 -6.43617786e-04 9.98956703e-01 -1.40853174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36264 meters 0.015538721556339072 Centerline is valid? [True, True] Translation: X:292.73, Y:-44.33, Z:-14.09 [[ 9.80749223e-01 1.89894574e-01 4.55083784e-02 2.92731958e+02] [-1.89711881e-01 9.81804382e-01 -8.34012535e-03 -4.43282326e+01] [-4.62640698e-02 -4.53908601e-04 9.98929142e-01 -1.40877716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42264 meters 0.011962040333006081 Centerline is valid? [True, True] Translation: X:292.79, Y:-44.34, Z:-14.09 [[ 9.81995543e-01 1.83444288e-01 4.50882141e-02 2.92788921e+02] [-1.83258287e-01 9.83030096e-01 -8.26014577e-03 -4.43438176e+01] [-4.58383480e-02 -1.51362553e-04 9.98948859e-01 -1.40926326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48263999999995 meters 0.011394780851683552 Centerline is valid? [True, True] Translation: X:292.84, Y:-44.36, Z:-14.10 [[ 9.82796807e-01 1.79078582e-01 4.51807237e-02 2.92844607e+02] [-1.78887299e-01 9.83834772e-01 -8.27497742e-03 -4.43579600e+01] [-4.59322382e-02 5.03637421e-05 9.98944556e-01 -1.40965568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54263999999995 meters 0.014620638214548653 Centerline is valid? [True, True] Translation: X:292.90, Y:-44.38, Z:-14.10 [[ 9.84103312e-01 1.71598687e-01 4.57663911e-02 2.92900781e+02] [-1.71394453e-01 9.85166853e-01 -8.37927072e-03 -4.43787938e+01] [-4.65254034e-02 4.01962476e-04 9.98917026e-01 -1.40986513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60263999999995 meters 0.026955637025812388 Centerline is valid? [True, True] Translation: X:292.96, Y:-44.40, Z:-14.10 [[ 9.84911523e-01 1.66897149e-01 4.57671652e-02 2.92957433e+02] [-1.66687936e-01 9.85974115e-01 -8.37718985e-03 -4.43961443e+01] [-4.65233693e-02 6.21956523e-04 9.98917008e-01 -1.41011692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66263999999995 meters 0.02578377365966202 Centerline is valid? [True, True] Translation: X:293.02, Y:-44.41, Z:-14.10 [[ 9.84934900e-01 1.66620830e-01 4.62681497e-02 2.93015241e+02] [-1.66406811e-01 9.86020836e-01 -8.46661752e-03 -4.44078054e+01] [-4.70320745e-02 6.39731840e-04 9.98893175e-01 -1.41039665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72263999999996 meters 0.016226875377755523 Centerline is valid? [True, True] Translation: X:293.07, Y:-44.42, Z:-14.11 [[ 9.84538710e-01 1.69308146e-01 4.49252719e-02 2.93073055e+02] [-1.69109267e-01 9.85563041e-01 -8.21878917e-03 -4.44154127e+01] [-4.56681955e-02 4.94436277e-04 9.98956541e-01 -1.41091496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78263999999996 meters 0.01392935020933839 Centerline is valid? [True, True] Translation: X:293.13, Y:-44.42, Z:-14.11 [[ 9.84006158e-01 1.72481194e-01 4.45209839e-02 2.93132233e+02] [-1.72289201e-01 9.85012751e-01 -8.14314050e-03 -4.44205800e+01] [-4.52582754e-02 3.42415669e-04 9.98975261e-01 -1.41136142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84263999999996 meters 0.011873960072782163 Centerline is valid? [True, True] Translation: X:293.19, Y:-44.42, Z:-14.12 [[ 9.83090703e-01 1.77636089e-01 4.44757100e-02 2.93191718e+02] [-1.77449956e-01 9.84096240e-01 -8.13040526e-03 -4.44229877e+01] [-4.52126324e-02 1.00713071e-04 9.98977381e-01 -1.41173615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90263999999996 meters 0.01176626461835967 Centerline is valid? [True, True] Translation: X:293.25, Y:-44.43, Z:-14.12 [[ 9.82663685e-01 1.80087685e-01 4.40511919e-02 2.93250035e+02] [-1.79907646e-01 9.83650561e-01 -8.05067713e-03 -4.44305997e+01] [-4.47808074e-02 -1.40381957e-05 9.98996836e-01 -1.41215715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96263999999996 meters 0.012607400880042112 Centerline is valid? [True, True] Translation: X:293.31, Y:-44.43, Z:-14.12 [[ 9.82037942e-01 1.83172690e-01 4.52685942e-02 2.93308380e+02] [-1.82985931e-01 9.83080739e-01 -8.27099721e-03 -4.44348056e+01] [-4.60177038e-02 -1.61082769e-04 9.98940611e-01 -1.41248377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02263999999997 meters 0.0263532614850812 Centerline is valid? [True, True] Translation: X:293.37, Y:-44.44, Z:-14.13 [[ 9.81678035e-01 1.85057539e-01 4.54086123e-02 2.93366734e+02] [-1.84871771e-01 9.82727655e-01 -8.29368323e-03 -4.44417394e+01] [-4.61591077e-02 -2.53043919e-04 9.98934068e-01 -1.41261193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08263999999997 meters 0.014162542503665212 Centerline is valid? [True, True] Translation: X:293.42, Y:-44.45, Z:-14.13 [[ 9.81444724e-01 1.86509411e-01 4.45027463e-02 2.93424404e+02] [-1.86332566e-01 9.82453123e-01 -8.12622862e-03 -4.44490781e+01] [-4.52374802e-02 -3.16866694e-04 9.98976211e-01 -1.41317307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14264 meters 0.015257193319827483 Centerline is valid? [True, True] Translation: X:293.48, Y:-44.46, Z:-14.14 [[ 9.81408131e-01 1.86834958e-01 4.39406359e-02 2.93480831e+02] [-1.86663000e-01 9.82391261e-01 -8.02091043e-03 -4.44589751e+01] [-4.46654831e-02 -3.30304224e-04 9.99001945e-01 -1.41381525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20264 meters 0.014541263660205177 Centerline is valid? [True, True] Translation: X:293.54, Y:-44.47, Z:-14.14 [[ 9.81535724e-01 1.86272231e-01 4.34773317e-02 2.93537971e+02] [-1.86103453e-01 9.82498124e-01 -7.93357634e-03 -4.44714408e+01] [-4.41942018e-02 -3.04192935e-04 9.99022913e-01 -1.41411298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26264 meters 0.01332709051652312 Centerline is valid? [True, True] Translation: X:293.60, Y:-44.49, Z:-14.14 [[ 9.81837445e-01 1.84556968e-01 4.39767721e-02 2.93595279e+02] [-1.84382665e-01 9.82821790e-01 -8.02253330e-03 -4.44853857e+01] [-4.47019443e-02 -2.31730848e-04 9.99000342e-01 -1.41435948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32264 meters 0.013346063307461018 Centerline is valid? [True, True] Translation: X:293.65, Y:-44.50, Z:-14.14 [[ 9.81702140e-01 1.85073256e-01 4.48196177e-02 2.93652735e+02] [-1.84892845e-01 9.82724692e-01 -8.17402620e-03 -4.44979775e+01] [-4.55581387e-02 -2.62367614e-04 9.98961655e-01 -1.41447403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38264 meters 0.016127292869947872 Centerline is valid? [True, True] Translation: X:293.71, Y:-44.50, Z:-14.15 [[ 9.81047437e-01 1.88594388e-01 4.44756470e-02 2.93710265e+02] [-1.88420427e-01 9.82054977e-01 -8.10961320e-03 -4.45028412e+01] [-4.52069580e-02 -4.24205140e-04 9.98977553e-01 -1.41486317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44264 meters 0.02425100203324774 Centerline is valid? [True, True] Translation: X:293.77, Y:-44.50, Z:-14.15 [[ 9.79506018e-01 1.96460216e-01 4.43998160e-02 2.93770655e+02] [-1.96295142e-01 9.80511478e-01 -8.09066880e-03 -4.45004611e+01] [-4.51240237e-02 -7.90609399e-04 9.98981080e-01 -1.41531644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.50264 meters 0.02849639405289421 Centerline is valid? [True, True] Translation: X:293.83, Y:-44.50, Z:-14.16 [[ 9.78596087e-01 2.00999948e-01 4.41443005e-02 2.93830217e+02] [-2.00841367e-01 9.79590748e-01 -8.04437030e-03 -4.45042587e+01] [-4.48602664e-02 -9.93812380e-04 9.98992777e-01 -1.41566718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56264 meters 0.033755725302231705 Centerline is valid? [True, True] Translation: X:293.89, Y:-44.51, Z:-14.16 [[ 9.77604618e-01 2.05727705e-01 4.43319491e-02 2.93890901e+02] [-2.05572710e-01 9.78608516e-01 -8.07666291e-03 -4.45050650e+01] [-4.50452163e-02 -1.21765594e-03 9.98984207e-01 -1.41607474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62264 meters 0.03652429384777289 Centerline is valid? [True, True] Translation: X:293.95, Y:-44.51, Z:-14.17 [[ 9.77414931e-01 2.06569293e-01 4.46002264e-02 2.93948986e+02] [-2.06413295e-01 9.78431157e-01 -8.12542818e-03 -4.45083142e+01] [-4.53167151e-02 -1.26416490e-03 9.98971870e-01 -1.41651488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68264 meters 0.03747858033060752 Centerline is valid? [True, True] Translation: X:294.01, Y:-44.51, Z:-14.17 [[ 9.77415574e-01 2.06726983e-01 4.38491674e-02 2.94006307e+02] [-2.06576471e-01 9.78397867e-01 -7.98599011e-03 -4.45133100e+01] [-4.45528515e-02 -1.25257516e-03 9.99006243e-01 -1.41709159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74264 meters 0.038808658253395516 Centerline is valid? [True, True] Translation: X:294.06, Y:-44.52, Z:-14.17 [[ 9.77688065e-01 2.05442346e-01 4.38119927e-02 2.94064170e+02] [-2.05290856e-01 9.78668491e-01 -7.97799562e-03 -4.45236419e+01] [-4.45164349e-02 -1.19421036e-03 9.99007938e-01 -1.41724642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80264 meters 0.029391695717215324 Centerline is valid? [True, True] Translation: X:294.12, Y:-44.53, Z:-14.17 [[ 9.78383450e-01 2.01718410e-01 4.55577467e-02 2.94123805e+02] [-2.01551023e-01 9.79442968e-01 -8.28604134e-03 -4.45338723e+01] [-4.62926617e-02 -1.07528473e-03 9.98927341e-01 -1.41727528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86264 meters 0.025064418070265375 Centerline is valid? [True, True] Translation: X:294.18, Y:-44.55, Z:-14.18 [[ 9.79117341e-01 1.98196648e-01 4.52473265e-02 2.94181453e+02] [-1.98027782e-01 9.80161861e-01 -8.22943682e-03 -4.45462654e+01] [-4.59807506e-02 -9.02643437e-04 9.98941918e-01 -1.41765387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92264 meters 0.0272851979107285 Centerline is valid? [True, True] Translation: X:294.24, Y:-44.56, Z:-14.18 [[ 9.79593076e-01 1.95903829e-01 4.49343442e-02 2.94239802e+02] [-1.95734926e-01 9.80622794e-01 -8.17153807e-03 -4.45566093e+01] [-4.56644778e-02 -7.90438409e-04 9.98956521e-01 -1.41800608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98263999999995 meters 0.016561636828851194 Centerline is valid? [True, True] Translation: X:294.30, Y:-44.57, Z:-14.18 [[ 9.81045228e-01 1.88522393e-01 4.48282021e-02 2.94297917e+02] [-1.88346977e-01 9.82068786e-01 -8.14340604e-03 -4.45729184e+01] [-4.55595924e-02 -4.54206735e-04 9.98961519e-01 -1.41846595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04263999999995 meters 0.013052457987669143 Centerline is valid? [True, True] Translation: X:294.35, Y:-44.59, Z:-14.19 [[ 9.82106000e-01 1.82777229e-01 4.53904009e-02 2.94353691e+02] [-1.82591247e-01 9.83154336e-01 -8.24548534e-03 -4.45890945e+01] [-4.61328564e-02 -1.89949291e-04 9.98935295e-01 -1.41872371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10263999999995 meters 0.012571377680830494 Centerline is valid? [True, True] Translation: X:294.41, Y:-44.61, Z:-14.19 [[ 9.83467407e-01 1.75252052e-01 4.55914150e-02 2.94409577e+02] [-1.75056461e-01 9.84523586e-01 -8.27908361e-03 -4.46076740e+01] [-4.63367498e-02 1.61137136e-04 9.98925863e-01 -1.41904440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16263999999995 meters 0.01420820934148277 Centerline is valid? [True, True] Translation: X:294.47, Y:-44.62, Z:-14.19 [[ 9.84084719e-01 1.71710956e-01 4.57450929e-02 2.94466340e+02] [-1.71510320e-01 9.85147319e-01 -8.30479465e-03 -4.46245056e+01] [-4.64916798e-02 3.26866008e-04 9.98918624e-01 -1.41937955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22263999999996 meters 0.01633553078906428 Centerline is valid? [True, True] Translation: X:294.52, Y:-44.64, Z:-14.20 [[ 9.84610665e-01 1.68709395e-01 4.55958051e-02 2.94523213e+02] [-1.68506950e-01 9.85665726e-01 -8.27549952e-03 -4.46380081e+01] [-4.63383769e-02 4.64935015e-04 9.98925692e-01 -1.41975119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28263999999996 meters 0.01709450483830745 Centerline is valid? [True, True] Translation: X:294.58, Y:-44.65, Z:-14.20 [[ 9.84856702e-01 1.67616590e-01 4.42939632e-02 2.94580766e+02] [-1.67424535e-01 9.85852134e-01 -8.03716693e-03 -4.46497665e+01] [-4.50144606e-02 4.99561539e-04 9.98986211e-01 -1.42033988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34263999999996 meters 0.019320333215145574 Centerline is valid? [True, True] Translation: X:294.64, Y:-44.66, Z:-14.21 [[ 9.85095839e-01 1.66680124e-01 4.24726286e-02 2.94636695e+02] [-1.66502754e-01 9.86010886e-01 -7.70488196e-03 -4.46637165e+01] [-4.31627249e-02 5.18237510e-04 9.99067921e-01 -1.42116238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40263999999996 meters 0.01818317315556834 Centerline is valid? [True, True] Translation: X:294.69, Y:-44.68, Z:-14.21 [[ 9.85179290e-01 1.66269164e-01 4.21465393e-02 2.94694680e+02] [-1.66094247e-01 9.86080263e-01 -7.64306543e-03 -4.46759604e+01] [-4.28306767e-02 5.29492062e-04 9.99082205e-01 -1.42136090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46263999999996 meters 0.01658719467486747 Centerline is valid? [True, True] Translation: X:294.75, Y:-44.69, Z:-14.22 [[ 9.84645854e-01 1.69208320e-01 4.29078790e-02 2.94751481e+02] [-1.69029899e-01 9.85580224e-01 -7.77909707e-03 -4.46862169e+01] [-4.36054450e-02 4.06941204e-04 9.99048747e-01 -1.42157646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52263999999997 meters 0.01482881600411617 Centerline is valid? [True, True] Translation: X:294.81, Y:-44.69, Z:-14.22 [[ 9.84133639e-01 1.72448033e-01 4.17451278e-02 2.94809736e+02] [-1.72282179e-01 9.85018584e-01 -7.56564750e-03 -4.46919097e+01] [-4.24244077e-02 2.53666614e-04 9.99099647e-01 -1.42204803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58263999999997 meters 0.014307745498174209 Centerline is valid? [True, True] Translation: X:294.87, Y:-44.70, Z:-14.23 [[ 9.83486057e-01 1.76202242e-01 4.13272865e-02 2.94866606e+02] [-1.76043083e-01 9.84353982e-01 -7.48806254e-03 -4.46991300e+01] [-4.20000924e-02 8.90221919e-05 9.99117603e-01 -1.42261832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64264 meters 0.013781452778341334 Centerline is valid? [True, True] Translation: X:294.92, Y:-44.71, Z:-14.23 [[ 9.83148247e-01 1.77839661e-01 4.23388700e-02 2.94924753e+02] [-1.77674252e-01 9.84059477e-01 -7.66847831e-03 -4.47075451e+01] [-4.30277259e-02 1.67239466e-05 9.99073878e-01 -1.42262470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70264 meters 0.01363318512805838 Centerline is valid? [True, True] Translation: X:294.98, Y:-44.72, Z:-14.23 [[ 9.83217626e-01 1.77021366e-01 4.41195597e-02 2.94980491e+02] [-1.76841001e-01 9.84207007e-01 -7.98919335e-03 -4.47233592e+01] [-4.48370377e-02 5.29686267e-05 9.98994313e-01 -1.42272011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76264 meters 0.014402162857202984 Centerline is valid? [True, True] Translation: X:295.04, Y:-44.74, Z:-14.23 [[ 9.83634534e-01 1.74538032e-01 4.47166421e-02 2.95035183e+02] [-1.74350373e-01 9.84650419e-01 -8.09313371e-03 -4.47386140e+01] [-4.54428200e-02 1.64322558e-04 9.98966928e-01 -1.42307351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82264 meters 0.016942018840989125 Centerline is valid? [True, True] Translation: X:295.09, Y:-44.76, Z:-14.24 [[ 9.84240876e-01 1.71239471e-01 4.41241665e-02 2.95090440e+02] [-1.71053619e-01 9.85229389e-01 -7.98192374e-03 -4.47582205e+01] [-4.48392460e-02 3.08537243e-04 9.98994168e-01 -1.42362067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88264 meters 0.02570771887896314 Centerline is valid? [True, True] Translation: X:295.15, Y:-44.78, Z:-14.24 [[ 9.84930855e-01 1.67537920e-01 4.29215190e-02 2.95146307e+02] [-1.67358660e-01 9.85865524e-01 -7.76186219e-03 -4.47780564e+01] [-4.36152520e-02 4.61609652e-04 9.99048295e-01 -1.42401737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94264 meters 0.0203825590094066 Centerline is valid? [True, True] Translation: X:295.20, Y:-44.79, Z:-14.25 [[ 9.85255394e-01 1.66270658e-01 4.03221584e-02 2.95202443e+02] [-1.66111469e-01 9.86080034e-01 -7.29017369e-03 -4.47934033e+01] [-4.09730173e-02 4.84709975e-04 9.99160136e-01 -1.42451160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.00264 meters 0.019010082967553528 Centerline is valid? [True, True] Translation: X:295.26, Y:-44.81, Z:-14.24 [[ 9.85187121e-01 1.66492729e-01 4.10671045e-02 2.95259545e+02] [-1.66327905e-01 9.86042565e-01 -7.42219293e-03 -4.48073642e+01] [-4.17296542e-02 4.81643440e-04 9.99128823e-01 -1.42427247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06264 meters 0.019410040256657775 Centerline is valid? [True, True] Translation: X:295.32, Y:-44.82, Z:-14.25 [[ 9.84865451e-01 1.68916072e-01 3.88252929e-02 2.95315574e+02] [-1.68770703e-01 9.85630374e-01 -7.01544775e-03 -4.48216071e+01] [-3.94524099e-02 3.56700148e-04 9.99221387e-01 -1.42521613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12264 meters 0.01873122898219833 Centerline is valid? [True, True] Translation: X:295.37, Y:-44.83, Z:-14.26 [[ 9.84466926e-01 1.71306313e-01 3.84580115e-02 2.95372512e+02] [-1.71165606e-01 9.85217784e-01 -6.94650259e-03 -4.48300654e+01] [-3.90794967e-02 2.55913204e-04 9.99236072e-01 -1.42560704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18264 meters 0.018090049448627337 Centerline is valid? [True, True] Translation: X:295.43, Y:-44.84, Z:-14.26 [[ 9.84014579e-01 1.73897627e-01 3.84047253e-02 2.95430755e+02] [-1.73759379e-01 9.84763724e-01 -6.93436403e-03 -4.48401177e+01] [-3.90254497e-02 1.50334097e-04 9.99238206e-01 -1.42595649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24264 meters 0.016767202097172508 Centerline is valid? [True, True] Translation: X:295.50, Y:-44.83, Z:-14.26 [[ 9.83288004e-01 1.77915321e-01 3.86114010e-02 2.95503875e+02] [-1.76708057e-01 9.83718959e-01 -3.27302878e-02 -4.48322478e+01] [-4.38059869e-02 2.53603537e-02 9.98718122e-01 -1.42580707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30264 meters 0.025073514318209186 Centerline is valid? [True, True] Translation: X:295.55, Y:-44.87, Z:-14.27 [[ 9.82806830e-01 1.79328951e-01 4.39529655e-02 2.95545805e+02] [-1.80215885e-01 9.83478579e-01 1.70914817e-02 -4.48685712e+01] [-4.01618026e-02 -2.47186475e-02 9.98887390e-01 -1.42654076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36264 meters 0.026289430535235567 Centerline is valid? [True, True] Translation: X:295.62, Y:-44.86, Z:-14.26 [[ 9.81934680e-01 1.83538428e-01 4.60209747e-02 2.95615772e+02] [-1.82938588e-01 9.82978047e-01 -1.69596982e-02 -4.48574555e+01] [-4.83503642e-02 8.23430374e-03 9.98796495e-01 -1.42608751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42264 meters 0.01813762512524402 Centerline is valid? [True, True] Translation: X:295.67, Y:-44.88, Z:-14.27 [[ 9.81524054e-01 1.83221682e-01 5.51393409e-02 2.95667786e+02] [-1.84137035e-01 9.82827791e-01 1.19618425e-02 -4.48846336e+01] [-5.20008077e-02 -2.18940308e-02 9.98407015e-01 -1.42686073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48263999999995 meters 0.017656131279659173 Centerline is valid? [True, True] Translation: X:295.73, Y:-44.87, Z:-14.27 [[ 9.82054874e-01 1.83158025e-01 4.49595638e-02 2.95729969e+02] [-1.82138857e-01 9.82933227e-01 -2.58400369e-02 -4.48708425e+01] [-4.89250593e-02 1.71874506e-02 9.98654560e-01 -1.42660959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54263999999995 meters 0.018288939561687378 Centerline is valid? [True, True] Translation: X:295.78, Y:-44.91, Z:-14.28 [[ 9.82753791e-01 1.76401841e-01 5.54741094e-02 2.95778888e+02] [-1.77293217e-01 9.84090404e-01 1.15409142e-02 -4.49128035e+01] [-5.25557002e-02 -2.11770605e-02 9.98393425e-01 -1.42782265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60263999999995 meters 0.022415797567817808 Centerline is valid? [True, True] Translation: X:295.84, Y:-44.93, Z:-14.28 [[ 9.84010822e-01 1.68711932e-01 5.70875406e-02 2.95835390e+02] [-1.68968654e-01 9.85621368e-01 -3.34584269e-04 -4.49298018e+01] [-5.63231483e-02 -9.31677037e-03 9.98369120e-01 -1.42827740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66263999999995 meters 0.024054996928014584 Centerline is valid? [True, True] Translation: X:295.90, Y:-44.92, Z:-14.28 [[ 9.85055315e-01 1.67553788e-01 3.98968030e-02 2.95901328e+02] [-1.65524884e-01 9.84954079e-01 -4.96686431e-02 -4.49182217e+01] [-4.76186881e-02 4.23224472e-02 9.97968572e-01 -1.42770740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72263999999996 meters 0.024964103405596082 Centerline is valid? [True, True] Translation: X:295.95, Y:-44.98, Z:-14.28 [[ 9.85490921e-01 1.60316769e-01 5.57331004e-02 2.95947755e+02] [-1.61491553e-01 9.86723730e-01 1.72267196e-02 -4.49754862e+01] [-5.22314407e-02 -2.59772007e-02 9.98297081e-01 -1.42848424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78263999999996 meters 0.026976822230181073 Centerline is valid? [True, True] Translation: X:296.01, Y:-44.98, Z:-14.29 [[ 9.85621982e-01 1.60631620e-01 5.24098325e-02 2.96008543e+02] [-1.60470100e-01 9.87013684e-01 -7.30300972e-03 -4.49769355e+01] [-5.29023162e-02 -1.21220414e-03 9.98598956e-01 -1.42875321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84263999999996 meters 0.03020598850371995 Centerline is valid? [True, True] Translation: X:296.07, Y:-44.99, Z:-14.29 [[ 9.85450138e-01 1.60657778e-01 5.54716572e-02 2.96066680e+02] [-1.60808294e-01 9.86984075e-01 -1.76869736e-03 -4.49910779e+01] [-5.50337972e-02 -7.17733950e-03 9.98458696e-01 -1.42919212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90263999999996 meters 0.02442493332431115 Centerline is valid? [True, True] Translation: X:296.13, Y:-45.00, Z:-14.29 [[ 9.84885256e-01 1.64122573e-01 5.53607644e-02 2.96126024e+02] [-1.64084333e-01 9.86432256e-01 -5.26654812e-03 -4.49994978e+01] [-5.54740032e-02 -3.89688851e-03 9.98452527e-01 -1.42948189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96263999999996 meters 0.025975667739762762 Centerline is valid? [True, True] Translation: X:296.19, Y:-44.99, Z:-14.30 [[ 9.85781989e-01 1.66138142e-01 2.51393538e-02 2.96192692e+02] [-1.64833806e-01 9.85189770e-01 -4.72327612e-02 -4.49860077e+01] [-3.26141974e-02 4.24173899e-02 9.98567514e-01 -1.42973788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02263999999997 meters 0.02484261265171723 Centerline is valid? [True, True] Translation: X:296.24, Y:-45.02, Z:-14.30 [[ 9.85624924e-01 1.65591941e-01 3.35084719e-02 2.96244709e+02] [-1.65481799e-01 9.86194267e-01 -6.05331213e-03 -4.50213190e+01] [-3.40482426e-02 4.21253105e-04 9.99420102e-01 -1.43033401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08263999999997 meters 0.026969940629505244 Centerline is valid? [True, True] Translation: X:296.29, Y:-45.06, Z:-14.31 [[ 9.83431084e-01 1.67710544e-01 6.88220624e-02 2.96291494e+02] [-1.70926587e-01 9.84309020e-01 4.38161552e-02 -4.50634808e+01] [-6.03937456e-02 -5.48536893e-02 9.96666277e-01 -1.43062696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14264 meters 0.02387459885760268 Centerline is valid? [True, True] Translation: X:296.35, Y:-45.05, Z:-14.31 [[ 9.83269523e-01 1.71157471e-01 6.23391173e-02 2.96353988e+02] [-1.71474803e-01 9.85188471e-01 -2.63378137e-04 -4.50534398e+01] [-6.14608588e-02 -1.04306162e-02 9.98054991e-01 -1.43098111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20264 meters 0.024330295263888857 Centerline is valid? [True, True] Translation: X:296.43, Y:-45.03, Z:-14.30 [[ 9.85416518e-01 1.68911618e-01 2.05706567e-02 2.96429712e+02] [-1.67114949e-01 9.83453173e-01 -6.99460487e-02 -4.50293362e+01] [-3.20449779e-02 6.54883275e-02 9.97338658e-01 -1.43047570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26264 meters 0.0237776957385756 Centerline is valid? [True, True] Translation: X:296.47, Y:-45.11, Z:-14.32 [[ 9.83384610e-01 1.68105918e-01 6.85208717e-02 2.96467690e+02] [-1.71366480e-01 9.84187074e-01 4.48255788e-02 -4.51120184e+01] [-5.99019112e-02 -5.58229649e-02 9.96642141e-01 -1.43207739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32264 meters 0.0302900252043217 Centerline is valid? [True, True] Translation: X:296.54, Y:-45.09, Z:-14.33 [[ 9.82961845e-01 1.75313699e-01 5.52369303e-02 2.96537362e+02] [-1.74467452e-01 9.84463348e-01 -1.98248310e-02 -4.50862685e+01] [-5.78542978e-02 9.85000600e-03 9.98276443e-01 -1.43263574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38264 meters 0.023352873612107302 Centerline is valid? [True, True] Translation: X:296.59, Y:-45.11, Z:-14.33 [[ 9.82005837e-01 1.77434213e-01 6.46655660e-02 2.96588222e+02] [-1.78360319e-01 9.83925932e-01 8.79526541e-03 -4.51125380e+01] [-6.20655463e-02 -2.01707730e-02 9.97868232e-01 -1.43298562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44264 meters 0.022809648049052767 Centerline is valid? [True, True] Translation: X:296.67, Y:-45.08, Z:-14.33 [[ 9.83811246e-01 1.77971003e-01 2.10179373e-02 2.96666193e+02] [-1.76202508e-01 9.82025772e-01 -6.76613543e-02 -4.50761707e+01] [-3.26819152e-02 6.28625881e-02 9.97486936e-01 -1.43259651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.50264 meters 0.0222279218289314 Centerline is valid? [True, True] Translation: X:296.72, Y:-45.12, Z:-14.33 [[ 9.83736826e-01 1.76582379e-01 3.28712596e-02 2.96716864e+02] [-1.76481705e-01 9.84285863e-01 -5.96226836e-03 -4.51231825e+01] [-3.34075476e-02 6.41270283e-05 9.99441810e-01 -1.43348426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56264 meters 0.022683638841467135 Centerline is valid? [True, True] Translation: X:296.77, Y:-45.13, Z:-14.34 [[ 9.83584670e-01 1.77402823e-01 3.30066062e-02 2.96773074e+02] [-1.77301823e-01 9.84138322e-01 -5.98552157e-03 -4.51341064e+01] [-3.35449144e-02 3.51358125e-05 9.99437210e-01 -1.43390248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62264 meters 0.0249279759355446 Centerline is valid? [True, True] Translation: X:296.81, Y:-45.19, Z:-14.35 [[ 9.80542816e-01 1.80178177e-01 7.79205409e-02 2.96811628e+02] [-1.84753640e-01 9.81182510e-01 5.60979032e-02 -4.51869618e+01] [-6.63466540e-02 -6.94024996e-02 9.95380035e-01 -1.43472180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68264 meters 0.02338253397469323 Centerline is valid? [True, True] Translation: X:296.88, Y:-45.17, Z:-14.35 [[ 9.81015262e-01 1.82688924e-01 6.50677498e-02 2.96880374e+02] [-1.82565465e-01 9.83162050e-01 -7.88885284e-03 -4.51668096e+01] [-6.54133484e-02 -4.14003896e-03 9.97849665e-01 -1.43494386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74264 meters 0.022604643087771503 Centerline is valid? [True, True] Translation: X:296.96, Y:-45.14, Z:-14.35 [[ 9.83603612e-01 1.78983412e-01 2.21104475e-02 2.96958393e+02] [-1.76932195e-01 9.81450623e-01 -7.38219066e-02 -4.51422548e+01] [-3.49132092e-02 6.86994440e-02 9.97026306e-01 -1.43461947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80264 meters 0.02219907257661722 Centerline is valid? [True, True] Translation: X:297.01, Y:-45.20, Z:-14.35 [[ 9.84084757e-01 1.74458458e-01 3.37851742e-02 2.97007920e+02] [-1.74349990e-01 9.84664521e-01 -6.15318975e-03 -4.51975559e+01] [-3.43405384e-02 1.64815473e-04 9.99410176e-01 -1.43531095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86264 meters 0.022895763175242584 Centerline is valid? [True, True] Translation: X:297.06, Y:-45.21, Z:-14.36 [[ 9.83863102e-01 1.75587060e-01 3.43886880e-02 2.97064544e+02] [-1.75475420e-01 9.84463899e-01 -6.26166685e-03 -4.52100059e+01] [-3.49538896e-02 1.26253494e-04 9.99388918e-01 -1.43586569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92264 meters 0.022028628952363735 Centerline is valid? [True, True] Translation: X:297.12, Y:-45.22, Z:-14.36 [[ 9.83469901e-01 1.77884201e-01 3.38255048e-02 2.97122379e+02] [-1.77777631e-01 9.84051426e-01 -6.15666304e-03 -4.52197934e+01] [-3.43812093e-02 4.14746921e-05 9.99408791e-01 -1.43601565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98263999999995 meters 0.026722258805155635 Centerline is valid? [True, True] Translation: X:297.18, Y:-45.23, Z:-14.36 [[ 9.82582449e-01 1.82891052e-01 3.29028076e-02 2.97180769e+02] [-1.82793075e-01 9.83133178e-01 -5.98715644e-03 -4.52266497e+01] [-3.34428392e-02 -1.31530552e-04 9.99440623e-01 -1.43646375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04263999999995 meters 0.026795515018853217 Centerline is valid? [True, True] Translation: X:297.24, Y:-45.23, Z:-14.37 [[ 9.81417807e-01 1.89117673e-01 3.24591189e-02 2.97239783e+02] [-1.89025774e-01 9.81954373e-01 -5.90483613e-03 -4.52291672e+01] [-3.29900826e-02 -3.40498737e-04 9.99455621e-01 -1.43706420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10263999999995 meters 0.029394680889701656 Centerline is valid? [True, True] Translation: X:297.30, Y:-45.23, Z:-14.37 [[ 9.80607240e-01 1.93372784e-01 3.18811573e-02 2.97299517e+02] [-1.93286453e-01 9.81125241e-01 -5.79728443e-03 -4.52342440e+01] [-3.24004452e-02 -4.77336722e-04 9.99474854e-01 -1.43733015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16263999999995 meters 0.030863673511689706 Centerline is valid? [True, True] Translation: X:297.36, Y:-45.24, Z:-14.38 [[ 9.80016629e-01 1.96447636e-01 3.12367313e-02 2.97358837e+02] [-1.96366344e-01 9.80514153e-01 -5.67938124e-03 -4.52421594e+01] [-3.17437581e-02 -5.67954658e-04 9.99495879e-01 -1.43753697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22263999999996 meters 0.030023214112560863 Centerline is valid? [True, True] Translation: X:297.42, Y:-45.25, Z:-14.37 [[ 9.79851254e-01 1.96983200e-01 3.30020936e-02 2.97417157e+02] [-1.96892778e-01 9.80406669e-01 -5.99984532e-03 -4.52536053e+01] [-3.35373414e-02 -6.18917936e-04 9.99437274e-01 -1.43746386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28263999999996 meters 0.029194802866424566 Centerline is valid? [True, True] Translation: X:297.47, Y:-45.27, Z:-14.38 [[ 9.80389542e-01 1.94206236e-01 3.34706294e-02 2.97473492e+02] [-1.94111605e-01 9.80960578e-01 -6.08516081e-03 -4.52660687e+01] [-3.40151441e-02 -5.31209567e-04 9.99421176e-01 -1.43800095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34263999999996 meters 0.03596971821732616 Centerline is valid? [True, True] Translation: X:297.53, Y:-45.28, Z:-14.39 [[ 9.81097290e-01 1.90644234e-01 3.32096990e-02 2.97530374e+02] [-1.90549163e-01 9.81659111e-01 -6.03381841e-03 -4.52825385e+01] [-3.37509163e-02 -4.08317477e-04 9.99430192e-01 -1.43850846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40263999999996 meters 0.023401123504993782 Centerline is valid? [True, True] Translation: X:297.59, Y:-45.30, Z:-14.39 [[ 9.82213114e-01 1.84996651e-01 3.21502346e-02 2.97586385e+02] [-1.84904571e-01 9.82739129e-01 -5.83987109e-03 -4.53038583e+01] [-3.26756501e-02 -2.08727373e-04 9.99465987e-01 -1.43869745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46263999999996 meters 0.02353114923576624 Centerline is valid? [True, True] Translation: X:297.64, Y:-45.32, Z:-14.39 [[ 9.82695247e-01 1.82393224e-01 3.22918309e-02 2.97642561e+02] [-1.82298967e-01 9.83225659e-01 -5.86432742e-03 -4.53166426e+01] [-3.28197703e-02 -1.23920732e-04 9.99461279e-01 -1.43921422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52263999999997 meters 0.02267636629911027 Centerline is valid? [True, True] Translation: X:297.70, Y:-45.33, Z:-14.39 [[ 9.83158441e-01 1.79700866e-01 3.32727975e-02 2.97699929e+02] [-1.79599355e-01 9.83721301e-01 -6.03941716e-03 -4.53326873e+01] [-3.38164481e-02 -3.80689994e-05 9.99428060e-01 -1.43945122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58263999999997 meters 0.02256933386884023 Centerline is valid? [True, True] Translation: X:297.76, Y:-45.35, Z:-14.40 [[ 9.84011269e-01 1.74602236e-01 3.51551202e-02 2.97755666e+02] [-1.74485706e-01 9.84639040e-01 -6.37963648e-03 -4.53541342e+01] [-3.57290026e-02 1.43568200e-04 9.99361505e-01 -1.43959910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64264 meters 0.02295638575355447 Centerline is valid? [True, True] Translation: X:297.81, Y:-45.37, Z:-14.40 [[ 9.84673241e-01 1.70501434e-01 3.67133419e-02 2.97813323e+02] [-1.70371556e-01 9.85357381e-01 -6.66062099e-03 -4.53735888e+01] [-3.73114078e-02 3.03626074e-04 9.99303641e-01 -1.43956318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70264 meters 0.03570107857135409 Centerline is valid? [True, True] Translation: X:297.87, Y:-45.39, Z:-14.40 [[ 9.85130520e-01 1.67754732e-01 3.70972967e-02 2.97871454e+02] [-1.67620235e-01 9.85828678e-01 -6.72867722e-03 -4.53917292e+01] [-3.77003463e-02 4.10367686e-04 9.99289005e-01 -1.43988555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76264 meters 0.02475399633310588 Centerline is valid? [True, True] Translation: X:297.93, Y:-45.41, Z:-14.40 [[ 9.85316102e-01 1.66733684e-01 3.67703264e-02 2.97930506e+02] [-1.66600864e-01 9.86001867e-01 -6.66867248e-03 -4.54074790e+01] [-3.73675028e-02 4.44782212e-04 9.99301492e-01 -1.44019291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82264 meters 0.023819544858088553 Centerline is valid? [True, True] Translation: X:297.99, Y:-45.42, Z:-14.41 [[ 9.84676414e-01 1.70410908e-01 3.70470326e-02 2.97989143e+02] [-1.70278620e-01 9.85373040e-01 -6.72046995e-03 -4.54193677e+01] [-3.76503885e-02 3.09170687e-04 9.99290925e-01 -1.44076652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88264 meters 0.021879977726136157 Centerline is valid? [True, True] Translation: X:298.05, Y:-45.43, Z:-14.41 [[ 9.83802675e-01 1.75345783e-01 3.72310909e-02 2.98049141e+02] [-1.75215693e-01 9.84506903e-01 -6.75420102e-03 -4.54253853e+01] [-3.78385866e-02 1.21329641e-04 9.99283857e-01 -1.44104072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94264 meters 0.022511530133572242 Centerline is valid? [True, True] Translation: X:298.11, Y:-45.42, Z:-14.41 [[ 9.81908789e-01 1.85542772e-01 3.78022518e-02 2.98109485e+02] [-1.85416175e-01 9.82636151e-01 -6.85840442e-03 -4.54240736e+01] [-3.84183865e-02 -2.74821351e-04 9.99261703e-01 -1.44119542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.00264 meters 0.02811124622576744 Centerline is valid? [True, True] Translation: X:298.17, Y:-45.42, Z:-14.42 [[ 9.80474788e-01 1.92808618e-01 3.86526350e-02 2.98168321e+02] [-1.92681975e-01 9.81236214e-01 -7.01064240e-03 -4.54241652e+01] [-3.92790775e-02 -5.73907913e-04 9.99228114e-01 -1.44182763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06264 meters 0.03881542252907156 Centerline is valid? [True, True] Translation: X:298.23, Y:-45.42, Z:-14.42 [[ 9.78553371e-01 2.02173618e-01 3.94858078e-02 2.98230566e+02] [-2.02049194e-01 9.79349213e-01 -7.15836786e-03 -4.54213518e+01] [-4.01176279e-02 -9.73230640e-04 9.99194490e-01 -1.44179237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12264 meters 0.043638014070428076 Centerline is valid? [True, True] Translation: X:298.29, Y:-45.44, Z:-14.42 [[ 9.78507960e-01 2.01644265e-01 4.31481540e-02 2.98290904e+02] [-2.02627422e-01 9.79057137e-01 1.97294263e-02 -4.54398518e+01] [-3.82661824e-02 -2.80483999e-02 9.98873859e-01 -1.44240652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18264 meters 0.03706532290297982 Centerline is valid? [True, True] Translation: X:298.35, Y:-45.42, Z:-14.42 [[ 9.77029467e-01 2.09129770e-01 4.09653526e-02 2.98353887e+02] [-2.07997725e-01 9.77662086e-01 -3.02289773e-02 -4.54193310e+01] [-4.63720512e-02 2.10139015e-02 9.98703184e-01 -1.44185041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24264 meters 0.039264830906716085 Centerline is valid? [True, True] Translation: X:298.41, Y:-45.44, Z:-14.43 [[ 9.77301394e-01 2.06939256e-01 4.53666218e-02 2.98409607e+02] [-2.06780613e-01 9.78352857e-01 -8.21377261e-03 -4.54367406e+01] [-4.60843160e-02 -1.35360644e-03 9.98936636e-01 -1.44256322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30264 meters 0.03650694817138212 Centerline is valid? [True, True] Translation: X:298.47, Y:-45.44, Z:-14.43 [[ 9.77800488e-01 2.03997206e-01 4.78680071e-02 2.98469624e+02] [-2.03817218e-01 9.78970627e-01 -8.66336562e-03 -4.54434896e+01] [-4.86286753e-02 -1.28528090e-03 9.98816099e-01 -1.44295553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36264 meters 0.0324973986866266 Centerline is valid? [True, True] Translation: X:298.53, Y:-45.46, Z:-14.43 [[ 9.78560098e-01 1.99878398e-01 4.96866194e-02 2.98528030e+02] [-1.99679182e-01 9.79820069e-01 -8.99207560e-03 -4.54550107e+01] [-5.04812685e-02 -1.12209712e-03 9.98724378e-01 -1.44326295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42264 meters 0.02396883109119823 Centerline is valid? [True, True] Translation: X:298.59, Y:-45.48, Z:-14.44 [[ 9.80547934e-01 1.89327545e-01 5.17767196e-02 2.98586206e+02] [-1.89096567e-01 9.81913802e-01 -9.36872083e-03 -4.54756788e+01] [-5.26140325e-02 -6.04320073e-04 9.98614740e-01 -1.44357994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48263999999995 meters 0.03212761602093289 Centerline is valid? [True, True] Translation: X:298.64, Y:-45.50, Z:-14.44 [[ 9.82220388e-01 1.80505796e-01 5.15826167e-02 2.98644036e+02] [-1.80264387e-01 9.83573912e-01 -9.33329080e-03 -4.54956055e+01] [-5.24200292e-02 -1.31160253e-04 9.98625117e-01 -1.44396951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54263999999995 meters 0.037419554420227874 Centerline is valid? [True, True] Translation: X:298.70, Y:-45.54, Z:-14.44 [[ 9.84998494e-01 1.62724502e-01 5.74343423e-02 2.98701632e+02] [-1.64544525e-01 9.85957980e-01 2.84949304e-02 -4.55410977e+01] [-5.19910248e-02 -3.75179701e-02 9.97942551e-01 -1.44443311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60263999999995 meters 0.03547589442926601 Centerline is valid? [True, True] Translation: X:298.76, Y:-45.52, Z:-14.44 [[ 9.85758928e-01 1.59203863e-01 5.41614728e-02 2.98763568e+02] [-1.56870199e-01 9.86596449e-01 -4.49353754e-02 -4.55230757e+01] [-6.05894020e-02 3.57991265e-02 9.97520600e-01 -1.44393467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66263999999995 meters 0.047662245506017026 Centerline is valid? [True, True] Translation: X:298.82, Y:-45.56, Z:-14.45 [[ 9.86783502e-01 1.50184831e-01 6.08509461e-02 2.98816122e+02] [-1.49791518e-01 9.88656405e-01 -1.10005957e-02 -4.55639360e+01] [-6.18128002e-02 1.74025072e-03 9.98086243e-01 -1.44477238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72263999999996 meters 0.054590534176540105 Centerline is valid? [True, True] Translation: X:298.87, Y:-45.59, Z:-14.45 [[ 9.87596948e-01 1.42711935e-01 6.54642782e-02 2.98874107e+02] [-1.42240168e-01 9.89761412e-01 -1.18356360e-02 -4.55860834e+01] [-6.64831029e-02 2.37718807e-03 9.97784719e-01 -1.44511529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78263999999996 meters 0.06025619394778729 Centerline is valid? [True, True] Translation: X:298.94, Y:-45.60, Z:-14.45 [[ 9.87233046e-01 1.42751307e-01 7.06610025e-02 2.98935010e+02] [-1.42201476e-01 9.89755262e-01 -1.27773651e-02 -4.55997157e+01] [-7.17610847e-02 2.56613819e-03 9.97418549e-01 -1.44547339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84263999999996 meters 0.10017437568273503 Centerline is valid? [True, False] Translation: X:298.94, Y:-45.60, Z:-14.46 [[ 9.88597884e-01 1.31765810e-01 7.28834405e-02 2.98936038e+02] [-1.31809092e-01 9.91266066e-01 -4.23671095e-03 -4.56026683e+01] [-7.28051350e-02 -5.41829667e-03 9.97331467e-01 -1.44566861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90263999999996 meters 0.07941426149790509 Centerline is valid? [False, True] Translation: X:298.94, Y:-45.60, Z:-14.46 [[ 9.89700632e-01 1.21781298e-01 7.52460911e-02 2.98937358e+02] [-1.22466153e-01 9.92462315e-01 4.53818401e-03 -4.56027071e+01] [-7.41262438e-02 -1.37065429e-02 9.97154667e-01 -1.44584347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96263999999996 meters 0.07446621254198584 Centerline is valid? [True, True] Translation: X:299.01, Y:-45.57, Z:-14.45 [[ 9.89330264e-01 1.33029139e-01 5.94043543e-02 2.99009070e+02] [-1.30541600e-01 9.90467158e-01 -4.39738481e-02 -4.55715688e+01] [-6.46878651e-02 3.57499193e-02 9.97264971e-01 -1.44532163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02263999999997 meters 0.07454727716278477 Centerline is valid? [True, True] Translation: X:299.05, Y:-45.62, Z:-14.47 [[ 9.83348369e-01 1.35928019e-01 1.20621551e-01 2.99054336e+02] [-1.41022380e-01 9.89397603e-01 3.47141273e-02 -4.56193123e+01] [-1.14624051e-01 -5.11464187e-02 9.92091413e-01 -1.44749483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08263999999997 meters 0.07475858632211907 Centerline is valid? [True, True] Translation: X:299.12, Y:-45.59, Z:-14.49 [[ 9.82645686e-01 1.45925744e-01 1.14512591e-01 2.99121011e+02] [-1.44851507e-01 9.89295225e-01 -1.76917887e-02 -4.55936060e+01] [-1.15868447e-01 7.97438344e-04 9.93264248e-01 -1.44853504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14264 meters 0.08034181550647389 Centerline is valid? [True, True] Translation: X:299.18, Y:-45.60, Z:-14.49 [[ 9.81770323e-01 1.50258209e-01 1.16402338e-01 2.99182332e+02] [-1.49176964e-01 9.88646741e-01 -1.79959643e-02 -4.55990574e+01] [-1.17784834e-01 3.03356223e-04 9.93039093e-01 -1.44934756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20264 meters 0.09005747496435687 Centerline is valid? [True, True] Translation: X:299.24, Y:-45.60, Z:-14.50 [[ 9.80405277e-01 1.56552666e-01 1.19569039e-01 2.99244237e+02] [-1.55455884e-01 9.87669511e-01 -1.85041669e-02 -4.56001561e+01] [-1.20991571e-01 -4.46127877e-04 9.92653434e-01 -1.44969829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26264 meters 0.09852630165618265 Centerline is valid? [True, True] Translation: X:299.30, Y:-45.60, Z:-14.50 [[ 9.79188652e-01 1.61621526e-01 1.22752052e-01 2.99304208e+02] [-1.60504033e-01 9.86852211e-01 -1.90044253e-02 -4.56016071e+01] [-1.24209659e-01 -1.09328186e-03 9.92255393e-01 -1.45015064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32264 meters 0.10796096709889576 Centerline is valid? [True, False] Translation: X:299.31, Y:-45.60, Z:-14.50 [[ 9.81545025e-01 1.49629155e-01 1.19081817e-01 2.99309360e+02] [-1.49250449e-01 9.88724859e-01 -1.21431665e-02 -4.56002585e+01] [-1.19556125e-01 -5.85394995e-03 9.92810185e-01 -1.45042599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38264 meters 0.6281122608869095 Centerline is valid? [False, False] Translation: X:299.33, Y:-45.59, Z:-14.50 [[ 9.83657895e-01 1.41273472e-01 1.11619674e-01 2.99332488e+02] [-1.40283012e-01 9.89970296e-01 -1.67179136e-02 -4.55946824e+01] [-1.12861960e-01 7.86363594e-04 9.93610366e-01 -1.45049657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44264 meters 0.6295631209202419 Centerline is valid? [False, False] Translation: X:299.35, Y:-45.59, Z:-14.50 [[ 9.86709826e-01 1.33401760e-01 9.27776342e-02 2.99349124e+02] [-1.32363881e-01 9.91050565e-01 -1.72794639e-02 -4.55906973e+01] [-9.42524377e-02 4.76940910e-03 9.95536906e-01 -1.45016858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.50264 meters 0.6423345252531483 Centerline is valid? [False, False] Translation: X:299.35, Y:-45.58, Z:-14.51 [[ 9.87444137e-01 1.28261985e-01 9.22113893e-02 2.99351952e+02] [-1.26597667e-01 9.91670945e-01 -2.37016335e-02 -4.55841031e+01] [-9.44833741e-02 1.17302923e-02 9.95457328e-01 -1.45060524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56264 meters 0.641552990623954 Centerline is valid? [False, False] Translation: X:299.35, Y:-45.58, Z:-14.51 [[ 9.88029706e-01 1.23980546e-01 9.17939231e-02 2.99352119e+02] [-1.21799869e-01 9.92130622e-01 -2.90107171e-02 -4.55794241e+01] [-9.46683265e-02 1.74829625e-02 9.95355341e-01 -1.45068894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62264 meters 0.6354540963864961 Centerline is valid? [False, False] Translation: X:299.36, Y:-45.58, Z:-14.51 [[ 9.88372720e-01 1.22184818e-01 9.04999226e-02 2.99358509e+02] [-1.19845244e-01 9.92312524e-01 -3.08702520e-02 -4.55767419e+01] [-9.35760827e-02 1.96653297e-02 9.95417898e-01 -1.45119742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68264 meters 0.6461884312009117 Centerline is valid? [False, False] Translation: X:299.38, Y:-45.58, Z:-14.51 [[ 9.89390618e-01 1.17606397e-01 8.52932586e-02 2.99376812e+02] [-1.15404800e-01 9.92855810e-01 -3.03162100e-02 -4.55774725e+01] [-8.82492876e-02 2.01513224e-02 9.95894566e-01 -1.45112388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74264 meters 0.6791500462793145 Centerline is valid? [False, False] Translation: X:299.38, Y:-45.58, Z:-14.52 [[ 9.89701290e-01 1.15831005e-01 8.41102577e-02 2.99383140e+02] [-1.13492634e-01 9.93020597e-01 -3.20860765e-02 -4.55753053e+01] [-8.72397808e-02 2.22097366e-02 9.95939731e-01 -1.45164863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80264 meters 0.6601304831769026 Centerline is valid? [False, False] Translation: X:299.40, Y:-45.58, Z:-14.52 [[ 9.90547495e-01 1.12827274e-01 7.80106852e-02 2.99403913e+02] [-1.10623259e-01 9.93346046e-01 -3.20332314e-02 -4.55779830e+01] [-8.11058278e-02 2.31006409e-02 9.96437758e-01 -1.45183278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86264 meters 0.6426819946644909 Centerline is valid? [False, False] Translation: X:299.40, Y:-45.58, Z:-14.52 [[ 9.90560322e-01 1.12676868e-01 7.80651769e-02 2.99404322e+02] [-1.10445182e-01 9.93355526e-01 -3.23521248e-02 -4.55763683e+01] [-8.11918110e-02 2.34248085e-02 9.96423187e-01 -1.45193815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92264 meters 0.6516747790985684 Centerline is valid? [False, False] Translation: X:299.43, Y:-45.58, Z:-14.52 [[ 9.90647221e-01 1.16288746e-01 7.13793417e-02 2.99427606e+02] [-1.14170949e-01 9.92910256e-01 -3.30789689e-02 -4.55762403e+01] [-7.47199923e-02 2.46201414e-02 9.96900583e-01 -1.45190191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98263999999995 meters 0.987638741985222 Centerline is valid? [False, False] Translation: X:299.43, Y:-45.57, Z:-14.52 [[ 9.90687181e-01 1.16406552e-01 7.06287784e-02 2.99431747e+02] [-1.14271782e-01 9.92882451e-01 -3.35618699e-02 -4.55726448e+01] [-7.40328961e-02 2.51784380e-02 9.96937900e-01 -1.45220153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04263999999995 meters 0.6261102866236916 Centerline is valid? [False, False] Translation: X:299.46, Y:-45.57, Z:-14.52 [[ 9.90345480e-01 1.22479404e-01 6.49201569e-02 2.99458260e+02] [-1.20414026e-01 9.92112206e-01 -3.48401135e-02 -4.55711824e+01] [-6.86752764e-02 2.66864515e-02 9.97282076e-01 -1.45221515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10263999999995 meters 0.6498230116098401 Centerline is valid? [False, False] Translation: X:299.46, Y:-45.57, Z:-14.52 [[ 9.90423455e-01 1.21908644e-01 6.48048026e-02 2.99460471e+02] [-1.19768897e-01 9.92150652e-01 -3.59512954e-02 -4.55661101e+01] [-6.86789008e-02 2.78454065e-02 9.97250140e-01 -1.45247006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16263999999995 meters 0.7082471528826226 Centerline is valid? [False, False] Translation: X:299.48, Y:-45.56, Z:-14.53 [[ 9.91216948e-01 1.17834795e-01 6.00326781e-02 2.99480783e+02] [-1.15768763e-01 9.92593691e-01 -3.68151797e-02 -4.55590439e+01] [-6.39261666e-02 2.95419212e-02 9.97517278e-01 -1.45264246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22263999999996 meters 0.6901559141970074 Centerline is valid? [False, False] Translation: X:299.48, Y:-45.55, Z:-14.53 [[ 9.91292059e-01 1.17220907e-01 5.99942755e-02 2.99482200e+02] [-1.15090520e-01 9.92634640e-01 -3.78238492e-02 -4.55540115e+01] [-6.39861420e-02 3.05897090e-02 9.97481851e-01 -1.45281503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28263999999996 meters 0.7548078903018156 Centerline is valid? [False, False] Translation: X:299.56, Y:-45.56, Z:-14.52 [[ 9.92278540e-01 1.13616933e-01 4.97442537e-02 2.99555089e+02] [-1.11821333e-01 9.93020075e-01 -3.75116086e-02 -4.55588949e+01] [-5.36589965e-02 3.16594955e-02 9.98057307e-01 -1.45244956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34263999999996 meters 0.7846173338991089 Centerline is valid? [False, False] Translation: X:299.58, Y:-45.56, Z:-14.52 [[ 9.93072380e-01 1.08539909e-01 4.50148340e-02 2.99575443e+02] [-1.06901006e-01 9.93567868e-01 -3.73505809e-02 -4.55589061e+01] [-4.87793213e-02 3.22796993e-02 9.98287834e-01 -1.45235561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40263999999996 meters 0.7868891115562506 Centerline is valid? [False, False] Translation: X:299.58, Y:-45.55, Z:-14.53 [[ 9.93391633e-01 1.06347308e-01 4.31661126e-02 2.99584608e+02] [-1.04693825e-01 9.93742757e-01 -3.89170299e-02 -4.55546847e+01] [-4.70347331e-02 3.41406264e-02 9.98309647e-01 -1.45273374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46263999999996 meters 0.790724013392192 Centerline is valid? [False, False] Translation: X:299.59, Y:-45.55, Z:-14.53 [[ 9.93427792e-01 1.06049573e-01 4.30663482e-02 2.99585689e+02] [-1.04375826e-01 9.93756452e-01 -3.94182838e-02 -4.55519195e+01] [-4.69777536e-02 3.46641329e-02 9.98294290e-01 -1.45282744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52263999999997 meters 0.7758223801590103 Centerline is valid? [False, False] Translation: X:299.59, Y:-45.55, Z:-14.53 [[ 9.93584250e-01 1.04761411e-01 4.26073346e-02 2.99590568e+02] [-1.03031263e-01 9.93834360e-01 -4.09612592e-02 -4.55462246e+01] [-4.66357924e-02 3.63085745e-02 9.98251867e-01 -1.45325716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58263999999997 meters 0.8527562212176704 Centerline is valid? [False, False] Translation: X:299.66, Y:-45.55, Z:-14.53 [[ 9.94144542e-01 1.02828625e-01 3.32099952e-02 2.99656029e+02] [-1.01460314e-01 9.94012731e-01 -4.05523855e-02 -4.55502927e+01] [-3.71811040e-02 3.69454361e-02 9.98625355e-01 -1.45259321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2860.81 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%| | 0/10286 [00:00